From 3f63a4104c580d67757959a4d49188a5cb308310 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 16 May 2012 05:08:36 +0000 Subject: [PATCH 001/914] Moved unused files to gtsam_experimental --- gtsam/unstable/base/RefCounted.cpp | 20 -- gtsam/unstable/base/RefCounted.h | 97 --------- gtsam/unstable/discrete/PotentialTable.cpp | 173 --------------- gtsam/unstable/discrete/PotentialTable.h | 106 --------- .../unstable/discrete/TypedDiscreteFactor.cpp | 128 ----------- gtsam/unstable/discrete/TypedDiscreteFactor.h | 79 ------- .../discrete/TypedDiscreteFactorGraph.cpp | 78 ------- .../discrete/TypedDiscreteFactorGraph.h | 61 ------ gtsam/unstable/discrete/parseUAI.cpp | 168 --------------- gtsam/unstable/discrete/parseUAI.h | 33 --- .../discrete/tests/testPotentialTable.cpp | 164 -------------- .../tests/testTypedDiscreteFactor.cpp | 64 ------ .../tests/testTypedDiscreteFactorGraph.cpp | 204 ------------------ .../tests/testTypedDiscreteVariable.cpp | 80 ------- 14 files changed, 1455 deletions(-) delete mode 100644 gtsam/unstable/base/RefCounted.cpp delete mode 100644 gtsam/unstable/base/RefCounted.h delete mode 100644 gtsam/unstable/discrete/PotentialTable.cpp delete mode 100644 gtsam/unstable/discrete/PotentialTable.h delete mode 100644 gtsam/unstable/discrete/TypedDiscreteFactor.cpp delete mode 100644 gtsam/unstable/discrete/TypedDiscreteFactor.h delete mode 100644 gtsam/unstable/discrete/TypedDiscreteFactorGraph.cpp delete mode 100644 gtsam/unstable/discrete/TypedDiscreteFactorGraph.h delete mode 100644 gtsam/unstable/discrete/parseUAI.cpp delete mode 100644 gtsam/unstable/discrete/parseUAI.h delete mode 100644 gtsam/unstable/discrete/tests/testPotentialTable.cpp delete mode 100644 gtsam/unstable/discrete/tests/testTypedDiscreteFactor.cpp delete mode 100644 gtsam/unstable/discrete/tests/testTypedDiscreteFactorGraph.cpp delete mode 100644 gtsam/unstable/discrete/tests/testTypedDiscreteVariable.cpp diff --git a/gtsam/unstable/base/RefCounted.cpp b/gtsam/unstable/base/RefCounted.cpp deleted file mode 100644 index ff3981149..000000000 --- a/gtsam/unstable/base/RefCounted.cpp +++ /dev/null @@ -1,20 +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 RefCounted.cpp - * @brief Simple reference-counted base class - * @author Frank Dellaert - * @date Mar 29, 2011 - */ - -#include - diff --git a/gtsam/unstable/base/RefCounted.h b/gtsam/unstable/base/RefCounted.h deleted file mode 100644 index ffa475935..000000000 --- a/gtsam/unstable/base/RefCounted.h +++ /dev/null @@ -1,97 +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 RefCounted.h - * @brief Simple reference-counted base class - * @author Frank Dellaert - * @date Mar 29, 2011 - */ - -#include - -// Forward Declarations -namespace gtsam { - struct RefCounted; -} - -namespace boost { - void intrusive_ptr_add_ref(const gtsam::RefCounted * p); - void intrusive_ptr_release(const gtsam::RefCounted * p); -} - -namespace gtsam { - - /** - * Simple reference counted class inspired by - * http://www.codeproject.com/KB/stl/boostsmartptr.aspx - */ - struct RefCounted { - private: - mutable long references_; - friend void ::boost::intrusive_ptr_add_ref(const RefCounted * p); - friend void ::boost::intrusive_ptr_release(const RefCounted * p); - public: - RefCounted() : - references_(0) { - } - virtual ~RefCounted() { - } - }; - -} // namespace gtsam - -// Intrusive Pointer free functions -#ifndef DEBUG_REFCOUNT - -namespace boost { - - // increment reference count of object *p - inline void intrusive_ptr_add_ref(const gtsam::RefCounted * p) { - ++(p->references_); - } - - // decrement reference count, and delete object when reference count reaches 0 - inline void intrusive_ptr_release(const gtsam::RefCounted * p) { - if (--(p->references_) == 0) - delete p; - } - -} // namespace boost - -#else - -#include - - namespace gtsam { - static long GlobalRefCount = 0; - } - - namespace boost { - inline void intrusive_ptr_add_ref(const gtsam::RefCounted * p) { - ++(p->references_); - gtsam::GlobalRefCount++; - std::cout << "add_ref " << p << " " << p->references_ << // - " " << gtsam::GlobalRefCount << std::endl; - } - - inline void intrusive_ptr_release(const gtsam::RefCounted * p) { - gtsam::GlobalRefCount--; - std::cout << "release " << p << " " << (p->references_ - 1) << // - " " << gtsam::GlobalRefCount << std::endl; - if (--(p->references_) == 0) - delete p; - } - - } // namespace boost - -#endif - diff --git a/gtsam/unstable/discrete/PotentialTable.cpp b/gtsam/unstable/discrete/PotentialTable.cpp deleted file mode 100644 index 41677134e..000000000 --- a/gtsam/unstable/discrete/PotentialTable.cpp +++ /dev/null @@ -1,173 +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 - - * -------------------------------------------------------------------------- */ - -/* - * Potentials.cpp - * - * @date Feb 21, 2011 - * @author Duy-Nguyen Ta - */ - -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -namespace gtsam { - - /* ************************************************************************* */ - void PotentialTable::Iterator::operator++() { - // note size_t is unsigned and i>=0 is always true, so strange-looking loop: - for (size_t i = size(); i--; ) { - if (++at(i) < cardinalities_[i]) - return; - else - at(i) = 0; - } - } - - /* ************************************************************************* */ - size_t PotentialTable::computeTableSize( - const std::vector& cardinalities) { - size_t tableSize = 1; - BOOST_FOREACH(const size_t c, cardinalities) - tableSize *= c; - return tableSize; - } - - /* ************************************************************************* */ - PotentialTable::PotentialTable(const std::vector& cs) : - cardinalities_(cs), table_(computeTableSize(cs)) { - generateKeyFactors(); - } - - /* ************************************************************************* */ - PotentialTable::PotentialTable(const std::vector& cardinalities, - const Table& table) : cardinalities_(cardinalities),table_(table) { - generateKeyFactors(); - } - - /* ************************************************************************* */ - PotentialTable::PotentialTable(const std::vector& cardinalities, - const std::string& tableString) : cardinalities_(cardinalities) { - parse(tableString); - generateKeyFactors(); - } - - /* ************************************************************************* */ - bool PotentialTable::equals(const PotentialTable& other, double tol) const { - //TODO: compare potentials in a more general sense with arbitrary order of keys??? - if ((cardinalities_ == other.cardinalities_) && (table_.size() - == other.table_.size()) && (keyFactors_ == other.keyFactors_)) { - for (size_t i = 0; i < table_.size(); i++) { - if (fabs(table_[i] - other.table_[i]) > tol) { - return false; - } - return true; - } - } - return false; - } - - /* ************************************************************************* */ - void PotentialTable::print(const std::string& s) const { - cout << s << endl; - for (size_t i = 0; i < cardinalities_.size(); i++) - cout << boost::format("[%d,%d]") % cardinalities_[i] % keyFactors_[i] << " "; - cout << endl; - Iterator assignment(cardinalities_); - for (size_t idx = 0; idx < table_.size(); ++idx, ++assignment) { - for (size_t k = 0; k < assignment.size(); k++) - cout << assignment[k] << "\t\t"; - cout << table_[idx] << endl; - } - } - - /* ************************************************************************* */ - const double& PotentialTable::operator()(const Assignment& var) const { - return table_[tableIndexFromAssignment(var)]; - } - - /* ************************************************************************* */ - const double& PotentialTable::operator[](const size_t index) const { - return table_.at(index); - } - - - /* ************************************************************************* */ - void PotentialTable::setPotential(const PotentialTable::Assignment& asg, const double potential) { - size_t idx = tableIndexFromAssignment(asg); - assert(idx (iss), istream_iterator (), - back_inserter(table_)); - -#ifndef NDEBUG - size_t expectedSize = computeTableSize(cardinalities_); - if (table_.size() != expectedSize) throw invalid_argument( - boost::str( - boost::format( - "String specification \"%s\" for table only contains %d doubles instead of %d") - % tableString % table_.size() % expectedSize)); -#endif - } - -} // namespace diff --git a/gtsam/unstable/discrete/PotentialTable.h b/gtsam/unstable/discrete/PotentialTable.h deleted file mode 100644 index 2cb2a7499..000000000 --- a/gtsam/unstable/discrete/PotentialTable.h +++ /dev/null @@ -1,106 +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 - - * -------------------------------------------------------------------------- */ - -/* - * Potentials.h - * - * @date Feb 21, 2011 - * @author Duy-Nguyen Ta - */ - -#ifndef POTENTIALS_H_ -#define POTENTIALS_H_ - -#include -#include -#include -#include -#include -#include - -namespace gtsam -{ -/** - * PotentialTable holds the real-valued potentials for Factors or Conditionals - */ -class PotentialTable { -public: - typedef std::vector Table; // container type for potentials f(x1,x2,..) - typedef std::vector Cardinalities; // just a typedef - typedef std::vector Assignment; // just a typedef - - /** - * An assignment that can be incemented - */ - struct Iterator: std::vector { - Cardinalities cardinalities_; - Iterator(const Cardinalities& cs):cardinalities_(cs) { - for(size_t i=0;i cardinalities_; // cardinalities of variables - Table table_; // Potential values of all instantiations of the variables, following the variables' order in vector Keys. - std::vector keyFactors_; // factors to multiply a key's assignment with, to access the potential table - - void generateKeyFactors(); - void parse(const std::string& tableString); - -public: - - /** compute table size from variable cardinalities */ - static size_t computeTableSize(const std::vector& cardinalities); - - /** construct an empty potential */ - PotentialTable() {} - - /** Dangerous empty n-ary potential. */ - PotentialTable(const std::vector& cardinalities); - - /** n-ary potential. */ - PotentialTable(const std::vector& cardinalities, - const Table& table); - - /** n-ary potential. */ - PotentialTable(const std::vector& cardinalities, - const std::string& tableString); - - /** return iterator to first element */ - Iterator begin() const { return Iterator(cardinalities_);} - - /** equality */ - bool equals(const PotentialTable& other, double tol = 1e-9) const; - - /** print */ - void print(const std::string& s = "Potential Table: ") const; - - /** return cardinality of a variable */ - size_t cardinality(size_t var) const { return cardinalities_[var]; } - size_t tableSize() const { return table_.size(); } - - /** accessors to potential values in the table given the assignment */ - const double& operator()(const Assignment& var) const; - const double& operator[](const size_t index) const; - - void setPotential(const Assignment& asg, const double potential); - void setPotential(const size_t tableIndex, const double potential); - - /** convert between assignment and where it is in the table */ - size_t tableIndexFromAssignment(const Assignment& var) const; - Assignment assignmentFromTableIndex(const size_t i) const; -}; - - -} // namespace - -#endif /* POTENTIALS_H_ */ diff --git a/gtsam/unstable/discrete/TypedDiscreteFactor.cpp b/gtsam/unstable/discrete/TypedDiscreteFactor.cpp deleted file mode 100644 index 769c0f095..000000000 --- a/gtsam/unstable/discrete/TypedDiscreteFactor.cpp +++ /dev/null @@ -1,128 +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 TypedDiscreteFactor.cpp - * @brief - * @author Duy-Nguyen Ta - * @date Mar 5, 2011 - */ - -#include -#include -#include -#include - -using namespace std; - -namespace gtsam { - - /* ******************************************************************************** */ - TypedDiscreteFactor::TypedDiscreteFactor(const Indices& keys, - const string& table) : - Factor (keys.begin(), keys.end()), potentials_(keys, table) { - } - - /* ******************************************************************************** */ - TypedDiscreteFactor::TypedDiscreteFactor(const Indices& keys, - const vector& table) : - Factor (keys.begin(), keys.end()), potentials_(keys, table) { - //#define DEBUG_FACTORS -#ifdef DEBUG_FACTORS - static size_t count = 0; - string dotfile = (boost::format("Factor-%03d") % ++count).str(); - potentials_.dot(dotfile); - if (count == 57) potentials_.print("57"); -#endif - } - - /* ************************************************************************* */ - double TypedDiscreteFactor::operator()(const Values& values) const { - return potentials_(values); - } - - /* ************************************************************************* */ - void TypedDiscreteFactor::print(const string&s) const { - Factor::print(s); - potentials_.print(); - } - - /* ************************************************************************* */ - bool TypedDiscreteFactor::equals(const TypedDiscreteFactor& other, double tol) const { - return potentials_.equals(other.potentials_, tol); - } - - /* ******************************************************************************** */ - DiscreteFactor::shared_ptr TypedDiscreteFactor::toDiscreteFactor( - const KeyOrdering& ordering) const { - throw std::runtime_error("broken"); - //return boost::make_shared(keys(), ordering, potentials_); - } - -#ifdef OLD -DiscreteFactor TypedDiscreteFactor::toDiscreteFactor( - const KeyOrdering& ordering, const ProblemType problemType) const { - { - static bool debug = false; - - // instantiate vector keys and column index in order - DiscreteFactor::ColumnIndex orderColumnIndex; - vector keys; - BOOST_FOREACH(const KeyOrdering::value_type& ord, ordering) - { - if (debug) cout << "Key: " << ord.first; - - // find the key with ord.first in this factor - vector::const_iterator it = std::find(keys_.begin(), - keys_.end(), ord.first); - - // if found - if (it != keys_.end()) { - if (debug) cout << "it found: " << (*it) << ", index: " - << ord.second << endl; - - keys.push_back(ord.second); // push back the ordering index - orderColumnIndex[ord.second] = columnIndex_.at(ord.first.name()); - - if (debug) cout << "map " << ord.second << " with name: " - << ord.first.name() << " to " << columnIndex_.at( - ord.first.name()) << endl; - } - } - - DiscreteFactor f(keys, potentials_, orderColumnIndex, problemType); - return f; - } - - /* ******************************************************************************** */ - std::vector TypedDiscreteFactor::init(const Indices& keys) { - vector cardinalities; - for (size_t j = 0; j < keys.size(); j++) { - Index key = keys[j]; - keys_.push_back(key); - columnIndex_[key.name()] = j; - cardinalities.push_back(key.cardinality()); - } - return cardinalities; - } - - /* ******************************************************************************** */ - double TypedDiscreteFactor::potential(const TypedValues& values) const { - vector assignment(values.size()); - BOOST_FOREACH(const TypedValues::value_type& val, values) - if (columnIndex_.find(val.first) != columnIndex_.end()) assignment[columnIndex_.at( - val.first)] = val.second; - return potentials_(assignment); - } - -#endif - -} // namespace diff --git a/gtsam/unstable/discrete/TypedDiscreteFactor.h b/gtsam/unstable/discrete/TypedDiscreteFactor.h deleted file mode 100644 index 209d4b51f..000000000 --- a/gtsam/unstable/discrete/TypedDiscreteFactor.h +++ /dev/null @@ -1,79 +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 TypedDiscreteFactor.h - * @brief - * @author Duy-Nguyen Ta - * @date Mar 5, 2011 - */ - -#pragma once - -#include -#include -#include -#include - -namespace gtsam { - - /** - * A factor on discrete variables with string keys - */ - class TypedDiscreteFactor: public Factor { - - typedef AlgebraicDecisionDiagram ADD; - - /** potentials of the factor */ - ADD potentials_; - - public: - - /** A map from keys to values */ - typedef ADD::Assignment Values; - - /** Constructor from keys and string table */ - TypedDiscreteFactor(const Indices& keys, const std::string& table); - - /** Constructor from keys and doubles */ - TypedDiscreteFactor(const Indices& keys, - const std::vector& table); - - /** Evaluate */ - double operator()(const Values& values) const; - - // Testable - bool equals(const TypedDiscreteFactor& other, double tol = 1e-9) const; - void print(const std::string& s = "DiscreteFactor: ") const; - - DiscreteFactor::shared_ptr toDiscreteFactor(const KeyOrdering& ordering) const; - -#ifdef OLD - /** map each variable name to its column index in the potential table */ - typedef std::map Index2IndexMap; - Index2IndexMap columnIndex_; - - /** Initialize keys, column index, and return cardinalities */ - std::vector init(const Indices& keys); - - public: - - /** Default constructor */ - TypedDiscreteFactor() {} - - /** Evaluate potential of a given assignment of values */ - double potential(const TypedValues& values) const; - -#endif - - }; // TypedDiscreteFactor - -} // namespace diff --git a/gtsam/unstable/discrete/TypedDiscreteFactorGraph.cpp b/gtsam/unstable/discrete/TypedDiscreteFactorGraph.cpp deleted file mode 100644 index c03f92aeb..000000000 --- a/gtsam/unstable/discrete/TypedDiscreteFactorGraph.cpp +++ /dev/null @@ -1,78 +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 TypedDiscreteFactorGraph.cpp - * @brief - * @author Duy-Nguyen Ta - * @date Mar 1, 2011 - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -namespace gtsam { - - /* ************************************************************************* */ - TypedDiscreteFactorGraph::TypedDiscreteFactorGraph() { - } - - /* ************************************************************************* */ - TypedDiscreteFactorGraph::TypedDiscreteFactorGraph(const string& filename) { - bool success = parseUAI(filename, *this); - if (!success) throw runtime_error( - "TypedDiscreteFactorGraph constructor from filename failed"); - } - - /* ************************************************************************* */ - void TypedDiscreteFactorGraph::add// - (const Indices& keys, const string& table) { - push_back(boost::shared_ptr// - (new TypedDiscreteFactor(keys, table))); - } - - /* ************************************************************************* */ - void TypedDiscreteFactorGraph::add// - (const Indices& keys, const vector& table) { - push_back(boost::shared_ptr// - (new TypedDiscreteFactor(keys, table))); - } - - /* ************************************************************************* */ - void TypedDiscreteFactorGraph::print(const string s) { - cout << s << endl; - cout << "Factors: " << endl; - BOOST_FOREACH(const sharedFactor factor, factors_) - factor->print(); - } - - /* ************************************************************************* */ - double TypedDiscreteFactorGraph::operator()( - const TypedDiscreteFactor::Values& values) const { - // Loop over all factors and multiply their probabilities - double p = 1.0; - BOOST_FOREACH(const sharedFactor& factor, *this) - p *= (*factor)(values); - return p; - } - -/* ************************************************************************* */ - -} diff --git a/gtsam/unstable/discrete/TypedDiscreteFactorGraph.h b/gtsam/unstable/discrete/TypedDiscreteFactorGraph.h deleted file mode 100644 index a8fb88ff9..000000000 --- a/gtsam/unstable/discrete/TypedDiscreteFactorGraph.h +++ /dev/null @@ -1,61 +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 TypedDiscreteFactorGraph.h - * @brief Factor graph with typed factors (with Index keys) - * @author Duy-Nguyen Ta - * @author Frank Dellaert - * @date Mar 1, 2011 - */ - -#pragma once - -#include -#include -#include -#include - -namespace gtsam { - - /** - * Typed discrete factor graph, where keys are strings - */ - class TypedDiscreteFactorGraph: public FactorGraph { - - public: - - /** - * Default constructor - */ - TypedDiscreteFactorGraph(); - - /** - * Constructor from file - * For now assumes in .uai format from UAI'08 Probablistic Inference Evaluation - * See http://graphmod.ics.uci.edu/uai08/FileFormat - */ - TypedDiscreteFactorGraph(const std::string& filename); - - // Add factors without shared pointer ugliness - void add(const Indices& keys, const std::string& table); - void add(const Indices& keys, const std::vector& table); - - /** print */ - void print(const std::string s); - - /** Evaluate potential of a given assignment of values */ - double operator()(const TypedDiscreteFactor::Values& values) const; - - }; // TypedDiscreteFactorGraph - - -} // namespace diff --git a/gtsam/unstable/discrete/parseUAI.cpp b/gtsam/unstable/discrete/parseUAI.cpp deleted file mode 100644 index 95e66a82c..000000000 --- a/gtsam/unstable/discrete/parseUAI.cpp +++ /dev/null @@ -1,168 +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 - - * -------------------------------------------------------------------------- */ - -/* - * parseUAI.cpp - * @brief: parse UAI 2008 format - * @date March 5, 2011 - * @author Duy-Nguyen Ta - * @author Frank Dellaert - */ - -//#define PARSE -#ifdef PARSE -#include -#include // for parsing -#include // for ref -#include -#include -#include -#include - -#include - -using namespace std; -namespace qi = boost::spirit::qi; - -namespace gtsam { - - /* ************************************************************************* */ - // Keys are the vars of variables connected to a factor - // subclass of Indices with special constructor - struct Keys: public Indices { - Keys() { - } - // Pick correct vars based on indices - Keys(const Indices& vars, const vector& indices) { - BOOST_FOREACH(int i, indices) - push_back(vars[i]); - } - }; - - /* ************************************************************************* */ - // The UAI grammar is defined in a class - // Spirit local variables are used, see - // http://boost-spirit.com/home/2010/01/21/what-are-rule-bound-semantic-actions - /* ************************************************************************* */ - struct Grammar { - - // declare all parsers as instance variables - typedef vector Table; - typedef boost::spirit::istream_iterator It; - qi::rule uai, preamble, type, vars, factors, tables; - qi::rule > keys; - qi::rule > table; - - // Variables filled by preamble parser - size_t nrVars_, nrFactors_; - Indices vars_; - vector factors_; - - // Variables filled by tables parser - vector tables_; - - // The constructor defines the parser rules (declared below) - // To debug, just say debug(rule) after defining the rule - Grammar() { - using boost::phoenix::val; - using boost::phoenix::ref; - using boost::phoenix::construct; - using namespace boost::spirit::qi; - - //--------------- high level parsers with side-effects :-( ----------------- - - // A uai file consists of preamble followed by tables - uai = preamble >> tables; - - // The preamble defines the variables and factors - // The parser fills in the first set of variables above, - // including the vector of factor "Neighborhoods" - preamble = type >> vars >> int_[ref(nrFactors_) = _1] >> factors; - - // type string, does not seem to matter - type = lit("BAYES") | lit("MARKOV"); - - // vars parses "3 2 2 3" and synthesizes a Keys class, in this case - // containing Indices {v0,2}, {v1,2}, and {v2,3} - vars = int_[ref(nrVars_) = _1] >> (repeat(ref(nrVars_))[int_]) // - [ref(vars_) = construct (_1)]; - - // Parse a list of Neighborhoods and fill factors_ - factors = (repeat(ref(nrFactors_))[keys])// - [ref(factors_) = _1]; - - // The tables parser fills in the tables_ - tables = (repeat(ref(nrFactors_))[table])// - [ref(tables_) = _1]; - - //----------- basic parsers with synthesized attributes :-) ----------------- - - // keys parses strings like "2 1 2", indicating - // a binary factor (2) on variables v1 and v2. - // It returns a Keys class as attribute - keys = int_[_a = _1] >> repeat(_a)[int_] // - [_val = construct (ref(vars_), _1)]; - - // The tables are a list of doubles preceded by a count, e.g. "4 1.0 2.0 3.0 4.0" - // The table parser returns a PotentialTable::Table attribute - table = int_[_a = _1] >> repeat(_a)[double_] // - [_val = construct
(_1)]; - } - - // Add the factors to the graph - void addFactorsToGraph(TypedDiscreteFactorGraph& graph) { - assert(factors_.size()==nrFactors_); - assert(tables_.size()==nrFactors_); - for (size_t i = 0; i < nrFactors_; i++) - graph.add(factors_[i], tables_[i]); - } - - }; - - /* ************************************************************************* */ - bool parseUAI(const std::string& filename, TypedDiscreteFactorGraph& graph) { - - // open file, disable skipping of whitespace - std::ifstream in(filename.c_str()); - if (!in) { - cerr << "Could not open " << filename << endl; - return false; - } - - in.unsetf(std::ios::skipws); - - // wrap istream into iterator - boost::spirit::istream_iterator first(in); - boost::spirit::istream_iterator last; - - // Parse and add factors into the graph - Grammar grammar; - bool success = qi::phrase_parse(first, last, grammar.uai, qi::space); - if (success) grammar.addFactorsToGraph(graph); - - return success; - } -/* ************************************************************************* */ - -}// gtsam -#else - -#include - -namespace gtsam { - -/** Dummy version of function - otherwise, missing symbol */ -bool parseUAI(const std::string& filename, TypedDiscreteFactorGraph& graph) { - return false; -} - -} // \namespace gtsam -#endif diff --git a/gtsam/unstable/discrete/parseUAI.h b/gtsam/unstable/discrete/parseUAI.h deleted file mode 100644 index 7e1010ff5..000000000 --- a/gtsam/unstable/discrete/parseUAI.h +++ /dev/null @@ -1,33 +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 - - * -------------------------------------------------------------------------- */ - -/* - * parseUAI.h - * @brief: parse UAI 2008 format - * @date March 5, 2011 - * @author Duy-Nguyen Ta - * @author Frank Dellaert - */ - -#include -#include - -namespace gtsam { - - /** - * Constructor from file - * For now assumes in .uai format from UAI'08 Probablistic Inference Evaluation - * See http://graphmod.ics.uci.edu/uai08/FileFormat - */ - bool parseUAI(const std::string& filename, - gtsam::TypedDiscreteFactorGraph& graph); - -} // gtsam diff --git a/gtsam/unstable/discrete/tests/testPotentialTable.cpp b/gtsam/unstable/discrete/tests/testPotentialTable.cpp deleted file mode 100644 index 2a549b608..000000000 --- a/gtsam/unstable/discrete/tests/testPotentialTable.cpp +++ /dev/null @@ -1,164 +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 testPotentialTable.cpp - * @brief Develop recursive potential operations - * @author Frank Dellaert - * @date Mar 6, 2011 - */ - -#include -#include // for operator += -using namespace boost::assign; - -#include -#include - -using namespace std; -using namespace gtsam; - -/* ******************************************************************************** */ -TEST( PotentialTable, Iterator) -{ - PotentialTable::Cardinalities cs; - cs += 2, 3; - PotentialTable::Iterator it(cs); - LONGS_EQUAL(0,it[0]); - LONGS_EQUAL(0,it[1]); - ++it; - LONGS_EQUAL(0,it[0]); - LONGS_EQUAL(1,it[1]); - ++it; - LONGS_EQUAL(0,it[0]); - LONGS_EQUAL(2,it[1]); - ++it; - LONGS_EQUAL(1,it[0]); - LONGS_EQUAL(0,it[1]); - ++it; - LONGS_EQUAL(1,it[0]); - LONGS_EQUAL(1,it[1]); - ++it; - LONGS_EQUAL(1,it[0]); - LONGS_EQUAL(2,it[1]); - ++it; - LONGS_EQUAL(0,it[0]); - LONGS_EQUAL(0,it[1]); -} - -/* ******************************************************************************** */ -#include - -TEST( PotentialTable, unordered_map) -{ - boost::unordered_map x; - x[false] = 7; -} - -/* ******************************************************************************** */ - -struct Factor { - vector table_; - vector keys_; - bool operator==(const Factor& f) const { - return table_ == f.table_ && keys_ == f.keys_; - } -}; - -Factor operator*(const double& s, const Factor& f) { - Factor r = f; - BOOST_FOREACH(double& ri, r.table_) - ri *= s; - return r; -} - -Factor operator*(const Factor& f, const double& s) { - Factor r = f; - BOOST_FOREACH(double& ri, r.table_) - ri *= s; - return r; -} - -Factor operator*(const Factor& f1, const Factor& f2) { - Factor r; - - // base case 1, both tables start with same key - if (f1.keys_.front() == f2.keys_.front()) { - } - - return r; -} - -/* ******************************************************************************** */ -// f(5)*f(5) = f0*f0 @ f1*f1 -TEST( PotentialTable, baseCase1a) -{ - Factor f1, f2, expected; - f1.table_ += 00, 01; - f2.table_ += 20, 21; - f1.keys_ += 5; - f2.keys_ += 5; - expected.table_ += 00 * 20, 01 * 21; - expected.keys_ += 5; - CHECK(f1*f2==expected) -} - -/* ******************************************************************************** */ -// f(0,1)*f(0) = f0(1)*f0 @ f1(1)*f1 -TEST( PotentialTable, baseCase1b) -{ - Factor f1, f2, expected; - f1.table_ += 00, 01, 10, 11; - f2.table_ += 20, 21; - f1.keys_ += 0, 1; - f2.keys_ += 0; - expected.table_ += 00 * 20, 00 * 21, 01 * 20, 01 * 21, 10 * 20, 10 * 21, 11 - * 20, 11 * 21; - expected.keys_ += 0, 1, 2; - CHECK(f1*f2==expected) -} - -/* ******************************************************************************** */ -// f0(1)*f(2) = f00*f(2) @ f01*f(2) -TEST( PotentialTable, baseCase2) -{ - Factor f1, f2, expected; - f1.table_ += 00, 01; - f2.table_ += 20, 21; - f1.keys_ += 1; - f2.keys_ += 2; - expected.table_ += 00 * 20, 00 * 21, 01 * 20, 01 * 21; - expected.keys_ += 1, 2; - CHECK(f1*f2==expected) -} - -/* ******************************************************************************** */ -// f(0,1)*f(2) = f0(1)*f(2) @ f1(1)*f(2) -// f0(1)*f(2) = f00*f(2) @ f01*f(2) -TEST( PotentialTable, multiplication) -{ - Factor f1, f2, expected; - f1.table_ += 00, 01, 10, 11; - f2.table_ += 20, 21; - f1.keys_ += 0, 1; - f2.keys_ += 2; - expected.table_ += 00 * 20, 00 * 21, 01 * 20, 01 * 21, 10 * 20, 10 * 21, 11 - * 20, 11 * 21; - expected.keys_ += 0, 1, 2; - CHECK(f1*f2==expected) -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/gtsam/unstable/discrete/tests/testTypedDiscreteFactor.cpp b/gtsam/unstable/discrete/tests/testTypedDiscreteFactor.cpp deleted file mode 100644 index 16798cd2b..000000000 --- a/gtsam/unstable/discrete/tests/testTypedDiscreteFactor.cpp +++ /dev/null @@ -1,64 +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 testTypedDiscreteFactor.cpp - * @brief Typed f1s use discrete keys - * @author Duy-Nguyen Ta - * @date Mar 5, 2011 - */ - -#include -#include -#include -#include -using namespace boost::assign; - -using namespace std; -using namespace gtsam; - -/* ******************************************************************************** */ -// initialize some common test values -DiscreteKey v0("v0"), v1("v1"), v2("v2", 3); -TypedDiscreteFactor::Values values; - -void init() { - values[v0] = 0; - values[v1] = 0; - values[v2] = 1; -} - -/* ******************************************************************************** */ -TEST( TypedDiscreteFactor, constructors) -{ - TypedDiscreteFactor f1(v1 & v2, "0.210 0.333 0.457 0.811 0.000 0.189"); - EXPECT_LONGS_EQUAL(2, f1.size()); - // f1.print(); - - double expectedP001 = 0.333; - EXPECT_DOUBLES_EQUAL(expectedP001, f1(values), 1e-9); - - vector ys; - ys += 0.210, 0.333, 0.457, 0.811, 0.000, 0.189; - TypedDiscreteFactor f2(v1 & v2, ys); - - EXPECT(assert_equal(f1, f2, 1e-9)); - EXPECT_LONGS_EQUAL(2, f1.size()); - EXPECT_DOUBLES_EQUAL(expectedP001, f2(values), 1e-9); -} - -/* ************************************************************************* */ -int main() { - init(); - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/gtsam/unstable/discrete/tests/testTypedDiscreteFactorGraph.cpp b/gtsam/unstable/discrete/tests/testTypedDiscreteFactorGraph.cpp deleted file mode 100644 index 70aee2c48..000000000 --- a/gtsam/unstable/discrete/tests/testTypedDiscreteFactorGraph.cpp +++ /dev/null @@ -1,204 +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 - - * -------------------------------------------------------------------------- */ - -/* - * testTypedDiscreteFactorGraph.cpp - * @brief test readable factor graphs - * @author Duy-Nguyen Ta - * @author Frank Dellaert - * @date Feb 14, 2011 - */ - -#include -#include -#include - -using namespace std; -using namespace gtsam; - -/* ******************************************************************************** */ -// initialize some common test values -DiscreteKey v0("v0"), v1("v1"), v2("v2", 3); -TypedDiscreteFactor::Values values; - -void init() { - values[v0] = 0; - values[v1] = 0; - values[v2] = 1; -} - -string path("../../../gtsam/discrete/tests/data/"); - -/* ************************************************************************* */ -TEST( TypedDiscreteFactorGraph, parseUAI) -{ - // This reads in a small factor graph on discrete variables v0, v1, and v2 - TypedDiscreteFactorGraph graph(path + "UAI/sampleMARKOV.uai"); - - // GTSAM_PRINT(graph); - - LONGS_EQUAL(3,graph.nrFactors()) - - double expectedP001 = 0.436 * 0.128 * 0.333; - double actualP001 = graph(values); - DOUBLES_EQUAL(expectedP001,actualP001,1e-9) -} - -/* ************************************************************************* */ -TEST( TypedDiscreteFactorGraph, parseUAI1) -{ - // This reads in a big graph from UAI 2008 - TypedDiscreteFactorGraph graph(path + "UAI/uai08_test1.uai"); - // GTSAM_PRINT(graph); - LONGS_EQUAL(54,graph.nrFactors()) -} - -/* ************************************************************************* */ -TEST( TypedDiscreteFactorGraph, parseUAI2) -{ - // This reads in a big graph from UAI 2008 - TypedDiscreteFactorGraph graph(path + "UAI/uai08_test2.uai"); - // GTSAM_PRINT(graph); - LONGS_EQUAL(21,graph.nrFactors()) -} - -/* ************************************************************************* */ -TEST( TypedDiscreteFactorGraph, parseUAI3) -{ - // This reads in a big graph from UAI 2008 - TypedDiscreteFactorGraph graph(path + "UAI/uai08_test3.uai"); - // GTSAM_PRINT(graph); - LONGS_EQUAL(13,graph.nrFactors()) -} - -///* ******************************************************************************** */ -//// global test data -// -//string graphFilename(path + "UAI/uai08_test2.uai"); -//string evidFilename (path + "UAI/uai08_test2.uai.evid"); -// -///** -// * [Cluster] Ordering splitted from libDAI -// * {x9}, {x10}, {x11}, {x12}, {x13}, {x14}, {x15}, {x16}, {x17}, {x18}, {x19}, {x20}, -// * {x0, x1, x8}, {x2, x6, x7}, {x4, x6, x8}, -// * {x1, x5, x7}, {x1, x3, x7, x8}, {x3, x6, x7, x8}) -// * -// */ -//size_t ordering[21] = {9,10,11,12,13,14,15,16,17,18,19,20,0,2,4,5,1,3,6,7,8}; -//vector vOrdering; -// -//// Container for all data read from files. -//TypedDiscreteFactorGraph container; -// -//// The factor graph generated from the data, after assigning the elimination ordering -//// for each variable -//DiscreteFactorGraph::shared_ptr graph; -// -///* ******************************************************************************** */ -//// Initialize all test data -//void initTestData() -//{ -// container.readFromFile_UAI(graphFilename); -// container.readEvidence_UAI(evidFilename); -// for (size_t i = 0; i<21; i++) vOrdering.push_back(ordering[i]); -// container.setOrdering(vOrdering); -// graph = container.generateFactorGraph(); -//} -// -// -///* ******************************************************************************** */ -//// Test reading .fg file from libDAI -//TEST( TypedDiscreteFactorGraph, readFG) -//{ -// TypedDiscreteFactorGraph graph; -// graph.readFromFile_FG(path + "FG/alarm.fg"); -//// graph.print(); -//} -// -///* ******************************************************************************** */ -//TEST( TypedDiscreteFactorGraph, testSequentialSolver) -//{ -//// tic(0, "Sequential Solver"); -// -// boost::shared_ptr actualMPE -// = DiscreteSequentialSolver(*graph).optimize(); -// BOOST_FOREACH(const PotentialTable::MapAssignment::value_type asg, *actualMPE) -// cout << vOrdering[asg.first] << ": " << asg.second << endl; -// -//// toc(0, "Sequential Solver"); -// tictoc_print(); -// -//} -// -///* ******************************************************************************** */ -//void backSubstitute(const BayesTree::sharedClique currentClique, -// PotentialTable::MapAssignment& assignments) { -// -// // solve the bayes net in the current node -// DiscreteBayesNet::const_reverse_iterator it = currentClique->rbegin(); -// for (; it!=currentClique->rend(); ++it) { -// size_t val = (*it)->solve(assignments); // Solve for that variable -// assignments[(*it)->key()] = val; // store result in partial solution -// } -// -// // solve the bayes nets in the child nodes -// BOOST_FOREACH(const BayesTree::sharedClique& child, -// currentClique->children()) { -// backSubstitute(child, assignments); -// } -//} -// -// -//void optimizeMultiFrontal(DiscreteFactorGraph::shared_ptr graph) { -// -// VariableIndex::shared_ptr structure(new VariableIndex(*graph)); -// JunctionTree::shared_ptr junctionTree(new JunctionTree(*graph, *structure)); -// BayesTree::sharedClique rootClique = junctionTree->eliminate(); -// -//// toc(1, "GJT eliminate"); -// -//// tictoc_print(); -// -//// // Allocate solution vector -//// tic(2, "allocate VectorValues"); -//// vector dims(rootClique->back()->key() + 1, 0); -//// countDims(rootClique, dims); -//// VectorValues result(dims); -//// toc(2, "allocate VectorValues"); -//// -//// // back-substitution -//// tic(3, "back-substitute"); -//// btreeBackSubstitute(rootClique, result); -//// toc(3, "back-substitute"); -//// return result; -//} -// -// -///* ******************************************************************************** */ -// -//TEST( TypedDiscreteFactorGraph, multifrontalSolver) -//{ -// tic(0, "Multifrontal Solver"); -// optimizeMultiFrontal(graph); -// -// toc(0, "Multifrontal Solver"); -// tictoc_print(); -//} - - -/* ************************************************************************* */ -int main() { /*initTestData(); */ - init(); - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - diff --git a/gtsam/unstable/discrete/tests/testTypedDiscreteVariable.cpp b/gtsam/unstable/discrete/tests/testTypedDiscreteVariable.cpp deleted file mode 100644 index 1a264f00c..000000000 --- a/gtsam/unstable/discrete/tests/testTypedDiscreteVariable.cpp +++ /dev/null @@ -1,80 +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 - - * -------------------------------------------------------------------------- */ - -/* - * testTypedDiscreteVariable.cpp - * - * @date March 2, 2011 - * @author Duy-Nguyen Ta - */ - -#include - -using namespace std; - -/* ******************************************************************************** */ - -class DiscreteVariable { - int v_; -public: - DiscreteVariable(int v) : - v_(v) { - } - bool operator ==(const DiscreteVariable& other) const { - return v_ == other.v_; - } - bool operator !=(const DiscreteVariable& other) const { - return v_ != other.v_; - } -}; - -class Color: public DiscreteVariable { -public: - enum Value { - red, green, blue - }; - Color(Value v) : - DiscreteVariable(v) { - } -}; - -class Flavor: public DiscreteVariable { -public: - enum Value { - sweet, sour - }; - Flavor(Value v) : - DiscreteVariable(v) { - } -}; - -//TEST( TypedDiscreteFactorGraph, simple) -//{ -// Color v1(Color::red), v2(Color::green); -// CHECK(v1!=v2); -// CHECK(v1==v1); -// -// // Declare a bunch of keys -// DiscreteKey C("Color"); -// DiscreteKey F("Flavor"); -// -// // Create a factor saying red is associated with sweet, -// // green with sour, blue with both -// TypedDiscreteFactor factor(C, F, "1 0 0 1 1 1"); -//} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - From 6def916bdbab31492719610d4b57315f66628422 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 16 May 2012 05:15:15 +0000 Subject: [PATCH 002/914] Commented out non-implemented functionality, since the interface appears to have changed - Frank? --- gtsam_unstable/discrete/tests/testCSP.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam_unstable/discrete/tests/testCSP.cpp b/gtsam_unstable/discrete/tests/testCSP.cpp index 46bf61240..5d6d22792 100644 --- a/gtsam_unstable/discrete/tests/testCSP.cpp +++ b/gtsam_unstable/discrete/tests/testCSP.cpp @@ -54,27 +54,27 @@ TEST_UNSAFE( CSP, allInOne) invalid[ID.first] = 0; invalid[UT.first] = 0; invalid[AZ.first] = 0; - EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); +// EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface // Check a valid combination DiscreteFactor::Values valid; valid[ID.first] = 0; valid[UT.first] = 1; valid[AZ.first] = 0; - EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); +// EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface // Just for fun, create the product and check it - DecisionTreeFactor product = csp.product(); +// DecisionTreeFactor product = csp.product(); // FIXME: fails due to lack of product() // product.dot("product"); - DecisionTreeFactor expectedProduct(ID & AZ & UT, "0 1 0 0 0 0 1 0"); - EXPECT(assert_equal(expectedProduct,product)); +// DecisionTreeFactor expectedProduct(ID & AZ & UT, "0 1 0 0 0 0 1 0"); +// EXPECT(assert_equal(expectedProduct,product)); // Solve CSP::sharedValues mpe = csp.optimalAssignment(); CSP::Values expected; insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 1); EXPECT(assert_equal(expected,*mpe)); - EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); +// EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface } /* ************************************************************************* */ @@ -122,7 +122,7 @@ TEST_UNSAFE( CSP, WesternUS) (MT.first,1)(WY.first,0)(NM.first,3)(CO.first,2) (ID.first,2)(UT.first,1)(AZ.first,0); EXPECT(assert_equal(expected,*mpe)); - EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); +// EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface // Write out the dual graph for hmetis #ifdef DUAL @@ -167,21 +167,21 @@ TEST_UNSAFE( CSP, AllDiff) invalid[ID.first] = 0; invalid[UT.first] = 1; invalid[AZ.first] = 0; - EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); +// EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface // Check a valid combination DiscreteFactor::Values valid; valid[ID.first] = 0; valid[UT.first] = 1; valid[AZ.first] = 2; - EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); +// EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface // Solve CSP::sharedValues mpe = csp.optimalAssignment(); CSP::Values expected; insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 2); EXPECT(assert_equal(expected,*mpe)); - EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); +// EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface // Arc-consistency vector domains; From 320c1f58e2e25b32966f92598314ead9bcf74926 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 16 May 2012 05:18:04 +0000 Subject: [PATCH 003/914] Removed empty folder From d0218cf512413f9bc4244194bfc46aef0e1d7675 Mon Sep 17 00:00:00 2001 From: bpeasle Date: Wed, 16 May 2012 18:09:59 +0000 Subject: [PATCH 004/914] --- tests/testOccupancyGrid.cpp | 191 ++++++++++++++++++++++++++++++++++++ 1 file changed, 191 insertions(+) create mode 100644 tests/testOccupancyGrid.cpp diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp new file mode 100644 index 000000000..3aad53829 --- /dev/null +++ b/tests/testOccupancyGrid.cpp @@ -0,0 +1,191 @@ +/** + * @file testOccupancyGrid.cpp + * @date May 14, 2012 + * @author Brian Peasley + * @author Frank Dellaert + */ + + +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + + +/** + * Point Class + * @brief simple class that holds x,y,z coordinates + */ +/*class Point{ +public: + double x,y,z; +};*/ + +/** + * Laser Factor + * @brief factor that encodes a laser measurements likelihood. + */ +class LaserFactor : public DiscreteFactor{ +public: + + ///constructor + LaserFactor(){ + } + + /// Find value for given assignment of values to variables + /// return 1000 if any of the non-last cell is occupied and 1 otherwise + /// Values contains all occupancy values (0 or 1) + virtual double operator()(const Values&) const{ + return 0; + } + + /// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor + virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const{ + throw runtime_error("operator DecisionTreeFactor not implemented"); + } + + virtual operator DecisionTreeFactor() const{ + throw runtime_error("operator DecisionTreeFactor not implemented"); + } +}; + +/** + * OccupancyGrid Class + * An occupancy grid is just a factor graph. + * Every cell in the occupancy grid is a variable in the factor graph. + * Measurements will create factors, as well as the prior. + */ +class OccupancyGrid : public DiscreteFactorGraph { +private: + //bool *m_grid; //array of boolean that denotes if cell is occupied or free + //Point *m_location; //location of each cell + int m_width; //number of cells wide the grid is + int m_height; //number of cells tall the grid is + double m_res; //the resolution at which the grid is created + +public: + + ///constructor + ///Creates a 2d grid of cells with the origin in the center of the grid + OccupancyGrid(double width, double height, double resolution){ + m_width = width/resolution; + m_height = height/resolution; + m_res = resolution; + + /*m_grid = (bool *)malloc(cellCount()*sizeof(bool)); + m_location = (Point *)malloc(cellCount()*sizeof(Point)); + + for(int i = 0; i < cellCount(); i++){ + m_grid[i] = false; + m_location[i].x = (i%m_width)*resolution - width/2.0; + m_location[i].y = (i/m_width)*resolution - height/2.0; + }*/ + } + + ///add a prior + void addPrior(Index cell, double prior){ + size_t numStates = 2; + DiscreteKey key(cell, numStates); + + //add a factor + vector table(2); + table[0] = 1-prior; + table[1] = prior; + add(key, table); + } + + ///add a laser measurement + void addLaser(const Pose2 &pose, double range){ + //ray trace from pose to range to find all cells the laser passes through + double x = pose.x(); //start position of the laser + double y = pose.y(); + double step = m_res/8.0; //amount to step in each iteration of laser traversal + int index; + vector cells; //ordered vector that contain the indicis of all cells hit by the laser + + //traverse laser + for(double i = 0; i < range; i += step){ + //get point on laser + x = pose.x() + i*cos(pose.theta()); + y = pose.y() + i*sin(pose.theta()); + + //get the index of the cell that holds point (x,y) + index = cellLookup(x,y); + + //add cell to list of cells if it is new + if(i == 0 || index != cells[cells.size()-1]) + cells.push_back(index); + } + + for(int i = 0; i < cells.size(); i++) + printf("%d,",cells[i]); + + //add a factor that connects all those cells + push_back(boost::make_shared()); + } + + /// returns the number of cells in the grid + int cellCount() const { + return m_width*m_height; + } + + /// returns the index of the cell in which point (x,y) lies. + int cellLookup(double x, double y) const { + //move (x,y) to the nearest resolution + x *= (1.0/m_res); + y *= (1.0/m_res); + + //round to nearest integer + x = (double)((int)x); + y = (double)((int)y); + + + //determine index + x += m_width/2; + y = m_height/2 - y; + + //bounds checking + int index = (int)(y*m_width + x); + index = index >= m_width*m_height ? -1 : index; + + return index; + } + +}; + +/* ************************************************************************* */ +TEST_UNSAFE( OccupancyGrid, Test1) { + //Build a small grid and test optimization + + //Build small grid + double width = 3; //meters + double height = 2; //meters + double resolution = 0.5; //meters + OccupancyGrid occupancyGrid(width, height, resolution); //default center to middle + + //Add measurements + Pose2 pose(0,0,0); + double range = 1.0; + + occupancyGrid.addPrior(0, 0.7); + EXPECT_LONGS_EQUAL(1, occupancyGrid.size()); + + occupancyGrid.addLaser(pose, range); + EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); + //run MCMC + +} + + + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + From c50b972dd194e9d80dfdd5edca88fa478a8278e4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 17 May 2012 16:33:51 +0000 Subject: [PATCH 005/914] Added discrete to convenience libraries dependencies --- tests/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 0dd41638a..1101a0a4b 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -2,6 +2,7 @@ set(tests_local_libs slam nonlinear linear + discrete inference geometry base From b571a2a7eeaf4f5bc49f0bd2667df260deb6c90a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 17 May 2012 18:08:34 +0000 Subject: [PATCH 006/914] Uncommented failing code, re-enabled testScheduler - both fail to compile --- gtsam_unstable/discrete/CMakeLists.txt | 3 ++- gtsam_unstable/discrete/tests/testCSP.cpp | 20 ++++++++++---------- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index b049562a5..56f62b1bf 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -16,7 +16,8 @@ set (discrete_full_libs gtsam_unstable-static) # Exclude tests that don't work -set (discrete_excluded_tests "${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp") +set (discrete_excluded_tests "") +#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp") # Add all tests gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") diff --git a/gtsam_unstable/discrete/tests/testCSP.cpp b/gtsam_unstable/discrete/tests/testCSP.cpp index 5d6d22792..4d04afb92 100644 --- a/gtsam_unstable/discrete/tests/testCSP.cpp +++ b/gtsam_unstable/discrete/tests/testCSP.cpp @@ -54,27 +54,27 @@ TEST_UNSAFE( CSP, allInOne) invalid[ID.first] = 0; invalid[UT.first] = 0; invalid[AZ.first] = 0; -// EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface // Check a valid combination DiscreteFactor::Values valid; valid[ID.first] = 0; valid[UT.first] = 1; valid[AZ.first] = 0; -// EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface // Just for fun, create the product and check it -// DecisionTreeFactor product = csp.product(); // FIXME: fails due to lack of product() + DecisionTreeFactor product = csp.product(); // FIXME: fails due to lack of product() // product.dot("product"); -// DecisionTreeFactor expectedProduct(ID & AZ & UT, "0 1 0 0 0 0 1 0"); -// EXPECT(assert_equal(expectedProduct,product)); + DecisionTreeFactor expectedProduct(ID & AZ & UT, "0 1 0 0 0 0 1 0"); + EXPECT(assert_equal(expectedProduct,product)); // Solve CSP::sharedValues mpe = csp.optimalAssignment(); CSP::Values expected; insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 1); EXPECT(assert_equal(expected,*mpe)); -// EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface } /* ************************************************************************* */ @@ -122,7 +122,7 @@ TEST_UNSAFE( CSP, WesternUS) (MT.first,1)(WY.first,0)(NM.first,3)(CO.first,2) (ID.first,2)(UT.first,1)(AZ.first,0); EXPECT(assert_equal(expected,*mpe)); -// EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface // Write out the dual graph for hmetis #ifdef DUAL @@ -167,21 +167,21 @@ TEST_UNSAFE( CSP, AllDiff) invalid[ID.first] = 0; invalid[UT.first] = 1; invalid[AZ.first] = 0; -// EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface // Check a valid combination DiscreteFactor::Values valid; valid[ID.first] = 0; valid[UT.first] = 1; valid[AZ.first] = 2; -// EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface // Solve CSP::sharedValues mpe = csp.optimalAssignment(); CSP::Values expected; insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 2); EXPECT(assert_equal(expected,*mpe)); -// EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface // Arc-consistency vector domains; From 9682745b81833262e3378ce09ab7d0aa3f05645e Mon Sep 17 00:00:00 2001 From: bpeasle Date: Fri, 18 May 2012 20:12:08 +0000 Subject: [PATCH 007/914] Added ray tracing and implemented LaserFactor::operator()(const Values &) --- tests/testOccupancyGrid.cpp | 138 +++++++++++++++++++++++++----------- 1 file changed, 96 insertions(+), 42 deletions(-) diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 3aad53829..55b256712 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -15,37 +15,44 @@ using namespace std; using namespace gtsam; - -/** - * Point Class - * @brief simple class that holds x,y,z coordinates - */ -/*class Point{ -public: - double x,y,z; -};*/ - /** * Laser Factor * @brief factor that encodes a laser measurements likelihood. */ + class LaserFactor : public DiscreteFactor{ +private: + DiscreteKeys m_cells; public: ///constructor - LaserFactor(){ + LaserFactor(const DiscreteKeys &cells) { + m_cells.resize(cells.size()); + for(unsigned int i = 0; i < cells.size(); i++) + m_cells[i] = cells[i]; } /// Find value for given assignment of values to variables /// return 1000 if any of the non-last cell is occupied and 1 otherwise /// Values contains all occupancy values (0 or 1) - virtual double operator()(const Values&) const{ - return 0; + virtual double operator()(const Values &vals) const{ + + for(unsigned int i = 0; i < m_cells.size() - 1; i++){ + if(vals.at(m_cells[i].first) == 1) + return 1000; + } + + if(vals.at(m_cells[m_cells.size() - 1].first) == 0) + return 1000; + + return 1; + + } /// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const{ - throw runtime_error("operator DecisionTreeFactor not implemented"); + throw runtime_error("operator * not implemented"); } virtual operator DecisionTreeFactor() const{ @@ -61,11 +68,12 @@ public: */ class OccupancyGrid : public DiscreteFactorGraph { private: - //bool *m_grid; //array of boolean that denotes if cell is occupied or free - //Point *m_location; //location of each cell - int m_width; //number of cells wide the grid is - int m_height; //number of cells tall the grid is - double m_res; //the resolution at which the grid is created + int m_width; //number of cells wide the grid is + int m_height; //number of cells tall the grid is + double m_res; //the resolution at which the grid is created + + DiscreteKeys m_cells; //list of keys of all cells in the grid + Values m_vals; //mapping from Index to value (0 or 1) public: @@ -76,14 +84,12 @@ public: m_height = height/resolution; m_res = resolution; - /*m_grid = (bool *)malloc(cellCount()*sizeof(bool)); - m_location = (Point *)malloc(cellCount()*sizeof(Point)); - for(int i = 0; i < cellCount(); i++){ - m_grid[i] = false; - m_location[i].x = (i%m_width)*resolution - width/2.0; - m_location[i].y = (i/m_width)*resolution - height/2.0; - }*/ + m_cells.push_back(DiscreteKey(i,2)); + m_vals.insert(pair((Index)i,0)); + } + m_vals[0]; + } ///add a prior @@ -104,8 +110,8 @@ public: double x = pose.x(); //start position of the laser double y = pose.y(); double step = m_res/8.0; //amount to step in each iteration of laser traversal - int index; - vector cells; //ordered vector that contain the indicis of all cells hit by the laser + DiscreteKey key; + DiscreteKeys cells; //list of keys of cells hit by the laser //traverse laser for(double i = 0; i < range; i += step){ @@ -113,19 +119,20 @@ public: x = pose.x() + i*cos(pose.theta()); y = pose.y() + i*sin(pose.theta()); - //get the index of the cell that holds point (x,y) - index = cellLookup(x,y); + //get the key of the cell that holds point (x,y) + key = keyLookup(x,y); //add cell to list of cells if it is new - if(i == 0 || index != cells[cells.size()-1]) - cells.push_back(index); + if(i == 0 || key != cells[cells.size()-1]) + cells.push_back(key); } - for(int i = 0; i < cells.size(); i++) - printf("%d,",cells[i]); + for(unsigned int i = 0; i < cells.size(); i++) + printf("%d,", (int)cells[i].first); //add a factor that connects all those cells - push_back(boost::make_shared()); + push_back(boost::make_shared(cells)); + } /// returns the number of cells in the grid @@ -133,8 +140,8 @@ public: return m_width*m_height; } - /// returns the index of the cell in which point (x,y) lies. - int cellLookup(double x, double y) const { + /// returns the key of the cell in which point (x,y) lies. + DiscreteKey keyLookup(double x, double y) const { //move (x,y) to the nearest resolution x *= (1.0/m_res); y *= (1.0/m_res); @@ -149,10 +156,48 @@ public: y = m_height/2 - y; //bounds checking - int index = (int)(y*m_width + x); + int index = y*m_width + x; index = index >= m_width*m_height ? -1 : index; - return index; + return m_cells[index]; + } + + /// access a cell in the grid via its index + size_t &operator[](Index index){ + return m_vals[index]; + } + const size_t operator[](Index index) const{ + return m_vals.at(index); + } + + /// access a cell in the grid via its row and column + size_t &operator()(int row, int col){ + Index index = (Index)(row*m_width + col); + return m_vals[index]; + } + const size_t operator()(int row, int col) const{ + Index index = (Index)(row*m_width + col); + return m_vals.at(index); + } + + /// prints an ASCII grid to the console + void print() const { + Index index; + printf("\n"); + for(int i = 0; i < m_height; i++){ + for(int j = 0; j < m_width; j++){ + printf("%ld ", m_vals.at(index)); + index++; + } + printf("\n"); + } + } + double operator()(int index) const{ + return (*factors_[index + 1])(m_vals); + } + + void assignments()const { + m_vals.print(); } }; @@ -176,12 +221,21 @@ TEST_UNSAFE( OccupancyGrid, Test1) { occupancyGrid.addLaser(pose, range); EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); + EXPECT_LONGS_EQUAL(1000, occupancyGrid(0)); + + occupancyGrid[16] = 1; + EXPECT_LONGS_EQUAL(1, occupancyGrid(0)); + + occupancyGrid[15] = 1; + EXPECT_LONGS_EQUAL(1000, occupancyGrid(0)); + + occupancyGrid[16] = 0; + EXPECT_LONGS_EQUAL(1000, occupancyGrid(0)); + + //run MCMC - } - - /* ************************************************************************* */ int main() { TestResult tr; From ba6439dbb146d5235d5eaffd9557eaed8ea5dfaf Mon Sep 17 00:00:00 2001 From: bpeasle Date: Fri, 18 May 2012 22:09:20 +0000 Subject: [PATCH 008/914] Implemented a very slow Metropolis algorithm --- tests/testOccupancyGrid.cpp | 170 ++++++++++++++++++++++++------------ 1 file changed, 116 insertions(+), 54 deletions(-) diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 55b256712..2289e444b 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -9,6 +9,9 @@ #include #include #include +#include +#include + #include #include @@ -22,32 +25,34 @@ using namespace gtsam; class LaserFactor : public DiscreteFactor{ private: - DiscreteKeys m_cells; + //FIX ME + //m_cells changed to vector + DiscreteKeys m_cells; ///cells in which laser passes through + public: ///constructor - LaserFactor(const DiscreteKeys &cells) { - m_cells.resize(cells.size()); - for(unsigned int i = 0; i < cells.size(); i++) - m_cells[i] = cells[i]; - } + LaserFactor(const DiscreteKeys &cells) : m_cells(cells) {} - /// Find value for given assignment of values to variables - /// return 1000 if any of the non-last cell is occupied and 1 otherwise - /// Values contains all occupancy values (0 or 1) + /** + * Find value for given assignment of values to variables + * return 1000 if any of the non-last cell is occupied and 1 otherwise + * Values contains all occupancy values (0 or 1) + */ virtual double operator()(const Values &vals) const{ - for(unsigned int i = 0; i < m_cells.size() - 1; i++){ + // loops through all but the last cell and checks that they are all 0. Otherwise return 1000. + for(Index i = 0; i < m_cells.size() - 1; i++){ if(vals.at(m_cells[i].first) == 1) return 1000; } + // check if the last cell hit by the laser is 1. return 1000 otherwise. if(vals.at(m_cells[m_cells.size() - 1].first) == 0) return 1000; return 1; - } /// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor @@ -68,15 +73,23 @@ public: */ class OccupancyGrid : public DiscreteFactorGraph { private: - int m_width; //number of cells wide the grid is - int m_height; //number of cells tall the grid is - double m_res; //the resolution at which the grid is created + size_t m_width; //number of cells wide the grid is + size_t m_height; //number of cells tall the grid is + double m_res; //the resolution at which the grid is created DiscreteKeys m_cells; //list of keys of all cells in the grid - Values m_vals; //mapping from Index to value (0 or 1) + public: + class Occupancy : public Values { + private: + + public: + + }; + + typedef std::vector Marginals; ///constructor ///Creates a 2d grid of cells with the origin in the center of the grid OccupancyGrid(double width, double height, double resolution){ @@ -84,12 +97,16 @@ public: m_height = height/resolution; m_res = resolution; - for(int i = 0; i < cellCount(); i++){ + for(size_t i = 0; i < cellCount(); i++) m_cells.push_back(DiscreteKey(i,2)); - m_vals.insert(pair((Index)i,0)); - } - m_vals[0]; + } + Occupancy emptyOccupancy(){ + Occupancy occupancy; //mapping from Index to value (0 or 1) + for(size_t i = 0; i < cellCount(); i++) + occupancy.insert(pair((Index)i,0)); + + return occupancy; } ///add a prior @@ -127,7 +144,7 @@ public: cells.push_back(key); } - for(unsigned int i = 0; i < cells.size(); i++) + for(Index i = 0; i < cells.size(); i++) printf("%d,", (int)cells[i].first); //add a factor that connects all those cells @@ -136,7 +153,7 @@ public: } /// returns the number of cells in the grid - int cellCount() const { + size_t cellCount() const { return m_width*m_height; } @@ -156,48 +173,85 @@ public: y = m_height/2 - y; //bounds checking - int index = y*m_width + x; + size_t index = y*m_width + x; index = index >= m_width*m_height ? -1 : index; return m_cells[index]; } - /// access a cell in the grid via its index - size_t &operator[](Index index){ - return m_vals[index]; - } - const size_t operator[](Index index) const{ - return m_vals.at(index); - } + /// access a cell in the grid via its row and column - size_t &operator()(int row, int col){ + /*size_t &cell(int row, int col){ Index index = (Index)(row*m_width + col); return m_vals[index]; } - const size_t operator()(int row, int col) const{ + const size_t cell(int row, int col) const{ Index index = (Index)(row*m_width + col); return m_vals.at(index); - } + }*/ /// prints an ASCII grid to the console - void print() const { - Index index; - printf("\n"); - for(int i = 0; i < m_height; i++){ - for(int j = 0; j < m_width; j++){ - printf("%ld ", m_vals.at(index)); - index++; - } - printf("\n"); - } - } - double operator()(int index) const{ - return (*factors_[index + 1])(m_vals); +// void print() const { +// Index index; +// printf("\n"); +// for(size_t i = 0; i < m_height; i++){ +// for(size_t j = 0; j < m_width; j++){ +// printf("%ld ", m_vals.at(index)); +// index++; +// } +// printf("\n"); +// } +// } + + //FIX ME + //better name + double laserFactorValue(int index, const Occupancy &occupancy) const{ + return (*factors_[index + 1])(occupancy); } - void assignments()const { - m_vals.print(); + /** + * @brief Run a metropolis sampler. + * @param iterations defines the number of iterations to run. + * @return vector of marginal probabilities. + */ + Marginals runMetropolis(size_t iterations){ + Occupancy occupancy = emptyOccupancy(); + + size_t size = cellCount(); + Marginals marginals(size); + + boost::random::mt19937 rng; + boost::random::uniform_int_distribution six(0,size-1); + + // run Metropolis for the requested number of operations + // compute initial probability of occupancy grid, P(x_t) + double Px = (*this)(occupancy); + for(size_t it; it < iterations; it++){ + //choose a random cell + Index x = six(rng); + + //flip the state of a random cell, x + occupancy[x] = 1 - occupancy[x]; + + //compute probability of new occupancy grid, P(x') + // sum over all LaserFactor::operator() + double Px_prime = (*this)(occupancy); + + //calculate acceptance ratio, a + double a = Px_prime/Px; + + + //if a >= 1 otherwise accept with probability a + //if we accept the new state P(x_t) = P(x') + if(a >= 1){ + Px = Px_prime; + }else{ + occupancy[x] = 1 - occupancy[x]; + } + } + + return marginals; } }; @@ -221,19 +275,27 @@ TEST_UNSAFE( OccupancyGrid, Test1) { occupancyGrid.addLaser(pose, range); EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); - EXPECT_LONGS_EQUAL(1000, occupancyGrid(0)); - occupancyGrid[16] = 1; - EXPECT_LONGS_EQUAL(1, occupancyGrid(0)); - occupancyGrid[15] = 1; - EXPECT_LONGS_EQUAL(1000, occupancyGrid(0)); + OccupancyGrid::Occupancy occupancy = occupancyGrid.emptyOccupancy(); + EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); - occupancyGrid[16] = 0; - EXPECT_LONGS_EQUAL(1000, occupancyGrid(0)); + + occupancy[16] = 1; + EXPECT_LONGS_EQUAL(1, occupancyGrid.laserFactorValue(0,occupancy)); + + occupancy[15] = 1; + EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); + + occupancy[16] = 0; + EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); //run MCMC + OccupancyGrid::Marginals occupancyMarginals = occupancyGrid.runMetropolis(5); + EXPECT_LONGS_EQUAL( (width*height)/pow(resolution,2), occupancyMarginals.size()); + //select a cell at a random to flip + } /* ************************************************************************* */ From 720ff3ac82b037304bf6fc8ab5ba846aa590ae1d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 19 May 2012 02:21:21 +0000 Subject: [PATCH 009/914] Added a flag to optionally remove examples from "all" target --- CMakeLists.txt | 2 ++ examples/CMakeLists.txt | 6 ++++++ gtsam_unstable/discrete/CMakeLists.txt | 8 ++++++++ 3 files changed, 16 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index e6c9bc422..5d2acb464 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -84,6 +84,7 @@ endif(GTSAM_USE_QUATERNIONS) # Alternative version to keep tests from building during make install # Use the EXCLUDE_FROM_ALL property on test executables option(GTSAM_ENABLE_INSTALL_TEST_FIX "Enable/Disable fix to remove dependency of tests on 'all' target" ON) +option(GTSAM_ENABLE_INSTALL_EXAMPLE_FIX "Enable/Disable fix to remove dependency of examples on 'all' target" OFF) # Pull in infrastructure if (GTSAM_BUILD_TESTS) @@ -162,6 +163,7 @@ if(GTSAM_UNSTABLE_AVAILABLE) print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") endif() print_config_flag(${GTSAM_ENABLE_INSTALL_TEST_FIX} "Tests excluded from all target ") +print_config_flag(${GTSAM_ENABLE_INSTALL_EXAMPLE_FIX} "Examples excluded from all target ") string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper) message(STATUS " Build type : ${CMAKE_BUILD_TYPE}") message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}") diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 55f2db60b..116379489 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -8,6 +8,12 @@ foreach(example_src ${example_srcs} ) message(STATUS "Adding Example ${example_bin}") add_dependencies(examples ${example_bin}) add_executable(${example_bin} ${example_src}) + + # Disable building during make all/install + if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX) + set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON) + endif() + target_link_libraries(${example_bin} gtsam-static) add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN}) endforeach(example_src) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index 56f62b1bf..f3c481ad4 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -25,6 +25,14 @@ gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_fu # add examples foreach(example schedulingExample schedulingQuals12) add_executable(${example} "examples/${example}.cpp") + + # Disable building during make all/install + if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX) + set_target_properties(${example} PROPERTIES EXCLUDE_FROM_ALL ON) + endif() + + add_dependencies(examples ${example}) + add_dependencies(${example} gtsam-static gtsam_unstable-static) target_link_libraries(${example} gtsam-static gtsam_unstable-static) add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN}) From 272734fab7ecd4fa345934ad2165ea42c1a79c1a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 May 2012 16:53:07 +0000 Subject: [PATCH 010/914] Information about XCode version 4.3 --- README | 1 + 1 file changed, 1 insertion(+) diff --git a/README b/README index 8ec8a99f8..45698af8e 100644 --- a/README +++ b/README @@ -53,6 +53,7 @@ Important Installation Notes GTSAM requires the following libraries to be installed on your system: - BOOST version 1.40 or greater (install through Linux repositories or MacPorts) - Cmake version 2.6 or higher + - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher Tested compilers - GCC 4.2-4.7 From fd80a9da904f036a5bddf164398813e61d80ce53 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 May 2012 17:31:55 +0000 Subject: [PATCH 011/914] const correctness, moved optimizer to cpp --- gtsam/slam/planarSLAM.cpp | 7 ++++++- gtsam/slam/planarSLAM.h | 5 +---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/planarSLAM.cpp b/gtsam/slam/planarSLAM.cpp index b5f7b18ef..b490a76cb 100644 --- a/gtsam/slam/planarSLAM.cpp +++ b/gtsam/slam/planarSLAM.cpp @@ -16,7 +16,7 @@ **/ #include -#include +#include // Use planarSLAM namespace for specific SLAM instance namespace planarSLAM { @@ -63,6 +63,11 @@ namespace planarSLAM { } /* ************************************************************************* */ + Values Graph::optimize(const Values& initialEstimate) const { + return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); + } + + /* ************************************************************************* */ } // planarSLAM diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index 07e6896e5..818879f26 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -24,7 +24,6 @@ #include #include #include -#include #include // Use planarSLAM namespace for specific SLAM instance @@ -108,9 +107,7 @@ namespace planarSLAM { void addBearingRange(Index poseKey, Index pointKey, const Rot2& bearing, double range, const SharedNoiseModel& model); /// Optimize - Values optimize(const Values& initialEstimate) { - return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); - } + Values optimize(const Values& initialEstimate) const; }; } // planarSLAM From 8af4581139e968c70b05b746e1c4164b5689857d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 20 May 2012 17:38:46 +0000 Subject: [PATCH 012/914] Making GTSAM_BUILD_EXAMPLES flag affect unstable examples --- gtsam_unstable/discrete/CMakeLists.txt | 31 +++++++++++++------------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index f3c481ad4..8c94b0e46 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -23,18 +23,19 @@ set (discrete_excluded_tests "") gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") # add examples -foreach(example schedulingExample schedulingQuals12) - add_executable(${example} "examples/${example}.cpp") - - # Disable building during make all/install - if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX) - set_target_properties(${example} PROPERTIES EXCLUDE_FROM_ALL ON) - endif() - - add_dependencies(examples ${example}) - - add_dependencies(${example} gtsam-static gtsam_unstable-static) - target_link_libraries(${example} gtsam-static gtsam_unstable-static) - add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN}) -endforeach(example) - +if (GTSAM_BUILD_EXAMPLES) + foreach(example schedulingExample schedulingQuals12) + add_executable(${example} "examples/${example}.cpp") + + # Disable building during make all/install + if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX) + set_target_properties(${example} PROPERTIES EXCLUDE_FROM_ALL ON) + endif() + + add_dependencies(examples ${example}) + + add_dependencies(${example} gtsam-static gtsam_unstable-static) + target_link_libraries(${example} gtsam-static gtsam_unstable-static) + add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN}) + endforeach(example) +endif (GTSAM_BUILD_EXAMPLES) From edb9c17962d7e66908e904dd674b50b5f9bd19de Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 May 2012 20:31:33 +0000 Subject: [PATCH 013/914] Cleaned up planar SLAM example and created new Localization example --- examples/LocalizationExample.cpp | 63 +++++++++++++++++++++++++ examples/PlanarSLAMExample_easy.cpp | 71 +++++++++++++---------------- 2 files changed, 95 insertions(+), 39 deletions(-) create mode 100644 examples/LocalizationExample.cpp diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp new file mode 100644 index 000000000..fdf522f73 --- /dev/null +++ b/examples/LocalizationExample.cpp @@ -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 LocalizationExample.cpp + * @brief Simple robot localization example + * @author Frank Dellaert + */ + +// pull in the 2D PoseSLAM domain with all typedefs and helper functions defined +#include + +using namespace std; +using namespace gtsam; + +/** + * Example of a simple 2D localization example + * - Robot poses are facing along the X axis (horizontal, to the right in 2D) + * - The robot moves 2 meters each step + * - We have full odometry between poses + */ +int main(int argc, char** argv) { + + // create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) + pose2SLAM::Graph graph; + + // add a Gaussian prior on pose x_1 + Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin + SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + graph.addPrior(1, priorMean, priorNoise); // add directly to graph + + // add two odometry factors + Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + graph.addOdometry(1, 2, odometry, odometryNoise); + graph.addOdometry(2, 3, odometry, odometryNoise); + + // print + graph.print("\nFactor graph:\n"); + + // create (deliberatly inaccurate) initial estimate + pose2SLAM::Values initialEstimate; + initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); + initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); + + initialEstimate.print("\nInitial estimate:\n "); + + // optimize using Levenberg-Marquardt optimization with an ordering from colamd + pose2SLAM::Values result = graph.optimize(initialEstimate); + result.print("\nFinal result:\n "); + + return 0; +} + diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample_easy.cpp index 912589080..5039b1145 100644 --- a/examples/PlanarSLAMExample_easy.cpp +++ b/examples/PlanarSLAMExample_easy.cpp @@ -15,64 +15,57 @@ * @author Alex Cunningham */ -#include -#include - // pull in the planar SLAM domain with all typedefs and helper functions defined #include -#include using namespace std; using namespace gtsam; -using namespace planarSLAM; /** - * In this version of the system we make the following assumptions: - * - All values are axis aligned - * - Robot poses are facing along the X axis (horizontal, to the right in images) + * Example of a simple 2D planar slam example with landmarls + * - The robot and landmarks are on a 2 meter grid + * - Robot poses are facing along the X axis (horizontal, to the right in 2D) + * - The robot moves 2 meters each step + * - We have full odometry between poses * - We have bearing and range information for measurements - * - We have full odometry for measurements - * - The robot and landmarks are on a grid, moving 2 meters each step * - Landmarks are 2 meters away from the robot trajectory */ int main(int argc, char** argv) { - // create graph container and add factors to it - Graph graph; + // create the graph (defined in planarSlam.h, derived from NonlinearFactorGraph) + planarSLAM::Graph graph; - /* add prior */ - // gaussian for prior - SharedDiagonal prior_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - Pose2 prior_measurement(0.0, 0.0, 0.0); // prior at origin - graph.addPrior(1, prior_measurement, prior_model); // add directly to graph + // add a Gaussian prior on pose x_1 + Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin + SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + graph.addPrior(1, priorMean, priorNoise); // add directly to graph - /* add odometry */ - // general noisemodel for odometry - SharedDiagonal odom_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - Pose2 odom_measurement(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - graph.addOdometry(1, 2, odom_measurement, odom_model); - graph.addOdometry(2, 3, odom_measurement, odom_model); + // add two odometry factors + Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + graph.addOdometry(1, 2, odometry, odometryNoise); + graph.addOdometry(2, 3, odometry, odometryNoise); - /* add measurements */ - // general noisemodel for measurements - SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); + // create a noise model for the landmark measurements + SharedDiagonal measurementNoise(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range // create the measurement values - indices are (pose id, landmark id) Rot2 bearing11 = Rot2::fromDegrees(45), - bearing21 = Rot2::fromDegrees(90), - bearing32 = Rot2::fromDegrees(90); + bearing21 = Rot2::fromDegrees(90), + bearing32 = Rot2::fromDegrees(90); double range11 = sqrt(4+4), - range21 = 2.0, - range32 = 2.0; + range21 = 2.0, + range32 = 2.0; - // create bearing/range factors and add them - graph.addBearingRange(1, 1, bearing11, range11, meas_model); - graph.addBearingRange(2, 1, bearing21, range21, meas_model); - graph.addBearingRange(3, 2, bearing32, range32, meas_model); + // add bearing/range factors (created by "addBearingRange") + graph.addBearingRange(1, 1, bearing11, range11, measurementNoise); + graph.addBearingRange(2, 1, bearing21, range21, measurementNoise); + graph.addBearingRange(3, 2, bearing32, range32, measurementNoise); - graph.print("full graph"); + // print + graph.print("Factor graph"); - // initialize to noisy points + // create (deliberatly inaccurate) initial estimate planarSLAM::Values initialEstimate; initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); @@ -80,11 +73,11 @@ int main(int argc, char** argv) { initialEstimate.insertPoint(1, Point2(1.8, 2.1)); initialEstimate.insertPoint(2, Point2(4.1, 1.8)); - initialEstimate.print("initial estimate"); + initialEstimate.print("Initial estimate:\n "); // optimize using Levenberg-Marquardt optimization with an ordering from colamd - planarSLAM::Values result = LevenbergMarquardtOptimizer(graph, initialEstimate).optimize(); - result.print("final result"); + planarSLAM::Values result = graph.optimize(initialEstimate); + result.print("Final result:\n "); return 0; } From 33de8d6c0026d6df7cc6690dddbc440e27f68bc6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 May 2012 20:31:56 +0000 Subject: [PATCH 014/914] Print with less precision --- gtsam/geometry/Pose2.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index a15929c67..e39dbc803 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -20,6 +20,8 @@ #include #include #include +#include +#include using namespace std; @@ -44,7 +46,7 @@ Matrix Pose2::matrix() const { /* ************************************************************************* */ void Pose2::print(const string& s) const { - cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl; + cout << s << setprecision(2) << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl; } /* ************************************************************************* */ From 00c56b0d0aa712edd3f795a5ca8f04e8e2beb231 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 May 2012 20:32:16 +0000 Subject: [PATCH 015/914] Fixed small formatting glitches --- gtsam/nonlinear/Values.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index c3d3bd8df..a6804c1a6 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -41,7 +41,7 @@ namespace gtsam { /* ************************************************************************* */ void Values::print(const string& str, const KeyFormatter& keyFormatter) const { - cout << str << "Values with " << size() << " values:\n" << endl; + cout << str << "Values with " << size() << " values:" << endl; for(const_iterator key_value = begin(); key_value != end(); ++key_value) { cout << " " << keyFormatter(key_value->key) << ": "; key_value->value.print(""); From 7a28e6d5cb5b3c523f2d5f0e70dbe76e280085fb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 20 May 2012 22:02:11 +0000 Subject: [PATCH 016/914] marginals --- examples/LocalizationExample.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index fdf522f73..6b9a48339 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -18,6 +18,13 @@ // pull in the 2D PoseSLAM domain with all typedefs and helper functions defined #include +// include this for marginals +#include +#include + +#include +#include + using namespace std; using namespace gtsam; @@ -58,6 +65,14 @@ int main(int argc, char** argv) { pose2SLAM::Values result = graph.optimize(initialEstimate); result.print("\nFinal result:\n "); + // use an explicit Optimizer object so we can query the marginals + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); + Marginals marginals(graph, result); + cout.precision(2); + cout << "\nP1:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(1)) << endl; + cout << "\nP2:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(2)) << endl; + cout << "\nP3:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(3)) << endl; + return 0; } From 861d1d7dbd123fe6ae833952624303625b7ebd23 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 May 2012 05:17:35 +0000 Subject: [PATCH 017/914] Fixed small formatting glitches --- gtsam/linear/NoiseModel.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index b6472061f..073097ee2 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -226,7 +226,7 @@ Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) { /* ************************************************************************* */ void Diagonal::print(const string& name) const { - gtsam::print(sigmas_, name + ": diagonal sigmas"); + gtsam::print(sigmas_, name + "diagonal sigmas"); } /* ************************************************************************* */ @@ -290,8 +290,8 @@ Constrained::shared_ptr Constrained::MixedSigmas(const Vector& mu, const Vector& /* ************************************************************************* */ void Constrained::print(const std::string& name) const { - gtsam::print(sigmas_, name + ": constrained sigmas"); - gtsam::print(mu_, name + ": constrained mu"); + gtsam::print(sigmas_, name + "constrained sigmas"); + gtsam::print(mu_, name + "constrained mu"); } /* ************************************************************************* */ @@ -436,7 +436,7 @@ Isotropic::shared_ptr Isotropic::Variance(size_t dim, double variance, bool smar /* ************************************************************************* */ void Isotropic::print(const string& name) const { - cout << name << ": isotropic sigma " << " " << sigma_ << endl; + cout << name << "isotropic sigma " << " " << sigma_ << endl; } /* ************************************************************************* */ @@ -480,7 +480,7 @@ Vector Isotropic::sample() const { // Unit /* ************************************************************************* */ void Unit::print(const std::string& name) const { - cout << name << ": unit (" << dim_ << ") " << endl; + cout << name << "unit (" << dim_ << ") " << endl; } /* ************************************************************************* */ @@ -583,7 +583,7 @@ void Base::reweight(Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const { /* ************************************************************************* */ void Null::print(const std::string &s="") const -{ cout << s << ": null ()" << endl; } +{ cout << s << "null ()" << endl; } Null::shared_ptr Null::Create() { return shared_ptr(new Null()); } @@ -604,7 +604,7 @@ double Fair::weight(const double &error) const { return 1.0 / (1.0 + fabs(error)/c_); } void Fair::print(const std::string &s="") const -{ cout << s << ": fair (" << c_ << ")" << endl; } +{ cout << s << "fair (" << c_ << ")" << endl; } bool Fair::equals(const Base &expected, const double tol) const { const Fair* p = dynamic_cast (&expected); @@ -632,7 +632,7 @@ double Huber::weight(const double &error) const { } void Huber::print(const std::string &s="") const { - cout << s << ": huber (" << k_ << ")" << endl; + cout << s << "huber (" << k_ << ")" << endl; } bool Huber::equals(const Base &expected, const double tol) const { From 5a397f0c2520affc83a3bb3d4c34bb8311896940 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 May 2012 05:18:06 +0000 Subject: [PATCH 018/914] Second localization example, with GPS-like factors --- examples/LocalizationExample2.cpp | 99 +++++++++++++++++++++++++++++++ 1 file changed, 99 insertions(+) create mode 100644 examples/LocalizationExample2.cpp diff --git a/examples/LocalizationExample2.cpp b/examples/LocalizationExample2.cpp new file mode 100644 index 000000000..419975537 --- /dev/null +++ b/examples/LocalizationExample2.cpp @@ -0,0 +1,99 @@ +/* ---------------------------------------------------------------------------- + + * 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 LocalizationExample.cpp + * @brief Simple robot localization example + * @author Frank Dellaert + */ + +// pull in the 2D PoseSLAM domain with all typedefs and helper functions defined +#include + +// include this for marginals +#include +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +/** + * UnaryFactor + * Example on how to create a GPS-like factor on position alone. + */ +class UnaryFactor: public NoiseModelFactor1 { + double mx_, my_; ///< X and Y measurements + +public: + UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model): + NoiseModelFactor1(model, j), mx_(x), my_(y) {} + + 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); + return Vector_(2, q.x() - mx_, q.y() - my_); + } +}; + +/** + * Example of a more complex 2D localization example + * - Robot poses are facing along the X axis (horizontal, to the right in 2D) + * - The robot moves 2 meters each step + * - We have full odometry between poses + * - We have unary measurement factors at eacht time step + */ +int main(int argc, char** argv) { + + // create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) + pose2SLAM::Graph graph; + + // add two odometry factors + Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + graph.addOdometry(1, 2, odometry, odometryNoise); + graph.addOdometry(2, 3, odometry, odometryNoise); + + // add unary measurement factors, like GPS, on all three poses + SharedDiagonal noiseModel(Vector_(2, 0.1, 0.1)); // 10cm std on x,y + Symbol x1('x',1), x2('x',2), x3('x',3); + graph.push_back(boost::make_shared(x1, 0, 0, noiseModel)); + graph.push_back(boost::make_shared(x2, 2, 0, noiseModel)); + graph.push_back(boost::make_shared(x3, 4, 0, noiseModel)); + + // print + graph.print("\nFactor graph:\n"); + + // create (deliberatly inaccurate) initial estimate + pose2SLAM::Values initialEstimate; + initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); + initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); + + initialEstimate.print("\nInitial estimate:\n "); + + // use an explicit Optimizer object, used for both optimization and marginal inference + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); + pose2SLAM::Values result = optimizer.optimize(); + result.print("\nFinal result:\n "); + Values resultMultifrontal = optimizer.optimize(); + Marginals marginals(graph, result); + cout.precision(2); + cout << "\nP1:\n" << marginals.marginalCovariance(x1) << endl; + cout << "\nP2:\n" << marginals.marginalCovariance(x2) << endl; + cout << "\nP3:\n" << marginals.marginalCovariance(x3) << endl; + + return 0; +} + From 8938c659b66604d09c2bf2dce831e41ce8d86ff3 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 May 2012 17:57:50 +0000 Subject: [PATCH 019/914] removed broken definitions --- gtsam.h | 155 -------------------------------------------------------- 1 file changed, 155 deletions(-) diff --git a/gtsam.h b/gtsam.h index 18c8921cb..3fed4da7f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -535,158 +535,3 @@ class Graph { // TODO: add factors, etc. }///\namespace simulated2DOriented - - -//// These are considered to be broken and will be added back as they start working -//// It's assumed that there have been interface changes that might break this -// -//class Ordering{ -// Ordering(string key); -// void print(string s) const; -// bool equals(const Ordering& ord, double tol) const; -// Ordering subtract(const Ordering& keys) const; -// void unique (); -// void reverse (); -// void push_back(string s); -//}; -// -//class GaussianFactorSet { -// GaussianFactorSet(); -// void push_back(GaussianFactor* factor); -//}; -// -//class Simulated2DPosePrior { -// Simulated2DPosePrior(Point2& mu, const SharedDiagonal& model, int i); -// void print(string s) const; -// double error(const Simulated2DValues& c) const; -//}; -// -//class Simulated2DOrientedPosePrior { -// Simulated2DOrientedPosePrior(Pose2& mu, const SharedDiagonal& model, int i); -// void print(string s) const; -// double error(const Simulated2DOrientedValues& c) const; -//}; -// -//class Simulated2DPointPrior { -// Simulated2DPointPrior(Point2& mu, const SharedDiagonal& model, int i); -// void print(string s) const; -// double error(const Simulated2DValues& c) const; -//}; -// -//class Simulated2DOdometry { -// Simulated2DOdometry(Point2& mu, const SharedDiagonal& model, int i1, int i2); -// void print(string s) const; -// double error(const Simulated2DValues& c) const; -//}; -// -//class Simulated2DOrientedOdometry { -// Simulated2DOrientedOdometry(Pose2& mu, const SharedDiagonal& model, int i1, int i2); -// void print(string s) const; -// double error(const Simulated2DOrientedValues& c) const; -//}; -// -//class Simulated2DMeasurement { -// Simulated2DMeasurement(Point2& mu, const SharedDiagonal& model, int i, int j); -// void print(string s) const; -// double error(const Simulated2DValues& c) const; -//}; -// -//class GaussianFactor { -// GaussianFactor(string key1, -// Matrix A1, -// Vector b_in, -// const SharedDiagonal& model); -// GaussianFactor(string key1, -// Matrix A1, -// string key2, -// Matrix A2, -// Vector b_in, -// const SharedDiagonal& model); -// GaussianFactor(string key1, -// Matrix A1, -// string key2, -// Matrix A2, -// string key3, -// Matrix A3, -// Vector b_in, -// const SharedDiagonal& model); -// bool involves(string key) const; -// Matrix getA(string key) const; -// pair matrix(const Ordering& ordering) const; -// pair eliminate(string key) const; -//}; -// -//class GaussianFactorGraph { -// GaussianConditional* eliminateOne(string key); -// GaussianBayesNet* eliminate_(const Ordering& ordering); -// VectorValues* optimize_(const Ordering& ordering); -// pair matrix(const Ordering& ordering) const; -// VectorValues* steepestDescent_(const VectorValues& x0) const; -// VectorValues* conjugateGradientDescent_(const VectorValues& x0) const; -//}; -// -//class gtsam::Pose2Values{ -// Pose2Values(); -// Pose2 get(string key) const; -// void insert(string name, const gtsam::Pose2& val); -// void print(string s) const; -// void clear(); -// int size(); -//}; -// -//class gtsam::Pose2Factor { -// Pose2Factor(string key1, string key2, -// const gtsam::Pose2& measured, Matrix measurement_covariance); -// void print(string name) const; -// double error(const gtsam::Pose2Values& c) const; -// size_t size() const; -// GaussianFactor* linearize(const gtsam::Pose2Values& config) const; -//}; -// -//class gtsam::pose2SLAM::Graph{ -// pose2SLAM::Graph(); -// void print(string s) const; -// GaussianFactorGraph* linearize_(const gtsam::Pose2Values& config) const; -// void push_back(Pose2Factor* factor); -//}; -// -//class SymbolicFactor{ -// SymbolicFactor(const Ordering& keys); -// void print(string s) const; -//}; -// -//class Simulated2DPosePrior { -// GaussianFactor* linearize(const Simulated2DValues& config) const; -//}; -// -//class Simulated2DOrientedPosePrior { -// GaussianFactor* linearize(const Simulated2DOrientedValues& config) const; -//}; -// -//class Simulated2DPointPrior { -// GaussianFactor* linearize(const Simulated2DValues& config) const; -//}; -// -//class Simulated2DOdometry { -// GaussianFactor* linearize(const Simulated2DValues& config) const; -//}; -// -//class Simulated2DOrientedOdometry { -// GaussianFactor* linearize(const Simulated2DOrientedValues& config) const; -//}; -// -//class Simulated2DMeasurement { -// GaussianFactor* linearize(const Simulated2DValues& config) const; -//}; -// -//class gtsam::Pose2SLAMOptimizer { -// Pose2SLAMOptimizer(string dataset_name); -// void print(string s) const; -// void update(Vector x) const; -// Vector optimize() const; -// double error() const; -// Matrix a1() const; -// Matrix a2() const; -// Vector b1() const; -// Vector b2() const; -//}; From d4a70b66d96fd415a2676444481892503d8d2f9e Mon Sep 17 00:00:00 2001 From: bpeasle Date: Mon, 21 May 2012 19:06:26 +0000 Subject: [PATCH 020/914] Added code to run MCMC with real data. --- tests/testOccupancyGrid.cpp | 260 +++++++++++++++++++++++------------- 1 file changed, 165 insertions(+), 95 deletions(-) diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 2289e444b..542c144f4 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -12,12 +12,14 @@ #include #include +#include #include #include using namespace std; using namespace gtsam; + /** * Laser Factor * @brief factor that encodes a laser measurements likelihood. @@ -25,14 +27,12 @@ using namespace gtsam; class LaserFactor : public DiscreteFactor{ private: - //FIX ME - //m_cells changed to vector - DiscreteKeys m_cells; ///cells in which laser passes through + vector m_cells; ///cells in which laser passes through public: ///constructor - LaserFactor(const DiscreteKeys &cells) : m_cells(cells) {} + LaserFactor(const vector &cells) : m_cells(cells) {} /** * Find value for given assignment of values to variables @@ -43,13 +43,13 @@ public: // loops through all but the last cell and checks that they are all 0. Otherwise return 1000. for(Index i = 0; i < m_cells.size() - 1; i++){ - if(vals.at(m_cells[i].first) == 1) + if(vals.at(m_cells[i]) == 1) return 1000; } - // check if the last cell hit by the laser is 1. return 1000 otherwise. - if(vals.at(m_cells[m_cells.size() - 1].first) == 0) - return 1000; + // check if the last cell hit by the laser is 1. return 900 otherwise. + if(vals.at(m_cells[m_cells.size() - 1]) == 0) + return 900; return 1; @@ -73,34 +73,42 @@ public: */ class OccupancyGrid : public DiscreteFactorGraph { private: - size_t m_width; //number of cells wide the grid is - size_t m_height; //number of cells tall the grid is - double m_res; //the resolution at which the grid is created + size_t width_; //number of cells wide the grid is + size_t height_; //number of cells tall the grid is + double res_; //the resolution at which the grid is created - DiscreteKeys m_cells; //list of keys of all cells in the grid + vector cells_; //list of keys of all cells in the grid + vector laser_indices_; //indices of the laser factor in factors_ public: + size_t width() const { + return width_; + } + size_t height() const { + return height_; + } + // should we just not typedef Values Occupancy; ? class Occupancy : public Values { private: - public: - }; + typedef std::vector Marginals; ///constructor ///Creates a 2d grid of cells with the origin in the center of the grid OccupancyGrid(double width, double height, double resolution){ - m_width = width/resolution; - m_height = height/resolution; - m_res = resolution; + width_ = width/resolution; + height_ = height/resolution; + res_ = resolution; - for(size_t i = 0; i < cellCount(); i++) - m_cells.push_back(DiscreteKey(i,2)); + for(Index i = 0; i < cellCount(); i++) + cells_.push_back(i); } + /// Returns an empty occupancy grid of size width_ x height_ Occupancy emptyOccupancy(){ Occupancy occupancy; //mapping from Index to value (0 or 1) for(size_t i = 0; i < cellCount(); i++) @@ -123,12 +131,13 @@ public: ///add a laser measurement void addLaser(const Pose2 &pose, double range){ - //ray trace from pose to range to find all cells the laser passes through + //ray trace from pose to range t//a >= 1 accept new stateo find all cells the laser passes through double x = pose.x(); //start position of the laser double y = pose.y(); - double step = m_res/8.0; //amount to step in each iteration of laser traversal - DiscreteKey key; - DiscreteKeys cells; //list of keys of cells hit by the laser + double step = res_/8.0; //amount to step in each iteration of laser traversal + + Index key; + vector cells; //list of keys of cells hit by the laser //traverse laser for(double i = 0; i < range; i += step){ @@ -136,6 +145,7 @@ public: x = pose.x() + i*cos(pose.theta()); y = pose.y() + i*sin(pose.theta()); + //printf("%lf %lf\n", x, y); //get the key of the cell that holds point (x,y) key = keyLookup(x,y); @@ -144,70 +154,64 @@ public: cells.push_back(key); } - for(Index i = 0; i < cells.size(); i++) - printf("%d,", (int)cells[i].first); +// for(size_t i = 0; i < cells.size(); i++) +// printf("%ld ", cells[i]); +// printf("\n"); //add a factor that connects all those cells + laser_indices_.push_back(factors_.size()); push_back(boost::make_shared(cells)); } /// returns the number of cells in the grid size_t cellCount() const { - return m_width*m_height; + return width_*height_; } /// returns the key of the cell in which point (x,y) lies. - DiscreteKey keyLookup(double x, double y) const { + Index keyLookup(double x, double y) const { //move (x,y) to the nearest resolution - x *= (1.0/m_res); - y *= (1.0/m_res); + x *= (1.0/res_); + y *= (1.0/res_); //round to nearest integer x = (double)((int)x); y = (double)((int)y); - //determine index - x += m_width/2; - y = m_height/2 - y; + x += width_/2; + y = height_/2 - y; //bounds checking - size_t index = y*m_width + x; - index = index >= m_width*m_height ? -1 : index; + size_t index = y*width_ + x; + index = index >= width_*height_ ? -1 : index; - return m_cells[index]; + return cells_[index]; } - - - /// access a cell in the grid via its row and column - /*size_t &cell(int row, int col){ - Index index = (Index)(row*m_width + col); - return m_vals[index]; + /** + * @brief Computes the value of a laser factor + * @param index defines which laser is to be used + * @param occupancy defines the grid which the laser will be evaulated with + * @ret a double value that is the value of the specified laser factor for the grid + */ + double laserFactorValue(Index index, const Occupancy &occupancy) const{ + return (*factors_[ laser_indices_[index] ])(occupancy); } - const size_t cell(int row, int col) const{ - Index index = (Index)(row*m_width + col); - return m_vals.at(index); - }*/ - /// prints an ASCII grid to the console -// void print() const { -// Index index; -// printf("\n"); -// for(size_t i = 0; i < m_height; i++){ -// for(size_t j = 0; j < m_width; j++){ -// printf("%ld ", m_vals.at(index)); -// index++; -// } -// printf("\n"); -// } -// } + /// returns the sum of the laser factors for the current state of the grid + double operator()(const Occupancy &occupancy) const { + double value = 0; - //FIX ME - //better name - double laserFactorValue(int index, const Occupancy &occupancy) const{ - return (*factors_[index + 1])(occupancy); + // loop over all laser factors in the graph + //printf("%ld\n", (*this).size()); + + for(Index i = 0; i < laser_indices_.size(); i++){ + value += laserFactorValue(i, occupancy); + } + + return value; } /** @@ -222,35 +226,55 @@ public: Marginals marginals(size); boost::random::mt19937 rng; - boost::random::uniform_int_distribution six(0,size-1); + boost::random::uniform_int_distribution random_cell(0,size-1); + // run Metropolis for the requested number of operations // compute initial probability of occupancy grid, P(x_t) - double Px = (*this)(occupancy); - for(size_t it; it < iterations; it++){ - //choose a random cell - Index x = six(rng); + double Px = (*this)(occupancy); + + for(size_t it = 0; it < marginals.size(); it++) + marginals[it] = 0; + + for(size_t it = 0; it < iterations; it++){ + //choose a random cell + Index x = random_cell(rng); + //printf("%ld:",x); //flip the state of a random cell, x occupancy[x] = 1 - occupancy[x]; - //compute probability of new occupancy grid, P(x') - // sum over all LaserFactor::operator() - double Px_prime = (*this)(occupancy); + //compute probability of new occupancy grid, P(x') + //by summing over all LaserFactor::operator() + double Px_prime = (*this)(occupancy); + //occupancy.print(); //calculate acceptance ratio, a double a = Px_prime/Px; - - //if a >= 1 otherwise accept with probability a + //if a <= 1 otherwise accept with probability a //if we accept the new state P(x_t) = P(x') - if(a >= 1){ + // printf(" %.3lf %.3lf\t", Px, Px_prime); + if(a <= 1){ Px = Px_prime; - }else{ + //printf("\taccept\n"); + } + else{ occupancy[x] = 1 - occupancy[x]; + // printf("\treject\n"); + } + + //increment the number of iterations each cell has been on + for(size_t i = 0; i < size; i++){ + if(occupancy[i] == 1) + marginals[i]++; } } + //compute the marginals + for(size_t it = 0; it < size; it++) + marginals[it] /= iterations; + return marginals; } @@ -261,41 +285,87 @@ TEST_UNSAFE( OccupancyGrid, Test1) { //Build a small grid and test optimization //Build small grid - double width = 3; //meters - double height = 2; //meters - double resolution = 0.5; //meters + double width = 20; //meters + double height = 20; //meters + double resolution = 0.2; //meters OccupancyGrid occupancyGrid(width, height, resolution); //default center to middle //Add measurements - Pose2 pose(0,0,0); - double range = 1.0; +// Pose2 pose(0,0,0); +// double range = 4.499765; +// +// occupancyGrid.addPrior(0, 0.7); +// EXPECT_LONGS_EQUAL(1, occupancyGrid.size()); +// +// occupancyGrid.addLaser(pose, range); +// EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); - occupancyGrid.addPrior(0, 0.7); - EXPECT_LONGS_EQUAL(1, occupancyGrid.size()); - - occupancyGrid.addLaser(pose, range); - EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); + //add lasers + int n_frames = 1; + int n_lasers_per_frame = 640; + char laser_list_file[1000]; - OccupancyGrid::Occupancy occupancy = occupancyGrid.emptyOccupancy(); - EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); + for(int i = 0; i < n_frames; i++){ + sprintf(laser_list_file, "/home/brian/Desktop/research/user/bpeasle/code/KinectInterface/Data/ScanLinesAsLasers/KinectRecording9/laser_list%.4d", i); + FILE *fptr = fopen(laser_list_file,"r"); + double x,y, theta; + double range, angle; + fscanf(fptr, "%lf %lf %lf", &x, &y, &theta); + + for(int j = 0; j < n_lasers_per_frame; j++){ + fscanf(fptr, "%lf %lf", &range, &angle); + //if(j == 159){ + Pose2 pose(x,y, theta+angle); + + occupancyGrid.addLaser(pose, range); + //} + } + fclose(fptr); + + } - occupancy[16] = 1; - EXPECT_LONGS_EQUAL(1, occupancyGrid.laserFactorValue(0,occupancy)); - - occupancy[15] = 1; - EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); - - occupancy[16] = 0; - EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); +// OccupancyGrid::Occupancy occupancy = occupancyGrid.emptyOccupancy(); +// EXPECT_LONGS_EQUAL(900, occupancyGrid.laserFactorValue(0,occupancy)); +// +// +// occupancy[16] = 1; +// EXPECT_LONGS_EQUAL(1, occupancyGrid.laserFactorValue(0,occupancy)); +// +// occupancy[15] = 1; +// EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); +// +// occupancy[16] = 0; +// EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); //run MCMC - OccupancyGrid::Marginals occupancyMarginals = occupancyGrid.runMetropolis(5); - EXPECT_LONGS_EQUAL( (width*height)/pow(resolution,2), occupancyMarginals.size()); + OccupancyGrid::Marginals occupancyMarginals = occupancyGrid.runMetropolis(50000); + //EXPECT_LONGS_EQUAL( (width*height)/pow(resolution,2), occupancyMarginals.size()); //select a cell at a random to flip + + printf("\n"); + for(size_t i = 0, it = 0; i < occupancyGrid.height(); i++){ + for(size_t j = 0; j < occupancyGrid.width(); j++, it++){ + printf("%.2lf ", occupancyMarginals[it]); + } + printf("\n"); + } + + char marginalsOutput[1000]; + sprintf(marginalsOutput, "/home/brian/Desktop/research/user/bpeasle/code/KinectInterface/marginals.txt"); + FILE *fptr = fopen(marginalsOutput, "w"); + fprintf(fptr, "%d %d\n", occupancyGrid.width(), occupancyGrid.height()); + + for(int i = 0; i < occupancyMarginals.size(); i++){ + fprintf(fptr, "%lf ", occupancyMarginals[i]); + } + fclose(fptr); + + + } /* ************************************************************************* */ From 9dfc7656965ec276c37543047d194fad47d8334d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 21 May 2012 19:44:24 +0000 Subject: [PATCH 021/914] Disabling broken tests in gtsam_unstable/discrete by excluding from build --- gtsam_unstable/discrete/CMakeLists.txt | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index 8c94b0e46..25a6a214b 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -16,8 +16,10 @@ set (discrete_full_libs gtsam_unstable-static) # Exclude tests that don't work -set (discrete_excluded_tests "") -#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp") +set (discrete_excluded_tests +"${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp" +"${CMAKE_CURRENT_SOURCE_DIR}/tests/testCSP.cpp") + # Add all tests gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") From b66dc3586d91cd00248ac7cc7c6ef75ee49b9911 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 21 May 2012 19:44:25 +0000 Subject: [PATCH 022/914] Small change to merge in compatibility patch --- tests/testOccupancyGrid.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 542c144f4..35f2df3d8 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -10,7 +10,8 @@ #include #include #include -#include +//#include // FIXME: does not exist in boost 1.46 +#include // Old header - should still exist #include #include @@ -225,9 +226,9 @@ public: size_t size = cellCount(); Marginals marginals(size); - boost::random::mt19937 rng; - boost::random::uniform_int_distribution random_cell(0,size-1); - + // NOTE: using older interface for boost.random due to interface changes after boost 1.46 + boost::mt19937 rng; + boost::uniform_int random_cell(0,size-1); // run Metropolis for the requested number of operations // compute initial probability of occupancy grid, P(x_t) From 75673e28f1e569d4fe0e055abdee6a7c3226a4ab Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 21 May 2012 20:21:09 +0000 Subject: [PATCH 023/914] Disabled unstable discrete examples bacause they don't build currently --- gtsam_unstable/discrete/CMakeLists.txt | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index 25a6a214b..3ba34d12b 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -24,9 +24,14 @@ set (discrete_excluded_tests # Add all tests gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") -# add examples +# List examples to build - comment out here to exclude from compilation +set(discrete_unstable_examples +#schedulingExample +#schedulingQuals12 +) + if (GTSAM_BUILD_EXAMPLES) - foreach(example schedulingExample schedulingQuals12) + foreach(example ${discrete_unstable_examples}) add_executable(${example} "examples/${example}.cpp") # Disable building during make all/install From 54f6f3629cf6a75fd6261ee17d70856865692e1a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 21 May 2012 20:54:40 +0000 Subject: [PATCH 024/914] Added clone() functionality to nonlinear factors --- .cproject | 339 ++++++++++--------- examples/CameraResectioning.cpp | 2 + examples/LocalizationExample2.cpp | 4 + gtsam/nonlinear/NonlinearEquality.h | 8 + gtsam/nonlinear/NonlinearFactor.h | 16 + gtsam/nonlinear/WhiteNoiseFactor.h | 2 + gtsam/slam/AntiFactor.h | 2 + gtsam/slam/BearingFactor.h | 2 + gtsam/slam/BearingRangeFactor.h | 2 + gtsam/slam/BetweenFactor.h | 2 + gtsam/slam/GeneralSFMFactor.h | 2 + gtsam/slam/PartialPriorFactor.h | 2 + gtsam/slam/PriorFactor.h | 2 + gtsam/slam/ProjectionFactor.h | 2 + gtsam/slam/RangeFactor.h | 2 + gtsam/slam/StereoFactor.h | 3 + gtsam/slam/simulated2D.h | 24 +- gtsam/slam/simulated2DConstraints.h | 9 + gtsam/slam/simulated2DOriented.h | 6 + gtsam/slam/smallExample.cpp | 2 + gtsam_unstable/dynamics/FullIMUFactor.h | 2 + gtsam_unstable/dynamics/IMUFactor.h | 2 + gtsam_unstable/dynamics/VelocityConstraint.h | 2 + tests/CMakeLists.txt | 1 + tests/testExtendedKalmanFilter.cpp | 4 + tests/testNonlinearFactor.cpp | 20 ++ 26 files changed, 292 insertions(+), 172 deletions(-) diff --git a/.cproject b/.cproject index efdaf0c8a..be5e7bc64 100644 --- a/.cproject +++ b/.cproject @@ -311,6 +311,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -337,7 +345,6 @@ make - tests/testBayesTree.run true false @@ -345,7 +352,6 @@ make - testBinaryBayesNet.run true false @@ -393,7 +399,6 @@ make - testSymbolicBayesNet.run true false @@ -401,7 +406,6 @@ make - tests/testSymbolicFactor.run true false @@ -409,7 +413,6 @@ make - testSymbolicFactorGraph.run true false @@ -425,20 +428,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -465,6 +459,7 @@ make + testGraph.run true false @@ -536,6 +531,7 @@ make + testInference.run true false @@ -543,6 +539,7 @@ make + testGaussianFactor.run true false @@ -550,6 +547,7 @@ make + testJunctionTree.run true false @@ -557,6 +555,7 @@ make + testSymbolicBayesNet.run true false @@ -564,6 +563,7 @@ make + testSymbolicFactorGraph.run true false @@ -665,22 +665,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -697,6 +681,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -721,26 +721,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -777,18 +769,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -1049,6 +1049,14 @@ true true + + make + -j5 + testNonlinearFactor.run + true + true + true + make -j2 @@ -1139,7 +1147,6 @@ make - testErrors.run true false @@ -1595,6 +1602,7 @@ make + testSimulated2DOriented.run true false @@ -1634,6 +1642,7 @@ make + testSimulated2D.run true false @@ -1641,6 +1650,7 @@ make + testSimulated3D.run true false @@ -1832,6 +1842,7 @@ make + tests/testGaussianISAM2 true false @@ -1853,6 +1864,102 @@ 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 -j2 @@ -2054,7 +2161,6 @@ cpack - -G DEB true false @@ -2062,7 +2168,6 @@ cpack - -G RPM true false @@ -2070,7 +2175,6 @@ cpack - -G TGZ true false @@ -2078,7 +2182,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2092,98 +2195,42 @@ true true - + make - -j2 - testRot3.run + -j5 + wrap.testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + wrap.testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run + -j5 + wrap_gtsam 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 + -j5 + wrap true true true @@ -2227,46 +2274,6 @@ false true - - make - -j5 - wrap.testSpirit.run - true - true - true - - - make - -j5 - wrap.testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index 7d0e37e7f..0280a4f8d 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -44,6 +44,8 @@ public: virtual ~ResectioningFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(ResectioningFactor) + virtual Vector evaluateError(const Pose3& X, boost::optional H = boost::none) const { SimpleCamera camera(*K_, X); Point2 reprojectionError(camera.project(P_, H) - p_); diff --git a/examples/LocalizationExample2.cpp b/examples/LocalizationExample2.cpp index 419975537..a19526a67 100644 --- a/examples/LocalizationExample2.cpp +++ b/examples/LocalizationExample2.cpp @@ -39,12 +39,16 @@ public: UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model): NoiseModelFactor1(model, j), mx_(x), my_(y) {} + virtual ~UnaryFactor() {} + 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); return Vector_(2, q.x() - mx_, q.y() - my_); } + + ADD_CLONE_NONLINEAR_FACTOR(UnaryFactor) }; /** diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index a1c685668..e9710c780 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -161,6 +161,8 @@ namespace gtsam { return GaussianFactor::shared_ptr(new JacobianFactor(ordering[this->key()], A, b, model)); } + ADD_CLONE_NONLINEAR_FACTOR(This) + /// @} private: @@ -190,6 +192,7 @@ namespace gtsam { protected: typedef NoiseModelFactor1 Base; + typedef NonlinearEquality1 This; /** default constructor to allow for serialization */ NonlinearEquality1() {} @@ -209,6 +212,8 @@ namespace gtsam { virtual ~NonlinearEquality1() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** g(x) with optional derivative */ Vector evaluateError(const X& x1, boost::optional H = boost::none) const { if (H) (*H) = eye(x1.dim()); @@ -248,6 +253,7 @@ namespace gtsam { protected: typedef NoiseModelFactor2 Base; + typedef NonlinearEquality2 This; GTSAM_CONCEPT_MANIFOLD_TYPE(X); @@ -263,6 +269,8 @@ namespace gtsam { : Base(noiseModel::Constrained::All(X::Dim(), fabs(mu)), key1, key2) {} virtual ~NonlinearEquality2() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** g(x) with optional derivative2 */ Vector evaluateError(const X& x1, const X& x2, boost::optional H1 = boost::none, diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index bf19555bf..809df99fa 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -35,6 +35,14 @@ #include #include +/** + * Macro to add a standard clone function to a derived factor + */ +#define ADD_CLONE_NONLINEAR_FACTOR(Derived) \ + virtual gtsam::NonlinearFactor::shared_ptr clone() const { \ + return boost::static_pointer_cast( \ + gtsam::NonlinearFactor::shared_ptr(new Derived(*this))); } + namespace gtsam { /* ************************************************************************* */ @@ -146,6 +154,14 @@ public: return IndexFactor::shared_ptr(new IndexFactor(indices)); } + /** + * Creates a shared_ptr clone of the factor - needs to be specialized to allow + * for subclasses + * + * Default implementation will slice the factor + */ + virtual shared_ptr clone() const =0; + }; // \class NonlinearFactor /* ************************************************************************* */ diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h index f5fb7fae1..354a1bcbc 100644 --- a/gtsam/nonlinear/WhiteNoiseFactor.h +++ b/gtsam/nonlinear/WhiteNoiseFactor.h @@ -163,6 +163,8 @@ namespace gtsam { return linearize(z_, u, p, j1, j2); } + ADD_CLONE_NONLINEAR_FACTOR(This) + /// @} }; diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 633360fed..47e0fd40c 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -50,6 +50,8 @@ namespace gtsam { virtual ~AntiFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** implement functions needed for Testable */ /** print */ diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index 7c208436a..edd484e36 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -55,6 +55,8 @@ namespace gtsam { virtual ~BearingFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** h(x)-z -> between(z,h(x)) for Rot2 manifold */ Vector evaluateError(const Pose& pose, const Point& point, boost::optional H1, boost::optional H2) const { diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 4c170c811..9fe70123e 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -57,6 +57,8 @@ namespace gtsam { virtual ~BearingRangeFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** Print */ virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << ": BearingRangeFactor(" diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index 2df0b98de..ec55c253b 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -62,6 +62,8 @@ namespace gtsam { virtual ~BetweenFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** implement functions needed for Testable */ /** print */ diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index 4f1f48958..d046d0e1b 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -61,6 +61,8 @@ namespace gtsam { virtual ~GeneralSFMFactor() {} ///< destructor + ADD_CLONE_NONLINEAR_FACTOR(This) + /** * print * @param s optional string naming the factor diff --git a/gtsam/slam/PartialPriorFactor.h b/gtsam/slam/PartialPriorFactor.h index 4c7069174..479fd3fa6 100644 --- a/gtsam/slam/PartialPriorFactor.h +++ b/gtsam/slam/PartialPriorFactor.h @@ -86,6 +86,8 @@ namespace gtsam { this->fillH(); } + ADD_CLONE_NONLINEAR_FACTOR(This) + /** implement functions needed for Testable */ /** print */ diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 2ab011bf5..6d958c652 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -56,6 +56,8 @@ namespace gtsam { Base(model, key), prior_(prior) { } + ADD_CLONE_NONLINEAR_FACTOR(This) + /** implement functions needed for Testable */ /** print */ diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index d5e9048e5..179362a42 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -70,6 +70,8 @@ namespace gtsam { /** Virtual destructor */ virtual ~GenericProjectionFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** * print * @param s optional string naming the factor diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h index 489f751db..ee3dc0b8e 100644 --- a/gtsam/slam/RangeFactor.h +++ b/gtsam/slam/RangeFactor.h @@ -51,6 +51,8 @@ namespace gtsam { virtual ~RangeFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** h(x)-z */ Vector evaluateError(const Pose& pose, const Point& point, boost::optional H1, boost::optional H2) const { double hx = pose.range(point, H1, H2); diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index ae2deeae3..500009ab4 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -34,6 +34,7 @@ public: // shorthand for base class type typedef NoiseModelFactor2 Base; ///< typedef for base class + typedef GenericStereoFactor This; ///< typedef for this class (with templates) typedef boost::shared_ptr shared_ptr; ///< typedef for shared pointer to this object typedef POSE CamPose; ///< typedef for Pose Lie Value type @@ -56,6 +57,8 @@ public: virtual ~GenericStereoFactor() {} ///< Virtual destructor + ADD_CLONE_NONLINEAR_FACTOR(This) + /** * print * @param s optional string naming the factor diff --git a/gtsam/slam/simulated2D.h b/gtsam/slam/simulated2D.h index ca9c0cf15..e9b4f2bc9 100644 --- a/gtsam/slam/simulated2D.h +++ b/gtsam/slam/simulated2D.h @@ -123,6 +123,7 @@ namespace simulated2D { class GenericPrior: public NoiseModelFactor1 { public: typedef NoiseModelFactor1 Base; ///< base class + typedef GenericPrior This; typedef boost::shared_ptr > shared_ptr; typedef VALUE Pose; ///< shortcut to Pose type @@ -138,11 +139,14 @@ namespace simulated2D { return (prior(x, H) - measured_).vector(); } + virtual ~GenericPrior() {} + + ADD_CLONE_NONLINEAR_FACTOR(This) + private: /// Default constructor - GenericPrior() { - } + GenericPrior() { } /// Serialization function friend class boost::serialization::access; @@ -160,6 +164,7 @@ namespace simulated2D { class GenericOdometry: public NoiseModelFactor2 { public: typedef NoiseModelFactor2 Base; ///< base class + typedef GenericOdometry This; typedef boost::shared_ptr > shared_ptr; typedef VALUE Pose; ///< shortcut to Pose type @@ -177,11 +182,14 @@ namespace simulated2D { return (odo(x1, x2, H1, H2) - measured_).vector(); } + virtual ~GenericOdometry() {} + + ADD_CLONE_NONLINEAR_FACTOR(This) + private: /// Default constructor - GenericOdometry() { - } + GenericOdometry() { } /// Serialization function friend class boost::serialization::access; @@ -199,6 +207,7 @@ namespace simulated2D { class GenericMeasurement: public NoiseModelFactor2 { public: typedef NoiseModelFactor2 Base; ///< base class + typedef GenericMeasurement This; typedef boost::shared_ptr > shared_ptr; typedef POSE Pose; ///< shortcut to Pose type typedef LANDMARK Landmark; ///< shortcut to Landmark type @@ -217,11 +226,14 @@ namespace simulated2D { return (mea(x1, x2, H1, H2) - measured_).vector(); } + virtual ~GenericMeasurement() {} + + ADD_CLONE_NONLINEAR_FACTOR(This) + private: /// Default constructor - GenericMeasurement() { - } + GenericMeasurement() { } /// Serialization function friend class boost::serialization::access; diff --git a/gtsam/slam/simulated2DConstraints.h b/gtsam/slam/simulated2DConstraints.h index b44062933..4594a8e1f 100644 --- a/gtsam/slam/simulated2DConstraints.h +++ b/gtsam/slam/simulated2DConstraints.h @@ -53,11 +53,14 @@ namespace simulated2D { template struct ScalarCoordConstraint1: public BoundingConstraint1 { typedef BoundingConstraint1 Base; ///< Base class convenience typedef + typedef ScalarCoordConstraint1 This; ///< This class convenience typedef typedef boost::shared_ptr > shared_ptr; ///< boost::shared_ptr convenience typedef typedef VALUE Point; ///< Constrained variable type virtual ~ScalarCoordConstraint1() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** * Constructor for constraint * @param key is the label for the constrained variable @@ -116,10 +119,13 @@ namespace simulated2D { template struct MaxDistanceConstraint : public BoundingConstraint2 { typedef BoundingConstraint2 Base; ///< Base class for factor + typedef MaxDistanceConstraint This; ///< This class for factor typedef VALUE Point; ///< Type of variable constrained virtual ~MaxDistanceConstraint() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** * Primary constructor for factor * @param key1 is the first variable key @@ -158,11 +164,14 @@ namespace simulated2D { template struct MinDistanceConstraint : public BoundingConstraint2 { typedef BoundingConstraint2 Base; ///< Base class for factor + typedef MinDistanceConstraint This; ///< This class for factor typedef POSE Pose; ///< Type of pose variable constrained typedef POINT Point; ///< Type of point variable constrained virtual ~MinDistanceConstraint() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** * Primary constructor for factor * @param key1 is the first variable key diff --git a/gtsam/slam/simulated2DOriented.h b/gtsam/slam/simulated2DOriented.h index 242aab94b..c7ebd466c 100644 --- a/gtsam/slam/simulated2DOriented.h +++ b/gtsam/slam/simulated2DOriented.h @@ -102,6 +102,8 @@ namespace simulated2DOriented { struct GenericOdometry: public NoiseModelFactor2 { Pose2 measured_; ///< Between measurement for odometry factor + typedef GenericOdometry This; + /** * Creates an odometry factor between two poses */ @@ -110,6 +112,8 @@ namespace simulated2DOriented { NoiseModelFactor2(model, i1, i2), measured_(measured) { } + virtual ~GenericOdometry() {} + /// Evaluate error and optionally derivative Vector evaluateError(const VALUE& x1, const VALUE& x2, boost::optional H1 = boost::none, @@ -117,6 +121,8 @@ namespace simulated2DOriented { return measured_.localCoordinates(odo(x1, x2, H1, H2)); } + ADD_CLONE_NONLINEAR_FACTOR(This) + }; typedef GenericOdometry Odometry; diff --git a/gtsam/slam/smallExample.cpp b/gtsam/slam/smallExample.cpp index 170f3ef03..fae2d2e22 100644 --- a/gtsam/slam/smallExample.cpp +++ b/gtsam/slam/smallExample.cpp @@ -211,6 +211,8 @@ namespace example { return (h(x) - z_).vector(); } + ADD_CLONE_NONLINEAR_FACTOR(UnaryFactor) + }; } diff --git a/gtsam_unstable/dynamics/FullIMUFactor.h b/gtsam_unstable/dynamics/FullIMUFactor.h index 29b77c661..306ec5191 100644 --- a/gtsam_unstable/dynamics/FullIMUFactor.h +++ b/gtsam_unstable/dynamics/FullIMUFactor.h @@ -51,6 +51,8 @@ public: virtual ~FullIMUFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** Check if two factors are equal */ virtual bool equals(const NonlinearFactor& e, double tol = 1e-9) const { const This* const f = dynamic_cast(&e); diff --git a/gtsam_unstable/dynamics/IMUFactor.h b/gtsam_unstable/dynamics/IMUFactor.h index 7ded5ef82..b1ccdb3bc 100644 --- a/gtsam_unstable/dynamics/IMUFactor.h +++ b/gtsam_unstable/dynamics/IMUFactor.h @@ -44,6 +44,8 @@ public: virtual ~IMUFactor() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + /** Check if two factors are equal */ virtual bool equals(const NonlinearFactor& e, double tol = 1e-9) const { const This* const f = dynamic_cast(&e); diff --git a/gtsam_unstable/dynamics/VelocityConstraint.h b/gtsam_unstable/dynamics/VelocityConstraint.h index a35f09bb7..7646b7486 100644 --- a/gtsam_unstable/dynamics/VelocityConstraint.h +++ b/gtsam_unstable/dynamics/VelocityConstraint.h @@ -72,6 +72,8 @@ public: virtual ~VelocityConstraint() {} + ADD_CLONE_NONLINEAR_FACTOR(VelocityConstraint) + /** * Calculates the error for trapezoidal model given */ diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 1101a0a4b..43420e1c9 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -13,6 +13,7 @@ set(tests_local_libs # note the source dir on each set (tests_exclude "${CMAKE_CURRENT_SOURCE_DIR}/testPose2SLAMwSPCG.cpp" + #"${CMAKE_CURRENT_SOURCE_DIR}/testOccupancyGrid.cpp" ) # Build tests diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index d9e5643a4..c0e5af4f7 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -120,6 +120,8 @@ public: virtual ~NonlinearMotionModel() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + // Calculate the next state prediction using the nonlinear function f() T f(const T& x_t0) const { @@ -262,6 +264,8 @@ public: virtual ~NonlinearMeasurementModel() {} + ADD_CLONE_NONLINEAR_FACTOR(This) + // Calculate the predicted measurement using the nonlinear function h() // Byproduct: updates Jacobian H, and noiseModel (R) Vector h(const T& x_t1) const { diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index d32a50fe5..c74c3adab 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -254,6 +254,8 @@ public: } return (Vector(1) << x1 + x2 + x3 + x4).finished(); } + + ADD_CLONE_NONLINEAR_FACTOR(TestFactor4) }; /* ************************************ */ @@ -301,6 +303,8 @@ public: } return (Vector(1) << x1 + x2 + x3 + x4 + x5).finished(); } + + ADD_CLONE_NONLINEAR_FACTOR(TestFactor5) }; /* ************************************ */ @@ -353,6 +357,8 @@ public: } return (Vector(1) << x1 + x2 + x3 + x4 + x5 + x6).finished(); } + + ADD_CLONE_NONLINEAR_FACTOR(TestFactor6) }; /* ************************************ */ @@ -385,6 +391,20 @@ TEST(NonlinearFactor, NoiseModelFactor6) { } +/* ************************************************************************* */ +TEST( NonlinearFactor, clone ) +{ + shared_nlf init(new TestFactor4()); + EXPECT_LONGS_EQUAL(PoseKey(1), init->keys()[0]); + EXPECT_LONGS_EQUAL(PoseKey(2), init->keys()[1]); + EXPECT_LONGS_EQUAL(PoseKey(3), init->keys()[2]); + EXPECT_LONGS_EQUAL(PoseKey(4), init->keys()[3]); + + shared_nlf actClone = init->clone(); + EXPECT(actClone.get() != init.get()); // Ensure different pointers + EXPECT(assert_equal(*init, *actClone)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} /* ************************************************************************* */ From 2bd7a0ed43cafcb641405f70ea76397b30518b35 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 21 May 2012 20:54:42 +0000 Subject: [PATCH 025/914] Added generic re-key function to nonlinear factor --- gtsam/nonlinear/NonlinearFactor.h | 13 +++++++++++-- tests/testNonlinearFactor.cpp | 24 +++++++++++++++++++++++- 2 files changed, 34 insertions(+), 3 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 809df99fa..89b6de3dd 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -157,11 +157,20 @@ public: /** * Creates a shared_ptr clone of the factor - needs to be specialized to allow * for subclasses - * - * Default implementation will slice the factor */ virtual shared_ptr clone() const =0; + /** + * Clones a factor and replaces its keys + */ + shared_ptr rekey(const std::vector& new_keys) const { + assert(new_keys.size() == this->keys().size()); + shared_ptr new_factor = clone(); + new_factor->keys() = new_keys; + return new_factor; + } + + }; // \class NonlinearFactor /* ************************************************************************* */ diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index c74c3adab..d5e91d0d7 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -392,7 +392,7 @@ TEST(NonlinearFactor, NoiseModelFactor6) { } /* ************************************************************************* */ -TEST( NonlinearFactor, clone ) +TEST( NonlinearFactor, clone_rekey ) { shared_nlf init(new TestFactor4()); EXPECT_LONGS_EQUAL(PoseKey(1), init->keys()[0]); @@ -400,9 +400,31 @@ TEST( NonlinearFactor, clone ) EXPECT_LONGS_EQUAL(PoseKey(3), init->keys()[2]); EXPECT_LONGS_EQUAL(PoseKey(4), init->keys()[3]); + // Standard clone shared_nlf actClone = init->clone(); EXPECT(actClone.get() != init.get()); // Ensure different pointers EXPECT(assert_equal(*init, *actClone)); + + // Re-key factor - clones with different keys + std::vector new_keys(4); + new_keys[0] = PoseKey(5); + new_keys[1] = PoseKey(6); + new_keys[2] = PoseKey(7); + new_keys[3] = PoseKey(8); + shared_nlf actRekey = init->rekey(new_keys); + EXPECT(actRekey.get() != init.get()); // Ensure different pointers + + // Ensure init is unchanged + EXPECT_LONGS_EQUAL(PoseKey(1), init->keys()[0]); + EXPECT_LONGS_EQUAL(PoseKey(2), init->keys()[1]); + EXPECT_LONGS_EQUAL(PoseKey(3), init->keys()[2]); + EXPECT_LONGS_EQUAL(PoseKey(4), init->keys()[3]); + + // Check new keys + EXPECT_LONGS_EQUAL(PoseKey(5), actRekey->keys()[0]); + EXPECT_LONGS_EQUAL(PoseKey(6), actRekey->keys()[1]); + EXPECT_LONGS_EQUAL(PoseKey(7), actRekey->keys()[2]); + EXPECT_LONGS_EQUAL(PoseKey(8), actRekey->keys()[3]); } /* ************************************************************************* */ From 399a81911e2dae353775f1bd1ca3bcca0dd94cd0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 May 2012 21:52:50 +0000 Subject: [PATCH 026/914] Fixed optimizer/marginals confusion --- examples/LocalizationExample.cpp | 4 +--- examples/LocalizationExample2.cpp | 6 +++--- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index 6b9a48339..ae2a31040 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -19,7 +19,6 @@ #include // include this for marginals -#include #include #include @@ -65,8 +64,7 @@ int main(int argc, char** argv) { pose2SLAM::Values result = graph.optimize(initialEstimate); result.print("\nFinal result:\n "); - // use an explicit Optimizer object so we can query the marginals - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); + // Query the marginals Marginals marginals(graph, result); cout.precision(2); cout << "\nP1:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(1)) << endl; diff --git a/examples/LocalizationExample2.cpp b/examples/LocalizationExample2.cpp index a19526a67..903101d87 100644 --- a/examples/LocalizationExample2.cpp +++ b/examples/LocalizationExample2.cpp @@ -84,14 +84,14 @@ int main(int argc, char** argv) { initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.print("\nInitial estimate:\n "); - // use an explicit Optimizer object, used for both optimization and marginal inference + // use an explicit Optimizer object LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); pose2SLAM::Values result = optimizer.optimize(); result.print("\nFinal result:\n "); - Values resultMultifrontal = optimizer.optimize(); + + // Query the marginals Marginals marginals(graph, result); cout.precision(2); cout << "\nP1:\n" << marginals.marginalCovariance(x1) << endl; From 3e9ceda0626f2858effe60eb1f963db5f0caf33a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 May 2012 21:53:26 +0000 Subject: [PATCH 027/914] Sync with C++ example --- examples/matlab/LocalizationExample.m | 50 +++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 examples/matlab/LocalizationExample.m diff --git a/examples/matlab/LocalizationExample.m b/examples/matlab/LocalizationExample.m new file mode 100644 index 000000000..361a1c8b1 --- /dev/null +++ b/examples/matlab/LocalizationExample.m @@ -0,0 +1,50 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Example of a simple 2D localization example +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - Robot poses are facing along the X axis (horizontal, to the right in 2D) +% - The robot moves 2 meters each step +% - The robot is on a grid, moving 2 meters each step + +%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) +graph = pose2SLAMGraph; + +%% Add a Gaussian prior on pose x_1 +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +graph.addPrior(1, priorMean, priorNoise); % add directly to graph + +%% Add two odometry factors +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +graph.addOdometry(1, 2, odometry, odometryNoise); +graph.addOdometry(2, 3, odometry, odometryNoise); + +%% print +graph.print(sprintf('\nFactor graph:\n')); + +%% Initialize to noisy points +initialEstimate = pose2SLAMValues; +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate.print(sprintf('\nInitial estimate:\n ')); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +result.print(sprintf('\nFinal result:\n ')); + +%% Use an explicit Optimizer object so we can query the marginals +% marginals = gtsamMarginals(graph, result); +% marginals.marginalCovariance(pose2SLAMPoseKey(1)) +% marginals.marginalCovariance(pose2SLAMPoseKey(2)) +% marginals.marginalCovariance(pose2SLAMPoseKey(3)) From d00febb7a9b7b7e162b3ba7713884424f61da436 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 21 May 2012 21:53:56 +0000 Subject: [PATCH 028/914] Added (commented out) marginals class --- gtsam.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam.h b/gtsam.h index 3fed4da7f..5b909e053 100644 --- a/gtsam.h +++ b/gtsam.h @@ -57,9 +57,6 @@ * - TODO: Handle gtsam::Rot3M conversions to quaternions */ -// Everything is in the gtsam namespace, so we avoid copying everything in -//using namespace gtsam; - namespace gtsam { //************************************************************************* @@ -410,6 +407,11 @@ class Ordering { void push_back(size_t key); }; +// Frank says: this does not work. Why not? +//class Marginals { +// Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); +//}; + }///\namespace gtsam //************************************************************************* From 6be07e33bfc3137aea36b3489466af383bd5ee97 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 21 May 2012 22:32:40 +0000 Subject: [PATCH 029/914] Dependency checking requires class definitions for all gtsam classes used in arguments of wrapped objects --- gtsam.h | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/gtsam.h b/gtsam.h index 5b909e053..628c91733 100644 --- a/gtsam.h +++ b/gtsam.h @@ -407,10 +407,21 @@ class Ordering { void push_back(size_t key); }; +//Andrew says: Required definitions for Marginal arguments +class NonlinearFactorGraph { + NonlinearFactorGraph(); + //This need to be populated with whatever functions might be needed. +}; + +class Values { + Values(); + //Same here +}; + // Frank says: this does not work. Why not? -//class Marginals { -// Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); -//}; +class Marginals { + Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); +}; }///\namespace gtsam From 1bcb3966f39759af13a7ce9d061f920bbe30d4c3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 21 May 2012 23:38:22 +0000 Subject: [PATCH 030/914] Created branch /branches/cmake_config_files from /trunk:10643 From a164a66b7715b52c10c6b0ec752f4a14c0422c04 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 21 May 2012 23:38:25 +0000 Subject: [PATCH 031/914] In progress with cmake config files --- CMakeLists.txt | 7 +++++++ gtsam/CMakeLists.txt | 2 +- gtsam/base/cholesky.h | 2 +- 3 files changed, 9 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e6c9bc422..eb55a989a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -93,6 +93,9 @@ if (GTSAM_BUILD_TESTS) endif() # Find boost +if(CYGWIN OR MSVC OR WIN32) + set(Boost_USE_STATIC_LIBS 1) +endif() find_package(Boost 1.40 COMPONENTS serialization REQUIRED) # General build settings @@ -128,6 +131,10 @@ if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) endif(GTSAM_BUILD_UNSTABLE) +# Make config file +include(GtsamMakeConfigFile) +GtsamMakeConfigFile(gtsam) + # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology") diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index b3e639917..a905b6944 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -97,6 +97,6 @@ if (GTSAM_BUILD_SHARED_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) - install(TARGETS gtsam-shared LIBRARY DESTINATION lib ) + install(TARGETS gtsam-shared DESTINATION lib ) endif(GTSAM_BUILD_SHARED_LIBRARY) diff --git a/gtsam/base/cholesky.h b/gtsam/base/cholesky.h index 50d3b24a8..46d342d24 100644 --- a/gtsam/base/cholesky.h +++ b/gtsam/base/cholesky.h @@ -34,7 +34,7 @@ struct NegativeMatrixException : public std::exception { Matrix A; ///< The original matrix attempted to factor Matrix U; ///< The produced upper-triangular factor Matrix D; ///< The produced diagonal factor - Detail(const Matrix& _A, const Matrix& _U, const Matrix& _D) /**< Detail constructor */ : A(_A), U(_U), D(_D) {} + Detail(const Matrix& A, const Matrix& U, const Matrix& D) /**< Detail constructor */ : A(A), U(U), D(D) {} void print(const std::string& str = "") const { std::cout << str << "\n"; gtsam::print(A, " A: "); From 9caf04dccda7aa0cc726237d68daf45b985406a8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 04:30:30 +0000 Subject: [PATCH 032/914] addConstraint --- gtsam/slam/pose2SLAM.cpp | 6 ++++++ gtsam/slam/pose2SLAM.h | 13 ++++++++----- 2 files changed, 14 insertions(+), 5 deletions(-) diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index e8cbcd7fe..dd80b821b 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -16,6 +16,7 @@ **/ #include +#include // Use pose2SLAM namespace for specific SLAM instance @@ -51,5 +52,10 @@ namespace pose2SLAM { } /* ************************************************************************* */ + Values Graph::optimize(const Values& initialEstimate) const { + return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); + } + + /* ************************************************************************* */ } // pose2SLAM diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 6dc682f9b..42e22a85d 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -17,14 +17,13 @@ #pragma once -#include #include #include #include #include #include #include -#include +#include // Use pose2SLAM namespace for specific SLAM instance namespace pose2SLAM { @@ -93,10 +92,14 @@ namespace pose2SLAM { void addOdometry(Index i, Index j, const Pose2& z, const SharedNoiseModel& model); - /// Optimize - Values optimize(const Values& initialEstimate) const { - return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); + /// AddConstraint adds a soft constraint between factor between keys i and j + void addConstraint(Index i, Index j, const Pose2& z, + const SharedNoiseModel& model) { + addOdometry(i,j,z,model); // same for now } + + /// Optimize + Values optimize(const Values& initialEstimate) const; }; } // pose2SLAM From 10456a153cf509c0aad29661217efb72e9d169cd Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 04:31:05 +0000 Subject: [PATCH 033/914] More complex Pose2SLAM example, synced up with manual (in progress) --- examples/LocalizationExample.cpp | 1 - examples/Pose2SLAMExample_easy.cpp | 67 ++++++++++++++---------------- 2 files changed, 31 insertions(+), 37 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index ae2a31040..6963f75f1 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -57,7 +57,6 @@ int main(int argc, char** argv) { initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.print("\nInitial estimate:\n "); // optimize using Levenberg-Marquardt optimization with an ordering from colamd diff --git a/examples/Pose2SLAMExample_easy.cpp b/examples/Pose2SLAMExample_easy.cpp index 18a756aba..b6507d7fc 100644 --- a/examples/Pose2SLAMExample_easy.cpp +++ b/examples/Pose2SLAMExample_easy.cpp @@ -11,59 +11,54 @@ /** * @file Pose2SLAMExample_easy.cpp - * - * A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h - * + * @brief A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h * @date Oct 21, 2010 - * @author ydjian + * @author Yong Dian Jian */ -#include -#include -#include - // pull in the Pose2 SLAM domain with all typedefs and helper functions defined #include -#include +#include using namespace std; using namespace gtsam; -using namespace pose2SLAM; int main(int argc, char** argv) { - /* 1. create graph container and add factors to it */ - Graph graph ; + // 1. Create graph container and add factors to it + pose2SLAM::Graph graph ; - /* 2.a add prior */ - // gaussian for prior - SharedDiagonal prior_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - Pose2 prior_measurement(0.0, 0.0, 0.0); // prior at origin - graph.addPrior(1, prior_measurement, prior_model); // add directly to graph + // 2a. Add Gaussian prior + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); + graph.addPrior(1, priorMean, priorNoise); - /* 2.b add odometry */ - // general noisemodel for odometry - SharedDiagonal odom_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + // 2b. Add odometry factors + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); + graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); + graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - /* Pose2 measurements take (x,y,theta), where theta is taken from the positive x-axis*/ - Pose2 odom_measurement(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - graph.addOdometry(1, 2, odom_measurement, odom_model); - graph.addOdometry(2, 3, odom_measurement, odom_model); - graph.print("full graph"); + // 2c. Add pose constraint + SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); + graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); - /* 3. Create the data structure to hold the initial estinmate to the solution - * initialize to noisy points */ - pose2SLAM::Values initial; - initial.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initial.insertPose(2, Pose2(2.3, 0.1,-0.2)); - initial.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initial.print("initial estimate"); + // print + graph.print("\nFactor graph:\n"); - /* 4 Single Step Optimization - * optimize using Levenberg-Marquardt optimization with an ordering from colamd */ - pose2SLAM::Values result = graph.optimize(initial); - result.print("final result"); + // 3. Create the data structure to hold the initialEstimate estinmate to the solution + pose2SLAM::Values initialEstimate; + Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); + Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); + Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); + Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); + Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + initialEstimate.print("\nInitial estimate:\n "); + // 4. Single Step Optimization using Levenberg-Marquardt + pose2SLAM::Values result = graph.optimize(initialEstimate); + result.print("\nFinal result:\n "); return 0; } From 18e23c20dfc1c037e3119a7aa93968da928fae6c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 12:27:34 +0000 Subject: [PATCH 034/914] Added missing header --- gtsam/slam/tests/testPose2SLAM.cpp | 10 +++++++--- tests/testNonlinearOptimizer.cpp | 27 +++++++++++++-------------- 2 files changed, 20 insertions(+), 17 deletions(-) diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 22c02ab52..5aa633bbf 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -16,6 +16,7 @@ #include #include +#include #include #include using namespace gtsam; @@ -145,7 +146,7 @@ TEST( Pose2SLAM, linearization ) } /* ************************************************************************* */ -TEST(Pose2Graph, optimize) { +TEST(Pose2SLAM, optimize) { // create a Pose graph with one equality constraint and one measurement pose2SLAM::Graph fg; @@ -171,11 +172,14 @@ TEST(Pose2Graph, optimize) { expected.insert(pose2SLAM::PoseKey(0), Pose2(0,0,0)); expected.insert(pose2SLAM::PoseKey(1), Pose2(1,2,M_PI_2)); CHECK(assert_equal(expected, actual)); + + // Check marginals + Marginals marginals = fg.marginals(actual); } /* ************************************************************************* */ // test optimization with 3 poses -TEST(Pose2Graph, optimizeThreePoses) { +TEST(Pose2SLAM, optimizeThreePoses) { // Create a hexagon of poses pose2SLAM::Values hexagon = pose2SLAM::circle(3,1.0); @@ -289,7 +293,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { } /* ************************************************************************* */ -TEST(Pose2Graph, optimize2) { +TEST(Pose2SLAM, optimize2) { // Pose2SLAMOptimizer myOptimizer("100"); // Matrix A1 = myOptimizer.a1(); // Matrix A2 = myOptimizer.a2(); diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index d1eb01f27..a926b9e1b 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -15,26 +15,25 @@ * @author Frank Dellaert */ -#include -using namespace std; - -#include // for operator += -using namespace boost::assign; +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include -using namespace boost; +#include // for operator += +using namespace boost::assign; -#include -#include -#include -#include -#include -#include -#include -#include +#include +using namespace std; using namespace gtsam; const double tol = 1e-5; From 5145018053eb4a80e4f5c834103662f8b82a545d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 12:28:17 +0000 Subject: [PATCH 035/914] Fixed some test targets --- .cproject | 238 +++++++++++++++++++++++++----------------------------- 1 file changed, 111 insertions(+), 127 deletions(-) diff --git a/.cproject b/.cproject index be5e7bc64..5ee6f0fdb 100644 --- a/.cproject +++ b/.cproject @@ -593,38 +593,6 @@ true true - - make - -j5 - testBTree.run - true - true - true - - - make - -j5 - testDSF.run - true - true - true - - - make - -j5 - testDSFVector.run - true - true - true - - - make - -j5 - testFixedVector.run - true - true - true - make -j2 @@ -721,50 +689,50 @@ true true - + make -j5 - testValues.run + nonlinear.testValues.run true true true - + make -j5 - testOrdering.run + nonlinear.testOrdering.run true true true - + make - -j2 - tests/testGeneralSFMFactor.run + -j5 + testGeneralSFMFactor.run true true true - + make - -j2 - tests/testPlanarSLAM.run + -j5 + testPlanarSLAM.run true true true - + make - -j2 - tests/testPose2SLAM.run + -j5 + testPose2SLAM.run true true true - + make - -j2 - tests/testPose3SLAM.run + -j5 + testPose3SLAM.run true true true @@ -793,46 +761,6 @@ true true - - make - -j5 - schedulingExample.run - true - true - true - - - make - -j5 - testCSP.run - true - true - true - - - make - -j5 - testScheduler.run - true - true - true - - - make - -j5 - schedulingQuals12.run - true - true - true - - - make - -j5 - testSudoku.run - true - true - true - make -j2 @@ -865,10 +793,10 @@ true true - + make -j5 - testDiscreteFactor.run + check true true true @@ -1049,14 +977,6 @@ true true - - make - -j5 - testNonlinearFactor.run - true - true - true - make -j2 @@ -1672,74 +1592,82 @@ true true - + make - -j5 - testVectorValues.run + -j2 + tests/testVectorValues.run true true true - + make -j5 - testNoiseModel.run + linear.testNoiseModel.run true true true - + make - -j5 - testHessianFactor.run + -j2 + tests/testGaussianFactor.run true true true - + make - -j5 - testGaussianConditional.run + -j2 + tests/testHessianFactor.run true true true - + make - -j5 - testGaussianFactorGraph.run + -j2 + tests/testGaussianConditional.run true true true - + make - -j5 - testGaussianJunctionTree.run + -j2 + tests/testGaussianFactorGraph.run true true true - + make - -j5 - testKalmanFilter.run + -j2 + tests/testGaussianJunctionTree.run true true true - + make - -j5 - testGaussianDensity.run + -j2 + tests/testKalmanFilter.run true true true - + + make + -j2 + tests/testGaussianDensity.run + true + true + true + + make -j5 - testSerializationLinear.run + linear.testSerializationLinear.run true true true @@ -1832,6 +1760,22 @@ true true + + make + -j5 + LocalizationExample.run + true + true + true + + + make + -j5 + LocalizationExample2.run + true + true + true + make -j2 @@ -2195,18 +2139,58 @@ true true - + make -j5 - wrap.testSpirit.run + wrap_gtsam_unstable true true true - + make -j5 - wrap.testWrap.run + check.wrap + true + true + true + + + make + -j5 + check.dynamics_unstable + true + true + true + + + make + -j5 + check.slam_unstable + true + true + true + + + make + -j5 + check.base_unstable + true + true + true + + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run true true true From 3baa6c6e042c1b7d14b29e192392d4a1895d8447 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 12:31:59 +0000 Subject: [PATCH 036/914] Added marginals function (could move to superclass?) --- gtsam/slam/pose2SLAM.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 42e22a85d..50944cf2f 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -23,6 +23,7 @@ #include #include #include +#include #include // Use pose2SLAM namespace for specific SLAM instance @@ -100,6 +101,12 @@ namespace pose2SLAM { /// Optimize Values optimize(const Values& initialEstimate) const; + + /// Return a Marginals object + Marginals marginals(const Values& solution) const { + return Marginals(*this,solution); + } + }; } // pose2SLAM From 11e844470c614184f10de022020ee62383f1787f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 14:50:10 +0000 Subject: [PATCH 037/914] marginals fail with pose constraint... --- gtsam/slam/tests/testPose2SLAM.cpp | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 5aa633bbf..a2d99ca88 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -36,12 +36,12 @@ using pose2SLAM::PoseKey; // common measurement covariance static double sx=0.5, sy=0.5,st=0.1; -static noiseModel::Gaussian::shared_ptr covariance( - noiseModel::Gaussian::Covariance(Matrix_(3, 3, +static Matrix cov(Matrix_(3, 3, sx*sx, 0.0, 0.0, 0.0, sy*sy, 0.0, 0.0, 0.0, st*st - ))); + )); +static noiseModel::Gaussian::shared_ptr covariance(noiseModel::Gaussian::Covariance(cov)); //static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3)); const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5), kl1 = Symbol('l',1); @@ -175,6 +175,12 @@ TEST(Pose2SLAM, optimize) { // Check marginals Marginals marginals = fg.marginals(actual); + // Matrix expectedP0 = Infinity, as we have a pose constraint !? + // Matrix actualP0 = marginals.marginalCovariance(pose2SLAM::PoseKey(0)); + // EQUALITY(expectedP0, actualP0); + Matrix expectedP1 = cov; // the second pose really should have just the noise covariance + Matrix actualP1 = marginals.marginalCovariance(pose2SLAM::PoseKey(1)); + EQUALITY(expectedP1, actualP1); } /* ************************************************************************* */ From c3ca8175e9fcc7df42fe50eafa80c0b2589d709e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 22 May 2012 15:05:15 +0000 Subject: [PATCH 038/914] removed old SPCG test --- tests/CMakeLists.txt | 1 - tests/testPose2SLAMwSPCG.cpp | 72 ------------------------------------ 2 files changed, 73 deletions(-) delete mode 100644 tests/testPose2SLAMwSPCG.cpp diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 43420e1c9..4d29dd557 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -12,7 +12,6 @@ set(tests_local_libs # exclude certain files # note the source dir on each set (tests_exclude - "${CMAKE_CURRENT_SOURCE_DIR}/testPose2SLAMwSPCG.cpp" #"${CMAKE_CURRENT_SOURCE_DIR}/testOccupancyGrid.cpp" ) diff --git a/tests/testPose2SLAMwSPCG.cpp b/tests/testPose2SLAMwSPCG.cpp deleted file mode 100644 index 439228c79..000000000 --- a/tests/testPose2SLAMwSPCG.cpp +++ /dev/null @@ -1,72 +0,0 @@ -/** - * @file testPose2SLAMwSPCG - * @author Alex Cunningham - */ - -#include - -#include -#include - -using namespace std; -using namespace gtsam; -using namespace pose2SLAM; - -const double tol = 1e-5; - -/* ************************************************************************* */ -TEST(testPose2SLAMwSPCG, example1) { - - /* generate synthetic data */ - const SharedNoiseModel sigma(noiseModel::Unit::Create(0.1)); - Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9); - - // create a 3 by 3 grid - // x3 x6 x9 - // x2 x5 x8 - // x1 x4 x7 - Graph graph; - graph.addConstraint(x1,x2,Pose2(0,2,0),sigma) ; - graph.addConstraint(x2,x3,Pose2(0,2,0),sigma) ; - graph.addConstraint(x4,x5,Pose2(0,2,0),sigma) ; - graph.addConstraint(x5,x6,Pose2(0,2,0),sigma) ; - graph.addConstraint(x7,x8,Pose2(0,2,0),sigma) ; - graph.addConstraint(x8,x9,Pose2(0,2,0),sigma) ; - graph.addConstraint(x1,x4,Pose2(2,0,0),sigma) ; - graph.addConstraint(x4,x7,Pose2(2,0,0),sigma) ; - graph.addConstraint(x2,x5,Pose2(2,0,0),sigma) ; - graph.addConstraint(x5,x8,Pose2(2,0,0),sigma) ; - graph.addConstraint(x3,x6,Pose2(2,0,0),sigma) ; - graph.addConstraint(x6,x9,Pose2(2,0,0),sigma) ; - graph.addPrior(x1, Pose2(0,0,0), sigma) ; - - Values initial; - initial.insert(x1, Pose2( 0, 0, 0)); - initial.insert(x2, Pose2( 0, 2.1, 0.01)); - initial.insert(x3, Pose2( 0, 3.9,-0.01)); - initial.insert(x4, Pose2(2.1,-0.1, 0)); - initial.insert(x5, Pose2(1.9, 2.1, 0.02)); - initial.insert(x6, Pose2(2.0, 3.9,-0.02)); - initial.insert(x7, Pose2(4.0, 0.1, 0.03 )); - initial.insert(x8, Pose2(3.9, 2.1, 0.01)); - initial.insert(x9, Pose2(4.1, 3.9,-0.01)); - - Values expected; - expected.insert(x1, Pose2(0.0, 0.0, 0.0)); - expected.insert(x2, Pose2(0.0, 2.0, 0.0)); - expected.insert(x3, Pose2(0.0, 4.0, 0.0)); - expected.insert(x4, Pose2(2.0, 0.0, 0.0)); - expected.insert(x5, Pose2(2.0, 2.0, 0.0)); - expected.insert(x6, Pose2(2.0, 4.0, 0.0)); - expected.insert(x7, Pose2(4.0, 0.0, 0.0 )); - expected.insert(x8, Pose2(4.0, 2.0, 0.0)); - expected.insert(x9, Pose2(4.0, 4.0, 0.0)); - - Values actual = optimizeSPCG(graph, initial); - - EXPECT(assert_equal(expected, actual, tol)); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ From 69e91e32b64eaeda4b60f77ded8cd4cbcf6ab1fe Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 17:57:30 +0000 Subject: [PATCH 039/914] Fixed some test targets --- .cproject | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/.cproject b/.cproject index 5ee6f0fdb..9cd83790e 100644 --- a/.cproject +++ b/.cproject @@ -689,18 +689,26 @@ true true - + make -j5 - nonlinear.testValues.run + testValues.run true true true - + make -j5 - nonlinear.testOrdering.run + testOrdering.run + true + true + true + + + make + -j5 + testKey.run true true true From 67892e59e0fa24eefd33326cb735b2a76734b426 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 17:58:03 +0000 Subject: [PATCH 040/914] fixed print/headers --- gtsam/inference/BayesNet-inl.h | 2 +- gtsam/nonlinear/Symbol.h | 16 ++++++++++------ gtsam/nonlinear/Values.h | 12 ++++++------ 3 files changed, 17 insertions(+), 13 deletions(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 7ff8fc076..53e0ec18d 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -37,7 +37,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesNet::print(const string& s) const { - cout << s << ":\n"; + cout << s; BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_) conditional->print(); } diff --git a/gtsam/nonlinear/Symbol.h b/gtsam/nonlinear/Symbol.h index f671a4b30..03fd4aa1f 100644 --- a/gtsam/nonlinear/Symbol.h +++ b/gtsam/nonlinear/Symbol.h @@ -18,8 +18,8 @@ #pragma once -#include -#include +#include + #include #include #include @@ -28,7 +28,8 @@ #include #include -#include +#include +#include namespace gtsam { @@ -70,8 +71,8 @@ public: j_ = key & indexMask; } - /** Cast to integer */ - operator Key() const { + /** return Key (integer) representation */ + Key key() const { const size_t keyBits = sizeof(Key) * 8; const size_t chrBits = sizeof(unsigned char) * 8; const size_t indexBits = keyBits - chrBits; @@ -83,9 +84,12 @@ public: return key; } + /** Cast to integer */ + operator Key() const { return key(); } + // Testable Requirements void print(const std::string& s = "") const { - std::cout << s << ": " << (std::string) (*this) << std::endl; + std::cout << s << (std::string) (*this) << std::endl; } bool equals(const Symbol& expected, double tol = 0.0) const { return (*this) == expected; diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4af8e5a3e..4a03ab05e 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -24,8 +24,10 @@ #pragma once -#include -#include +#include +#include +#include +#include #include #include @@ -37,10 +39,8 @@ #include #include -#include -#include -#include -#include +#include +#include namespace gtsam { From 9394ede66b1f1760399a2a7439cb38109112056b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 17:58:27 +0000 Subject: [PATCH 041/914] Added print, moved instance variables --- gtsam/nonlinear/Marginals.cpp | 8 +++++++ gtsam/nonlinear/Marginals.h | 43 +++++++++++++++++++---------------- 2 files changed, 32 insertions(+), 19 deletions(-) diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 34d620bc2..ec837bc26 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -43,6 +43,14 @@ Marginals::Marginals(const NonlinearFactorGraph& graph, const Values& solution, bayesTree_ = *GaussianMultifrontalSolver(graph_, true).eliminate(); } +/* ************************************************************************* */ +void Marginals::print(const std::string& str, const KeyFormatter& keyFormatter) const { + ordering_.print(str+"Ordering: ", keyFormatter); + graph_.print(str+"Graph: "); + values_.print(str+"Solution: ", keyFormatter); + bayesTree_.print(str+"Bayes Tree: "); +} + /* ************************************************************************* */ Matrix Marginals::marginalCovariance(Key variable) const { return marginalInformation(variable).inverse(); diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 77bccdfd2..afbeed43d 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -40,6 +40,16 @@ public: QR }; +protected: + + GaussianFactorGraph graph_; + Ordering ordering_; + Values values_; + Factorization factorization_; + GaussianBayesTree bayesTree_; + +public: + /** Construct a marginals class. * @param graph The factor graph defining the full joint density on all variables. * @param solution The linearization point about which to compute Gaussian marginals (usually the MLE as obtained from a NonlinearOptimizer). @@ -47,6 +57,9 @@ public: */ Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization = CHOLESKY); + /** print */ + void print(const std::string& str = "Marginals: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + /** Compute the marginal covariance of a single variable */ Matrix marginalCovariance(Key variable) const; @@ -60,14 +73,6 @@ public: /** Compute the joint marginal information of several variables */ JointMarginal jointMarginalInformation(const std::vector& variables) const; - -protected: - - GaussianFactorGraph graph_; - Values values_; - Ordering ordering_; - Factorization factorization_; - GaussianBayesTree bayesTree_; }; /** @@ -76,7 +81,17 @@ protected: class JointMarginal { protected: - typedef SymmetricBlockView BlockView; + + typedef SymmetricBlockView BlockView; + + Matrix fullMatrix_; + BlockView blockView_; + Ordering indices_; + + JointMarginal(const Matrix& fullMatrix, const std::vector& dims, const Ordering& indices) : + fullMatrix_(fullMatrix), blockView_(fullMatrix_, dims.begin(), dims.end()), indices_(indices) {} + + friend class Marginals; public: /** A block view of the joint marginal - this stores a reference to the @@ -101,16 +116,6 @@ public: */ Block operator()(Key iVariable, Key jVariable) const { return blockView_(indices_[iVariable], indices_[jVariable]); } - -protected: - Matrix fullMatrix_; - BlockView blockView_; - Ordering indices_; - - JointMarginal(const Matrix& fullMatrix, const std::vector& dims, const Ordering& indices) : - fullMatrix_(fullMatrix), blockView_(fullMatrix_, dims.begin(), dims.end()), indices_(indices) {} - - friend class Marginals; }; } /* namespace gtsam */ From 382e3311fda4401f80c59a50b9bbf103372c85da Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 17:58:50 +0000 Subject: [PATCH 042/914] test new key() method --- gtsam/nonlinear/tests/testKey.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/nonlinear/tests/testKey.cpp b/gtsam/nonlinear/tests/testKey.cpp index 54a2e504a..dedb45332 100644 --- a/gtsam/nonlinear/tests/testKey.cpp +++ b/gtsam/nonlinear/tests/testKey.cpp @@ -27,11 +27,11 @@ using namespace gtsam; /* ************************************************************************* */ TEST(Key, KeySymbolConversion) { - Symbol expected('j', 4); - Key key(expected); + Symbol original('j', 4); + Key key(original); + EXPECT(assert_equal(key, original.key())) Symbol actual(key); - - EXPECT(assert_equal(expected, actual)) + EXPECT(assert_equal(original, actual)) } /* ************************************************************************* */ From 8a69bb8bcb7b8f67ebb8415e1842813843477975 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 22 May 2012 19:01:40 +0000 Subject: [PATCH 043/914] Added marginals in MATLAB, but had to fix a bug in converting from 64 bit ints to size_t. This begs the question what happens on 32-bit machines with Symbols. --- examples/LocalizationExample.cpp | 2 +- examples/matlab/LocalizationExample.m | 10 +++---- gtsam.h | 38 +++++++++++++++++---------- wrap/matlab.h | 36 +++++++++++++++++-------- 4 files changed, 55 insertions(+), 31 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index 6963f75f1..2d2357dad 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -64,7 +64,7 @@ int main(int argc, char** argv) { result.print("\nFinal result:\n "); // Query the marginals - Marginals marginals(graph, result); + Marginals marginals = graph.marginals(result); cout.precision(2); cout << "\nP1:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(1)) << endl; cout << "\nP2:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(2)) << endl; diff --git a/examples/matlab/LocalizationExample.m b/examples/matlab/LocalizationExample.m index 361a1c8b1..4aa122dd8 100644 --- a/examples/matlab/LocalizationExample.m +++ b/examples/matlab/LocalizationExample.m @@ -43,8 +43,8 @@ initialEstimate.print(sprintf('\nInitial estimate:\n ')); result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n ')); -%% Use an explicit Optimizer object so we can query the marginals -% marginals = gtsamMarginals(graph, result); -% marginals.marginalCovariance(pose2SLAMPoseKey(1)) -% marginals.marginalCovariance(pose2SLAMPoseKey(2)) -% marginals.marginalCovariance(pose2SLAMPoseKey(3)) +%% Query the marginals +marginals = graph.marginals(result); +x1=gtsamSymbol('x',1); marginals.marginalCovariance(x1.key) +x2=gtsamSymbol('x',2); marginals.marginalCovariance(x2.key) +x3=gtsamSymbol('x',3); marginals.marginalCovariance(x3.key) diff --git a/gtsam.h b/gtsam.h index 628c91733..665b9bb52 100644 --- a/gtsam.h +++ b/gtsam.h @@ -347,13 +347,14 @@ class GaussianFactorGraph { // Building the graph void add(gtsam::JacobianFactor* factor); - void add(Vector b); - void add(int key1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); - void add(int key1, Matrix A1, int key2, Matrix A2, Vector b, - const gtsam::SharedDiagonal& model); - void add(int key1, Matrix A1, int key2, Matrix A2, int key3, Matrix A3, - Vector b, const gtsam::SharedDiagonal& model); - void add(gtsam::HessianFactor* factor); + // all these won't work as MATLAB can't handle overloading +// void add(Vector b); +// void add(int key1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); +// void add(int key1, Matrix A1, int key2, Matrix A2, Vector b, +// const gtsam::SharedDiagonal& model); +// void add(int key1, Matrix A1, int key2, Matrix A2, int key3, Matrix A3, +// Vector b, const gtsam::SharedDiagonal& model); +// void add(gtsam::HessianFactor* factor); // error and probability double error(const gtsam::VectorValues& c) const; @@ -380,7 +381,7 @@ class GaussianSequentialSolver { class KalmanFilter { KalmanFilter(size_t n); - gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); + // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); gtsam::GaussianDensity* init(Vector x0, Matrix P0); void print(string s) const; static int step(gtsam::GaussianDensity* p); @@ -400,6 +401,12 @@ class KalmanFilter { // nonlinear //************************************************************************* +class Symbol { + Symbol(char c, size_t j); + void print(string s) const; + size_t key() const; +}; + class Ordering { Ordering(); void print(string s) const; @@ -407,20 +414,21 @@ class Ordering { void push_back(size_t key); }; -//Andrew says: Required definitions for Marginal arguments class NonlinearFactorGraph { NonlinearFactorGraph(); - //This need to be populated with whatever functions might be needed. }; class Values { Values(); - //Same here + void print(string s) const; + bool exists(size_t j) const; }; -// Frank says: this does not work. Why not? class Marginals { Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); + void print(string s) const; + Matrix marginalCovariance(size_t variable) const; + Matrix marginalInformation(size_t variable) const; }; }///\namespace gtsam @@ -471,7 +479,7 @@ class Odometry { }///\namespace planarSLAM //************************************************************************* -// gtsam::Pose2SLAM +// Pose2SLAM //************************************************************************* #include @@ -481,6 +489,7 @@ class Values { Values(); void print(string s) const; void insertPose(int key, const gtsam::Pose2& pose); + gtsam::Symbol poseKey(int i); gtsam::Pose2 pose(int i); }; @@ -497,7 +506,8 @@ class Graph { void addPrior(int key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); void addPoseConstraint(int key, const gtsam::Pose2& pose); void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); - pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate); + pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const; + gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; }; }///\namespace pose2SLAM diff --git a/wrap/matlab.h b/wrap/matlab.h index 2ef81f37f..b6d200e43 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -206,39 +206,53 @@ string unwrap(const mxArray* array) { return str; } +// Check for 64-bit, as Mathworks says mxGetScalar only good for 32 bit +template +T myGetScalar(const mxArray* array) { + switch (mxGetClassID(array)) { + case mxINT64_CLASS: + return (T) *(int64_t*) mxGetData(array); + case mxUINT64_CLASS: + return (T) *(uint64_t*) mxGetData(array); + default: + // hope for the best! + return (T) mxGetScalar(array); + } +} + // specialization to bool template<> bool unwrap(const mxArray* array) { checkScalar(array,"unwrap"); - return mxGetScalar(array) != 0.0; + return myGetScalar(array); } // specialization to bool template<> char unwrap(const mxArray* array) { checkScalar(array,"unwrap"); - return (char)mxGetScalar(array); -} - -// specialization to size_t -template<> -size_t unwrap(const mxArray* array) { - checkScalar(array,"unwrap"); - return (size_t)mxGetScalar(array); + return myGetScalar(array); } // specialization to int template<> int unwrap(const mxArray* array) { checkScalar(array,"unwrap"); - return (int)mxGetScalar(array); + return myGetScalar(array); +} + +// specialization to size_t +template<> +size_t unwrap(const mxArray* array) { + checkScalar(array, "unwrap"); + return myGetScalar(array); } // specialization to double template<> double unwrap(const mxArray* array) { checkScalar(array,"unwrap"); - return (double)mxGetScalar(array); + return myGetScalar(array); } // specialization to Eigen vector From 7fc7bd8f4d9f875d4248bd171c7772e8d00f26fe Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 22 May 2012 20:37:09 +0000 Subject: [PATCH 044/914] Created branch /branches/windows from /trunk:10699 From 2060f1dd22b9e960bb83076b1a60f07e871802e4 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 22 May 2012 20:37:13 +0000 Subject: [PATCH 045/914] Initial changes to compile on windows --- CMakeLists.txt | 5 ++++- gtsam/CMakeLists.txt | 4 +++- gtsam/base/timing.cpp | 7 ++----- gtsam/base/timing.h | 6 +++++- 4 files changed, 14 insertions(+), 8 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5d2acb464..8bdbc486a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,7 +15,7 @@ include(GtsamTesting) include(GtsamPrinting) # guard against in-source builds -if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR}) +if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR} AND NOT MSVC) 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() @@ -94,6 +94,9 @@ if (GTSAM_BUILD_TESTS) endif() # Find boost +if(MSVC) + set(Boost_USE_STATIC_LIBS 1) +endif() find_package(Boost 1.40 COMPONENTS serialization REQUIRED) # General build settings diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index b3e639917..2adc83365 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -71,6 +71,8 @@ set(gtsam_srcs ${slam_srcs} ) +#gtsam_assign_source_folders("${gtsam_srcs}") + # Versions set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}) set(gtsam_soversion ${GTSAM_VERSION_MAJOR}) @@ -97,6 +99,6 @@ if (GTSAM_BUILD_SHARED_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) - install(TARGETS gtsam-shared LIBRARY DESTINATION lib ) + install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) endif(GTSAM_BUILD_SHARED_LIBRARY) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 1388c2f18..393791e6a 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -20,7 +20,6 @@ #include #include #include -#include #include #include #include @@ -153,15 +152,13 @@ const boost::shared_ptr& TimingOutline::child(size_t child, const void TimingOutline::tic() { assert(!timerActive_); timerActive_ = true; - gettimeofday(&t0_, NULL); + t0_ = clock_t::now(); } /* ************************************************************************* */ void TimingOutline::toc() { - struct timeval t; - gettimeofday(&t, NULL); assert(timerActive_); - add(t.tv_sec*1000000 + t.tv_usec - (t0_.tv_sec*1000000 + t0_.tv_usec)); + add(boost::chrono::duration_cast(clock_t::now() - t0_).count()); timerActive_ = false; } diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 94498c3b3..56ac1a762 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -22,6 +22,7 @@ #include #include #include +#include class TimingOutline; extern boost::shared_ptr timingRoot; @@ -29,6 +30,9 @@ extern boost::weak_ptr timingCurrent; class TimingOutline { protected: + typedef boost::chrono::high_resolution_clock clock_t; + typedef boost::chrono::microseconds duration_t; + size_t t_; double t2_ ; /* cache the \sum t_i^2 */ size_t tIt_; @@ -39,7 +43,7 @@ protected: boost::weak_ptr parent_; std::vector > children_; - struct timeval t0_; + clock_t::time_point t0_; bool timerActive_; void add(size_t usecs); From 25a53815e01664d52847eaa41ade058d216b18ff Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 22 May 2012 22:52:08 +0000 Subject: [PATCH 046/914] Initial changes to compile on windows --- gtsam/base/DerivedValue.h | 2 +- gtsam/base/Matrix.cpp | 1 + gtsam/base/Matrix.h | 3 ++- gtsam/base/Vector.cpp | 5 +++-- gtsam/base/cholesky.cpp | 13 +++++++------ gtsam/base/timing.cpp | 8 +++++--- gtsam/base/types.h | 16 +++++++++++++++- 7 files changed, 34 insertions(+), 14 deletions(-) diff --git a/gtsam/base/DerivedValue.h b/gtsam/base/DerivedValue.h index 1919f9540..83ecea510 100644 --- a/gtsam/base/DerivedValue.h +++ b/gtsam/base/DerivedValue.h @@ -50,7 +50,7 @@ public: * Destroy and deallocate this object, only if it was originally allocated using clone_(). */ virtual void deallocate_() const { - this->~Value(); + this->Value::~Value(); boost::singleton_pool::free((void*)this); } diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 849dc3f5a..050f66ff0 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -15,6 +15,7 @@ * @author Christian Potthast */ +#include #include #include #include diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 3a70d9b76..fd7dac1fc 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -26,6 +26,7 @@ #include #include #include +#include /** * Matrix is a typedef in the gtsam namespace @@ -87,7 +88,7 @@ bool equal_with_abs_tol(const Eigen::DenseBase& A, const Eigen::DenseBas for(size_t i=0; i tol) return false; diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index 27b56830c..2d319961d 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -35,6 +35,7 @@ #include #include +#include using namespace std; @@ -169,7 +170,7 @@ bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol) { if (vec1.size()!=vec2.size()) return false; size_t m = vec1.size(); for(size_t i=0; i tol) return false; @@ -182,7 +183,7 @@ bool equal_with_abs_tol(const SubVector& vec1, const SubVector& vec2, double tol if (vec1.size()!=vec2.size()) return false; size_t m = vec1.size(); for(size_t i=0; i tol) return false; diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 66bbbde55..84c03f78b 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -16,6 +16,10 @@ * @date Nov 5, 2010 */ +#include +#include +#include + #include #include #include @@ -23,9 +27,6 @@ #include #include -#include -#include - using namespace std; namespace gtsam { @@ -129,7 +130,7 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) { tic(1, "lld"); ABC.block(0,0,nFrontal,nFrontal).triangularView() = ABC.block(0,0,nFrontal,nFrontal).selfadjointView().llt().matrixU(); - assert(ABC.topLeftCorner(nFrontal,nFrontal).triangularView().toDenseMatrix().unaryExpr(&isfinite).all()); + assert(ABC.topLeftCorner(nFrontal,nFrontal).triangularView().toDenseMatrix().unaryExpr(ptr_fun(isfinite)).all()); toc(1, "lld"); if(debug) cout << "R:\n" << Eigen::MatrixXd(ABC.topLeftCorner(nFrontal,nFrontal).triangularView()) << endl; @@ -140,7 +141,7 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) { ABC.topLeftCorner(nFrontal,nFrontal).triangularView().transpose().solveInPlace( ABC.topRightCorner(nFrontal, n-nFrontal)); } - assert(ABC.topRightCorner(nFrontal, n-nFrontal).unaryExpr(&isfinite).all()); + assert(ABC.topRightCorner(nFrontal, n-nFrontal).unaryExpr(ptr_fun(isfinite)).all()); if(debug) cout << "S:\n" << ABC.topRightCorner(nFrontal, n-nFrontal) << endl; toc(2, "compute S"); @@ -150,7 +151,7 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) { if(n - nFrontal > 0) ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView().rankUpdate( ABC.topRightCorner(nFrontal, n-nFrontal).transpose(), -1.0); - assert(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView().toDenseMatrix().unaryExpr(&isfinite).all()); + assert(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView().toDenseMatrix().unaryExpr(ptr_fun(isfinite)).all()); if(debug) cout << "L:\n" << Eigen::MatrixXd(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView()) << endl; toc(3, "compute L"); } diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 393791e6a..305f86a74 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -241,9 +241,11 @@ void Timing::print() { /* ************************************************************************* */ double _tic_() { - struct timeval t; - gettimeofday(&t, NULL); - return ((double)t.tv_sec + ((double)t.tv_usec)/1000000.); + typedef boost::chrono::high_resolution_clock clock_t; + typedef boost::chrono::duration duration_t; + + clock_t::time_point t = clock_t::now(); + return boost::chrono::duration_cast< duration_t >(t.time_since_epoch()).count(); } /* ************************************************************************* */ diff --git a/gtsam/base/types.h b/gtsam/base/types.h index b6c5617a5..6106f49fd 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -19,7 +19,7 @@ #pragma once -#include +#include namespace gtsam { @@ -71,3 +71,17 @@ namespace gtsam { } +#ifdef _MSC_VER + +#include +using boost::math::isfinite; +using boost::math::isnan; +using boost::math::isinf; + +#include +#ifndef M_PI +#define M_PI (boost::math::constants::pi()) +#endif + +#endif + From 510e2eacac8ca366bae1e075ccb798d83393eeed Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 22 May 2012 22:52:17 +0000 Subject: [PATCH 047/914] More progress in compiling on windows --- gtsam/base/Matrix.cpp | 4 +-- gtsam/base/Vector.cpp | 28 +++++++++---------- gtsam/base/Vector.h | 1 + gtsam/base/types.h | 8 ++++++ gtsam/discrete/Signature.cpp | 11 ++++---- gtsam/geometry/Point3.h | 3 +- gtsam/inference/BayesTree-inl.h | 4 +-- gtsam/inference/ClusterTree-inl.h | 2 +- .../inference/GenericMultifrontalSolver-inl.h | 9 +++--- gtsam/linear/GaussianConditional.cpp | 4 +-- gtsam/linear/HessianFactor.cpp | 6 ++-- gtsam/linear/JacobianFactor.cpp | 6 ++-- gtsam/linear/NoiseModel.h | 3 +- gtsam/nonlinear/DoglegOptimizerImpl.cpp | 9 +++--- gtsam/nonlinear/ISAM2-impl.cpp | 5 ++-- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 4 ++- gtsam/slam/pose2SLAM.cpp | 2 +- 17 files changed, 62 insertions(+), 47 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 050f66ff0..57a45d4a1 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -26,8 +26,8 @@ #include #include -#include -#include +#include +#include #include #include #include diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index 2d319961d..98ad43e05 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -16,7 +16,7 @@ * @author Frank Dellaert */ -#include +#include #include #include #include @@ -25,11 +25,7 @@ #include #include #include -#include - -#ifdef WIN32 -#include -#endif +#include #include #include @@ -37,6 +33,10 @@ #include #include +//#ifdef WIN32 +//#include +//#endif + using namespace std; boost::minstd_rand generator(42u); @@ -56,11 +56,11 @@ void odprintf_(const char *format, ostream& stream, ...) { #endif va_end(args); -#ifdef WIN32 - OutputDebugString(buf); -#else +//#ifdef WIN32 +// OutputDebugString(buf); +//#else stream << buf; -#endif +//#endif } /* ************************************************************************* */ @@ -77,11 +77,11 @@ void odprintf(const char *format, ...) { #endif va_end(args); -#ifdef WIN32 - OutputDebugString(buf); -#else +//#ifdef WIN32 +// OutputDebugString(buf); +//#else cout << buf; -#endif +//#endif } /* ************************************************************************* */ diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 84fd506cb..b4be74f4e 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -22,6 +22,7 @@ #include #include +#include #include #include diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 6106f49fd..e9264d516 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -84,4 +84,12 @@ using boost::math::isinf; #endif #endif + +#ifdef min +#undef min +#endif + +#ifdef max +#undef max +#endif diff --git a/gtsam/discrete/Signature.cpp b/gtsam/discrete/Signature.cpp index ee7c1e59a..439f20864 100644 --- a/gtsam/discrete/Signature.cpp +++ b/gtsam/discrete/Signature.cpp @@ -33,6 +33,7 @@ namespace gtsam { #ifdef BOOST_HAVE_PARSER namespace qi = boost::spirit::qi; + namespace ph = boost::phoenix; // parser for strings of form "99/1 80/20" etc... namespace parser { @@ -85,9 +86,9 @@ namespace gtsam { // check for OR, AND on whole phrase It f = spec.begin(), l = spec.end(); if (qi::parse(f, l, - qi::lit("OR")[ref(table) = logic(false, true, true, true)]) || + qi::lit("OR")[ph::ref(table) = logic(false, true, true, true)]) || qi::parse(f, l, - qi::lit("AND")[ref(table) = logic(false, false, false, true)])) + qi::lit("AND")[ph::ref(table) = logic(false, false, false, true)])) return true; // tokenize into separate rows @@ -97,9 +98,9 @@ namespace gtsam { Signature::Row values; It tf = token.begin(), tl = token.end(); bool r = qi::parse(tf, tl, - qi::double_[push_back(ref(values), qi::_1)] >> +("/" >> qi::double_[push_back(ref(values), qi::_1)]) | - qi::lit("T")[ref(values) = T] | - qi::lit("F")[ref(values) = F] ); + qi::double_[push_back(ph::ref(values), qi::_1)] >> +("/" >> qi::double_[push_back(ph::ref(values), qi::_1)]) | + qi::lit("T")[ph::ref(values) = T] | + qi::lit("F")[ph::ref(values) = F] ); if (!r) return false; table.push_back(values); diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index 9eeb748db..7f7845dfb 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -21,6 +21,7 @@ #pragma once +#include #include #include @@ -150,7 +151,7 @@ namespace gtsam { /** distance between two points */ double dist(const Point3& p2) const { - return sqrt(pow(x()-p2.x(),2.0) + pow(y()-p2.y(),2.0) + pow(z()-p2.z(),2.0)); + return std::sqrt(pow(x()-p2.x(),2.0) + pow(y()-p2.y(),2.0) + pow(z()-p2.z(),2.0)); } /** Distance of the point from the origin */ diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 95b070739..00cd38609 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -53,7 +53,7 @@ namespace gtsam { template void BayesTree::getCliqueData(CliqueData& data, - BayesTree::sharedClique clique) const { + typename BayesTree::sharedClique clique) const { data.conditionalSizes.push_back((*clique)->nrFrontals()); data.separatorSizes.push_back((*clique)->nrParents()); BOOST_FOREACH(sharedClique c, clique->children_) { @@ -74,7 +74,7 @@ namespace gtsam { template void BayesTree::saveGraph(ostream &s, - BayesTree::sharedClique clique, + typename BayesTree::sharedClique clique, int parentnum) const { static int num = 0; bool first = true; diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index 0f1f823af..0a0b9e64e 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -58,7 +58,7 @@ namespace gtsam { /* ************************************************************************* */ template - bool ClusterTree::Cluster::equals(const ClusterTree::Cluster& other) const { + bool ClusterTree::Cluster::equals(const Cluster& other) const { if (frontal != other.frontal) return false; if (separator != other.separator) return false; if (children_.size() != other.children_.size()) return false; diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index 652db02ca..b24db8484 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -49,15 +49,14 @@ namespace gtsam { } /* ************************************************************************* */ - template - typename BayesTree::shared_ptr GenericMultifrontalSolver::eliminate( - typename FactorGraph::Eliminate function) const { + template + typename BayesTree::shared_ptr GenericMultifrontalSolver::eliminate(Eliminate function) const { // eliminate junction tree, returns pointer to root - typename BayesTree::sharedClique root = junctionTree_->eliminate(function); + typename BayesTree::sharedClique root = junctionTree_->eliminate(function); // create an empty Bayes tree and insert root clique - typename BayesTree::shared_ptr bayesTree(new BayesTree); + typename BayesTree::shared_ptr bayesTree(new BayesTree); bayesTree->insert(root); // return the Bayes tree diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp index de459a00f..c048c8dd8 100644 --- a/gtsam/linear/GaussianConditional.cpp +++ b/gtsam/linear/GaussianConditional.cpp @@ -73,7 +73,7 @@ GaussianConditional::GaussianConditional(Index key, const Vector& d, const Matri const Matrix& R, const list >& parents, const Vector& sigmas) : IndexConditional(key, GetKeys(parents.size(), parents.begin(), parents.end())), rsd_(matrix_), sigmas_(sigmas) { assert(R.rows() <= R.cols()); - size_t dims[1+parents.size()+1]; + size_t* dims = (size_t*)alloca(sizeof(size_t)*(1+parents.size()+1)); // FIXME: alloca is bad, just ask Google. dims[0] = R.cols(); size_t j=1; std::list >::const_iterator parent=parents.begin(); @@ -95,7 +95,7 @@ GaussianConditional::GaussianConditional(const std::list Index_Matrix; BOOST_FOREACH(const Index_Matrix& term, terms) { diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index b1f829005..ebe94514b 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -188,7 +188,7 @@ HessianFactor::HessianFactor(const std::vector& js, const std::vectorsecond.slot; @@ -399,7 +399,7 @@ void HessianFactor::updateATA(const JacobianFactor& update, const Scatter& scatt // First build an array of slots tic(1, "slots"); - size_t slots[update.size()]; + size_t* slots = (size_t*)alloca(sizeof(size_t)*update.size()); // FIXME: alloca is bad, just ask Google. size_t slot = 0; BOOST_FOREACH(Index j, update) { slots[slot] = scatter.find(j)->second.slot; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index e2facec40..37fd74c39 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -118,7 +118,7 @@ namespace gtsam { GaussianFactor(GetKeys(terms.size(), terms.begin(), terms.end())), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - size_t dims[terms.size()+1]; + size_t* dims = (size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. for(size_t j=0; j >::const_iterator term=terms.begin(); for(; term!=terms.end(); ++term,++j) @@ -488,7 +488,7 @@ namespace gtsam { size_t>& varDims, size_t m) { keys_.resize(variableSlots.size()); std::transform(variableSlots.begin(), variableSlots.end(), begin(), - bind(&VariableSlots::const_iterator::value_type::first, + boost::bind(&VariableSlots::const_iterator::value_type::first, boost::lambda::_1)); varDims.push_back(1); Ab_.copyStructureFrom(BlockAb(matrix_, varDims.begin(), varDims.end(), m)); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index b6cf4deac..87391be0a 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -20,6 +20,7 @@ #include #include +#include namespace gtsam { @@ -609,7 +610,7 @@ namespace gtsam { virtual bool equals(const Base& expected, const double tol=1e-8) const = 0; inline double sqrtWeight(const double &error) const - { return sqrt(weight(error)); } + { return std::sqrt(weight(error)); } /** produce a weight vector according to an error vector and the implemented * robust function */ diff --git a/gtsam/nonlinear/DoglegOptimizerImpl.cpp b/gtsam/nonlinear/DoglegOptimizerImpl.cpp index 480d76f6a..ccfdf781a 100644 --- a/gtsam/nonlinear/DoglegOptimizerImpl.cpp +++ b/gtsam/nonlinear/DoglegOptimizerImpl.cpp @@ -15,6 +15,7 @@ * @author Richard Roberts */ +#include #include namespace gtsam { @@ -27,12 +28,12 @@ VectorValues DoglegOptimizerImpl::ComputeDoglegPoint( double DeltaSq = Delta*Delta; double x_u_norm_sq = dx_u.vector().squaredNorm(); double x_n_norm_sq = dx_n.vector().squaredNorm(); - if(verbose) cout << "Steepest descent magnitude " << sqrt(x_u_norm_sq) << ", Newton's method magnitude " << sqrt(x_n_norm_sq) << endl; + if(verbose) cout << "Steepest descent magnitude " << std::sqrt(x_u_norm_sq) << ", Newton's method magnitude " << std::sqrt(x_n_norm_sq) << endl; if(DeltaSq < x_u_norm_sq) { // Trust region is smaller than steepest descent update VectorValues x_d = VectorValues::SameStructure(dx_u); - x_d.vector() = dx_u.vector() * sqrt(DeltaSq / x_u_norm_sq); - if(verbose) cout << "In steepest descent region with fraction " << sqrt(DeltaSq / x_u_norm_sq) << " of steepest descent magnitude" << endl; + x_d.vector() = dx_u.vector() * std::sqrt(DeltaSq / x_u_norm_sq); + if(verbose) cout << "In steepest descent region with fraction " << std::sqrt(DeltaSq / x_u_norm_sq) << " of steepest descent magnitude" << endl; return x_d; } else if(DeltaSq < x_n_norm_sq) { // Trust region boundary is between steepest descent point and Newton's method point @@ -59,7 +60,7 @@ VectorValues DoglegOptimizerImpl::ComputeBlend(double Delta, const VectorValues& const double a = uu - 2.*un + nn; const double b = 2. * (un - uu); const double c = uu - Delta*Delta; - double sqrt_b_m4ac = sqrt(b*b - 4*a*c); + double sqrt_b_m4ac = std::sqrt(b*b - 4*a*c); // Compute blending parameter double tau1 = (-b + sqrt_b_m4ac) / (2.*a); diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 8fe117e34..e8847e5c0 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -15,6 +15,7 @@ * @author Michael Kaess, Richard Roberts */ +#include #include #include #include @@ -149,7 +150,7 @@ void ISAM2::Impl::ExpmapMasked(Values& values, const Permuted& del cout << " " << keyFormatter(key_value->key) << " (j = " << var << "), delta = " << delta[var].transpose() << endl; } assert(delta[var].size() == (int)key_value->value.dim()); - assert(delta[var].unaryExpr(&isfinite).all()); + assert(delta[var].unaryExpr(ptr_fun(isfinite)).all()); if(mask[var]) { Value* retracted = key_value->value.retract_(delta[var]); key_value->value = *retracted; @@ -305,7 +306,7 @@ size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std: #ifndef NDEBUG for(size_t j=0; j).all()); + assert(delta.container()[j].unaryExpr(ptr_fun(isfinite)).all()); #endif } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 1b19cfe75..b9523b538 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -16,6 +16,8 @@ * @created Feb 26, 2012 */ +#include + #include #include // For NegativeMatrixException @@ -48,7 +50,7 @@ void LevenbergMarquardtOptimizer::iterate() { // TODO: replace this dampening with a backsubstitution approach GaussianFactorGraph dampedSystem(*linear); { - double sigma = 1.0 / sqrt(state_.lambda); + double sigma = 1.0 / std::sqrt(state_.lambda); dampedSystem.reserve(dampedSystem.size() + dimensions_.size()); // for each of the variables, add a prior for(Index j=0; j Date: Wed, 23 May 2012 12:35:48 +0000 Subject: [PATCH 048/914] Plot covariance ellipses in MATLAB --- examples/matlab/LocalizationExample.m | 24 ++++++++++++++++--- examples/matlab/covarianceEllipse.m | 34 +++++++++++++++++++++++++++ 2 files changed, 55 insertions(+), 3 deletions(-) create mode 100644 examples/matlab/covarianceEllipse.m diff --git a/examples/matlab/LocalizationExample.m b/examples/matlab/LocalizationExample.m index 4aa122dd8..521c768ec 100644 --- a/examples/matlab/LocalizationExample.m +++ b/examples/matlab/LocalizationExample.m @@ -45,6 +45,24 @@ result.print(sprintf('\nFinal result:\n ')); %% Query the marginals marginals = graph.marginals(result); -x1=gtsamSymbol('x',1); marginals.marginalCovariance(x1.key) -x2=gtsamSymbol('x',2); marginals.marginalCovariance(x2.key) -x3=gtsamSymbol('x',3); marginals.marginalCovariance(x3.key) +x{1}=gtsamSymbol('x',1); P{1}=marginals.marginalCovariance(x{1}.key) +x{2}=gtsamSymbol('x',2); P{2}=marginals.marginalCovariance(x{2}.key) +x{3}=gtsamSymbol('x',3); P{3}=marginals.marginalCovariance(x{3}.key) + +%% Plot Trajectory +figure(1) +clf +X=[];Y=[]; +for i=1:3 + pose_i = result.pose(i); + X=[X;pose_i.x]; + Y=[Y;pose_i.y]; +end +plot(X,Y,'b*-'); + +%% Plot Covariance Ellipses +hold on +for i=1:3 + pose_i = result.pose(i); + covarianceEllipse([pose_i.x;pose_i.y],P{i},'g') +end diff --git a/examples/matlab/covarianceEllipse.m b/examples/matlab/covarianceEllipse.m new file mode 100644 index 000000000..106a10d6e --- /dev/null +++ b/examples/matlab/covarianceEllipse.m @@ -0,0 +1,34 @@ +function covarianceEllipse(x,P,color) +% covarianceEllipse: plot a Gaussian as an uncertainty ellipse +% Based on Maybeck Vol 1, page 366 +% k=2.296 corresponds to 1 std, 68.26% of all probability +% k=11.82 corresponds to 3 std, 99.74% of all probability +% +% covarianceEllipse(x,P,color) +% it is assumed x and y are the first two components of state x + +[e,s] = eig(P(1:2,1:2)); +s1 = s(1,1); +s2 = s(2,2); +k = 2.296; +[ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) ); +line(ex,ey,'color',color); + +function [x,y] = ellipse(a,b,c); +% ellipse: return the x and y coordinates for an ellipse +% [x,y] = ellipse(a,b,c); +% a, and b are the axes. c is the center + +global ellipse_x ellipse_y +if ~exist('elipse_x') + q =0:2*pi/25:2*pi; + ellipse_x = cos(q); + ellipse_y = sin(q); +end + +points = a*ellipse_x + b*ellipse_y; +x = c(1) + points(1,:); +y = c(2) + points(2,:); +end + +end \ No newline at end of file From 3264bd5a3970f9622971bc3887be0264becd198c Mon Sep 17 00:00:00 2001 From: bpeasle Date: Wed, 23 May 2012 15:57:12 +0000 Subject: [PATCH 049/914] Reverted testOccupancyGrid.cpp back so that it does not break make check. --- tests/testOccupancyGrid.cpp | 86 +++++++++---------------------------- 1 file changed, 20 insertions(+), 66 deletions(-) diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 35f2df3d8..504d958f5 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -286,84 +286,38 @@ TEST_UNSAFE( OccupancyGrid, Test1) { //Build a small grid and test optimization //Build small grid - double width = 20; //meters - double height = 20; //meters - double resolution = 0.2; //meters + double width = 3; //meters + double height = 2; //meters + double resolution = 0.5; //meters OccupancyGrid occupancyGrid(width, height, resolution); //default center to middle //Add measurements -// Pose2 pose(0,0,0); -// double range = 4.499765; -// -// occupancyGrid.addPrior(0, 0.7); -// EXPECT_LONGS_EQUAL(1, occupancyGrid.size()); -// -// occupancyGrid.addLaser(pose, range); -// EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); + Pose2 pose(0,0,0); + double range = 1; - //add lasers - int n_frames = 1; - int n_lasers_per_frame = 640; - char laser_list_file[1000]; + occupancyGrid.addPrior(0, 0.7); + EXPECT_LONGS_EQUAL(1, occupancyGrid.size()); + + occupancyGrid.addLaser(pose, range); + EXPECT_LONGS_EQUAL(2, occupancyGrid.size()); + + OccupancyGrid::Occupancy occupancy = occupancyGrid.emptyOccupancy(); + EXPECT_LONGS_EQUAL(900, occupancyGrid.laserFactorValue(0,occupancy)); - for(int i = 0; i < n_frames; i++){ - sprintf(laser_list_file, "/home/brian/Desktop/research/user/bpeasle/code/KinectInterface/Data/ScanLinesAsLasers/KinectRecording9/laser_list%.4d", i); - FILE *fptr = fopen(laser_list_file,"r"); - double x,y, theta; - double range, angle; - fscanf(fptr, "%lf %lf %lf", &x, &y, &theta); + occupancy[16] = 1; + EXPECT_LONGS_EQUAL(1, occupancyGrid.laserFactorValue(0,occupancy)); - for(int j = 0; j < n_lasers_per_frame; j++){ - fscanf(fptr, "%lf %lf", &range, &angle); - //if(j == 159){ - Pose2 pose(x,y, theta+angle); + occupancy[15] = 1; + EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); - occupancyGrid.addLaser(pose, range); - //} - } - fclose(fptr); - - } - - -// OccupancyGrid::Occupancy occupancy = occupancyGrid.emptyOccupancy(); -// EXPECT_LONGS_EQUAL(900, occupancyGrid.laserFactorValue(0,occupancy)); -// -// -// occupancy[16] = 1; -// EXPECT_LONGS_EQUAL(1, occupancyGrid.laserFactorValue(0,occupancy)); -// -// occupancy[15] = 1; -// EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); -// -// occupancy[16] = 0; -// EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); + occupancy[16] = 0; + EXPECT_LONGS_EQUAL(1000, occupancyGrid.laserFactorValue(0,occupancy)); //run MCMC OccupancyGrid::Marginals occupancyMarginals = occupancyGrid.runMetropolis(50000); - //EXPECT_LONGS_EQUAL( (width*height)/pow(resolution,2), occupancyMarginals.size()); - //select a cell at a random to flip - - - printf("\n"); - for(size_t i = 0, it = 0; i < occupancyGrid.height(); i++){ - for(size_t j = 0; j < occupancyGrid.width(); j++, it++){ - printf("%.2lf ", occupancyMarginals[it]); - } - printf("\n"); - } - - char marginalsOutput[1000]; - sprintf(marginalsOutput, "/home/brian/Desktop/research/user/bpeasle/code/KinectInterface/marginals.txt"); - FILE *fptr = fopen(marginalsOutput, "w"); - fprintf(fptr, "%d %d\n", occupancyGrid.width(), occupancyGrid.height()); - - for(int i = 0; i < occupancyMarginals.size(); i++){ - fprintf(fptr, "%lf ", occupancyMarginals[i]); - } - fclose(fptr); + EXPECT_LONGS_EQUAL( (width*height)/pow(resolution,2), occupancyMarginals.size()); From edc4ffa6833e8d9b1f4bddfc4009a2bdee5ed752 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 18:51:39 +0000 Subject: [PATCH 050/914] Fixed missing copy constructor and assignment operators in Marginals --- gtsam/nonlinear/Marginals.cpp | 13 +++++++++++++ gtsam/nonlinear/Marginals.h | 6 ++++++ 2 files changed, 19 insertions(+) diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 34d620bc2..6df7dfdac 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -73,6 +73,19 @@ Matrix Marginals::marginalInformation(Key variable) const { } } +/* ************************************************************************* */ +JointMarginal::JointMarginal(const JointMarginal& other) : + blockView_(fullMatrix_) { + *this = other; +} + +/* ************************************************************************* */ +JointMarginal& JointMarginal::operator=(const JointMarginal& rhs) { + indices_ = rhs.indices_; + blockView_.assignNoalias(rhs.blockView_); + return *this; +} + /* ************************************************************************* */ JointMarginal Marginals::jointMarginalCovariance(const std::vector& variables) const { JointMarginal info = jointMarginalInformation(variables); diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 77bccdfd2..fe5d4b21d 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -102,6 +102,12 @@ public: Block operator()(Key iVariable, Key jVariable) const { return blockView_(indices_[iVariable], indices_[jVariable]); } + /** Copy constructor */ + JointMarginal(const JointMarginal& other); + + /** Assignment operator */ + JointMarginal& operator=(const JointMarginal& rhs); + protected: Matrix fullMatrix_; BlockView blockView_; From 7cdd8e19da3cf899461ee73c909fb882e24e2622 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 18:51:42 +0000 Subject: [PATCH 051/914] Tweaking build scripts for visual studio --- CMakeLists.txt | 14 +++++++++++--- examples/CMakeLists.txt | 4 +++- gtsam/CMakeLists.txt | 10 +++++++++- gtsam/slam/CMakeLists.txt | 4 ++++ 4 files changed, 27 insertions(+), 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8bdbc486a..7198c5dfb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -52,10 +52,18 @@ if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" OFF) endif() option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) -option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) +if(MSVC) + option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" OFF) +else() + option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) +endif() option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF) -option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON) +if(MSVC) + option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF) +else() + option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON) +endif() option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON) option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON) option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) @@ -97,7 +105,7 @@ endif() if(MSVC) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.40 COMPONENTS serialization REQUIRED) +find_package(Boost 1.40 COMPONENTS serialization system chrono REQUIRED) # General build settings include_directories( diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 116379489..00a93904a 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -15,7 +15,9 @@ foreach(example_src ${example_srcs} ) endif() target_link_libraries(${example_bin} gtsam-static) - add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN}) + if(NOT MSVC) + add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN}) + endif() endforeach(example_src) add_subdirectory(vSLAMexample) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 2adc83365..e0cc0eae1 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -46,6 +46,8 @@ endif() foreach(subdir ${gtsam_subdirs}) # Build convenience libraries file(GLOB subdir_srcs "${subdir}/*.cpp") + file(GLOB subdir_headers "${subdir}/*.h") + set(subdir_srcs ${subdir_srcs} ${subdir_headers}) # Include header files so they show up in Visual Studio list(REMOVE_ITEM subdir_srcs ${excluded_sources}) set(${subdir}_srcs ${subdir_srcs}) if (GTSAM_BUILD_CONVENIENCE_LIBRARIES) @@ -71,7 +73,11 @@ set(gtsam_srcs ${slam_srcs} ) -#gtsam_assign_source_folders("${gtsam_srcs}") +# Create MSVC structure +file(GLOB_RECURSE all_c_srcs "*.c") +file(GLOB_RECURSE all_cpp_srcs "*.cpp") +file(GLOB_RECURSE all_headers "*.h") +gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}") # Versions set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}) @@ -83,6 +89,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") if (GTSAM_BUILD_STATIC_LIBRARY) message(STATUS "Building GTSAM - static") add_library(gtsam-static STATIC ${gtsam_srcs}) + target_link_libraries(gtsam-static ${Boost_LIBRARIES}) set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 @@ -94,6 +101,7 @@ endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) message(STATUS "Building GTSAM - shared") add_library(gtsam-shared SHARED ${gtsam_srcs}) + target_link_libraries(gtsam-shared ${Boost_LIBRARIES}) set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt index c25e32bd4..768ab2307 100644 --- a/gtsam/slam/CMakeLists.txt +++ b/gtsam/slam/CMakeLists.txt @@ -24,6 +24,10 @@ if (GTSAM_BUILD_TESTS) gtsam_add_subdir_tests(slam "${slam_local_libs}" "gtsam-static" "${slam_excluded_files}") endif(GTSAM_BUILD_TESTS) +if(MSVC) + add_definitions("/bigobj") +endif() + # Build timing scripts if (GTSAM_BUILD_TIMING) gtsam_add_subdir_timing(slam "${slam_local_libs}" "gtsam-static" "${slam_excluded_files}") From c2c9c4a982bccf1d233f81c5c7151ae24a31a777 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 18:51:49 +0000 Subject: [PATCH 052/914] Almost everything compiles and passes in windows --- examples/PlanarSLAMExample_easy.cpp | 2 +- gtsam/base/tests/testVector.cpp | 2 +- gtsam/discrete/DecisionTree-inl.h | 2 +- gtsam/geometry/tests/testCalibratedCamera.cpp | 2 +- gtsam/geometry/tests/testFundamental.cpp | 8 +- gtsam/geometry/tests/testHomography2.cpp | 18 ++--- gtsam/geometry/tests/testPoint2.cpp | 4 +- gtsam/geometry/tests/testPose2.cpp | 74 +++++++++---------- gtsam/geometry/tests/testPose3.cpp | 12 +-- gtsam/geometry/tests/testRot2.cpp | 8 +- gtsam/geometry/tests/testRot3M.cpp | 2 +- gtsam/geometry/tests/testSimpleCamera.cpp | 2 +- gtsam/geometry/tests/testTensors.cpp | 12 +-- gtsam/inference/graph-inl.h | 4 +- gtsam/slam/tests/testGeneralSFMFactor.cpp | 4 +- .../testGeneralSFMFactor_Cal3Bundler.cpp | 4 +- gtsam/slam/tests/testPlanarSLAM.cpp | 16 ++-- gtsam/slam/tests/testPose2SLAM.cpp | 32 ++++---- tests/testDoglegOptimizer.cpp | 5 +- tests/testGaussianFactor.cpp | 4 +- tests/testGaussianFactorGraphB.cpp | 4 +- tests/testGraph.cpp | 2 +- tests/testInferenceB.cpp | 2 +- tests/testMarginals.cpp | 2 +- 24 files changed, 113 insertions(+), 114 deletions(-) diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample_easy.cpp index 5039b1145..808de3ba3 100644 --- a/examples/PlanarSLAMExample_easy.cpp +++ b/examples/PlanarSLAMExample_easy.cpp @@ -53,7 +53,7 @@ int main(int argc, char** argv) { Rot2 bearing11 = Rot2::fromDegrees(45), bearing21 = Rot2::fromDegrees(90), bearing32 = Rot2::fromDegrees(90); - double range11 = sqrt(4+4), + double range11 = std::sqrt(4.0+4.0), range21 = 2.0, range32 = 2.0; diff --git a/gtsam/base/tests/testVector.cpp b/gtsam/base/tests/testVector.cpp index 8b8757027..6657d41f9 100644 --- a/gtsam/base/tests/testVector.cpp +++ b/gtsam/base/tests/testVector.cpp @@ -251,7 +251,7 @@ TEST( TestVector, axpy ) /* ************************************************************************* */ TEST( TestVector, equals ) { - Vector v1 = Vector_(1, 0.0/0.0); //testing nan + Vector v1 = Vector_(1, 0.0/std::numeric_limits::quiet_NaN()); //testing nan Vector v2 = Vector_(1, 1.0); double tol = 1.; EXPECT(!equal_with_abs_tol(v1, v2, tol)); diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h index 1fa750ace..a9953d506 100644 --- a/gtsam/discrete/DecisionTree-inl.h +++ b/gtsam/discrete/DecisionTree-inl.h @@ -81,7 +81,7 @@ namespace gtsam { bool equals(const Node& q, double tol) const { const Leaf* other = dynamic_cast (&q); if (!other) return false; - return fabs(this->constant_ - other->constant_) < tol; + return fabs(double(this->constant_ - other->constant_)) < tol; } /** print */ diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index 5bb1ebe65..7fe88bce0 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -65,7 +65,7 @@ TEST( CalibratedCamera, level1) TEST( CalibratedCamera, level2) { // Create a level camera, looking in Y-direction - Pose2 pose2(0.4,0.3,M_PI_2); + Pose2 pose2(0.4,0.3,M_PI/2.0); CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1); // expected diff --git a/gtsam/geometry/tests/testFundamental.cpp b/gtsam/geometry/tests/testFundamental.cpp index 297b36036..46a051609 100644 --- a/gtsam/geometry/tests/testFundamental.cpp +++ b/gtsam/geometry/tests/testFundamental.cpp @@ -34,11 +34,11 @@ using namespace tensors; /* ************************************************************************* */ // Indices -Index<3, 'a'> a; -Index<3, 'b'> b; +tensors::Index<3, 'a'> a; +tensors::Index<3, 'b'> b; -Index<4, 'A'> A; -Index<4, 'B'> B; +tensors::Index<4, 'A'> A; +tensors::Index<4, 'B'> B; /* ************************************************************************* */ TEST( Tensors, FundamentalMatrix) diff --git a/gtsam/geometry/tests/testHomography2.cpp b/gtsam/geometry/tests/testHomography2.cpp index 417d41977..062de9d1d 100644 --- a/gtsam/geometry/tests/testHomography2.cpp +++ b/gtsam/geometry/tests/testHomography2.cpp @@ -36,9 +36,9 @@ using namespace tensors; /* ************************************************************************* */ // Indices -Index<3, 'a'> a, _a; -Index<3, 'b'> b, _b; -Index<3, 'c'> c, _c; +tensors::Index<3, 'a'> a, _a; +tensors::Index<3, 'b'> b, _b; +tensors::Index<3, 'c'> c, _c; /* ************************************************************************* */ TEST( Homography2, RealImages) @@ -120,8 +120,8 @@ Homography2 patchH(const Pose3& tEc) { namespace gtsam { // size_t dim(const tensors::Tensor2<3, 3>& H) {return 9;} Vector toVector(const tensors::Tensor2<3, 3>& H) { - Index<3, 'T'> _T; // covariant 2D template - Index<3, 'C'> I; // contravariant 2D camera + tensors::Index<3, 'T'> _T; // covariant 2D template + tensors::Index<3, 'C'> I; // contravariant 2D camera return toVector(H(I,_T)); } Vector localCoordinates(const tensors::Tensor2<3, 3>& A, const tensors::Tensor2<3, 3>& B) { @@ -134,8 +134,8 @@ namespace gtsam { /* ************************************************************************* */ TEST( Homography2, patchH) { - Index<3, 'T'> _T; // covariant 2D template - Index<3, 'C'> I; // contravariant 2D camera + tensors::Index<3, 'T'> _T; // covariant 2D template + tensors::Index<3, 'C'> I; // contravariant 2D camera // data[_T][I] double data1[3][3] = {{1,0,0},{0,-1,0},{0,0,10}}; @@ -160,8 +160,8 @@ TEST( Homography2, patchH) /* ************************************************************************* */ TEST( Homography2, patchH2) { - Index<3, 'T'> _T; // covariant 2D template - Index<3, 'C'> I; // contravariant 2D camera + tensors::Index<3, 'T'> _T; // covariant 2D template + tensors::Index<3, 'C'> I; // contravariant 2D camera // data[_T][I] double data1[3][3] = {{1,0,0},{0,-1,0},{0,0,10}}; diff --git a/gtsam/geometry/tests/testPoint2.cpp b/gtsam/geometry/tests/testPoint2.cpp index 3416361cd..f7fee0418 100644 --- a/gtsam/geometry/tests/testPoint2.cpp +++ b/gtsam/geometry/tests/testPoint2.cpp @@ -72,7 +72,7 @@ TEST( Point2, arithmetic) /* ************************************************************************* */ TEST( Point2, norm) { - Point2 p0(cos(5), sin(5)); + Point2 p0(cos(5.0), sin(5.0)); DOUBLES_EQUAL(1,p0.norm(),1e-6); Point2 p1(4, 5), p2(1, 1); DOUBLES_EQUAL( 5,p1.dist(p2),1e-6); @@ -85,7 +85,7 @@ TEST( Point2, unit) Point2 p0(10.0, 0.0), p1(0.0,-10.0), p2(10.0, 10.0); EXPECT(assert_equal(Point2(1.0, 0.0), p0.unit(), 1e-6)); EXPECT(assert_equal(Point2(0.0,-1.0), p1.unit(), 1e-6)); - EXPECT(assert_equal(Point2(sqrt(2)/2.0, sqrt(2)/2.0), p2.unit(), 1e-6)); + EXPECT(assert_equal(Point2(sqrt(2.0)/2.0, sqrt(2.0)/2.0), p2.unit(), 1e-6)); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 14e529613..cdde3cd54 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -44,14 +44,14 @@ TEST(Pose2, constructors) { Pose2 pose(0,p); Pose2 origin; assert_equal(pose,origin); - Pose2 t(M_PI_2+0.018, Point2(1.015, 2.01)); + Pose2 t(M_PI/2.0+0.018, Point2(1.015, 2.01)); EXPECT(assert_equal(t,Pose2(t.matrix()))); } /* ************************************************************************* */ TEST(Pose2, manifold) { - Pose2 t1(M_PI_2, Point2(1, 2)); - Pose2 t2(M_PI_2+0.018, Point2(1.015, 2.01)); + Pose2 t1(M_PI/2.0, Point2(1, 2)); + Pose2 t2(M_PI/2.0+0.018, Point2(1.015, 2.01)); Pose2 origin; Vector d12 = t1.localCoordinates(t2); EXPECT(assert_equal(t2, t1.retract(d12))); @@ -63,11 +63,11 @@ TEST(Pose2, manifold) { /* ************************************************************************* */ TEST(Pose2, retract) { - Pose2 pose(M_PI_2, Point2(1, 2)); + Pose2 pose(M_PI/2.0, Point2(1, 2)); #ifdef SLOW_BUT_CORRECT_EXPMAP Pose2 expected(1.00811, 2.01528, 2.5608); #else - Pose2 expected(M_PI_2+0.99, Point2(1.015, 2.01)); + Pose2 expected(M_PI/2.0+0.99, Point2(1.015, 2.01)); #endif Pose2 actual = pose.retract(Vector_(3, 0.01, -0.015, 0.99)); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -75,7 +75,7 @@ TEST(Pose2, retract) { /* ************************************************************************* */ TEST(Pose2, expmap) { - Pose2 pose(M_PI_2, Point2(1, 2)); + Pose2 pose(M_PI/2.0, Point2(1, 2)); Pose2 expected(1.00811, 2.01528, 2.5608); Pose2 actual = expmap_default(pose, Vector_(3, 0.01, -0.015, 0.99)); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -83,7 +83,7 @@ TEST(Pose2, expmap) { /* ************************************************************************* */ TEST(Pose2, expmap2) { - Pose2 pose(M_PI_2, Point2(1, 2)); + Pose2 pose(M_PI/2.0, Point2(1, 2)); Pose2 expected(1.00811, 2.01528, 2.5608); Pose2 actual = expmap_default(pose, Vector_(3, 0.01, -0.015, 0.99)); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -110,11 +110,11 @@ TEST(Pose2, expmap3) { /* ************************************************************************* */ TEST(Pose2, expmap0) { - Pose2 pose(M_PI_2, Point2(1, 2)); + Pose2 pose(M_PI/2.0, Point2(1, 2)); //#ifdef SLOW_BUT_CORRECT_EXPMAP Pose2 expected(1.01491, 2.01013, 1.5888); //#else -// Pose2 expected(M_PI_2+0.018, Point2(1.015, 2.01)); +// Pose2 expected(M_PI/2.0+0.018, Point2(1.015, 2.01)); //#endif Pose2 actual = pose * (Pose2::Expmap(Vector_(3, 0.01, -0.015, 0.018))); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -122,7 +122,7 @@ TEST(Pose2, expmap0) { /* ************************************************************************* */ TEST(Pose2, expmap0_full) { - Pose2 pose(M_PI_2, Point2(1, 2)); + Pose2 pose(M_PI/2.0, Point2(1, 2)); Pose2 expected(1.01491, 2.01013, 1.5888); Pose2 actual = pose * Pose2::Expmap(Vector_(3, 0.01, -0.015, 0.018)); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -130,7 +130,7 @@ TEST(Pose2, expmap0_full) { /* ************************************************************************* */ TEST(Pose2, expmap0_full2) { - Pose2 pose(M_PI_2, Point2(1, 2)); + Pose2 pose(M_PI/2.0, Point2(1, 2)); Pose2 expected(1.01491, 2.01013, 1.5888); Pose2 actual = pose * Pose2::Expmap(Vector_(3, 0.01, -0.015, 0.018)); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -170,8 +170,8 @@ TEST(Pose3, expmap_c_full) /* ************************************************************************* */ TEST(Pose2, logmap) { - Pose2 pose0(M_PI_2, Point2(1, 2)); - Pose2 pose(M_PI_2+0.018, Point2(1.015, 2.01)); + Pose2 pose0(M_PI/2.0, Point2(1, 2)); + Pose2 pose(M_PI/2.0+0.018, Point2(1.015, 2.01)); #ifdef SLOW_BUT_CORRECT_EXPMAP Vector expected = Vector_(3, 0.00986473, -0.0150896, 0.018); #else @@ -183,8 +183,8 @@ TEST(Pose2, logmap) { /* ************************************************************************* */ TEST(Pose2, logmap_full) { - Pose2 pose0(M_PI_2, Point2(1, 2)); - Pose2 pose(M_PI_2+0.018, Point2(1.015, 2.01)); + Pose2 pose0(M_PI/2.0, Point2(1, 2)); + Pose2 pose(M_PI/2.0+0.018, Point2(1.015, 2.01)); Vector expected = Vector_(3, 0.00986473, -0.0150896, 0.018); Vector actual = logmap_default(pose0, pose); EXPECT(assert_equal(expected, actual, 1e-5)); @@ -197,7 +197,7 @@ Point2 transform_to_proxy(const Pose2& pose, const Point2& point) { TEST( Pose2, transform_to ) { - Pose2 pose(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y + Pose2 pose(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y Point2 point(-1,4); // landmark at (-1,4) // expected @@ -226,7 +226,7 @@ Point2 transform_from_proxy(const Pose2& pose, const Point2& point) { TEST (Pose2, transform_from) { - Pose2 pose(1., 0., M_PI_2); + Pose2 pose(1., 0., M_PI/2.0); Point2 pt(2., 1.); Matrix H1, H2; Point2 actual = pose.transform_from(pt, H1, H2); @@ -326,7 +326,7 @@ TEST(Pose2, compose_c) TEST(Pose2, inverse ) { Point2 origin, t(1,2); - Pose2 gTl(M_PI_2, t); // robot at (1,2) looking towards y + Pose2 gTl(M_PI/2.0, t); // robot at (1,2) looking towards y Pose2 identity, lTg = gTl.inverse(); EXPECT(assert_equal(identity,lTg.compose(gTl))); @@ -362,7 +362,7 @@ Matrix matrix(const Pose2& gTl) { TEST( Pose2, matrix ) { Point2 origin, t(1,2); - Pose2 gTl(M_PI_2, t); // robot at (1,2) looking towards y + Pose2 gTl(M_PI/2.0, t); // robot at (1,2) looking towards y Matrix gMl = matrix(gTl); EXPECT(assert_equal(Matrix_(3,3, 0.0, -1.0, 1.0, @@ -393,7 +393,7 @@ TEST( Pose2, matrix ) /* ************************************************************************* */ TEST( Pose2, compose_matrix ) { - Pose2 gT1(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y + Pose2 gT1(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y Pose2 _1T2(M_PI, Point2(-1,4)); // local robot at (-1,4) loooking at negative x Matrix gM1(matrix(gT1)),_1M2(matrix(_1T2)); EXPECT(assert_equal(gM1*_1M2,matrix(gT1.compose(_1T2)))); // RIGHT DOES NOT @@ -407,11 +407,11 @@ TEST( Pose2, between ) // ^ // // *--0--*--* - Pose2 gT1(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y + Pose2 gT1(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y Pose2 gT2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x Matrix actualH1,actualH2; - Pose2 expected(M_PI_2, Point2(2,2)); + Pose2 expected(M_PI/2.0, Point2(2,2)); Pose2 actual1 = gT1.between(gT2); Pose2 actual2 = gT1.between(gT2,actualH1,actualH2); EXPECT(assert_equal(expected,actual1)); @@ -443,7 +443,7 @@ TEST( Pose2, between ) // reverse situation for extra test TEST( Pose2, between2 ) { - Pose2 p2(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y + Pose2 p2(M_PI/2.0, Point2(1,2)); // robot at (1,2) looking towards y Pose2 p1(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x Matrix actualH1,actualH2; @@ -472,7 +472,7 @@ TEST(Pose2, members) /* ************************************************************************* */ // some shared test values -Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); +Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI/4.0); Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); /* ************************************************************************* */ @@ -488,11 +488,11 @@ TEST( Pose2, bearing ) EXPECT(assert_equal(Rot2(),x1.bearing(l1))); // establish bearing is indeed 45 degrees - EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),x1.bearing(l2))); + EXPECT(assert_equal(Rot2::fromAngle(M_PI/4.0),x1.bearing(l2))); // establish bearing is indeed 45 degrees even if shifted Rot2 actual23 = x2.bearing(l3, actualH1, actualH2); - EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),actual23)); + EXPECT(assert_equal(Rot2::fromAngle(M_PI/4.0),actual23)); // Check numerical derivatives expectedH1 = numericalDerivative21(bearing_proxy, x2, l3); @@ -502,7 +502,7 @@ TEST( Pose2, bearing ) // establish bearing is indeed 45 degrees even if rotated Rot2 actual34 = x3.bearing(l4, actualH1, actualH2); - EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),actual34)); + EXPECT(assert_equal(Rot2::fromAngle(M_PI/4.0),actual34)); // Check numerical derivatives expectedH1 = numericalDerivative21(bearing_proxy, x3, l4); @@ -518,7 +518,7 @@ Rot2 bearing_pose_proxy(const Pose2& pose, const Pose2& pt) { TEST( Pose2, bearing_pose ) { - Pose2 xl1(1, 0, M_PI_2), xl2(1, 1, M_PI), xl3(2.0, 2.0,-M_PI_2), xl4(1, 3, 0); + Pose2 xl1(1, 0, M_PI/2.0), xl2(1, 1, M_PI), xl3(2.0, 2.0,-M_PI/2.0), xl4(1, 3, 0); Matrix expectedH1, actualH1, expectedH2, actualH2; @@ -526,11 +526,11 @@ TEST( Pose2, bearing_pose ) EXPECT(assert_equal(Rot2(),x1.bearing(xl1))); // establish bearing is indeed 45 degrees - EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),x1.bearing(xl2))); + EXPECT(assert_equal(Rot2::fromAngle(M_PI/4.0),x1.bearing(xl2))); // establish bearing is indeed 45 degrees even if shifted Rot2 actual23 = x2.bearing(xl3, actualH1, actualH2); - EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),actual23)); + EXPECT(assert_equal(Rot2::fromAngle(M_PI/4.0),actual23)); // Check numerical derivatives expectedH1 = numericalDerivative21(bearing_pose_proxy, x2, xl3); @@ -540,7 +540,7 @@ TEST( Pose2, bearing_pose ) // establish bearing is indeed 45 degrees even if rotated Rot2 actual34 = x3.bearing(xl4, actualH1, actualH2); - EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),actual34)); + EXPECT(assert_equal(Rot2::fromAngle(M_PI/4.0),actual34)); // Check numerical derivatives expectedH1 = numericalDerivative21(bearing_pose_proxy, x3, xl4); @@ -561,11 +561,11 @@ TEST( Pose2, range ) EXPECT_DOUBLES_EQUAL(1,x1.range(l1),1e-9); // establish range is indeed 45 degrees - EXPECT_DOUBLES_EQUAL(sqrt(2),x1.range(l2),1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),x1.range(l2),1e-9); // Another pair double actual23 = x2.range(l3, actualH1, actualH2); - EXPECT_DOUBLES_EQUAL(sqrt(2),actual23,1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),actual23,1e-9); // Check numerical derivatives expectedH1 = numericalDerivative21(range_proxy, x2, l3); @@ -590,7 +590,7 @@ LieVector range_pose_proxy(const Pose2& pose, const Pose2& point) { } TEST( Pose2, range_pose ) { - Pose2 xl1(1, 0, M_PI_2), xl2(1, 1, M_PI), xl3(2.0, 2.0,-M_PI_2), xl4(1, 3, 0); + Pose2 xl1(1, 0, M_PI/2.0), xl2(1, 1, M_PI), xl3(2.0, 2.0,-M_PI/2.0), xl4(1, 3, 0); Matrix expectedH1, actualH1, expectedH2, actualH2; @@ -598,11 +598,11 @@ TEST( Pose2, range_pose ) EXPECT_DOUBLES_EQUAL(1,x1.range(xl1),1e-9); // establish range is indeed 45 degrees - EXPECT_DOUBLES_EQUAL(sqrt(2),x1.range(xl2),1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),x1.range(xl2),1e-9); // Another pair double actual23 = x2.range(xl3, actualH1, actualH2); - EXPECT_DOUBLES_EQUAL(sqrt(2),actual23,1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),actual23,1e-9); // Check numerical derivatives expectedH1 = numericalDerivative21(range_pose_proxy, x2, xl3); @@ -637,7 +637,7 @@ TEST(Pose2, align_1) { TEST(Pose2, align_2) { Point2 t(20,10); - Rot2 R = Rot2::fromAngle(M_PI_2); + Rot2 R = Rot2::fromAngle(M_PI/2.0); Pose2 expected(R, t); vector correspondences; diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index eb2d410f8..4ec1c6aee 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -535,7 +535,7 @@ TEST( Pose3, between ) /* ************************************************************************* */ // some shared test values - pulled from equivalent test in Pose2 Point3 l1(1, 0, 0), l2(1, 1, 0), l3(2, 2, 0), l4(1, 4,-4); -Pose3 x1, x2(Rot3::ypr(0.0, 0.0, 0.0), l2), x3(Rot3::ypr(M_PI_4, 0.0, 0.0), l2); +Pose3 x1, x2(Rot3::ypr(0.0, 0.0, 0.0), l2), x3(Rot3::ypr(M_PI/4.0, 0.0, 0.0), l2); Pose3 xl1(Rot3::ypr(0.0, 0.0, 0.0), Point3(1, 0, 0)), xl2(Rot3::ypr(0.0, 1.0, 0.0), Point3(1, 1, 0)), @@ -554,11 +554,11 @@ TEST( Pose3, range ) EXPECT_DOUBLES_EQUAL(1,x1.range(l1),1e-9); // establish range is indeed sqrt2 - EXPECT_DOUBLES_EQUAL(sqrt(2),x1.range(l2),1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),x1.range(l2),1e-9); // Another pair double actual23 = x2.range(l3, actualH1, actualH2); - EXPECT_DOUBLES_EQUAL(sqrt(2),actual23,1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),actual23,1e-9); // Check numerical derivatives expectedH1 = numericalDerivative21(range_proxy, x2, l3); @@ -589,11 +589,11 @@ TEST( Pose3, range_pose ) EXPECT_DOUBLES_EQUAL(1,x1.range(xl1),1e-9); // establish range is indeed sqrt2 - EXPECT_DOUBLES_EQUAL(sqrt(2),x1.range(xl2),1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),x1.range(xl2),1e-9); // Another pair double actual23 = x2.range(xl3, actualH1, actualH2); - EXPECT_DOUBLES_EQUAL(sqrt(2),actual23,1e-9); + EXPECT_DOUBLES_EQUAL(sqrt(2.0),actual23,1e-9); // Check numerical derivatives expectedH1 = numericalDerivative21(range_pose_proxy, x2, xl3); @@ -619,7 +619,7 @@ TEST( Pose3, unicycle ) Vector x_step = delta(6,3,1.0); EXPECT(assert_equal(Pose3(Rot3::ypr(0,0,0), l1), expmap_default(x1, x_step), tol)); EXPECT(assert_equal(Pose3(Rot3::ypr(0,0,0), Point3(2,1,0)), expmap_default(x2, x_step), tol)); - EXPECT(assert_equal(Pose3(Rot3::ypr(M_PI_4,0,0), Point3(2,2,0)), expmap_default(x3, sqrt(2) * x_step), tol)); + EXPECT(assert_equal(Pose3(Rot3::ypr(M_PI/4.0,0,0), Point3(2,2,0)), expmap_default(x3, sqrt(2.0) * x_step), tol)); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testRot2.cpp b/gtsam/geometry/tests/testRot2.cpp index e23224898..acf385fab 100644 --- a/gtsam/geometry/tests/testRot2.cpp +++ b/gtsam/geometry/tests/testRot2.cpp @@ -43,7 +43,7 @@ TEST( Rot2, constructors_and_angle) TEST( Rot2, unit) { EXPECT(assert_equal(Point2(1.0, 0.0), Rot2::fromAngle(0).unit())); - EXPECT(assert_equal(Point2(0.0, 1.0), Rot2::fromAngle(M_PI_2).unit())); + EXPECT(assert_equal(Point2(0.0, 1.0), Rot2::fromAngle(M_PI/2.0).unit())); } /* ************************************************************************* */ @@ -94,9 +94,9 @@ TEST( Rot2, expmap) /* ************************************************************************* */ TEST(Rot2, logmap) { - Rot2 rot0(Rot2::fromAngle(M_PI_2)); + Rot2 rot0(Rot2::fromAngle(M_PI/2.0)); Rot2 rot(Rot2::fromAngle(M_PI)); - Vector expected = Vector_(1, M_PI_2); + Vector expected = Vector_(1, M_PI/2.0); Vector actual = rot0.localCoordinates(rot); CHECK(assert_equal(expected, actual)); } @@ -146,7 +146,7 @@ TEST( Rot2, relativeBearing ) // establish relativeBearing is indeed 45 degrees Rot2 actual2 = Rot2::relativeBearing(l2, actualH); - CHECK(assert_equal(Rot2::fromAngle(M_PI_4),actual2)); + CHECK(assert_equal(Rot2::fromAngle(M_PI/4.0),actual2)); // Check numerical derivative expectedH = numericalDerivative11(relativeBearing_, l2); diff --git a/gtsam/geometry/tests/testRot3M.cpp b/gtsam/geometry/tests/testRot3M.cpp index a5047f14b..7c8bd04bd 100644 --- a/gtsam/geometry/tests/testRot3M.cpp +++ b/gtsam/geometry/tests/testRot3M.cpp @@ -131,7 +131,7 @@ TEST( Rot3, rodriguez3) TEST( Rot3, rodriguez4) { Vector axis = Vector_(3,0.,0.,1.); // rotation around Z - double angle = M_PI_2; + double angle = M_PI/2.0; Rot3 actual = Rot3::rodriguez(axis, angle); double c=cos(angle),s=sin(angle); Rot3 expected(c,-s, 0, diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index b3df0d8f8..1990ad00a 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -53,7 +53,7 @@ TEST( SimpleCamera, constructor) TEST( SimpleCamera, level2) { // Create a level camera, looking in Y-direction - Pose2 pose2(0.4,0.3,M_PI_2); + Pose2 pose2(0.4,0.3,M_PI/2.0); SimpleCamera camera = SimpleCamera::level(K, pose2, 0.1); // expected diff --git a/gtsam/geometry/tests/testTensors.cpp b/gtsam/geometry/tests/testTensors.cpp index 755b274a6..85437b850 100644 --- a/gtsam/geometry/tests/testTensors.cpp +++ b/gtsam/geometry/tests/testTensors.cpp @@ -34,12 +34,12 @@ using namespace tensors; /* ************************************************************************* */ // Indices -Index<3, 'a'> a, _a; -Index<3, 'b'> b, _b; -Index<3, 'c'> c, _c; +tensors::Index<3, 'a'> a, _a; +tensors::Index<3, 'b'> b, _b; +tensors::Index<3, 'c'> c, _c; -Index<4, 'A'> A; -Index<4, 'B'> B; +tensors::Index<4, 'A'> A; +tensors::Index<4, 'B'> B; /* ************************************************************************* */ // Tensor1 @@ -58,7 +58,7 @@ TEST(Tensor1, Basics) CHECK(assert_equivalent(p(a),q(a))) // projectively equivalent // and you can take a norm, typically for normalization to the sphere - DOUBLES_EQUAL(sqrt(14),norm(p(a)),1e-9) + DOUBLES_EQUAL(sqrt(14.0),norm(p(a)),1e-9) } /* ************************************************************************* */ diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h index d8395942a..f9f8aa07c 100644 --- a/gtsam/inference/graph-inl.h +++ b/gtsam/inference/graph-inl.h @@ -196,8 +196,8 @@ boost::shared_ptr composePoses(const G& graph, const PredecessorMap PoseVertex v2 = key2vertex.find(key2)->second; POSE l1Xl2 = factor->measured(); - tie(edge12, found1) = boost::edge(v1, v2, g); - tie(edge21, found2) = boost::edge(v2, v1, g); + boost::tie(edge12, found1) = boost::edge(v1, v2, g); + boost::tie(edge21, found2) = boost::edge(v2, v1, g); if (found1 && found2) throw invalid_argument ("composePoses: invalid spanning tree"); if (!found1 && !found2) continue; if (found1) diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 5b8a217bc..341549309 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -144,8 +144,8 @@ vector genCameraVariableCalibration() { return X ; } -shared_ptr getOrdering(const vector& X, const vector& L) { - shared_ptr ordering(new Ordering); +boost::shared_ptr getOrdering(const vector& X, const vector& L) { + boost::shared_ptr ordering(new Ordering); for ( size_t i = 0 ; i < L.size() ; ++i ) ordering->push_back(Symbol('l', i)) ; for ( size_t i = 0 ; i < X.size() ; ++i ) ordering->push_back(Symbol('x', i)) ; return ordering ; diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index 76cf7d180..34391c070 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -146,8 +146,8 @@ vector genCameraVariableCalibration() { return X ; } -shared_ptr getOrdering(const vector& X, const vector& L) { - shared_ptr ordering(new Ordering); +boost::shared_ptr getOrdering(const vector& X, const vector& L) { + boost::shared_ptr ordering(new Ordering); for ( size_t i = 0 ; i < L.size() ; ++i ) ordering->push_back(Symbol('l', i)) ; for ( size_t i = 0 ; i < X.size() ; ++i ) ordering->push_back(Symbol('x', i)) ; return ordering ; diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp index b32bf9a9c..4b69252b3 100644 --- a/gtsam/slam/tests/testPlanarSLAM.cpp +++ b/gtsam/slam/tests/testPlanarSLAM.cpp @@ -26,7 +26,7 @@ using namespace gtsam; using namespace planarSLAM; // some shared test values -static Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); +static Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI/4.0); static Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); SharedNoiseModel @@ -47,7 +47,7 @@ TEST( planarSLAM, PriorFactor_equals ) TEST( planarSLAM, BearingFactor ) { // Create factor - Rot2 z = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 + Rot2 z = Rot2::fromAngle(M_PI/4.0 + 0.1); // h(x) - z = -0.1 planarSLAM::Bearing factor(PoseKey(2), PointKey(3), z, sigma); // create config @@ -75,7 +75,7 @@ TEST( planarSLAM, BearingFactor_equals ) TEST( planarSLAM, RangeFactor ) { // Create factor - double z(sqrt(2) - 0.22); // h(x) - z = 0.22 + double z(sqrt(2.0) - 0.22); // h(x) - z = 0.22 planarSLAM::Range factor(PoseKey(2), PointKey(3), z, sigma); // create config @@ -101,8 +101,8 @@ TEST( planarSLAM, RangeFactor_equals ) TEST( planarSLAM, BearingRangeFactor ) { // Create factor - Rot2 r = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - double b(sqrt(2) - 0.22); // h(x) - z = 0.22 + Rot2 r = Rot2::fromAngle(M_PI/4.0 + 0.1); // h(x) - z = -0.1 + double b(sqrt(2.0) - 0.22); // h(x) - z = 0.22 planarSLAM::BearingRange factor(PoseKey(2), PointKey(3), r, b, sigma2); // create config @@ -158,14 +158,14 @@ TEST( planarSLAM, constructor ) G.addPoseConstraint(2, x2); // make it feasible :-) // Add odometry - G.addOdometry(2, 3, Pose2(0, 0, M_PI_4), I3); + G.addOdometry(2, 3, Pose2(0, 0, M_PI/4.0), I3); // Create bearing factor - Rot2 z1 = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 + Rot2 z1 = Rot2::fromAngle(M_PI/4.0 + 0.1); // h(x) - z = -0.1 G.addBearing(2, 3, z1, sigma); // Create range factor - double z2(sqrt(2) - 0.22); // h(x) - z = 0.22 + double z2(sqrt(2.0) - 0.22); // h(x) - z = 0.22 G.addRange(2, 3, z2, sigma); Vector expected0 = Vector_(3, 0.0, 0.0, 0.0); diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 5aa633bbf..d97f99c72 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -72,7 +72,7 @@ TEST( Pose2SLAM, constraint1 ) /* ************************************************************************* */ // Test constraint, large displacement Vector f2(const Pose2& pose1, const Pose2& pose2) { - Pose2 z(2,2,M_PI_2); + Pose2 z(2,2,M_PI/2.0); Pose2Factor constraint(PoseKey(1), PoseKey(2), z, covariance); return constraint.evaluateError(pose1, pose2); } @@ -80,7 +80,7 @@ Vector f2(const Pose2& pose1, const Pose2& pose2) { TEST( Pose2SLAM, constraint2 ) { // create a factor between unknown poses p1 and p2 - Pose2 pose1, pose2(2,2,M_PI_2); + Pose2 pose1, pose2(2,2,M_PI/2.0); Pose2Factor constraint(PoseKey(1), PoseKey(2), pose2, covariance); Matrix H1, H2; Vector actual = constraint.evaluateError(pose1, pose2, H1, H2); @@ -96,7 +96,7 @@ TEST( Pose2SLAM, constraint2 ) TEST( Pose2SLAM, constructor ) { // create a factor between unknown poses p1 and p2 - Pose2 measured(2,2,M_PI_2); + Pose2 measured(2,2,M_PI/2.0); pose2SLAM::Graph graph; graph.addOdometry(1,2,measured, covariance); // get the size of the graph @@ -110,13 +110,13 @@ TEST( Pose2SLAM, constructor ) TEST( Pose2SLAM, linearization ) { // create a factor between unknown poses p1 and p2 - Pose2 measured(2,2,M_PI_2); + Pose2 measured(2,2,M_PI/2.0); Pose2Factor constraint(PoseKey(1), PoseKey(2), measured, covariance); pose2SLAM::Graph graph; graph.addOdometry(1,2,measured, covariance); // Choose a linearization point - Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) + Pose2 p1(1.1,2,M_PI/2.0); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) Pose2 p2(-1,4.1,M_PI); // robot at (-1,4) looking at negative (ground truth is at 4.1,2) pose2SLAM::Values config; config.insert(pose2SLAM::PoseKey(1),p1); @@ -151,7 +151,7 @@ TEST(Pose2SLAM, optimize) { // create a Pose graph with one equality constraint and one measurement pose2SLAM::Graph fg; fg.addPoseConstraint(0, Pose2(0,0,0)); - fg.addOdometry(0, 1, Pose2(1,2,M_PI_2), covariance); + fg.addOdometry(0, 1, Pose2(1,2,M_PI/2.0), covariance); // Create initial config Values initial; @@ -170,7 +170,7 @@ TEST(Pose2SLAM, optimize) { // Check with expected config Values expected; expected.insert(pose2SLAM::PoseKey(0), Pose2(0,0,0)); - expected.insert(pose2SLAM::PoseKey(1), Pose2(1,2,M_PI_2)); + expected.insert(pose2SLAM::PoseKey(1), Pose2(1,2,M_PI/2.0)); CHECK(assert_equal(expected, actual)); // Check marginals @@ -348,9 +348,9 @@ TEST(Pose2Values, pose2Circle ) { // expected is 4 poses tangent to circle with radius 1m pose2SLAM::Values expected; - expected.insert(pose2SLAM::PoseKey(0), Pose2( 1, 0, M_PI_2)); + expected.insert(pose2SLAM::PoseKey(0), Pose2( 1, 0, M_PI/2.0)); expected.insert(pose2SLAM::PoseKey(1), Pose2( 0, 1, - M_PI )); - expected.insert(pose2SLAM::PoseKey(2), Pose2(-1, 0, - M_PI_2)); + expected.insert(pose2SLAM::PoseKey(2), Pose2(-1, 0, - M_PI/2.0)); expected.insert(pose2SLAM::PoseKey(3), Pose2( 0, -1, 0 )); pose2SLAM::Values actual = pose2SLAM::circle(4,1.0); @@ -362,9 +362,9 @@ TEST(Pose2SLAM, expmap ) { // expected is circle shifted to right pose2SLAM::Values expected; - expected.insert(pose2SLAM::PoseKey(0), Pose2( 1.1, 0, M_PI_2)); + expected.insert(pose2SLAM::PoseKey(0), Pose2( 1.1, 0, M_PI/2.0)); expected.insert(pose2SLAM::PoseKey(1), Pose2( 0.1, 1, - M_PI )); - expected.insert(pose2SLAM::PoseKey(2), Pose2(-0.9, 0, - M_PI_2)); + expected.insert(pose2SLAM::PoseKey(2), Pose2(-0.9, 0, - M_PI/2.0)); expected.insert(pose2SLAM::PoseKey(3), Pose2( 0.1, -1, 0 )); // Note expmap coordinates are in local coordinates, so shifting to right requires thought !!! @@ -418,7 +418,7 @@ TEST( Pose2Prior, error ) /* ************************************************************************* */ // common Pose2Prior for tests below -static gtsam::Pose2 priorVal(2,2,M_PI_2); +static gtsam::Pose2 priorVal(2,2,M_PI/2.0); static pose2SLAM::Prior priorFactor(PoseKey(1), priorVal, sigmas); /* ************************************************************************* */ @@ -484,14 +484,14 @@ TEST( Pose2Factor, error ) /* ************************************************************************* */ // common Pose2Factor for tests below -static Pose2 measured(2,2,M_PI_2); +static Pose2 measured(2,2,M_PI/2.0); static Pose2Factor factor(PoseKey(1),PoseKey(2),measured, covariance); /* ************************************************************************* */ TEST( Pose2Factor, rhs ) { // Choose a linearization point - Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) + Pose2 p1(1.1,2,M_PI/2.0); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) Pose2 p2(-1,4.1,M_PI); // robot at (-1,4.1) looking at negative (ground truth is at -1,4) pose2SLAM::Values x0; x0.insert(pose2SLAM::PoseKey(1),p1); @@ -504,7 +504,7 @@ TEST( Pose2Factor, rhs ) // Check RHS Pose2 hx0 = p1.between(p2); - CHECK(assert_equal(Pose2(2.1, 2.1, M_PI_2),hx0)); + CHECK(assert_equal(Pose2(2.1, 2.1, M_PI/2.0),hx0)); Vector expected_b = Vector_(3, -0.1/sx, 0.1/sy, 0.0); CHECK(assert_equal(expected_b,-factor.whitenedError(x0))); CHECK(assert_equal(expected_b,linear->getb())); @@ -521,7 +521,7 @@ LieVector h(const Pose2& p1,const Pose2& p2) { TEST( Pose2Factor, linearize ) { // Choose a linearization point at ground truth - Pose2 p1(1,2,M_PI_2); + Pose2 p1(1,2,M_PI/2.0); Pose2 p2(-1,4,M_PI); pose2SLAM::Values x0; x0.insert(pose2SLAM::PoseKey(1),p1); diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index b16ac0cdc..c6241124a 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -31,7 +31,6 @@ using namespace std; using namespace gtsam; -using boost::shared_ptr; /* ************************************************************************* */ double computeError(const GaussianBayesNet& gbn, const LieVector& values) { @@ -381,7 +380,7 @@ TEST(DoglegOptimizer, ComputeDoglegPoint) { /* ************************************************************************* */ TEST(DoglegOptimizer, Iterate) { // really non-linear factor graph - shared_ptr fg(new example::Graph( + boost::shared_ptr fg(new example::Graph( example::createReallyNonlinearFactorGraph())); // config far from minimum @@ -390,7 +389,7 @@ TEST(DoglegOptimizer, Iterate) { config->insert(simulated2D::PoseKey(1), x0); // ordering - shared_ptr ord(new Ordering()); + boost::shared_ptr ord(new Ordering()); ord->push_back(simulated2D::PoseKey(1)); double Delta = 1.0; diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index 2cfb7a076..cb3ea18e7 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -263,7 +263,7 @@ TEST( GaussianFactor, matrix ) EQUALITY(b_act2,b2); // Ensure that whitening is consistent - shared_ptr model = lf->get_model(); + boost::shared_ptr model = lf->get_model(); model->WhitenSystem(A_act2, b_act2); EQUALITY(A_act1, A_act2); EQUALITY(b_act1, b_act2); @@ -307,7 +307,7 @@ TEST( GaussianFactor, matrix_aug ) EQUALITY(Ab_act2,Ab2); // Ensure that whitening is consistent - shared_ptr model = lf->get_model(); + boost::shared_ptr model = lf->get_model(); model->WhitenInPlace(Ab_act1); EQUALITY(Ab_act1, Ab_act2); } diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 2e68200f5..82e8401d6 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -232,7 +232,7 @@ TEST( GaussianFactorGraph, eliminateOne_l1 ) GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, 0, EliminateQR).first; // create expected Conditional Gaussian - double sig = sqrt(2)/10.; + double sig = sqrt(2.0)/10.; Matrix I = eye(2)/sig, R11 = I, S12 = -0.5*I, S13 = -0.5*I; Vector d = Vector_(2, -0.1, 0.25)/sig, sigma = ones(2); GaussianConditional expected(ordering[kl(1)],d,R11,ordering[kx(1)],S12,ordering[kx(2)],S13,sigma); @@ -295,7 +295,7 @@ TEST( GaussianFactorGraph, eliminateOne_l1_fast ) GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, ordering[kl(1)], EliminateQR).first; // create expected Conditional Gaussian - double sig = sqrt(2)/10.; + double sig = sqrt(2.0)/10.; Matrix I = eye(2)/sig, R11 = I, S12 = -0.5*I, S13 = -0.5*I; Vector d = Vector_(2, -0.1, 0.25)/sig, sigma = ones(2); GaussianConditional expected(ordering[kl(1)],d,R11,ordering[kx(1)],S12,ordering[kx(2)],S13,sigma); diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index f56efae82..6ab543d1e 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -70,7 +70,7 @@ TEST( Graph, predecessorMap2Graph ) p_map.insert(kx(1), kx(2)); p_map.insert(kx(2), kx(2)); p_map.insert(kx(3), kx(2)); - tie(graph, root, key2vertex) = predecessorMap2Graph, SVertex, Key>(p_map); + boost::tie(graph, root, key2vertex) = predecessorMap2Graph, SVertex, Key>(p_map); LONGS_EQUAL(3, boost::num_vertices(graph)); CHECK(root == key2vertex[kx(2)]); diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index 6ad070698..d399f6eac 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -41,7 +41,7 @@ TEST( inference, marginals ) *GaussianSequentialSolver(GaussianFactorGraph(cbn)).jointFactorGraph(xvar)).eliminate(); // expected is just scalar Gaussian on x - GaussianBayesNet expected = scalarGaussian(0, 4, sqrt(2)); + GaussianBayesNet expected = scalarGaussian(0, 4, sqrt(2.0)); CHECK(assert_equal(expected,actual)); } diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index a91e6b576..1563e395e 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -71,7 +71,7 @@ TEST(Marginals, planarSLAMmarginals) { Rot2 bearing11 = Rot2::fromDegrees(45), bearing21 = Rot2::fromDegrees(90), bearing32 = Rot2::fromDegrees(90); - double range11 = sqrt(4+4), + double range11 = sqrt(4.0+4.0), range21 = 2.0, range32 = 2.0; From 5a3316af9e2f7ce3df6a0fe9ad951494a2a3404a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 20:56:19 +0000 Subject: [PATCH 053/914] Tweaked more build settings for visual studio --- gtsam/CMakeLists.txt | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index e0cc0eae1..e8dc712aa 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -95,6 +95,10 @@ if (GTSAM_BUILD_STATIC_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) + if(MSVC) + set_target_properties(gtsam-static PROPERTIES + COMPILE_FLAGS "/MP") + endif() install(TARGETS gtsam-static ARCHIVE DESTINATION lib) endif (GTSAM_BUILD_STATIC_LIBRARY) @@ -107,6 +111,10 @@ if (GTSAM_BUILD_SHARED_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) + if(MSVC) + set_target_properties(gtsam-shared PROPERTIES + COMPILE_FLAGS "/MP") + endif() install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) endif(GTSAM_BUILD_SHARED_LIBRARY) From 6e2312294cf22e86d9237dba756256e5577e45f7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 20:56:22 +0000 Subject: [PATCH 054/914] Added computeInformation function to GaussianFactor to properly compute information matrix including noise models, and using it to fix bug in Marginals where noise model was not being accounted for (only affects when hard constraints are used) --- gtsam/linear/GaussianFactor.h | 11 +++++++++++ gtsam/linear/HessianFactor.cpp | 11 ++++++++--- gtsam/linear/HessianFactor.h | 17 +++++++++++++++++ gtsam/linear/JacobianFactor.cpp | 10 ++++++++-- gtsam/linear/JacobianFactor.h | 10 ++++++++++ gtsam/nonlinear/Marginals.cpp | 13 +++---------- 6 files changed, 57 insertions(+), 15 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index 3fdad19c6..e2537b7b4 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -20,6 +20,7 @@ #pragma once +#include #include #include @@ -88,6 +89,16 @@ namespace gtsam { /** Return the dimension of the variable pointed to by the given key iterator */ virtual size_t getDim(const_iterator variable) const = 0; + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + */ + virtual Matrix computeInformation() const = 0; + /** Clone a factor (make a deep copy) */ virtual GaussianFactor::shared_ptr clone() const = 0; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index ebe94514b..8628c95ef 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -188,7 +188,7 @@ HessianFactor::HessianFactor(const std::vector& js, const std::vectorsize(), this->size(), 0); } +/* ************************************************************************* */ +Matrix HessianFactor::computeInformation() const { + return info_.full().selfadjointView(); +} + /* ************************************************************************* */ double HessianFactor::error(const VectorValues& c) const { // error 0.5*(f - 2*x'*g + x'*G*x) @@ -345,7 +350,7 @@ void HessianFactor::updateATA(const HessianFactor& update, const Scatter& scatte // First build an array of slots tic(1, "slots"); - size_t* slots = (size_t*)alloca(sizeof(size_t)*update.size()); // FIXME: alloca is bad, just ask Google. + size_t* slots = (size_t*)alloca(sizeof(size_t)*update.size()); // FIXME: alloca is bad, just ask Google. size_t slot = 0; BOOST_FOREACH(Index j, update) { slots[slot] = scatter.find(j)->second.slot; @@ -399,7 +404,7 @@ void HessianFactor::updateATA(const JacobianFactor& update, const Scatter& scatt // First build an array of slots tic(1, "slots"); - size_t* slots = (size_t*)alloca(sizeof(size_t)*update.size()); // FIXME: alloca is bad, just ask Google. + size_t* slots = (size_t*)alloca(sizeof(size_t)*update.size()); // FIXME: alloca is bad, just ask Google. size_t slot = 0; BOOST_FOREACH(Index j, update) { slots[slot] = scatter.find(j)->second.slot; diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index d6ff23159..1454e7a36 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -269,6 +269,23 @@ namespace gtsam { /** Return the complete linear term \f$ g \f$ as described above. * @return The linear term \f$ g \f$ */ constColumn linearTerm() const; + + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + * + * For HessianFactor, this is the same as info() except that this function + * returns a complete symmetric matrix whereas info() returns a matrix where + * only the upper triangle is valid, but should be interpreted as symmetric. + * This is because info() returns only a reference to the internal + * representation of the augmented information matrix, which stores only the + * upper triangle. + */ + virtual Matrix computeInformation() const; // Friend unit test classes friend class ::ConversionConstructorHessianFactorTest; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 37fd74c39..2b884e1bd 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -118,7 +118,7 @@ namespace gtsam { GaussianFactor(GetKeys(terms.size(), terms.begin(), terms.end())), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - size_t* dims = (size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. + size_t* dims = (size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. for(size_t j=0; j >::const_iterator term=terms.begin(); for(; term!=terms.end(); ++term,++j) @@ -271,6 +271,12 @@ namespace gtsam { return 0.5 * weighted.dot(weighted); } + /* ************************************************************************* */ + Matrix JacobianFactor::computeInformation() const { + Matrix AbWhitened = Ab_.full(); + model_->WhitenInPlace(AbWhitened); + return AbWhitened.transpose() * AbWhitened; + } /* ************************************************************************* */ Vector JacobianFactor::operator*(const VectorValues& x) const { diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index b5a2dd500..048d44981 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -154,6 +154,16 @@ namespace gtsam { Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ Vector error_vector(const VectorValues& c) const; /** (A*x-b)/sigma */ virtual double error(const VectorValues& c) const; /** 0.5*(A*x-b)'*D*(A*x-b) */ + + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + */ + virtual Matrix computeInformation() const; /** Check if the factor contains no information, i.e. zero rows. This does * not necessarily mean that the factor involves no variables (to check for diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 61f7f8dad..936cfb806 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -69,16 +69,9 @@ Matrix Marginals::marginalInformation(Key variable) const { marginalFactor = bayesTree_.marginalFactor(index, EliminateQR); // Get information matrix (only store upper-right triangle) - if(typeid(*marginalFactor) == typeid(JacobianFactor)) { - JacobianFactor::constABlock A = static_cast(*marginalFactor).getA(); - return A.transpose() * A; // Compute A'A - } else if(typeid(*marginalFactor) == typeid(HessianFactor)) { - const HessianFactor& hessian = static_cast(*marginalFactor); - const size_t dim = hessian.getDim(hessian.begin()); - return hessian.info().topLeftCorner(dim,dim).selfadjointView(); // Take the non-augmented part of the information matrix - } else { - throw runtime_error("Internal error: Marginals::marginalInformation expected either a JacobianFactor or HessianFactor"); - } + Matrix info = marginalFactor->computeInformation(); + const int dim = info.rows() - 1; + return info.topLeftCorner(dim,dim); // Take the non-augmented part of the information matrix } /* ************************************************************************* */ From ac150043bdf83240add766c5810943d69a7d5a91 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 21:23:27 +0000 Subject: [PATCH 055/914] Fixed wrap under windows --- wrap/Module.cpp | 9 +++++---- wrap/tests/testWrap.cpp | 11 +++++------ 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index dfd781016..98525e65d 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -25,12 +25,14 @@ #include #include #include +#include #include using namespace std; using namespace wrap; using namespace BOOST_SPIRIT_CLASSIC_NS; +namespace fs = boost::filesystem; typedef rule Rule; @@ -279,8 +281,8 @@ void verifyReturnTypes(const vector& validtypes, const vector& vt) { /* ************************************************************************* */ void Module::matlab_code(const string& toolboxPath, const string& mexExt, const string& mexFlags) const { - string installCmd = "install -d " + toolboxPath; - system(installCmd.c_str()); + + fs::create_directories(toolboxPath); // create make m-file string matlabMakeFileName = toolboxPath + "/make_" + name + ".m"; @@ -327,8 +329,7 @@ void Module::matlab_code(const string& toolboxPath, BOOST_FOREACH(Class cls, classes) { // create directory if needed string classPath = toolboxPath + "/@" + cls.qualifiedName(); - string installCmd = "install -d " + classPath; - system(installCmd.c_str()); + fs::create_directories(classPath); // create proxy class string classFile = classPath + "/" + cls.qualifiedName() + ".m"; diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index cdee692a5..91b2161f7 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include @@ -28,6 +29,7 @@ using namespace std; using namespace boost::assign; using namespace wrap; +namespace fs = boost::filesystem; static bool enable_verbose = false; #ifdef TOPSRCDIR static string topdir = TOPSRCDIR; @@ -57,8 +59,7 @@ TEST( wrap, check_exception ) { CHECK_EXCEPTION(Module("/alsonotarealpath", "geometry",enable_verbose), CantOpenFile); // clean out previous generated code - string cleanCmd = "rm -rf actual_deps"; - system(cleanCmd.c_str()); + fs::remove_all("actual_deps"); string path = topdir + "/wrap/tests"; Module module(path.c_str(), "testDependencies",enable_verbose); @@ -208,8 +209,7 @@ TEST( wrap, matlab_code_namespaces ) { string path = topdir + "/wrap"; // clean out previous generated code - string cleanCmd = "rm -rf actual_namespaces"; - system(cleanCmd.c_str()); + fs::remove_all("actual_namespaces"); // emit MATLAB code string exp_path = path + "/tests/expected_namespaces/"; @@ -263,8 +263,7 @@ TEST( wrap, matlab_code ) { string path = topdir + "/wrap"; // clean out previous generated code - string cleanCmd = "rm -rf actual"; - system(cleanCmd.c_str()); + fs::remove_all("actual"); // emit MATLAB code // make_geometry will not compile, use make testwrap to generate real make From 90717dd5836d99f9c2d7fcd881423a5dc8541794 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 23 May 2012 21:23:32 +0000 Subject: [PATCH 056/914] Tweaking build settings for visual studio --- CMakeLists.txt | 2 +- examples/CMakeLists.txt | 14 ++++++++++++-- examples/vSLAMexample/CMakeLists.txt | 12 ++++++++++-- 3 files changed, 23 insertions(+), 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7198c5dfb..7f0b09e3c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -105,7 +105,7 @@ endif() if(MSVC) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.40 COMPONENTS serialization system chrono REQUIRED) +find_package(Boost 1.40 COMPONENTS serialization system chrono filesystem REQUIRED) # General build settings include_directories( diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 00a93904a..f92312296 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -1,4 +1,6 @@ -add_custom_target(examples) +if(NOT MSVC) + add_custom_target(examples) +endif() # Build example executables FILE(GLOB example_srcs "*.cpp") @@ -6,7 +8,9 @@ foreach(example_src ${example_srcs} ) get_filename_component(example_base ${example_src} NAME_WE) set( example_bin ${example_base} ) message(STATUS "Adding Example ${example_bin}") - add_dependencies(examples ${example_bin}) + if(NOT MSVC) + add_dependencies(examples ${example_bin}) + endif() add_executable(${example_bin} ${example_src}) # Disable building during make all/install @@ -18,6 +22,12 @@ foreach(example_src ${example_srcs} ) if(NOT MSVC) add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN}) endif() + + # Set up Visual Studio folder + if(MSVC) + set_property(TARGET ${example_bin} PROPERTY FOLDER "Examples") + endif() + endforeach(example_src) add_subdirectory(vSLAMexample) diff --git a/examples/vSLAMexample/CMakeLists.txt b/examples/vSLAMexample/CMakeLists.txt index 57fd6bf6d..e231a03e6 100644 --- a/examples/vSLAMexample/CMakeLists.txt +++ b/examples/vSLAMexample/CMakeLists.txt @@ -3,12 +3,20 @@ message(STATUS "Adding Example vISAMexample") add_executable(vISAMexample vISAMexample.cpp vSLAMutils.cpp) target_link_libraries(vISAMexample gtsam-static) -add_dependencies(examples vISAMexample) +if(NOT MSVC) + add_dependencies(examples vISAMexample) +else() + set_property(TARGET vISAMexample PROPERTY FOLDER "Examples") +endif() message(STATUS "Adding Example vSFMexample") add_executable(vSFMexample vSFMexample.cpp vSLAMutils.cpp) target_link_libraries(vSFMexample gtsam-static) -add_dependencies(examples vSFMexample) +if(NOT MSVC) + add_dependencies(examples vSFMexample) +else() + set_property(TARGET vSFMexample PROPERTY FOLDER "Examples") +endif() From e57b569531d786afb3727380f5cee03ebc898627 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 24 May 2012 02:55:39 +0000 Subject: [PATCH 057/914] More descriptive error message when accessing a key that is not present - now tells what the key was --- gtsam/nonlinear/Ordering.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index e2837a1ca..879b50677 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -93,7 +93,8 @@ public: /// behavior of std::map) Index& operator[](Key key) { iterator i=order_.find(key); - if(i == order_.end()) throw std::out_of_range(std::string("Attempting to access a key from an ordering that does not contain that key")); + if(i == order_.end()) throw std::out_of_range( + std::string("Attempting to access a key from an ordering that does not contain that key:") + DefaultKeyFormatter(key)); else return i->second; } /// Access the index for the requested key, throws std::out_of_range if the @@ -101,7 +102,8 @@ public: /// behavior of std::map) Index operator[](Key key) const { const_iterator i=order_.find(key); - if(i == order_.end()) throw std::out_of_range(std::string("Attempting to access a key from an ordering that does not contain that key")); + if(i == order_.end()) throw std::out_of_range( + std::string("Attempting to access a key from an ordering that does not contain that key:") + DefaultKeyFormatter(key)); else return i->second; } /** Returns an iterator pointing to the symbol/index pair with the requested, From 32871bfceb9bafbc04c60e0ccd148c39a94976f9 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 24 May 2012 02:55:41 +0000 Subject: [PATCH 058/914] Fixed delete vs. delete[] in SimpleString - possible source of subtle errors --- CppUnitLite/SimpleString.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CppUnitLite/SimpleString.cpp b/CppUnitLite/SimpleString.cpp index 19dc7f258..190010d87 100644 --- a/CppUnitLite/SimpleString.cpp +++ b/CppUnitLite/SimpleString.cpp @@ -41,7 +41,7 @@ SimpleString::SimpleString (const SimpleString& other) SimpleString SimpleString::operator= (const SimpleString& other) { - delete buffer_; + delete [] buffer_; buffer_ = new char [other.size() + 1]; strcpy(buffer_, other.buffer_); return *this; @@ -50,7 +50,7 @@ SimpleString SimpleString::operator= (const SimpleString& other) SimpleString SimpleString::operator+ (const SimpleString& other) { SimpleString ret; - delete ret.buffer_; + delete [] ret.buffer_; ret.buffer_ = new char [size() + other.size() - 1]; strcpy(ret.buffer_, buffer_); strcat(ret.buffer_, other.buffer_); From 42853e0e599ad603497ddb5f6d8b18546bc2876a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 03:13:24 +0000 Subject: [PATCH 059/914] Fixed external From 47830cd56f337447821468b8ae270689c4d87e6e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 24 May 2012 16:05:01 +0000 Subject: [PATCH 060/914] Added clone and rekey facilities to nonlinear factor graph --- gtsam/nonlinear/NonlinearFactor.h | 18 +- gtsam/nonlinear/NonlinearFactorGraph.cpp | 208 +++++++++++++---------- gtsam/nonlinear/NonlinearFactorGraph.h | 16 ++ tests/testNonlinearFactorGraph.cpp | 37 ++++ 4 files changed, 186 insertions(+), 93 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 89b6de3dd..2b7311306 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -161,7 +161,23 @@ public: virtual shared_ptr clone() const =0; /** - * Clones a factor and replaces its keys + * Creates a shared_ptr clone of the factor with different keys using + * a map from old->new keys + */ + shared_ptr rekey(const std::map& rekey_mapping) const { + shared_ptr new_factor = clone(); + for (size_t i=0; isize(); ++i) { + Key& cur_key = new_factor->keys()[i]; + std::map::const_iterator mapping = rekey_mapping.find(cur_key); + if (mapping != rekey_mapping.end()) + cur_key = mapping->second; + } + return new_factor; + } + + /** + * Clones a factor and fully replaces its keys + * @param new_keys is the full replacement set of keys */ shared_ptr rekey(const std::vector& new_keys) const { assert(new_keys.size() == this->keys().size()); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 2400ea996..d29e7282d 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -27,112 +27,136 @@ using namespace std; namespace gtsam { - /* ************************************************************************* */ - double NonlinearFactorGraph::probPrime(const Values& c) const { - return exp(-0.5 * error(c)); +/* ************************************************************************* */ +double NonlinearFactorGraph::probPrime(const Values& c) const { + return exp(-0.5 * error(c)); +} + +/* ************************************************************************* */ +void NonlinearFactorGraph::print(const std::string& str, const KeyFormatter& keyFormatter) const { + cout << str << "size: " << size() << endl; + for (size_t i = 0; i < factors_.size(); i++) { + stringstream ss; + ss << "factor " << i << ": "; + if (factors_[i] != NULL) factors_[i]->print(ss.str(), keyFormatter); } +} - /* ************************************************************************* */ - void NonlinearFactorGraph::print(const std::string& str, const KeyFormatter& keyFormatter) const { - cout << str << "size: " << size() << endl; - for (size_t i = 0; i < factors_.size(); i++) { - stringstream ss; - ss << "factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str(), keyFormatter); - } +/* ************************************************************************* */ +double NonlinearFactorGraph::error(const Values& c) const { + double total_error = 0.; + // iterate over all the factors_ to accumulate the log probabilities + BOOST_FOREACH(const sharedFactor& factor, this->factors_) { + if(factor) + total_error += factor->error(c); } + return total_error; +} - /* ************************************************************************* */ - double NonlinearFactorGraph::error(const Values& c) const { - double total_error = 0.; - // iterate over all the factors_ to accumulate the log probabilities - BOOST_FOREACH(const sharedFactor& factor, this->factors_) { - if(factor) - total_error += factor->error(c); - } - return total_error; +/* ************************************************************************* */ +std::set NonlinearFactorGraph::keys() const { + std::set keys; + BOOST_FOREACH(const sharedFactor& factor, this->factors_) { + if(factor) + keys.insert(factor->begin(), factor->end()); } + return keys; +} - /* ************************************************************************* */ - std::set NonlinearFactorGraph::keys() const { - std::set keys; - BOOST_FOREACH(const sharedFactor& factor, this->factors_) { - if(factor) - keys.insert(factor->begin(), factor->end()); - } - return keys; - } - - /* ************************************************************************* */ - Ordering::shared_ptr NonlinearFactorGraph::orderingCOLAMD( - const Values& config) const { - - // Create symbolic graph and initial (iterator) ordering - SymbolicFactorGraph::shared_ptr symbolic; - Ordering::shared_ptr ordering; - boost::tie(symbolic, ordering) = this->symbolic(config); - - // Compute the VariableIndex (column-wise index) - VariableIndex variableIndex(*symbolic, ordering->size()); - if (config.size() != variableIndex.size()) throw std::runtime_error( - "orderingCOLAMD: some variables in the graph are not constrained!"); - - // Compute a fill-reducing ordering with COLAMD - Permutation::shared_ptr colamdPerm(inference::PermutationCOLAMD( - variableIndex)); - - // Permute the Ordering with the COLAMD ordering - ordering->permuteWithInverse(*colamdPerm->inverse()); - - // Return the Ordering and VariableIndex to be re-used during linearization - // and elimination - return ordering; - } - - /* ************************************************************************* */ - SymbolicFactorGraph::shared_ptr NonlinearFactorGraph::symbolic(const Ordering& ordering) const { - // Generate the symbolic factor graph - SymbolicFactorGraph::shared_ptr symbolicfg(new SymbolicFactorGraph); - symbolicfg->reserve(this->size()); - - BOOST_FOREACH(const sharedFactor& factor, this->factors_) { - if(factor) - symbolicfg->push_back(factor->symbolic(ordering)); - else - symbolicfg->push_back(SymbolicFactorGraph::sharedFactor()); - } - - return symbolicfg; - } - - /* ************************************************************************* */ - pair NonlinearFactorGraph::symbolic( +/* ************************************************************************* */ +Ordering::shared_ptr NonlinearFactorGraph::orderingCOLAMD( const Values& config) const { - // Generate an initial key ordering in iterator order - Ordering::shared_ptr ordering(config.orderingArbitrary()); - return make_pair(symbolic(*ordering), ordering); + + // Create symbolic graph and initial (iterator) ordering + SymbolicFactorGraph::shared_ptr symbolic; + Ordering::shared_ptr ordering; + boost::tie(symbolic, ordering) = this->symbolic(config); + + // Compute the VariableIndex (column-wise index) + VariableIndex variableIndex(*symbolic, ordering->size()); + if (config.size() != variableIndex.size()) throw std::runtime_error( + "orderingCOLAMD: some variables in the graph are not constrained!"); + + // Compute a fill-reducing ordering with COLAMD + Permutation::shared_ptr colamdPerm(inference::PermutationCOLAMD( + variableIndex)); + + // Permute the Ordering with the COLAMD ordering + ordering->permuteWithInverse(*colamdPerm->inverse()); + + // Return the Ordering and VariableIndex to be re-used during linearization + // and elimination + return ordering; +} + +/* ************************************************************************* */ +SymbolicFactorGraph::shared_ptr NonlinearFactorGraph::symbolic(const Ordering& ordering) const { + // Generate the symbolic factor graph + SymbolicFactorGraph::shared_ptr symbolicfg(new SymbolicFactorGraph); + symbolicfg->reserve(this->size()); + + BOOST_FOREACH(const sharedFactor& factor, this->factors_) { + if(factor) + symbolicfg->push_back(factor->symbolic(ordering)); + else + symbolicfg->push_back(SymbolicFactorGraph::sharedFactor()); } - /* ************************************************************************* */ - GaussianFactorGraph::shared_ptr NonlinearFactorGraph::linearize( - const Values& config, const Ordering& ordering) const { + return symbolicfg; +} - // create an empty linear FG - GaussianFactorGraph::shared_ptr linearFG(new GaussianFactorGraph); - linearFG->reserve(this->size()); +/* ************************************************************************* */ +pair NonlinearFactorGraph::symbolic( + const Values& config) const { + // Generate an initial key ordering in iterator order + Ordering::shared_ptr ordering(config.orderingArbitrary()); + return make_pair(symbolic(*ordering), ordering); +} - // linearize all factors - BOOST_FOREACH(const sharedFactor& factor, this->factors_) { - if(factor) { - GaussianFactor::shared_ptr lf = factor->linearize(config, ordering); - if (lf) linearFG->push_back(lf); - } else - linearFG->push_back(GaussianFactor::shared_ptr()); - } +/* ************************************************************************* */ +GaussianFactorGraph::shared_ptr NonlinearFactorGraph::linearize( + const Values& config, const Ordering& ordering) const { - return linearFG; + // create an empty linear FG + GaussianFactorGraph::shared_ptr linearFG(new GaussianFactorGraph); + linearFG->reserve(this->size()); + + // linearize all factors + BOOST_FOREACH(const sharedFactor& factor, this->factors_) { + if(factor) { + GaussianFactor::shared_ptr lf = factor->linearize(config, ordering); + if (lf) linearFG->push_back(lf); + } else + linearFG->push_back(GaussianFactor::shared_ptr()); } + return linearFG; +} + +/* ************************************************************************* */ +NonlinearFactorGraph NonlinearFactorGraph::clone() const { + NonlinearFactorGraph result; + BOOST_FOREACH(const sharedFactor& f, *this) { + if (f) + result.push_back(f->clone()); + else + result.push_back(sharedFactor()); // Passes on null factors so indices remain valid + } + return result; +} + +/* ************************************************************************* */ +NonlinearFactorGraph NonlinearFactorGraph::rekey(const std::map& rekey_mapping) const { + NonlinearFactorGraph result; + BOOST_FOREACH(const sharedFactor& f, *this) { + if (f) + result.push_back(f->rekey(rekey_mapping)); + else + result.push_back(sharedFactor()); + } + return result; +} + /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 3caeec680..82b364ddf 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -87,6 +87,22 @@ namespace gtsam { boost::shared_ptr linearize(const Values& config, const Ordering& ordering) const; + /** + * Clone() performs a deep-copy of the graph, including all of the factors + */ + NonlinearFactorGraph clone() const; + + /** + * Rekey() performs a deep-copy of all of the factors, and changes + * keys according to a mapping. + * + * Keys not specified in the mapping will remain unchanged. + * + * @param rekey_mapping is a map of old->new keys + * @result a cloned graph with updated keys + */ + NonlinearFactorGraph rekey(const std::map& rekey_mapping) const; + private: /** Serialization function */ diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 92e569038..4f3e7560f 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -107,6 +107,43 @@ TEST( Graph, linearize ) CHECK(assert_equal(expected,*linearized)); // Needs correct linearizations } +/* ************************************************************************* */ +TEST( Graph, clone ) +{ + Graph fg = createNonlinearFactorGraph(); + Graph actClone = fg.clone(); + EXPECT(assert_equal(fg, actClone)); + for (size_t i=0; i rekey_mapping; + rekey_mapping.insert(make_pair(kl(1), kl(4))); + Graph actRekey = init.rekey(rekey_mapping); + + // ensure deep clone + LONGS_EQUAL(init.size(), actRekey.size()); + for (size_t i=0; i Date: Thu, 24 May 2012 20:11:36 +0000 Subject: [PATCH 061/914] Removed leading-underscore names that conflict with windows macros --- gtsam/base/cholesky.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/cholesky.h b/gtsam/base/cholesky.h index 50d3b24a8..46d342d24 100644 --- a/gtsam/base/cholesky.h +++ b/gtsam/base/cholesky.h @@ -34,7 +34,7 @@ struct NegativeMatrixException : public std::exception { Matrix A; ///< The original matrix attempted to factor Matrix U; ///< The produced upper-triangular factor Matrix D; ///< The produced diagonal factor - Detail(const Matrix& _A, const Matrix& _U, const Matrix& _D) /**< Detail constructor */ : A(_A), U(_U), D(_D) {} + Detail(const Matrix& A, const Matrix& U, const Matrix& D) /**< Detail constructor */ : A(A), U(U), D(D) {} void print(const std::string& str = "") const { std::cout << str << "\n"; gtsam::print(A, " A: "); From d945dd8b6ad68a63234a66bb53f36a7b31aebc91 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:11:38 +0000 Subject: [PATCH 062/914] Tweaking build settings for visual studio --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5b598bacf..983fece25 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,7 +15,7 @@ include(GtsamTesting) include(GtsamPrinting) # guard against in-source builds -if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR} AND NOT MSVC) +if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR}) message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") endif() From da5b01ff0fc4e588e83874961b80f9e3928b644d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:11:40 +0000 Subject: [PATCH 063/914] Updated boost version requirement in README --- README | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README b/README index 45698af8e..c38c12306 100644 --- a/README +++ b/README @@ -51,7 +51,7 @@ Important Installation Notes 1) GTSAM requires the following libraries to be installed on your system: - - BOOST version 1.40 or greater (install through Linux repositories or MacPorts) + - BOOST version 1.43 or greater (install through Linux repositories or MacPorts) - Cmake version 2.6 or higher - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher From 9cf1d8649d106e3779aedb5cd74b08858ccae1ea Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:11:42 +0000 Subject: [PATCH 064/914] Build script fixes --- gtsam/CMakeLists.txt | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index e8dc712aa..8dd9a72ce 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -74,10 +74,7 @@ set(gtsam_srcs ) # Create MSVC structure -file(GLOB_RECURSE all_c_srcs "*.c") -file(GLOB_RECURSE all_cpp_srcs "*.cpp") -file(GLOB_RECURSE all_headers "*.h") -gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}") +gtsam_assign_all_source_folders() # Versions set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}) From 8f43298d2142df5b975912c86fb10478058665af Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:11:45 +0000 Subject: [PATCH 065/914] Whitespace --- gtsam/linear/JacobianFactor.h | 20 ++++++++++---------- gtsam/nonlinear/ISAM2.cpp | 16 ++++++++-------- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 048d44981..30e8e19bb 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -154,16 +154,16 @@ namespace gtsam { Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ Vector error_vector(const VectorValues& c) const; /** (A*x-b)/sigma */ virtual double error(const VectorValues& c) const; /** 0.5*(A*x-b)'*D*(A*x-b) */ - - /** Return the augmented information matrix represented by this GaussianFactor. - * The augmented information matrix contains the information matrix with an - * additional column holding the information vector, and an additional row - * holding the transpose of the information vector. The lower-right entry - * contains the constant error term (when \f$ \delta x = 0 \f$). The - * augmented information matrix is described in more detail in HessianFactor, - * which in fact stores an augmented information matrix. - */ - virtual Matrix computeInformation() const; + + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + */ + virtual Matrix computeInformation() const; /** Check if the factor contains no information, i.e. zero rows. This does * not necessarily mean that the factor involves no variables (to check for diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index bae2252d6..d785657a3 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -348,7 +348,7 @@ boost::shared_ptr > ISAM2::recalculate( // Reeliminated keys for detailed results if(params_.enableDetailedResults) { BOOST_FOREACH(Key key, theta_.keys()) { - result.detail->variableStatus[key].isReeliminated = true; + result.detail->variableStatus[key].isReeliminated = true; } } @@ -372,7 +372,7 @@ boost::shared_ptr > ISAM2::recalculate( // Reeliminated keys for detailed results if(params_.enableDetailedResults) { BOOST_FOREACH(Index index, affectedAndNewKeys) { - result.detail->variableStatus[inverseOrdering_->at(index)].isReeliminated = true; + result.detail->variableStatus[inverseOrdering_->at(index)].isReeliminated = true; } } @@ -485,7 +485,7 @@ boost::shared_ptr > ISAM2::recalculate( // Root clique variables for detailed results if(params_.enableDetailedResults) { BOOST_FOREACH(Index index, this->root()->conditional()->frontals()) { - result.detail->variableStatus[inverseOrdering_->at(index)].inRootClique = true; + result.detail->variableStatus[inverseOrdering_->at(index)].inRootClique = true; } } @@ -572,7 +572,7 @@ ISAM2Result ISAM2::update( // Observed keys for detailed results if(params_.enableDetailedResults) { BOOST_FOREACH(Index index, markedKeys) { - result.detail->variableStatus[inverseOrdering_->at(index)].isObserved = true; + result.detail->variableStatus[inverseOrdering_->at(index)].isObserved = true; } } // NOTE: we use assign instead of the iterator constructor here because this @@ -732,10 +732,10 @@ Values ISAM2::calculateEstimate() const { // We use ExpmapMasked here instead of regular expmap because the former // handles Permuted tic(1, "Copy Values"); - Values ret(theta_); - toc(1, "Copy Values"); - tic(2, "getDelta"); - const Permuted& delta(getDelta()); + Values ret(theta_); + toc(1, "Copy Values"); + tic(2, "getDelta"); + const Permuted& delta(getDelta()); toc(2, "getDelta"); tic(3, "Expmap"); vector mask(ordering_.nVars(), true); From c3052fe5362b9124f5c0892db9ae5575dcddd905 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:11:48 +0000 Subject: [PATCH 066/914] Fixed conflicts with build-in windows names --- gtsam/base/Matrix.cpp | 4 ++-- gtsam/base/Matrix.h | 6 +++--- gtsam/base/Vector.cpp | 4 ++-- gtsam/base/Vector.h | 6 +++--- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 57a45d4a1..320dbe896 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -236,8 +236,8 @@ void save(const Matrix& A, const string &s, const string& filename) { } /* ************************************************************************* */ -void insertSub(Matrix& big, const Matrix& small, size_t i, size_t j) { - big.block(i, j, small.rows(), small.cols()) = small; +void insertSub(Matrix& fullMatrix, const Matrix& subMatrix, size_t i, size_t j) { + fullMatrix.block(i, j, subMatrix.rows(), subMatrix.cols()) = subMatrix; } /* ************************************************************************* */ diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index fd7dac1fc..9093fb99d 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -201,12 +201,12 @@ Eigen::Block sub(const MATRIX& A, size_t i1, size_t i2, size_t j1, /** * insert a submatrix IN PLACE at a specified location in a larger matrix * NOTE: there is no size checking - * @param large matrix to be updated - * @param small matrix to be inserted + * @param fullMatrix matrix to be updated + * @param subMatrix matrix to be inserted * @param i is the row of the upper left corner insert location * @param j is the column of the upper left corner insert location */ -void insertSub(Matrix& big, const Matrix& small, size_t i, size_t j); +void insertSub(Matrix& fullMatrix, const Matrix& subMatrix, size_t i, size_t j); /** * Extracts a column view from a matrix that avoids a copy diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index 98ad43e05..19546016f 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -251,8 +251,8 @@ ConstSubVector sub(const Vector &v, size_t i1, size_t i2) { } /* ************************************************************************* */ -void subInsert(Vector& big, const Vector& small, size_t i) { - big.segment(i, small.size()) = small; +void subInsert(Vector& fullVector, const Vector& subVector, size_t i) { + fullVector.segment(i, subVector.size()) = subVector; } /* ************************************************************************* */ diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index b4be74f4e..40fed145c 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -209,11 +209,11 @@ ConstSubVector sub(const Vector &v, size_t i1, size_t i2); /** * Inserts a subvector into a vector IN PLACE - * @param big is the vector to be changed - * @param small is the vector to insert + * @param fullVector is the vector to be changed + * @param subVector is the vector to insert * @param i is the index where the subvector should be inserted */ -void subInsert(Vector& big, const Vector& small, size_t i); +void subInsert(Vector& fullVector, const Vector& subVector, size_t i); /** * elementwise multiplication From c12d316fff27697705567f4df3b9235dfbf5f892 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:11:52 +0000 Subject: [PATCH 067/914] Updated svn:ignore From b73af866d62e9a80244b86ce3225bc40e96691ce Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:43:19 +0000 Subject: [PATCH 068/914] Added computeInformation function to GaussianFactor to properly compute information matrix including noise models, and using it to fix bug in Marginals where noise model was not being accounted for (only affects when hard constraints are used) --- gtsam/linear/GaussianFactor.h | 11 +++++++++++ gtsam/linear/HessianFactor.cpp | 5 +++++ gtsam/linear/HessianFactor.h | 17 +++++++++++++++++ gtsam/linear/JacobianFactor.cpp | 6 ++++++ gtsam/linear/JacobianFactor.h | 10 ++++++++++ gtsam/nonlinear/Marginals.cpp | 13 +++---------- 6 files changed, 52 insertions(+), 10 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index 3fdad19c6..e2537b7b4 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -20,6 +20,7 @@ #pragma once +#include #include #include @@ -88,6 +89,16 @@ namespace gtsam { /** Return the dimension of the variable pointed to by the given key iterator */ virtual size_t getDim(const_iterator variable) const = 0; + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + */ + virtual Matrix computeInformation() const = 0; + /** Clone a factor (make a deep copy) */ virtual GaussianFactor::shared_ptr clone() const = 0; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index b1f829005..aca473053 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -324,6 +324,11 @@ HessianFactor::constColumn HessianFactor::linearTerm() const { return info_.rangeColumn(0, this->size(), this->size(), 0); } +/* ************************************************************************* */ +Matrix HessianFactor::computeInformation() const { + return info_.full().selfadjointView(); +} + /* ************************************************************************* */ double HessianFactor::error(const VectorValues& c) const { // error 0.5*(f - 2*x'*g + x'*G*x) diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index d6ff23159..1454e7a36 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -269,6 +269,23 @@ namespace gtsam { /** Return the complete linear term \f$ g \f$ as described above. * @return The linear term \f$ g \f$ */ constColumn linearTerm() const; + + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + * + * For HessianFactor, this is the same as info() except that this function + * returns a complete symmetric matrix whereas info() returns a matrix where + * only the upper triangle is valid, but should be interpreted as symmetric. + * This is because info() returns only a reference to the internal + * representation of the augmented information matrix, which stores only the + * upper triangle. + */ + virtual Matrix computeInformation() const; // Friend unit test classes friend class ::ConversionConstructorHessianFactorTest; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index e2facec40..c7cdf6ce3 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -271,6 +271,12 @@ namespace gtsam { return 0.5 * weighted.dot(weighted); } + /* ************************************************************************* */ + Matrix JacobianFactor::computeInformation() const { + Matrix AbWhitened = Ab_.full(); + model_->WhitenInPlace(AbWhitened); + return AbWhitened.transpose() * AbWhitened; + } /* ************************************************************************* */ Vector JacobianFactor::operator*(const VectorValues& x) const { diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index b5a2dd500..048d44981 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -154,6 +154,16 @@ namespace gtsam { Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ Vector error_vector(const VectorValues& c) const; /** (A*x-b)/sigma */ virtual double error(const VectorValues& c) const; /** 0.5*(A*x-b)'*D*(A*x-b) */ + + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + */ + virtual Matrix computeInformation() const; /** Check if the factor contains no information, i.e. zero rows. This does * not necessarily mean that the factor involves no variables (to check for diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index ec837bc26..1abeb5ae9 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -69,16 +69,9 @@ Matrix Marginals::marginalInformation(Key variable) const { marginalFactor = bayesTree_.marginalFactor(index, EliminateQR); // Get information matrix (only store upper-right triangle) - if(typeid(*marginalFactor) == typeid(JacobianFactor)) { - JacobianFactor::constABlock A = static_cast(*marginalFactor).getA(); - return A.transpose() * A; // Compute A'A - } else if(typeid(*marginalFactor) == typeid(HessianFactor)) { - const HessianFactor& hessian = static_cast(*marginalFactor); - const size_t dim = hessian.getDim(hessian.begin()); - return hessian.info().topLeftCorner(dim,dim).selfadjointView(); // Take the non-augmented part of the information matrix - } else { - throw runtime_error("Internal error: Marginals::marginalInformation expected either a JacobianFactor or HessianFactor"); - } + Matrix info = marginalFactor->computeInformation(); + const int dim = info.rows() - 1; + return info.topLeftCorner(dim,dim); // Take the non-augmented part of the information matrix } /* ************************************************************************* */ From 451dd5ef1b632209d15a7679f05569a5e647406c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 24 May 2012 20:43:22 +0000 Subject: [PATCH 069/914] Updated boost version requirement in README --- README | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README b/README index 45698af8e..c38c12306 100644 --- a/README +++ b/README @@ -51,7 +51,7 @@ Important Installation Notes 1) GTSAM requires the following libraries to be installed on your system: - - BOOST version 1.40 or greater (install through Linux repositories or MacPorts) + - BOOST version 1.43 or greater (install through Linux repositories or MacPorts) - Cmake version 2.6 or higher - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher From 421a0725dd356cd7dc871c27b1049632065a30d2 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 25 May 2012 14:12:28 +0000 Subject: [PATCH 070/914] Added a default implementation of clone() for nonlinear factor so not all subclasses need to implement clone(). Default implementation throws an exception. --- gtsam/nonlinear/NonlinearFactor.h | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 2b7311306..bf6527599 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -157,8 +157,14 @@ public: /** * Creates a shared_ptr clone of the factor - needs to be specialized to allow * for subclasses + * + * By default, throws exception if subclass does not implement the function. */ - virtual shared_ptr clone() const =0; + virtual shared_ptr clone() const { + // TODO: choose better exception to throw here + throw std::runtime_error("NonlinearFactor::clone(): Attempting to clone factor with no clone() implemented!"); + return shared_ptr(); + } /** * Creates a shared_ptr clone of the factor with different keys using From 4ed447ca8e87e82f1df6d2b108a387b94e20839e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 25 May 2012 14:51:03 +0000 Subject: [PATCH 071/914] Fixed CSP, now a DiscreteFactorGraph again, uses dynamic_cast for Constraint-specific functionality :-( --- gtsam_unstable/discrete/AllDiff.cpp | 2 +- gtsam_unstable/discrete/BinaryAllDiff.h | 2 +- gtsam_unstable/discrete/CMakeLists.txt | 3 +- gtsam_unstable/discrete/CSP.cpp | 11 ++-- gtsam_unstable/discrete/CSP.h | 59 ++++++++------------ gtsam_unstable/discrete/SingleValue.cpp | 4 +- gtsam_unstable/discrete/tests/testCSP.cpp | 18 +++--- gtsam_unstable/discrete/tests/testSudoku.cpp | 10 ++-- 8 files changed, 52 insertions(+), 57 deletions(-) diff --git a/gtsam_unstable/discrete/AllDiff.cpp b/gtsam_unstable/discrete/AllDiff.cpp index 46efd4499..0cab961e1 100644 --- a/gtsam_unstable/discrete/AllDiff.cpp +++ b/gtsam_unstable/discrete/AllDiff.cpp @@ -21,7 +21,7 @@ namespace gtsam { /* ************************************************************************* */ void AllDiff::print(const std::string& s) const { - std::cout << s << ": AllDiff on "; + std::cout << s << "AllDiff on "; BOOST_FOREACH (Index dkey, keys_) std::cout << dkey << " "; std::cout << std::endl; diff --git a/gtsam_unstable/discrete/BinaryAllDiff.h b/gtsam_unstable/discrete/BinaryAllDiff.h index 04eeba953..46901fc7d 100644 --- a/gtsam_unstable/discrete/BinaryAllDiff.h +++ b/gtsam_unstable/discrete/BinaryAllDiff.h @@ -34,7 +34,7 @@ namespace gtsam { // print virtual void print(const std::string& s = "") const { - std::cout << s << ": BinaryAllDiff on " << keys_[0] << " and " << keys_[1] + std::cout << s << "BinaryAllDiff on " << keys_[0] << " and " << keys_[1] << std::endl; } diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index 3ba34d12b..707a67d84 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -18,7 +18,8 @@ set (discrete_full_libs # Exclude tests that don't work set (discrete_excluded_tests "${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp" -"${CMAKE_CURRENT_SOURCE_DIR}/tests/testCSP.cpp") +#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testCSP.cpp" +) # Add all tests diff --git a/gtsam_unstable/discrete/CSP.cpp b/gtsam_unstable/discrete/CSP.cpp index 4da2f440a..10c27d2bb 100644 --- a/gtsam_unstable/discrete/CSP.cpp +++ b/gtsam_unstable/discrete/CSP.cpp @@ -49,8 +49,9 @@ namespace gtsam { // if not already a singleton if (!domains[v].isSingleton()) { // get the constraint and call its ensureArcConsistency method - Constraint::shared_ptr factor = (*this)[f]; - changed[v] = factor->ensureArcConsistency(v,domains) || changed[v]; + Constraint::shared_ptr constraint = boost::dynamic_pointer_cast((*this)[f]); + if (!constraint) throw runtime_error("CSP:runArcConsistency: non-constraint factor"); + changed[v] = constraint->ensureArcConsistency(v,domains) || changed[v]; } } // f if (changed[v]) anyChange = true; @@ -84,8 +85,10 @@ namespace gtsam { // TODO: create a new ordering as we go, to ensure a connected graph // KeyOrdering ordering; // vector dkeys; - BOOST_FOREACH(const Constraint::shared_ptr& factor, factors_) { - Constraint::shared_ptr reduced = factor->partiallyApply(domains); + BOOST_FOREACH(const DiscreteFactor::shared_ptr& f, factors_) { + Constraint::shared_ptr constraint = boost::dynamic_pointer_cast(f); + if (!constraint) throw runtime_error("CSP:runArcConsistency: non-constraint factor"); + Constraint::shared_ptr reduced = constraint->partiallyApply(domains); if (print) reduced->print(); } #endif diff --git a/gtsam_unstable/discrete/CSP.h b/gtsam_unstable/discrete/CSP.h index e2e2a2251..ef4bbc17a 100644 --- a/gtsam_unstable/discrete/CSP.h +++ b/gtsam_unstable/discrete/CSP.h @@ -18,7 +18,7 @@ namespace gtsam { * A specialization of a DiscreteFactorGraph. * It knows about CSP-specific constraints and algorithms */ - class CSP: public FactorGraph { + class CSP: public DiscreteFactorGraph { public: /** A map from keys to values */ @@ -27,30 +27,10 @@ namespace gtsam { typedef boost::shared_ptr sharedValues; public: - /// Constructor - CSP() { - } - template - void add(const DiscreteKey& j, SOURCE table) { - DiscreteKeys keys; - keys.push_back(j); - push_back(boost::make_shared(keys, table)); - } - - template - void add(const DiscreteKey& j1, const DiscreteKey& j2, SOURCE table) { - DiscreteKeys keys; - keys.push_back(j1); - keys.push_back(j2); - push_back(boost::make_shared(keys, table)); - } - - /** add shared discreteFactor immediately from arguments */ - template - void add(const DiscreteKeys& keys, SOURCE table) { - push_back(boost::make_shared(keys, table)); - } +// /// Constructor +// CSP() { +// } /// Add a unary constraint, allowing only a single value void addSingleValue(const DiscreteKey& dkey, size_t value) { @@ -71,19 +51,28 @@ namespace gtsam { push_back(factor); } +// /** return product of all factors as a single factor */ +// DecisionTreeFactor product() const { +// DecisionTreeFactor result; +// BOOST_FOREACH(const sharedFactor& factor, *this) +// if (factor) result = (*factor) * result; +// return result; +// } + /// Find the best total assignment - can be expensive sharedValues optimalAssignment() const; - /* - * Perform loopy belief propagation - * True belief propagation would check for each value in domain - * whether any satisfying separator assignment can be found. - * This corresponds to hyper-arc consistency in CSP speak. - * This can be done by creating a mini-factor graph and search. - * For a nine-by-nine Sudoku, the search tree will be 8+6+6=20 levels deep. - * It will be very expensive to exclude values that way. - */ - // void applyBeliefPropagation(size_t nrIterations = 10) const; +// /* +// * Perform loopy belief propagation +// * True belief propagation would check for each value in domain +// * whether any satisfying separator assignment can be found. +// * This corresponds to hyper-arc consistency in CSP speak. +// * This can be done by creating a mini-factor graph and search. +// * For a nine-by-nine Sudoku, the search tree will be 8+6+6=20 levels deep. +// * It will be very expensive to exclude values that way. +// */ +// void applyBeliefPropagation(size_t nrIterations = 10) const; + /* * Apply arc-consistency ~ Approximate loopy belief propagation * We need to give the domains to a constraint, and it returns @@ -92,7 +81,7 @@ namespace gtsam { */ void runArcConsistency(size_t cardinality, size_t nrIterations = 10, bool print = false) const; - }; + }; // CSP } // gtsam diff --git a/gtsam_unstable/discrete/SingleValue.cpp b/gtsam_unstable/discrete/SingleValue.cpp index 855d62353..a626ecf13 100644 --- a/gtsam_unstable/discrete/SingleValue.cpp +++ b/gtsam_unstable/discrete/SingleValue.cpp @@ -17,8 +17,8 @@ namespace gtsam { /* ************************************************************************* */ void SingleValue::print(const string& s) const { - cout << s << ": SingleValue on " << keys_[0] << " (j=" << keys_[0] - << ") with value " << value_ << endl; + cout << s << "SingleValue on " << "j=" << keys_[0] + << " with value " << value_ << endl; } /* ************************************************************************* */ diff --git a/gtsam_unstable/discrete/tests/testCSP.cpp b/gtsam_unstable/discrete/tests/testCSP.cpp index 4d04afb92..c92cbe1f9 100644 --- a/gtsam_unstable/discrete/tests/testCSP.cpp +++ b/gtsam_unstable/discrete/tests/testCSP.cpp @@ -54,17 +54,17 @@ TEST_UNSAFE( CSP, allInOne) invalid[ID.first] = 0; invalid[UT.first] = 0; invalid[AZ.first] = 0; - EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // Check a valid combination DiscreteFactor::Values valid; valid[ID.first] = 0; valid[UT.first] = 1; valid[AZ.first] = 0; - EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // Just for fun, create the product and check it - DecisionTreeFactor product = csp.product(); // FIXME: fails due to lack of product() + DecisionTreeFactor product = csp.product(); // product.dot("product"); DecisionTreeFactor expectedProduct(ID & AZ & UT, "0 1 0 0 0 0 1 0"); EXPECT(assert_equal(expectedProduct,product)); @@ -74,7 +74,7 @@ TEST_UNSAFE( CSP, allInOne) CSP::Values expected; insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 1); EXPECT(assert_equal(expected,*mpe)); - EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); } /* ************************************************************************* */ @@ -122,7 +122,7 @@ TEST_UNSAFE( CSP, WesternUS) (MT.first,1)(WY.first,0)(NM.first,3)(CO.first,2) (ID.first,2)(UT.first,1)(AZ.first,0); EXPECT(assert_equal(expected,*mpe)); - EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // Write out the dual graph for hmetis #ifdef DUAL @@ -146,7 +146,7 @@ TEST_UNSAFE( CSP, AllDiff) dkeys += ID,UT,AZ; csp.addAllDiff(dkeys); csp.addSingleValue(AZ,2); - //GTSAM_PRINT(csp); +// GTSAM_PRINT(csp); // Check construction and conversion SingleValue s(AZ,2); @@ -167,21 +167,21 @@ TEST_UNSAFE( CSP, AllDiff) invalid[ID.first] = 0; invalid[UT.first] = 1; invalid[AZ.first] = 0; - EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(0, csp(invalid), 1e-9); // Check a valid combination DiscreteFactor::Values valid; valid[ID.first] = 0; valid[UT.first] = 1; valid[AZ.first] = 2; - EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(valid), 1e-9); // Solve CSP::sharedValues mpe = csp.optimalAssignment(); CSP::Values expected; insert(expected)(ID.first, 1)(UT.first, 0)(AZ.first, 2); EXPECT(assert_equal(expected,*mpe)); - EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // FIXME: fails due to lack of operator() interface + EXPECT_DOUBLES_EQUAL(1, csp(*mpe), 1e-9); // Arc-consistency vector domains; diff --git a/gtsam_unstable/discrete/tests/testSudoku.cpp b/gtsam_unstable/discrete/tests/testSudoku.cpp index 1bbac4777..583364ade 100644 --- a/gtsam_unstable/discrete/tests/testSudoku.cpp +++ b/gtsam_unstable/discrete/tests/testSudoku.cpp @@ -14,6 +14,8 @@ using namespace std; using namespace gtsam; +#define PRINT false + class Sudoku: public CSP { /// sudoku size @@ -119,7 +121,7 @@ TEST_UNSAFE( Sudoku, small) 0,1, 0,0); // Do BP - csp.runArcConsistency(4); + csp.runArcConsistency(4,10,PRINT); // optimize and check CSP::sharedValues solution = csp.optimalAssignment(); @@ -150,7 +152,7 @@ TEST_UNSAFE( Sudoku, easy) 5,0,0, 0,3,0, 7,0,0); // Do BP - sudoku.runArcConsistency(4); + sudoku.runArcConsistency(4,10,PRINT); // sudoku.printSolution(); // don't do it } @@ -172,7 +174,7 @@ TEST_UNSAFE( Sudoku, extreme) 0,0,0, 2,7,5, 9,0,0); // Do BP - sudoku.runArcConsistency(9,10,false); + sudoku.runArcConsistency(9,10,PRINT); #ifdef METIS VariableIndex index(sudoku); @@ -201,7 +203,7 @@ TEST_UNSAFE( Sudoku, AJC_3star_Feb8_2012) 0,0,0, 1,0,0, 0,3,7); // Do BP - sudoku.runArcConsistency(9,10,true); + sudoku.runArcConsistency(9,10,PRINT); //sudoku.printSolution(); // don't do it } From 14f119a787e9327a7b2289641e129de4b0b08f4f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 25 May 2012 15:09:59 +0000 Subject: [PATCH 072/914] Printing --- gtsam/discrete/DecisionTreeFactor.cpp | 2 +- gtsam/discrete/DecisionTreeFactor.h | 2 +- gtsam/discrete/DiscreteFactor.h | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp index 23b761b3b..105ff3a38 100644 --- a/gtsam/discrete/DecisionTreeFactor.cpp +++ b/gtsam/discrete/DecisionTreeFactor.cpp @@ -49,7 +49,7 @@ namespace gtsam { /* ************************************************************************* */ void DecisionTreeFactor::print(const string& s) const { - cout << s << ":\n"; + cout << s; IndexFactor::print("IndexFactor:"); Potentials::print("Potentials:"); } diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index c63e59517..537bb3e60 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -72,7 +72,7 @@ namespace gtsam { bool equals(const DecisionTreeFactor& other, double tol = 1e-9) const; // print - void print(const std::string& s = "DecisionTreeFactor: ") const; + void print(const std::string& s = "DecisionTreeFactor:\n") const; /// @} /// @name Standard Interface diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index 8152ff726..3789389e4 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -82,7 +82,7 @@ namespace gtsam { /// @{ // print - virtual void print(const std::string& s = "DiscreteFactor") const { + virtual void print(const std::string& s = "DiscreteFactor\n") const { IndexFactor::print(s); } From de79924e7346f0b642c17e4cb03e752bb60f6b60 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 25 May 2012 15:10:13 +0000 Subject: [PATCH 073/914] Fixed discrete examples --- gtsam_unstable/discrete/CMakeLists.txt | 11 +++++------ gtsam_unstable/discrete/Scheduler.cpp | 11 +---------- 2 files changed, 6 insertions(+), 16 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index 707a67d84..5d61db848 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -16,10 +16,9 @@ set (discrete_full_libs gtsam_unstable-static) # Exclude tests that don't work -set (discrete_excluded_tests -"${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp" -#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testCSP.cpp" -) +#set (discrete_excluded_tests +#"${CMAKE_CURRENT_SOURCE_DIR}/tests/testScheduler.cpp" +#) # Add all tests @@ -27,8 +26,8 @@ gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_fu # List examples to build - comment out here to exclude from compilation set(discrete_unstable_examples -#schedulingExample -#schedulingQuals12 +schedulingExample +schedulingQuals12 ) if (GTSAM_BUILD_EXAMPLES) diff --git a/gtsam_unstable/discrete/Scheduler.cpp b/gtsam_unstable/discrete/Scheduler.cpp index 678ba1580..d551b1f0b 100644 --- a/gtsam_unstable/discrete/Scheduler.cpp +++ b/gtsam_unstable/discrete/Scheduler.cpp @@ -105,7 +105,6 @@ namespace gtsam { /** Add student-specific constraints to the graph */ void Scheduler::addStudentSpecificConstraints(size_t i, boost::optional slot) { -#ifdef BROKEN bool debug = ISDEBUG("Scheduler::buildGraph"); assert(i Date: Fri, 25 May 2012 15:11:40 +0000 Subject: [PATCH 074/914] ignore From ace43278970359c250793f65250d04a4c81d4684 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Fri, 25 May 2012 15:26:30 +0000 Subject: [PATCH 075/914] reorg the nonlinear/linear parameters to accommodate the iterative solvers --- examples/PlanarSLAMSelfContained_advanced.cpp | 2 +- gtsam/nonlinear/DoglegOptimizer.cpp | 20 ++--- gtsam/nonlinear/GaussNewtonOptimizer.cpp | 17 ++-- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 19 +++-- .../SuccessiveLinearizationOptimizer.h | 83 ++++++++++++------- tests/testNonlinearOptimizer.cpp | 4 +- 6 files changed, 87 insertions(+), 58 deletions(-) diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMSelfContained_advanced.cpp index bd5c5295a..36f9ad8ca 100644 --- a/examples/PlanarSLAMSelfContained_advanced.cpp +++ b/examples/PlanarSLAMSelfContained_advanced.cpp @@ -113,7 +113,7 @@ int main(int argc, char** argv) { // first using sequential elimination LevenbergMarquardtParams lmParams; - lmParams.elimination = LevenbergMarquardtParams::SEQUENTIAL; + lmParams.linearSolverType = LevenbergMarquardtParams::SEQUENTIAL_CHOLESKY; Values resultSequential = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); resultSequential.print("final result (solved with a sequential solver)"); diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp index 84090d666..91b3c92fd 100644 --- a/gtsam/nonlinear/DoglegOptimizer.cpp +++ b/gtsam/nonlinear/DoglegOptimizer.cpp @@ -33,25 +33,25 @@ void DoglegOptimizer::iterate(void) { const Ordering& ordering = *params_.ordering; GaussianFactorGraph::shared_ptr linear = graph_.linearize(state_.values, ordering); - // Get elimination method - GaussianFactorGraph::Eliminate eliminationMethod = params_.getEliminationFunction(); - // Pull out parameters we'll use const bool dlVerbose = (params_.verbosityDL > DoglegParams::SILENT); // Do Dogleg iteration with either Multifrontal or Sequential elimination DoglegOptimizerImpl::IterationResult result; - if(params_.elimination == DoglegParams::MULTIFRONTAL) { + if ( params_.isMultifrontal() ) { GaussianBayesTree bt; - bt.insert(GaussianJunctionTree(*linear).eliminate(eliminationMethod)); + bt.insert(GaussianJunctionTree(*linear).eliminate(params_.getEliminationFunction())); result = DoglegOptimizerImpl::Iterate(state_.Delta, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, bt, graph_, state_.values, ordering, state_.error, dlVerbose); - - } else if(params_.elimination == DoglegParams::SEQUENTIAL) { - GaussianBayesNet::shared_ptr bn = EliminationTree::Create(*linear)->eliminate(eliminationMethod); + } + else if ( params_.isSequential() ) { + GaussianBayesNet::shared_ptr bn = EliminationTree::Create(*linear)->eliminate(params_.getEliminationFunction()); result = DoglegOptimizerImpl::Iterate(state_.Delta, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *bn, graph_, state_.values, ordering, state_.error, dlVerbose); - - } else { + } + else if ( params_.isSPCG() ) { + throw runtime_error("todo: "); + } + else { throw runtime_error("Optimization parameter is invalid: DoglegParams::elimination"); } diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp index 8e2b20859..8d09b3edc 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp +++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp @@ -35,13 +35,18 @@ void GaussNewtonOptimizer::iterate() { // Optimize VectorValues delta; { - GaussianFactorGraph::Eliminate eliminationMethod = params_.getEliminationFunction(); - if(params_.elimination == GaussNewtonParams::MULTIFRONTAL) - delta = GaussianJunctionTree(*linear).optimize(eliminationMethod); - else if(params_.elimination == GaussNewtonParams::SEQUENTIAL) - delta = gtsam::optimize(*EliminationTree::Create(*linear)->eliminate(eliminationMethod)); - else + if ( params_.isMultifrontal() ) { + delta = GaussianJunctionTree(*linear).optimize(params_.getEliminationFunction()); + } + else if ( params_.isSequential() ) { + delta = gtsam::optimize(*EliminationTree::Create(*linear)->eliminate(params_.getEliminationFunction())); + } + else if ( params_.isSPCG() ) { + throw runtime_error("todo: "); + } + else { throw runtime_error("Optimization parameter is invalid: GaussNewtonParams::elimination"); + } } // Maybe show output diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 1b19cfe75..3ad26cb3a 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -32,9 +32,6 @@ void LevenbergMarquardtOptimizer::iterate() { // Linearize graph GaussianFactorGraph::shared_ptr linear = graph_.linearize(state_.values, *params_.ordering); - // Get elimination method - GaussianFactorGraph::Eliminate eliminationMethod = params_.getEliminationFunction(); - // Pull out parameters we'll use const NonlinearOptimizerParams::Verbosity nloVerbosity = params_.verbosity; const LevenbergMarquardtParams::VerbosityLM lmVerbosity = params_.verbosityLM; @@ -67,12 +64,18 @@ void LevenbergMarquardtOptimizer::iterate() { // Optimize VectorValues delta; - if(params_.elimination == SuccessiveLinearizationParams::MULTIFRONTAL) - delta = GaussianJunctionTree(dampedSystem).optimize(eliminationMethod); - else if(params_.elimination == SuccessiveLinearizationParams::SEQUENTIAL) - delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(eliminationMethod)); - else + if ( params_.isMultifrontal() ) { + delta = GaussianJunctionTree(dampedSystem).optimize(params_.getEliminationFunction()); + } + else if ( params_.isSequential() ) { + delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); + } + else if ( params_.isSPCG() ) { + throw runtime_error("todo: "); + } + else { throw runtime_error("Optimization parameter is invalid: LevenbergMarquardtParams::elimination"); + } if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "linear delta norm = " << delta.vector().norm() << endl; if (lmVerbosity >= LevenbergMarquardtParams::TRYDELTA) delta.print("delta"); diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index f17e01d49..2b3bfd3b6 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -24,42 +24,44 @@ namespace gtsam { class SuccessiveLinearizationParams : public NonlinearOptimizerParams { public: - /** See SuccessiveLinearizationParams::elimination */ - enum Elimination { - MULTIFRONTAL, - SEQUENTIAL + /** See SuccessiveLinearizationParams::linearSolverType */ + enum LinearSolverType { + MULTIFRONTAL_CHOLESKY, + MULTIFRONTAL_QR, + SEQUENTIAL_CHOLESKY, + SEQUENTIAL_QR, + SPCG }; - /** See SuccessiveLinearizationParams::factorization */ - enum Factorization { - CHOLESKY, - QR, - }; - - Elimination elimination; ///< The elimination algorithm to use (default: MULTIFRONTAL) - Factorization factorization; ///< The numerical factorization (default: Cholesky) + LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer boost::optional ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty) - SuccessiveLinearizationParams() : - elimination(MULTIFRONTAL), factorization(CHOLESKY) {} + SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {} virtual ~SuccessiveLinearizationParams() {} virtual void print(const std::string& str = "") const { NonlinearOptimizerParams::print(str); - if(elimination == MULTIFRONTAL) - std::cout << " elimination method: MULTIFRONTAL\n"; - else if(elimination == SEQUENTIAL) - std::cout << " elimination method: SEQUENTIAL\n"; - else - std::cout << " elimination method: (invalid)\n"; - - if(factorization == CHOLESKY) - std::cout << " factorization method: CHOLESKY\n"; - else if(factorization == QR) - std::cout << " factorization method: QR\n"; - else - std::cout << " factorization method: (invalid)\n"; + switch ( linearSolverType ) { + case MULTIFRONTAL_CHOLESKY: + std::cout << " linear solver type: MULTIFRONTAL CHOLESKY\n"; + break; + case MULTIFRONTAL_QR: + std::cout << " linear solver type: MULTIFRONTAL QR\n"; + break; + case SEQUENTIAL_CHOLESKY: + std::cout << " linear solver type: SEQUENTIAL CHOLESKY\n"; + break; + case SEQUENTIAL_QR: + std::cout << " linear solver type: SEQUENTIAL QR\n"; + break; + case SPCG: + std::cout << " linear solver type: SPCG\n"; + break; + default: + std::cout << " linear solver type: (invalid)\n"; + break; + } if(ordering) std::cout << " ordering: custom\n"; @@ -69,13 +71,32 @@ public: std::cout.flush(); } - GaussianFactorGraph::Eliminate getEliminationFunction() const { - if(factorization == SuccessiveLinearizationParams::CHOLESKY) + inline bool isMultifrontal() const { + return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); + } + + inline bool isSequential() const { + return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); + } + + inline bool isSPCG() const { + return (linearSolverType == SPCG); + } + + GaussianFactorGraph::Eliminate getEliminationFunction() { + switch (linearSolverType) { + case MULTIFRONTAL_CHOLESKY: + case MULTIFRONTAL_QR: return EliminatePreferCholesky; - else if(factorization == SuccessiveLinearizationParams::QR) + + case SEQUENTIAL_CHOLESKY: + case SEQUENTIAL_QR: return EliminateQR; - else + + default: throw runtime_error("Nonlinear optimization parameter \"factorization\" is invalid"); + break; + } } }; diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index a926b9e1b..eb6357fbd 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -149,9 +149,9 @@ TEST( NonlinearOptimizer, SimpleDLOptimizer ) TEST( NonlinearOptimizer, optimization_method ) { LevenbergMarquardtParams paramsQR; - paramsQR.factorization = LevenbergMarquardtParams::QR; + paramsQR.linearSolverType = LevenbergMarquardtParams::MULTIFRONTAL_QR; LevenbergMarquardtParams paramsChol; - paramsChol.factorization = LevenbergMarquardtParams::CHOLESKY; + paramsChol.linearSolverType = LevenbergMarquardtParams::MULTIFRONTAL_CHOLESKY; example::Graph fg = example::createReallyNonlinearFactorGraph(); From efd94014b78001da4395c53c840887d1a56ec2e3 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 25 May 2012 16:12:55 +0000 Subject: [PATCH 076/914] Added check.unstable target - currently runs each unstable group separately, however --- .cproject | 280 +++++++++++++++---------- gtsam_unstable/CMakeLists.txt | 2 + gtsam_unstable/base/CMakeLists.txt | 2 +- gtsam_unstable/discrete/CMakeLists.txt | 1 + gtsam_unstable/dynamics/CMakeLists.txt | 2 +- gtsam_unstable/slam/CMakeLists.txt | 2 +- 6 files changed, 170 insertions(+), 119 deletions(-) diff --git a/.cproject b/.cproject index 9cd83790e..0acb12e7e 100644 --- a/.cproject +++ b/.cproject @@ -593,6 +593,38 @@ true true + + make + -j5 + testBTree.run + true + true + true + + + make + -j5 + testDSF.run + true + true + true + + + make + -j5 + testDSFVector.run + true + true + true + + + make + -j5 + testFixedVector.run + true + true + true + make -j2 @@ -705,42 +737,34 @@ true true - + make - -j5 - testKey.run + -j2 + tests/testGeneralSFMFactor.run true true true - + make - -j5 - testGeneralSFMFactor.run + -j2 + tests/testPlanarSLAM.run true true true - + make - -j5 - testPlanarSLAM.run + -j2 + tests/testPose2SLAM.run true true true - + make - -j5 - testPose2SLAM.run - true - true - true - - - make - -j5 - testPose3SLAM.run + -j2 + tests/testPose3SLAM.run true true true @@ -769,6 +793,46 @@ true true + + make + -j5 + schedulingExample.run + true + true + true + + + make + -j5 + testCSP.run + true + true + true + + + make + -j5 + testScheduler.run + true + true + true + + + make + -j5 + schedulingQuals12.run + true + true + true + + + make + -j5 + testSudoku.run + true + true + true + make -j2 @@ -801,10 +865,10 @@ true true - + make -j5 - check + testDiscreteFactor.run true true true @@ -985,6 +1049,14 @@ true true + + make + -j5 + testNonlinearFactor.run + true + true + true + make -j2 @@ -1600,82 +1672,74 @@ true true - - make - -j2 - tests/testVectorValues.run - true - true - true - - + make -j5 - linear.testNoiseModel.run + testVectorValues.run true true true - - make - -j2 - tests/testGaussianFactor.run - true - true - true - - - make - -j2 - tests/testHessianFactor.run - true - true - true - - - make - -j2 - tests/testGaussianConditional.run - true - true - true - - - make - -j2 - tests/testGaussianFactorGraph.run - true - true - true - - - make - -j2 - tests/testGaussianJunctionTree.run - true - true - true - - - make - -j2 - tests/testKalmanFilter.run - true - true - true - - - make - -j2 - tests/testGaussianDensity.run - true - true - true - - + make -j5 - linear.testSerializationLinear.run + testNoiseModel.run + true + true + true + + + make + -j5 + testHessianFactor.run + true + true + true + + + make + -j5 + testGaussianConditional.run + true + true + true + + + make + -j5 + testGaussianFactorGraph.run + true + true + true + + + make + -j5 + testGaussianJunctionTree.run + true + true + true + + + make + -j5 + testKalmanFilter.run + true + true + true + + + make + -j5 + testGaussianDensity.run + true + true + true + + + make + -j5 + testSerializationLinear.run true true true @@ -1768,22 +1832,6 @@ true true - - make - -j5 - LocalizationExample.run - true - true - true - - - make - -j5 - LocalizationExample2.run - true - true - true - make -j2 @@ -2147,18 +2195,18 @@ true true - + make -j5 - wrap_gtsam_unstable + check.discrete_unstable true true true - + make -j5 - check.wrap + check.base_unstable true true true @@ -2179,26 +2227,26 @@ true true - + make -j5 - check.base_unstable + check.unstable true true true - + make -j5 - testSpirit.run + wrap.testSpirit.run true true true - + make -j5 - testWrap.run + wrap.testWrap.run true true true diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index f7563f8ff..3fac03616 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -7,6 +7,8 @@ set (gtsam_unstable_subdirs slam ) +add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) + # assemble core libaries foreach(subdir ${gtsam_unstable_subdirs}) # Build convenience libraries diff --git a/gtsam_unstable/base/CMakeLists.txt b/gtsam_unstable/base/CMakeLists.txt index 7e455e9bf..0545cd4c9 100644 --- a/gtsam_unstable/base/CMakeLists.txt +++ b/gtsam_unstable/base/CMakeLists.txt @@ -16,4 +16,4 @@ set (base_excluded_tests "") # Add all tests gtsam_add_subdir_tests(base_unstable "${base_local_libs}" "${base_full_libs}" "${base_excluded_tests}") - +add_dependencies(check.unstable check.base_unstable) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index 5d61db848..edec85416 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -23,6 +23,7 @@ set (discrete_full_libs # Add all tests gtsam_add_subdir_tests(discrete_unstable "${discrete_local_libs}" "${discrete_full_libs}" "${discrete_excluded_tests}") +add_dependencies(check.unstable check.discrete_unstable) # List examples to build - comment out here to exclude from compilation set(discrete_unstable_examples diff --git a/gtsam_unstable/dynamics/CMakeLists.txt b/gtsam_unstable/dynamics/CMakeLists.txt index 66d0b9ac1..d0d45e0e4 100644 --- a/gtsam_unstable/dynamics/CMakeLists.txt +++ b/gtsam_unstable/dynamics/CMakeLists.txt @@ -23,4 +23,4 @@ set (dynamics_excluded_tests "") # Add all tests gtsam_add_subdir_tests(dynamics_unstable "${dynamics_local_libs}" "${dynamics_full_libs}" "${dynamics_excluded_tests}") - +add_dependencies(check.unstable check.dynamics_unstable) diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt index b0442044f..afe453279 100644 --- a/gtsam_unstable/slam/CMakeLists.txt +++ b/gtsam_unstable/slam/CMakeLists.txt @@ -23,4 +23,4 @@ set (slam_excluded_tests "") # Add all tests gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") - +add_dependencies(check.unstable check.slam_unstable) From 8f5dd13cf7cbe560a3b781759bc5485e4c4264c4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 25 May 2012 17:55:02 +0000 Subject: [PATCH 077/914] Added access to the variable index in the iSAM2 solver --- gtsam/nonlinear/ISAM2.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 30f0b14d2..42c38514c 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -490,6 +490,9 @@ public: /** Access the current ordering */ const Ordering& getOrdering() const { return ordering_; } + /** Access the nonlinear variable index */ + const VariableIndex& getVariableIndex() const { return variableIndex_; } + size_t lastAffectedVariableCount; size_t lastAffectedFactorCount; size_t lastAffectedCliqueCount; From bce105ed585115663211f21c82b290be57d3dee4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 25 May 2012 21:18:40 +0000 Subject: [PATCH 078/914] Removed nonexistent function from matlab interface --- gtsam.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 665b9bb52..e80a37a0b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -489,7 +489,6 @@ class Values { Values(); void print(string s) const; void insertPose(int key, const gtsam::Pose2& pose); - gtsam::Symbol poseKey(int i); gtsam::Pose2 pose(int i); }; From 0d597082f23af78b3de48368becf396f5087afc5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 25 May 2012 21:18:41 +0000 Subject: [PATCH 079/914] Added optional target to build the matlab toolbox as a part of the gtsam build process --- CMakeLists.txt | 3 +++ wrap/CMakeLists.txt | 11 +++++++++++ 2 files changed, 14 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5d2acb464..7819cfdc8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -61,6 +61,9 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) +# Experimental - features disabled by default +option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF) + # Flags for choosing default packaging tools set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 8feb5779b..36415df35 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -47,6 +47,17 @@ add_custom_target(wrap_gtsam ALL COMMAND ${EXECUTABLE_OUTPUT_PATH}/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR}/../ ${moduleName} ${toolbox_path} "${mexFlags}" DEPENDS wrap) +# Build command +# Experimental: requires matlab to be on your path +if (GTSAM_ENABLE_BUILD_MEX_BINARIES) + # Actually compile the mex files when building the library + set(TOOLBOX_MAKE_FLAGS "-j2") + add_custom_target(wrap_gtsam_build + COMMAND make ${TOOLBOX_MAKE_FLAGS} + WORKING_DIRECTORY ${toolbox_path} + DEPENDS wrap_gtsam) +endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) + set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") if (GTSAM_INSTALL_MATLAB_TOOLBOX) From b0c91d2fcf8bd8e315082ba6769be4da2f5ca340 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 27 May 2012 18:26:25 +0000 Subject: [PATCH 080/914] --- gtsam/nonlinear/DoglegOptimizer.cpp | 2 +- gtsam/nonlinear/GaussNewtonOptimizer.cpp | 2 +- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 2 +- .../SuccessiveLinearizationOptimizer.h | 24 +++++++++++++++---- 4 files changed, 22 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp index 91b3c92fd..3edb35a76 100644 --- a/gtsam/nonlinear/DoglegOptimizer.cpp +++ b/gtsam/nonlinear/DoglegOptimizer.cpp @@ -48,7 +48,7 @@ void DoglegOptimizer::iterate(void) { GaussianBayesNet::shared_ptr bn = EliminationTree::Create(*linear)->eliminate(params_.getEliminationFunction()); result = DoglegOptimizerImpl::Iterate(state_.Delta, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *bn, graph_, state_.values, ordering, state_.error, dlVerbose); } - else if ( params_.isSPCG() ) { + else if ( params_.isCG() ) { throw runtime_error("todo: "); } else { diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp index 8d09b3edc..c81369299 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp +++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp @@ -41,7 +41,7 @@ void GaussNewtonOptimizer::iterate() { else if ( params_.isSequential() ) { delta = gtsam::optimize(*EliminationTree::Create(*linear)->eliminate(params_.getEliminationFunction())); } - else if ( params_.isSPCG() ) { + else if ( params_.isCG() ) { throw runtime_error("todo: "); } else { diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 3ad26cb3a..f1f5ab1df 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -70,7 +70,7 @@ void LevenbergMarquardtOptimizer::iterate() { else if ( params_.isSequential() ) { delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); } - else if ( params_.isSPCG() ) { + else if ( params_.isCG() ) { throw runtime_error("todo: "); } else { diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 2b3bfd3b6..387a550db 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -19,6 +19,7 @@ #pragma once #include +#include namespace gtsam { @@ -30,11 +31,14 @@ public: MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR, - SPCG + CHOLMOD, /* Experimental Flag */ + PCG, /* Experimental Flag */ + LSPCG /* Experimental Flag */ }; LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer boost::optional ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty) + boost::optional iterativeParams; ///< The container for iterativeOptimization parameters. SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {} @@ -55,8 +59,14 @@ public: case SEQUENTIAL_QR: std::cout << " linear solver type: SEQUENTIAL QR\n"; break; - case SPCG: - std::cout << " linear solver type: SPCG\n"; + case CHOLMOD: + std::cout << " linear solver type: CHOLMOD\n"; + break; + case PCG: + std::cout << " linear solver type: PCG\n"; + break; + case LSPCG: + std::cout << " linear solver type: LSPCG\n"; break; default: std::cout << " linear solver type: (invalid)\n"; @@ -79,8 +89,12 @@ public: return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); } - inline bool isSPCG() const { - return (linearSolverType == SPCG); + inline bool isCholmod() const { + return (linearSolverType == CHOLMOD); + } + + inline bool isCG() const { + return (linearSolverType == PCG || linearSolverType == LSPCG); } GaussianFactorGraph::Eliminate getEliminationFunction() { From 3c694e25f71a12ed43c8444150aae80b9c431258 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 27 May 2012 20:05:42 +0000 Subject: [PATCH 081/914] Added experimental target for building unstable matlab toolbox --- gtsam_unstable/CMakeLists.txt | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 3fac03616..9e9d66a7c 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -88,6 +88,17 @@ if (GTSAM_BUILD_WRAP) ${CMAKE_BINARY_DIR}/wrap/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}" DEPENDS wrap) + # Build command + # Experimental: requires matlab to be on your path + if (GTSAM_ENABLE_BUILD_MEX_BINARIES) + # Actually compile the mex files when building the library + set(TOOLBOX_MAKE_FLAGS "-j2") + add_custom_target(wrap_gtsam_unstable_build + COMMAND make ${TOOLBOX_MAKE_FLAGS} + WORKING_DIRECTORY ${toolbox_path} + DEPENDS wrap_gtsam_unstable) + endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) + if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Primary toolbox files message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}") From 2a98ba5857147b59c1c819c9b4f543d63a726441 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 28 May 2012 12:20:49 +0000 Subject: [PATCH 082/914] Whitespace --- gtsam/linear/HessianFactor.h | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 1454e7a36..aa31bc9c0 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -269,23 +269,23 @@ namespace gtsam { /** Return the complete linear term \f$ g \f$ as described above. * @return The linear term \f$ g \f$ */ constColumn linearTerm() const; - - /** Return the augmented information matrix represented by this GaussianFactor. - * The augmented information matrix contains the information matrix with an - * additional column holding the information vector, and an additional row - * holding the transpose of the information vector. The lower-right entry - * contains the constant error term (when \f$ \delta x = 0 \f$). The - * augmented information matrix is described in more detail in HessianFactor, - * which in fact stores an augmented information matrix. - * - * For HessianFactor, this is the same as info() except that this function - * returns a complete symmetric matrix whereas info() returns a matrix where - * only the upper triangle is valid, but should be interpreted as symmetric. - * This is because info() returns only a reference to the internal - * representation of the augmented information matrix, which stores only the - * upper triangle. - */ - virtual Matrix computeInformation() const; + + /** Return the augmented information matrix represented by this GaussianFactor. + * The augmented information matrix contains the information matrix with an + * additional column holding the information vector, and an additional row + * holding the transpose of the information vector. The lower-right entry + * contains the constant error term (when \f$ \delta x = 0 \f$). The + * augmented information matrix is described in more detail in HessianFactor, + * which in fact stores an augmented information matrix. + * + * For HessianFactor, this is the same as info() except that this function + * returns a complete symmetric matrix whereas info() returns a matrix where + * only the upper triangle is valid, but should be interpreted as symmetric. + * This is because info() returns only a reference to the internal + * representation of the augmented information matrix, which stores only the + * upper triangle. + */ + virtual Matrix computeInformation() const; // Friend unit test classes friend class ::ConversionConstructorHessianFactorTest; From e378d13e1ab0a1b271a6b051818c865eb8b2c0ff Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 28 May 2012 14:59:48 +0000 Subject: [PATCH 083/914] Fixed duplicate function --- gtsam/linear/JacobianFactor.h | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 1cdf9e1c7..30e8e19bb 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -154,16 +154,6 @@ namespace gtsam { Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ Vector error_vector(const VectorValues& c) const; /** (A*x-b)/sigma */ virtual double error(const VectorValues& c) const; /** 0.5*(A*x-b)'*D*(A*x-b) */ - - /** Return the augmented information matrix represented by this GaussianFactor. - * The augmented information matrix contains the information matrix with an - * additional column holding the information vector, and an additional row - * holding the transpose of the information vector. The lower-right entry - * contains the constant error term (when \f$ \delta x = 0 \f$). The - * augmented information matrix is described in more detail in HessianFactor, - * which in fact stores an augmented information matrix. - */ - virtual Matrix computeInformation() const; /** Return the augmented information matrix represented by this GaussianFactor. * The augmented information matrix contains the information matrix with an From 363b44057bd04f6fe18424b156db296f784e4c30 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 28 May 2012 14:59:50 +0000 Subject: [PATCH 084/914] Made new cmake config scripts find correct build configuration --- CMakeLists.txt | 29 ++++++++--------------------- 1 file changed, 8 insertions(+), 21 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 046209aa7..12f1e614f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,3 +1,4 @@ + project(GTSAM CXX C) cmake_minimum_required(VERSION 2.6) @@ -9,8 +10,12 @@ set (GTSAM_VERSION_PATCH 0) # Set the default install path to home #set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library") +set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") + +# Load build type flags and default to Debug mode +include(GtsamBuildTypes) + # Use macros for creating tests/timing scripts -set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${PROJECT_SOURCE_DIR}/cmake") include(GtsamTesting) include(GtsamPrinting) @@ -26,24 +31,6 @@ else() set(GTSAM_UNSTABLE_AVAILABLE 0) endif() -# Load build type flags and default to Debug mode -include(GtsamBuildTypes) - -# Check build types -if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8) - set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel) -endif() -string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower) -if( NOT cmake_build_type_tolower STREQUAL "" - AND NOT cmake_build_type_tolower STREQUAL "none" - AND NOT cmake_build_type_tolower STREQUAL "debug" - AND NOT cmake_build_type_tolower STREQUAL "release" - AND NOT cmake_build_type_tolower STREQUAL "timing" - AND NOT cmake_build_type_tolower STREQUAL "profiling" - AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo") - message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo (case-insensitive).") -endif() - # Configurable Options option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) @@ -83,8 +70,8 @@ endif() # Add the Quaternion Build Flag if requested if (GTSAM_USE_QUATERNIONS) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS") + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS") endif(GTSAM_USE_QUATERNIONS) # Avoid building non-installed exes and unit tests when installing From 069be2b143767eabb4d9c95a4af4965fead2aaec Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 28 May 2012 20:48:32 +0000 Subject: [PATCH 085/914] Fixed examples compiling on windows --- examples/PlanarSLAMSelfContained_advanced.cpp | 2 +- examples/Pose2SLAMExample_easy.cpp | 14 +++++++------- examples/vSLAMexample/vISAMexample.cpp | 10 +++++----- 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMSelfContained_advanced.cpp index 36f9ad8ca..102dcc315 100644 --- a/examples/PlanarSLAMSelfContained_advanced.cpp +++ b/examples/PlanarSLAMSelfContained_advanced.cpp @@ -83,7 +83,7 @@ int main(int argc, char** argv) { Rot2 bearing11 = Rot2::fromDegrees(45), bearing21 = Rot2::fromDegrees(90), bearing32 = Rot2::fromDegrees(90); - double range11 = sqrt(4+4), + double range11 = sqrt(4.0+4.0), range21 = 2.0, range32 = 2.0; diff --git a/examples/Pose2SLAMExample_easy.cpp b/examples/Pose2SLAMExample_easy.cpp index b6507d7fc..ef704c5fc 100644 --- a/examples/Pose2SLAMExample_easy.cpp +++ b/examples/Pose2SLAMExample_easy.cpp @@ -17,8 +17,8 @@ */ // pull in the Pose2 SLAM domain with all typedefs and helper functions defined -#include #include +#include using namespace std; using namespace gtsam; @@ -36,13 +36,13 @@ int main(int argc, char** argv) { // 2b. Add odometry factors SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); - graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI/2.0), odometryNoise); + graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI/2.0), odometryNoise); + graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI/2.0), odometryNoise); // 2c. Add pose constraint SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); - graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI/2.0), constraintUncertainty); // print graph.print("\nFactor graph:\n"); @@ -51,9 +51,9 @@ int main(int argc, char** argv) { pose2SLAM::Values initialEstimate; Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); - Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); + Pose2 x3(4.1, 0.1, M_PI/2.0); initialEstimate.insertPose(3, x3); Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); - Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + Pose2 x5(2.1, 2.1,-M_PI/2.0); initialEstimate.insertPose(5, x5); initialEstimate.print("\nInitial estimate:\n "); // 4. Single Step Optimization using Levenberg-Marquardt diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp index 71d5516a2..7c16072d8 100644 --- a/examples/vSLAMexample/vISAMexample.cpp +++ b/examples/vSLAMexample/vISAMexample.cpp @@ -76,11 +76,11 @@ void readAllDataISAM() { /** * Setup newFactors and initialValues for each new pose and set of measurements at each frame. */ -void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& initialValues, +void createNewFactors(boost::shared_ptr& newFactors, boost::shared_ptr& initialValues, int pose_id, const Pose3& pose, const std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { // Create a graph of newFactors with new measurements - newFactors = shared_ptr (new Graph()); + newFactors = boost::shared_ptr (new Graph()); for (size_t i = 0; i < measurements.size(); i++) { newFactors->addMeasurement( measurements[i].m_p, @@ -97,7 +97,7 @@ void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& } // Create initial values for all nodes in the newFactors - initialValues = shared_ptr (new Values()); + initialValues = boost::shared_ptr (new Values()); initialValues->insert(PoseKey(pose_id), pose); for (size_t i = 0; i < measurements.size(); i++) { initialValues->insert(PointKey(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); @@ -127,8 +127,8 @@ int main(int argc, char* argv[]) { typedef std::map > FeatureMap; BOOST_FOREACH(const FeatureMap::value_type& features, g_measurements) { const int poseId = features.first; - shared_ptr newFactors; - shared_ptr initialValues; + boost::shared_ptr newFactors; + boost::shared_ptr initialValues; createNewFactors(newFactors, initialValues, poseId, g_poses[poseId], features.second, measurementSigma, g_calib); From 592a251a053ed6159c700e12387a879ac9f4aec0 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 28 May 2012 20:48:36 +0000 Subject: [PATCH 086/914] Fixed path and compile problems with matlab wrapper on windows --- CMakeLists.txt | 2 +- wrap/Argument.cpp | 2 +- wrap/CMakeLists.txt | 6 +++++- wrap/Method.cpp | 2 +- wrap/Module.cpp | 2 +- wrap/ReturnValue.cpp | 6 +++--- wrap/matlab.h | 12 ++++++------ wrap/utilities.cpp | 2 +- 8 files changed, 19 insertions(+), 15 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 12f1e614f..7be750b02 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -95,7 +95,7 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.40 COMPONENTS serialization system chrono filesystem REQUIRED) +find_package(Boost 1.40 COMPONENTS serialization system chrono filesystem thread REQUIRED) # General build settings include_directories( diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index ff42b33b1..b03431d72 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -46,7 +46,7 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const { if (is_ptr) // A pointer: emit an "unwrap_shared_ptr" call which returns a pointer - file.oss << "shared_ptr<" << cppType << "> " << name << " = unwrap_shared_ptr< "; + file.oss << "boost::shared_ptr<" << cppType << "> " << name << " = unwrap_shared_ptr< "; else if (is_ref) // A reference: emit an "unwrap_shared_ptr" call and de-reference the pointer file.oss << cppType << "& " << name << " = *unwrap_shared_ptr< "; diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 36415df35..a4286df98 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -31,6 +31,9 @@ endif(GTSAM_BUILD_TESTS) # [mexFlags] : extra flags for the mex command set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam") +if(MSVC OR CYGWIN OR WINGW) + set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'") +endif() set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam) set(moduleName gtsam) @@ -43,8 +46,9 @@ if (NOT EXECUTABLE_OUTPUT_PATH) endif() # Code generation command +get_property(WRAP_EXE TARGET wrap PROPERTY LOCATION) add_custom_target(wrap_gtsam ALL COMMAND - ${EXECUTABLE_OUTPUT_PATH}/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR}/../ ${moduleName} ${toolbox_path} "${mexFlags}" + ${WRAP_EXE} ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR}/../ ${moduleName} ${toolbox_path} "${mexFlags}" DEPENDS wrap) # Build command diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 3d53956f1..7261c88a0 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -73,7 +73,7 @@ void Method::matlab_wrapper(const string& classPath, // get class pointer // example: shared_ptr = unwrap_shared_ptr< Test >(in[0], "Test"); - file.oss << " shared_ptr<" << cppClassName << "> self = unwrap_shared_ptr< " << cppClassName + file.oss << " boost::shared_ptr<" << cppClassName << "> self = unwrap_shared_ptr< " << cppClassName << " >(in[0],\"" << matlabClassName << "\");" << endl; // unwrap arguments, see Argument.cpp diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 98525e65d..af2238038 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -294,7 +294,7 @@ void Module::matlab_code(const string& toolboxPath, makeModuleMfile.oss << "echo on" << endl << endl; makeModuleMfile.oss << "toolboxpath = mfilename('fullpath');" << endl; - makeModuleMfile.oss << "delims = find(toolboxpath == '/');" << endl; + makeModuleMfile.oss << "delims = find(toolboxpath == '/' | toolboxpath == '\\');" << endl; makeModuleMfile.oss << "toolboxpath = toolboxpath(1:(delims(end)-1));" << endl; makeModuleMfile.oss << "clear delims" << endl; makeModuleMfile.oss << "addpath(toolboxpath);" << endl << endl; diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 2095abc5e..ace1159ec 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -53,7 +53,7 @@ void ReturnValue::wrap_result(FileWriter& file) const { if (isPtr1) // if we already have a pointer file.oss << " out[0] = wrap_shared_ptr(result.first,\"" << matlabType1 << "\");\n"; else if (category1 == ReturnValue::CLASS) // if we are going to make one - file.oss << " out[0] = wrap_shared_ptr(make_shared< " << cppType1 << " >(result.first),\"" << matlabType1 << "\");\n"; + file.oss << " out[0] = wrap_shared_ptr(boost::make_shared< " << cppType1 << " >(result.first),\"" << matlabType1 << "\");\n"; else // if basis type file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n"; @@ -61,14 +61,14 @@ void ReturnValue::wrap_result(FileWriter& file) const { if (isPtr2) // if we already have a pointer file.oss << " out[1] = wrap_shared_ptr(result.second,\"" << matlabType2 << "\");\n"; else if (category2 == ReturnValue::CLASS) // if we are going to make one - file.oss << " out[1] = wrap_shared_ptr(make_shared< " << cppType2 << " >(result.second),\"" << matlabType2 << "\");\n"; + file.oss << " out[1] = wrap_shared_ptr(boost::make_shared< " << cppType2 << " >(result.second),\"" << matlabType2 << "\");\n"; else file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n"; } else if (isPtr1) file.oss << " out[0] = wrap_shared_ptr(result,\"" << matlabType1 << "\");\n"; else if (category1 == ReturnValue::CLASS) - file.oss << " out[0] = wrap_shared_ptr(make_shared< " << cppType1 << " >(result),\"" << matlabType1 << "\");\n"; + file.oss << " out[0] = wrap_shared_ptr(boost::make_shared< " << cppType1 << " >(result),\"" << matlabType1 << "\");\n"; else if (matlabType1!="void") file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n"; } diff --git a/wrap/matlab.h b/wrap/matlab.h index b6d200e43..a69d8aba4 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -300,19 +300,19 @@ class ObjectHandle { private: ObjectHandle* signature; // use 'this' as a unique object signature const std::type_info* type; // type checking information - shared_ptr t; // object pointer + boost::shared_ptr t; // object pointer public: // Constructor for free-store allocated objects. // Creates shared pointer, will delete if is last one to hold pointer ObjectHandle(T* ptr) : - type(&typeid(T)), t(shared_ptr (ptr)) { + type(&typeid(T)), t(boost::shared_ptr (ptr)) { signature = this; } // Constructor for shared pointers // Creates shared pointer, will delete if is last one to hold pointer - ObjectHandle(shared_ptr ptr) : + ObjectHandle(boost::shared_ptr ptr) : /*type(&typeid(T)),*/ t(ptr) { signature = this; } @@ -323,7 +323,7 @@ public: } // Get the actual object contained by handle - shared_ptr get_object() const { + boost::shared_ptr get_object() const { return t; } @@ -419,7 +419,7 @@ mxArray* create_object(const char *classname, mxArray* h) { class to matlab. */ template -mxArray* wrap_shared_ptr(shared_ptr< Class > shared_ptr, const char *classname) { +mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const char *classname) { ObjectHandle* handle = new ObjectHandle(shared_ptr); return create_object(classname,handle->to_mex_handle()); } @@ -436,7 +436,7 @@ mxArray* wrap_shared_ptr(shared_ptr< Class > shared_ptr, const char *classname) to the object. */ template -shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { //Why is this here? #ifndef UNSAFE_WRAP bool isClass = mxIsClass(obj, className.c_str()); diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 7b82d9b9d..bfd1e77df 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -104,7 +104,7 @@ bool files_equal(const string& expected, const string& actual, bool skipheader) /* ************************************************************************* */ string maybe_shared_ptr(bool add, const string& type) { - string str = add? "shared_ptr<" : ""; + string str = add? "boost::shared_ptr<" : ""; str += type; if (add) str += ">"; return str; From dc036a0891aed075bb53b05fd8ad73a3497839e7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 29 May 2012 19:29:29 +0000 Subject: [PATCH 087/914] Updated wrap unit tests --- wrap/tests/expected/@Point2/argChar.cpp | 2 +- wrap/tests/expected/@Point2/argUChar.cpp | 2 +- wrap/tests/expected/@Point2/dim.cpp | 2 +- wrap/tests/expected/@Point2/returnChar.cpp | 2 +- wrap/tests/expected/@Point2/vectorConfusion.cpp | 2 +- wrap/tests/expected/@Point2/x.cpp | 2 +- wrap/tests/expected/@Point2/y.cpp | 2 +- wrap/tests/expected/@Point3/norm.cpp | 2 +- wrap/tests/expected/@Test/arg_EigenConstRef.cpp | 2 +- wrap/tests/expected/@Test/create_MixedPtrs.cpp | 4 ++-- wrap/tests/expected/@Test/create_ptrs.cpp | 4 ++-- wrap/tests/expected/@Test/print.cpp | 2 +- wrap/tests/expected/@Test/return_Point2Ptr.cpp | 4 ++-- wrap/tests/expected/@Test/return_Test.cpp | 4 ++-- wrap/tests/expected/@Test/return_TestPtr.cpp | 6 +++--- wrap/tests/expected/@Test/return_bool.cpp | 2 +- wrap/tests/expected/@Test/return_double.cpp | 2 +- wrap/tests/expected/@Test/return_field.cpp | 2 +- wrap/tests/expected/@Test/return_int.cpp | 2 +- wrap/tests/expected/@Test/return_matrix1.cpp | 2 +- wrap/tests/expected/@Test/return_matrix2.cpp | 2 +- wrap/tests/expected/@Test/return_pair.cpp | 2 +- wrap/tests/expected/@Test/return_ptrs.cpp | 8 ++++---- wrap/tests/expected/@Test/return_size_t.cpp | 2 +- wrap/tests/expected/@Test/return_string.cpp | 2 +- wrap/tests/expected/@Test/return_vector1.cpp | 2 +- wrap/tests/expected/@Test/return_vector2.cpp | 2 +- wrap/tests/expected/make_geometry.m | 2 +- .../expected_namespaces/@ns2ClassA/memberFunction.cpp | 2 +- wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp | 2 +- wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp | 2 +- wrap/tests/expected_namespaces/make_testNamespaces.m | 2 +- 32 files changed, 41 insertions(+), 41 deletions(-) diff --git a/wrap/tests/expected/@Point2/argChar.cpp b/wrap/tests/expected/@Point2/argChar.cpp index 017fe1761..18548ee8f 100644 --- a/wrap/tests/expected/@Point2/argChar.cpp +++ b/wrap/tests/expected/@Point2/argChar.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("argChar",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); char a = unwrap< char >(in[1]); self->argChar(a); } diff --git a/wrap/tests/expected/@Point2/argUChar.cpp b/wrap/tests/expected/@Point2/argUChar.cpp index 341e4f8a7..bbaa65a8f 100644 --- a/wrap/tests/expected/@Point2/argUChar.cpp +++ b/wrap/tests/expected/@Point2/argUChar.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("argUChar",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); unsigned char a = unwrap< unsigned char >(in[1]); self->argUChar(a); } diff --git a/wrap/tests/expected/@Point2/dim.cpp b/wrap/tests/expected/@Point2/dim.cpp index 454153690..1349dc267 100644 --- a/wrap/tests/expected/@Point2/dim.cpp +++ b/wrap/tests/expected/@Point2/dim.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("dim",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); int result = self->dim(); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected/@Point2/returnChar.cpp b/wrap/tests/expected/@Point2/returnChar.cpp index 3b7733862..c5b67a018 100644 --- a/wrap/tests/expected/@Point2/returnChar.cpp +++ b/wrap/tests/expected/@Point2/returnChar.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("returnChar",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); char result = self->returnChar(); out[0] = wrap< char >(result); } diff --git a/wrap/tests/expected/@Point2/vectorConfusion.cpp b/wrap/tests/expected/@Point2/vectorConfusion.cpp index 90be4194b..bb6f02927 100644 --- a/wrap/tests/expected/@Point2/vectorConfusion.cpp +++ b/wrap/tests/expected/@Point2/vectorConfusion.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("vectorConfusion",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); VectorNotEigen result = self->vectorConfusion(); out[0] = wrap_shared_ptr(make_shared< VectorNotEigen >(result),"VectorNotEigen"); } diff --git a/wrap/tests/expected/@Point2/x.cpp b/wrap/tests/expected/@Point2/x.cpp index 8df8c6bbc..65e56cae5 100644 --- a/wrap/tests/expected/@Point2/x.cpp +++ b/wrap/tests/expected/@Point2/x.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("x",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); double result = self->x(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Point2/y.cpp b/wrap/tests/expected/@Point2/y.cpp index 14e3663ed..f8e10dc5d 100644 --- a/wrap/tests/expected/@Point2/y.cpp +++ b/wrap/tests/expected/@Point2/y.cpp @@ -4,7 +4,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("y",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); + boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); double result = self->y(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Point3/norm.cpp b/wrap/tests/expected/@Point3/norm.cpp index 9936958d7..0c7ac2038 100644 --- a/wrap/tests/expected/@Point3/norm.cpp +++ b/wrap/tests/expected/@Point3/norm.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("norm",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Point3 >(in[0],"Point3"); + boost::shared_ptr self = unwrap_shared_ptr< Point3 >(in[0],"Point3"); double result = self->norm(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp index 487741c07..09a5c6f62 100644 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp +++ b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("arg_EigenConstRef",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); self->arg_EigenConstRef(value); } diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.cpp b/wrap/tests/expected/@Test/create_MixedPtrs.cpp index 269bb990c..9c685d6cf 100644 --- a/wrap/tests/expected/@Test/create_MixedPtrs.cpp +++ b/wrap/tests/expected/@Test/create_MixedPtrs.cpp @@ -5,8 +5,8 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("create_MixedPtrs",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - pair< Test, shared_ptr > result = self->create_MixedPtrs(); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + pair< Test, boost::shared_ptr > result = self->create_MixedPtrs(); out[0] = wrap_shared_ptr(make_shared< Test >(result.first),"Test"); out[1] = wrap_shared_ptr(result.second,"Test"); } diff --git a/wrap/tests/expected/@Test/create_ptrs.cpp b/wrap/tests/expected/@Test/create_ptrs.cpp index bfd9f39bf..830d62a12 100644 --- a/wrap/tests/expected/@Test/create_ptrs.cpp +++ b/wrap/tests/expected/@Test/create_ptrs.cpp @@ -5,8 +5,8 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("create_ptrs",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - pair< shared_ptr, shared_ptr > result = self->create_ptrs(); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + pair< boost::shared_ptr, boost::shared_ptr > result = self->create_ptrs(); out[0] = wrap_shared_ptr(result.first,"Test"); out[1] = wrap_shared_ptr(result.second,"Test"); } diff --git a/wrap/tests/expected/@Test/print.cpp b/wrap/tests/expected/@Test/print.cpp index e93f5f09a..1d259f2e8 100644 --- a/wrap/tests/expected/@Test/print.cpp +++ b/wrap/tests/expected/@Test/print.cpp @@ -5,6 +5,6 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("print",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); self->print(); } diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.cpp b/wrap/tests/expected/@Test/return_Point2Ptr.cpp index 9ad2a4360..e6990198e 100644 --- a/wrap/tests/expected/@Test/return_Point2Ptr.cpp +++ b/wrap/tests/expected/@Test/return_Point2Ptr.cpp @@ -5,8 +5,8 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_Point2Ptr",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); bool value = unwrap< bool >(in[1]); - shared_ptr result = self->return_Point2Ptr(value); + boost::shared_ptr result = self->return_Point2Ptr(value); out[0] = wrap_shared_ptr(result,"Point2"); } diff --git a/wrap/tests/expected/@Test/return_Test.cpp b/wrap/tests/expected/@Test/return_Test.cpp index 73c63a899..458e0c74d 100644 --- a/wrap/tests/expected/@Test/return_Test.cpp +++ b/wrap/tests/expected/@Test/return_Test.cpp @@ -5,8 +5,8 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_Test",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); Test result = self->return_Test(value); out[0] = wrap_shared_ptr(make_shared< Test >(result),"Test"); } diff --git a/wrap/tests/expected/@Test/return_TestPtr.cpp b/wrap/tests/expected/@Test/return_TestPtr.cpp index 607e48cfd..3c053791d 100644 --- a/wrap/tests/expected/@Test/return_TestPtr.cpp +++ b/wrap/tests/expected/@Test/return_TestPtr.cpp @@ -5,8 +5,8 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_TestPtr",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - shared_ptr result = self->return_TestPtr(value); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); + boost::shared_ptr result = self->return_TestPtr(value); out[0] = wrap_shared_ptr(result,"Test"); } diff --git a/wrap/tests/expected/@Test/return_bool.cpp b/wrap/tests/expected/@Test/return_bool.cpp index d700ead2b..92612a279 100644 --- a/wrap/tests/expected/@Test/return_bool.cpp +++ b/wrap/tests/expected/@Test/return_bool.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_bool",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); bool value = unwrap< bool >(in[1]); bool result = self->return_bool(value); out[0] = wrap< bool >(result); diff --git a/wrap/tests/expected/@Test/return_double.cpp b/wrap/tests/expected/@Test/return_double.cpp index 38770e1cd..e167a16c0 100644 --- a/wrap/tests/expected/@Test/return_double.cpp +++ b/wrap/tests/expected/@Test/return_double.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_double",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); double value = unwrap< double >(in[1]); double result = self->return_double(value); out[0] = wrap< double >(result); diff --git a/wrap/tests/expected/@Test/return_field.cpp b/wrap/tests/expected/@Test/return_field.cpp index b5e067801..838bab0a4 100644 --- a/wrap/tests/expected/@Test/return_field.cpp +++ b/wrap/tests/expected/@Test/return_field.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_field",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); bool result = self->return_field(t); out[0] = wrap< bool >(result); diff --git a/wrap/tests/expected/@Test/return_int.cpp b/wrap/tests/expected/@Test/return_int.cpp index e2dfd25e8..4cdaf5abc 100644 --- a/wrap/tests/expected/@Test/return_int.cpp +++ b/wrap/tests/expected/@Test/return_int.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_int",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); int value = unwrap< int >(in[1]); int result = self->return_int(value); out[0] = wrap< int >(result); diff --git a/wrap/tests/expected/@Test/return_matrix1.cpp b/wrap/tests/expected/@Test/return_matrix1.cpp index 8bb9acff8..f7fb72040 100644 --- a/wrap/tests/expected/@Test/return_matrix1.cpp +++ b/wrap/tests/expected/@Test/return_matrix1.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_matrix1",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Matrix value = unwrap< Matrix >(in[1]); Matrix result = self->return_matrix1(value); out[0] = wrap< Matrix >(result); diff --git a/wrap/tests/expected/@Test/return_matrix2.cpp b/wrap/tests/expected/@Test/return_matrix2.cpp index f1a22da47..f8b6823fa 100644 --- a/wrap/tests/expected/@Test/return_matrix2.cpp +++ b/wrap/tests/expected/@Test/return_matrix2.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_matrix2",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Matrix value = unwrap< Matrix >(in[1]); Matrix result = self->return_matrix2(value); out[0] = wrap< Matrix >(result); diff --git a/wrap/tests/expected/@Test/return_pair.cpp b/wrap/tests/expected/@Test/return_pair.cpp index 8f6949d7c..54b3f6522 100644 --- a/wrap/tests/expected/@Test/return_pair.cpp +++ b/wrap/tests/expected/@Test/return_pair.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_pair",nargout,nargin-1,2); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Vector v = unwrap< Vector >(in[1]); Matrix A = unwrap< Matrix >(in[2]); pair< Vector, Matrix > result = self->return_pair(v,A); diff --git a/wrap/tests/expected/@Test/return_ptrs.cpp b/wrap/tests/expected/@Test/return_ptrs.cpp index 20d6c57fe..eea94ca3c 100644 --- a/wrap/tests/expected/@Test/return_ptrs.cpp +++ b/wrap/tests/expected/@Test/return_ptrs.cpp @@ -5,10 +5,10 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_ptrs",nargout,nargin-1,2); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); - shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); - pair< shared_ptr, shared_ptr > result = self->return_ptrs(p1,p2); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); + boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); + pair< boost::shared_ptr, boost::shared_ptr > result = self->return_ptrs(p1,p2); out[0] = wrap_shared_ptr(result.first,"Test"); out[1] = wrap_shared_ptr(result.second,"Test"); } diff --git a/wrap/tests/expected/@Test/return_size_t.cpp b/wrap/tests/expected/@Test/return_size_t.cpp index 6b12a167b..901c5c9bd 100644 --- a/wrap/tests/expected/@Test/return_size_t.cpp +++ b/wrap/tests/expected/@Test/return_size_t.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_size_t",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); size_t value = unwrap< size_t >(in[1]); size_t result = self->return_size_t(value); out[0] = wrap< size_t >(result); diff --git a/wrap/tests/expected/@Test/return_string.cpp b/wrap/tests/expected/@Test/return_string.cpp index c05a57fba..778e07522 100644 --- a/wrap/tests/expected/@Test/return_string.cpp +++ b/wrap/tests/expected/@Test/return_string.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_string",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); string value = unwrap< string >(in[1]); string result = self->return_string(value); out[0] = wrap< string >(result); diff --git a/wrap/tests/expected/@Test/return_vector1.cpp b/wrap/tests/expected/@Test/return_vector1.cpp index 3710e5d48..5e8aed397 100644 --- a/wrap/tests/expected/@Test/return_vector1.cpp +++ b/wrap/tests/expected/@Test/return_vector1.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_vector1",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Vector value = unwrap< Vector >(in[1]); Vector result = self->return_vector1(value); out[0] = wrap< Vector >(result); diff --git a/wrap/tests/expected/@Test/return_vector2.cpp b/wrap/tests/expected/@Test/return_vector2.cpp index 72564f05c..4c3242f2e 100644 --- a/wrap/tests/expected/@Test/return_vector2.cpp +++ b/wrap/tests/expected/@Test/return_vector2.cpp @@ -5,7 +5,7 @@ using namespace geometry; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_vector2",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); Vector value = unwrap< Vector >(in[1]); Vector result = self->return_vector2(value); out[0] = wrap< Vector >(result); diff --git a/wrap/tests/expected/make_geometry.m b/wrap/tests/expected/make_geometry.m index 7baac182f..2858f2994 100644 --- a/wrap/tests/expected/make_geometry.m +++ b/wrap/tests/expected/make_geometry.m @@ -2,7 +2,7 @@ echo on toolboxpath = mfilename('fullpath'); -delims = find(toolboxpath == '/'); +delims = find(toolboxpath == '/' | toolboxpath == '\'); toolboxpath = toolboxpath(1:(delims(end)-1)); clear delims addpath(toolboxpath); diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp index 8e5bc3960..514e5db08 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp @@ -5,7 +5,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("memberFunction",nargout,nargin-1,0); - shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); + boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); double result = self->memberFunction(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp index 7c06bcfdc..789b0815e 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp @@ -5,7 +5,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("nsArg",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); + boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); int result = self->nsArg(arg); out[0] = wrap< int >(result); diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp index c6714ee9f..826e30c8c 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp @@ -5,7 +5,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("nsReturn",nargout,nargin-1,1); - shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); + boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); double q = unwrap< double >(in[1]); ns2::ns3::ClassB result = self->nsReturn(q); out[0] = wrap_shared_ptr(make_shared< ns2::ns3::ClassB >(result),"ns2ns3ClassB"); diff --git a/wrap/tests/expected_namespaces/make_testNamespaces.m b/wrap/tests/expected_namespaces/make_testNamespaces.m index eac4146c8..d835a2da0 100644 --- a/wrap/tests/expected_namespaces/make_testNamespaces.m +++ b/wrap/tests/expected_namespaces/make_testNamespaces.m @@ -2,7 +2,7 @@ echo on toolboxpath = mfilename('fullpath'); -delims = find(toolboxpath == '/'); +delims = find(toolboxpath == '/' | toolboxpath == '\'); toolboxpath = toolboxpath(1:(delims(end)-1)); clear delims addpath(toolboxpath); From d636534e407d3944857698ad527aab0744317048 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 29 May 2012 19:30:59 +0000 Subject: [PATCH 088/914] Updated wrap unit tests --- wrap/tests/expected/@Point2/vectorConfusion.cpp | 2 +- wrap/tests/expected/@Test/create_MixedPtrs.cpp | 2 +- wrap/tests/expected/@Test/return_Test.cpp | 2 +- wrap/tests/expected/Point3_StaticFunctionRet.cpp | 2 +- wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/wrap/tests/expected/@Point2/vectorConfusion.cpp b/wrap/tests/expected/@Point2/vectorConfusion.cpp index bb6f02927..d992d1d94 100644 --- a/wrap/tests/expected/@Point2/vectorConfusion.cpp +++ b/wrap/tests/expected/@Point2/vectorConfusion.cpp @@ -6,5 +6,5 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) checkArguments("vectorConfusion",nargout,nargin-1,0); boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); VectorNotEigen result = self->vectorConfusion(); - out[0] = wrap_shared_ptr(make_shared< VectorNotEigen >(result),"VectorNotEigen"); + out[0] = wrap_shared_ptr(boost::make_shared< VectorNotEigen >(result),"VectorNotEigen"); } diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.cpp b/wrap/tests/expected/@Test/create_MixedPtrs.cpp index 9c685d6cf..81bcdc5d8 100644 --- a/wrap/tests/expected/@Test/create_MixedPtrs.cpp +++ b/wrap/tests/expected/@Test/create_MixedPtrs.cpp @@ -7,6 +7,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) checkArguments("create_MixedPtrs",nargout,nargin-1,0); boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); pair< Test, boost::shared_ptr > result = self->create_MixedPtrs(); - out[0] = wrap_shared_ptr(make_shared< Test >(result.first),"Test"); + out[0] = wrap_shared_ptr(boost::make_shared< Test >(result.first),"Test"); out[1] = wrap_shared_ptr(result.second,"Test"); } diff --git a/wrap/tests/expected/@Test/return_Test.cpp b/wrap/tests/expected/@Test/return_Test.cpp index 458e0c74d..63e9f5a3b 100644 --- a/wrap/tests/expected/@Test/return_Test.cpp +++ b/wrap/tests/expected/@Test/return_Test.cpp @@ -8,5 +8,5 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); Test result = self->return_Test(value); - out[0] = wrap_shared_ptr(make_shared< Test >(result),"Test"); + out[0] = wrap_shared_ptr(boost::make_shared< Test >(result),"Test"); } diff --git a/wrap/tests/expected/Point3_StaticFunctionRet.cpp b/wrap/tests/expected/Point3_StaticFunctionRet.cpp index 062194bd5..652d8713e 100644 --- a/wrap/tests/expected/Point3_StaticFunctionRet.cpp +++ b/wrap/tests/expected/Point3_StaticFunctionRet.cpp @@ -7,5 +7,5 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) checkArguments("Point3_StaticFunctionRet",nargout,nargin,1); double z = unwrap< double >(in[0]); Point3 result = Point3::StaticFunctionRet(z); - out[0] = wrap_shared_ptr(make_shared< Point3 >(result),"Point3"); + out[0] = wrap_shared_ptr(boost::make_shared< Point3 >(result),"Point3"); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp index 826e30c8c..dbeb42f60 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp @@ -8,5 +8,5 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); double q = unwrap< double >(in[1]); ns2::ns3::ClassB result = self->nsReturn(q); - out[0] = wrap_shared_ptr(make_shared< ns2::ns3::ClassB >(result),"ns2ns3ClassB"); + out[0] = wrap_shared_ptr(boost::make_shared< ns2::ns3::ClassB >(result),"ns2ns3ClassB"); } From cf232fe4a8aad4bc4993ffb68cdca7e719534918 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 29 May 2012 20:03:15 +0000 Subject: [PATCH 089/914] Added missing boost filesystem library to link with wrap --- wrap/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index a4286df98..01d873bac 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -5,7 +5,7 @@ file(GLOB wrap_srcs "*.cpp") list(REMOVE_ITEM wrap_srcs wrap.cpp) add_library(wrap_lib STATIC ${wrap_srcs}) add_executable(wrap wrap.cpp) -target_link_libraries(wrap wrap_lib) +target_link_libraries(wrap wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) # Install wrap binary if (GTSAM_INSTALL_WRAP) From 8bcd2da2f076d6dfb80451765aa96c5e6c914bdf Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 31 May 2012 15:06:21 +0000 Subject: [PATCH 090/914] Fixed wrap support for unsigned char --- gtsam.h | 2 +- wrap/matlab.h | 17 ++++++++++++++++- 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index e80a37a0b..fcf6f0a9f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -19,7 +19,7 @@ * 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, int, double + * - C/C++ basic types: string, bool, size_t, int, double, 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 diff --git a/wrap/matlab.h b/wrap/matlab.h index b6d200e43..1a47430b5 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -106,6 +106,14 @@ mxArray* wrap(char& value) { return result; } +// specialization to unsigned char +template<> +mxArray* wrap(unsigned char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(unsigned char*)mxGetData(result) = value; + return result; +} + // specialization to bool template<> mxArray* wrap(bool& value) { @@ -227,13 +235,20 @@ bool unwrap(const mxArray* array) { return myGetScalar(array); } -// specialization to bool +// specialization to char template<> char unwrap(const mxArray* array) { checkScalar(array,"unwrap"); return myGetScalar(array); } +// specialization to unsigned char +template<> +unsigned char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + // specialization to int template<> int unwrap(const mxArray* array) { From 5160c2eb502827d3fb3e03c422d81bedc6e032db Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jun 2012 16:18:40 +0000 Subject: [PATCH 091/914] Significant API change in slam (GTSAM 2.0.1 or 2.1): to eliminate confusion and give the user more freedom in creating their own Keys, the different slam variants no longer create Symbol keys themselves. Instead, all interaction is done via Keys (which are just unordered, unsigned ints). All PoseSLAM unit tests and examples now just use sequential keys. However, a user can still create Keys using the Symbol constructor, which is illustrated in the landmark-based unit tests and examples. --- .cproject | 719 ++++++++---------- examples/LocalizationExample.cpp | 6 +- examples/LocalizationExample2.cpp | 13 +- examples/PlanarSLAMExample_easy.cpp | 26 +- examples/PlanarSLAMSelfContained_advanced.cpp | 62 +- examples/Pose2SLAMExample_advanced.cpp | 17 +- examples/matlab/LocalizationExample.m | 6 +- examples/vSLAMexample/Feature2D.h | 2 +- examples/vSLAMexample/vISAMexample.cpp | 35 +- examples/vSLAMexample/vSFMexample.cpp | 37 +- examples/vSLAMexample/vSLAMutils.h | 5 +- gtsam/nonlinear/ISAM2.h | 4 +- gtsam/slam/dataset.cpp | 8 +- gtsam/slam/planarSLAM.cpp | 24 +- gtsam/slam/planarSLAM.h | 56 +- gtsam/slam/pose2SLAM.cpp | 15 +- gtsam/slam/pose2SLAM.h | 25 +- gtsam/slam/pose3SLAM.cpp | 14 +- gtsam/slam/pose3SLAM.h | 9 +- gtsam/slam/simulated2D.h | 30 +- gtsam/slam/simulated2DOriented.h | 25 +- gtsam/slam/smallExample.cpp | 59 +- gtsam/slam/tests/testAntiFactor.cpp | 18 +- gtsam/slam/tests/testPlanarSLAM.cpp | 49 +- gtsam/slam/tests/testPose2SLAM.cpp | 133 ++-- gtsam/slam/tests/testPose3SLAM.cpp | 80 +- gtsam/slam/tests/testProjectionFactor.cpp | 36 +- gtsam/slam/tests/testSerializationSLAM.cpp | 37 +- gtsam/slam/tests/testSimulated2D.cpp | 4 +- gtsam/slam/tests/testSimulated2DOriented.cpp | 10 +- gtsam/slam/tests/testStereoFactor.cpp | 26 +- .../{testVSLAM.cpp => testVisualSLAM.cpp} | 122 +-- gtsam/slam/visualSLAM.cpp | 24 +- gtsam/slam/visualSLAM.h | 18 +- gtsam_unstable/slam/simulated3D.h | 11 +- gtsam_unstable/slam/tests/testSimulated3D.cpp | 4 +- tests/testBoundingConstraint.cpp | 2 +- tests/testDoglegOptimizer.cpp | 4 +- tests/testGaussianISAM2.cpp | 423 ++++------- tests/testGaussianJunctionTreeB.cpp | 43 +- tests/testGraph.cpp | 54 +- tests/testInferenceB.cpp | 26 +- tests/testNonlinearEquality.cpp | 8 +- tests/testNonlinearFactor.cpp | 97 +-- tests/testNonlinearISAM.cpp | 2 +- tests/testNonlinearOptimizer.cpp | 34 +- 46 files changed, 1118 insertions(+), 1344 deletions(-) rename gtsam/slam/tests/{testVSLAM.cpp => testVisualSLAM.cpp} (65%) diff --git a/.cproject b/.cproject index 0acb12e7e..c19b1a91a 100644 --- a/.cproject +++ b/.cproject @@ -311,14 +311,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -345,6 +337,7 @@ make + tests/testBayesTree.run true false @@ -352,6 +345,7 @@ make + testBinaryBayesNet.run true false @@ -399,6 +393,7 @@ make + testSymbolicBayesNet.run true false @@ -406,6 +401,7 @@ make + tests/testSymbolicFactor.run true false @@ -413,6 +409,7 @@ make + testSymbolicFactorGraph.run true false @@ -428,168 +425,17 @@ make + tests/testBayesTree true false true - + make -j2 - check - true - true - true - - - make - -j2 - testGaussianFactorGraph.run - true - true - true - - - make - -j2 - testGaussianISAM.run - true - true - true - - - make - - testGraph.run - true - false - true - - - make - -j2 - testIterative.run - true - true - true - - - make - -j2 - testNonlinearEquality.run - true - true - true - - - make - -j2 - testNonlinearFactor.run - true - true - true - - - make - -j2 - testNonlinearFactorGraph.run - true - true - true - - - make - -j2 - testNonlinearOptimizer.run - true - true - true - - - make - -j2 - testSubgraphPreconditioner.run - true - true - true - - - make - -j2 - testTupleConfig.run - true - true - true - - - make - -j2 - timeGaussianFactorGraph.run - true - true - true - - - make - - testInference.run - true - false - true - - - make - testGaussianFactor.run true - false - true - - - make - - testJunctionTree.run - true - false - true - - - make - - testSymbolicBayesNet.run - true - false - true - - - make - - testSymbolicFactorGraph.run - true - false - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testGaussianJunctionTree - true - true - true - - - make - -j2 - testSerialization.run - true true true @@ -665,22 +511,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -697,6 +527,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -721,54 +567,6 @@ true true - - make - -j5 - testValues.run - true - true - true - - - make - -j5 - testOrdering.run - true - true - true - - - make - -j2 - tests/testGeneralSFMFactor.run - true - true - true - - - make - -j2 - tests/testPlanarSLAM.run - true - true - true - - - make - -j2 - tests/testPose2SLAM.run - true - true - true - - - make - -j2 - tests/testPose3SLAM.run - true - true - true - make -j2 @@ -793,6 +591,94 @@ true true + + make + -j5 + testGeneralSFMFactor.run + true + true + true + + + make + -j5 + testPlanarSLAM.run + true + true + true + + + make + -j5 + testPose2SLAM.run + true + true + true + + + make + -j5 + testPose3SLAM.run + true + true + true + + + make + -j5 + testSimulated2D.run + true + true + true + + + make + -j5 + testSimulated2DOriented.run + true + true + true + + + make + -j5 + testVisualSLAM.run + true + true + true + + + make + -j5 + testProjectionFactor.run + true + true + true + + + make + -j5 + testSerializationSLAM.run + true + true + true + + + make + -j5 + testValues.run + true + true + true + + + make + -j5 + testOrdering.run + true + true + true + make -j5 @@ -897,22 +783,6 @@ true true - - make - -j2 - testGaussianJunctionTree.run - true - true - true - - - make - -j2 - testGaussianFactorGraph.run - true - true - true - make -j2 @@ -921,42 +791,26 @@ true true - + make - -j2 - testTupleConfig.run + -j5 + testMarginals.run true true true - + make - -j2 - testSerialization.run + -j5 + testGaussianISAM2.run true true true - + make - -j2 - testInference.run - true - true - true - - - make - -j2 - testGaussianISAM.run - true - true - true - - - make - -j2 - testSymbolicFactorGraph.run + -j5 + testSymbolicFactorGraphB.run true true true @@ -985,14 +839,6 @@ true true - - make - -j2 - testPose2SLAMwSPCG.run - true - true - true - make -j2 @@ -1017,14 +863,6 @@ true true - - make - -j5 - tests.testBoundingConstraint.run - true - true - true - make -j2 @@ -1057,6 +895,62 @@ true true + + make + -j5 + clean + true + true + true + + + make + -j5 + testGaussianJunctionTreeB.run + true + true + true + + + make + + testGraph.run + true + false + true + + + make + + testJunctionTree.run + true + false + true + + + make + + testSymbolicBayesNetB.run + true + false + true + + + make + -j5 + testGaussianISAM.run + true + true + true + + + make + -j5 + testDoglegOptimizer.run + true + true + true + make -j2 @@ -1147,6 +1041,7 @@ make + testErrors.run true false @@ -1602,7 +1497,6 @@ make - testSimulated2DOriented.run true false @@ -1642,7 +1536,6 @@ make - testSimulated2D.run true false @@ -1650,7 +1543,6 @@ make - testSimulated3D.run true false @@ -1752,10 +1644,10 @@ true true - + make - -j2 - CameraResectioning + -j5 + CameraResectioning.run true true true @@ -1832,6 +1724,30 @@ true true + + make + -j5 + LocalizationExample.run + true + true + true + + + make + -j5 + LocalizationExample2.run + true + true + true + + + make + -j5 + Pose2SLAMwSPCG_advanced.run + true + true + true + make -j2 @@ -1842,7 +1758,6 @@ make - tests/testGaussianISAM2 true false @@ -1864,102 +1779,6 @@ 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 -j2 @@ -2161,6 +1980,7 @@ cpack + -G DEB true false @@ -2168,6 +1988,7 @@ cpack + -G RPM true false @@ -2175,6 +1996,7 @@ cpack + -G TGZ true false @@ -2182,6 +2004,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2235,42 +2058,98 @@ true true - + make - -j5 - wrap.testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - wrap.testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap_gtsam + -j2 + timeRot3.run true true true - + make - -j5 - wrap + -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 @@ -2314,6 +2193,46 @@ false true + + make + -j5 + wrap.testSpirit.run + true + true + true + + + make + -j5 + wrap.testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index 2d2357dad..a8ff59d68 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -66,9 +66,9 @@ int main(int argc, char** argv) { // Query the marginals Marginals marginals = graph.marginals(result); cout.precision(2); - cout << "\nP1:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(1)) << endl; - cout << "\nP2:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(2)) << endl; - cout << "\nP3:\n" << marginals.marginalCovariance(pose2SLAM::PoseKey(3)) << endl; + cout << "\nP1:\n" << marginals.marginalCovariance(1) << endl; + cout << "\nP2:\n" << marginals.marginalCovariance(2) << endl; + cout << "\nP3:\n" << marginals.marginalCovariance(3) << endl; return 0; } diff --git a/examples/LocalizationExample2.cpp b/examples/LocalizationExample2.cpp index 903101d87..9a4330181 100644 --- a/examples/LocalizationExample2.cpp +++ b/examples/LocalizationExample2.cpp @@ -71,10 +71,9 @@ int main(int argc, char** argv) { // add unary measurement factors, like GPS, on all three poses SharedDiagonal noiseModel(Vector_(2, 0.1, 0.1)); // 10cm std on x,y - Symbol x1('x',1), x2('x',2), x3('x',3); - graph.push_back(boost::make_shared(x1, 0, 0, noiseModel)); - graph.push_back(boost::make_shared(x2, 2, 0, noiseModel)); - graph.push_back(boost::make_shared(x3, 4, 0, noiseModel)); + graph.push_back(boost::make_shared(1, 0, 0, noiseModel)); + graph.push_back(boost::make_shared(2, 2, 0, noiseModel)); + graph.push_back(boost::make_shared(3, 4, 0, noiseModel)); // print graph.print("\nFactor graph:\n"); @@ -94,9 +93,9 @@ int main(int argc, char** argv) { // Query the marginals Marginals marginals(graph, result); cout.precision(2); - cout << "\nP1:\n" << marginals.marginalCovariance(x1) << endl; - cout << "\nP2:\n" << marginals.marginalCovariance(x2) << endl; - cout << "\nP3:\n" << marginals.marginalCovariance(x3) << endl; + cout << "\nP1:\n" << marginals.marginalCovariance(1) << endl; + cout << "\nP2:\n" << marginals.marginalCovariance(2) << endl; + cout << "\nP3:\n" << marginals.marginalCovariance(3) << endl; return 0; } diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample_easy.cpp index 5039b1145..cd4a7aefd 100644 --- a/examples/PlanarSLAMExample_easy.cpp +++ b/examples/PlanarSLAMExample_easy.cpp @@ -35,16 +35,20 @@ int main(int argc, char** argv) { // create the graph (defined in planarSlam.h, derived from NonlinearFactorGraph) planarSLAM::Graph graph; + // Create some keys + static Symbol i1('x',1), i2('x',2), i3('x',3); + static Symbol j1('l',1), j2('l',2); + // add a Gaussian prior on pose x_1 Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPrior(1, priorMean, priorNoise); // add directly to graph + graph.addPrior(i1, priorMean, priorNoise); // add directly to graph // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addOdometry(1, 2, odometry, odometryNoise); - graph.addOdometry(2, 3, odometry, odometryNoise); + graph.addOdometry(i1, i2, odometry, odometryNoise); + graph.addOdometry(i2, i3, odometry, odometryNoise); // create a noise model for the landmark measurements SharedDiagonal measurementNoise(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range @@ -58,20 +62,20 @@ int main(int argc, char** argv) { range32 = 2.0; // add bearing/range factors (created by "addBearingRange") - graph.addBearingRange(1, 1, bearing11, range11, measurementNoise); - graph.addBearingRange(2, 1, bearing21, range21, measurementNoise); - graph.addBearingRange(3, 2, bearing32, range32, measurementNoise); + graph.addBearingRange(i1, j1, bearing11, range11, measurementNoise); + graph.addBearingRange(i2, j1, bearing21, range21, measurementNoise); + graph.addBearingRange(i3, j2, bearing32, range32, measurementNoise); // print graph.print("Factor graph"); // create (deliberatly inaccurate) initial estimate planarSLAM::Values initialEstimate; - initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); - initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.insertPoint(1, Point2(1.8, 2.1)); - initialEstimate.insertPoint(2, Point2(4.1, 1.8)); + initialEstimate.insertPose(i1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insertPose(i2, Pose2(2.3, 0.1,-0.2)); + initialEstimate.insertPose(i3, Pose2(4.1, 0.1, 0.1)); + initialEstimate.insertPoint(j1, Point2(1.8, 2.1)); + initialEstimate.insertPoint(j2, Point2(4.1, 1.8)); initialEstimate.print("Initial estimate:\n "); diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMSelfContained_advanced.cpp index 36f9ad8ca..bff4ee7ea 100644 --- a/examples/PlanarSLAMSelfContained_advanced.cpp +++ b/examples/PlanarSLAMSelfContained_advanced.cpp @@ -15,29 +15,29 @@ * @author Alex Cunningham */ -#include -#include - -// for all nonlinear keys -#include - -// for points and poses -#include -#include - -// for modeling measurement uncertainty - all models included here -#include - // add in headers for specific factors #include #include #include +// for all nonlinear keys +#include + // implementations for structures - needed if self-contained, and these should be included last #include #include #include +// for modeling measurement uncertainty - all models included here +#include + +// for points and poses +#include +#include + +#include +#include + using namespace std; using namespace gtsam; @@ -52,8 +52,8 @@ using namespace gtsam; */ int main(int argc, char** argv) { // create keys for variables - Symbol x1('x',1), x2('x',2), x3('x',3); - Symbol l1('l',1), l2('l',2); + Symbol i1('x',1), i2('x',2), i3('x',3); + Symbol j1('l',1), j2('l',2); // create graph container and add factors to it NonlinearFactorGraph graph; @@ -62,7 +62,7 @@ int main(int argc, char** argv) { // gaussian for prior SharedDiagonal prior_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); Pose2 prior_measurement(0.0, 0.0, 0.0); // prior at origin - PriorFactor posePrior(x1, prior_measurement, prior_model); // create the factor + PriorFactor posePrior(i1, prior_measurement, prior_model); // create the factor graph.add(posePrior); // add the factor to the graph /* add odometry */ @@ -70,8 +70,8 @@ int main(int argc, char** argv) { SharedDiagonal odom_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); Pose2 odom_measurement(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) // create between factors to represent odometry - BetweenFactor odom12(x1, x2, odom_measurement, odom_model); - BetweenFactor odom23(x2, x3, odom_measurement, odom_model); + BetweenFactor odom12(i1, i2, odom_measurement, odom_model); + BetweenFactor odom23(i2, i3, odom_measurement, odom_model); graph.add(odom12); // add both to graph graph.add(odom23); @@ -88,9 +88,9 @@ int main(int argc, char** argv) { range32 = 2.0; // create bearing/range factors - BearingRangeFactor meas11(x1, l1, bearing11, range11, meas_model); - BearingRangeFactor meas21(x2, l1, bearing21, range21, meas_model); - BearingRangeFactor meas32(x3, l2, bearing32, range32, meas_model); + BearingRangeFactor meas11(i1, j1, bearing11, range11, meas_model); + BearingRangeFactor meas21(i2, j1, bearing21, range21, meas_model); + BearingRangeFactor meas32(i3, j2, bearing32, range32, meas_model); // add the factors graph.add(meas11); @@ -101,11 +101,11 @@ int main(int argc, char** argv) { // initialize to noisy points Values initial; - initial.insert(x1, Pose2(0.5, 0.0, 0.2)); - initial.insert(x2, Pose2(2.3, 0.1,-0.2)); - initial.insert(x3, Pose2(4.1, 0.1, 0.1)); - initial.insert(l1, Point2(1.8, 2.1)); - initial.insert(l2, Point2(4.1, 1.8)); + initial.insert(i1, Pose2(0.5, 0.0, 0.2)); + initial.insert(i2, Pose2(2.3, 0.1,-0.2)); + initial.insert(i3, Pose2(4.1, 0.1, 0.1)); + initial.insert(j1, Point2(1.8, 2.1)); + initial.insert(j2, Point2(4.1, 1.8)); initial.print("initial estimate"); @@ -126,11 +126,11 @@ int main(int argc, char** argv) { // Print marginals covariances for all variables Marginals marginals(graph, resultMultifrontal, Marginals::CHOLESKY); - print(marginals.marginalCovariance(x1), "x1 covariance"); - print(marginals.marginalCovariance(x2), "x2 covariance"); - print(marginals.marginalCovariance(x3), "x3 covariance"); - print(marginals.marginalCovariance(l1), "l1 covariance"); - print(marginals.marginalCovariance(l2), "l2 covariance"); + print(marginals.marginalCovariance(i1), "i1 covariance"); + print(marginals.marginalCovariance(i2), "i2 covariance"); + print(marginals.marginalCovariance(i3), "i3 covariance"); + print(marginals.marginalCovariance(j1), "j1 covariance"); + print(marginals.marginalCovariance(j2), "j2 covariance"); return 0; } diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp index 29d8c58cf..3884e03e4 100644 --- a/examples/Pose2SLAMExample_advanced.cpp +++ b/examples/Pose2SLAMExample_advanced.cpp @@ -16,26 +16,23 @@ * @author Chris Beall */ -#include -#include -#include - // pull in the Pose2 SLAM domain with all typedefs and helper functions defined #include #include #include - #include #include +#include +#include +#include + using namespace std; using namespace gtsam; -using namespace boost; -using namespace pose2SLAM; int main(int argc, char** argv) { /* 1. create graph container and add factors to it */ - Graph graph; + pose2SLAM::Graph graph; /* 2.a add prior */ // gaussian for prior @@ -77,8 +74,8 @@ int main(int argc, char** argv) { /* Get covariances */ Marginals marginals(graph, result, Marginals::CHOLESKY); - Matrix covariance1 = marginals.marginalCovariance(PoseKey(1)); - Matrix covariance2 = marginals.marginalCovariance(PoseKey(2)); + Matrix covariance1 = marginals.marginalCovariance(1); + Matrix covariance2 = marginals.marginalCovariance(2); print(covariance1, "Covariance1"); print(covariance2, "Covariance2"); diff --git a/examples/matlab/LocalizationExample.m b/examples/matlab/LocalizationExample.m index 521c768ec..3a8282e3a 100644 --- a/examples/matlab/LocalizationExample.m +++ b/examples/matlab/LocalizationExample.m @@ -45,9 +45,9 @@ result.print(sprintf('\nFinal result:\n ')); %% Query the marginals marginals = graph.marginals(result); -x{1}=gtsamSymbol('x',1); P{1}=marginals.marginalCovariance(x{1}.key) -x{2}=gtsamSymbol('x',2); P{2}=marginals.marginalCovariance(x{2}.key) -x{3}=gtsamSymbol('x',3); P{3}=marginals.marginalCovariance(x{3}.key) +P{1}=marginals.marginalCovariance(1) +P{2}=marginals.marginalCovariance(2) +P{3}=marginals.marginalCovariance(3) %% Plot Trajectory figure(1) diff --git a/examples/vSLAMexample/Feature2D.h b/examples/vSLAMexample/Feature2D.h index aca5f9e4b..ea0f60e74 100644 --- a/examples/vSLAMexample/Feature2D.h +++ b/examples/vSLAMexample/Feature2D.h @@ -24,7 +24,7 @@ struct Feature2D { gtsam::Point2 m_p; - int m_idCamera; // id of the camera pose that makes this measurement + int m_idCamera; // id of the camera pose that makes this measurement int m_idLandmark; // id of the 3D landmark that it is associated with Feature2D(int idCamera, int idLandmark, gtsam::Point2 p) : diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp index 71d5516a2..6b47c9633 100644 --- a/examples/vSLAMexample/vISAMexample.cpp +++ b/examples/vSLAMexample/vISAMexample.cpp @@ -11,14 +11,12 @@ /** * @file vISAMexample.cpp - * @brief An ISAM example for synthesis sequence - * single camera + * @brief An ISAM example for synthesis sequence, single camera * @author Duy-Nguyen Ta */ -#include -#include -using namespace boost; +#include "vSLAMutils.h" +#include "Feature2D.h" #include #include @@ -26,13 +24,12 @@ using namespace boost; #include #include -#include "vSLAMutils.h" -#include "Feature2D.h" +#include +#include +using namespace boost; using namespace std; using namespace gtsam; -using namespace visualSLAM; -using namespace boost; /* ************************************************************************* */ #define CALIB_FILE "calib.txt" @@ -45,7 +42,7 @@ string g_dataFolder; // Store groundtruth values, read from files shared_ptrK g_calib; -map g_landmarks; // map: +map g_landmarks; // map: map g_poses; // map: std::map > g_measurements; // feature sets detected at each frame @@ -76,31 +73,31 @@ void readAllDataISAM() { /** * Setup newFactors and initialValues for each new pose and set of measurements at each frame. */ -void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& initialValues, +void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& initialValues, int pose_id, const Pose3& pose, const std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { // Create a graph of newFactors with new measurements - newFactors = shared_ptr (new Graph()); + newFactors = shared_ptr (new visualSLAM::Graph()); for (size_t i = 0; i < measurements.size(); i++) { newFactors->addMeasurement( measurements[i].m_p, measurementSigma, - pose_id, - measurements[i].m_idLandmark, + Symbol('x',pose_id), + Symbol('l',measurements[i].m_idLandmark), calib); } // ... we need priors on the new pose and all new landmarks newFactors->addPosePrior(pose_id, pose, poseSigma); for (size_t i = 0; i < measurements.size(); i++) { - newFactors->addPointPrior(measurements[i].m_idLandmark, g_landmarks[measurements[i].m_idLandmark]); + newFactors->addPointPrior(Symbol('x',measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); } // Create initial values for all nodes in the newFactors initialValues = shared_ptr (new Values()); - initialValues->insert(PoseKey(pose_id), pose); + initialValues->insert(Symbol('x',pose_id), pose); for (size_t i = 0; i < measurements.size(); i++) { - initialValues->insert(PointKey(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); + initialValues->insert(Symbol('l',measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); } } @@ -127,8 +124,8 @@ int main(int argc, char* argv[]) { typedef std::map > FeatureMap; BOOST_FOREACH(const FeatureMap::value_type& features, g_measurements) { const int poseId = features.first; - shared_ptr newFactors; - shared_ptr initialValues; + shared_ptr newFactors; + shared_ptr initialValues; createNewFactors(newFactors, initialValues, poseId, g_poses[poseId], features.second, measurementSigma, g_calib); diff --git a/examples/vSLAMexample/vSFMexample.cpp b/examples/vSLAMexample/vSFMexample.cpp index 8774b79f3..6eb3955f2 100644 --- a/examples/vSLAMexample/vSFMexample.cpp +++ b/examples/vSLAMexample/vSFMexample.cpp @@ -11,26 +11,23 @@ /** * @file vSFMexample.cpp - * @brief An vSFM example for synthesis sequence - * single camera + * @brief A visual SLAM example for simulated sequence * @author Duy-Nguyen Ta */ -#include -using namespace boost; +#include "vSLAMutils.h" +#include "Feature2D.h" #include #include #include #include -#include "vSLAMutils.h" -#include "Feature2D.h" +#include +using namespace boost; using namespace std; using namespace gtsam; -using namespace visualSLAM; -using namespace boost; /* ************************************************************************* */ #define CALIB_FILE "calib.txt" @@ -43,9 +40,9 @@ string g_dataFolder; // Store groundtruth values, read from files shared_ptrK g_calib; -map g_landmarks; // map: -map g_poses; // map: -std::vector g_measurements; // Feature2D: {camera_id, landmark_id, 2d feature_position} +map g_landmarks; // map: +map g_poses; // map: +std::vector g_measurements; // Feature2D: {camera_id, landmark_id, 2d feature_position} // Noise models SharedNoiseModel measurementSigma(noiseModel::Isotropic::Sigma(2, 5.0f)); @@ -75,9 +72,9 @@ void readAllData() { * by adding and linking 2D features (measurements) detected in each captured image * with their corresponding landmarks. */ -Graph setupGraph(std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { +visualSLAM::Graph setupGraph(std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { - Graph g; + visualSLAM::Graph g; cout << "Built graph: " << endl; for (size_t i = 0; i < measurements.size(); i++) { @@ -86,8 +83,8 @@ Graph setupGraph(std::vector& measurements, SharedNoiseModel measurem g.addMeasurement( measurements[i].m_p, measurementSigma, - measurements[i].m_idCamera, - measurements[i].m_idLandmark, + Symbol('x',measurements[i].m_idCamera), + Symbol('l',measurements[i].m_idLandmark), calib); } @@ -101,15 +98,15 @@ Graph setupGraph(std::vector& measurements, SharedNoiseModel measurem */ Values initialize(std::map landmarks, std::map poses) { - Values initValues; + visualSLAM::Values initValues; // Initialize landmarks 3D positions. for (map::iterator lmit = landmarks.begin(); lmit != landmarks.end(); lmit++) - initValues.insert(PointKey(lmit->first), lmit->second); + initValues.insert(Symbol('l',lmit->first), lmit->second); // Initialize camera poses. for (map::iterator poseit = poses.begin(); poseit != poses.end(); poseit++) - initValues.insert(PoseKey(poseit->first), poseit->second); + initValues.insert(Symbol('x',poseit->first), poseit->second); return initValues; } @@ -129,7 +126,7 @@ int main(int argc, char* argv[]) { readAllData(); // Create a graph using the 2D measurements (features) and the calibration data - Graph graph(setupGraph(g_measurements, measurementSigma, g_calib)); + visualSLAM::Graph graph(setupGraph(g_measurements, measurementSigma, g_calib)); // Create an initial Values structure using groundtruth values as the initial estimates Values initialEstimates(initialize(g_landmarks, g_poses)); @@ -139,7 +136,7 @@ int main(int argc, char* argv[]) { // Add prior factor for all poses in the graph map::iterator poseit = g_poses.begin(); for (; poseit != g_poses.end(); poseit++) - graph.addPosePrior(poseit->first, poseit->second, noiseModel::Unit::Create(1)); + graph.addPosePrior(Symbol('x',poseit->first), poseit->second, noiseModel::Unit::Create(1)); // Optimize the graph cout << "*******************************************************" << endl; diff --git a/examples/vSLAMexample/vSLAMutils.h b/examples/vSLAMexample/vSLAMutils.h index 52d492224..2365ef35c 100644 --- a/examples/vSLAMexample/vSLAMutils.h +++ b/examples/vSLAMexample/vSLAMutils.h @@ -17,13 +17,12 @@ #pragma once -#include -#include #include "Feature2D.h" #include "gtsam/geometry/Pose3.h" #include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Cal3_S2.h" - +#include +#include std::map readLandMarks(const std::string& landmarkFile); diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 42c38514c..0d5724865 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -94,8 +94,8 @@ struct ISAM2Params { * entries would be added with: * \code FastMap thresholds; - thresholds[PoseKey::chr()] = Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5); // 0.1 rad rotation threshold, 0.5 m translation threshold - thresholds[PointKey::chr()] = Vector_(3, 1.0, 1.0, 1.0); // 1.0 m landmark position threshold + thresholds['x'] = Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5); // 0.1 rad rotation threshold, 0.5 m translation threshold + thresholds['l'] = Vector_(3, 1.0, 1.0, 1.0); // 1.0 m landmark position threshold params.relinearizeThreshold = thresholds; \endcode */ diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index f45f560a7..2aec8e55a 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -95,7 +95,7 @@ pair load2D(const string& filename, is >> id >> x >> y >> yaw; // optional filter if (maxID && id >= maxID) continue; - poses->insert(pose2SLAM::PoseKey(id), Pose2(x, y, yaw)); + poses->insert(id, Pose2(x, y, yaw)); } is.ignore(LINESIZE, '\n'); } @@ -132,10 +132,10 @@ pair load2D(const string& filename, l1Xl2 = l1Xl2.retract((*model)->sample()); // Insert vertices if pure odometry file - if (!poses->exists(pose2SLAM::PoseKey(id1))) poses->insert(pose2SLAM::PoseKey(id1), Pose2()); - if (!poses->exists(pose2SLAM::PoseKey(id2))) poses->insert(pose2SLAM::PoseKey(id2), poses->at(pose2SLAM::PoseKey(id1)) * l1Xl2); + if (!poses->exists(id1)) poses->insert(id1, Pose2()); + if (!poses->exists(id2)) poses->insert(id2, poses->at(id1) * l1Xl2); - pose2SLAM::Graph::sharedFactor factor(new Pose2Factor(pose2SLAM::PoseKey(id1), pose2SLAM::PoseKey(id2), l1Xl2, *model)); + pose2SLAM::Graph::sharedFactor factor(new Pose2Factor(id1, id2, l1Xl2, *model)); graph->push_back(factor); } is.ignore(LINESIZE, '\n'); diff --git a/gtsam/slam/planarSLAM.cpp b/gtsam/slam/planarSLAM.cpp index b490a76cb..e385cb66f 100644 --- a/gtsam/slam/planarSLAM.cpp +++ b/gtsam/slam/planarSLAM.cpp @@ -26,39 +26,39 @@ namespace planarSLAM { NonlinearFactorGraph(graph) {} /* ************************************************************************* */ - void Graph::addPrior(Index i, const Pose2& p, const SharedNoiseModel& model) { - sharedFactor factor(new Prior(PoseKey(i), p, model)); + void Graph::addPrior(Key i, const Pose2& p, const SharedNoiseModel& model) { + sharedFactor factor(new Prior(i, p, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addPoseConstraint(Index i, const Pose2& p) { - sharedFactor factor(new Constraint(PoseKey(i), p)); + void Graph::addPoseConstraint(Key i, const Pose2& p) { + sharedFactor factor(new Constraint(i, p)); push_back(factor); } /* ************************************************************************* */ - void Graph::addOdometry(Index i, Index j, const Pose2& odometry, const SharedNoiseModel& model) { - sharedFactor factor(new Odometry(PoseKey(i), PoseKey(j), odometry, model)); + void Graph::addOdometry(Key i1, Key i2, const Pose2& odometry, const SharedNoiseModel& model) { + sharedFactor factor(new Odometry(i1, i2, odometry, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addBearing(Index i, Index j, const Rot2& z, const SharedNoiseModel& model) { - sharedFactor factor(new Bearing(PoseKey(i), PointKey(j), z, model)); + void Graph::addBearing(Key i, Key j, const Rot2& z, const SharedNoiseModel& model) { + sharedFactor factor(new Bearing(i, j, z, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addRange(Index i, Index j, double z, const SharedNoiseModel& model) { - sharedFactor factor(new Range(PoseKey(i), PointKey(j), z, model)); + void Graph::addRange(Key i, Key j, double z, const SharedNoiseModel& model) { + sharedFactor factor(new Range(i, j, z, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addBearingRange(Index i, Index j, const Rot2& z1, + void Graph::addBearingRange(Key i, Key j, const Rot2& z1, double z2, const SharedNoiseModel& model) { - sharedFactor factor(new BearingRange(PoseKey(i), PointKey(j), z1, z2, model)); + sharedFactor factor(new BearingRange(i, j, z1, z2, model)); push_back(factor); } diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index 818879f26..f45c3bc86 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -11,7 +11,7 @@ /** * @file planarSLAM.h - * @brief: bearing/range measurements in 2D plane + * @brief bearing/range measurements in 2D plane * @author Frank Dellaert */ @@ -31,29 +31,25 @@ namespace planarSLAM { using namespace gtsam; - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - - /// Convenience function for constructing a pose key - inline Symbol PointKey(Index j) { return Symbol('l', j); } - /* * List of typedefs for factors */ - /// A hard constraint for PoseKeys to enforce particular values + + /// A hard constraint for poses to enforce particular values typedef NonlinearEquality Constraint; - /// A prior factor to bias the value of a PoseKey + /// A prior factor to bias the value of a pose typedef PriorFactor Prior; - /// A factor between two PoseKeys set with a Pose2 + /// A factor between two poses set with a Pose2 typedef BetweenFactor Odometry; - /// A factor between a PoseKey and a PointKey to express difference in rotation (set with a Rot2) + /// A factor between a pose and a point to express difference in rotation (set with a Rot2) typedef BearingFactor Bearing; - /// A factor between a PoseKey and a PointKey to express distance between them (set with a double) + /// A factor between a pose and a point to express distance between them (set with a double) typedef RangeFactor Range; - /// A factor between a PoseKey and a PointKey to express difference in rotation and location + /// A factor between a pose and a point to express difference in rotation and location typedef BearingRangeFactor BearingRange; - /** Values class, using specific PoseKeys and PointKeys + /** + * Values class, using specific poses and points * Mainly as a convenience for MATLAB wrapper, which does not allow for identically named methods */ struct Values: public gtsam::Values { @@ -67,16 +63,16 @@ namespace planarSLAM { } /// get a pose - Pose2 pose(Index key) const { return at(PoseKey(key)); } + Pose2 pose(Key i) const { return at(i); } /// get a point - Point2 point(Index key) const { return at(PointKey(key)); } + Point2 point(Key j) const { return at(j); } /// insert a pose - void insertPose(Index key, const Pose2& pose) { insert(PoseKey(key), pose); } + void insertPose(Key i, const Pose2& pose) { insert(i, pose); } /// insert a point - void insertPoint(Index key, const Point2& point) { insert(PointKey(key), point); } + void insertPoint(Key j, const Point2& point) { insert(j, point); } }; /// Creates a NonlinearFactorGraph with the Values type @@ -88,23 +84,23 @@ namespace planarSLAM { /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph Graph(const NonlinearFactorGraph& graph); - /// Biases the value of PoseKey key with Pose2 p given a noise model - void addPrior(Index poseKey, const Pose2& pose, const SharedNoiseModel& noiseModel); + /// Biases the value of pose key with Pose2 p given a noise model + void addPrior(Key i, const Pose2& pose, const SharedNoiseModel& noiseModel); - /// Creates a hard constraint to enforce Pose2 p for PoseKey poseKey's value - void addPoseConstraint(Index poseKey, const Pose2& pose); + /// Creates a hard constraint on the ith pose + void addPoseConstraint(Key i, const Pose2& pose); - /// Creates a factor with a Pose2 between PoseKeys poseKey and pointKey (poseKey.e. an odometry measurement) - void addOdometry(Index poseKey1, Index poseKey2, const Pose2& odometry, const SharedNoiseModel& model); + /// Creates an odometry factor between poses with keys i1 and i2 + void addOdometry(Key i1, Key i2, const Pose2& odometry, const SharedNoiseModel& model); - /// Creates a factor with a Rot2 between a PoseKey poseKey and PointKey pointKey for difference in rotation - void addBearing(Index poseKey, Index pointKey, const Rot2& bearing, const SharedNoiseModel& model); + /// Creates a bearing measurement from pose i to point j + void addBearing(Key i, Key j, const Rot2& bearing, const SharedNoiseModel& model); - /// Creates a factor with a Rot2 between a PoseKey poseKey and PointKey pointKey for difference in location - void addRange(Index poseKey, Index pointKey, double range, const SharedNoiseModel& model); + /// Creates a range measurement from pose i to point j + void addRange(Key i, Key k, double range, const SharedNoiseModel& model); - /// Creates a factor with a Rot2 between a PoseKey poseKey and PointKey pointKey for difference in rotation and location - void addBearingRange(Index poseKey, Index pointKey, const Rot2& bearing, double range, const SharedNoiseModel& model); + /// Creates a range/bearing measurement from pose i to point j + void addBearingRange(Key i, Key j, const Rot2& bearing, double range, const SharedNoiseModel& model); /// Optimize Values optimize(const Values& initialEstimate) const; diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index dd80b821b..b08f0c305 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -27,27 +27,26 @@ namespace pose2SLAM { Values x; double theta = 0, dtheta = 2 * M_PI / n; for (size_t i = 0; i < n; i++, theta += dtheta) - x.insert(PoseKey(i), Pose2(cos(theta), sin(theta), M_PI_2 + theta)); + x.insert(i, Pose2(cos(theta), sin(theta), M_PI_2 + theta)); return x; } /* ************************************************************************* */ - void Graph::addPrior(Index i, const Pose2& p, - const SharedNoiseModel& model) { - sharedFactor factor(new Prior(PoseKey(i), p, model)); + void Graph::addPrior(Key i, const Pose2& p, const SharedNoiseModel& model) { + sharedFactor factor(new Prior(i, p, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addPoseConstraint(Index i, const Pose2& p) { - sharedFactor factor(new HardConstraint(PoseKey(i), p)); + void Graph::addPoseConstraint(Key i, const Pose2& p) { + sharedFactor factor(new HardConstraint(i, p)); push_back(factor); } /* ************************************************************************* */ - void Graph::addOdometry(Index i, Index j, const Pose2& z, + void Graph::addOdometry(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model) { - sharedFactor factor(new Odometry(PoseKey(i), PoseKey(j), z, model)); + sharedFactor factor(new Odometry(i1, i2, z, model)); push_back(factor); } diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 50944cf2f..337ab9f7a 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -31,10 +31,7 @@ namespace pose2SLAM { using namespace gtsam; - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - - /// Values class, inherited from Values, using PoseKeys, mainly used as a convenience for MATLAB wrapper + /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper struct Values: public gtsam::Values { /// Default constructor @@ -48,10 +45,10 @@ namespace pose2SLAM { // Convenience for MATLAB wrapper, which does not allow for identically named methods /// get a pose - Pose2 pose(Index key) const { return at(PoseKey(key)); } + Pose2 pose(Key i) const { return at(i); } /// insert a pose - void insertPose(Index key, const Pose2& pose) { insert(PoseKey(key), pose); } + void insertPose(Key i, const Pose2& pose) { insert(i, pose); } }; /** @@ -83,20 +80,18 @@ namespace pose2SLAM { /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph Graph(const NonlinearFactorGraph& graph); - /// Adds a Pose2 prior with a noise model to one of the keys in the nonlinear factor graph - void addPrior(Index i, const Pose2& p, const SharedNoiseModel& model); + /// Adds a Pose2 prior with mean p and given noise model on pose i + void addPrior(Key i, const Pose2& p, const SharedNoiseModel& model); /// Creates a hard constraint for key i with the given Pose2 p. - void addPoseConstraint(Index i, const Pose2& p); + void addPoseConstraint(Key i, const Pose2& p); - /// Creates a between factor between keys i and j with a noise model with Pose2 z in the graph - void addOdometry(Index i, Index j, const Pose2& z, - const SharedNoiseModel& model); + /// Creates an odometry factor between poses with keys i1 and i2 + void addOdometry(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model); /// AddConstraint adds a soft constraint between factor between keys i and j - void addConstraint(Index i, Index j, const Pose2& z, - const SharedNoiseModel& model) { - addOdometry(i,j,z,model); // same for now + void addConstraint(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model) { + addOdometry(i1,i2,z,model); // same for now } /// Optimize diff --git a/gtsam/slam/pose3SLAM.cpp b/gtsam/slam/pose3SLAM.cpp index 0ab962f1e..ffce28fe7 100644 --- a/gtsam/slam/pose3SLAM.cpp +++ b/gtsam/slam/pose3SLAM.cpp @@ -36,26 +36,26 @@ namespace pose3SLAM { Point3 gti(radius*cos(theta), radius*sin(theta), 0); Rot3 _0Ri = Rot3::yaw(-theta); // negative yaw goes counterclockwise, with Z down ! Pose3 gTi(gR0 * _0Ri, gti); - x.insert(PoseKey(i), gTi); + x.insert(i, gTi); } return x; } /* ************************************************************************* */ - void Graph::addPrior(Index i, const Pose3& p, const SharedNoiseModel& model) { - sharedFactor factor(new Prior(PoseKey(i), p, model)); + void Graph::addPrior(Key i, const Pose3& p, const SharedNoiseModel& model) { + sharedFactor factor(new Prior(i, p, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addConstraint(Index i, Index j, const Pose3& z, const SharedNoiseModel& model) { - sharedFactor factor(new Constraint(PoseKey(i), PoseKey(j), z, model)); + void Graph::addConstraint(Key i1, Key i2, const Pose3& z, const SharedNoiseModel& model) { + sharedFactor factor(new Constraint(i1, i2, z, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addHardConstraint(Index i, const Pose3& p) { - sharedFactor factor(new HardConstraint(PoseKey(i), p)); + void Graph::addHardConstraint(Key i, const Pose3& p) { + sharedFactor factor(new HardConstraint(i, p)); push_back(factor); } diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index 6b4efbe6c..e42238892 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -30,9 +30,6 @@ namespace pose3SLAM { using namespace gtsam; - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - /** * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0) * @param n number of poses @@ -52,13 +49,13 @@ namespace pose3SLAM { struct Graph: public NonlinearFactorGraph { /// Adds a factor between keys of the same type - void addPrior(Index i, const Pose3& p, const SharedNoiseModel& model); + void addPrior(Key i, const Pose3& p, const SharedNoiseModel& model); /// Creates a between factor between keys i and j with a noise model with Pos3 z in the graph - void addConstraint(Index i, Index j, const Pose3& z, const SharedNoiseModel& model); + void addConstraint(Key i1, Key i2, const Pose3& z, const SharedNoiseModel& model); /// Creates a hard constraint for key i with the given Pose3 p. - void addHardConstraint(Index i, const Pose3& p); + void addHardConstraint(Key i, const Pose3& p); /// Optimize Values optimize(const Values& initialEstimate) { diff --git a/gtsam/slam/simulated2D.h b/gtsam/slam/simulated2D.h index e9b4f2bc9..403fac109 100644 --- a/gtsam/slam/simulated2D.h +++ b/gtsam/slam/simulated2D.h @@ -30,12 +30,6 @@ namespace simulated2D { // Simulated2D robots have no orientation, just a position - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - - /// Convenience function for constructing a landmark key - inline Symbol PointKey(Index j) { return Symbol('l', j); } - /** * Custom Values class that holds poses and points, mainly used as a convenience for MATLAB wrapper */ @@ -57,14 +51,14 @@ namespace simulated2D { } /// Insert a pose - void insertPose(Index j, const Point2& p) { - insert(PoseKey(j), p); + void insertPose(Key i, const Point2& p) { + insert(i, p); nrPoses_++; } /// Insert a point - void insertPoint(Index j, const Point2& p) { - insert(PointKey(j), p); + void insertPoint(Key j, const Point2& p) { + insert(j, p); nrPoints_++; } @@ -79,13 +73,13 @@ namespace simulated2D { } /// Return pose i - Point2 pose(Index j) const { - return at(PoseKey(j)); + Point2 pose(Key i) const { + return at(i); } /// Return point j - Point2 point(Index j) const { - return at(PointKey(j)); + Point2 point(Key j) const { + return at(j); } }; @@ -171,8 +165,8 @@ namespace simulated2D { Pose measured_; ///< odometry measurement /// Create odometry - GenericOdometry(const Pose& measured, const SharedNoiseModel& model, Key key1, Key key2) : - Base(model, key1, key2), measured_(measured) { + GenericOdometry(const Pose& measured, const SharedNoiseModel& model, Key i1, Key i2) : + Base(model, i1, i2), measured_(measured) { } /// Evaluate error and optionally return derivatives @@ -215,8 +209,8 @@ namespace simulated2D { Landmark measured_; ///< Measurement /// Create measurement factor - GenericMeasurement(const Landmark& measured, const SharedNoiseModel& model, Key poseKey, Key landmarkKey) : - Base(model, poseKey, landmarkKey), measured_(measured) { + GenericMeasurement(const Landmark& measured, const SharedNoiseModel& model, Key i, Key j) : + Base(model, i, j), measured_(measured) { } /// Evaluate error and optionally return derivatives diff --git a/gtsam/slam/simulated2DOriented.h b/gtsam/slam/simulated2DOriented.h index c7ebd466c..ed0d8ba1a 100644 --- a/gtsam/slam/simulated2DOriented.h +++ b/gtsam/slam/simulated2DOriented.h @@ -19,6 +19,7 @@ #pragma once #include +#include #include #include @@ -27,12 +28,6 @@ namespace simulated2DOriented { using namespace gtsam; - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - - /// Convenience function for constructing a landmark key - inline Symbol PointKey(Index j) { return Symbol('l', j); } - /// Specialized Values structure with syntactic sugar for /// compatibility with matlab class Values: public gtsam::Values { @@ -40,21 +35,23 @@ namespace simulated2DOriented { public: Values() : nrPoses_(0), nrPoints_(0) {} - void insertPose(Index j, const Pose2& p) { - insert(PoseKey(j), p); + /// insert a pose + void insertPose(Key i, const Pose2& p) { + insert(i, p); nrPoses_++; } - void insertPoint(Index j, const Point2& p) { - insert(PointKey(j), p); + /// insert a landmark + void insertPoint(Key j, const Point2& p) { + insert(j, p); nrPoints_++; } - int nrPoses() const { return nrPoses_; } - int nrPoints() const { return nrPoints_; } + int nrPoses() const { return nrPoses_; } ///< nr of poses + int nrPoints() const { return nrPoints_; } ///< nr of landmarks - Pose2 pose(Index j) const { return at(PoseKey(j)); } - Point2 point(Index j) const { return at(PointKey(j)); } + Pose2 pose(Key i) const { return at(i); } ///< get a pose + Point2 point(Key j) const { return at(j); } ///< get a landmark }; //TODO:: point prior is not implemented right now diff --git a/gtsam/slam/smallExample.cpp b/gtsam/slam/smallExample.cpp index fae2d2e22..2e9194466 100644 --- a/gtsam/slam/smallExample.cpp +++ b/gtsam/slam/smallExample.cpp @@ -17,28 +17,24 @@ * @author Frank dellaert */ -#include -#include +#include +#include +#include +#include +#include +#include + #include #include +#include +#include + using namespace std; -#include -#include -#include - -// template definitions -#include -#include -#include - namespace gtsam { namespace example { - using simulated2D::PoseKey; - using simulated2D::PointKey; - typedef boost::shared_ptr shared; static SharedDiagonal sigma1_0 = noiseModel::Isotropic::Sigma(2,1.0); @@ -49,6 +45,7 @@ namespace example { static const Index _l1_=0, _x1_=1, _x2_=2; static const Index _x_=0, _y_=1, _z_=2; + // Convenience for named keys Key kx(size_t i) { return Symbol('x',i); } Key kl(size_t i) { return Symbol('l',i); } @@ -60,22 +57,22 @@ namespace example { // prior on x1 Point2 mu; - shared f1(new simulated2D::Prior(mu, sigma0_1, PoseKey(1))); + shared f1(new simulated2D::Prior(mu, sigma0_1, kx(1))); nlfg->push_back(f1); // odometry between x1 and x2 Point2 z2(1.5, 0); - shared f2(new simulated2D::Odometry(z2, sigma0_1, PoseKey(1), PoseKey(2))); + shared f2(new simulated2D::Odometry(z2, sigma0_1, kx(1), kx(2))); nlfg->push_back(f2); // measurement between x1 and l1 Point2 z3(0, -1); - shared f3(new simulated2D::Measurement(z3, sigma0_2, PoseKey(1), PointKey(1))); + shared f3(new simulated2D::Measurement(z3, sigma0_2, kx(1), kl(1))); nlfg->push_back(f3); // measurement between x2 and l1 Point2 z4(-1.5, -1.); - shared f4(new simulated2D::Measurement(z4, sigma0_2, PoseKey(2), PointKey(1))); + shared f4(new simulated2D::Measurement(z4, sigma0_2, kx(2), kl(1))); nlfg->push_back(f4); return nlfg; @@ -89,9 +86,9 @@ namespace example { /* ************************************************************************* */ Values createValues() { Values c; - c.insert(PoseKey(1), Point2(0.0, 0.0)); - c.insert(PoseKey(2), Point2(1.5, 0.0)); - c.insert(PointKey(1), Point2(0.0, -1.0)); + c.insert(kx(1), Point2(0.0, 0.0)); + c.insert(kx(2), Point2(1.5, 0.0)); + c.insert(kl(1), Point2(0.0, -1.0)); return c; } @@ -107,9 +104,9 @@ namespace example { /* ************************************************************************* */ boost::shared_ptr sharedNoisyValues() { boost::shared_ptr c(new Values); - c->insert(PoseKey(1), Point2(0.1, 0.1)); - c->insert(PoseKey(2), Point2(1.4, 0.2)); - c->insert(PointKey(1), Point2(0.1, -1.1)); + c->insert(kx(1), Point2(0.1, 0.1)); + c->insert(kx(2), Point2(1.4, 0.2)); + c->insert(kl(1), Point2(0.1, -1.1)); return c; } @@ -223,7 +220,7 @@ namespace example { Vector z = Vector_(2, 1.0, 0.0); double sigma = 0.1; boost::shared_ptr factor( - new smallOptimize::UnaryFactor(z, noiseModel::Isotropic::Sigma(2,sigma), PoseKey(1))); + new smallOptimize::UnaryFactor(z, noiseModel::Isotropic::Sigma(2,sigma), kx(1))); fg->push_back(factor); return fg; } @@ -241,23 +238,23 @@ namespace example { // prior on x1 Point2 x1(1.0, 0.0); - shared prior(new simulated2D::Prior(x1, sigma1_0, PoseKey(1))); + shared prior(new simulated2D::Prior(x1, sigma1_0, kx(1))); nlfg.push_back(prior); - poses.insert(simulated2D::PoseKey(1), x1); + poses.insert(kx(1), x1); for (int t = 2; t <= T; t++) { // odometry between x_t and x_{t-1} Point2 odo(1.0, 0.0); - shared odometry(new simulated2D::Odometry(odo, sigma1_0, PoseKey(t - 1), PoseKey(t))); + shared odometry(new simulated2D::Odometry(odo, sigma1_0, kx(t - 1), kx(t))); nlfg.push_back(odometry); // measurement on x_t is like perfect GPS Point2 xt(t, 0); - shared measurement(new simulated2D::Prior(xt, sigma1_0, PoseKey(t))); + shared measurement(new simulated2D::Prior(xt, sigma1_0, kx(t))); nlfg.push_back(measurement); // initial estimate - poses.insert(PoseKey(t), xt); + poses.insert(kx(t), xt); } return make_pair(nlfg, poses); @@ -418,7 +415,7 @@ namespace example { /* ************************************************************************* */ // Create key for simulated planar graph Symbol key(int x, int y) { - return PoseKey(1000*x+y); + return kx(1000*x+y); } /* ************************************************************************* */ diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp index 183b0c600..b73118352 100644 --- a/gtsam/slam/tests/testAntiFactor.cpp +++ b/gtsam/slam/tests/testAntiFactor.cpp @@ -27,8 +27,6 @@ using namespace std; using namespace gtsam; -using pose3SLAM::PoseKey; - /* ************************************************************************* */ TEST( AntiFactor, NegativeHessian) { @@ -42,17 +40,17 @@ TEST( AntiFactor, NegativeHessian) // Create a configuration corresponding to the ground truth boost::shared_ptr values(new Values()); - values->insert(PoseKey(1), pose1); - values->insert(PoseKey(2), pose2); + values->insert(1, pose1); + values->insert(2, pose2); // Define an elimination ordering Ordering::shared_ptr ordering(new Ordering()); - ordering->insert(PoseKey(1), 0); - ordering->insert(PoseKey(2), 1); + ordering->insert(1, 0); + ordering->insert(2, 1); // Create a "standard" factor - BetweenFactor::shared_ptr originalFactor(new BetweenFactor(PoseKey(1), PoseKey(2), z, sigma)); + BetweenFactor::shared_ptr originalFactor(new BetweenFactor(1, 2, z, sigma)); // Linearize it into a Jacobian Factor GaussianFactor::shared_ptr originalJacobian = originalFactor->linearize(*values, *ordering); @@ -103,8 +101,8 @@ TEST( AntiFactor, EquivalentBayesNet) // Create a configuration corresponding to the ground truth boost::shared_ptr values(new Values()); - values->insert(PoseKey(1), pose1); - values->insert(PoseKey(2), pose2); + values->insert(1, pose1); + values->insert(2, pose2); // Define an elimination ordering Ordering::shared_ptr ordering = graph->orderingCOLAMD(*values); @@ -117,7 +115,7 @@ TEST( AntiFactor, EquivalentBayesNet) VectorValues expectedDeltas = optimize(*expectedBayesNet); // Add an additional factor between Pose1 and Pose2 - pose3SLAM::Constraint::shared_ptr f1(new pose3SLAM::Constraint(PoseKey(1), PoseKey(2), z, sigma)); + pose3SLAM::Constraint::shared_ptr f1(new pose3SLAM::Constraint(1, 2, z, sigma)); graph->push_back(f1); // Add the corresponding AntiFactor between Pose1 and Pose2 diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp index b32bf9a9c..8859f7a08 100644 --- a/gtsam/slam/tests/testPlanarSLAM.cpp +++ b/gtsam/slam/tests/testPlanarSLAM.cpp @@ -28,6 +28,7 @@ using namespace planarSLAM; // some shared test values static Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); static Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); +static Symbol i2('x',2), i3('x',3), j3('l',3); SharedNoiseModel sigma(noiseModel::Isotropic::Sigma(1,0.1)), @@ -37,7 +38,7 @@ SharedNoiseModel /* ************************************************************************* */ TEST( planarSLAM, PriorFactor_equals ) { - planarSLAM::Prior factor1(PoseKey(2), x1, I3), factor2(PoseKey(2), x2, I3); + planarSLAM::Prior factor1(i2, x1, I3), factor2(i2, x2, I3); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -48,12 +49,12 @@ TEST( planarSLAM, BearingFactor ) { // Create factor Rot2 z = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - planarSLAM::Bearing factor(PoseKey(2), PointKey(3), z, sigma); + planarSLAM::Bearing factor(i2, j3, z, sigma); // create config planarSLAM::Values c; - c.insert(PoseKey(2), x2); - c.insert(PointKey(3), l3); + c.insert(i2, x2); + c.insert(j3, l3); // Check error Vector actual = factor.unwhitenedError(c); @@ -64,8 +65,8 @@ TEST( planarSLAM, BearingFactor ) TEST( planarSLAM, BearingFactor_equals ) { planarSLAM::Bearing - factor1(PoseKey(2), PointKey(3), Rot2::fromAngle(0.1), sigma), - factor2(PoseKey(2), PointKey(3), Rot2::fromAngle(2.3), sigma); + factor1(i2, j3, Rot2::fromAngle(0.1), sigma), + factor2(i2, j3, Rot2::fromAngle(2.3), sigma); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -76,12 +77,12 @@ TEST( planarSLAM, RangeFactor ) { // Create factor double z(sqrt(2) - 0.22); // h(x) - z = 0.22 - planarSLAM::Range factor(PoseKey(2), PointKey(3), z, sigma); + planarSLAM::Range factor(i2, j3, z, sigma); // create config planarSLAM::Values c; - c.insert(PoseKey(2), x2); - c.insert(PointKey(3), l3); + c.insert(i2, x2); + c.insert(j3, l3); // Check error Vector actual = factor.unwhitenedError(c); @@ -91,7 +92,7 @@ TEST( planarSLAM, RangeFactor ) /* ************************************************************************* */ TEST( planarSLAM, RangeFactor_equals ) { - planarSLAM::Range factor1(PoseKey(2), PointKey(3), 1.2, sigma), factor2(PoseKey(2), PointKey(3), 7.2, sigma); + planarSLAM::Range factor1(i2, j3, 1.2, sigma), factor2(i2, j3, 7.2, sigma); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -103,12 +104,12 @@ TEST( planarSLAM, BearingRangeFactor ) // Create factor Rot2 r = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 double b(sqrt(2) - 0.22); // h(x) - z = 0.22 - planarSLAM::BearingRange factor(PoseKey(2), PointKey(3), r, b, sigma2); + planarSLAM::BearingRange factor(i2, j3, r, b, sigma2); // create config planarSLAM::Values c; - c.insert(PoseKey(2), x2); - c.insert(PointKey(3), l3); + c.insert(i2, x2); + c.insert(j3, l3); // Check error Vector actual = factor.unwhitenedError(c); @@ -119,8 +120,8 @@ TEST( planarSLAM, BearingRangeFactor ) TEST( planarSLAM, BearingRangeFactor_equals ) { planarSLAM::BearingRange - factor1(PoseKey(2), PointKey(3), Rot2::fromAngle(0.1), 7.3, sigma2), - factor2(PoseKey(2), PointKey(3), Rot2::fromAngle(3), 2.0, sigma2); + factor1(i2, j3, Rot2::fromAngle(0.1), 7.3, sigma2), + factor2(i2, j3, Rot2::fromAngle(3), 2.0, sigma2); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -130,13 +131,13 @@ TEST( planarSLAM, BearingRangeFactor_equals ) TEST( planarSLAM, BearingRangeFactor_poses ) { typedef BearingRangeFactor PoseBearingRange; - PoseBearingRange actual(PoseKey(2), PoseKey(3), Rot2::fromDegrees(60.0), 12.3, sigma2); + PoseBearingRange actual(2, 3, Rot2::fromDegrees(60.0), 12.3, sigma2); } /* ************************************************************************* */ TEST( planarSLAM, PoseConstraint_equals ) { - planarSLAM::Constraint factor1(PoseKey(2), x2), factor2(PoseKey(2), x3); + planarSLAM::Constraint factor1(i2, x2), factor2(i2, x3); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -147,26 +148,26 @@ TEST( planarSLAM, constructor ) { // create config planarSLAM::Values c; - c.insert(PoseKey(2), x2); - c.insert(PoseKey(3), x3); - c.insert(PointKey(3), l3); + c.insert(i2, x2); + c.insert(i3, x3); + c.insert(j3, l3); // create graph planarSLAM::Graph G; // Add pose constraint - G.addPoseConstraint(2, x2); // make it feasible :-) + G.addPoseConstraint(i2, x2); // make it feasible :-) // Add odometry - G.addOdometry(2, 3, Pose2(0, 0, M_PI_4), I3); + G.addOdometry(i2, i3, Pose2(0, 0, M_PI_4), I3); // Create bearing factor Rot2 z1 = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - G.addBearing(2, 3, z1, sigma); + G.addBearing(i2, j3, z1, sigma); // Create range factor double z2(sqrt(2) - 0.22); // h(x) - z = 0.22 - G.addRange(2, 3, z2, sigma); + G.addRange(i2, j3, z2, sigma); Vector expected0 = Vector_(3, 0.0, 0.0, 0.0); Vector expected1 = Vector_(3, 0.0, 0.0, 0.0); diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index a2d99ca88..580d40e8a 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -32,7 +32,6 @@ using namespace boost::assign; using namespace std; typedef pose2SLAM::Odometry Pose2Factor; -using pose2SLAM::PoseKey; // common measurement covariance static double sx=0.5, sy=0.5,st=0.1; @@ -44,21 +43,19 @@ static Matrix cov(Matrix_(3, 3, static noiseModel::Gaussian::shared_ptr covariance(noiseModel::Gaussian::Covariance(cov)); //static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3)); -const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5), kl1 = Symbol('l',1); - /* ************************************************************************* */ // Test constraint, small displacement Vector f1(const Pose2& pose1, const Pose2& pose2) { Pose2 z(2.1130913087, 0.468461064817, 0.436332312999); - Pose2Factor constraint(PoseKey(1), PoseKey(2), z, covariance); + Pose2Factor constraint(1, 2, z, covariance); return constraint.evaluateError(pose1, pose2); } -TEST( Pose2SLAM, constraint1 ) +TEST_UNSAFE( Pose2SLAM, constraint1 ) { // create a factor between unknown poses p1 and p2 Pose2 pose1, pose2(2.1130913087, 0.468461064817, 0.436332312999); - Pose2Factor constraint(PoseKey(1), PoseKey(2), pose2, covariance); + Pose2Factor constraint(1, 2, pose2, covariance); Matrix H1, H2; Vector actual = constraint.evaluateError(pose1, pose2, H1, H2); @@ -73,15 +70,15 @@ TEST( Pose2SLAM, constraint1 ) // Test constraint, large displacement Vector f2(const Pose2& pose1, const Pose2& pose2) { Pose2 z(2,2,M_PI_2); - Pose2Factor constraint(PoseKey(1), PoseKey(2), z, covariance); + Pose2Factor constraint(1, 2, z, covariance); return constraint.evaluateError(pose1, pose2); } -TEST( Pose2SLAM, constraint2 ) +TEST_UNSAFE( Pose2SLAM, constraint2 ) { // create a factor between unknown poses p1 and p2 Pose2 pose1, pose2(2,2,M_PI_2); - Pose2Factor constraint(PoseKey(1), PoseKey(2), pose2, covariance); + Pose2Factor constraint(1, 2, pose2, covariance); Matrix H1, H2; Vector actual = constraint.evaluateError(pose1, pose2, H1, H2); @@ -93,7 +90,7 @@ TEST( Pose2SLAM, constraint2 ) } /* ************************************************************************* */ -TEST( Pose2SLAM, constructor ) +TEST_UNSAFE( Pose2SLAM, constructor ) { // create a factor between unknown poses p1 and p2 Pose2 measured(2,2,M_PI_2); @@ -107,11 +104,11 @@ TEST( Pose2SLAM, constructor ) } /* ************************************************************************* */ -TEST( Pose2SLAM, linearization ) +TEST_UNSAFE( Pose2SLAM, linearization ) { // create a factor between unknown poses p1 and p2 Pose2 measured(2,2,M_PI_2); - Pose2Factor constraint(PoseKey(1), PoseKey(2), measured, covariance); + Pose2Factor constraint(1, 2, measured, covariance); pose2SLAM::Graph graph; graph.addOdometry(1,2,measured, covariance); @@ -119,8 +116,8 @@ TEST( Pose2SLAM, linearization ) Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) Pose2 p2(-1,4.1,M_PI); // robot at (-1,4) looking at negative (ground truth is at 4.1,2) pose2SLAM::Values config; - config.insert(pose2SLAM::PoseKey(1),p1); - config.insert(pose2SLAM::PoseKey(2),p2); + config.insert(1,p1); + config.insert(2,p2); // Linearize Ordering ordering(*config.orderingArbitrary()); boost::shared_ptr > lfg_linearized = graph.linearize(config, ordering); @@ -140,13 +137,13 @@ TEST( Pose2SLAM, linearization ) Vector b = Vector_(3,-0.1/sx,0.1/sy,0.0); SharedDiagonal probModel1 = noiseModel::Unit::Create(3); - lfg_expected.push_back(JacobianFactor::shared_ptr(new JacobianFactor(ordering[kx1], A1, ordering[kx2], A2, b, probModel1))); + lfg_expected.push_back(JacobianFactor::shared_ptr(new JacobianFactor(ordering[1], A1, ordering[2], A2, b, probModel1))); CHECK(assert_equal(lfg_expected, *lfg_linearized)); } /* ************************************************************************* */ -TEST(Pose2SLAM, optimize) { +TEST_UNSAFE(Pose2SLAM, optimize) { // create a Pose graph with one equality constraint and one measurement pose2SLAM::Graph fg; @@ -155,12 +152,12 @@ TEST(Pose2SLAM, optimize) { // Create initial config Values initial; - initial.insert(pose2SLAM::PoseKey(0), Pose2(0,0,0)); - initial.insert(pose2SLAM::PoseKey(1), Pose2(0,0,0)); + initial.insert(0, Pose2(0,0,0)); + initial.insert(1, Pose2(0,0,0)); // Choose an ordering and optimize Ordering ordering; - ordering += kx0, kx1; + ordering += 0, 1; LevenbergMarquardtParams params; params.relativeErrorTol = 1e-15; @@ -169,23 +166,23 @@ TEST(Pose2SLAM, optimize) { // Check with expected config Values expected; - expected.insert(pose2SLAM::PoseKey(0), Pose2(0,0,0)); - expected.insert(pose2SLAM::PoseKey(1), Pose2(1,2,M_PI_2)); + expected.insert(0, Pose2(0,0,0)); + expected.insert(1, Pose2(1,2,M_PI_2)); CHECK(assert_equal(expected, actual)); // Check marginals Marginals marginals = fg.marginals(actual); // Matrix expectedP0 = Infinity, as we have a pose constraint !? - // Matrix actualP0 = marginals.marginalCovariance(pose2SLAM::PoseKey(0)); + // Matrix actualP0 = marginals.marginalCovariance(0); // EQUALITY(expectedP0, actualP0); Matrix expectedP1 = cov; // the second pose really should have just the noise covariance - Matrix actualP1 = marginals.marginalCovariance(pose2SLAM::PoseKey(1)); + Matrix actualP1 = marginals.marginalCovariance(1); EQUALITY(expectedP1, actualP1); } /* ************************************************************************* */ -// test optimization with 3 poses -TEST(Pose2SLAM, optimizeThreePoses) { +// test optimization with 3 poses, note we use plain Keys here, not symbols +TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) { // Create a hexagon of poses pose2SLAM::Values hexagon = pose2SLAM::circle(3,1.0); @@ -207,7 +204,7 @@ TEST(Pose2SLAM, optimizeThreePoses) { // Choose an ordering Ordering ordering; - ordering += kx0,kx1,kx2; + ordering += 0,1,2; // optimize LevenbergMarquardtParams params; @@ -231,12 +228,12 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { pose2SLAM::Graph fg; fg.addPoseConstraint(0, p0); Pose2 delta = p0.between(p1); - fg.addOdometry(0, 1, delta, covariance); + fg.addOdometry(0,1, delta, covariance); fg.addOdometry(1,2, delta, covariance); fg.addOdometry(2,3, delta, covariance); fg.addOdometry(3,4, delta, covariance); fg.addOdometry(4,5, delta, covariance); - fg.addOdometry(5, 0, delta, covariance); + fg.addOdometry(5,0, delta, covariance); // Create initial config pose2SLAM::Values initial; @@ -249,7 +246,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { // Choose an ordering Ordering ordering; - ordering += kx0,kx1,kx2,kx3,kx4,kx5; + ordering += 0,1,2,3,4,5; // optimize LevenbergMarquardtParams params; @@ -261,7 +258,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { CHECK(assert_equal((const Values&)hexagon, actual)); // Check loop closure - CHECK(assert_equal(delta, actual.at(PoseKey(5)).between(actual.at(PoseKey(0))))); + CHECK(assert_equal(delta, actual.at(5).between(actual.at(0)))); // Pose2SLAMOptimizer myOptimizer("3"); @@ -299,7 +296,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { } /* ************************************************************************* */ -TEST(Pose2SLAM, optimize2) { +TEST_UNSAFE(Pose2SLAM, optimize2) { // Pose2SLAMOptimizer myOptimizer("100"); // Matrix A1 = myOptimizer.a1(); // Matrix A2 = myOptimizer.a2(); @@ -317,7 +314,7 @@ TEST(Pose2SLAM, optimize2) { } ///* ************************************************************************* */ -// SL-NEEDED? TEST(Pose2SLAM, findMinimumSpanningTree) { +// SL-NEEDED? TEST_UNSAFE(Pose2SLAM, findMinimumSpanningTree) { // pose2SLAM::Graph G, T, C; // G.addConstraint(1, 2, Pose2(0.,0.,0.), I3); // G.addConstraint(1, 3, Pose2(0.,0.,0.), I3); @@ -331,7 +328,7 @@ TEST(Pose2SLAM, optimize2) { //} // ///* ************************************************************************* */ -// SL-NEEDED? TEST(Pose2SLAM, split) { +// SL-NEEDED? TEST_UNSAFE(Pose2SLAM, split) { // pose2SLAM::Graph G, T, C; // G.addConstraint(1, 2, Pose2(0.,0.,0.), I3); // G.addConstraint(1, 3, Pose2(0.,0.,0.), I3); @@ -350,37 +347,37 @@ TEST(Pose2SLAM, optimize2) { using namespace pose2SLAM; /* ************************************************************************* */ -TEST(Pose2Values, pose2Circle ) +TEST_UNSAFE(Pose2Values, pose2Circle ) { // expected is 4 poses tangent to circle with radius 1m pose2SLAM::Values expected; - expected.insert(pose2SLAM::PoseKey(0), Pose2( 1, 0, M_PI_2)); - expected.insert(pose2SLAM::PoseKey(1), Pose2( 0, 1, - M_PI )); - expected.insert(pose2SLAM::PoseKey(2), Pose2(-1, 0, - M_PI_2)); - expected.insert(pose2SLAM::PoseKey(3), Pose2( 0, -1, 0 )); + expected.insert(0, Pose2( 1, 0, M_PI_2)); + expected.insert(1, Pose2( 0, 1, - M_PI )); + expected.insert(2, Pose2(-1, 0, - M_PI_2)); + expected.insert(3, Pose2( 0, -1, 0 )); pose2SLAM::Values actual = pose2SLAM::circle(4,1.0); CHECK(assert_equal(expected,actual)); } /* ************************************************************************* */ -TEST(Pose2SLAM, expmap ) +TEST_UNSAFE(Pose2SLAM, expmap ) { // expected is circle shifted to right pose2SLAM::Values expected; - expected.insert(pose2SLAM::PoseKey(0), Pose2( 1.1, 0, M_PI_2)); - expected.insert(pose2SLAM::PoseKey(1), Pose2( 0.1, 1, - M_PI )); - expected.insert(pose2SLAM::PoseKey(2), Pose2(-0.9, 0, - M_PI_2)); - expected.insert(pose2SLAM::PoseKey(3), Pose2( 0.1, -1, 0 )); + expected.insert(0, Pose2( 1.1, 0, M_PI_2)); + expected.insert(1, Pose2( 0.1, 1, - M_PI )); + expected.insert(2, Pose2(-0.9, 0, - M_PI_2)); + expected.insert(3, Pose2( 0.1, -1, 0 )); // Note expmap coordinates are in local coordinates, so shifting to right requires thought !!! pose2SLAM::Values circle(pose2SLAM::circle(4,1.0)); Ordering ordering(*circle.orderingArbitrary()); VectorValues delta(circle.dims(ordering)); - delta[ordering[pose2SLAM::PoseKey(0)]] = Vector_(3, 0.0,-0.1,0.0); - delta[ordering[pose2SLAM::PoseKey(1)]] = Vector_(3, -0.1,0.0,0.0); - delta[ordering[pose2SLAM::PoseKey(2)]] = Vector_(3, 0.0,0.1,0.0); - delta[ordering[pose2SLAM::PoseKey(3)]] = Vector_(3, 0.1,0.0,0.0); + delta[ordering[0]] = Vector_(3, 0.0,-0.1,0.0); + delta[ordering[1]] = Vector_(3, -0.1,0.0,0.0); + delta[ordering[2]] = Vector_(3, 0.0,0.1,0.0); + delta[ordering[3]] = Vector_(3, 0.1,0.0,0.0); pose2SLAM::Values actual = circle.retract(delta, ordering); CHECK(assert_equal(expected,actual)); } @@ -390,15 +387,15 @@ static SharedNoiseModel sigmas = sharedSigmas(Vector_(3,sx,sy,st)); /* ************************************************************************* */ // Very simple test establishing Ax-b \approx z-h(x) -TEST( Pose2Prior, error ) +TEST_UNSAFE( Pose2Prior, error ) { // Choose a linearization point Pose2 p1(1, 0, 0); // robot at (1,0) pose2SLAM::Values x0; - x0.insert(PoseKey(1), p1); + x0.insert(1, p1); // Create factor - pose2SLAM::Prior factor(PoseKey(1), p1, sigmas); + pose2SLAM::Prior factor(1, p1, sigmas); // Actual linearization Ordering ordering(*x0.orderingArbitrary()); @@ -407,14 +404,14 @@ TEST( Pose2Prior, error ) // Check error at x0, i.e. delta = zero ! VectorValues delta(VectorValues::Zero(x0.dims(ordering))); - delta[ordering[kx1]] = zero(3); + delta[ordering[1]] = zero(3); Vector error_at_zero = Vector_(3,0.0,0.0,0.0); CHECK(assert_equal(error_at_zero,factor.whitenedError(x0))); CHECK(assert_equal(-error_at_zero,linear->error_vector(delta))); // Check error after increasing p2 VectorValues addition(VectorValues::Zero(x0.dims(ordering))); - addition[ordering[kx1]] = Vector_(3, 0.1, 0.0, 0.0); + addition[ordering[1]] = Vector_(3, 0.1, 0.0, 0.0); VectorValues plus = delta + addition; pose2SLAM::Values x1 = x0.retract(plus, ordering); Vector error_at_plus = Vector_(3,0.1/sx,0.0,0.0); // h(x)-z = 0.1 ! @@ -425,7 +422,7 @@ TEST( Pose2Prior, error ) /* ************************************************************************* */ // common Pose2Prior for tests below static gtsam::Pose2 priorVal(2,2,M_PI_2); -static pose2SLAM::Prior priorFactor(PoseKey(1), priorVal, sigmas); +static pose2SLAM::Prior priorFactor(1, priorVal, sigmas); /* ************************************************************************* */ // The error |A*dx-b| approximates (h(x0+dx)-z) = -error_vector @@ -435,7 +432,7 @@ LieVector hprior(const Pose2& p1) { } /* ************************************************************************* */ -TEST( Pose2Prior, linearize ) +TEST_UNSAFE( Pose2Prior, linearize ) { // Choose a linearization point at ground truth pose2SLAM::Values x0; @@ -448,12 +445,12 @@ TEST( Pose2Prior, linearize ) // Test with numerical derivative Matrix numericalH = numericalDerivative11(hprior, priorVal); - CHECK(assert_equal(numericalH,actual->getA(actual->find(ordering[kx1])))); + CHECK(assert_equal(numericalH,actual->getA(actual->find(ordering[1])))); } /* ************************************************************************* */ // Very simple test establishing Ax-b \approx z-h(x) -TEST( Pose2Factor, error ) +TEST_UNSAFE( Pose2Factor, error ) { // Choose a linearization point Pose2 p1; // robot at origin @@ -464,7 +461,7 @@ TEST( Pose2Factor, error ) // Create factor Pose2 z = p1.between(p2); - Pose2Factor factor(PoseKey(1), PoseKey(2), z, covariance); + Pose2Factor factor(1, 2, z, covariance); // Actual linearization Ordering ordering(*x0.orderingArbitrary()); @@ -473,15 +470,15 @@ TEST( Pose2Factor, error ) // Check error at x0, i.e. delta = zero ! VectorValues delta(x0.dims(ordering)); - delta[ordering[kx1]] = zero(3); - delta[ordering[kx2]] = zero(3); + delta[ordering[1]] = zero(3); + delta[ordering[2]] = zero(3); Vector error_at_zero = Vector_(3,0.0,0.0,0.0); CHECK(assert_equal(error_at_zero,factor.unwhitenedError(x0))); CHECK(assert_equal(-error_at_zero, linear->error_vector(delta))); // Check error after increasing p2 VectorValues plus = delta; - plus[ordering[kx2]] = Vector_(3, 0.1, 0.0, 0.0); + plus[ordering[2]] = Vector_(3, 0.1, 0.0, 0.0); pose2SLAM::Values x1 = x0.retract(plus, ordering); Vector error_at_plus = Vector_(3,0.1/sx,0.0,0.0); // h(x)-z = 0.1 ! CHECK(assert_equal(error_at_plus,factor.whitenedError(x1))); @@ -491,17 +488,17 @@ TEST( Pose2Factor, error ) /* ************************************************************************* */ // common Pose2Factor for tests below static Pose2 measured(2,2,M_PI_2); -static Pose2Factor factor(PoseKey(1),PoseKey(2),measured, covariance); +static Pose2Factor factor(1,2,measured, covariance); /* ************************************************************************* */ -TEST( Pose2Factor, rhs ) +TEST_UNSAFE( Pose2Factor, rhs ) { // Choose a linearization point Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) Pose2 p2(-1,4.1,M_PI); // robot at (-1,4.1) looking at negative (ground truth is at -1,4) pose2SLAM::Values x0; - x0.insert(pose2SLAM::PoseKey(1),p1); - x0.insert(pose2SLAM::PoseKey(2),p2); + x0.insert(1,p1); + x0.insert(2,p2); // Actual linearization Ordering ordering(*x0.orderingArbitrary()); @@ -524,14 +521,14 @@ LieVector h(const Pose2& p1,const Pose2& p2) { } /* ************************************************************************* */ -TEST( Pose2Factor, linearize ) +TEST_UNSAFE( Pose2Factor, linearize ) { // Choose a linearization point at ground truth Pose2 p1(1,2,M_PI_2); Pose2 p2(-1,4,M_PI); pose2SLAM::Values x0; - x0.insert(pose2SLAM::PoseKey(1),p1); - x0.insert(pose2SLAM::PoseKey(2),p2); + x0.insert(1,p1); + x0.insert(2,p2); // expected linearization Matrix expectedH1 = covariance->Whiten(Matrix_(3,3, @@ -549,7 +546,7 @@ TEST( Pose2Factor, linearize ) // expected linear factor Ordering ordering(*x0.orderingArbitrary()); SharedDiagonal probModel1 = noiseModel::Unit::Create(3); - JacobianFactor expected(ordering[kx1], expectedH1, ordering[kx2], expectedH2, expected_b, probModel1); + JacobianFactor expected(ordering[1], expectedH1, ordering[2], expectedH2, expected_b, probModel1); // Actual linearization boost::shared_ptr actual = diff --git a/gtsam/slam/tests/testPose3SLAM.cpp b/gtsam/slam/tests/testPose3SLAM.cpp index d4ab3afdb..4ebe7d27f 100644 --- a/gtsam/slam/tests/testPose3SLAM.cpp +++ b/gtsam/slam/tests/testPose3SLAM.cpp @@ -10,39 +10,33 @@ * -------------------------------------------------------------------------- */ /** - * @file testPose3Graph.cpp - * @author Frank Dellaert, Viorela Ila + * @file testpose3SLAM.cpp + * @author Frank Dellaert + * @author Viorela Ila **/ -#include +#include +#include +#include + +#include -#include #include #include #include using namespace boost; using namespace boost::assign; -#include - -// TODO: DANGEROUS, create shared pointers -#define GTSAM_MAGIC_GAUSSIAN 6 - -#include -#include -#include +#include using namespace std; using namespace gtsam; -using namespace pose3SLAM; // common measurement covariance -static Matrix covariance = eye(6); +static noiseModel::Gaussian::shared_ptr covariance(noiseModel::Unit::Create(6)); const double tol=1e-5; -const Key kx0 = Symbol('x',0), kx1 = Symbol('x',1), kx2 = Symbol('x',2), kx3 = Symbol('x',3), kx4 = Symbol('x',4), kx5 = Symbol('x',5); - /* ************************************************************************* */ // test optimization with 6 poses arranged in a hexagon and a loop closure TEST(Pose3Graph, optimizeCircle) { @@ -50,7 +44,7 @@ TEST(Pose3Graph, optimizeCircle) { // Create a hexagon of poses double radius = 10; Values hexagon = pose3SLAM::circle(6,radius); - Pose3 gT0 = hexagon.at(PoseKey(0)), gT1 = hexagon.at(PoseKey(1)); + Pose3 gT0 = hexagon.at(0), gT1 = hexagon.at(1); // create a Pose graph with one equality constraint and one measurement pose3SLAM::Graph fg; @@ -67,16 +61,16 @@ TEST(Pose3Graph, optimizeCircle) { // Create initial config Values initial; - initial.insert(PoseKey(0), gT0); - initial.insert(PoseKey(1), hexagon.at(PoseKey(1)).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); - initial.insert(PoseKey(2), hexagon.at(PoseKey(2)).retract(Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1))); - initial.insert(PoseKey(3), hexagon.at(PoseKey(3)).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); - initial.insert(PoseKey(4), hexagon.at(PoseKey(4)).retract(Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1))); - initial.insert(PoseKey(5), hexagon.at(PoseKey(5)).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); + initial.insert(0, gT0); + initial.insert(1, hexagon.at(1).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); + initial.insert(2, hexagon.at(2).retract(Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1))); + initial.insert(3, hexagon.at(3).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); + initial.insert(4, hexagon.at(4).retract(Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1))); + initial.insert(5, hexagon.at(5).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); // Choose an ordering and optimize Ordering ordering; - ordering += kx0,kx1,kx2,kx3,kx4,kx5; + ordering += 0,1,2,3,4,5; Values actual = LevenbergMarquardtOptimizer(fg, initial, ordering).optimize(); @@ -84,7 +78,7 @@ TEST(Pose3Graph, optimizeCircle) { CHECK(assert_equal(hexagon, actual,1e-4)); // Check loop closure - CHECK(assert_equal(_0T1, actual.at(PoseKey(5)).between(actual.at(PoseKey(0))),1e-5)); + CHECK(assert_equal(_0T1, actual.at(5).between(actual.at(0)),1e-5)); } /* ************************************************************************* */ @@ -94,11 +88,10 @@ TEST(Pose3Graph, partial_prior_height) { // reference: Pose3 Expmap - (0-2: Rot3) (3-5: Point3) // height prior - single element interface - Symbol key = PoseKey(1); double exp_height = 5.0; SharedDiagonal model = noiseModel::Unit::Create(1); Pose3 init(Rot3(), Point3(1.0, 2.0, 3.0)), expected(Rot3(), Point3(1.0, 2.0, exp_height)); - Partial height(key, 5, exp_height, model); + Partial height(1, 5, exp_height, model); Matrix actA; EXPECT(assert_equal(Vector_(1,-2.0), height.evaluateError(init, actA), tol)); Matrix expA = Matrix_(1, 6, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0); @@ -108,13 +101,13 @@ TEST(Pose3Graph, partial_prior_height) { graph.add(height); Values values; - values.insert(key, init); + values.insert(1, init); // linearization EXPECT_DOUBLES_EQUAL(2.0, height.error(values), tol); Values actual = LevenbergMarquardtOptimizer(graph, values).optimize(); - EXPECT(assert_equal(expected, actual.at(key), tol)); + EXPECT(assert_equal(expected, actual.at(1), tol)); EXPECT_DOUBLES_EQUAL(0.0, graph.error(actual), tol); } @@ -128,12 +121,12 @@ TEST( Pose3Factor, error ) // Create factor SharedNoiseModel I6(noiseModel::Unit::Create(6)); - pose3SLAM::Constraint factor(PoseKey(1), PoseKey(2), z, I6); + pose3SLAM::Constraint factor(1, 2, z, I6); // Create config Values x; - x.insert(PoseKey(1),t1); - x.insert(PoseKey(2),t2); + x.insert(1,t1); + x.insert(2,t2); // Get error h(x)-z -> localCoordinates(z,h(x)) = localCoordinates(z,between(t1,t2)) Vector actual = factor.unwhitenedError(x); @@ -146,12 +139,11 @@ TEST(Pose3Graph, partial_prior_xy) { typedef PartialPriorFactor Partial; // XY prior - full mask interface - Symbol key = PoseKey(1); Vector exp_xy = Vector_(2, 3.0, 4.0); SharedDiagonal model = noiseModel::Unit::Create(2); Pose3 init(Rot3(), Point3(1.0,-2.0, 3.0)), expected(Rot3(), Point3(3.0, 4.0, 3.0)); vector mask; mask += 3, 4; - Partial priorXY(key, mask, exp_xy, model); + Partial priorXY(1, mask, exp_xy, model); Matrix actA; EXPECT(assert_equal(Vector_(2,-2.0,-6.0), priorXY.evaluateError(init, actA), tol)); Matrix expA = Matrix_(2, 6, @@ -163,10 +155,10 @@ TEST(Pose3Graph, partial_prior_xy) { graph.add(priorXY); Values values; - values.insert(key, init); + values.insert(1, init); Values actual = LevenbergMarquardtOptimizer(graph, values).optimize(); - EXPECT(assert_equal(expected, actual.at(key), tol)); + EXPECT(assert_equal(expected, actual.at(1), tol)); EXPECT_DOUBLES_EQUAL(0.0, graph.error(actual), tol); } @@ -182,10 +174,10 @@ TEST( Values, pose3Circle ) { // expected is 4 poses tangent to circle with radius 1m Values expected; - expected.insert(PoseKey(0), Pose3(R1, Point3( 1, 0, 0))); - expected.insert(PoseKey(1), Pose3(R2, Point3( 0, 1, 0))); - expected.insert(PoseKey(2), Pose3(R3, Point3(-1, 0, 0))); - expected.insert(PoseKey(3), Pose3(R4, Point3( 0,-1, 0))); + expected.insert(0, Pose3(R1, Point3( 1, 0, 0))); + expected.insert(1, Pose3(R2, Point3( 0, 1, 0))); + expected.insert(2, Pose3(R3, Point3(-1, 0, 0))); + expected.insert(3, Pose3(R4, Point3( 0,-1, 0))); Values actual = pose3SLAM::circle(4,1.0); CHECK(assert_equal(expected,actual)); @@ -195,10 +187,10 @@ TEST( Values, pose3Circle ) TEST( Values, expmap ) { Values expected; - expected.insert(PoseKey(0), Pose3(R1, Point3( 1.0, 0.1, 0))); - expected.insert(PoseKey(1), Pose3(R2, Point3(-0.1, 1.0, 0))); - expected.insert(PoseKey(2), Pose3(R3, Point3(-1.0,-0.1, 0))); - expected.insert(PoseKey(3), Pose3(R4, Point3( 0.1,-1.0, 0))); + expected.insert(0, Pose3(R1, Point3( 1.0, 0.1, 0))); + expected.insert(1, Pose3(R2, Point3(-0.1, 1.0, 0))); + expected.insert(2, Pose3(R3, Point3(-1.0,-0.1, 0))); + expected.insert(3, Pose3(R4, Point3( 0.1,-1.0, 0))); Ordering ordering(*expected.orderingArbitrary()); VectorValues delta(expected.dims(ordering)); diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index 8b4ecbf21..80b35f269 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -16,13 +16,11 @@ * @date Nov 2009 */ -#include - #include +#include using namespace std; using namespace gtsam; -using namespace visualSLAM; // make cube static Point3 @@ -37,23 +35,23 @@ static Cal3_S2 K(fov,w,h); static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); static shared_ptrK sK(new Cal3_S2(K)); -const Key kx1 = Symbol('x',1), kl1 = Symbol('l',1); - -// make cameras +// Convenience for named keys +Key kx(size_t i) { return Symbol('x',i); } +Key kl(size_t i) { return Symbol('l',i); } /* ************************************************************************* */ TEST( ProjectionFactor, error ) { // Create the factor with a measurement that is 3 pixels off in x Point2 z(323.,240.); - int cameraFrameNumber=1, landmarkNumber=1; + int i=1, j=1; boost::shared_ptr - factor(new visualSLAM::ProjectionFactor(z, sigma, PoseKey(cameraFrameNumber), PointKey(landmarkNumber), sK)); + factor(new visualSLAM::ProjectionFactor(z, sigma, kx(i), kl(j), sK)); // For the following values structure, the factor predicts 320,240 Values config; - Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.insert(PoseKey(1), x1); - Point3 l1; config.insert(PointKey(1), l1); + Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.insert(kx(1), x1); + Point3 l1; config.insert(kl(1), l1); // Point should project to Point2(320.,240.) CHECK(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(config))); @@ -61,12 +59,12 @@ TEST( ProjectionFactor, error ) DOUBLES_EQUAL(4.5,factor->error(config),1e-9); // Check linearize - Ordering ordering; ordering += kx1,kl1; + Ordering ordering; ordering += kx(1),kl(1); Matrix Ax1 = Matrix_(2, 6, 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.); Matrix Al1 = Matrix_(2, 3, 92.376, 0., 0., 0., 92.376, 0.); Vector b = Vector_(2,3.,0.); SharedDiagonal probModel1 = noiseModel::Unit::Create(2); - JacobianFactor expected(ordering[kx1], Ax1, ordering[kl1], Al1, b, probModel1); + JacobianFactor expected(ordering[kx(1)], Ax1, ordering[kl(1)], Al1, b, probModel1); JacobianFactor::shared_ptr actual = boost::dynamic_pointer_cast(factor->linearize(config, ordering)); CHECK(assert_equal(expected,*actual,1e-3)); @@ -81,11 +79,11 @@ TEST( ProjectionFactor, error ) // expmap on a config Values expected_config; - Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.insert(PoseKey(1), x2); - Point3 l2(1,2,3); expected_config.insert(PointKey(1), l2); + Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.insert(kx(1), x2); + Point3 l2(1,2,3); expected_config.insert(kl(1), l2); VectorValues delta(expected_config.dims(ordering)); - delta[ordering[kx1]] = Vector_(6, 0.,0.,0., 1.,1.,1.); - delta[ordering[kl1]] = Vector_(3, 1.,2.,3.); + delta[ordering[kx(1)]] = Vector_(6, 0.,0.,0., 1.,1.,1.); + delta[ordering[kl(1)]] = Vector_(3, 1.,2.,3.); Values actual_config = config.retract(delta, ordering); CHECK(assert_equal(expected_config,actual_config,1e-9)); } @@ -95,12 +93,12 @@ TEST( ProjectionFactor, equals ) { // Create two identical factors and make sure they're equal Vector z = Vector_(2,323.,240.); - int cameraFrameNumber=1, landmarkNumber=1; + int i=1, j=1; boost::shared_ptr - factor1(new visualSLAM::ProjectionFactor(z, sigma, PoseKey(cameraFrameNumber), PointKey(landmarkNumber), sK)); + factor1(new visualSLAM::ProjectionFactor(z, sigma, kx(i), kl(j), sK)); boost::shared_ptr - factor2(new visualSLAM::ProjectionFactor(z, sigma, PoseKey(cameraFrameNumber), PointKey(landmarkNumber), sK)); + factor2(new visualSLAM::ProjectionFactor(z, sigma, kx(i), kl(j), sK)); CHECK(assert_equal(*factor1, *factor2)); } diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/gtsam/slam/tests/testSerializationSLAM.cpp index 9cfb8bb72..4442d73fc 100644 --- a/gtsam/slam/tests/testSerializationSLAM.cpp +++ b/gtsam/slam/tests/testSerializationSLAM.cpp @@ -11,7 +11,7 @@ /** * @file testSerializationSLAM.cpp - * @brief + * @brief test serialization * @author Richard Roberts * @date Feb 7, 2012 */ @@ -109,19 +109,20 @@ BOOST_CLASS_EXPORT(gtsam::Pose2) TEST (Serialization, planar_system) { using namespace planarSLAM; planarSLAM::Values values; - values.insert(PointKey(3), Point2(1.0, 2.0)); - values.insert(PoseKey(4), Pose2(1.0, 2.0, 0.3)); + Symbol i2('x',2), i3('x',3), i4('x',4), i9('x',9), j3('l',3), j5('l',5), j9('l',9); + values.insert(j3, Point2(1.0, 2.0)); + values.insert(i4, Pose2(1.0, 2.0, 0.3)); SharedNoiseModel model1 = noiseModel::Isotropic::Sigma(1, 0.3); SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.3); SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.3); - Prior prior(PoseKey(3), Pose2(0.1,-0.3, 0.2), model1); - Bearing bearing(PoseKey(3), PointKey(5), Rot2::fromDegrees(0.5), model1); - Range range(PoseKey(2), PointKey(9), 7.0, model1); - BearingRange bearingRange(PoseKey(2), PointKey(3), Rot2::fromDegrees(0.6), 2.0, model2); - Odometry odometry(PoseKey(2), PoseKey(3), Pose2(1.0, 2.0, 0.3), model3); - Constraint constraint(PoseKey(9), Pose2(2.0,-1.0, 0.2)); + Prior prior(i3, Pose2(0.1,-0.3, 0.2), model1); + Bearing bearing(i3, j5, Rot2::fromDegrees(0.5), model1); + Range range(i2, j9, 7.0, model1); + BearingRange bearingRange(i2, j3, Rot2::fromDegrees(0.6), 2.0, model2); + Odometry odometry(i2, i3, Pose2(1.0, 2.0, 0.3), model3); + Constraint constraint(i9, Pose2(2.0,-1.0, 0.2)); Graph graph; graph.add(prior); @@ -132,8 +133,8 @@ TEST (Serialization, planar_system) { graph.add(constraint); // text - EXPECT(equalsObj(PoseKey(2))); - EXPECT(equalsObj(PointKey(3))); + EXPECT(equalsObj(i2)); + EXPECT(equalsObj(j3)); EXPECT(equalsObj(values)); EXPECT(equalsObj(prior)); EXPECT(equalsObj(bearing)); @@ -144,8 +145,8 @@ TEST (Serialization, planar_system) { EXPECT(equalsObj(graph)); // xml - EXPECT(equalsXML(PoseKey(2))); - EXPECT(equalsXML(PointKey(3))); + EXPECT(equalsXML(i2)); + EXPECT(equalsXML(j3)); EXPECT(equalsXML(values)); EXPECT(equalsXML(prior)); EXPECT(equalsXML(bearing)); @@ -189,11 +190,11 @@ TEST (Serialization, visual_system) { boost::shared_ptr K(new Cal3_S2(cal1)); Graph graph; - graph.addMeasurement(Point2(1.0, 2.0), model2, 1, 1, K); - graph.addPointConstraint(1, pt1); - graph.addPointPrior(1, pt2, model3); - graph.addPoseConstraint(1, pose1); - graph.addPosePrior(1, pose2, model6); + graph.addMeasurement(Point2(1.0, 2.0), model2, x1, l1, K); + graph.addPointConstraint(l1, pt1); + graph.addPointPrior(l1, pt2, model3); + graph.addPoseConstraint(x1, pose1); + graph.addPosePrior(x1, pose2, model6); EXPECT(equalsObj(values)); EXPECT(equalsObj(graph)); diff --git a/gtsam/slam/tests/testSimulated2D.cpp b/gtsam/slam/tests/testSimulated2D.cpp index 3513927a7..b72a8f4c0 100644 --- a/gtsam/slam/tests/testSimulated2D.cpp +++ b/gtsam/slam/tests/testSimulated2D.cpp @@ -31,8 +31,8 @@ using namespace simulated2D; TEST( simulated2D, Simulated2DValues ) { simulated2D::Values actual; - actual.insert(simulated2D::PoseKey(1),Point2(1,1)); - actual.insert(simulated2D::PointKey(2),Point2(2,2)); + actual.insert(1,Point2(1,1)); + actual.insert(2,Point2(2,2)); EXPECT(assert_equal(actual,actual,1e-9)); } diff --git a/gtsam/slam/tests/testSimulated2DOriented.cpp b/gtsam/slam/tests/testSimulated2DOriented.cpp index 64844cb2a..b3d6e8d9e 100644 --- a/gtsam/slam/tests/testSimulated2DOriented.cpp +++ b/gtsam/slam/tests/testSimulated2DOriented.cpp @@ -28,6 +28,10 @@ using namespace std; using namespace gtsam; using namespace simulated2DOriented; +// Convenience for named keys +Key kx(size_t i) { return Symbol('x',i); } +Key kl(size_t i) { return Symbol('l',i); } + /* ************************************************************************* */ TEST( simulated2DOriented, Dprior ) { @@ -55,11 +59,11 @@ TEST( simulated2DOriented, constructor ) { Pose2 measurement(0.2, 0.3, 0.1); SharedDiagonal model(Vector_(3, 1., 1., 1.)); - simulated2DOriented::Odometry factor(measurement, model, simulated2DOriented::PoseKey(1), simulated2DOriented::PoseKey(2)); + simulated2DOriented::Odometry factor(measurement, model, kx(1), kx(2)); simulated2DOriented::Values config; - config.insert(simulated2DOriented::PoseKey(1), Pose2(1., 0., 0.2)); - config.insert(simulated2DOriented::PoseKey(2), Pose2(2., 0., 0.1)); + config.insert(kx(1), Pose2(1., 0., 0.2)); + config.insert(kx(2), Pose2(2., 0., 0.1)); boost::shared_ptr lf = factor.linearize(config, *config.orderingArbitrary()); } diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index 25cd6e16f..ffa512d96 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -12,24 +12,20 @@ /** * @file testStereoFactor.cpp * @brief Unit test for StereoFactor - * single camera * @author Chris Beall */ -#include - -#include -#include +#include +#include #include #include -#include +#include +#include -#include +#include using namespace std; using namespace gtsam; -using namespace boost; -using namespace visualSLAM; Pose3 camera1(Matrix_(3,3, 1., 0., 0., @@ -45,6 +41,10 @@ StereoCamera stereoCam(Pose3(), K); Point3 p(0, 0, 5); static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); +// Convenience for named keys +Key kx(size_t i) { return Symbol('x',i); } +Key kl(size_t i) { return Symbol('l',i); } + /* ************************************************************************* */ TEST( StereoFactor, singlePoint) { @@ -52,18 +52,18 @@ TEST( StereoFactor, singlePoint) boost::shared_ptr K(new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5)); NonlinearFactorGraph graph; - graph.add(visualSLAM::PoseConstraint(PoseKey(1),camera1)); + graph.add(visualSLAM::PoseConstraint(kx(1),camera1)); StereoPoint2 z14(320,320.0-50, 240); // arguments: measurement, sigma, cam#, measurement #, K, baseline (m) - graph.add(visualSLAM::StereoFactor(z14,sigma, PoseKey(1), PointKey(1), K)); + graph.add(visualSLAM::StereoFactor(z14,sigma, kx(1), kl(1), K)); // Create a configuration corresponding to the ground truth Values values; - values.insert(PoseKey(1), camera1); // add camera at z=6.25m looking towards origin + values.insert(kx(1), camera1); // add camera at z=6.25m looking towards origin Point3 l1(0, 0, 0); - values.insert(PointKey(1), l1); // add point at origin; + values.insert(kl(1), l1); // add point at origin; GaussNewtonOptimizer optimizer(graph, values); diff --git a/gtsam/slam/tests/testVSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp similarity index 65% rename from gtsam/slam/tests/testVSLAM.cpp rename to gtsam/slam/tests/testVisualSLAM.cpp index bb7623954..27b930022 100644 --- a/gtsam/slam/tests/testVSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -10,43 +10,45 @@ * -------------------------------------------------------------------------- */ /** - * @file testGraph.cpp - * @brief Unit test for two cameras and four landmarks - * single camera + * @file testVisualSLAM.cpp + * @brief Unit test for two cameras and four landmarks, single camera * @author Chris Beall * @author Frank Dellaert * @author Viorela Ila */ +#include +#include +#include + #include #include using namespace boost; -#include -#include -#include - using namespace std; using namespace gtsam; -using namespace boost; -using namespace visualSLAM; + +/* ************************************************************************* */ static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); -/* ************************************************************************* */ -Point3 landmark1(-1.0,-1.0, 0.0); -Point3 landmark2(-1.0, 1.0, 0.0); -Point3 landmark3( 1.0, 1.0, 0.0); -Point3 landmark4( 1.0,-1.0, 0.0); +// Convenience for named keys +Key kx(size_t i) { return Symbol('x',i); } +Key kl(size_t i) { return Symbol('l',i); } -Pose3 camera1(Matrix_(3,3, +static Point3 landmark1(-1.0,-1.0, 0.0); +static Point3 landmark2(-1.0, 1.0, 0.0); +static Point3 landmark3( 1.0, 1.0, 0.0); +static Point3 landmark4( 1.0,-1.0, 0.0); + +static Pose3 camera1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,6.25)); -Pose3 camera2(Matrix_(3,3, +static Pose3 camera2(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. @@ -66,14 +68,14 @@ visualSLAM::Graph testGraph() { shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0)); visualSLAM::Graph g; - g.addMeasurement(z11, sigma, 1, 1, sK); - g.addMeasurement(z12, sigma, 1, 2, sK); - g.addMeasurement(z13, sigma, 1, 3, sK); - g.addMeasurement(z14, sigma, 1, 4, sK); - g.addMeasurement(z21, sigma, 2, 1, sK); - g.addMeasurement(z22, sigma, 2, 2, sK); - g.addMeasurement(z23, sigma, 2, 3, sK); - g.addMeasurement(z24, sigma, 2, 4, sK); + g.addMeasurement(z11, sigma, kx(1), kl(1), sK); + g.addMeasurement(z12, sigma, kx(1), kl(2), sK); + g.addMeasurement(z13, sigma, kx(1), kl(3), sK); + g.addMeasurement(z14, sigma, kx(1), kl(4), sK); + g.addMeasurement(z21, sigma, kx(2), kl(1), sK); + g.addMeasurement(z22, sigma, kx(2), kl(2), sK); + g.addMeasurement(z23, sigma, kx(2), kl(3), sK); + g.addMeasurement(z24, sigma, kx(2), kl(4), sK); return g; } @@ -83,22 +85,22 @@ TEST( Graph, optimizeLM) // build a graph visualSLAM::Graph graph(testGraph()); // add 3 landmark constraints - graph.addPointConstraint(1, landmark1); - graph.addPointConstraint(2, landmark2); - graph.addPointConstraint(3, landmark3); + graph.addPointConstraint(kl(1), landmark1); + graph.addPointConstraint(kl(2), landmark2); + graph.addPointConstraint(kl(3), landmark3); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(PoseKey(1), camera1); - initialEstimate.insert(PoseKey(2), camera2); - initialEstimate.insert(PointKey(1), landmark1); - initialEstimate.insert(PointKey(2), landmark2); - initialEstimate.insert(PointKey(3), landmark3); - initialEstimate.insert(PointKey(4), landmark4); + initialEstimate.insert(kx(1), camera1); + initialEstimate.insert(kx(2), camera2); + initialEstimate.insert(kl(1), landmark1); + initialEstimate.insert(kl(2), landmark2); + initialEstimate.insert(kl(3), landmark3); + initialEstimate.insert(kl(4), landmark4); // Create an ordering of the variables Ordering ordering; - ordering += PointKey(1),PointKey(2),PointKey(3),PointKey(4),PoseKey(1),PoseKey(2); + ordering += kl(1),kl(2),kl(3),kl(4),kx(1),kx(2); // Create an optimizer and check its error // We expect the initial to be zero because config is the ground truth @@ -121,21 +123,21 @@ TEST( Graph, optimizeLM2) // build a graph visualSLAM::Graph graph(testGraph()); // add 2 camera constraints - graph.addPoseConstraint(1, camera1); - graph.addPoseConstraint(2, camera2); + graph.addPoseConstraint(kx(1), camera1); + graph.addPoseConstraint(kx(2), camera2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(PoseKey(1), camera1); - initialEstimate.insert(PoseKey(2), camera2); - initialEstimate.insert(PointKey(1), landmark1); - initialEstimate.insert(PointKey(2), landmark2); - initialEstimate.insert(PointKey(3), landmark3); - initialEstimate.insert(PointKey(4), landmark4); + initialEstimate.insert(kx(1), camera1); + initialEstimate.insert(kx(2), camera2); + initialEstimate.insert(kl(1), landmark1); + initialEstimate.insert(kl(2), landmark2); + initialEstimate.insert(kl(3), landmark3); + initialEstimate.insert(kl(4), landmark4); // Create an ordering of the variables Ordering ordering; - ordering += PointKey(1),PointKey(2),PointKey(3),PointKey(4),PoseKey(1),PoseKey(2); + ordering += kl(1),kl(2),kl(3),kl(4),kx(1),kx(2); // Create an optimizer and check its error // We expect the initial to be zero because config is the ground truth @@ -158,17 +160,17 @@ TEST( Graph, CHECK_ORDERING) // build a graph visualSLAM::Graph graph = testGraph(); // add 2 camera constraints - graph.addPoseConstraint(1, camera1); - graph.addPoseConstraint(2, camera2); + graph.addPoseConstraint(kx(1), camera1); + graph.addPoseConstraint(kx(2), camera2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(PoseKey(1), camera1); - initialEstimate.insert(PoseKey(2), camera2); - initialEstimate.insert(PointKey(1), landmark1); - initialEstimate.insert(PointKey(2), landmark2); - initialEstimate.insert(PointKey(3), landmark3); - initialEstimate.insert(PointKey(4), landmark4); + initialEstimate.insert(kx(1), camera1); + initialEstimate.insert(kx(2), camera2); + initialEstimate.insert(kl(1), landmark1); + initialEstimate.insert(kl(2), landmark2); + initialEstimate.insert(kl(3), landmark3); + initialEstimate.insert(kl(4), landmark4); // Create an optimizer and check its error // We expect the initial to be zero because config is the ground truth @@ -189,21 +191,21 @@ TEST( Values, update_with_large_delta) { // this test ensures that if the update for delta is larger than // the size of the config, it only updates existing variables Values init; - init.insert(PoseKey(1), Pose3()); - init.insert(PointKey(1), Point3(1.0, 2.0, 3.0)); + init.insert(kx(1), Pose3()); + init.insert(kl(1), Point3(1.0, 2.0, 3.0)); Values expected; - expected.insert(PoseKey(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); - expected.insert(PointKey(1), Point3(1.1, 2.1, 3.1)); + expected.insert(kx(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); + expected.insert(kl(1), Point3(1.1, 2.1, 3.1)); Ordering largeOrdering; Values largeValues = init; - largeValues.insert(PoseKey(2), Pose3()); - largeOrdering += PoseKey(1),PointKey(1),PoseKey(2); + largeValues.insert(kx(2), Pose3()); + largeOrdering += kx(1),kl(1),kx(2); VectorValues delta(largeValues.dims(largeOrdering)); - delta[largeOrdering[PoseKey(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); - delta[largeOrdering[PointKey(1)]] = Vector_(3, 0.1, 0.1, 0.1); - delta[largeOrdering[PoseKey(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); + delta[largeOrdering[kx(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); + delta[largeOrdering[kl(1)]] = Vector_(3, 0.1, 0.1, 0.1); + delta[largeOrdering[kx(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); Values actual = init.retract(delta, largeOrdering); CHECK(assert_equal(expected,actual)); diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index bc2ee199b..cc37e8bff 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -22,38 +22,38 @@ namespace visualSLAM { /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, - Index poseKey, Index pointKey, const shared_ptrK& K) { - boost::shared_ptr factor(new ProjectionFactor(measured, model, PoseKey(poseKey), PointKey(pointKey), K)); + Key poseKey, Key pointKey, const shared_ptrK& K) { + boost::shared_ptr factor(new ProjectionFactor(measured, model, poseKey, pointKey, K)); push_back(factor); } /* ************************************************************************* */ - void Graph::addPoseConstraint(Index poseKey, const Pose3& p) { - boost::shared_ptr factor(new PoseConstraint(PoseKey(poseKey), p)); + void Graph::addPoseConstraint(Key poseKey, const Pose3& p) { + boost::shared_ptr factor(new PoseConstraint(poseKey, p)); push_back(factor); } /* ************************************************************************* */ - void Graph::addPointConstraint(Index pointKey, const Point3& p) { - boost::shared_ptr factor(new PointConstraint(PointKey(pointKey), p)); + void Graph::addPointConstraint(Key pointKey, const Point3& p) { + boost::shared_ptr factor(new PointConstraint(pointKey, p)); push_back(factor); } /* ************************************************************************* */ - void Graph::addPosePrior(Index poseKey, const Pose3& p, const SharedNoiseModel& model) { - boost::shared_ptr factor(new PosePrior(PoseKey(poseKey), p, model)); + void Graph::addPosePrior(Key poseKey, const Pose3& p, const SharedNoiseModel& model) { + boost::shared_ptr factor(new PosePrior(poseKey, p, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addPointPrior(Index pointKey, const Point3& p, const SharedNoiseModel& model) { - boost::shared_ptr factor(new PointPrior(PointKey(pointKey), p, model)); + void Graph::addPointPrior(Key pointKey, const Point3& p, const SharedNoiseModel& model) { + boost::shared_ptr factor(new PointPrior(pointKey, p, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addRangeFactor(Index poseKey, Index pointKey, double range, const SharedNoiseModel& model) { - push_back(boost::shared_ptr(new RangeFactor(PoseKey(poseKey), PointKey(pointKey), range, model))); + void Graph::addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model) { + push_back(boost::shared_ptr(new RangeFactor(poseKey, pointKey, range, model))); } /* ************************************************************************* */ diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 38d3312a7..9933c4d9f 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -34,12 +34,6 @@ namespace visualSLAM { using namespace gtsam; - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - - /// Convenience function for constructing a pose key - inline Symbol PointKey(Index j) { return Symbol('l', j); } - /** * Typedefs that make up the visualSLAM namespace. */ @@ -85,21 +79,21 @@ namespace visualSLAM { * @param K shared pointer to calibration object */ void addMeasurement(const Point2& measured, const SharedNoiseModel& model, - Index poseKey, Index pointKey, const shared_ptrK& K); + Key poseKey, Key pointKey, const shared_ptrK& K); /** * Add a constraint on a pose (for now, *must* be satisfied in any Values) * @param key variable key of the camera pose * @param p to which pose to constrain it to */ - void addPoseConstraint(Index poseKey, const Pose3& p = Pose3()); + void addPoseConstraint(Key poseKey, const Pose3& p = Pose3()); /** * Add a constraint on a point (for now, *must* be satisfied in any Values) * @param key variable key of the landmark * @param p point around which soft prior is defined */ - void addPointConstraint(Index pointKey, const Point3& p = Point3()); + void addPointConstraint(Key pointKey, const Point3& p = Point3()); /** * Add a prior on a pose @@ -107,7 +101,7 @@ namespace visualSLAM { * @param p around which soft prior is defined * @param model uncertainty model of this prior */ - void addPosePrior(Index poseKey, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)); + void addPosePrior(Key poseKey, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)); /** * Add a prior on a landmark @@ -115,7 +109,7 @@ namespace visualSLAM { * @param p to which point to constrain it to * @param model uncertainty model of this prior */ - void addPointPrior(Index pointKey, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)); + void addPointPrior(Key pointKey, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)); /** * Add a range prior to a landmark @@ -124,7 +118,7 @@ namespace visualSLAM { * @param range approximate range to landmark * @param model uncertainty model of this prior */ - void addRangeFactor(Index poseKey, Index pointKey, double range, const SharedNoiseModel& model = noiseModel::Unit::Create(1)); + void addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model = noiseModel::Unit::Create(1)); /** * Optimize the graph diff --git a/gtsam_unstable/slam/simulated3D.h b/gtsam_unstable/slam/simulated3D.h index 7b4dfce37..66552b926 100644 --- a/gtsam_unstable/slam/simulated3D.h +++ b/gtsam_unstable/slam/simulated3D.h @@ -36,12 +36,6 @@ namespace simulated3D { * the simulated2D domain. */ - /// Convenience function for constructing a pose key - inline Symbol PoseKey(Index j) { return Symbol('x', j); } - - /// Convenience function for constructing a pose key - inline Symbol PointKey(Index j) { return Symbol('l', j); } - /** * Prior on a single pose */ @@ -105,9 +99,8 @@ struct Simulated3DMeasurement: public NoiseModelFactor2 { * @param poseKey is the pose key of the robot * @param pointKey is the point key for the landmark */ - Simulated3DMeasurement(const Point3& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey) : - NoiseModelFactor2(model, poseKey, pointKey), measured_(measured) {} + Simulated3DMeasurement(const Point3& measured, const SharedNoiseModel& model, Key i, Key j) : + NoiseModelFactor2(model, i, j), measured_(measured) {} /** * Error function with optional derivatives diff --git a/gtsam_unstable/slam/tests/testSimulated3D.cpp b/gtsam_unstable/slam/tests/testSimulated3D.cpp index 50171bc76..5aca0ce3a 100644 --- a/gtsam_unstable/slam/tests/testSimulated3D.cpp +++ b/gtsam_unstable/slam/tests/testSimulated3D.cpp @@ -30,8 +30,8 @@ using namespace simulated3D; TEST( simulated3D, Values ) { Values actual; - actual.insert(simulated3D::PointKey(1),Point3(1,1,1)); - actual.insert(simulated3D::PoseKey(2),Point3(2,2,2)); + actual.insert(Symbol('l',1),Point3(1,1,1)); + actual.insert(Symbol('x',2),Point3(2,2,2)); EXPECT(assert_equal(actual,actual,1e-9)); } diff --git a/tests/testBoundingConstraint.cpp b/tests/testBoundingConstraint.cpp index e1b685fc8..35b1833ee 100644 --- a/tests/testBoundingConstraint.cpp +++ b/tests/testBoundingConstraint.cpp @@ -32,7 +32,7 @@ SharedDiagonal soft_model2_alt = noiseModel::Isotropic::Sigma(2, 0.1); SharedDiagonal hard_model1 = noiseModel::Constrained::All(1); // some simple inequality constraints -Symbol key(simulated2D::PoseKey(1)); +Symbol key('x',1); double mu = 10.0; // greater than iq2D::PoseXInequality constraint1(key, 1.0, true, mu); diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index b16ac0cdc..ae8c6e00e 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -387,11 +387,11 @@ TEST(DoglegOptimizer, Iterate) { // config far from minimum Point2 x0(3,0); boost::shared_ptr config(new Values); - config->insert(simulated2D::PoseKey(1), x0); + config->insert(Symbol('x',1), x0); // ordering shared_ptr ord(new Ordering()); - ord->push_back(simulated2D::PoseKey(1)); + ord->push_back(Symbol('x',1)); double Delta = 1.0; for(size_t it=0; it<10; ++it) { diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 40e1ca4e1..cf2842af9 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -4,13 +4,6 @@ * @author Michael Kaess */ -#include -#include // for operator += -#include -using namespace boost::assign; - -#include - #include #include #include @@ -21,26 +14,32 @@ using namespace boost::assign; #include #include +#include + +#include +#include // for operator += +#include +using namespace boost::assign; + using namespace std; using namespace gtsam; -using namespace example; using boost::shared_ptr; const double tol = 1e-4; +// SETDEBUG("ISAM2 update", true); +// SETDEBUG("ISAM2 update verbose", true); +// SETDEBUG("ISAM2 recalculate", true); + +// Set up parameters +SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); +SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); + ISAM2 createSlamlikeISAM2( boost::optional init_values = boost::none, boost::optional full_graph = boost::none, const ISAM2Params& params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true)) { - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(params); // ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true)); @@ -57,8 +56,8 @@ ISAM2 createSlamlikeISAM2( fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -70,8 +69,8 @@ ISAM2 createSlamlikeISAM2( fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -80,17 +79,17 @@ ISAM2 createSlamlikeISAM2( { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init); ++ i; @@ -103,8 +102,8 @@ ISAM2 createSlamlikeISAM2( fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -113,13 +112,13 @@ ISAM2 createSlamlikeISAM2( { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); isam.update(newfactors, init); ++ i; @@ -139,10 +138,10 @@ TEST_UNSAFE(ISAM2, AddVariables) { // Create initial state Values theta; - theta.insert(planarSLAM::PoseKey(0), Pose2(.1, .2, .3)); - theta.insert(planarSLAM::PointKey(0), Point2(.4, .5)); + theta.insert((0), Pose2(.1, .2, .3)); + theta.insert(100, Point2(.4, .5)); Values newTheta; - newTheta.insert(planarSLAM::PoseKey(1), Pose2(.6, .7, .8)); + newTheta.insert((1), Pose2(.6, .7, .8)); VectorValues deltaUnpermuted; deltaUnpermuted.insert(0, Vector_(3, .1, .2, .3)); @@ -176,21 +175,21 @@ TEST_UNSAFE(ISAM2, AddVariables) { vector replacedKeys(2, false); - Ordering ordering; ordering += planarSLAM::PointKey(0), planarSLAM::PoseKey(0); + Ordering ordering; ordering += 100, (0); ISAM2::Nodes nodes(2); // Verify initial state - LONGS_EQUAL(0, ordering[planarSLAM::PointKey(0)]); - LONGS_EQUAL(1, ordering[planarSLAM::PoseKey(0)]); - EXPECT(assert_equal(deltaUnpermuted[1], delta[ordering[planarSLAM::PointKey(0)]])); - EXPECT(assert_equal(deltaUnpermuted[0], delta[ordering[planarSLAM::PoseKey(0)]])); + LONGS_EQUAL(0, ordering[100]); + LONGS_EQUAL(1, ordering[(0)]); + EXPECT(assert_equal(deltaUnpermuted[1], delta[ordering[100]])); + EXPECT(assert_equal(deltaUnpermuted[0], delta[ordering[(0)]])); // Create expected state Values thetaExpected; - thetaExpected.insert(planarSLAM::PoseKey(0), Pose2(.1, .2, .3)); - thetaExpected.insert(planarSLAM::PointKey(0), Point2(.4, .5)); - thetaExpected.insert(planarSLAM::PoseKey(1), Pose2(.6, .7, .8)); + thetaExpected.insert((0), Pose2(.1, .2, .3)); + thetaExpected.insert(100, Point2(.4, .5)); + thetaExpected.insert((1), Pose2(.6, .7, .8)); VectorValues deltaUnpermutedExpected; deltaUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); @@ -230,7 +229,7 @@ TEST_UNSAFE(ISAM2, AddVariables) { vector replacedKeysExpected(3, false); - Ordering orderingExpected; orderingExpected += planarSLAM::PointKey(0), planarSLAM::PoseKey(0), planarSLAM::PoseKey(1); + Ordering orderingExpected; orderingExpected += 100, (0), (1); ISAM2::Nodes nodesExpected( 3, ISAM2::sharedClique()); @@ -255,10 +254,10 @@ TEST_UNSAFE(ISAM2, AddVariables) { // using namespace gtsam::planarSLAM; // typedef GaussianISAM2::Impl Impl; // -// Ordering ordering; ordering += PointKey(0), PoseKey(0), PoseKey(1); +// Ordering ordering; ordering += (0), (0), (1); // planarSLAM::Graph graph; -// graph.addPrior(PoseKey(0), Pose2(), sharedUnit(Pose2::dimension)); -// graph.addRange(PoseKey(0), PointKey(0), 1.0, sharedUnit(1)); +// graph.addPrior((0), Pose2(), sharedUnit(Pose2::dimension)); +// graph.addRange((0), (0), 1.0, sharedUnit(1)); // // FastSet expected; // expected.insert(0); @@ -307,7 +306,7 @@ TEST(ISAM2, optimize2) { // Create initialization Values theta; - theta.insert(planarSLAM::PoseKey(0), Pose2(0.01, 0.01, 0.01)); + theta.insert((0), Pose2(0.01, 0.01, 0.01)); // Create conditional Vector d(3); d << -0.1, -0.1, -0.31831; @@ -318,7 +317,7 @@ TEST(ISAM2, optimize2) { GaussianConditional::shared_ptr conditional(new GaussianConditional(0, d, R, Vector::Ones(3))); // Create ordering - Ordering ordering; ordering += planarSLAM::PoseKey(0); + Ordering ordering; ordering += (0); // Expected vector VectorValues expected(1, 3); @@ -353,18 +352,6 @@ bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, cons TEST(ISAM2, slamlike_solution_gaussnewton) { -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; @@ -380,8 +367,8 @@ TEST(ISAM2, slamlike_solution_gaussnewton) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -395,8 +382,8 @@ TEST(ISAM2, slamlike_solution_gaussnewton) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -405,17 +392,17 @@ TEST(ISAM2, slamlike_solution_gaussnewton) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init); ++ i; @@ -428,8 +415,8 @@ TEST(ISAM2, slamlike_solution_gaussnewton) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -438,13 +425,13 @@ TEST(ISAM2, slamlike_solution_gaussnewton) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); isam.update(newfactors, init); ++ i; @@ -485,19 +472,6 @@ TEST(ISAM2, slamlike_solution_gaussnewton) /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_dogleg) { - -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false)); Values fullinit; @@ -513,8 +487,8 @@ TEST(ISAM2, slamlike_solution_dogleg) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -528,8 +502,8 @@ TEST(ISAM2, slamlike_solution_dogleg) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -538,17 +512,17 @@ TEST(ISAM2, slamlike_solution_dogleg) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init); ++ i; @@ -561,8 +535,8 @@ TEST(ISAM2, slamlike_solution_dogleg) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -571,13 +545,13 @@ TEST(ISAM2, slamlike_solution_dogleg) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); isam.update(newfactors, init); ++ i; @@ -618,19 +592,6 @@ TEST(ISAM2, slamlike_solution_dogleg) /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_gaussnewton_qr) { - -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR)); Values fullinit; @@ -646,8 +607,8 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -661,8 +622,8 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -671,17 +632,17 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init); ++ i; @@ -694,8 +655,8 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -704,13 +665,13 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); isam.update(newfactors, init); ++ i; @@ -751,19 +712,6 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_dogleg_qr) { - -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR)); Values fullinit; @@ -779,8 +727,8 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -794,8 +742,8 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -804,17 +752,17 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init); ++ i; @@ -827,8 +775,8 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -837,13 +785,13 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); isam.update(newfactors, init); ++ i; @@ -894,8 +842,8 @@ TEST(ISAM2, clone) { // Modify original isam NonlinearFactorGraph factors; - factors.add(BetweenFactor(Symbol('x',0), Symbol('x',10), - isam.calculateEstimate(Symbol('x',0)).between(isam.calculateEstimate(Symbol('x',10))), sharedUnit(3))); + factors.add(BetweenFactor(0, 10, + isam.calculateEstimate(0).between(isam.calculateEstimate(10)), sharedUnit(3))); isam.update(factors); CHECK(assert_equal(createSlamlikeISAM2(), clone2)); @@ -978,22 +926,9 @@ TEST(ISAM2, permute_cached) { /* ************************************************************************* */ TEST(ISAM2, removeFactors) { - -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - // This test builds a graph in the same way as the "slamlike" test above, but // then removes the 2nd-to-last landmark measurement - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; @@ -1009,8 +944,8 @@ TEST(ISAM2, removeFactors) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -1024,8 +959,8 @@ TEST(ISAM2, removeFactors) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -1034,17 +969,17 @@ TEST(ISAM2, removeFactors) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init); ++ i; @@ -1057,8 +992,8 @@ TEST(ISAM2, removeFactors) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init); } @@ -1067,14 +1002,14 @@ TEST(ISAM2, removeFactors) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors[0]); fullgraph.push_back(newfactors[2]); // Don't add measurement on landmark 0 Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); ISAM2Result result = isam.update(newfactors, init); ++ i; @@ -1119,24 +1054,11 @@ TEST(ISAM2, removeFactors) } /* ************************************************************************* */ -TEST(ISAM2, swapFactors) +TEST_UNSAFE(ISAM2, swapFactors) { - -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - // This test builds a graph in the same way as the "slamlike" test above, but // then swaps the 2nd-to-last landmark measurement with a different one - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - Values fullinit; planarSLAM::Graph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph); @@ -1149,8 +1071,8 @@ TEST(ISAM2, swapFactors) fullgraph.remove(swap_idx); planarSLAM::Graph swapfactors; -// swapfactors.addBearingRange(10, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); // original factor - swapfactors.addBearingRange(10, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 5.0, brNoise); +// swapfactors.addBearingRange(10, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); // original factor + swapfactors.addBearingRange(10, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 5.0, brNoise); fullgraph.push_back(swapfactors); isam.update(swapfactors, Values(), toRemove); } @@ -1191,19 +1113,6 @@ TEST(ISAM2, swapFactors) /* ************************************************************************* */ TEST(ISAM2, constrained_ordering) { - -// SETDEBUG("ISAM2 update", true); -// SETDEBUG("ISAM2 update verbose", true); -// SETDEBUG("ISAM2 recalculate", true); - - // Pose and landmark key types from planarSLAM - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - - // Set up parameters - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); - // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; @@ -1211,8 +1120,8 @@ TEST(ISAM2, constrained_ordering) // We will constrain x3 and x4 to the end FastMap constrained; - constrained.insert(make_pair(planarSLAM::PoseKey(3), 1)); - constrained.insert(make_pair(planarSLAM::PoseKey(4), 2)); + constrained.insert(make_pair((3), 1)); + constrained.insert(make_pair((4), 2)); // i keeps track of the time step size_t i = 0; @@ -1224,8 +1133,8 @@ TEST(ISAM2, constrained_ordering) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); isam.update(newfactors, init); } @@ -1239,8 +1148,8 @@ TEST(ISAM2, constrained_ordering) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); if(i >= 3) isam.update(newfactors, init, FastVector(), constrained); @@ -1252,17 +1161,17 @@ TEST(ISAM2, constrained_ordering) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); isam.update(newfactors, init, FastVector(), constrained); ++ i; @@ -1275,8 +1184,8 @@ TEST(ISAM2, constrained_ordering) fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); isam.update(newfactors, init, FastVector(), constrained); } @@ -1285,13 +1194,13 @@ TEST(ISAM2, constrained_ordering) { planarSLAM::Graph newfactors; newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); Values init; - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); isam.update(newfactors, init, FastVector(), constrained); ++ i; @@ -1301,7 +1210,7 @@ TEST(ISAM2, constrained_ordering) EXPECT(isam_check(fullgraph, fullinit, isam)); // Check that x3 and x4 are last, but either can come before the other - EXPECT(isam.getOrdering()[planarSLAM::PoseKey(3)] == 12 && isam.getOrdering()[planarSLAM::PoseKey(4)] == 13); + EXPECT(isam.getOrdering()[(3)] == 12 && isam.getOrdering()[(4)] == 13); // Check gradient at each node typedef ISAM2::sharedClique sharedClique; diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 074693123..6ec160a5d 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -125,9 +125,6 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal2) /* ************************************************************************* */ TEST(GaussianJunctionTree, slamlike) { - using planarSLAM::PoseKey; - using planarSLAM::PointKey; - Values init; planarSLAM::Graph newfactors; planarSLAM::Graph fullgraph; @@ -137,39 +134,39 @@ TEST(GaussianJunctionTree, slamlike) { size_t i = 0; newfactors = planarSLAM::Graph(); - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - init.insert(PoseKey(0), Pose2(0.01, 0.01, 0.01)); + newfactors.addPrior(kx(0), Pose2(0.0, 0.0, 0.0), odoNoise); + init.insert(kx(0), Pose2(0.01, 0.01, 0.01)); fullgraph.push_back(newfactors); for( ; i<5; ++i) { newfactors = planarSLAM::Graph(); - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + init.insert(kx(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } newfactors = planarSLAM::Graph(); - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - init.insert(PoseKey(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(PointKey(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(PointKey(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(kx(i), kl(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(kx(i), kl(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + init.insert(kx(i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(kl(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(kl(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); fullgraph.push_back(newfactors); ++ i; for( ; i<5; ++i) { newfactors = planarSLAM::Graph(); - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - init.insert(PoseKey(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + init.insert(kx(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } newfactors = planarSLAM::Graph(); - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 0, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 1, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - init.insert(PoseKey(i+1), Pose2(6.9, 0.1, 0.01)); + newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(kx(i), kl(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(kx(i), kl(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + init.insert(kx(i+1), Pose2(6.9, 0.1, 0.01)); fullgraph.push_back(newfactors); ++ i; @@ -195,12 +192,12 @@ TEST(GaussianJunctionTree, simpleMarginal) { // Create a simple graph pose2SLAM::Graph fg; - fg.addPrior(0, Pose2(), sharedSigma(3, 10.0)); - fg.addOdometry(0, 1, Pose2(1.0, 0.0, 0.0), sharedSigmas(Vector_(3, 10.0, 1.0, 1.0))); + fg.addPrior(kx(0), Pose2(), sharedSigma(3, 10.0)); + fg.addOdometry(kx(0), kx(1), Pose2(1.0, 0.0, 0.0), sharedSigmas(Vector_(3, 10.0, 1.0, 1.0))); Values init; - init.insert(pose2SLAM::PoseKey(0), Pose2()); - init.insert(pose2SLAM::PoseKey(1), Pose2(1.0, 0.0, 0.0)); + init.insert(kx(0), Pose2()); + init.insert(kx(1), Pose2(1.0, 0.0, 0.0)); Ordering ordering; ordering += kx(1), kx(0); diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index f56efae82..c75c42b49 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -16,38 +16,34 @@ * @brief unit test for graph-inl.h */ -#include +#include +#include + +#include + #include #include // for operator += using namespace boost::assign; -#include - -// TODO: DANGEROUS, create shared pointers -#define GTSAM_MAGIC_GAUSSIAN 3 - -#include -#include +#include using namespace std; using namespace gtsam; -Key kx(size_t i) { return Symbol('x',i); } - /* ************************************************************************* */ // x1 -> x2 // -> x3 -> x4 // -> x5 TEST ( Ordering, predecessorMap2Keys ) { PredecessorMap p_map; - p_map.insert(kx(1),kx(1)); - p_map.insert(kx(2),kx(1)); - p_map.insert(kx(3),kx(1)); - p_map.insert(kx(4),kx(3)); - p_map.insert(kx(5),kx(1)); + p_map.insert(1,1); + p_map.insert(2,1); + p_map.insert(3,1); + p_map.insert(4,3); + p_map.insert(5,1); list expected; - expected += kx(4),kx(5),kx(3),kx(2),kx(1);//PoseKey(4), PoseKey(5), PoseKey(3), PoseKey(2), PoseKey(1); + expected += 4,5,3,2,1; list actual = predecessorMap2Keys(p_map); LONGS_EQUAL(expected.size(), actual.size()); @@ -67,20 +63,20 @@ TEST( Graph, predecessorMap2Graph ) map key2vertex; PredecessorMap p_map; - p_map.insert(kx(1), kx(2)); - p_map.insert(kx(2), kx(2)); - p_map.insert(kx(3), kx(2)); + p_map.insert(1, 2); + p_map.insert(2, 2); + p_map.insert(3, 2); tie(graph, root, key2vertex) = predecessorMap2Graph, SVertex, Key>(p_map); LONGS_EQUAL(3, boost::num_vertices(graph)); - CHECK(root == key2vertex[kx(2)]); + CHECK(root == key2vertex[2]); } /* ************************************************************************* */ TEST( Graph, composePoses ) { pose2SLAM::Graph graph; - Matrix cov = eye(3); + SharedNoiseModel cov = SharedNoiseModel::Unit(3); Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9); Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3); graph.addOdometry(1,2, p12, cov); @@ -88,10 +84,10 @@ TEST( Graph, composePoses ) graph.addOdometry(4,3, p43, cov); PredecessorMap tree; - tree.insert(pose2SLAM::PoseKey(1),pose2SLAM::PoseKey(2)); - tree.insert(pose2SLAM::PoseKey(2),pose2SLAM::PoseKey(2)); - tree.insert(pose2SLAM::PoseKey(3),pose2SLAM::PoseKey(2)); - tree.insert(pose2SLAM::PoseKey(4),pose2SLAM::PoseKey(3)); + tree.insert(1,2); + tree.insert(2,2); + tree.insert(3,2); + tree.insert(4,3); Pose2 rootPose = p2; @@ -99,10 +95,10 @@ TEST( Graph, composePoses ) Pose2, Key> (graph, tree, rootPose); Values expected; - expected.insert(pose2SLAM::PoseKey(1), p1); - expected.insert(pose2SLAM::PoseKey(2), p2); - expected.insert(pose2SLAM::PoseKey(3), p3); - expected.insert(pose2SLAM::PoseKey(4), p4); + expected.insert(1, p1); + expected.insert(2, p2); + expected.insert(3, p3); + expected.insert(4, p4); LONGS_EQUAL(4, actual->size()); CHECK(assert_equal(expected, *actual)); diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index 6ad070698..05573c686 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -25,6 +25,10 @@ using namespace std; using namespace gtsam; +// Convenience for named keys +Key kx(size_t i) { return Symbol('x',i); } +Key kl(size_t i) { return Symbol('l',i); } + /* ************************************************************************* */ // The tests below test the *generic* inference algorithms. Some of these have // specialized versions in the derived classes GaussianFactorGraph etc... @@ -52,23 +56,23 @@ TEST( inference, marginals2) SharedDiagonal poseModel(sharedSigma(3, 0.1)); SharedDiagonal pointModel(sharedSigma(3, 0.1)); - fg.addPrior(0, Pose2(), poseModel); - fg.addOdometry(0, 1, Pose2(1.0,0.0,0.0), poseModel); - fg.addOdometry(1, 2, Pose2(1.0,0.0,0.0), poseModel); - fg.addBearingRange(0, 0, Rot2(), 1.0, pointModel); - fg.addBearingRange(1, 0, Rot2(), 1.0, pointModel); - fg.addBearingRange(2, 0, Rot2(), 1.0, pointModel); + fg.addPrior(kx(0), Pose2(), poseModel); + fg.addOdometry(kx(0), kx(1), Pose2(1.0,0.0,0.0), poseModel); + fg.addOdometry(kx(1), kx(2), Pose2(1.0,0.0,0.0), poseModel); + fg.addBearingRange(kx(0), kl(0), Rot2(), 1.0, pointModel); + fg.addBearingRange(kx(1), kl(0), Rot2(), 1.0, pointModel); + fg.addBearingRange(kx(2), kl(0), Rot2(), 1.0, pointModel); Values init; - init.insert(planarSLAM::PoseKey(0), Pose2(0.0,0.0,0.0)); - init.insert(planarSLAM::PoseKey(1), Pose2(1.0,0.0,0.0)); - init.insert(planarSLAM::PoseKey(2), Pose2(2.0,0.0,0.0)); - init.insert(planarSLAM::PointKey(0), Point2(1.0,1.0)); + init.insert(kx(0), Pose2(0.0,0.0,0.0)); + init.insert(kx(1), Pose2(1.0,0.0,0.0)); + init.insert(kx(2), Pose2(2.0,0.0,0.0)); + init.insert(kl(0), Point2(1.0,1.0)); Ordering ordering(*fg.orderingCOLAMD(init)); FactorGraph::shared_ptr gfg(fg.linearize(init, ordering)); GaussianMultifrontalSolver solver(*gfg); - solver.marginalFactor(ordering[planarSLAM::PointKey(0)]); + solver.marginalFactor(ordering[kl(0)]); } /* ************************************************************************* */ diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 94ab58831..639e67591 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -535,13 +535,13 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) { VGraph graph; // create equality constraints for poses - graph.addPoseConstraint(1, camera1.pose()); - graph.addPoseConstraint(2, camera2.pose()); + graph.addPoseConstraint(x1, camera1.pose()); + graph.addPoseConstraint(x2, camera2.pose()); // create factors SharedDiagonal vmodel = noiseModel::Unit::Create(3); - graph.addMeasurement(camera1.project(landmark), vmodel, 1, 1, shK); - graph.addMeasurement(camera2.project(landmark), vmodel, 2, 2, shK); + graph.addMeasurement(camera1.project(landmark), vmodel, x1, l1, shK); + graph.addMeasurement(camera2.project(landmark), vmodel, x2, l2, shK); // add equality constraint graph.add(Point3Equality(l1, l2)); diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index d5e91d0d7..d1a891356 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -37,8 +37,9 @@ using namespace std; using namespace gtsam; using namespace example; -using simulated2D::PoseKey; -using simulated2D::PointKey; +// Convenience for named keys +Key kx(size_t i) { return Symbol('x',i); } +Key kl(size_t i) { return Symbol('l',i); } typedef boost::shared_ptr shared_nlf; @@ -49,11 +50,11 @@ TEST( NonlinearFactor, equals ) // create two nonlinear2 factors Point2 z3(0.,-1.); - simulated2D::Measurement f0(z3, sigma, PoseKey(1),PointKey(1)); + simulated2D::Measurement f0(z3, sigma, kx(1),kl(1)); // measurement between x2 and l1 Point2 z4(-1.5, -1.); - simulated2D::Measurement f1(z4, sigma, PoseKey(2),PointKey(1)); + simulated2D::Measurement f1(z4, sigma, kx(2),kl(1)); CHECK(assert_equal(f0,f0)); CHECK(f0.equals(f0)); @@ -199,16 +200,16 @@ TEST( NonlinearFactor, linearize_constraint1 ) SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas); Point2 mu(1., -1.); - Graph::sharedFactor f0(new simulated2D::Prior(mu, constraint, PoseKey(1))); + Graph::sharedFactor f0(new simulated2D::Prior(mu, constraint, kx(1))); Values config; - config.insert(simulated2D::PoseKey(1), Point2(1.0, 2.0)); + config.insert(kx(1), Point2(1.0, 2.0)); GaussianFactor::shared_ptr actual = f0->linearize(config, *config.orderingArbitrary()); // create expected Ordering ord(*config.orderingArbitrary()); Vector b = Vector_(2, 0., -3.); - JacobianFactor expected(ord[PoseKey(1)], Matrix_(2,2, 5.0, 0.0, 0.0, 1.0), b, constraint); + JacobianFactor expected(ord[kx(1)], Matrix_(2,2, 5.0, 0.0, 0.0, 1.0), b, constraint); CHECK(assert_equal((const GaussianFactor&)expected, *actual)); } @@ -219,18 +220,18 @@ TEST( NonlinearFactor, linearize_constraint2 ) SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas); Point2 z3(1.,-1.); - simulated2D::Measurement f0(z3, constraint, PoseKey(1),PointKey(1)); + simulated2D::Measurement f0(z3, constraint, kx(1),kl(1)); Values config; - config.insert(simulated2D::PoseKey(1), Point2(1.0, 2.0)); - config.insert(simulated2D::PointKey(1), Point2(5.0, 4.0)); + config.insert(kx(1), Point2(1.0, 2.0)); + config.insert(kl(1), Point2(5.0, 4.0)); GaussianFactor::shared_ptr actual = f0.linearize(config, *config.orderingArbitrary()); // create expected Ordering ord(*config.orderingArbitrary()); Matrix A = Matrix_(2,2, 5.0, 0.0, 0.0, 1.0); Vector b = Vector_(2, -15., -3.); - JacobianFactor expected(ord[PoseKey(1)], -1*A, ord[PointKey(1)], A, b, constraint); + JacobianFactor expected(ord[kx(1)], -1*A, ord[kl(1)], A, b, constraint); CHECK(assert_equal((const GaussianFactor&)expected, *actual)); } @@ -238,7 +239,7 @@ TEST( NonlinearFactor, linearize_constraint2 ) class TestFactor4 : public NoiseModelFactor4 { public: typedef NoiseModelFactor4 Base; - TestFactor4() : Base(sharedSigmas(Vector_(1, 2.0)), PoseKey(1), PoseKey(2), PoseKey(3), PoseKey(4)) {} + TestFactor4() : Base(sharedSigmas(Vector_(1, 2.0)), kx(1), kx(2), kx(3), kx(4)) {} virtual Vector evaluateError(const LieVector& x1, const LieVector& x2, const LieVector& x3, const LieVector& x4, @@ -262,13 +263,13 @@ public: TEST(NonlinearFactor, NoiseModelFactor4) { TestFactor4 tf; Values tv; - tv.insert(PoseKey(1), LieVector(1, 1.0)); - tv.insert(PoseKey(2), LieVector(1, 2.0)); - tv.insert(PoseKey(3), LieVector(1, 3.0)); - tv.insert(PoseKey(4), LieVector(1, 4.0)); + tv.insert(kx(1), LieVector(1, 1.0)); + tv.insert(kx(2), LieVector(1, 2.0)); + tv.insert(kx(3), LieVector(1, 3.0)); + tv.insert(kx(4), LieVector(1, 4.0)); EXPECT(assert_equal(Vector_(1, 10.0), tf.unwhitenedError(tv))); DOUBLES_EQUAL(25.0/2.0, tf.error(tv), 1e-9); - Ordering ordering; ordering += PoseKey(1), PoseKey(2), PoseKey(3), PoseKey(4); + Ordering ordering; ordering += kx(1), kx(2), kx(3), kx(4); JacobianFactor jf(*boost::dynamic_pointer_cast(tf.linearize(tv, ordering))); LONGS_EQUAL(jf.keys()[0], 0); LONGS_EQUAL(jf.keys()[1], 1); @@ -285,7 +286,7 @@ TEST(NonlinearFactor, NoiseModelFactor4) { class TestFactor5 : public NoiseModelFactor5 { public: typedef NoiseModelFactor5 Base; - TestFactor5() : Base(sharedSigmas(Vector_(1, 2.0)), PoseKey(1), PoseKey(2), PoseKey(3), PoseKey(4), PoseKey(5)) {} + TestFactor5() : Base(sharedSigmas(Vector_(1, 2.0)), kx(1), kx(2), kx(3), kx(4), kx(5)) {} virtual Vector evaluateError(const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, @@ -311,14 +312,14 @@ public: TEST(NonlinearFactor, NoiseModelFactor5) { TestFactor5 tf; Values tv; - tv.insert(PoseKey(1), LieVector(1, 1.0)); - tv.insert(PoseKey(2), LieVector(1, 2.0)); - tv.insert(PoseKey(3), LieVector(1, 3.0)); - tv.insert(PoseKey(4), LieVector(1, 4.0)); - tv.insert(PoseKey(5), LieVector(1, 5.0)); + tv.insert(kx(1), LieVector(1, 1.0)); + tv.insert(kx(2), LieVector(1, 2.0)); + tv.insert(kx(3), LieVector(1, 3.0)); + tv.insert(kx(4), LieVector(1, 4.0)); + tv.insert(kx(5), LieVector(1, 5.0)); EXPECT(assert_equal(Vector_(1, 15.0), tf.unwhitenedError(tv))); DOUBLES_EQUAL(56.25/2.0, tf.error(tv), 1e-9); - Ordering ordering; ordering += PoseKey(1), PoseKey(2), PoseKey(3), PoseKey(4), PoseKey(5); + Ordering ordering; ordering += kx(1), kx(2), kx(3), kx(4), kx(5); JacobianFactor jf(*boost::dynamic_pointer_cast(tf.linearize(tv, ordering))); LONGS_EQUAL(jf.keys()[0], 0); LONGS_EQUAL(jf.keys()[1], 1); @@ -337,7 +338,7 @@ TEST(NonlinearFactor, NoiseModelFactor5) { class TestFactor6 : public NoiseModelFactor6 { public: typedef NoiseModelFactor6 Base; - TestFactor6() : Base(sharedSigmas(Vector_(1, 2.0)), PoseKey(1), PoseKey(2), PoseKey(3), PoseKey(4), PoseKey(5), PoseKey(6)) {} + TestFactor6() : Base(sharedSigmas(Vector_(1, 2.0)), kx(1), kx(2), kx(3), kx(4), kx(5), kx(6)) {} virtual Vector evaluateError(const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, @@ -365,15 +366,15 @@ public: TEST(NonlinearFactor, NoiseModelFactor6) { TestFactor6 tf; Values tv; - tv.insert(PoseKey(1), LieVector(1, 1.0)); - tv.insert(PoseKey(2), LieVector(1, 2.0)); - tv.insert(PoseKey(3), LieVector(1, 3.0)); - tv.insert(PoseKey(4), LieVector(1, 4.0)); - tv.insert(PoseKey(5), LieVector(1, 5.0)); - tv.insert(PoseKey(6), LieVector(1, 6.0)); + tv.insert(kx(1), LieVector(1, 1.0)); + tv.insert(kx(2), LieVector(1, 2.0)); + tv.insert(kx(3), LieVector(1, 3.0)); + tv.insert(kx(4), LieVector(1, 4.0)); + tv.insert(kx(5), LieVector(1, 5.0)); + tv.insert(kx(6), LieVector(1, 6.0)); EXPECT(assert_equal(Vector_(1, 21.0), tf.unwhitenedError(tv))); DOUBLES_EQUAL(110.25/2.0, tf.error(tv), 1e-9); - Ordering ordering; ordering += PoseKey(1), PoseKey(2), PoseKey(3), PoseKey(4), PoseKey(5), PoseKey(6); + Ordering ordering; ordering += kx(1), kx(2), kx(3), kx(4), kx(5), kx(6); JacobianFactor jf(*boost::dynamic_pointer_cast(tf.linearize(tv, ordering))); LONGS_EQUAL(jf.keys()[0], 0); LONGS_EQUAL(jf.keys()[1], 1); @@ -395,10 +396,10 @@ TEST(NonlinearFactor, NoiseModelFactor6) { TEST( NonlinearFactor, clone_rekey ) { shared_nlf init(new TestFactor4()); - EXPECT_LONGS_EQUAL(PoseKey(1), init->keys()[0]); - EXPECT_LONGS_EQUAL(PoseKey(2), init->keys()[1]); - EXPECT_LONGS_EQUAL(PoseKey(3), init->keys()[2]); - EXPECT_LONGS_EQUAL(PoseKey(4), init->keys()[3]); + EXPECT_LONGS_EQUAL(kx(1), init->keys()[0]); + EXPECT_LONGS_EQUAL(kx(2), init->keys()[1]); + EXPECT_LONGS_EQUAL(kx(3), init->keys()[2]); + EXPECT_LONGS_EQUAL(kx(4), init->keys()[3]); // Standard clone shared_nlf actClone = init->clone(); @@ -407,24 +408,24 @@ TEST( NonlinearFactor, clone_rekey ) // Re-key factor - clones with different keys std::vector new_keys(4); - new_keys[0] = PoseKey(5); - new_keys[1] = PoseKey(6); - new_keys[2] = PoseKey(7); - new_keys[3] = PoseKey(8); + new_keys[0] = kx(5); + new_keys[1] = kx(6); + new_keys[2] = kx(7); + new_keys[3] = kx(8); shared_nlf actRekey = init->rekey(new_keys); EXPECT(actRekey.get() != init.get()); // Ensure different pointers // Ensure init is unchanged - EXPECT_LONGS_EQUAL(PoseKey(1), init->keys()[0]); - EXPECT_LONGS_EQUAL(PoseKey(2), init->keys()[1]); - EXPECT_LONGS_EQUAL(PoseKey(3), init->keys()[2]); - EXPECT_LONGS_EQUAL(PoseKey(4), init->keys()[3]); + EXPECT_LONGS_EQUAL(kx(1), init->keys()[0]); + EXPECT_LONGS_EQUAL(kx(2), init->keys()[1]); + EXPECT_LONGS_EQUAL(kx(3), init->keys()[2]); + EXPECT_LONGS_EQUAL(kx(4), init->keys()[3]); // Check new keys - EXPECT_LONGS_EQUAL(PoseKey(5), actRekey->keys()[0]); - EXPECT_LONGS_EQUAL(PoseKey(6), actRekey->keys()[1]); - EXPECT_LONGS_EQUAL(PoseKey(7), actRekey->keys()[2]); - EXPECT_LONGS_EQUAL(PoseKey(8), actRekey->keys()[3]); + EXPECT_LONGS_EQUAL(kx(5), actRekey->keys()[0]); + EXPECT_LONGS_EQUAL(kx(6), actRekey->keys()[1]); + EXPECT_LONGS_EQUAL(kx(7), actRekey->keys()[2]); + EXPECT_LONGS_EQUAL(kx(8), actRekey->keys()[3]); } /* ************************************************************************* */ diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index 80ed7b6b6..cf8782e09 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -54,7 +54,7 @@ TEST(testNonlinearISAM, markov_chain ) { ordering.push_back(secondLast); isam.setOrdering(ordering); - Ordering expected; expected += PoseKey(0), PoseKey(1), PoseKey(2), PoseKey(4), PoseKey(3); + Ordering expected; expected += (0), (1), (2), (4), (3); EXPECT(assert_equal(expected, isam.getOrdering())); } diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index eb6357fbd..1a134b8a3 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -50,7 +50,7 @@ TEST( NonlinearOptimizer, iterateLM ) // config far from minimum Point2 x0(3,0); Values config; - config.insert(simulated2D::PoseKey(1), x0); + config.insert(kx(1), x0); // normal iterate GaussNewtonParams gnParams; @@ -74,13 +74,13 @@ TEST( NonlinearOptimizer, optimize ) // test error at minimum Point2 xstar(0,0); Values cstar; - cstar.insert(simulated2D::PoseKey(1), xstar); + cstar.insert(kx(1), xstar); DOUBLES_EQUAL(0.0,fg.error(cstar),0.0); // test error at initial = [(1-cos(3))^2 + (sin(3))^2]*50 = Point2 x0(3,3); Values c0; - c0.insert(simulated2D::PoseKey(1), x0); + c0.insert(kx(1), x0); DOUBLES_EQUAL(199.0,fg.error(c0),1e-3); // optimize parameters @@ -113,7 +113,7 @@ TEST( NonlinearOptimizer, SimpleLMOptimizer ) Point2 x0(3,3); Values c0; - c0.insert(simulated2D::PoseKey(1), x0); + c0.insert(kx(1), x0); Values actual = LevenbergMarquardtOptimizer(fg, c0).optimize(); DOUBLES_EQUAL(0,fg.error(actual),tol); @@ -126,7 +126,7 @@ TEST( NonlinearOptimizer, SimpleGNOptimizer ) Point2 x0(3,3); Values c0; - c0.insert(simulated2D::PoseKey(1), x0); + c0.insert(kx(1), x0); Values actual = GaussNewtonOptimizer(fg, c0).optimize(); DOUBLES_EQUAL(0,fg.error(actual),tol); @@ -139,7 +139,7 @@ TEST( NonlinearOptimizer, SimpleDLOptimizer ) Point2 x0(3,3); Values c0; - c0.insert(simulated2D::PoseKey(1), x0); + c0.insert(kx(1), x0); Values actual = DoglegOptimizer(fg, c0).optimize(); DOUBLES_EQUAL(0,fg.error(actual),tol); @@ -157,7 +157,7 @@ TEST( NonlinearOptimizer, optimization_method ) Point2 x0(3,3); Values c0; - c0.insert(simulated2D::PoseKey(1), x0); + c0.insert(kx(1), x0); Values actualMFQR = LevenbergMarquardtOptimizer(fg, c0, paramsQR).optimize(); DOUBLES_EQUAL(0,fg.error(actualMFQR),tol); @@ -170,23 +170,23 @@ TEST( NonlinearOptimizer, optimization_method ) TEST( NonlinearOptimizer, Factorization ) { Values config; - config.insert(pose2SLAM::PoseKey(1), Pose2(0.,0.,0.)); - config.insert(pose2SLAM::PoseKey(2), Pose2(1.5,0.,0.)); + config.insert(kx(1), Pose2(0.,0.,0.)); + config.insert(kx(2), Pose2(1.5,0.,0.)); pose2SLAM::Graph graph; - graph.addPrior(1, Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); - graph.addOdometry(1,2, Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); + graph.addPrior(kx(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); + graph.addOdometry(kx(1),kx(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); Ordering ordering; - ordering.push_back(pose2SLAM::PoseKey(1)); - ordering.push_back(pose2SLAM::PoseKey(2)); + ordering.push_back(kx(1)); + ordering.push_back(kx(2)); LevenbergMarquardtOptimizer optimizer(graph, config, ordering); optimizer.iterate(); Values expected; - expected.insert(pose2SLAM::PoseKey(1), Pose2(0.,0.,0.)); - expected.insert(pose2SLAM::PoseKey(2), Pose2(1.,0.,0.)); + expected.insert(kx(1), Pose2(0.,0.,0.)); + expected.insert(kx(2), Pose2(1.,0.,0.)); CHECK(assert_equal(expected, optimizer.values(), 1e-5)); } @@ -201,13 +201,13 @@ TEST(NonlinearOptimizer, NullFactor) { // test error at minimum Point2 xstar(0,0); Values cstar; - cstar.insert(simulated2D::PoseKey(1), xstar); + cstar.insert(kx(1), xstar); DOUBLES_EQUAL(0.0,fg.error(cstar),0.0); // test error at initial = [(1-cos(3))^2 + (sin(3))^2]*50 = Point2 x0(3,3); Values c0; - c0.insert(simulated2D::PoseKey(1), x0); + c0.insert(kx(1), x0); DOUBLES_EQUAL(199.0,fg.error(c0),1e-3); // optimize parameters From a2512475c925cd3772f0e65a0338beac174de5a1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jun 2012 19:05:38 +0000 Subject: [PATCH 092/914] Symbol.h is now included just in time, no longer by default everywhere. --- .cproject | 8 ++++ examples/PlanarSLAMExample_easy.cpp | 3 ++ examples/easyPoint2KalmanFilter.cpp | 1 + examples/vSLAMexample/vISAMexample.cpp | 7 ++-- examples/vSLAMexample/vSFMexample.cpp | 7 ++-- gtsam/nonlinear/ISAM2-impl.cpp | 8 ++-- gtsam/nonlinear/NonlinearFactor.h | 1 - gtsam/nonlinear/Ordering.h | 6 +-- gtsam/nonlinear/tests/testOrdering.cpp | 5 ++- .../tests/testSerializationNonlinear.cpp | 3 +- gtsam/nonlinear/tests/testValues.cpp | 23 ++++++------ gtsam/slam/GeneralSFMFactor.h | 5 ++- gtsam/slam/pose2SLAM.h | 1 - gtsam/slam/pose3SLAM.h | 1 - gtsam/slam/smallExample.cpp | 1 + gtsam/slam/tests/testGeneralSFMFactor.cpp | 25 +++++++------ .../testGeneralSFMFactor_Cal3Bundler.cpp | 32 ++++++++-------- gtsam/slam/tests/testPlanarSLAM.cpp | 10 ++--- gtsam/slam/tests/testProjectionFactor.cpp | 1 + gtsam/slam/tests/testSerializationSLAM.cpp | 6 +-- gtsam/slam/tests/testSimulated2DOriented.cpp | 12 +++--- gtsam/slam/tests/testStereoFactor.cpp | 1 + gtsam/slam/tests/testVisualSLAM.cpp | 1 + gtsam/slam/visualSLAM.h | 1 - gtsam_unstable/slam/simulated3D.h | 1 - gtsam_unstable/slam/tests/testSimulated3D.cpp | 5 ++- tests/testBoundingConstraint.cpp | 5 ++- tests/testDoglegOptimizer.cpp | 14 ++++--- tests/testExtendedKalmanFilter.cpp | 5 ++- tests/testGaussianFactor.cpp | 37 +++++++++---------- tests/testGaussianFactorGraphB.cpp | 25 +++++++------ tests/testGaussianISAM.cpp | 19 +++++----- tests/testGaussianJunctionTreeB.cpp | 26 +++++++------ tests/testInferenceB.cpp | 1 + tests/testNonlinearEquality.cpp | 7 ++-- tests/testNonlinearFactor.cpp | 1 + tests/testNonlinearFactorGraph.cpp | 1 + tests/testNonlinearISAM.cpp | 1 + tests/testNonlinearOptimizer.cpp | 1 + tests/testRot3Optimization.cpp | 1 + tests/testSymbolicBayesNetB.cpp | 1 + tests/testSymbolicFactorGraphB.cpp | 26 ++++++------- 42 files changed, 192 insertions(+), 154 deletions(-) diff --git a/.cproject b/.cproject index c19b1a91a..ec6a2bf6f 100644 --- a/.cproject +++ b/.cproject @@ -663,6 +663,14 @@ true true + + make + -j5 + testGeneralSFMFactor_Cal3Bundler.run + true + true + true + make -j5 diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample_easy.cpp index cd4a7aefd..fc371033e 100644 --- a/examples/PlanarSLAMExample_easy.cpp +++ b/examples/PlanarSLAMExample_easy.cpp @@ -18,6 +18,9 @@ // pull in the planar SLAM domain with all typedefs and helper functions defined #include +// we will use Symbol keys +#include + using namespace std; using namespace gtsam; diff --git a/examples/easyPoint2KalmanFilter.cpp b/examples/easyPoint2KalmanFilter.cpp index b13058a07..2b4d2476a 100644 --- a/examples/easyPoint2KalmanFilter.cpp +++ b/examples/easyPoint2KalmanFilter.cpp @@ -22,6 +22,7 @@ */ #include +#include #include #include #include diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp index 6b47c9633..d23ea9b10 100644 --- a/examples/vSLAMexample/vISAMexample.cpp +++ b/examples/vSLAMexample/vISAMexample.cpp @@ -18,15 +18,16 @@ #include "vSLAMutils.h" #include "Feature2D.h" -#include -#include #include #include #include +#include +#include +#include #include #include -using namespace boost; +using boost::shared_ptr; using namespace std; using namespace gtsam; diff --git a/examples/vSLAMexample/vSFMexample.cpp b/examples/vSLAMexample/vSFMexample.cpp index 6eb3955f2..be41ad831 100644 --- a/examples/vSLAMexample/vSFMexample.cpp +++ b/examples/vSLAMexample/vSFMexample.cpp @@ -18,13 +18,14 @@ #include "vSLAMutils.h" #include "Feature2D.h" -#include -#include #include #include +#include +#include +#include #include -using namespace boost; +using boost::shared_ptr; using namespace std; using namespace gtsam; diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 8fe117e34..46fbe94f9 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -12,13 +12,15 @@ /** * @file ISAM2-impl.cpp * @brief Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization. - * @author Michael Kaess, Richard Roberts + * @author Michael Kaess + * @author Richard Roberts */ +#include +#include // for selective linearization thresholds +#include #include #include -#include -#include namespace gtsam { diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index bf6527599..12001551c 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -33,7 +33,6 @@ #include #include -#include /** * Macro to add a standard clone function to a derived factor diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index 879b50677..f775f168b 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -17,14 +17,14 @@ #pragma once -#include -#include +#include #include -#include +#include #include #include #include +#include namespace gtsam { diff --git a/gtsam/nonlinear/tests/testOrdering.cpp b/gtsam/nonlinear/tests/testOrdering.cpp index f57e3281a..beb16f741 100644 --- a/gtsam/nonlinear/tests/testOrdering.cpp +++ b/gtsam/nonlinear/tests/testOrdering.cpp @@ -14,9 +14,10 @@ * @author Alex Cunningham */ -#include -#include #include +#include +#include +#include using namespace std; using namespace gtsam; diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp index 120a9fa94..bc023f115 100644 --- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp +++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp @@ -16,11 +16,12 @@ * @date Feb 7, 2012 */ +#include +#include #include #include #include #include -#include #include #include diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index 6ccd3b083..f5caa846b 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -10,28 +10,29 @@ * -------------------------------------------------------------------------- */ /** - * @file testDynamicValues.cpp + * @file testValues.cpp * @author Richard Roberts */ -#include -#include -#include -#include // for operator += -using namespace boost::assign; - +#include +#include +#include +#include #include #include #include -#include -#include -#include + +#include +#include // for operator += +using namespace boost::assign; +#include +#include using namespace gtsam; using namespace std; static double inf = std::numeric_limits::infinity(); -const Key key1(Symbol('v',1)), key2(Symbol('v',2)), key3(Symbol('v',3)), key4(Symbol('v',4)); +const Symbol key1('v',1), key2('v',2), key3('v',3), key4('v',4); /* ************************************************************************* */ TEST( Values, equals1 ) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index d046d0e1b..d64585b7d 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -20,9 +20,10 @@ #pragma once -#include #include - +#include +#include +#include namespace gtsam { diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 337ab9f7a..84fbc528f 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -19,7 +19,6 @@ #include #include -#include #include #include #include diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index e42238892..f81070818 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -20,7 +20,6 @@ #include #include #include -#include #include #include #include diff --git a/gtsam/slam/smallExample.cpp b/gtsam/slam/smallExample.cpp index 2e9194466..b0e709a80 100644 --- a/gtsam/slam/smallExample.cpp +++ b/gtsam/slam/smallExample.cpp @@ -18,6 +18,7 @@ */ #include +#include #include #include #include diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 5b8a217bc..f9911ce7d 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -16,23 +16,24 @@ * @brief unit tests for GeneralSFMFactor */ -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include using namespace boost; -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include using namespace std; using namespace gtsam; diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index 76cf7d180..7698acae4 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -10,28 +10,30 @@ * -------------------------------------------------------------------------- */ /** - * @file testGeneralSFMFactor.cpp + * @file testGeneralSFMFactor_Cal3Bundler.cpp * @date Dec 27, 2010 * @author nikai * @brief unit tests for GeneralSFMFactor */ -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include -using namespace boost; -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include using namespace std; using namespace gtsam; @@ -146,8 +148,8 @@ vector genCameraVariableCalibration() { return X ; } -shared_ptr getOrdering(const vector& X, const vector& L) { - shared_ptr ordering(new Ordering); +boost::shared_ptr getOrdering(const std::vector& X, const std::vector& L) { + boost::shared_ptr ordering(new Ordering); for ( size_t i = 0 ; i < L.size() ; ++i ) ordering->push_back(Symbol('l', i)) ; for ( size_t i = 0 ; i < X.size() ; ++i ) ordering->push_back(Symbol('x', i)) ; return ordering ; diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp index 8859f7a08..11efc7b5e 100644 --- a/gtsam/slam/tests/testPlanarSLAM.cpp +++ b/gtsam/slam/tests/testPlanarSLAM.cpp @@ -14,16 +14,16 @@ * @author Frank Dellaert **/ +#include +#include +#include +#include + #include #include -#include -#include -#include - using namespace std; using namespace gtsam; -using namespace planarSLAM; // some shared test values static Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index 80b35f269..2ec97f301 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -17,6 +17,7 @@ */ #include +#include #include using namespace std; diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/gtsam/slam/tests/testSerializationSLAM.cpp index 4442d73fc..23093a28e 100644 --- a/gtsam/slam/tests/testSerializationSLAM.cpp +++ b/gtsam/slam/tests/testSerializationSLAM.cpp @@ -16,12 +16,12 @@ * @date Feb 7, 2012 */ -#include -#include #include #include #include - +#include +#include +#include #include #include diff --git a/gtsam/slam/tests/testSimulated2DOriented.cpp b/gtsam/slam/tests/testSimulated2DOriented.cpp index b3d6e8d9e..afca72402 100644 --- a/gtsam/slam/tests/testSimulated2DOriented.cpp +++ b/gtsam/slam/tests/testSimulated2DOriented.cpp @@ -16,17 +16,17 @@ * @brief unit tests for simulated2DOriented */ -#include -#include - -#include -#include #include #include +#include +#include +#include using namespace std; using namespace gtsam; -using namespace simulated2DOriented; + +#include +#include // Convenience for named keys Key kx(size_t i) { return Symbol('x',i); } diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index ffa512d96..9a8a27054 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index 27b930022..dc9b64f4d 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 9933c4d9f..32824b60e 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -23,7 +23,6 @@ #include #include #include -#include #include #include #include diff --git a/gtsam_unstable/slam/simulated3D.h b/gtsam_unstable/slam/simulated3D.h index 66552b926..ef79991b8 100644 --- a/gtsam_unstable/slam/simulated3D.h +++ b/gtsam_unstable/slam/simulated3D.h @@ -23,7 +23,6 @@ #include #include #include -#include // \namespace diff --git a/gtsam_unstable/slam/tests/testSimulated3D.cpp b/gtsam_unstable/slam/tests/testSimulated3D.cpp index 5aca0ce3a..d7633f473 100644 --- a/gtsam_unstable/slam/tests/testSimulated3D.cpp +++ b/gtsam_unstable/slam/tests/testSimulated3D.cpp @@ -18,10 +18,11 @@ #include #include +#include +#include +#include #include #include -#include -#include using namespace gtsam; using namespace simulated3D; diff --git a/tests/testBoundingConstraint.cpp b/tests/testBoundingConstraint.cpp index 35b1833ee..d728742f7 100644 --- a/tests/testBoundingConstraint.cpp +++ b/tests/testBoundingConstraint.cpp @@ -15,12 +15,13 @@ * @author Alex Cunningham */ -#include - #include +#include #include #include +#include + namespace iq2D = simulated2D::inequality_constraints; using namespace std; using namespace gtsam; diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index ae8c6e00e..f175ca9f3 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -15,15 +15,17 @@ * @author Richard Roberts */ -#include -#include -#include +#include +#include +#include +#include #include #include #include -#include -#include -#include +#include +#include + +#include #include #include // for 'list_of()' diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index c0e5af4f7..9071d9c63 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -14,14 +14,15 @@ * @author Stephen Williams */ -#include - #include #include #include #include +#include #include +#include + using namespace gtsam; /* ************************************************************************* */ diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index 2cfb7a076..f380ad4e2 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -16,7 +16,14 @@ * @author Frank Dellaert **/ -#include +#include +#include +#include +#include +#include +#include + +#include #include #include // for operator += @@ -24,18 +31,10 @@ #include // for insert using namespace boost::assign; -#include - -#include -#include -#include -#include -#include +#include using namespace std; using namespace gtsam; -using namespace example; -using namespace boost; static SharedDiagonal sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2), @@ -53,7 +52,7 @@ TEST( GaussianFactor, linearFactor ) JacobianFactor expected(ordering[kx1], -10*I,ordering[kx2], 10*I, b, noiseModel::Unit::Create(2)); // create a small linear factor graph - FactorGraph fg = createGaussianFactorGraph(ordering); + FactorGraph fg = example::createGaussianFactorGraph(ordering); // get the factor kf2 from the factor graph JacobianFactor::shared_ptr lf = fg[1]; @@ -94,7 +93,7 @@ TEST( GaussianFactor, getDim ) { // get a factor Ordering ordering; ordering += kx1,kx2,kl1; - GaussianFactorGraph fg = createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); GaussianFactor::shared_ptr factor = fg[0]; // get the size of a variable @@ -166,13 +165,13 @@ TEST( GaussianFactor, error ) { // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - GaussianFactorGraph fg = createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get the first factor from the factor graph GaussianFactor::shared_ptr lf = fg[0]; // check the error of the first factor with noisy config - VectorValues cfg = createZeroDelta(ordering); + VectorValues cfg = example::createZeroDelta(ordering); // calculate the error from the factor kf1 // note the error is the same as in testNonlinearFactor @@ -226,7 +225,7 @@ TEST( GaussianFactor, matrix ) { // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = createGaussianFactorGraph(ordering); + FactorGraph fg = example::createGaussianFactorGraph(ordering); // get the factor kf2 from the factor graph //GaussianFactor::shared_ptr lf = fg[1]; // NOTE: using the older version @@ -263,7 +262,7 @@ TEST( GaussianFactor, matrix ) EQUALITY(b_act2,b2); // Ensure that whitening is consistent - shared_ptr model = lf->get_model(); + boost::shared_ptr model = lf->get_model(); model->WhitenSystem(A_act2, b_act2); EQUALITY(A_act1, A_act2); EQUALITY(b_act1, b_act2); @@ -274,7 +273,7 @@ TEST( GaussianFactor, matrix_aug ) { // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = createGaussianFactorGraph(ordering); + FactorGraph fg = example::createGaussianFactorGraph(ordering); // get the factor kf2 from the factor graph //GaussianFactor::shared_ptr lf = fg[1]; @@ -307,7 +306,7 @@ TEST( GaussianFactor, matrix_aug ) EQUALITY(Ab_act2,Ab2); // Ensure that whitening is consistent - shared_ptr model = lf->get_model(); + boost::shared_ptr model = lf->get_model(); model->WhitenInPlace(Ab_act1); EQUALITY(Ab_act1, Ab_act2); } @@ -385,7 +384,7 @@ TEST( GaussianFactor, size ) { // create a linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - GaussianFactorGraph fg = createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get some factors from the graph boost::shared_ptr factor1 = fg[0]; diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 2e68200f5..6eb673018 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -15,9 +15,16 @@ * @author Christian Potthast **/ -#include -#include -using namespace std; +#include +#include +#include +#include +#include +#include +#include +#include + +#include #include #include @@ -26,16 +33,10 @@ using namespace std; #include // for operator += using namespace boost::assign; -#include - -#include -#include -#include -#include -#include -#include -#include +#include +#include +using namespace std; using namespace gtsam; using namespace example; diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index 4c798aa8d..d4946a625 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -15,20 +15,21 @@ * @author Michael Kaess */ -#include -#include // for operator += -using namespace boost::assign; - -#include - -#include +#include #include +#include #include -#include #include #include #include -#include +#include +#include + +#include + +#include +#include // for operator += +using namespace boost::assign; using namespace std; using namespace gtsam; diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 6ec160a5d..7d73ef83b 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -15,9 +15,20 @@ * @author nikai */ -#include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include +#include +#include + +#include #include #include // for operator += @@ -25,16 +36,7 @@ #include using namespace boost::assign; -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include using namespace std; using namespace gtsam; diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index 05573c686..e023fe7e3 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -17,6 +17,7 @@ #include +#include #include #include #include diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 639e67591..2b35e9f60 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -14,15 +14,16 @@ * @author Alex Cunningham */ -#include - -#include #include #include #include +#include #include #include #include +#include + +#include using namespace std; using namespace gtsam; diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index d1a891356..eac14d480 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -32,6 +32,7 @@ #include #include #include +#include using namespace std; using namespace gtsam; diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 4f3e7560f..59ee0977e 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -32,6 +32,7 @@ using namespace boost::assign; #include #include #include +#include using namespace gtsam; using namespace example; diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index cf8782e09..28926ff5d 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -7,6 +7,7 @@ #include #include +#include #include using namespace gtsam; diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 1a134b8a3..a59584c96 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp index df2471933..3e78414e9 100644 --- a/tests/testRot3Optimization.cpp +++ b/tests/testRot3Optimization.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include diff --git a/tests/testSymbolicBayesNetB.cpp b/tests/testSymbolicBayesNetB.cpp index e25cf33ca..356f4bb34 100644 --- a/tests/testSymbolicBayesNetB.cpp +++ b/tests/testSymbolicBayesNetB.cpp @@ -26,6 +26,7 @@ using namespace boost::assign; #include #include #include +#include using namespace std; using namespace gtsam; diff --git a/tests/testSymbolicFactorGraphB.cpp b/tests/testSymbolicFactorGraphB.cpp index 9b195e0c1..cb64ddb4a 100644 --- a/tests/testSymbolicFactorGraphB.cpp +++ b/tests/testSymbolicFactorGraphB.cpp @@ -15,20 +15,20 @@ * @author Frank Dellaert */ -#include // for operator += -using namespace boost::assign; - -#include - #include +#include +#include #include #include #include -#include + +#include + +#include // for operator += +using namespace boost::assign; using namespace std; using namespace gtsam; -using namespace example; Key kx(size_t i) { return Symbol('x',i); } Key kl(size_t i) { return Symbol('l',i); } @@ -45,7 +45,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) expected.push_factor(o[kx(2)],o[kl(1)]); // construct it from the factor graph - GaussianFactorGraph factorGraph = createGaussianFactorGraph(o); + GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o); SymbolicFactorGraph actual(factorGraph); CHECK(assert_equal(expected, actual)); @@ -55,7 +55,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) //TEST( SymbolicFactorGraph, findAndRemoveFactors ) //{ // // construct it from the factor graph graph -// GaussianFactorGraph factorGraph = createGaussianFactorGraph(); +// GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(); // SymbolicFactorGraph actual(factorGraph); // SymbolicFactor::shared_ptr f1 = actual[0]; // SymbolicFactor::shared_ptr f3 = actual[2]; @@ -75,7 +75,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) //TEST( SymbolicFactorGraph, factors) //{ // // create a test graph -// GaussianFactorGraph factorGraph = createGaussianFactorGraph(); +// GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(); // SymbolicFactorGraph fg(factorGraph); // // // ask for all factor indices connected to x1 @@ -95,7 +95,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) //TEST( SymbolicFactorGraph, removeAndCombineFactors ) //{ // // create a test graph -// GaussianFactorGraph factorGraph = createGaussianFactorGraph(); +// GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(); // SymbolicFactorGraph fg(factorGraph); // // // combine all factors connected to x1 @@ -111,7 +111,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) //{ // Ordering o; o += kx(1),kl(1),kx(2); // // create a test graph -// GaussianFactorGraph factorGraph = createGaussianFactorGraph(o); +// GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o); // SymbolicFactorGraph fg(factorGraph); // // // eliminate @@ -139,7 +139,7 @@ TEST( SymbolicFactorGraph, eliminate ) expected.push_back(x1); // create a test graph - GaussianFactorGraph factorGraph = createGaussianFactorGraph(o); + GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o); SymbolicFactorGraph fg(factorGraph); // eliminate it From 8440939f27f2fe550b2ca19642010e4d8240cf60 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jun 2012 19:28:21 +0000 Subject: [PATCH 093/914] Using symbol_shorthand instead of redundant kx, kl functions --- examples/vSLAMexample/vISAMexample.cpp | 14 +- examples/vSLAMexample/vSFMexample.cpp | 14 +- gtsam/nonlinear/tests/testValues.cpp | 8 +- gtsam/slam/smallExample.cpp | 58 ++--- gtsam/slam/tests/testGeneralSFMFactor.cpp | 236 +++++++++--------- .../testGeneralSFMFactor_Cal3Bundler.cpp | 226 +++++++++-------- gtsam/slam/tests/testProjectionFactor.cpp | 26 +- gtsam/slam/tests/testSerializationSLAM.cpp | 6 +- gtsam/slam/tests/testSimulated2DOriented.cpp | 10 +- gtsam/slam/tests/testStereoFactor.cpp | 12 +- gtsam/slam/tests/testVisualSLAM.cpp | 92 +++---- gtsam_unstable/slam/tests/testSimulated3D.cpp | 16 +- tests/testDoglegOptimizer.cpp | 8 +- tests/testExtendedKalmanFilter.cpp | 8 +- tests/testGaussianFactor.cpp | 6 +- tests/testGaussianFactorGraphB.cpp | 236 +++++++++--------- tests/testGaussianISAM.cpp | 94 +++---- tests/testGaussianJunctionTreeB.cpp | 66 ++--- tests/testInferenceB.cpp | 26 +- tests/testNonlinearFactor.cpp | 96 +++---- tests/testNonlinearFactorGraph.cpp | 18 +- tests/testNonlinearOptimizer.cpp | 42 ++-- tests/testSymbolicBayesNetB.cpp | 12 +- tests/testSymbolicFactorGraphB.cpp | 38 +-- 24 files changed, 704 insertions(+), 664 deletions(-) diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp index d23ea9b10..16c250953 100644 --- a/examples/vSLAMexample/vISAMexample.cpp +++ b/examples/vSLAMexample/vISAMexample.cpp @@ -32,6 +32,10 @@ using boost::shared_ptr; using namespace std; using namespace gtsam; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + /* ************************************************************************* */ #define CALIB_FILE "calib.txt" #define LANDMARKS_FILE "landmarks.txt" @@ -83,22 +87,22 @@ void createNewFactors(shared_ptr& newFactors, boost::shared_p newFactors->addMeasurement( measurements[i].m_p, measurementSigma, - Symbol('x',pose_id), - Symbol('l',measurements[i].m_idLandmark), + X(pose_id), + L(measurements[i].m_idLandmark), calib); } // ... we need priors on the new pose and all new landmarks newFactors->addPosePrior(pose_id, pose, poseSigma); for (size_t i = 0; i < measurements.size(); i++) { - newFactors->addPointPrior(Symbol('x',measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); + newFactors->addPointPrior(X(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); } // Create initial values for all nodes in the newFactors initialValues = shared_ptr (new Values()); - initialValues->insert(Symbol('x',pose_id), pose); + initialValues->insert(X(pose_id), pose); for (size_t i = 0; i < measurements.size(); i++) { - initialValues->insert(Symbol('l',measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); + initialValues->insert(L(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); } } diff --git a/examples/vSLAMexample/vSFMexample.cpp b/examples/vSLAMexample/vSFMexample.cpp index be41ad831..66e9a475b 100644 --- a/examples/vSLAMexample/vSFMexample.cpp +++ b/examples/vSLAMexample/vSFMexample.cpp @@ -30,6 +30,10 @@ using boost::shared_ptr; using namespace std; using namespace gtsam; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + /* ************************************************************************* */ #define CALIB_FILE "calib.txt" #define LANDMARKS_FILE "landmarks.txt" @@ -84,8 +88,8 @@ visualSLAM::Graph setupGraph(std::vector& measurements, SharedNoiseMo g.addMeasurement( measurements[i].m_p, measurementSigma, - Symbol('x',measurements[i].m_idCamera), - Symbol('l',measurements[i].m_idLandmark), + X(measurements[i].m_idCamera), + L(measurements[i].m_idLandmark), calib); } @@ -103,11 +107,11 @@ Values initialize(std::map landmarks, std::map poses) { // Initialize landmarks 3D positions. for (map::iterator lmit = landmarks.begin(); lmit != landmarks.end(); lmit++) - initValues.insert(Symbol('l',lmit->first), lmit->second); + initValues.insert(L(lmit->first), lmit->second); // Initialize camera poses. for (map::iterator poseit = poses.begin(); poseit != poses.end(); poseit++) - initValues.insert(Symbol('x',poseit->first), poseit->second); + initValues.insert(X(poseit->first), poseit->second); return initValues; } @@ -137,7 +141,7 @@ int main(int argc, char* argv[]) { // Add prior factor for all poses in the graph map::iterator poseit = g_poses.begin(); for (; poseit != g_poses.end(); poseit++) - graph.addPosePrior(Symbol('x',poseit->first), poseit->second, noiseModel::Unit::Create(1)); + graph.addPosePrior(X(poseit->first), poseit->second, noiseModel::Unit::Create(1)); // Optimize the graph cout << "*******************************************************" << endl; diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index f5caa846b..3818e99a2 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -32,6 +32,10 @@ using namespace gtsam; using namespace std; static double inf = std::numeric_limits::infinity(); +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + const Symbol key1('v',1), key2('v',2), key3('v',3), key4('v',4); /* ************************************************************************* */ @@ -333,9 +337,9 @@ TEST(Values, Symbol_filter) { Pose3 pose3(Pose2(0.3, 0.7, 0.9)); Values values; - values.insert(Symbol('x',0), pose0); + values.insert(X(0), pose0); values.insert(Symbol('y',1), pose1); - values.insert(Symbol('x',2), pose2); + values.insert(X(2), pose2); values.insert(Symbol('y',3), pose3); int i = 0; diff --git a/gtsam/slam/smallExample.cpp b/gtsam/slam/smallExample.cpp index b0e709a80..5b0ee90dd 100644 --- a/gtsam/slam/smallExample.cpp +++ b/gtsam/slam/smallExample.cpp @@ -47,8 +47,8 @@ namespace example { static const Index _x_=0, _y_=1, _z_=2; // Convenience for named keys - Key kx(size_t i) { return Symbol('x',i); } - Key kl(size_t i) { return Symbol('l',i); } + using symbol_shorthand::X; + using symbol_shorthand::L; /* ************************************************************************* */ boost::shared_ptr sharedNonlinearFactorGraph() { @@ -58,22 +58,22 @@ namespace example { // prior on x1 Point2 mu; - shared f1(new simulated2D::Prior(mu, sigma0_1, kx(1))); + shared f1(new simulated2D::Prior(mu, sigma0_1, X(1))); nlfg->push_back(f1); // odometry between x1 and x2 Point2 z2(1.5, 0); - shared f2(new simulated2D::Odometry(z2, sigma0_1, kx(1), kx(2))); + shared f2(new simulated2D::Odometry(z2, sigma0_1, X(1), X(2))); nlfg->push_back(f2); // measurement between x1 and l1 Point2 z3(0, -1); - shared f3(new simulated2D::Measurement(z3, sigma0_2, kx(1), kl(1))); + shared f3(new simulated2D::Measurement(z3, sigma0_2, X(1), L(1))); nlfg->push_back(f3); // measurement between x2 and l1 Point2 z4(-1.5, -1.); - shared f4(new simulated2D::Measurement(z4, sigma0_2, kx(2), kl(1))); + shared f4(new simulated2D::Measurement(z4, sigma0_2, X(2), L(1))); nlfg->push_back(f4); return nlfg; @@ -87,9 +87,9 @@ namespace example { /* ************************************************************************* */ Values createValues() { Values c; - c.insert(kx(1), Point2(0.0, 0.0)); - c.insert(kx(2), Point2(1.5, 0.0)); - c.insert(kl(1), Point2(0.0, -1.0)); + c.insert(X(1), Point2(0.0, 0.0)); + c.insert(X(2), Point2(1.5, 0.0)); + c.insert(L(1), Point2(0.0, -1.0)); return c; } @@ -105,9 +105,9 @@ namespace example { /* ************************************************************************* */ boost::shared_ptr sharedNoisyValues() { boost::shared_ptr c(new Values); - c->insert(kx(1), Point2(0.1, 0.1)); - c->insert(kx(2), Point2(1.4, 0.2)); - c->insert(kl(1), Point2(0.1, -1.1)); + c->insert(X(1), Point2(0.1, 0.1)); + c->insert(X(2), Point2(1.4, 0.2)); + c->insert(L(1), Point2(0.1, -1.1)); return c; } @@ -119,18 +119,18 @@ namespace example { /* ************************************************************************* */ VectorValues createCorrectDelta(const Ordering& ordering) { VectorValues c(vector(3,2)); - c[ordering[kl(1)]] = Vector_(2, -0.1, 0.1); - c[ordering[kx(1)]] = Vector_(2, -0.1, -0.1); - c[ordering[kx(2)]] = Vector_(2, 0.1, -0.2); + c[ordering[L(1)]] = Vector_(2, -0.1, 0.1); + c[ordering[X(1)]] = Vector_(2, -0.1, -0.1); + c[ordering[X(2)]] = Vector_(2, 0.1, -0.2); return c; } /* ************************************************************************* */ VectorValues createZeroDelta(const Ordering& ordering) { VectorValues c(vector(3,2)); - c[ordering[kl(1)]] = zero(2); - c[ordering[kx(1)]] = zero(2); - c[ordering[kx(2)]] = zero(2); + c[ordering[L(1)]] = zero(2); + c[ordering[X(1)]] = zero(2); + c[ordering[X(2)]] = zero(2); return c; } @@ -142,16 +142,16 @@ namespace example { SharedDiagonal unit2 = noiseModel::Unit::Create(2); // linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_] - fg.add(ordering[kx(1)], 10*eye(2), -1.0*ones(2), unit2); + fg.add(ordering[X(1)], 10*eye(2), -1.0*ones(2), unit2); // odometry between x1 and x2: x2-x1=[0.2;-0.1] - fg.add(ordering[kx(1)], -10*eye(2),ordering[kx(2)], 10*eye(2), Vector_(2, 2.0, -1.0), unit2); + fg.add(ordering[X(1)], -10*eye(2),ordering[X(2)], 10*eye(2), Vector_(2, 2.0, -1.0), unit2); // measurement between x1 and l1: l1-x1=[0.0;0.2] - fg.add(ordering[kx(1)], -5*eye(2), ordering[kl(1)], 5*eye(2), Vector_(2, 0.0, 1.0), unit2); + fg.add(ordering[X(1)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, 0.0, 1.0), unit2); // measurement between x2 and l1: l1-x2=[-0.2;0.3] - fg.add(ordering[kx(2)], -5*eye(2), ordering[kl(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2); + fg.add(ordering[X(2)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2); return *fg.dynamicCastFactors >(); } @@ -221,7 +221,7 @@ namespace example { Vector z = Vector_(2, 1.0, 0.0); double sigma = 0.1; boost::shared_ptr factor( - new smallOptimize::UnaryFactor(z, noiseModel::Isotropic::Sigma(2,sigma), kx(1))); + new smallOptimize::UnaryFactor(z, noiseModel::Isotropic::Sigma(2,sigma), X(1))); fg->push_back(factor); return fg; } @@ -239,23 +239,23 @@ namespace example { // prior on x1 Point2 x1(1.0, 0.0); - shared prior(new simulated2D::Prior(x1, sigma1_0, kx(1))); + shared prior(new simulated2D::Prior(x1, sigma1_0, X(1))); nlfg.push_back(prior); - poses.insert(kx(1), x1); + poses.insert(X(1), x1); for (int t = 2; t <= T; t++) { // odometry between x_t and x_{t-1} Point2 odo(1.0, 0.0); - shared odometry(new simulated2D::Odometry(odo, sigma1_0, kx(t - 1), kx(t))); + shared odometry(new simulated2D::Odometry(odo, sigma1_0, X(t - 1), X(t))); nlfg.push_back(odometry); // measurement on x_t is like perfect GPS Point2 xt(t, 0); - shared measurement(new simulated2D::Prior(xt, sigma1_0, kx(t))); + shared measurement(new simulated2D::Prior(xt, sigma1_0, X(t))); nlfg.push_back(measurement); // initial estimate - poses.insert(kx(t), xt); + poses.insert(X(t), xt); } return make_pair(nlfg, poses); @@ -416,7 +416,7 @@ namespace example { /* ************************************************************************* */ // Create key for simulated planar graph Symbol key(int x, int y) { - return kx(1000*x+y); + return X(1000*x+y); } /* ************************************************************************* */ diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index f9911ce7d..1b924aa55 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -38,6 +38,10 @@ using namespace boost; using namespace std; using namespace gtsam; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + typedef PinholeCamera GeneralCamera; typedef GeneralSFMFactor Projection; typedef NonlinearEquality CameraConstraint; @@ -46,16 +50,16 @@ typedef NonlinearEquality Point3Constraint; class Graph: public NonlinearFactorGraph { public: void addMeasurement(int i, int j, const Point2& z, const SharedNoiseModel& model) { - push_back(boost::make_shared(z, model, Symbol('x',i), Symbol('l',j))); + push_back(boost::make_shared(z, model, X(i), L(j))); } void addCameraConstraint(int j, const GeneralCamera& p) { - boost::shared_ptr factor(new CameraConstraint(Symbol('x',j), p)); + boost::shared_ptr factor(new CameraConstraint(X(j), p)); push_back(factor); } void addPoint3Constraint(int j, const Point3& p) { - boost::shared_ptr factor(new Point3Constraint(Symbol('l',j), p)); + boost::shared_ptr factor(new Point3Constraint(L(j), p)); push_back(factor); } @@ -98,14 +102,14 @@ TEST( GeneralSFMFactor, equals ) TEST( GeneralSFMFactor, error ) { Point2 z(3.,0.); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - boost::shared_ptr factor(new Projection(z, sigma, Symbol('x',1), Symbol('l',1))); + boost::shared_ptr factor(new Projection(z, sigma, X(1), L(1))); // For the following configuration, the factor predicts 320,240 Values values; Rot3 R; Point3 t1(0,0,-6); Pose3 x1(R,t1); - values.insert(Symbol('x',1), GeneralCamera(x1)); - Point3 l1; values.insert(Symbol('l',1), l1); + values.insert(X(1), GeneralCamera(x1)); + Point3 l1; values.insert(L(1), l1); EXPECT(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(values))); } @@ -114,20 +118,20 @@ static const double baseline = 5.0 ; /* ************************************************************************* */ vector genPoint3() { const double z = 5; - vector L ; - L.push_back(Point3 (-1.0,-1.0, z)); - L.push_back(Point3 (-1.0, 1.0, z)); - L.push_back(Point3 ( 1.0, 1.0, z)); - L.push_back(Point3 ( 1.0,-1.0, z)); - L.push_back(Point3 (-1.5,-1.5, 1.5*z)); - L.push_back(Point3 (-1.5, 1.5, 1.5*z)); - L.push_back(Point3 ( 1.5, 1.5, 1.5*z)); - L.push_back(Point3 ( 1.5,-1.5, 1.5*z)); - L.push_back(Point3 (-2.0,-2.0, 2*z)); - L.push_back(Point3 (-2.0, 2.0, 2*z)); - L.push_back(Point3 ( 2.0, 2.0, 2*z)); - L.push_back(Point3 ( 2.0,-2.0, 2*z)); - return L ; + vector landmarks ; + landmarks.push_back(Point3 (-1.0,-1.0, z)); + landmarks.push_back(Point3 (-1.0, 1.0, z)); + landmarks.push_back(Point3 ( 1.0, 1.0, z)); + landmarks.push_back(Point3 ( 1.0,-1.0, z)); + landmarks.push_back(Point3 (-1.5,-1.5, 1.5*z)); + landmarks.push_back(Point3 (-1.5, 1.5, 1.5*z)); + landmarks.push_back(Point3 ( 1.5, 1.5, 1.5*z)); + landmarks.push_back(Point3 ( 1.5,-1.5, 1.5*z)); + landmarks.push_back(Point3 (-2.0,-2.0, 2*z)); + landmarks.push_back(Point3 (-2.0, 2.0, 2*z)); + landmarks.push_back(Point3 ( 2.0, 2.0, 2*z)); + landmarks.push_back(Point3 ( 2.0,-2.0, 2*z)); + return landmarks ; } vector genCameraDefaultCalibration() { @@ -145,10 +149,10 @@ vector genCameraVariableCalibration() { return X ; } -shared_ptr getOrdering(const vector& X, const vector& L) { +shared_ptr getOrdering(const vector& cameras, const vector& landmarks) { shared_ptr ordering(new Ordering); - for ( size_t i = 0 ; i < L.size() ; ++i ) ordering->push_back(Symbol('l', i)) ; - for ( size_t i = 0 ; i < X.size() ; ++i ) ordering->push_back(Symbol('x', i)) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; return ordering ; } @@ -156,37 +160,37 @@ shared_ptr getOrdering(const vector& X, const vector L = genPoint3(); - vector X = genCameraDefaultCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraDefaultCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = X.size()*L.size() ; + const size_t nMeasurements = cameras.size()*landmarks.size() ; // add initial const double noise = baseline*0.1; Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; - for ( size_t i = 0 ; i < L.size() ; ++i ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - values.insert(Symbol('l',i), pt) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + values.insert(L(i), pt) ; } - graph.addCameraConstraint(0, X[0]); + graph.addCameraConstraint(0, cameras[0]); // Create an ordering of the variables - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * 1e-5 * nMeasurements); @@ -194,42 +198,42 @@ TEST( GeneralSFMFactor, optimize_defaultK ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = X.size()*L.size() ; + const size_t nMeasurements = cameras.size()*landmarks.size() ; // add initial const double noise = baseline*0.1; Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; // add noise only to the first landmark - for ( size_t i = 0 ; i < L.size() ; ++i ) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { if ( i == 0 ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - values.insert(Symbol('l',i), pt) ; + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + values.insert(L(i), pt) ; } else { - values.insert(Symbol('l',i), L[i]) ; + values.insert(L(i), landmarks[i]) ; } } - graph.addCameraConstraint(0, X[0]); + graph.addCameraConstraint(0, cameras[0]); const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -238,39 +242,39 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise const double noise = baseline*0.1; Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = L.size()*X.size(); + const size_t nMeasurements = landmarks.size()*cameras.size(); Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; - for ( size_t i = 0 ; i < L.size() ; ++i ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - //Point3 pt(L[i].x(), L[i].y(), L[i].z()); - values.insert(Symbol('l',i), pt) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + //Point3 pt(landmarks[i].x(), landmarks[i].y(), landmarks[i].z()); + values.insert(L(i), pt) ; } - for ( size_t i = 0 ; i < X.size() ; ++i ) - graph.addCameraConstraint(i, X[i]); + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + graph.addCameraConstraint(i, cameras[i]); const double reproj_error = 1e-5 ; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -279,29 +283,29 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = L.size()*X.size(); + const size_t nMeasurements = landmarks.size()*cameras.size(); Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) { + for ( size_t i = 0 ; i < cameras.size() ; ++i ) { const double rot_noise = 1e-5, trans_noise = 1e-3, focal_noise = 1, skew_noise = 1e-5; if ( i == 0 ) { - values.insert(Symbol('x',i), X[i]) ; + values.insert(X(i), cameras[i]) ; } else { @@ -312,22 +316,22 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { skew_noise, // s trans_noise, trans_noise // ux, uy ) ; - values.insert(Symbol('x',i), X[i].retract(delta)) ; + values.insert(X(i), cameras[i].retract(delta)) ; } } - for ( size_t i = 0 ; i < L.size() ; ++i ) { - values.insert(Symbol('l',i), L[i]) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + values.insert(L(i), landmarks[i]) ; } - // fix X0 and all landmarks, allow only the X[1] to move - graph.addCameraConstraint(0, X[0]); - for ( size_t i = 0 ; i < L.size() ; ++i ) - graph.addPoint3Constraint(i, L[i]); + // fix X0 and all landmarks, allow only the cameras[1] to move + graph.addCameraConstraint(0, cameras[0]); + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) + graph.addPoint3Constraint(i, landmarks[i]); const double reproj_error = 1e-5 ; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -335,43 +339,43 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_BA ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = X.size()*L.size() ; + const size_t nMeasurements = cameras.size()*landmarks.size() ; // add initial const double noise = baseline*0.1; Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; // add noise only to the first landmark - for ( size_t i = 0 ; i < L.size() ; ++i ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - values.insert(Symbol('l',i), pt) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + values.insert(L(i), pt) ; } // Constrain position of system with the first camera constrained to the origin - graph.addCameraConstraint(0, X[0]); + graph.addCameraConstraint(0, cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras - graph.add(RangeFactor(Symbol('x',0), Symbol('x',1), 2.0, sharedSigma(1, 10.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 10.0))); const double reproj_error = 1e-5 ; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -382,17 +386,17 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { // Tests range factor between a GeneralCamera and a Pose3 Graph graph; graph.addCameraConstraint(0, GeneralCamera()); - graph.add(RangeFactor(Symbol('x',0), Symbol('x',1), 2.0, sharedSigma(1, 1.0))); - graph.add(PriorFactor(Symbol('x',1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), sharedSigma(6, 1.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 1.0))); + graph.add(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), sharedSigma(6, 1.0))); Values init; - init.insert(Symbol('x',0), GeneralCamera()); - init.insert(Symbol('x',1), Pose3(Rot3(), Point3(1.0,1.0,1.0))); + init.insert(X(0), GeneralCamera()); + init.insert(X(1), Pose3(Rot3(), Point3(1.0,1.0,1.0))); // The optimal value between the 2m range factor and 1m prior is 1.5m Values expected; - expected.insert(Symbol('x',0), GeneralCamera()); - expected.insert(Symbol('x',1), Pose3(Rot3(), Point3(1.5,0.0,0.0))); + expected.insert(X(0), GeneralCamera()); + expected.insert(X(1), Pose3(Rot3(), Point3(1.5,0.0,0.0))); LevenbergMarquardtParams params; params.absoluteErrorTol = 1e-9; @@ -406,17 +410,17 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { // Tests range factor between a CalibratedCamera and a Pose3 NonlinearFactorGraph graph; - graph.add(PriorFactor(Symbol('x',0), CalibratedCamera(), sharedSigma(6, 1.0))); - graph.add(RangeFactor(Symbol('x',0), Symbol('x',1), 2.0, sharedSigma(1, 1.0))); - graph.add(PriorFactor(Symbol('x',1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), sharedSigma(6, 1.0))); + graph.add(PriorFactor(X(0), CalibratedCamera(), sharedSigma(6, 1.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 1.0))); + graph.add(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), sharedSigma(6, 1.0))); Values init; - init.insert(Symbol('x',0), CalibratedCamera()); - init.insert(Symbol('x',1), Pose3(Rot3(), Point3(1.0,1.0,1.0))); + init.insert(X(0), CalibratedCamera()); + init.insert(X(1), Pose3(Rot3(), Point3(1.0,1.0,1.0))); Values expected; - expected.insert(Symbol('x',0), CalibratedCamera(Pose3(Rot3(), Point3(-0.333333333333, 0, 0)))); - expected.insert(Symbol('x',1), Pose3(Rot3(), Point3(1.333333333333, 0, 0))); + expected.insert(X(0), CalibratedCamera(Pose3(Rot3(), Point3(-0.333333333333, 0, 0)))); + expected.insert(X(1), Pose3(Rot3(), Point3(1.333333333333, 0, 0))); LevenbergMarquardtParams params; params.absoluteErrorTol = 1e-9; diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index 7698acae4..142c27e7e 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -38,6 +38,10 @@ using namespace std; using namespace gtsam; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + typedef PinholeCamera GeneralCamera; typedef GeneralSFMFactor Projection; typedef NonlinearEquality CameraConstraint; @@ -47,16 +51,16 @@ typedef NonlinearEquality Point3Constraint; class Graph: public NonlinearFactorGraph { public: void addMeasurement(const int& i, const int& j, const Point2& z, const SharedNoiseModel& model) { - push_back(boost::make_shared(z, model, Symbol('x',i), Symbol('l',j))); + push_back(boost::make_shared(z, model, X(i), L(j))); } void addCameraConstraint(int j, const GeneralCamera& p) { - boost::shared_ptr factor(new CameraConstraint(Symbol('x', j), p)); + boost::shared_ptr factor(new CameraConstraint(X(j), p)); push_back(factor); } void addPoint3Constraint(int j, const Point3& p) { - boost::shared_ptr factor(new Point3Constraint(Symbol('l', j), p)); + boost::shared_ptr factor(new Point3Constraint(L(j), p)); push_back(factor); } @@ -100,14 +104,14 @@ TEST( GeneralSFMFactor, error ) { Point2 z(3.,0.); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); boost::shared_ptr - factor(new Projection(z, sigma, Symbol('x',1), Symbol('l',1))); + factor(new Projection(z, sigma, X(1), L(1))); // For the following configuration, the factor predicts 320,240 Values values; Rot3 R; Point3 t1(0,0,-6); Pose3 x1(R,t1); - values.insert(Symbol('x',1), GeneralCamera(x1)); - Point3 l1; values.insert(Symbol('l',1), l1); + values.insert(X(1), GeneralCamera(x1)); + Point3 l1; values.insert(L(1), l1); EXPECT(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(values))); } @@ -117,78 +121,78 @@ static const double baseline = 5.0 ; /* ************************************************************************* */ vector genPoint3() { const double z = 5; - vector L ; - L.push_back(Point3 (-1.0,-1.0, z)); - L.push_back(Point3 (-1.0, 1.0, z)); - L.push_back(Point3 ( 1.0, 1.0, z)); - L.push_back(Point3 ( 1.0,-1.0, z)); - L.push_back(Point3 (-1.5,-1.5, 1.5*z)); - L.push_back(Point3 (-1.5, 1.5, 1.5*z)); - L.push_back(Point3 ( 1.5, 1.5, 1.5*z)); - L.push_back(Point3 ( 1.5,-1.5, 1.5*z)); - L.push_back(Point3 (-2.0,-2.0, 2*z)); - L.push_back(Point3 (-2.0, 2.0, 2*z)); - L.push_back(Point3 ( 2.0, 2.0, 2*z)); - L.push_back(Point3 ( 2.0,-2.0, 2*z)); - return L ; + vector landmarks ; + landmarks.push_back(Point3 (-1.0,-1.0, z)); + landmarks.push_back(Point3 (-1.0, 1.0, z)); + landmarks.push_back(Point3 ( 1.0, 1.0, z)); + landmarks.push_back(Point3 ( 1.0,-1.0, z)); + landmarks.push_back(Point3 (-1.5,-1.5, 1.5*z)); + landmarks.push_back(Point3 (-1.5, 1.5, 1.5*z)); + landmarks.push_back(Point3 ( 1.5, 1.5, 1.5*z)); + landmarks.push_back(Point3 ( 1.5,-1.5, 1.5*z)); + landmarks.push_back(Point3 (-2.0,-2.0, 2*z)); + landmarks.push_back(Point3 (-2.0, 2.0, 2*z)); + landmarks.push_back(Point3 ( 2.0, 2.0, 2*z)); + landmarks.push_back(Point3 ( 2.0,-2.0, 2*z)); + return landmarks ; } vector genCameraDefaultCalibration() { - vector X ; - X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); - X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); - return X ; + vector cameras ; + cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); + cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); + return cameras ; } vector genCameraVariableCalibration() { const Cal3Bundler K(500,1e-3,1e-3); - vector X ; - X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); - X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)), K)); - return X ; + vector cameras ; + cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); + cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)), K)); + return cameras ; } -boost::shared_ptr getOrdering(const std::vector& X, const std::vector& L) { +boost::shared_ptr getOrdering(const std::vector& cameras, const std::vector& landmarks) { boost::shared_ptr ordering(new Ordering); - for ( size_t i = 0 ; i < L.size() ; ++i ) ordering->push_back(Symbol('l', i)) ; - for ( size_t i = 0 ; i < X.size() ; ++i ) ordering->push_back(Symbol('x', i)) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; return ordering ; } /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_defaultK ) { - vector L = genPoint3(); - vector X = genCameraDefaultCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraDefaultCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = X.size()*L.size() ; + const size_t nMeasurements = cameras.size()*landmarks.size() ; // add initial const double noise = baseline*0.1; Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; - for ( size_t i = 0 ; i < L.size() ; ++i ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - values.insert(Symbol('l',i), pt) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + values.insert(L(i), pt) ; } - graph.addCameraConstraint(0, X[0]); + graph.addCameraConstraint(0, cameras[0]); // Create an ordering of the variables - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * 1e-5 * nMeasurements); @@ -196,42 +200,42 @@ TEST( GeneralSFMFactor, optimize_defaultK ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = X.size()*L.size() ; + const size_t nMeasurements = cameras.size()*landmarks.size() ; // add initial const double noise = baseline*0.1; Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; // add noise only to the first landmark - for ( size_t i = 0 ; i < L.size() ; ++i ) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { if ( i == 0 ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - values.insert(Symbol('l',i), pt) ; + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + values.insert(L(i), pt) ; } else { - values.insert(Symbol('l',i), L[i]) ; + values.insert(L(i), landmarks[i]) ; } } - graph.addCameraConstraint(0, X[0]); + graph.addCameraConstraint(0, cameras[0]); const double reproj_error = 1e-5; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -240,39 +244,39 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise const double noise = baseline*0.1; Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = L.size()*X.size(); + const size_t nMeasurements = landmarks.size()*cameras.size(); Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; - for ( size_t i = 0 ; i < L.size() ; ++i ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - //Point3 pt(L[i].x(), L[i].y(), L[i].z()); - values.insert(Symbol('l',i), pt) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + //Point3 pt(landmarks[i].x(), landmarks[i].y(), landmarks[i].z()); + values.insert(L(i), pt) ; } - for ( size_t i = 0 ; i < X.size() ; ++i ) - graph.addCameraConstraint(i, X[i]); + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + graph.addCameraConstraint(i, cameras[i]); const double reproj_error = 1e-5 ; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -281,27 +285,27 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = L.size()*X.size(); + const size_t nMeasurements = landmarks.size()*cameras.size(); Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) { + for ( size_t i = 0 ; i < cameras.size() ; ++i ) { const double rot_noise = 1e-5, trans_noise = 1e-3, focal_noise = 1, distort_noise = 1e-3; if ( i == 0 ) { - values.insert(Symbol('x',i), X[i]) ; + values.insert(X(i), cameras[i]) ; } else { @@ -310,22 +314,22 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { trans_noise, trans_noise, trans_noise, // translation focal_noise, distort_noise, distort_noise // f, k1, k2 ) ; - values.insert(Symbol('x',i), X[i].retract(delta)) ; + values.insert(X(i), cameras[i].retract(delta)) ; } } - for ( size_t i = 0 ; i < L.size() ; ++i ) { - values.insert(Symbol('l',i), L[i]) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + values.insert(L(i), landmarks[i]) ; } - // fix X0 and all landmarks, allow only the X[1] to move - graph.addCameraConstraint(0, X[0]); - for ( size_t i = 0 ; i < L.size() ; ++i ) - graph.addPoint3Constraint(i, L[i]); + // fix X0 and all landmarks, allow only the cameras[1] to move + graph.addCameraConstraint(0, cameras[0]); + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) + graph.addPoint3Constraint(i, landmarks[i]); const double reproj_error = 1e-5 ; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); @@ -333,43 +337,43 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { /* ************************************************************************* */ TEST( GeneralSFMFactor, optimize_varK_BA ) { - vector L = genPoint3(); - vector X = genCameraVariableCalibration(); + vector landmarks = genPoint3(); + vector cameras = genCameraVariableCalibration(); // add measurement with noise Graph graph; - for ( size_t j = 0 ; j < X.size() ; ++j) { - for ( size_t i = 0 ; i < L.size() ; ++i) { - Point2 pt = X[j].project(L[i]) ; + for ( size_t j = 0 ; j < cameras.size() ; ++j) { + for ( size_t i = 0 ; i < landmarks.size() ; ++i) { + Point2 pt = cameras[j].project(landmarks[i]) ; graph.addMeasurement(j, i, pt, sigma1); } } - const size_t nMeasurements = X.size()*L.size() ; + const size_t nMeasurements = cameras.size()*landmarks.size() ; // add initial const double noise = baseline*0.1; Values values; - for ( size_t i = 0 ; i < X.size() ; ++i ) - values.insert(Symbol('x',i), X[i]) ; + for ( size_t i = 0 ; i < cameras.size() ; ++i ) + values.insert(X(i), cameras[i]) ; // add noise only to the first landmark - for ( size_t i = 0 ; i < L.size() ; ++i ) { - Point3 pt(L[i].x()+noise*getGaussian(), - L[i].y()+noise*getGaussian(), - L[i].z()+noise*getGaussian()); - values.insert(Symbol('l',i), pt) ; + for ( size_t i = 0 ; i < landmarks.size() ; ++i ) { + Point3 pt(landmarks[i].x()+noise*getGaussian(), + landmarks[i].y()+noise*getGaussian(), + landmarks[i].z()+noise*getGaussian()); + values.insert(L(i), pt) ; } // Constrain position of system with the first camera constrained to the origin - graph.addCameraConstraint(0, X[0]); + graph.addCameraConstraint(X(0), cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras - graph.add(RangeFactor(Symbol('x',0), Symbol('x',1), 2.0, sharedSigma(1, 10.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 10.0))); const double reproj_error = 1e-5 ; - Ordering ordering = *getOrdering(X,L); + Ordering ordering = *getOrdering(cameras,landmarks); LevenbergMarquardtOptimizer optimizer(graph, values, ordering); Values final = optimizer.optimize(); EXPECT(optimizer.error() < 0.5 * reproj_error * nMeasurements); diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index 2ec97f301..0cd357c70 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -37,8 +37,8 @@ static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); static shared_ptrK sK(new Cal3_S2(K)); // Convenience for named keys -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( ProjectionFactor, error ) @@ -47,12 +47,12 @@ TEST( ProjectionFactor, error ) Point2 z(323.,240.); int i=1, j=1; boost::shared_ptr - factor(new visualSLAM::ProjectionFactor(z, sigma, kx(i), kl(j), sK)); + factor(new visualSLAM::ProjectionFactor(z, sigma, X(i), L(j), sK)); // For the following values structure, the factor predicts 320,240 Values config; - Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.insert(kx(1), x1); - Point3 l1; config.insert(kl(1), l1); + Rot3 R;Point3 t1(0,0,-6); Pose3 x1(R,t1); config.insert(X(1), x1); + Point3 l1; config.insert(L(1), l1); // Point should project to Point2(320.,240.) CHECK(assert_equal(Vector_(2, -3.0, 0.0), factor->unwhitenedError(config))); @@ -60,12 +60,12 @@ TEST( ProjectionFactor, error ) DOUBLES_EQUAL(4.5,factor->error(config),1e-9); // Check linearize - Ordering ordering; ordering += kx(1),kl(1); + Ordering ordering; ordering += X(1),L(1); Matrix Ax1 = Matrix_(2, 6, 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.); Matrix Al1 = Matrix_(2, 3, 92.376, 0., 0., 0., 92.376, 0.); Vector b = Vector_(2,3.,0.); SharedDiagonal probModel1 = noiseModel::Unit::Create(2); - JacobianFactor expected(ordering[kx(1)], Ax1, ordering[kl(1)], Al1, b, probModel1); + JacobianFactor expected(ordering[X(1)], Ax1, ordering[L(1)], Al1, b, probModel1); JacobianFactor::shared_ptr actual = boost::dynamic_pointer_cast(factor->linearize(config, ordering)); CHECK(assert_equal(expected,*actual,1e-3)); @@ -80,11 +80,11 @@ TEST( ProjectionFactor, error ) // expmap on a config Values expected_config; - Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.insert(kx(1), x2); - Point3 l2(1,2,3); expected_config.insert(kl(1), l2); + Point3 t2(1,1,-5); Pose3 x2(R,t2); expected_config.insert(X(1), x2); + Point3 l2(1,2,3); expected_config.insert(L(1), l2); VectorValues delta(expected_config.dims(ordering)); - delta[ordering[kx(1)]] = Vector_(6, 0.,0.,0., 1.,1.,1.); - delta[ordering[kl(1)]] = Vector_(3, 1.,2.,3.); + delta[ordering[X(1)]] = Vector_(6, 0.,0.,0., 1.,1.,1.); + delta[ordering[L(1)]] = Vector_(3, 1.,2.,3.); Values actual_config = config.retract(delta, ordering); CHECK(assert_equal(expected_config,actual_config,1e-9)); } @@ -96,10 +96,10 @@ TEST( ProjectionFactor, equals ) Vector z = Vector_(2,323.,240.); int i=1, j=1; boost::shared_ptr - factor1(new visualSLAM::ProjectionFactor(z, sigma, kx(i), kl(j), sK)); + factor1(new visualSLAM::ProjectionFactor(z, sigma, X(i), L(j), sK)); boost::shared_ptr - factor2(new visualSLAM::ProjectionFactor(z, sigma, kx(i), kl(j), sK)); + factor2(new visualSLAM::ProjectionFactor(z, sigma, X(i), L(j), sK)); CHECK(assert_equal(*factor1, *factor2)); } diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/gtsam/slam/tests/testSerializationSLAM.cpp index 23093a28e..51d37db74 100644 --- a/gtsam/slam/tests/testSerializationSLAM.cpp +++ b/gtsam/slam/tests/testSerializationSLAM.cpp @@ -29,6 +29,10 @@ using namespace std; using namespace gtsam; using namespace gtsam::serializationTestHelpers; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + /* Create GUIDs for factors */ /* ************************************************************************* */ BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); @@ -49,7 +53,7 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); TEST (Serialization, smallExample_linear) { using namespace example; - Ordering ordering; ordering += Symbol('x',1),Symbol('x',2),Symbol('l',1); + Ordering ordering; ordering += X(1),X(2),L(1); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); EXPECT(equalsObj(ordering)); EXPECT(equalsXML(ordering)); diff --git a/gtsam/slam/tests/testSimulated2DOriented.cpp b/gtsam/slam/tests/testSimulated2DOriented.cpp index afca72402..d017512ce 100644 --- a/gtsam/slam/tests/testSimulated2DOriented.cpp +++ b/gtsam/slam/tests/testSimulated2DOriented.cpp @@ -29,8 +29,8 @@ using namespace gtsam; #include // Convenience for named keys -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( simulated2DOriented, Dprior ) @@ -59,11 +59,11 @@ TEST( simulated2DOriented, constructor ) { Pose2 measurement(0.2, 0.3, 0.1); SharedDiagonal model(Vector_(3, 1., 1., 1.)); - simulated2DOriented::Odometry factor(measurement, model, kx(1), kx(2)); + simulated2DOriented::Odometry factor(measurement, model, X(1), X(2)); simulated2DOriented::Values config; - config.insert(kx(1), Pose2(1., 0., 0.2)); - config.insert(kx(2), Pose2(2., 0., 0.1)); + config.insert(X(1), Pose2(1., 0., 0.2)); + config.insert(X(2), Pose2(2., 0., 0.1)); boost::shared_ptr lf = factor.linearize(config, *config.orderingArbitrary()); } diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index 9a8a27054..35ef081bc 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -43,8 +43,8 @@ Point3 p(0, 0, 5); static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); // Convenience for named keys -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( StereoFactor, singlePoint) @@ -53,18 +53,18 @@ TEST( StereoFactor, singlePoint) boost::shared_ptr K(new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5)); NonlinearFactorGraph graph; - graph.add(visualSLAM::PoseConstraint(kx(1),camera1)); + graph.add(visualSLAM::PoseConstraint(X(1),camera1)); StereoPoint2 z14(320,320.0-50, 240); // arguments: measurement, sigma, cam#, measurement #, K, baseline (m) - graph.add(visualSLAM::StereoFactor(z14,sigma, kx(1), kl(1), K)); + graph.add(visualSLAM::StereoFactor(z14,sigma, X(1), L(1), K)); // Create a configuration corresponding to the ground truth Values values; - values.insert(kx(1), camera1); // add camera at z=6.25m looking towards origin + values.insert(X(1), camera1); // add camera at z=6.25m looking towards origin Point3 l1(0, 0, 0); - values.insert(kl(1), l1); // add point at origin; + values.insert(L(1), l1); // add point at origin; GaussNewtonOptimizer optimizer(graph, values); diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index dc9b64f4d..f09d5117a 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -34,8 +34,8 @@ using namespace gtsam; static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); // Convenience for named keys -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; static Point3 landmark1(-1.0,-1.0, 0.0); static Point3 landmark2(-1.0, 1.0, 0.0); @@ -69,14 +69,14 @@ visualSLAM::Graph testGraph() { shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0)); visualSLAM::Graph g; - g.addMeasurement(z11, sigma, kx(1), kl(1), sK); - g.addMeasurement(z12, sigma, kx(1), kl(2), sK); - g.addMeasurement(z13, sigma, kx(1), kl(3), sK); - g.addMeasurement(z14, sigma, kx(1), kl(4), sK); - g.addMeasurement(z21, sigma, kx(2), kl(1), sK); - g.addMeasurement(z22, sigma, kx(2), kl(2), sK); - g.addMeasurement(z23, sigma, kx(2), kl(3), sK); - g.addMeasurement(z24, sigma, kx(2), kl(4), sK); + g.addMeasurement(z11, sigma, X(1), L(1), sK); + g.addMeasurement(z12, sigma, X(1), L(2), sK); + g.addMeasurement(z13, sigma, X(1), L(3), sK); + g.addMeasurement(z14, sigma, X(1), L(4), sK); + g.addMeasurement(z21, sigma, X(2), L(1), sK); + g.addMeasurement(z22, sigma, X(2), L(2), sK); + g.addMeasurement(z23, sigma, X(2), L(3), sK); + g.addMeasurement(z24, sigma, X(2), L(4), sK); return g; } @@ -86,22 +86,22 @@ TEST( Graph, optimizeLM) // build a graph visualSLAM::Graph graph(testGraph()); // add 3 landmark constraints - graph.addPointConstraint(kl(1), landmark1); - graph.addPointConstraint(kl(2), landmark2); - graph.addPointConstraint(kl(3), landmark3); + graph.addPointConstraint(L(1), landmark1); + graph.addPointConstraint(L(2), landmark2); + graph.addPointConstraint(L(3), landmark3); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(kx(1), camera1); - initialEstimate.insert(kx(2), camera2); - initialEstimate.insert(kl(1), landmark1); - initialEstimate.insert(kl(2), landmark2); - initialEstimate.insert(kl(3), landmark3); - initialEstimate.insert(kl(4), landmark4); + initialEstimate.insert(X(1), camera1); + initialEstimate.insert(X(2), camera2); + initialEstimate.insert(L(1), landmark1); + initialEstimate.insert(L(2), landmark2); + initialEstimate.insert(L(3), landmark3); + initialEstimate.insert(L(4), landmark4); // Create an ordering of the variables Ordering ordering; - ordering += kl(1),kl(2),kl(3),kl(4),kx(1),kx(2); + ordering += L(1),L(2),L(3),L(4),X(1),X(2); // Create an optimizer and check its error // We expect the initial to be zero because config is the ground truth @@ -124,21 +124,21 @@ TEST( Graph, optimizeLM2) // build a graph visualSLAM::Graph graph(testGraph()); // add 2 camera constraints - graph.addPoseConstraint(kx(1), camera1); - graph.addPoseConstraint(kx(2), camera2); + graph.addPoseConstraint(X(1), camera1); + graph.addPoseConstraint(X(2), camera2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(kx(1), camera1); - initialEstimate.insert(kx(2), camera2); - initialEstimate.insert(kl(1), landmark1); - initialEstimate.insert(kl(2), landmark2); - initialEstimate.insert(kl(3), landmark3); - initialEstimate.insert(kl(4), landmark4); + initialEstimate.insert(X(1), camera1); + initialEstimate.insert(X(2), camera2); + initialEstimate.insert(L(1), landmark1); + initialEstimate.insert(L(2), landmark2); + initialEstimate.insert(L(3), landmark3); + initialEstimate.insert(L(4), landmark4); // Create an ordering of the variables Ordering ordering; - ordering += kl(1),kl(2),kl(3),kl(4),kx(1),kx(2); + ordering += L(1),L(2),L(3),L(4),X(1),X(2); // Create an optimizer and check its error // We expect the initial to be zero because config is the ground truth @@ -161,17 +161,17 @@ TEST( Graph, CHECK_ORDERING) // build a graph visualSLAM::Graph graph = testGraph(); // add 2 camera constraints - graph.addPoseConstraint(kx(1), camera1); - graph.addPoseConstraint(kx(2), camera2); + graph.addPoseConstraint(X(1), camera1); + graph.addPoseConstraint(X(2), camera2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(kx(1), camera1); - initialEstimate.insert(kx(2), camera2); - initialEstimate.insert(kl(1), landmark1); - initialEstimate.insert(kl(2), landmark2); - initialEstimate.insert(kl(3), landmark3); - initialEstimate.insert(kl(4), landmark4); + initialEstimate.insert(X(1), camera1); + initialEstimate.insert(X(2), camera2); + initialEstimate.insert(L(1), landmark1); + initialEstimate.insert(L(2), landmark2); + initialEstimate.insert(L(3), landmark3); + initialEstimate.insert(L(4), landmark4); // Create an optimizer and check its error // We expect the initial to be zero because config is the ground truth @@ -192,21 +192,21 @@ TEST( Values, update_with_large_delta) { // this test ensures that if the update for delta is larger than // the size of the config, it only updates existing variables Values init; - init.insert(kx(1), Pose3()); - init.insert(kl(1), Point3(1.0, 2.0, 3.0)); + init.insert(X(1), Pose3()); + init.insert(L(1), Point3(1.0, 2.0, 3.0)); Values expected; - expected.insert(kx(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); - expected.insert(kl(1), Point3(1.1, 2.1, 3.1)); + expected.insert(X(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); + expected.insert(L(1), Point3(1.1, 2.1, 3.1)); Ordering largeOrdering; Values largeValues = init; - largeValues.insert(kx(2), Pose3()); - largeOrdering += kx(1),kl(1),kx(2); + largeValues.insert(X(2), Pose3()); + largeOrdering += X(1),L(1),X(2); VectorValues delta(largeValues.dims(largeOrdering)); - delta[largeOrdering[kx(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); - delta[largeOrdering[kl(1)]] = Vector_(3, 0.1, 0.1, 0.1); - delta[largeOrdering[kx(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); + delta[largeOrdering[X(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); + delta[largeOrdering[L(1)]] = Vector_(3, 0.1, 0.1, 0.1); + delta[largeOrdering[X(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); Values actual = init.retract(delta, largeOrdering); CHECK(assert_equal(expected,actual)); diff --git a/gtsam_unstable/slam/tests/testSimulated3D.cpp b/gtsam_unstable/slam/tests/testSimulated3D.cpp index d7633f473..7283544a1 100644 --- a/gtsam_unstable/slam/tests/testSimulated3D.cpp +++ b/gtsam_unstable/slam/tests/testSimulated3D.cpp @@ -15,24 +15,28 @@ * @author Alex Cunningham **/ -#include -#include - #include #include #include #include #include +#include + +#include + using namespace gtsam; -using namespace simulated3D; + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( simulated3D, Values ) { Values actual; - actual.insert(Symbol('l',1),Point3(1,1,1)); - actual.insert(Symbol('x',2),Point3(2,2,2)); + actual.insert(L(1),Point3(1,1,1)); + actual.insert(X(2),Point3(2,2,2)); EXPECT(assert_equal(actual,actual,1e-9)); } diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index f175ca9f3..e9d1e2f05 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -35,6 +35,10 @@ using namespace std; using namespace gtsam; using boost::shared_ptr; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + /* ************************************************************************* */ double computeError(const GaussianBayesNet& gbn, const LieVector& values) { @@ -389,11 +393,11 @@ TEST(DoglegOptimizer, Iterate) { // config far from minimum Point2 x0(3,0); boost::shared_ptr config(new Values); - config->insert(Symbol('x',1), x0); + config->insert(X(1), x0); // ordering shared_ptr ord(new Ordering()); - ord->push_back(Symbol('x',1)); + ord->push_back(X(1)); double Delta = 1.0; for(size_t it=0; it<10; ++it) { diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index 9071d9c63..440119e66 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -25,6 +25,10 @@ using namespace gtsam; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + /* ************************************************************************* */ TEST( ExtendedKalmanFilter, linear ) { @@ -414,11 +418,11 @@ TEST( ExtendedKalmanFilter, nonlinear ) { Point2 x_predict, x_update; for(unsigned int i = 0; i < 10; ++i){ // Create motion factor - NonlinearMotionModel motionFactor(Symbol('x',i), Symbol('x',i+1)); + NonlinearMotionModel motionFactor(X(i), X(i+1)); x_predict = ekf.predict(motionFactor); // Create a measurement factor - NonlinearMeasurementModel measurementFactor(Symbol('x',i+1), Vector_(1, z[i])); + NonlinearMeasurementModel measurementFactor(X(i+1), Vector_(1, z[i])); x_update = ekf.update(measurementFactor); EXPECT(assert_equal(expected_predict[i],x_predict, 1e-6)); diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index f380ad4e2..cb91bc88c 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -36,11 +36,15 @@ using namespace boost::assign; using namespace std; using namespace gtsam; +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + static SharedDiagonal sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2), constraintModel = noiseModel::Constrained::All(2); -const Key kx1 = Symbol('x',1), kx2 = Symbol('x',2), kl1 = Symbol('l',1); +const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); /* ************************************************************************* */ TEST( GaussianFactor, linearFactor ) diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 6eb673018..616c96ab6 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -42,13 +42,13 @@ using namespace example; double tol=1e-5; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( GaussianFactorGraph, equals ) { - Ordering ordering; ordering += kx(1),kx(2),kl(1); + Ordering ordering; ordering += X(1),X(2),L(1); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); GaussianFactorGraph fg2 = createGaussianFactorGraph(ordering); EXPECT(fg.equals(fg2)); @@ -56,7 +56,7 @@ TEST( GaussianFactorGraph, equals ) { /* ************************************************************************* */ //TEST( GaussianFactorGraph, error ) { -// Ordering ordering; ordering += kx(1),kx(2),kl(1); +// Ordering ordering; ordering += X(1),X(2),L(1); // FactorGraph fg = createGaussianFactorGraph(ordering); // VectorValues cfg = createZeroDelta(ordering); // @@ -74,10 +74,10 @@ TEST( GaussianFactorGraph, equals ) { //{ // GaussianFactorGraph fg = createGaussianFactorGraph(); // -// set separator = fg.find_separator(kx(2)); +// set separator = fg.find_separator(X(2)); // set expected; -// expected.insert(kx(1)); -// expected.insert(kl(1)); +// expected.insert(X(1)); +// expected.insert(L(1)); // // EXPECT(separator.size()==expected.size()); // set::iterator it1 = separator.begin(), it2 = expected.begin(); @@ -92,7 +92,7 @@ TEST( GaussianFactorGraph, equals ) { // GaussianFactorGraph fg = createGaussianFactorGraph(); // // // combine all factors -// GaussianFactor::shared_ptr actual = removeAndCombineFactors(fg,kx(1)); +// GaussianFactor::shared_ptr actual = removeAndCombineFactors(fg,X(1)); // // // the expected linear factor // Matrix Al1 = Matrix_(6,2, @@ -132,11 +132,11 @@ TEST( GaussianFactorGraph, equals ) { // b(5) = 1; // // vector > meas; -// meas.push_back(make_pair(kl(1), Al1)); -// meas.push_back(make_pair(kx(1), Ax1)); -// meas.push_back(make_pair(kx(2), Ax2)); +// meas.push_back(make_pair(L(1), Al1)); +// meas.push_back(make_pair(X(1), Ax1)); +// meas.push_back(make_pair(X(2), Ax2)); // GaussianFactor expected(meas, b, ones(6)); -// //GaussianFactor expected(kl(1), Al1, kx(1), Ax1, kx(2), Ax2, b); +// //GaussianFactor expected(L(1), Al1, X(1), Ax1, X(2), Ax2, b); // // // check if the two factors are the same // EXPECT(assert_equal(expected,*actual)); @@ -149,7 +149,7 @@ TEST( GaussianFactorGraph, equals ) { // GaussianFactorGraph fg = createGaussianFactorGraph(); // // // combine all factors -// GaussianFactor::shared_ptr actual = removeAndCombineFactors(fg,kx(2)); +// GaussianFactor::shared_ptr actual = removeAndCombineFactors(fg,X(2)); // // // the expected linear factor // Matrix Al1 = Matrix_(4,2, @@ -184,9 +184,9 @@ TEST( GaussianFactorGraph, equals ) { // b(3) = 1.5; // // vector > meas; -// meas.push_back(make_pair(kl(1), Al1)); -// meas.push_back(make_pair(kx(1), Ax1)); -// meas.push_back(make_pair(kx(2), Ax2)); +// meas.push_back(make_pair(L(1), Al1)); +// meas.push_back(make_pair(X(1), Ax1)); +// meas.push_back(make_pair(X(2), Ax2)); // GaussianFactor expected(meas, b, ones(4)); // // // check if the two factors are the same @@ -196,7 +196,7 @@ TEST( GaussianFactorGraph, equals ) { /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_x1 ) { - Ordering ordering; ordering += kx(1),kl(1),kx(2); + Ordering ordering; ordering += X(1),L(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); GaussianFactorGraph::FactorizationResult result = inference::eliminateOne(fg, 0, EliminateQR); @@ -204,7 +204,7 @@ TEST( GaussianFactorGraph, eliminateOne_x1 ) // create expected Conditional Gaussian Matrix I = 15*eye(2), R11 = I, S12 = -0.111111*I, S13 = -0.444444*I; Vector d = Vector_(2, -0.133333, -0.0222222), sigma = ones(2); - GaussianConditional expected(ordering[kx(1)],15*d,R11,ordering[kl(1)],S12,ordering[kx(2)],S13,sigma); + GaussianConditional expected(ordering[X(1)],15*d,R11,ordering[L(1)],S12,ordering[X(2)],S13,sigma); EXPECT(assert_equal(expected,*result.first,tol)); } @@ -212,7 +212,7 @@ TEST( GaussianFactorGraph, eliminateOne_x1 ) /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_x2 ) { - Ordering ordering; ordering += kx(2),kl(1),kx(1); + Ordering ordering; ordering += X(2),L(1),X(1); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, 0, EliminateQR).first; @@ -220,7 +220,7 @@ TEST( GaussianFactorGraph, eliminateOne_x2 ) double sig = 0.0894427; Matrix I = eye(2)/sig, R11 = I, S12 = -0.2*I, S13 = -0.8*I; Vector d = Vector_(2, 0.2, -0.14)/sig, sigma = ones(2); - GaussianConditional expected(ordering[kx(2)],d,R11,ordering[kl(1)],S12,ordering[kx(1)],S13,sigma); + GaussianConditional expected(ordering[X(2)],d,R11,ordering[L(1)],S12,ordering[X(1)],S13,sigma); EXPECT(assert_equal(expected,*actual,tol)); } @@ -228,7 +228,7 @@ TEST( GaussianFactorGraph, eliminateOne_x2 ) /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_l1 ) { - Ordering ordering; ordering += kl(1),kx(1),kx(2); + Ordering ordering; ordering += L(1),X(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, 0, EliminateQR).first; @@ -236,7 +236,7 @@ TEST( GaussianFactorGraph, eliminateOne_l1 ) double sig = sqrt(2)/10.; Matrix I = eye(2)/sig, R11 = I, S12 = -0.5*I, S13 = -0.5*I; Vector d = Vector_(2, -0.1, 0.25)/sig, sigma = ones(2); - GaussianConditional expected(ordering[kl(1)],d,R11,ordering[kx(1)],S12,ordering[kx(2)],S13,sigma); + GaussianConditional expected(ordering[L(1)],d,R11,ordering[X(1)],S12,ordering[X(2)],S13,sigma); EXPECT(assert_equal(expected,*actual,tol)); } @@ -244,16 +244,16 @@ TEST( GaussianFactorGraph, eliminateOne_l1 ) /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_x1_fast ) { - Ordering ordering; ordering += kx(1),kl(1),kx(2); + Ordering ordering; ordering += X(1),L(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); - GaussianFactorGraph::FactorizationResult result = inference::eliminateOne(fg, ordering[kx(1)], EliminateQR); + GaussianFactorGraph::FactorizationResult result = inference::eliminateOne(fg, ordering[X(1)], EliminateQR); GaussianConditional::shared_ptr conditional = result.first; GaussianFactorGraph remaining = result.second; // create expected Conditional Gaussian Matrix I = 15*eye(2), R11 = I, S12 = -0.111111*I, S13 = -0.444444*I; Vector d = Vector_(2, -0.133333, -0.0222222), sigma = ones(2); - GaussianConditional expected(ordering[kx(1)],15*d,R11,ordering[kl(1)],S12,ordering[kx(2)],S13,sigma); + GaussianConditional expected(ordering[X(1)],15*d,R11,ordering[L(1)],S12,ordering[X(2)],S13,sigma); // Create expected remaining new factor JacobianFactor expectedFactor(1, Matrix_(4,2, @@ -275,15 +275,15 @@ TEST( GaussianFactorGraph, eliminateOne_x1_fast ) /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_x2_fast ) { - Ordering ordering; ordering += kx(1),kl(1),kx(2); + Ordering ordering; ordering += X(1),L(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); - GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, ordering[kx(2)], EliminateQR).first; + GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, ordering[X(2)], EliminateQR).first; // create expected Conditional Gaussian double sig = 0.0894427; Matrix I = eye(2)/sig, R11 = I, S12 = -0.2*I, S13 = -0.8*I; Vector d = Vector_(2, 0.2, -0.14)/sig, sigma = ones(2); - GaussianConditional expected(ordering[kx(2)],d,R11,ordering[kx(1)],S13,ordering[kl(1)],S12,sigma); + GaussianConditional expected(ordering[X(2)],d,R11,ordering[X(1)],S13,ordering[L(1)],S12,sigma); EXPECT(assert_equal(expected,*actual,tol)); } @@ -291,15 +291,15 @@ TEST( GaussianFactorGraph, eliminateOne_x2_fast ) /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_l1_fast ) { - Ordering ordering; ordering += kx(1),kl(1),kx(2); + Ordering ordering; ordering += X(1),L(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); - GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, ordering[kl(1)], EliminateQR).first; + GaussianConditional::shared_ptr actual = inference::eliminateOne(fg, ordering[L(1)], EliminateQR).first; // create expected Conditional Gaussian double sig = sqrt(2)/10.; Matrix I = eye(2)/sig, R11 = I, S12 = -0.5*I, S13 = -0.5*I; Vector d = Vector_(2, -0.1, 0.25)/sig, sigma = ones(2); - GaussianConditional expected(ordering[kl(1)],d,R11,ordering[kx(1)],S12,ordering[kx(2)],S13,sigma); + GaussianConditional expected(ordering[L(1)],d,R11,ordering[X(1)],S12,ordering[X(2)],S13,sigma); EXPECT(assert_equal(expected,*actual,tol)); } @@ -311,18 +311,18 @@ TEST( GaussianFactorGraph, eliminateAll ) Matrix I = eye(2); Ordering ordering; - ordering += kx(2),kl(1),kx(1); + ordering += X(2),L(1),X(1); Vector d1 = Vector_(2, -0.1,-0.1); - GaussianBayesNet expected = simpleGaussian(ordering[kx(1)],d1,0.1); + GaussianBayesNet expected = simpleGaussian(ordering[X(1)],d1,0.1); double sig1 = 0.149071; Vector d2 = Vector_(2, 0.0, 0.2)/sig1, sigma2 = ones(2); - push_front(expected,ordering[kl(1)],d2, I/sig1,ordering[kx(1)], (-1)*I/sig1,sigma2); + push_front(expected,ordering[L(1)],d2, I/sig1,ordering[X(1)], (-1)*I/sig1,sigma2); double sig2 = 0.0894427; Vector d3 = Vector_(2, 0.2, -0.14)/sig2, sigma3 = ones(2); - push_front(expected,ordering[kx(2)],d3, I/sig2,ordering[kl(1)], (-0.2)*I/sig2, ordering[kx(1)], (-0.8)*I/sig2, sigma3); + push_front(expected,ordering[X(2)],d3, I/sig2,ordering[L(1)], (-0.2)*I/sig2, ordering[X(1)], (-0.8)*I/sig2, sigma3); // Check one ordering GaussianFactorGraph fg1 = createGaussianFactorGraph(ordering); @@ -340,20 +340,20 @@ TEST( GaussianFactorGraph, eliminateAll ) // Matrix I = eye(2); // // Vector d1 = Vector_(2, -0.1,-0.1); -// GaussianBayesNet expected = simpleGaussian(kx(1),d1,0.1); +// GaussianBayesNet expected = simpleGaussian(X(1),d1,0.1); // // double sig1 = 0.149071; // Vector d2 = Vector_(2, 0.0, 0.2)/sig1, sigma2 = ones(2); -// push_front(expected,kl(1),d2, I/sig1,kx(1), (-1)*I/sig1,sigma2); +// push_front(expected,L(1),d2, I/sig1,X(1), (-1)*I/sig1,sigma2); // // double sig2 = 0.0894427; // Vector d3 = Vector_(2, 0.2, -0.14)/sig2, sigma3 = ones(2); -// push_front(expected,kx(2),d3, I/sig2,kl(1), (-0.2)*I/sig2, kx(1), (-0.8)*I/sig2, sigma3); +// push_front(expected,X(2),d3, I/sig2,L(1), (-0.2)*I/sig2, X(1), (-0.8)*I/sig2, sigma3); // // // Check one ordering // GaussianFactorGraph fg1 = createGaussianFactorGraph(); // Ordering ordering; -// ordering += kx(2),kl(1),kx(1); +// ordering += X(2),L(1),X(1); // GaussianBayesNet actual = fg1.eliminate(ordering, false); // EXPECT(assert_equal(expected,actual,tol)); //} @@ -361,16 +361,16 @@ TEST( GaussianFactorGraph, eliminateAll ) ///* ************************************************************************* */ //TEST( GaussianFactorGraph, add_priors ) //{ -// Ordering ordering; ordering += kl(1),kx(1),kx(2); +// Ordering ordering; ordering += L(1),X(1),X(2); // GaussianFactorGraph fg = createGaussianFactorGraph(ordering); // GaussianFactorGraph actual = fg.add_priors(3, vector(3,2)); // GaussianFactorGraph expected = createGaussianFactorGraph(ordering); // Matrix A = eye(2); // Vector b = zero(2); // SharedDiagonal sigma = sharedSigma(2,3.0); -// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[kl(1)],A,b,sigma))); -// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[kx(1)],A,b,sigma))); -// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[kx(2)],A,b,sigma))); +// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[L(1)],A,b,sigma))); +// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[X(1)],A,b,sigma))); +// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[X(2)],A,b,sigma))); // EXPECT(assert_equal(expected,actual)); //} @@ -378,7 +378,7 @@ TEST( GaussianFactorGraph, eliminateAll ) TEST( GaussianFactorGraph, copying ) { // Create a graph - Ordering ordering; ordering += kx(2),kl(1),kx(1); + Ordering ordering; ordering += X(2),L(1),X(1); GaussianFactorGraph actual = createGaussianFactorGraph(ordering); // Copy the graph ! @@ -399,7 +399,7 @@ TEST( GaussianFactorGraph, copying ) //{ // // render with a given ordering // Ordering ord; -// ord += kx(2),kl(1),kx(1); +// ord += X(2),L(1),X(1); // // // Create a graph // GaussianFactorGraph fg = createGaussianFactorGraph(ordering); @@ -438,7 +438,7 @@ TEST( GaussianFactorGraph, copying ) TEST( GaussianFactorGraph, CONSTRUCTOR_GaussianBayesNet ) { Ordering ord; - ord += kx(2),kl(1),kx(1); + ord += X(2),L(1),X(1); GaussianFactorGraph fg = createGaussianFactorGraph(ord); // render with a given ordering @@ -458,20 +458,20 @@ TEST( GaussianFactorGraph, CONSTRUCTOR_GaussianBayesNet ) /* ************************************************************************* */ TEST( GaussianFactorGraph, getOrdering) { - Ordering original; original += kl(1),kx(1),kx(2); + Ordering original; original += L(1),X(1),X(2); FactorGraph symbolic(createGaussianFactorGraph(original)); Permutation perm(*inference::PermutationCOLAMD(VariableIndex(symbolic))); Ordering actual = original; actual.permuteWithInverse((*perm.inverse())); - Ordering expected; expected += kl(1),kx(2),kx(1); + Ordering expected; expected += L(1),X(2),X(1); EXPECT(assert_equal(expected,actual)); } // SL-FIX TEST( GaussianFactorGraph, getOrdering2) //{ // Ordering expected; -// expected += kl(1),kx(1); +// expected += L(1),X(1); // GaussianFactorGraph fg = createGaussianFactorGraph(); -// set interested; interested += kl(1),kx(1); +// set interested; interested += L(1),X(1); // Ordering actual = fg.getOrdering(interested); // EXPECT(assert_equal(expected,actual)); //} @@ -480,7 +480,7 @@ TEST( GaussianFactorGraph, getOrdering) TEST( GaussianFactorGraph, optimize_Cholesky ) { // create an ordering - Ordering ord; ord += kx(2),kl(1),kx(1); + Ordering ord; ord += X(2),L(1),X(1); // create a graph GaussianFactorGraph fg = createGaussianFactorGraph(ord); @@ -498,7 +498,7 @@ TEST( GaussianFactorGraph, optimize_Cholesky ) TEST( GaussianFactorGraph, optimize_QR ) { // create an ordering - Ordering ord; ord += kx(2),kl(1),kx(1); + Ordering ord; ord += X(2),L(1),X(1); // create a graph GaussianFactorGraph fg = createGaussianFactorGraph(ord); @@ -516,7 +516,7 @@ TEST( GaussianFactorGraph, optimize_QR ) // SL-FIX TEST( GaussianFactorGraph, optimizeMultiFrontlas ) //{ // // create an ordering -// Ordering ord; ord += kx(2),kl(1),kx(1); +// Ordering ord; ord += X(2),L(1),X(1); // // // create a graph // GaussianFactorGraph fg = createGaussianFactorGraph(ord); @@ -534,7 +534,7 @@ TEST( GaussianFactorGraph, optimize_QR ) TEST( GaussianFactorGraph, combine) { // create an ordering - Ordering ord; ord += kx(2),kl(1),kx(1); + Ordering ord; ord += X(2),L(1),X(1); // create a test graph GaussianFactorGraph fg1 = createGaussianFactorGraph(ord); @@ -556,7 +556,7 @@ TEST( GaussianFactorGraph, combine) TEST( GaussianFactorGraph, combine2) { // create an ordering - Ordering ord; ord += kx(2),kl(1),kx(1); + Ordering ord; ord += X(2),L(1),X(1); // create a test graph GaussianFactorGraph fg1 = createGaussianFactorGraph(ord); @@ -589,13 +589,13 @@ void print(vector v) { // GaussianFactorGraph fg = createGaussianFactorGraph(); // // // ask for all factor indices connected to x1 -// list x1_factors = fg.factors(kx(1)); +// list x1_factors = fg.factors(X(1)); // size_t x1_indices[] = { 0, 1, 2 }; // list x1_expected(x1_indices, x1_indices + 3); // EXPECT(x1_factors==x1_expected); // // // ask for all factor indices connected to x2 -// list x2_factors = fg.factors(kx(2)); +// list x2_factors = fg.factors(X(2)); // size_t x2_indices[] = { 1, 3 }; // list x2_expected(x2_indices, x2_indices + 2); // EXPECT(x2_factors==x2_expected); @@ -613,7 +613,7 @@ void print(vector v) { // GaussianFactor::shared_ptr f2 = fg[2]; // // // call the function -// vector factors = fg.findAndRemoveFactors(kx(1)); +// vector factors = fg.findAndRemoveFactors(X(1)); // // // Check the factors // EXPECT(f0==factors[0]); @@ -638,7 +638,7 @@ TEST(GaussianFactorGraph, createSmoother) //{ // GaussianFactorGraph fg = createGaussianFactorGraph(); // Dimensions expected; -// insert(expected)(kl(1), 2)(kx(1), 2)(kx(2), 2); +// insert(expected)(L(1), 2)(X(1), 2)(X(2), 2); // Dimensions actual = fg.dimensions(); // EXPECT(expected==actual); //} @@ -648,7 +648,7 @@ TEST(GaussianFactorGraph, createSmoother) //{ // GaussianFactorGraph fg = createGaussianFactorGraph(); // Ordering expected; -// expected += kl(1),kx(1),kx(2); +// expected += L(1),X(1),X(2); // EXPECT(assert_equal(expected,fg.keys())); //} @@ -656,16 +656,16 @@ TEST(GaussianFactorGraph, createSmoother) // SL-NEEDED? TEST( GaussianFactorGraph, involves ) //{ // GaussianFactorGraph fg = createGaussianFactorGraph(); -// EXPECT(fg.involves(kl(1))); -// EXPECT(fg.involves(kx(1))); -// EXPECT(fg.involves(kx(2))); -// EXPECT(!fg.involves(kx(3))); +// EXPECT(fg.involves(L(1))); +// EXPECT(fg.involves(X(1))); +// EXPECT(fg.involves(X(2))); +// EXPECT(!fg.involves(X(3))); //} /* ************************************************************************* */ double error(const VectorValues& x) { // create an ordering - Ordering ord; ord += kx(2),kl(1),kx(1); + Ordering ord; ord += X(2),L(1),X(1); GaussianFactorGraph fg = createGaussianFactorGraph(ord); return fg.error(x); @@ -679,11 +679,11 @@ double error(const VectorValues& x) { // // Construct expected gradient // VectorValues expected; // -// // 2*f(x) = 100*(x1+c[kx(1)])^2 + 100*(x2-x1-[0.2;-0.1])^2 + 25*(l1-x1-[0.0;0.2])^2 + 25*(l1-x2-[-0.2;0.3])^2 +// // 2*f(x) = 100*(x1+c[X(1)])^2 + 100*(x2-x1-[0.2;-0.1])^2 + 25*(l1-x1-[0.0;0.2])^2 + 25*(l1-x2-[-0.2;0.3])^2 // // worked out: df/dx1 = 100*[0.1;0.1] + 100*[0.2;-0.1]) + 25*[0.0;0.2] = [10+20;10-10+5] = [30;5] -// expected.insert(kl(1),Vector_(2, 5.0,-12.5)); -// expected.insert(kx(1),Vector_(2, 30.0, 5.0)); -// expected.insert(kx(2),Vector_(2,-25.0, 17.5)); +// expected.insert(L(1),Vector_(2, 5.0,-12.5)); +// expected.insert(X(1),Vector_(2, 30.0, 5.0)); +// expected.insert(X(2),Vector_(2,-25.0, 17.5)); // // // Check the gradient at delta=0 // VectorValues zero = createZeroDelta(); @@ -696,7 +696,7 @@ double error(const VectorValues& x) { // // // Check the gradient at the solution (should be zero) // Ordering ord; -// ord += kx(2),kl(1),kx(1); +// ord += X(2),L(1),X(1); // GaussianFactorGraph fg2 = createGaussianFactorGraph(); // VectorValues solution = fg2.optimize(ord); // destructive // VectorValues actual2 = fg.gradient(solution); @@ -707,7 +707,7 @@ double error(const VectorValues& x) { TEST( GaussianFactorGraph, multiplication ) { // create an ordering - Ordering ord; ord += kx(2),kl(1),kx(1); + Ordering ord; ord += X(2),L(1),X(1); FactorGraph A = createGaussianFactorGraph(ord); VectorValues x = createCorrectDelta(ord); @@ -724,7 +724,7 @@ TEST( GaussianFactorGraph, multiplication ) // SL-NEEDED? TEST( GaussianFactorGraph, transposeMultiplication ) //{ // // create an ordering -// Ordering ord; ord += kx(2),kl(1),kx(1); +// Ordering ord; ord += X(2),L(1),X(1); // // GaussianFactorGraph A = createGaussianFactorGraph(ord); // Errors e; @@ -734,9 +734,9 @@ TEST( GaussianFactorGraph, multiplication ) // e += Vector_(2,-7.5,-5.0); // // VectorValues expected = createZeroDelta(ord), actual = A ^ e; -// expected[ord[kl(1)]] = Vector_(2, -37.5,-50.0); -// expected[ord[kx(1)]] = Vector_(2,-150.0, 25.0); -// expected[ord[kx(2)]] = Vector_(2, 187.5, 25.0); +// expected[ord[L(1)]] = Vector_(2, -37.5,-50.0); +// expected[ord[X(1)]] = Vector_(2,-150.0, 25.0); +// expected[ord[X(2)]] = Vector_(2, 187.5, 25.0); // EXPECT(assert_equal(expected,actual)); //} @@ -744,7 +744,7 @@ TEST( GaussianFactorGraph, multiplication ) // SL-NEEDED? TEST( GaussianFactorGraph, rhs ) //{ // // create an ordering -// Ordering ord; ord += kx(2),kl(1),kx(1); +// Ordering ord; ord += X(2),L(1),X(1); // // GaussianFactorGraph Ab = createGaussianFactorGraph(ord); // Errors expected = createZeroDelta(ord), actual = Ab.rhs(); @@ -760,21 +760,21 @@ TEST( GaussianFactorGraph, multiplication ) TEST( GaussianFactorGraph, elimination ) { Ordering ord; - ord += kx(1), kx(2); + ord += X(1), X(2); // Create Gaussian Factor Graph GaussianFactorGraph fg; Matrix Ap = eye(1), An = eye(1) * -1; Vector b = Vector_(1, 0.0); SharedDiagonal sigma = sharedSigma(1,2.0); - fg.add(ord[kx(1)], An, ord[kx(2)], Ap, b, sigma); - fg.add(ord[kx(1)], Ap, b, sigma); - fg.add(ord[kx(2)], Ap, b, sigma); + fg.add(ord[X(1)], An, ord[X(2)], Ap, b, sigma); + fg.add(ord[X(1)], Ap, b, sigma); + fg.add(ord[X(2)], Ap, b, sigma); // Eliminate GaussianBayesNet bayesNet = *GaussianSequentialSolver(fg).eliminate(); // Check sigma - EXPECT_DOUBLES_EQUAL(1.0,bayesNet[ord[kx(2)]]->get_sigmas()(0),1e-5); + EXPECT_DOUBLES_EQUAL(1.0,bayesNet[ord[X(2)]]->get_sigmas()(0),1e-5); // Check matrix Matrix R;Vector d; @@ -877,18 +877,18 @@ SharedDiagonal model = sharedSigma(2,1); // GaussianFactorGraph g; // Matrix I = eye(2); // Vector b = Vector_(0, 0, 0); -// g.add(kx(1), I, kx(2), I, b, model); -// g.add(kx(1), I, kx(3), I, b, model); -// g.add(kx(1), I, kx(4), I, b, model); -// g.add(kx(2), I, kx(3), I, b, model); -// g.add(kx(2), I, kx(4), I, b, model); -// g.add(kx(3), I, kx(4), I, b, model); +// g.add(X(1), I, X(2), I, b, model); +// g.add(X(1), I, X(3), I, b, model); +// g.add(X(1), I, X(4), I, b, model); +// g.add(X(2), I, X(3), I, b, model); +// g.add(X(2), I, X(4), I, b, model); +// g.add(X(3), I, X(4), I, b, model); // // map tree = g.findMinimumSpanningTree(); -// EXPECT(tree[kx(1)].compare(kx(1))==0); -// EXPECT(tree[kx(2)].compare(kx(1))==0); -// EXPECT(tree[kx(3)].compare(kx(1))==0); -// EXPECT(tree[kx(4)].compare(kx(1))==0); +// EXPECT(tree[X(1)].compare(X(1))==0); +// EXPECT(tree[X(2)].compare(X(1))==0); +// EXPECT(tree[X(3)].compare(X(1))==0); +// EXPECT(tree[X(4)].compare(X(1))==0); //} ///* ************************************************************************* */ @@ -897,17 +897,17 @@ SharedDiagonal model = sharedSigma(2,1); // GaussianFactorGraph g; // Matrix I = eye(2); // Vector b = Vector_(0, 0, 0); -// g.add(kx(1), I, kx(2), I, b, model); -// g.add(kx(1), I, kx(3), I, b, model); -// g.add(kx(1), I, kx(4), I, b, model); -// g.add(kx(2), I, kx(3), I, b, model); -// g.add(kx(2), I, kx(4), I, b, model); +// g.add(X(1), I, X(2), I, b, model); +// g.add(X(1), I, X(3), I, b, model); +// g.add(X(1), I, X(4), I, b, model); +// g.add(X(2), I, X(3), I, b, model); +// g.add(X(2), I, X(4), I, b, model); // // PredecessorMap tree; -// tree[kx(1)] = kx(1); -// tree[kx(2)] = kx(1); -// tree[kx(3)] = kx(1); -// tree[kx(4)] = kx(1); +// tree[X(1)] = X(1); +// tree[X(2)] = X(1); +// tree[X(3)] = X(1); +// tree[X(4)] = X(1); // // GaussianFactorGraph Ab1, Ab2; // g.split(tree, Ab1, Ab2); @@ -918,17 +918,17 @@ SharedDiagonal model = sharedSigma(2,1); /* ************************************************************************* */ TEST(GaussianFactorGraph, replace) { - Ordering ord; ord += kx(1),kx(2),kx(3),kx(4),kx(5),kx(6); + Ordering ord; ord += X(1),X(2),X(3),X(4),X(5),X(6); SharedDiagonal noise(sharedSigma(3, 1.0)); GaussianFactorGraph::sharedFactor f1(new JacobianFactor( - ord[kx(1)], eye(3,3), ord[kx(2)], eye(3,3), zero(3), noise)); + ord[X(1)], eye(3,3), ord[X(2)], eye(3,3), zero(3), noise)); GaussianFactorGraph::sharedFactor f2(new JacobianFactor( - ord[kx(2)], eye(3,3), ord[kx(3)], eye(3,3), zero(3), noise)); + ord[X(2)], eye(3,3), ord[X(3)], eye(3,3), zero(3), noise)); GaussianFactorGraph::sharedFactor f3(new JacobianFactor( - ord[kx(3)], eye(3,3), ord[kx(4)], eye(3,3), zero(3), noise)); + ord[X(3)], eye(3,3), ord[X(4)], eye(3,3), zero(3), noise)); GaussianFactorGraph::sharedFactor f4(new JacobianFactor( - ord[kx(5)], eye(3,3), ord[kx(6)], eye(3,3), zero(3), noise)); + ord[X(5)], eye(3,3), ord[X(6)], eye(3,3), zero(3), noise)); GaussianFactorGraph actual; actual.push_back(f1); @@ -964,7 +964,7 @@ TEST(GaussianFactorGraph, replace) // // // combine in a factor // Matrix Ab; SharedDiagonal noise; -// Ordering order; order += kx(2), kl(1), kx(1); +// Ordering order; order += X(2), L(1), X(1); // boost::tie(Ab, noise) = combineFactorsAndCreateMatrix(lfg, order, dimensions); // // // the expected augmented matrix @@ -992,26 +992,26 @@ TEST(GaussianFactorGraph, replace) // typedef GaussianFactorGraph::sharedFactor Factor; // SharedDiagonal model(Vector_(1, 0.5)); // GaussianFactorGraph fg; -// Factor factor1(new JacobianFactor(kx(1), Matrix_(1,1,1.), kx(2), Matrix_(1,1,1.), Vector_(1,1.), model)); -// Factor factor2(new JacobianFactor(kx(2), Matrix_(1,1,1.), kx(3), Matrix_(1,1,1.), Vector_(1,1.), model)); -// Factor factor3(new JacobianFactor(kx(3), Matrix_(1,1,1.), kx(3), Matrix_(1,1,1.), Vector_(1,1.), model)); +// Factor factor1(new JacobianFactor(X(1), Matrix_(1,1,1.), X(2), Matrix_(1,1,1.), Vector_(1,1.), model)); +// Factor factor2(new JacobianFactor(X(2), Matrix_(1,1,1.), X(3), Matrix_(1,1,1.), Vector_(1,1.), model)); +// Factor factor3(new JacobianFactor(X(3), Matrix_(1,1,1.), X(3), Matrix_(1,1,1.), Vector_(1,1.), model)); // fg.push_back(factor1); // fg.push_back(factor2); // fg.push_back(factor3); // -// Ordering frontals; frontals += kx(2), kx(1); +// Ordering frontals; frontals += X(2), X(1); // GaussianBayesNet bn = fg.eliminateFrontals(frontals); // // GaussianBayesNet bn_expected; -// GaussianBayesNet::sharedConditional conditional1(new GaussianConditional(kx(2), Vector_(1, 2.), Matrix_(1, 1, 2.), -// kx(1), Matrix_(1, 1, 1.), kx(3), Matrix_(1, 1, 1.), Vector_(1, 1.))); -// GaussianBayesNet::sharedConditional conditional2(new GaussianConditional(kx(1), Vector_(1, 0.), Matrix_(1, 1, -1.), -// kx(3), Matrix_(1, 1, 1.), Vector_(1, 1.))); +// GaussianBayesNet::sharedConditional conditional1(new GaussianConditional(X(2), Vector_(1, 2.), Matrix_(1, 1, 2.), +// X(1), Matrix_(1, 1, 1.), X(3), Matrix_(1, 1, 1.), Vector_(1, 1.))); +// GaussianBayesNet::sharedConditional conditional2(new GaussianConditional(X(1), Vector_(1, 0.), Matrix_(1, 1, -1.), +// X(3), Matrix_(1, 1, 1.), Vector_(1, 1.))); // bn_expected.push_back(conditional1); // bn_expected.push_back(conditional2); // EXPECT(assert_equal(bn_expected, bn)); // -// GaussianFactorGraph::sharedFactor factor_expected(new JacobianFactor(kx(3), Matrix_(1, 1, 2.), Vector_(1, 2.), SharedDiagonal(Vector_(1, 1.)))); +// GaussianFactorGraph::sharedFactor factor_expected(new JacobianFactor(X(3), Matrix_(1, 1, 2.), Vector_(1, 2.), SharedDiagonal(Vector_(1, 1.)))); // GaussianFactorGraph fg_expected; // fg_expected.push_back(factor_expected); // EXPECT(assert_equal(fg_expected, fg)); @@ -1027,8 +1027,8 @@ TEST(GaussianFactorGraph, createSmoother2) LONGS_EQUAL(5,fg2.size()); // eliminate - vector x3var; x3var.push_back(ordering[kx(3)]); - vector x1var; x1var.push_back(ordering[kx(1)]); + vector x3var; x3var.push_back(ordering[X(3)]); + vector x1var; x1var.push_back(ordering[X(1)]); GaussianBayesNet p_x3 = *GaussianSequentialSolver( *GaussianSequentialSolver(fg2).jointFactorGraph(x3var)).eliminate(); GaussianBayesNet p_x1 = *GaussianSequentialSolver( @@ -1045,7 +1045,7 @@ TEST(GaussianFactorGraph, hasConstraints) FactorGraph fgc2 = createSimpleConstraintGraph() ; EXPECT(hasConstraints(fgc2)); - Ordering ordering; ordering += kx(1), kx(2), kl(1); + Ordering ordering; ordering += X(1), X(2), L(1); FactorGraph fg = createGaussianFactorGraph(ordering); EXPECT(!hasConstraints(fg)); } diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index d4946a625..03a747196 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -35,8 +35,8 @@ using namespace std; using namespace gtsam; using namespace example; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ // Some numbers that should be consistent among all smoother tests @@ -50,7 +50,7 @@ const double tol = 1e-4; TEST_UNSAFE( ISAM, iSAM_smoother ) { Ordering ordering; - for (int t = 1; t <= 7; t++) ordering += kx(t); + for (int t = 1; t <= 7; t++) ordering += X(t); // Create smoother with 7 nodes GaussianFactorGraph smoother = createSmoother(7, ordering).first; @@ -83,7 +83,7 @@ TEST_UNSAFE( ISAM, iSAM_smoother ) // GaussianFactorGraph smoother = createSmoother(7); // // // Create initial tree from first 4 timestamps in reverse order ! -// Ordering ord; ord += kx(4),kx(3),kx(2),kx(1); +// Ordering ord; ord += X(4),X(3),X(2),X(1); // GaussianFactorGraph factors1; // for (int i=0;i<7;i++) factors1.push_back(smoother[i]); // GaussianISAM actual(*inference::Eliminate(factors1)); @@ -130,7 +130,7 @@ TEST_UNSAFE( BayesTree, linear_smoother_shortcuts ) EXPECT(assert_equal(empty,actual1,tol)); // Check the conditional P(C2|Root) - GaussianISAM::sharedClique C2 = isamTree[ordering[kx(5)]]; + GaussianISAM::sharedClique C2 = isamTree[ordering[X(5)]]; GaussianBayesNet actual2 = GaussianISAM::shortcut(C2,R); EXPECT(assert_equal(empty,actual2,tol)); @@ -138,8 +138,8 @@ TEST_UNSAFE( BayesTree, linear_smoother_shortcuts ) double sigma3 = 0.61808; Matrix A56 = Matrix_(2,2,-0.382022,0.,0.,-0.382022); GaussianBayesNet expected3; - push_front(expected3,ordering[kx(5)], zero(2), eye(2)/sigma3, ordering[kx(6)], A56/sigma3, ones(2)); - GaussianISAM::sharedClique C3 = isamTree[ordering[kx(4)]]; + push_front(expected3,ordering[X(5)], zero(2), eye(2)/sigma3, ordering[X(6)], A56/sigma3, ones(2)); + GaussianISAM::sharedClique C3 = isamTree[ordering[X(4)]]; GaussianBayesNet actual3 = GaussianISAM::shortcut(C3,R); EXPECT(assert_equal(expected3,actual3,tol)); @@ -147,8 +147,8 @@ TEST_UNSAFE( BayesTree, linear_smoother_shortcuts ) double sigma4 = 0.661968; Matrix A46 = Matrix_(2,2,-0.146067,0.,0.,-0.146067); GaussianBayesNet expected4; - push_front(expected4, ordering[kx(4)], zero(2), eye(2)/sigma4, ordering[kx(6)], A46/sigma4, ones(2)); - GaussianISAM::sharedClique C4 = isamTree[ordering[kx(3)]]; + push_front(expected4, ordering[X(4)], zero(2), eye(2)/sigma4, ordering[X(6)], A46/sigma4, ones(2)); + GaussianISAM::sharedClique C4 = isamTree[ordering[X(3)]]; GaussianBayesNet actual4 = GaussianISAM::shortcut(C4,R); EXPECT(assert_equal(expected4,actual4,tol)); } @@ -176,7 +176,7 @@ TEST_UNSAFE( BayesTree, balanced_smoother_marginals ) { // Create smoother with 7 nodes Ordering ordering; - ordering += kx(1),kx(3),kx(5),kx(7),kx(2),kx(6),kx(4); + ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); GaussianFactorGraph smoother = createSmoother(7, ordering).first; // Create the Bayes tree @@ -193,48 +193,48 @@ TEST_UNSAFE( BayesTree, balanced_smoother_marginals ) double tol=1e-5; // Check marginal on x1 - GaussianBayesNet expected1 = simpleGaussian(ordering[kx(1)], zero(2), sigmax1); - GaussianBayesNet actual1 = *bayesTree.marginalBayesNet(ordering[kx(1)]); + GaussianBayesNet expected1 = simpleGaussian(ordering[X(1)], zero(2), sigmax1); + GaussianBayesNet actual1 = *bayesTree.marginalBayesNet(ordering[X(1)]); Matrix expectedCovarianceX1 = eye(2,2) * (sigmax1 * sigmax1); Matrix actualCovarianceX1; - actualCovarianceX1 = bayesTree.marginalCovariance(ordering[kx(1)]); + actualCovarianceX1 = bayesTree.marginalCovariance(ordering[X(1)]); EXPECT(assert_equal(expectedCovarianceX1, actualCovarianceX1, tol)); EXPECT(assert_equal(expected1,actual1,tol)); // Check marginal on x2 double sigx2 = 0.68712938; // FIXME: this should be corrected analytically - GaussianBayesNet expected2 = simpleGaussian(ordering[kx(2)], zero(2), sigx2); - GaussianBayesNet actual2 = *bayesTree.marginalBayesNet(ordering[kx(2)]); + GaussianBayesNet expected2 = simpleGaussian(ordering[X(2)], zero(2), sigx2); + GaussianBayesNet actual2 = *bayesTree.marginalBayesNet(ordering[X(2)]); Matrix expectedCovarianceX2 = eye(2,2) * (sigx2 * sigx2); Matrix actualCovarianceX2; - actualCovarianceX2 = bayesTree.marginalCovariance(ordering[kx(2)]); + actualCovarianceX2 = bayesTree.marginalCovariance(ordering[X(2)]); EXPECT(assert_equal(expectedCovarianceX2, actualCovarianceX2, tol)); EXPECT(assert_equal(expected2,actual2,tol)); // Check marginal on x3 - GaussianBayesNet expected3 = simpleGaussian(ordering[kx(3)], zero(2), sigmax3); - GaussianBayesNet actual3 = *bayesTree.marginalBayesNet(ordering[kx(3)]); + GaussianBayesNet expected3 = simpleGaussian(ordering[X(3)], zero(2), sigmax3); + GaussianBayesNet actual3 = *bayesTree.marginalBayesNet(ordering[X(3)]); Matrix expectedCovarianceX3 = eye(2,2) * (sigmax3 * sigmax3); Matrix actualCovarianceX3; - actualCovarianceX3 = bayesTree.marginalCovariance(ordering[kx(3)]); + actualCovarianceX3 = bayesTree.marginalCovariance(ordering[X(3)]); EXPECT(assert_equal(expectedCovarianceX3, actualCovarianceX3, tol)); EXPECT(assert_equal(expected3,actual3,tol)); // Check marginal on x4 - GaussianBayesNet expected4 = simpleGaussian(ordering[kx(4)], zero(2), sigmax4); - GaussianBayesNet actual4 = *bayesTree.marginalBayesNet(ordering[kx(4)]); + GaussianBayesNet expected4 = simpleGaussian(ordering[X(4)], zero(2), sigmax4); + GaussianBayesNet actual4 = *bayesTree.marginalBayesNet(ordering[X(4)]); Matrix expectedCovarianceX4 = eye(2,2) * (sigmax4 * sigmax4); Matrix actualCovarianceX4; - actualCovarianceX4 = bayesTree.marginalCovariance(ordering[kx(4)]); + actualCovarianceX4 = bayesTree.marginalCovariance(ordering[X(4)]); EXPECT(assert_equal(expectedCovarianceX4, actualCovarianceX4, tol)); EXPECT(assert_equal(expected4,actual4,tol)); // Check marginal on x7 (should be equal to x1) - GaussianBayesNet expected7 = simpleGaussian(ordering[kx(7)], zero(2), sigmax7); - GaussianBayesNet actual7 = *bayesTree.marginalBayesNet(ordering[kx(7)]); + GaussianBayesNet expected7 = simpleGaussian(ordering[X(7)], zero(2), sigmax7); + GaussianBayesNet actual7 = *bayesTree.marginalBayesNet(ordering[X(7)]); Matrix expectedCovarianceX7 = eye(2,2) * (sigmax7 * sigmax7); Matrix actualCovarianceX7; - actualCovarianceX7 = bayesTree.marginalCovariance(ordering[kx(7)]); + actualCovarianceX7 = bayesTree.marginalCovariance(ordering[X(7)]); EXPECT(assert_equal(expectedCovarianceX7, actualCovarianceX7, tol)); EXPECT(assert_equal(expected7,actual7,tol)); } @@ -244,7 +244,7 @@ TEST_UNSAFE( BayesTree, balanced_smoother_shortcuts ) { // Create smoother with 7 nodes Ordering ordering; - ordering += kx(1),kx(3),kx(5),kx(7),kx(2),kx(6),kx(4); + ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); GaussianFactorGraph smoother = createSmoother(7, ordering).first; // Create the Bayes tree @@ -258,19 +258,19 @@ TEST_UNSAFE( BayesTree, balanced_smoother_shortcuts ) EXPECT(assert_equal(empty,actual1,tol)); // Check the conditional P(C2|Root) - GaussianISAM::sharedClique C2 = isamTree[ordering[kx(3)]]; + GaussianISAM::sharedClique C2 = isamTree[ordering[X(3)]]; GaussianBayesNet actual2 = GaussianISAM::shortcut(C2,R); EXPECT(assert_equal(empty,actual2,tol)); // Check the conditional P(C3|Root), which should be equal to P(x2|x4) /** TODO: Note for multifrontal conditional: - * p_x2_x4 is now an element conditional of the multifrontal conditional bayesTree[ordering[kx(2)]]->conditional() + * p_x2_x4 is now an element conditional of the multifrontal conditional bayesTree[ordering[X(2)]]->conditional() * We don't know yet how to take it out. */ -// GaussianConditional::shared_ptr p_x2_x4 = bayesTree[ordering[kx(2)]]->conditional(); +// GaussianConditional::shared_ptr p_x2_x4 = bayesTree[ordering[X(2)]]->conditional(); // p_x2_x4->print("Conditional p_x2_x4: "); // GaussianBayesNet expected3(p_x2_x4); -// GaussianISAM::sharedClique C3 = isamTree[ordering[kx(1)]]; +// GaussianISAM::sharedClique C3 = isamTree[ordering[X(1)]]; // GaussianBayesNet actual3 = GaussianISAM::shortcut(C3,R); // EXPECT(assert_equal(expected3,actual3,tol)); } @@ -280,7 +280,7 @@ TEST_UNSAFE( BayesTree, balanced_smoother_shortcuts ) //{ // // Create smoother with 7 nodes // Ordering ordering; -// ordering += kx(1),kx(3),kx(5),kx(7),kx(2),kx(6),kx(4); +// ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); // GaussianFactorGraph smoother = createSmoother(7, ordering).first; // // // Create the Bayes tree @@ -289,9 +289,9 @@ TEST_UNSAFE( BayesTree, balanced_smoother_shortcuts ) // // // Check the clique marginal P(C3) // double sigmax2_alt = 1/1.45533; // THIS NEEDS TO BE CHECKED! -// GaussianBayesNet expected = simpleGaussian(ordering[kx(2)],zero(2),sigmax2_alt); -// push_front(expected,ordering[kx(1)], zero(2), eye(2)*sqrt(2), ordering[kx(2)], -eye(2)*sqrt(2)/2, ones(2)); -// GaussianISAM::sharedClique R = bayesTree.root(), C3 = bayesTree[ordering[kx(1)]]; +// GaussianBayesNet expected = simpleGaussian(ordering[X(2)],zero(2),sigmax2_alt); +// push_front(expected,ordering[X(1)], zero(2), eye(2)*sqrt(2), ordering[X(2)], -eye(2)*sqrt(2)/2, ones(2)); +// GaussianISAM::sharedClique R = bayesTree.root(), C3 = bayesTree[ordering[X(1)]]; // GaussianFactorGraph marginal = C3->marginal(R); // GaussianVariableIndex varIndex(marginal); // Permutation toFront(Permutation::PullToFront(C3->keys(), varIndex.size())); @@ -309,7 +309,7 @@ TEST_UNSAFE( BayesTree, balanced_smoother_joint ) { // Create smoother with 7 nodes Ordering ordering; - ordering += kx(1),kx(3),kx(5),kx(7),kx(2),kx(6),kx(4); + ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); GaussianFactorGraph smoother = createSmoother(7, ordering).first; // Create the Bayes tree, expected to look like: @@ -328,41 +328,41 @@ TEST_UNSAFE( BayesTree, balanced_smoother_joint ) GaussianBayesNet expected1; // Why does the sign get flipped on the prior? GaussianConditional::shared_ptr - parent1(new GaussianConditional(ordering[kx(7)], zero(2), -1*I/sigmax7, ones(2))); + parent1(new GaussianConditional(ordering[X(7)], zero(2), -1*I/sigmax7, ones(2))); expected1.push_front(parent1); - push_front(expected1,ordering[kx(1)], zero(2), I/sigmax7, ordering[kx(7)], A/sigmax7, sigma); - GaussianBayesNet actual1 = *bayesTree.jointBayesNet(ordering[kx(1)],ordering[kx(7)]); + push_front(expected1,ordering[X(1)], zero(2), I/sigmax7, ordering[X(7)], A/sigmax7, sigma); + GaussianBayesNet actual1 = *bayesTree.jointBayesNet(ordering[X(1)],ordering[X(7)]); EXPECT(assert_equal(expected1,actual1,tol)); // // Check the joint density P(x7,x1) factored as P(x7|x1)P(x1) // GaussianBayesNet expected2; // GaussianConditional::shared_ptr -// parent2(new GaussianConditional(ordering[kx(1)], zero(2), -1*I/sigmax1, ones(2))); +// parent2(new GaussianConditional(ordering[X(1)], zero(2), -1*I/sigmax1, ones(2))); // expected2.push_front(parent2); -// push_front(expected2,ordering[kx(7)], zero(2), I/sigmax1, ordering[kx(1)], A/sigmax1, sigma); -// GaussianBayesNet actual2 = *bayesTree.jointBayesNet(ordering[kx(7)],ordering[kx(1)]); +// push_front(expected2,ordering[X(7)], zero(2), I/sigmax1, ordering[X(1)], A/sigmax1, sigma); +// GaussianBayesNet actual2 = *bayesTree.jointBayesNet(ordering[X(7)],ordering[X(1)]); // EXPECT(assert_equal(expected2,actual2,tol)); // Check the joint density P(x1,x4), i.e. with a root variable GaussianBayesNet expected3; GaussianConditional::shared_ptr - parent3(new GaussianConditional(ordering[kx(4)], zero(2), I/sigmax4, ones(2))); + parent3(new GaussianConditional(ordering[X(4)], zero(2), I/sigmax4, ones(2))); expected3.push_front(parent3); double sig14 = 0.784465; Matrix A14 = -0.0769231*I; - push_front(expected3,ordering[kx(1)], zero(2), I/sig14, ordering[kx(4)], A14/sig14, sigma); - GaussianBayesNet actual3 = *bayesTree.jointBayesNet(ordering[kx(1)],ordering[kx(4)]); + push_front(expected3,ordering[X(1)], zero(2), I/sig14, ordering[X(4)], A14/sig14, sigma); + GaussianBayesNet actual3 = *bayesTree.jointBayesNet(ordering[X(1)],ordering[X(4)]); EXPECT(assert_equal(expected3,actual3,tol)); // // Check the joint density P(x4,x1), i.e. with a root variable, factored the other way // GaussianBayesNet expected4; // GaussianConditional::shared_ptr -// parent4(new GaussianConditional(ordering[kx(1)], zero(2), -1.0*I/sigmax1, ones(2))); +// parent4(new GaussianConditional(ordering[X(1)], zero(2), -1.0*I/sigmax1, ones(2))); // expected4.push_front(parent4); // double sig41 = 0.668096; // Matrix A41 = -0.055794*I; -// push_front(expected4,ordering[kx(4)], zero(2), I/sig41, ordering[kx(1)], A41/sig41, sigma); -// GaussianBayesNet actual4 = *bayesTree.jointBayesNet(ordering[kx(4)],ordering[kx(1)]); +// push_front(expected4,ordering[X(4)], zero(2), I/sig41, ordering[X(1)], A41/sig41, sigma); +// GaussianBayesNet actual4 = *bayesTree.jointBayesNet(ordering[X(4)],ordering[X(1)]); // EXPECT(assert_equal(expected4,actual4,tol)); } diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 7d73ef83b..03e2d27d3 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -42,8 +42,8 @@ using namespace std; using namespace gtsam; using namespace example; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* * Bayes tree for smoother with "nested dissection" ordering: @@ -55,20 +55,20 @@ Key kl(size_t i) { return Symbol('l',i); } TEST( GaussianJunctionTree, constructor2 ) { // create a graph - Ordering ordering; ordering += kx(1),kx(3),kx(5),kx(7),kx(2),kx(6),kx(4); + Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); GaussianFactorGraph fg = createSmoother(7, ordering).first; // create an ordering GaussianJunctionTree actual(fg); - vector frontal1; frontal1 += ordering[kx(5)], ordering[kx(6)], ordering[kx(4)]; - vector frontal2; frontal2 += ordering[kx(3)], ordering[kx(2)]; - vector frontal3; frontal3 += ordering[kx(1)]; - vector frontal4; frontal4 += ordering[kx(7)]; + vector frontal1; frontal1 += ordering[X(5)], ordering[X(6)], ordering[X(4)]; + vector frontal2; frontal2 += ordering[X(3)], ordering[X(2)]; + vector frontal3; frontal3 += ordering[X(1)]; + vector frontal4; frontal4 += ordering[X(7)]; vector sep1; - vector sep2; sep2 += ordering[kx(4)]; - vector sep3; sep3 += ordering[kx(2)]; - vector sep4; sep4 += ordering[kx(6)]; + vector sep2; sep2 += ordering[X(4)]; + vector sep3; sep3 += ordering[X(2)]; + vector sep4; sep4 += ordering[X(6)]; EXPECT(assert_equal(frontal1, actual.root()->frontal)); EXPECT(assert_equal(sep1, actual.root()->separator)); LONGS_EQUAL(5, actual.root()->size()); @@ -103,7 +103,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal ) VectorValues expected(vector(7,2)); // expected solution Vector v = Vector_(2, 0., 0.); for (int i=1; i<=7; i++) - expected[ordering[Symbol('x',i)]] = v; + expected[ordering[X(i)]] = v; EXPECT(assert_equal(expected,actual)); } @@ -113,7 +113,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal2) // create a graph example::Graph nlfg = createNonlinearFactorGraph(); Values noisy = createNoisyValues(); - Ordering ordering; ordering += kx(1),kx(2),kl(1); + Ordering ordering; ordering += X(1),X(2),L(1); GaussianFactorGraph fg = *nlfg.linearize(noisy, ordering); // optimize the graph @@ -136,39 +136,39 @@ TEST(GaussianJunctionTree, slamlike) { size_t i = 0; newfactors = planarSLAM::Graph(); - newfactors.addPrior(kx(0), Pose2(0.0, 0.0, 0.0), odoNoise); - init.insert(kx(0), Pose2(0.01, 0.01, 0.01)); + newfactors.addPrior(X(0), Pose2(0.0, 0.0, 0.0), odoNoise); + init.insert(X(0), Pose2(0.01, 0.01, 0.01)); fullgraph.push_back(newfactors); for( ; i<5; ++i) { newfactors = planarSLAM::Graph(); - newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); - init.insert(kx(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } newfactors = planarSLAM::Graph(); - newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(kx(i), kl(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(kx(i), kl(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - init.insert(kx(i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(kl(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(kl(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(X(i), L(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(X(i), L(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + init.insert(X(i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(L(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(L(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); fullgraph.push_back(newfactors); ++ i; for( ; i<5; ++i) { newfactors = planarSLAM::Graph(); - newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); - init.insert(kx(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } newfactors = planarSLAM::Graph(); - newfactors.addOdometry(kx(i), kx(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(kx(i), kl(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(kx(i), kl(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - init.insert(kx(i+1), Pose2(6.9, 0.1, 0.01)); + newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(X(i), L(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(X(i), L(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + init.insert(X(i+1), Pose2(6.9, 0.1, 0.01)); fullgraph.push_back(newfactors); ++ i; @@ -194,15 +194,15 @@ TEST(GaussianJunctionTree, simpleMarginal) { // Create a simple graph pose2SLAM::Graph fg; - fg.addPrior(kx(0), Pose2(), sharedSigma(3, 10.0)); - fg.addOdometry(kx(0), kx(1), Pose2(1.0, 0.0, 0.0), sharedSigmas(Vector_(3, 10.0, 1.0, 1.0))); + fg.addPrior(X(0), Pose2(), sharedSigma(3, 10.0)); + fg.addOdometry(X(0), X(1), Pose2(1.0, 0.0, 0.0), sharedSigmas(Vector_(3, 10.0, 1.0, 1.0))); Values init; - init.insert(kx(0), Pose2()); - init.insert(kx(1), Pose2(1.0, 0.0, 0.0)); + init.insert(X(0), Pose2()); + init.insert(X(1), Pose2(1.0, 0.0, 0.0)); Ordering ordering; - ordering += kx(1), kx(0); + ordering += X(1), X(0); GaussianFactorGraph gfg = *fg.linearize(init, ordering); diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index e023fe7e3..262d1801c 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -27,8 +27,8 @@ using namespace std; using namespace gtsam; // Convenience for named keys -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ // The tests below test the *generic* inference algorithms. Some of these have @@ -57,23 +57,23 @@ TEST( inference, marginals2) SharedDiagonal poseModel(sharedSigma(3, 0.1)); SharedDiagonal pointModel(sharedSigma(3, 0.1)); - fg.addPrior(kx(0), Pose2(), poseModel); - fg.addOdometry(kx(0), kx(1), Pose2(1.0,0.0,0.0), poseModel); - fg.addOdometry(kx(1), kx(2), Pose2(1.0,0.0,0.0), poseModel); - fg.addBearingRange(kx(0), kl(0), Rot2(), 1.0, pointModel); - fg.addBearingRange(kx(1), kl(0), Rot2(), 1.0, pointModel); - fg.addBearingRange(kx(2), kl(0), Rot2(), 1.0, pointModel); + fg.addPrior(X(0), Pose2(), poseModel); + fg.addOdometry(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel); + fg.addOdometry(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel); + fg.addBearingRange(X(0), L(0), Rot2(), 1.0, pointModel); + fg.addBearingRange(X(1), L(0), Rot2(), 1.0, pointModel); + fg.addBearingRange(X(2), L(0), Rot2(), 1.0, pointModel); Values init; - init.insert(kx(0), Pose2(0.0,0.0,0.0)); - init.insert(kx(1), Pose2(1.0,0.0,0.0)); - init.insert(kx(2), Pose2(2.0,0.0,0.0)); - init.insert(kl(0), Point2(1.0,1.0)); + init.insert(X(0), Pose2(0.0,0.0,0.0)); + init.insert(X(1), Pose2(1.0,0.0,0.0)); + init.insert(X(2), Pose2(2.0,0.0,0.0)); + init.insert(L(0), Point2(1.0,1.0)); Ordering ordering(*fg.orderingCOLAMD(init)); FactorGraph::shared_ptr gfg(fg.linearize(init, ordering)); GaussianMultifrontalSolver solver(*gfg); - solver.marginalFactor(ordering[kl(0)]); + solver.marginalFactor(ordering[L(0)]); } /* ************************************************************************* */ diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index eac14d480..e203bcf94 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -39,8 +39,8 @@ using namespace gtsam; using namespace example; // Convenience for named keys -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; typedef boost::shared_ptr shared_nlf; @@ -51,11 +51,11 @@ TEST( NonlinearFactor, equals ) // create two nonlinear2 factors Point2 z3(0.,-1.); - simulated2D::Measurement f0(z3, sigma, kx(1),kl(1)); + simulated2D::Measurement f0(z3, sigma, X(1),L(1)); // measurement between x2 and l1 Point2 z4(-1.5, -1.); - simulated2D::Measurement f1(z4, sigma, kx(2),kl(1)); + simulated2D::Measurement f1(z4, sigma, X(2),L(1)); CHECK(assert_equal(f0,f0)); CHECK(f0.equals(f0)); @@ -201,16 +201,16 @@ TEST( NonlinearFactor, linearize_constraint1 ) SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas); Point2 mu(1., -1.); - Graph::sharedFactor f0(new simulated2D::Prior(mu, constraint, kx(1))); + Graph::sharedFactor f0(new simulated2D::Prior(mu, constraint, X(1))); Values config; - config.insert(kx(1), Point2(1.0, 2.0)); + config.insert(X(1), Point2(1.0, 2.0)); GaussianFactor::shared_ptr actual = f0->linearize(config, *config.orderingArbitrary()); // create expected Ordering ord(*config.orderingArbitrary()); Vector b = Vector_(2, 0., -3.); - JacobianFactor expected(ord[kx(1)], Matrix_(2,2, 5.0, 0.0, 0.0, 1.0), b, constraint); + JacobianFactor expected(ord[X(1)], Matrix_(2,2, 5.0, 0.0, 0.0, 1.0), b, constraint); CHECK(assert_equal((const GaussianFactor&)expected, *actual)); } @@ -221,18 +221,18 @@ TEST( NonlinearFactor, linearize_constraint2 ) SharedDiagonal constraint = noiseModel::Constrained::MixedSigmas(sigmas); Point2 z3(1.,-1.); - simulated2D::Measurement f0(z3, constraint, kx(1),kl(1)); + simulated2D::Measurement f0(z3, constraint, X(1),L(1)); Values config; - config.insert(kx(1), Point2(1.0, 2.0)); - config.insert(kl(1), Point2(5.0, 4.0)); + config.insert(X(1), Point2(1.0, 2.0)); + config.insert(L(1), Point2(5.0, 4.0)); GaussianFactor::shared_ptr actual = f0.linearize(config, *config.orderingArbitrary()); // create expected Ordering ord(*config.orderingArbitrary()); Matrix A = Matrix_(2,2, 5.0, 0.0, 0.0, 1.0); Vector b = Vector_(2, -15., -3.); - JacobianFactor expected(ord[kx(1)], -1*A, ord[kl(1)], A, b, constraint); + JacobianFactor expected(ord[X(1)], -1*A, ord[L(1)], A, b, constraint); CHECK(assert_equal((const GaussianFactor&)expected, *actual)); } @@ -240,7 +240,7 @@ TEST( NonlinearFactor, linearize_constraint2 ) class TestFactor4 : public NoiseModelFactor4 { public: typedef NoiseModelFactor4 Base; - TestFactor4() : Base(sharedSigmas(Vector_(1, 2.0)), kx(1), kx(2), kx(3), kx(4)) {} + TestFactor4() : Base(sharedSigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4)) {} virtual Vector evaluateError(const LieVector& x1, const LieVector& x2, const LieVector& x3, const LieVector& x4, @@ -264,13 +264,13 @@ public: TEST(NonlinearFactor, NoiseModelFactor4) { TestFactor4 tf; Values tv; - tv.insert(kx(1), LieVector(1, 1.0)); - tv.insert(kx(2), LieVector(1, 2.0)); - tv.insert(kx(3), LieVector(1, 3.0)); - tv.insert(kx(4), LieVector(1, 4.0)); + tv.insert(X(1), LieVector(1, 1.0)); + tv.insert(X(2), LieVector(1, 2.0)); + tv.insert(X(3), LieVector(1, 3.0)); + tv.insert(X(4), LieVector(1, 4.0)); EXPECT(assert_equal(Vector_(1, 10.0), tf.unwhitenedError(tv))); DOUBLES_EQUAL(25.0/2.0, tf.error(tv), 1e-9); - Ordering ordering; ordering += kx(1), kx(2), kx(3), kx(4); + Ordering ordering; ordering += X(1), X(2), X(3), X(4); JacobianFactor jf(*boost::dynamic_pointer_cast(tf.linearize(tv, ordering))); LONGS_EQUAL(jf.keys()[0], 0); LONGS_EQUAL(jf.keys()[1], 1); @@ -287,7 +287,7 @@ TEST(NonlinearFactor, NoiseModelFactor4) { class TestFactor5 : public NoiseModelFactor5 { public: typedef NoiseModelFactor5 Base; - TestFactor5() : Base(sharedSigmas(Vector_(1, 2.0)), kx(1), kx(2), kx(3), kx(4), kx(5)) {} + TestFactor5() : Base(sharedSigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4), X(5)) {} virtual Vector evaluateError(const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, @@ -313,14 +313,14 @@ public: TEST(NonlinearFactor, NoiseModelFactor5) { TestFactor5 tf; Values tv; - tv.insert(kx(1), LieVector(1, 1.0)); - tv.insert(kx(2), LieVector(1, 2.0)); - tv.insert(kx(3), LieVector(1, 3.0)); - tv.insert(kx(4), LieVector(1, 4.0)); - tv.insert(kx(5), LieVector(1, 5.0)); + tv.insert(X(1), LieVector(1, 1.0)); + tv.insert(X(2), LieVector(1, 2.0)); + tv.insert(X(3), LieVector(1, 3.0)); + tv.insert(X(4), LieVector(1, 4.0)); + tv.insert(X(5), LieVector(1, 5.0)); EXPECT(assert_equal(Vector_(1, 15.0), tf.unwhitenedError(tv))); DOUBLES_EQUAL(56.25/2.0, tf.error(tv), 1e-9); - Ordering ordering; ordering += kx(1), kx(2), kx(3), kx(4), kx(5); + Ordering ordering; ordering += X(1), X(2), X(3), X(4), X(5); JacobianFactor jf(*boost::dynamic_pointer_cast(tf.linearize(tv, ordering))); LONGS_EQUAL(jf.keys()[0], 0); LONGS_EQUAL(jf.keys()[1], 1); @@ -339,7 +339,7 @@ TEST(NonlinearFactor, NoiseModelFactor5) { class TestFactor6 : public NoiseModelFactor6 { public: typedef NoiseModelFactor6 Base; - TestFactor6() : Base(sharedSigmas(Vector_(1, 2.0)), kx(1), kx(2), kx(3), kx(4), kx(5), kx(6)) {} + TestFactor6() : Base(sharedSigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4), X(5), X(6)) {} virtual Vector evaluateError(const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, @@ -367,15 +367,15 @@ public: TEST(NonlinearFactor, NoiseModelFactor6) { TestFactor6 tf; Values tv; - tv.insert(kx(1), LieVector(1, 1.0)); - tv.insert(kx(2), LieVector(1, 2.0)); - tv.insert(kx(3), LieVector(1, 3.0)); - tv.insert(kx(4), LieVector(1, 4.0)); - tv.insert(kx(5), LieVector(1, 5.0)); - tv.insert(kx(6), LieVector(1, 6.0)); + tv.insert(X(1), LieVector(1, 1.0)); + tv.insert(X(2), LieVector(1, 2.0)); + tv.insert(X(3), LieVector(1, 3.0)); + tv.insert(X(4), LieVector(1, 4.0)); + tv.insert(X(5), LieVector(1, 5.0)); + tv.insert(X(6), LieVector(1, 6.0)); EXPECT(assert_equal(Vector_(1, 21.0), tf.unwhitenedError(tv))); DOUBLES_EQUAL(110.25/2.0, tf.error(tv), 1e-9); - Ordering ordering; ordering += kx(1), kx(2), kx(3), kx(4), kx(5), kx(6); + Ordering ordering; ordering += X(1), X(2), X(3), X(4), X(5), X(6); JacobianFactor jf(*boost::dynamic_pointer_cast(tf.linearize(tv, ordering))); LONGS_EQUAL(jf.keys()[0], 0); LONGS_EQUAL(jf.keys()[1], 1); @@ -397,10 +397,10 @@ TEST(NonlinearFactor, NoiseModelFactor6) { TEST( NonlinearFactor, clone_rekey ) { shared_nlf init(new TestFactor4()); - EXPECT_LONGS_EQUAL(kx(1), init->keys()[0]); - EXPECT_LONGS_EQUAL(kx(2), init->keys()[1]); - EXPECT_LONGS_EQUAL(kx(3), init->keys()[2]); - EXPECT_LONGS_EQUAL(kx(4), init->keys()[3]); + EXPECT_LONGS_EQUAL(X(1), init->keys()[0]); + EXPECT_LONGS_EQUAL(X(2), init->keys()[1]); + EXPECT_LONGS_EQUAL(X(3), init->keys()[2]); + EXPECT_LONGS_EQUAL(X(4), init->keys()[3]); // Standard clone shared_nlf actClone = init->clone(); @@ -409,24 +409,24 @@ TEST( NonlinearFactor, clone_rekey ) // Re-key factor - clones with different keys std::vector new_keys(4); - new_keys[0] = kx(5); - new_keys[1] = kx(6); - new_keys[2] = kx(7); - new_keys[3] = kx(8); + new_keys[0] = X(5); + new_keys[1] = X(6); + new_keys[2] = X(7); + new_keys[3] = X(8); shared_nlf actRekey = init->rekey(new_keys); EXPECT(actRekey.get() != init.get()); // Ensure different pointers // Ensure init is unchanged - EXPECT_LONGS_EQUAL(kx(1), init->keys()[0]); - EXPECT_LONGS_EQUAL(kx(2), init->keys()[1]); - EXPECT_LONGS_EQUAL(kx(3), init->keys()[2]); - EXPECT_LONGS_EQUAL(kx(4), init->keys()[3]); + EXPECT_LONGS_EQUAL(X(1), init->keys()[0]); + EXPECT_LONGS_EQUAL(X(2), init->keys()[1]); + EXPECT_LONGS_EQUAL(X(3), init->keys()[2]); + EXPECT_LONGS_EQUAL(X(4), init->keys()[3]); // Check new keys - EXPECT_LONGS_EQUAL(kx(5), actRekey->keys()[0]); - EXPECT_LONGS_EQUAL(kx(6), actRekey->keys()[1]); - EXPECT_LONGS_EQUAL(kx(7), actRekey->keys()[2]); - EXPECT_LONGS_EQUAL(kx(8), actRekey->keys()[3]); + EXPECT_LONGS_EQUAL(X(5), actRekey->keys()[0]); + EXPECT_LONGS_EQUAL(X(6), actRekey->keys()[1]); + EXPECT_LONGS_EQUAL(X(7), actRekey->keys()[2]); + EXPECT_LONGS_EQUAL(X(8), actRekey->keys()[3]); } /* ************************************************************************* */ diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 59ee0977e..d1d240a67 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -37,8 +37,8 @@ using namespace boost::assign; using namespace gtsam; using namespace example; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( Graph, equals ) @@ -68,16 +68,16 @@ TEST( Graph, keys ) set actual = fg.keys(); LONGS_EQUAL(3, actual.size()); set::const_iterator it = actual.begin(); - LONGS_EQUAL(kl(1), *(it++)); - LONGS_EQUAL(kx(1), *(it++)); - LONGS_EQUAL(kx(2), *(it++)); + LONGS_EQUAL(L(1), *(it++)); + LONGS_EQUAL(X(1), *(it++)); + LONGS_EQUAL(X(2), *(it++)); } /* ************************************************************************* */ TEST( Graph, GET_ORDERING) { // Ordering expected; expected += "x1","l1","x2"; // For starting with x1,x2,l1 - Ordering expected; expected += kl(1), kx(2), kx(1); // For starting with l1,x1,x2 + Ordering expected; expected += L(1), X(2), X(1); // For starting with l1,x1,x2 Graph nlfg = createNonlinearFactorGraph(); SymbolicFactorGraph::shared_ptr symbolic; Ordering::shared_ptr ordering; @@ -123,7 +123,7 @@ TEST( Graph, rekey ) { Graph init = createNonlinearFactorGraph(); map rekey_mapping; - rekey_mapping.insert(make_pair(kl(1), kl(4))); + rekey_mapping.insert(make_pair(L(1), L(4))); Graph actRekey = init.rekey(rekey_mapping); // ensure deep clone @@ -139,8 +139,8 @@ TEST( Graph, rekey ) // updated measurements Point2 z3(0, -1), z4(-1.5, -1.); SharedDiagonal sigma0_2 = noiseModel::Isotropic::Sigma(2,0.2); - expRekey.add(simulated2D::Measurement(z3, sigma0_2, kx(1), kl(4))); - expRekey.add(simulated2D::Measurement(z4, sigma0_2, kx(2), kl(4))); + expRekey.add(simulated2D::Measurement(z3, sigma0_2, X(1), L(4))); + expRekey.add(simulated2D::Measurement(z4, sigma0_2, X(2), L(4))); EXPECT(assert_equal(expRekey, actRekey)); } diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index a59584c96..7cb8bb045 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -39,8 +39,8 @@ using namespace gtsam; const double tol = 1e-5; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( NonlinearOptimizer, iterateLM ) @@ -51,7 +51,7 @@ TEST( NonlinearOptimizer, iterateLM ) // config far from minimum Point2 x0(3,0); Values config; - config.insert(kx(1), x0); + config.insert(X(1), x0); // normal iterate GaussNewtonParams gnParams; @@ -75,18 +75,18 @@ TEST( NonlinearOptimizer, optimize ) // test error at minimum Point2 xstar(0,0); Values cstar; - cstar.insert(kx(1), xstar); + cstar.insert(X(1), xstar); DOUBLES_EQUAL(0.0,fg.error(cstar),0.0); // test error at initial = [(1-cos(3))^2 + (sin(3))^2]*50 = Point2 x0(3,3); Values c0; - c0.insert(kx(1), x0); + c0.insert(X(1), x0); DOUBLES_EQUAL(199.0,fg.error(c0),1e-3); // optimize parameters Ordering ord; - ord.push_back(kx(1)); + ord.push_back(X(1)); // Gauss-Newton GaussNewtonParams gnParams; @@ -114,7 +114,7 @@ TEST( NonlinearOptimizer, SimpleLMOptimizer ) Point2 x0(3,3); Values c0; - c0.insert(kx(1), x0); + c0.insert(X(1), x0); Values actual = LevenbergMarquardtOptimizer(fg, c0).optimize(); DOUBLES_EQUAL(0,fg.error(actual),tol); @@ -127,7 +127,7 @@ TEST( NonlinearOptimizer, SimpleGNOptimizer ) Point2 x0(3,3); Values c0; - c0.insert(kx(1), x0); + c0.insert(X(1), x0); Values actual = GaussNewtonOptimizer(fg, c0).optimize(); DOUBLES_EQUAL(0,fg.error(actual),tol); @@ -140,7 +140,7 @@ TEST( NonlinearOptimizer, SimpleDLOptimizer ) Point2 x0(3,3); Values c0; - c0.insert(kx(1), x0); + c0.insert(X(1), x0); Values actual = DoglegOptimizer(fg, c0).optimize(); DOUBLES_EQUAL(0,fg.error(actual),tol); @@ -158,7 +158,7 @@ TEST( NonlinearOptimizer, optimization_method ) Point2 x0(3,3); Values c0; - c0.insert(kx(1), x0); + c0.insert(X(1), x0); Values actualMFQR = LevenbergMarquardtOptimizer(fg, c0, paramsQR).optimize(); DOUBLES_EQUAL(0,fg.error(actualMFQR),tol); @@ -171,23 +171,23 @@ TEST( NonlinearOptimizer, optimization_method ) TEST( NonlinearOptimizer, Factorization ) { Values config; - config.insert(kx(1), Pose2(0.,0.,0.)); - config.insert(kx(2), Pose2(1.5,0.,0.)); + config.insert(X(1), Pose2(0.,0.,0.)); + config.insert(X(2), Pose2(1.5,0.,0.)); pose2SLAM::Graph graph; - graph.addPrior(kx(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); - graph.addOdometry(kx(1),kx(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); + graph.addPrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); + graph.addOdometry(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); Ordering ordering; - ordering.push_back(kx(1)); - ordering.push_back(kx(2)); + ordering.push_back(X(1)); + ordering.push_back(X(2)); LevenbergMarquardtOptimizer optimizer(graph, config, ordering); optimizer.iterate(); Values expected; - expected.insert(kx(1), Pose2(0.,0.,0.)); - expected.insert(kx(2), Pose2(1.,0.,0.)); + expected.insert(X(1), Pose2(0.,0.,0.)); + expected.insert(X(2), Pose2(1.,0.,0.)); CHECK(assert_equal(expected, optimizer.values(), 1e-5)); } @@ -202,18 +202,18 @@ TEST(NonlinearOptimizer, NullFactor) { // test error at minimum Point2 xstar(0,0); Values cstar; - cstar.insert(kx(1), xstar); + cstar.insert(X(1), xstar); DOUBLES_EQUAL(0.0,fg.error(cstar),0.0); // test error at initial = [(1-cos(3))^2 + (sin(3))^2]*50 = Point2 x0(3,3); Values c0; - c0.insert(kx(1), x0); + c0.insert(X(1), x0); DOUBLES_EQUAL(199.0,fg.error(c0),1e-3); // optimize parameters Ordering ord; - ord.push_back(kx(1)); + ord.push_back(X(1)); // Gauss-Newton Values actual1 = GaussNewtonOptimizer(fg, c0, ord).optimize(); diff --git a/tests/testSymbolicBayesNetB.cpp b/tests/testSymbolicBayesNetB.cpp index 356f4bb34..4f0d04595 100644 --- a/tests/testSymbolicBayesNetB.cpp +++ b/tests/testSymbolicBayesNetB.cpp @@ -32,18 +32,18 @@ using namespace std; using namespace gtsam; using namespace example; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( SymbolicBayesNet, constructor ) { - Ordering o; o += kx(2),kl(1),kx(1); + Ordering o; o += X(2),L(1),X(1); // Create manually IndexConditional::shared_ptr - x2(new IndexConditional(o[kx(2)],o[kl(1)], o[kx(1)])), - l1(new IndexConditional(o[kl(1)],o[kx(1)])), - x1(new IndexConditional(o[kx(1)])); + x2(new IndexConditional(o[X(2)],o[L(1)], o[X(1)])), + l1(new IndexConditional(o[L(1)],o[X(1)])), + x1(new IndexConditional(o[X(1)])); BayesNet expected; expected.push_back(x2); expected.push_back(l1); diff --git a/tests/testSymbolicFactorGraphB.cpp b/tests/testSymbolicFactorGraphB.cpp index cb64ddb4a..8fde094ed 100644 --- a/tests/testSymbolicFactorGraphB.cpp +++ b/tests/testSymbolicFactorGraphB.cpp @@ -30,19 +30,19 @@ using namespace boost::assign; using namespace std; using namespace gtsam; -Key kx(size_t i) { return Symbol('x',i); } -Key kl(size_t i) { return Symbol('l',i); } +using symbol_shorthand::X; +using symbol_shorthand::L; /* ************************************************************************* */ TEST( SymbolicFactorGraph, symbolicFactorGraph ) { - Ordering o; o += kx(1),kl(1),kx(2); + Ordering o; o += X(1),L(1),X(2); // construct expected symbolic graph SymbolicFactorGraph expected; - expected.push_factor(o[kx(1)]); - expected.push_factor(o[kx(1)],o[kx(2)]); - expected.push_factor(o[kx(1)],o[kl(1)]); - expected.push_factor(o[kx(2)],o[kl(1)]); + expected.push_factor(o[X(1)]); + expected.push_factor(o[X(1)],o[X(2)]); + expected.push_factor(o[X(1)],o[L(1)]); + expected.push_factor(o[X(2)],o[L(1)]); // construct it from the factor graph GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o); @@ -59,7 +59,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) // SymbolicFactorGraph actual(factorGraph); // SymbolicFactor::shared_ptr f1 = actual[0]; // SymbolicFactor::shared_ptr f3 = actual[2]; -// actual.findAndRemoveFactors(kx(2)); +// actual.findAndRemoveFactors(X(2)); // // // construct expected graph after find_factors_and_remove // SymbolicFactorGraph expected; @@ -79,13 +79,13 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) // SymbolicFactorGraph fg(factorGraph); // // // ask for all factor indices connected to x1 -// list x1_factors = fg.factors(kx(1)); +// list x1_factors = fg.factors(X(1)); // int x1_indices[] = { 0, 1, 2 }; // list x1_expected(x1_indices, x1_indices + 3); // CHECK(x1_factors==x1_expected); // // // ask for all factor indices connected to x2 -// list x2_factors = fg.factors(kx(2)); +// list x2_factors = fg.factors(X(2)); // int x2_indices[] = { 1, 3 }; // list x2_expected(x2_indices, x2_indices + 2); // CHECK(x2_factors==x2_expected); @@ -99,26 +99,26 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) // SymbolicFactorGraph fg(factorGraph); // // // combine all factors connected to x1 -// SymbolicFactor::shared_ptr actual = removeAndCombineFactors(fg,kx(1)); +// SymbolicFactor::shared_ptr actual = removeAndCombineFactors(fg,X(1)); // // // check result -// SymbolicFactor expected(kl(1),kx(1),kx(2)); +// SymbolicFactor expected(L(1),X(1),X(2)); // CHECK(assert_equal(expected,*actual)); //} ///* ************************************************************************* */ //TEST( SymbolicFactorGraph, eliminateOne ) //{ -// Ordering o; o += kx(1),kl(1),kx(2); +// Ordering o; o += X(1),L(1),X(2); // // create a test graph // GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o); // SymbolicFactorGraph fg(factorGraph); // // // eliminate -// IndexConditional::shared_ptr actual = GaussianSequentialSolver::EliminateUntil(fg, o[kx(1)]+1); +// IndexConditional::shared_ptr actual = GaussianSequentialSolver::EliminateUntil(fg, o[X(1)]+1); // // // create expected symbolic IndexConditional -// IndexConditional expected(o[kx(1)],o[kl(1)],o[kx(2)]); +// IndexConditional expected(o[X(1)],o[L(1)],o[X(2)]); // // CHECK(assert_equal(expected,*actual)); //} @@ -126,12 +126,12 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph ) /* ************************************************************************* */ TEST( SymbolicFactorGraph, eliminate ) { - Ordering o; o += kx(2),kl(1),kx(1); + Ordering o; o += X(2),L(1),X(1); // create expected Chordal bayes Net - IndexConditional::shared_ptr x2(new IndexConditional(o[kx(2)], o[kl(1)], o[kx(1)])); - IndexConditional::shared_ptr l1(new IndexConditional(o[kl(1)], o[kx(1)])); - IndexConditional::shared_ptr x1(new IndexConditional(o[kx(1)])); + IndexConditional::shared_ptr x2(new IndexConditional(o[X(2)], o[L(1)], o[X(1)])); + IndexConditional::shared_ptr l1(new IndexConditional(o[L(1)], o[X(1)])); + IndexConditional::shared_ptr x1(new IndexConditional(o[X(1)])); SymbolicBayesNet expected; expected.push_back(x2); From ca7e9b6919ade7c20e1ea000ec6f3f517e4cd950 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jun 2012 20:48:04 +0000 Subject: [PATCH 094/914] under development --- .../discrete/tests/testPlanning.cpp | 37 +++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 gtsam_unstable/discrete/tests/testPlanning.cpp diff --git a/gtsam_unstable/discrete/tests/testPlanning.cpp b/gtsam_unstable/discrete/tests/testPlanning.cpp new file mode 100644 index 000000000..939dd50b2 --- /dev/null +++ b/gtsam_unstable/discrete/tests/testPlanning.cpp @@ -0,0 +1,37 @@ +/* + * testPlanning.cpp + * @brief develop code for planning example + * @date Feb 13, 2012 + * @author Frank Dellaert + */ + +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST_UNSAFE(Planner, allInOne) +{ + // A small planning problem + // First variable is location + DiscreteKey location("location",3), + haveRock("haveRock",2), haveSoil("haveSoil",2), haveImage("haveImage",2), + commRock("commRock",2), commSoil("commSoil",2), commImage("commImage",2), + haveRock("haveRock",2), haveSoil("haveSoil",2), haveImage("haveImage",2); + + // There are 3 actions: + // Drive, communicate, sample +} + + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + From f29afd62b4f57057737eaed5bfe1c42bf96b8418 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jun 2012 22:10:22 +0000 Subject: [PATCH 095/914] Fixed compile errors --- gtsam_unstable/discrete/tests/testPlanning.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam_unstable/discrete/tests/testPlanning.cpp b/gtsam_unstable/discrete/tests/testPlanning.cpp index 939dd50b2..2ad1ff9ae 100644 --- a/gtsam_unstable/discrete/tests/testPlanning.cpp +++ b/gtsam_unstable/discrete/tests/testPlanning.cpp @@ -5,7 +5,8 @@ * @author Frank Dellaert */ -#include +//#include +#include #include #include #include @@ -18,10 +19,9 @@ TEST_UNSAFE(Planner, allInOne) { // A small planning problem // First variable is location - DiscreteKey location("location",3), - haveRock("haveRock",2), haveSoil("haveSoil",2), haveImage("haveImage",2), - commRock("commRock",2), commSoil("commSoil",2), commImage("commImage",2), - haveRock("haveRock",2), haveSoil("haveSoil",2), haveImage("haveImage",2); + DiscreteKey location(0,3), + haveRock(1,2), haveSoil(2,2), haveImage(3,2), + commRock(4,2), commSoil(5,2), commImage(6,2); // There are 3 actions: // Drive, communicate, sample From a00074579948c008fd2aac30d108f11a39996a9e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 2 Jun 2012 23:21:25 +0000 Subject: [PATCH 096/914] small printing detail --- gtsam/slam/BearingRangeFactor.h | 2 +- gtsam/slam/BetweenFactor.h | 2 +- gtsam/slam/PriorFactor.h | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 9fe70123e..0bfa86540 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -66,7 +66,7 @@ namespace gtsam { << keyFormatter(this->key2()) << ")\n"; measuredBearing_.print(" measured bearing"); std::cout << " measured range: " << measuredRange_ << std::endl; - this->noiseModel_->print(" noise model"); + this->noiseModel_->print(" noise model: "); } /** equals */ diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index ec55c253b..62f66cc48 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -72,7 +72,7 @@ namespace gtsam { << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n"; measured_.print(" measured"); - this->noiseModel_->print(" noise model"); + this->noiseModel_->print(" noise model: "); } /** equals */ diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 6d958c652..608e717dd 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -64,7 +64,7 @@ namespace gtsam { virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "PriorFactor(" << keyFormatter(this->key()) << ")\n"; prior_.print(" prior"); - this->noiseModel_->print(" noise model"); + this->noiseModel_->print(" noise model: "); } /** equals */ From fd8ec0a605e499526af87e908677909119de1b57 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 02:53:17 +0000 Subject: [PATCH 097/914] fix a switch bug --- .../nonlinear/SuccessiveLinearizationOptimizer.h | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 387a550db..ea54dd344 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -32,8 +32,7 @@ public: SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR, CHOLMOD, /* Experimental Flag */ - PCG, /* Experimental Flag */ - LSPCG /* Experimental Flag */ + CG, /* Experimental Flag */ }; LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer @@ -62,11 +61,8 @@ public: case CHOLMOD: std::cout << " linear solver type: CHOLMOD\n"; break; - case PCG: - std::cout << " linear solver type: PCG\n"; - break; - case LSPCG: - std::cout << " linear solver type: LSPCG\n"; + case CG: + std::cout << " linear solver type: CG\n"; break; default: std::cout << " linear solver type: (invalid)\n"; @@ -94,16 +90,16 @@ public: } inline bool isCG() const { - return (linearSolverType == PCG || linearSolverType == LSPCG); + return (linearSolverType == CG); } GaussianFactorGraph::Eliminate getEliminationFunction() { switch (linearSolverType) { case MULTIFRONTAL_CHOLESKY: - case MULTIFRONTAL_QR: + case SEQUENTIAL_CHOLESKY: return EliminatePreferCholesky; - case SEQUENTIAL_CHOLESKY: + case MULTIFRONTAL_QR: case SEQUENTIAL_QR: return EliminateQR; From 608155851a549d0c2feecef144803880eebb5a1c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 03:31:31 +0000 Subject: [PATCH 098/914] formatting --- gtsam.h | 202 +++++++++++++++++++++++++++++--------------------------- 1 file changed, 105 insertions(+), 97 deletions(-) diff --git a/gtsam.h b/gtsam.h index fcf6f0a9f..b2dc6ca79 100644 --- a/gtsam.h +++ b/gtsam.h @@ -68,17 +68,17 @@ namespace gtsam { //************************************************************************* class Point2 { - Point2(); - Point2(double x, double y); - static gtsam::Point2 Expmap(Vector v); + Point2(); + Point2(double x, double y); + static gtsam::Point2 Expmap(Vector v); static Vector Logmap(const gtsam::Point2& p); void print(string s) const; double x(); double y(); - Vector localCoordinates(const gtsam::Point2& p); + Vector localCoordinates(const gtsam::Point2& p); gtsam::Point2 compose(const gtsam::Point2& p2); gtsam::Point2 between(const gtsam::Point2& p2); - gtsam::Point2 retract(Vector v); + gtsam::Point2 retract(Vector v); }; class Point3 { @@ -124,22 +124,22 @@ class Rot2 { class Rot3 { Rot3(); Rot3(Matrix R); - static gtsam::Rot3 Rx(double t); - static gtsam::Rot3 Ry(double t); - static gtsam::Rot3 Rz(double t); + 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); // FIXME: overloaded functions don't work yet - 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 rodriguez(Vector v); + 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 rodriguez(Vector v); void print(string s) const; bool equals(const gtsam::Rot3& rot, double tol) const; - static gtsam::Rot3 identity(); - gtsam::Rot3 compose(const gtsam::Rot3& p2) const; - gtsam::Rot3 inverse() const; + static gtsam::Rot3 identity(); + gtsam::Rot3 compose(const gtsam::Rot3& p2) const; + gtsam::Rot3 inverse() const; gtsam::Rot3 between(const gtsam::Rot3& p2) const; gtsam::Point3 rotate(const gtsam::Point3& p) const; gtsam::Point3 unrotate(const gtsam::Point3& p) const; @@ -154,9 +154,9 @@ class Rot3 { Vector xyz() const; Vector ypr() const; Vector rpy() const; - double roll() const; - double pitch() const; - double yaw() const; + double roll() const; + double pitch() const; + double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly }; @@ -202,39 +202,36 @@ class Pose3 { gtsam::Pose3 between(const gtsam::Pose3& p2); gtsam::Pose3 retract(Vector v); gtsam::Pose3 retractFirstOrder(Vector v); - Vector localCoordinates(const gtsam::Pose3& T2) const; + Vector localCoordinates(const gtsam::Pose3& T2) const; gtsam::Point3 translation() const; gtsam::Rot3 rotation() const; }; class CalibratedCamera { - - CalibratedCamera(); - CalibratedCamera(const gtsam::Pose3& pose); - CalibratedCamera(const Vector& v); - void print(string s) const; - bool equals(const gtsam::CalibratedCamera& camera, double tol) const; + CalibratedCamera(); + CalibratedCamera(const gtsam::Pose3& pose); + CalibratedCamera(const Vector& v); - gtsam::Pose3 pose() const; + void print(string s) const; + bool equals(const gtsam::CalibratedCamera& camera, double tol) const; - gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const; - gtsam::CalibratedCamera inverse() const; - gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height); - gtsam::CalibratedCamera retract(const Vector& d) const; - Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; + gtsam::Pose3 pose() const; - gtsam::Point2 project(const gtsam::Point3& point) const; - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const; + gtsam::CalibratedCamera inverse() const; + gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height); + gtsam::CalibratedCamera retract(const Vector& d) const; + Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; + + gtsam::Point2 project(const gtsam::Point3& point) const; + static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); }; - //************************************************************************* // inference //************************************************************************* - - //************************************************************************* // linear //************************************************************************* @@ -305,7 +302,8 @@ class GaussianFactor { class JacobianFactor { JacobianFactor(); JacobianFactor(Vector b_in); - JacobianFactor(int i1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); + JacobianFactor(int i1, Matrix A1, Vector b, + const gtsam::SharedDiagonal& model); JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, Vector b, const gtsam::SharedDiagonal& model); JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, int i3, Matrix A3, @@ -330,16 +328,16 @@ class HessianFactor { double f); HessianFactor(const gtsam::GaussianConditional& cg); HessianFactor(const gtsam::GaussianFactor& factor); - void print(string s) const; - bool equals(const gtsam::GaussianFactor& lf, double tol) const; - double error(const gtsam::VectorValues& c) const; + void print(string s) const; + bool equals(const gtsam::GaussianFactor& lf, double tol) const; + double error(const gtsam::VectorValues& c) const; }; class GaussianFactorGraph { GaussianFactorGraph(); - GaussianFactorGraph(const gtsam::GaussianBayesNet& CBN); + GaussianFactorGraph(const gtsam::GaussianBayesNet& CBN); - // From FactorGraph + // From FactorGraph void push_back(gtsam::GaussianFactor* factor); void print(string s) const; bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; @@ -361,8 +359,9 @@ class GaussianFactorGraph { double probPrime(const gtsam::VectorValues& c) const; // combining - static gtsam::GaussianFactorGraph combine2(const gtsam::GaussianFactorGraph& lfg1, - const gtsam::GaussianFactorGraph& lfg2); + static gtsam::GaussianFactorGraph combine2( + const gtsam::GaussianFactorGraph& lfg1, + const gtsam::GaussianFactorGraph& lfg2); void combine(const gtsam::GaussianFactorGraph& lfg); // Conversion to matrices @@ -372,11 +371,12 @@ class GaussianFactorGraph { }; class GaussianSequentialSolver { - GaussianSequentialSolver(const gtsam::GaussianFactorGraph& graph, bool useQR); - gtsam::GaussianBayesNet* eliminate() const; - gtsam::VectorValues* optimize() const; - gtsam::GaussianFactor* marginalFactor(int j) const; - Matrix marginalCovariance(int j) const; + GaussianSequentialSolver(const gtsam::GaussianFactorGraph& graph, + bool useQR); + gtsam::GaussianBayesNet* eliminate() const; + gtsam::VectorValues* optimize() const; + gtsam::GaussianFactor* marginalFactor(int j) const; + Matrix marginalCovariance(int j) const; }; class KalmanFilter { @@ -385,16 +385,16 @@ class KalmanFilter { gtsam::GaussianDensity* init(Vector x0, Matrix P0); void print(string s) const; static int step(gtsam::GaussianDensity* p); - gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, Matrix B, Vector u, - const gtsam::SharedDiagonal& 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::SharedDiagonal& model); - gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H, Vector z, - const gtsam::SharedDiagonal& model); - gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H, Vector z, - Matrix Q); + gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, + Matrix B, Vector u, const gtsam::SharedDiagonal& 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::SharedDiagonal& model); + gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H, + Vector z, const gtsam::SharedDiagonal& model); + gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H, + Vector z, Matrix Q); }; //************************************************************************* @@ -402,9 +402,9 @@ class KalmanFilter { //************************************************************************* class Symbol { - Symbol(char c, size_t j); + Symbol(char c, size_t j); void print(string s) const; - size_t key() const; + size_t key() const; }; class Ordering { @@ -415,23 +415,24 @@ class Ordering { }; class NonlinearFactorGraph { - NonlinearFactorGraph(); + NonlinearFactorGraph(); }; class Values { - Values(); - void print(string s) const; - bool exists(size_t j) const; + Values(); + void print(string s) const; + bool exists(size_t j) const; }; class Marginals { - Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); - void print(string s) const; - Matrix marginalCovariance(size_t variable) const; - Matrix marginalInformation(size_t variable) const; + Marginals(const gtsam::NonlinearFactorGraph& graph, + const gtsam::Values& solution); + void print(string s) const; + Matrix marginalCovariance(size_t variable) const; + Matrix marginalInformation(size_t variable) const; }; -}///\namespace gtsam +} ///\namespace gtsam //************************************************************************* // planarSLAM @@ -459,13 +460,17 @@ class Graph { gtsam::GaussianFactorGraph* linearize(const planarSLAM::Values& values, const gtsam::Ordering& ordering) const; - void addPrior(int key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); - void addPoseConstraint(int key, const gtsam::Pose2& pose); - void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); - void addBearing(int poseKey, int pointKey, const gtsam::Rot2& bearing, const gtsam::SharedNoiseModel& noiseModel); - void addRange(int poseKey, int pointKey, double range, const gtsam::SharedNoiseModel& noiseModel); - void addBearingRange(int poseKey, int pointKey, const gtsam::Rot2& bearing, double range, + void addPrior(int key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); + void addPoseConstraint(int key, const gtsam::Pose2& pose); + void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, + const gtsam::SharedNoiseModel& noiseModel); + void addBearing(int poseKey, int pointKey, const gtsam::Rot2& bearing, + const gtsam::SharedNoiseModel& noiseModel); + void addRange(int poseKey, int pointKey, double range, + const gtsam::SharedNoiseModel& noiseModel); + void addBearingRange(int poseKey, int pointKey, const gtsam::Rot2& bearing, + double range, const gtsam::SharedNoiseModel& noiseModel); planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate); }; @@ -473,10 +478,11 @@ class Odometry { Odometry(int key1, int key2, const gtsam::Pose2& measured, const gtsam::SharedNoiseModel& model); void print(string s) const; - gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, const gtsam::Ordering& ordering) const; + gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, + const gtsam::Ordering& ordering) const; }; -}///\namespace planarSLAM +} ///\namespace planarSLAM //************************************************************************* // Pose2SLAM @@ -486,30 +492,32 @@ class Odometry { namespace pose2SLAM { class Values { - Values(); - void print(string s) const; - void insertPose(int key, const gtsam::Pose2& pose); - gtsam::Pose2 pose(int i); + Values(); + void print(string s) const; + void insertPose(int key, const gtsam::Pose2& pose); + gtsam::Pose2 pose(int i); }; class Graph { - Graph(); + Graph(); - void print(string s) const; + void print(string s) const; - double error(const pose2SLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, - const gtsam::Ordering& ordering) const; + double error(const pose2SLAM::Values& values) const; + gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, + const gtsam::Ordering& ordering) const; - void addPrior(int key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); - void addPoseConstraint(int key, const gtsam::Pose2& pose); - void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); - pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const; - gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; + void addPrior(int key, const gtsam::Pose2& pose, + const gtsam::SharedNoiseModel& noiseModel); + void addPoseConstraint(int key, const gtsam::Pose2& pose); + void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, + const gtsam::SharedNoiseModel& noiseModel); + pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const; + gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; }; -}///\namespace pose2SLAM +} ///\namespace pose2SLAM //************************************************************************* // Simulated2D From f924d01bc345ac917728a2f5cf335fb607354304 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 05:25:05 +0000 Subject: [PATCH 099/914] Synchronized mixed case naming --- examples/LocalizationExample.cpp | 12 ++++---- examples/PlanarSLAMSelfContained_advanced.cpp | 14 ++++----- examples/Pose2SLAMExample_advanced.cpp | 30 ++++++++----------- examples/matlab/LocalizationExample.m | 6 ++-- examples/matlab/Pose2SLAMExample_advanced.m | 28 +++++++---------- examples/matlab/Pose2SLAMExample_easy.m | 23 +++++++------- tests/testMarginals.cpp | 14 ++++----- 7 files changed, 57 insertions(+), 70 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index a8ff59d68..578f33558 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -35,7 +35,7 @@ using namespace gtsam; */ int main(int argc, char** argv) { - // create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) + // create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) pose2SLAM::Graph graph; // add a Gaussian prior on pose x_1 @@ -55,7 +55,7 @@ int main(int argc, char** argv) { // create (deliberatly inaccurate) initial estimate pose2SLAM::Values initialEstimate; initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); + initialEstimate.insertPose(2, Pose2(2.3, 0.1, -0.2)); initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print("\nInitial estimate:\n "); @@ -64,11 +64,11 @@ int main(int argc, char** argv) { result.print("\nFinal result:\n "); // Query the marginals - Marginals marginals = graph.marginals(result); cout.precision(2); - cout << "\nP1:\n" << marginals.marginalCovariance(1) << endl; - cout << "\nP2:\n" << marginals.marginalCovariance(2) << endl; - cout << "\nP3:\n" << marginals.marginalCovariance(3) << endl; + Marginals marginals = graph.marginals(result); + cout << "\nP1:\n" << marginals.marginalCovariance(1) << endl; + cout << "\nP2:\n" << marginals.marginalCovariance(2) << endl; + cout << "\nP3:\n" << marginals.marginalCovariance(3) << endl; return 0; } diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMSelfContained_advanced.cpp index bff4ee7ea..f7c321f2d 100644 --- a/examples/PlanarSLAMSelfContained_advanced.cpp +++ b/examples/PlanarSLAMSelfContained_advanced.cpp @@ -60,18 +60,18 @@ int main(int argc, char** argv) { /* add prior */ // gaussian for prior - SharedDiagonal prior_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - Pose2 prior_measurement(0.0, 0.0, 0.0); // prior at origin - PriorFactor posePrior(i1, prior_measurement, prior_model); // create the factor + SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + PriorFactor posePrior(i1, priorMean, priorNoise); // create the factor graph.add(posePrior); // add the factor to the graph /* add odometry */ // general noisemodel for odometry - SharedDiagonal odom_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - Pose2 odom_measurement(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) + SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) // create between factors to represent odometry - BetweenFactor odom12(i1, i2, odom_measurement, odom_model); - BetweenFactor odom23(i2, i3, odom_measurement, odom_model); + BetweenFactor odom12(i1, i2, odometry, odometryNoise); + BetweenFactor odom23(i2, i3, odometry, odometryNoise); graph.add(odom12); // add both to graph graph.add(odom23); diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp index 3884e03e4..083585c73 100644 --- a/examples/Pose2SLAMExample_advanced.cpp +++ b/examples/Pose2SLAMExample_advanced.cpp @@ -35,26 +35,22 @@ int main(int argc, char** argv) { pose2SLAM::Graph graph; /* 2.a add prior */ - // gaussian for prior - SharedDiagonal prior_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - Pose2 prior_measurement(0.0, 0.0, 0.0); // prior at origin - graph.addPrior(1, prior_measurement, prior_model); // add directly to graph + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + graph.addPrior(1, priorMean, priorNoise); // add directly to graph /* 2.b add odometry */ - // general noisemodel for odometry - SharedDiagonal odom_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - - /* Pose2 measurements take (x,y,theta), where theta is taken from the positive x-axis*/ - Pose2 odom_measurement(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - graph.addOdometry(1, 2, odom_measurement, odom_model); - graph.addOdometry(2, 3, odom_measurement, odom_model); + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) + graph.addOdometry(1, 2, odometry, odometryNoise); + graph.addOdometry(2, 3, odometry, odometryNoise); graph.print("full graph"); - /* 3. Create the data structure to hold the initial estimate to the solution - * initialize to noisy points */ + /* 3. Create the data structure to hold the initial estimate to the solution + * initialize to noisy points */ pose2SLAM::Values initial; initial.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initial.insertPose(2, Pose2(2.3, 0.1,-0.2)); + initial.insertPose(2, Pose2(2.3, 0.1, -0.2)); initial.insertPose(3, Pose2(4.1, 0.1, 0.1)); initial.print("initial estimate"); @@ -67,15 +63,15 @@ int main(int argc, char** argv) { params.absoluteErrorTol = 1e-15; params.relativeErrorTol = 1e-15; params.ordering = ordering; - LevenbergMarquardtOptimizer optimizer(graph, initial, params); + LevenbergMarquardtOptimizer optimizer(graph, initial, params); pose2SLAM::Values result = optimizer.optimize(); result.print("final result"); /* Get covariances */ Marginals marginals(graph, result, Marginals::CHOLESKY); - Matrix covariance1 = marginals.marginalCovariance(1); - Matrix covariance2 = marginals.marginalCovariance(2); + Matrix covariance1 = marginals.marginalCovariance(1); + Matrix covariance2 = marginals.marginalCovariance(2); print(covariance1, "Covariance1"); print(covariance2, "Covariance2"); diff --git a/examples/matlab/LocalizationExample.m b/examples/matlab/LocalizationExample.m index 3a8282e3a..ae66a131c 100644 --- a/examples/matlab/LocalizationExample.m +++ b/examples/matlab/LocalizationExample.m @@ -45,9 +45,9 @@ result.print(sprintf('\nFinal result:\n ')); %% Query the marginals marginals = graph.marginals(result); -P{1}=marginals.marginalCovariance(1) -P{2}=marginals.marginalCovariance(2) -P{3}=marginals.marginalCovariance(3) +P{1}=marginals.marginalCovariance(1); +P{2}=marginals.marginalCovariance(2); +P{3}=marginals.marginalCovariance(3); %% Plot Trajectory figure(1) diff --git a/examples/matlab/Pose2SLAMExample_advanced.m b/examples/matlab/Pose2SLAMExample_advanced.m index 2199def5b..f2739803e 100644 --- a/examples/matlab/Pose2SLAMExample_advanced.m +++ b/examples/matlab/Pose2SLAMExample_advanced.m @@ -20,24 +20,21 @@ % - We have full odometry for measurements % - The robot is on a grid, moving 2 meters each step -%% Create keys for variables -x1 = 1; x2 = 2; x3 = 3; - %% Create graph container and add factors to it graph = pose2SLAMGraph; %% Add prior % gaussian for prior -prior_model = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); -prior_measurement = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -graph.addPrior(x1, prior_measurement, prior_model); % add directly to graph +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odom_model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -odom_measurement = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addOdometry(x1, x2, odom_measurement, odom_model); -graph.addOdometry(x2, x3, odom_measurement, odom_model); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +graph.addOdometry(1, 2, odometry, odometryNoise); +graph.addOdometry(2, 3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements @@ -48,9 +45,9 @@ graph.print('full graph'); %% Initialize to noisy points initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(x1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(x2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(x3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); initialEstimate.print('initial estimate'); @@ -62,10 +59,7 @@ initialEstimate.print('initial estimate'); %result = pose2SLAMOptimizer(graph,initialEstimate,ord,params); %result.print('final result'); -% % -% % disp('\\\'); -% % -% % %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate); result.print('final result'); diff --git a/examples/matlab/Pose2SLAMExample_easy.m b/examples/matlab/Pose2SLAMExample_easy.m index 6c359f314..b0200946b 100644 --- a/examples/matlab/Pose2SLAMExample_easy.m +++ b/examples/matlab/Pose2SLAMExample_easy.m @@ -18,24 +18,21 @@ % - We have full odometry for measurements % - The robot is on a grid, moving 2 meters each step -%% Create keys for variables -x1 = 1; x2 = 2; x3 = 3; - %% Create graph container and add factors to it graph = pose2SLAMGraph; %% Add prior % gaussian for prior -prior_model = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); -prior_measurement = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -graph.addPrior(x1, prior_measurement, prior_model); % add directly to graph +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odom_model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -odom_measurement = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addOdometry(x1, x2, odom_measurement, odom_model); -graph.addOdometry(x2, x3, odom_measurement, odom_model); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +graph.addOdometry(1, 2, odometry, odometryNoise); +graph.addOdometry(2, 3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements @@ -46,9 +43,9 @@ graph.print('full graph'); %% Initialize to noisy points initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(x1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(x2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(x3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); initialEstimate.print('initial estimate'); diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index a91e6b576..76b1f7c82 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -51,17 +51,17 @@ TEST(Marginals, planarSLAMmarginals) { /* add prior */ // gaussian for prior - SharedDiagonal prior_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - Pose2 prior_measurement(0.0, 0.0, 0.0); // prior at origin - graph.add(PriorFactor(x1, prior_measurement, prior_model)); // add the factor to the graph + SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + graph.add(PriorFactor(x1, priorMean, priorNoise)); // add the factor to the graph /* add odometry */ // general noisemodel for odometry - SharedDiagonal odom_model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - Pose2 odom_measurement(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) + SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) // create between factors to represent odometry - graph.add(BetweenFactor(x1, x2, odom_measurement, odom_model)); - graph.add(BetweenFactor(x2, x3, odom_measurement, odom_model)); + graph.add(BetweenFactor(x1, x2, odometry, odometryNoise)); + graph.add(BetweenFactor(x2, x3, odometry, odometryNoise)); /* add measurements */ // general noisemodel for measurements From 20a5eed0510979464e513baa655dec983600b768 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 05:25:50 +0000 Subject: [PATCH 100/914] Fixed keys in planarSLAM matlab example --- examples/matlab/PlanarSLAMExample_easy.m | 18 +-- examples/matlab/symbol.m | 4 + gtsam.h | 197 ++++++++++++----------- 3 files changed, 115 insertions(+), 104 deletions(-) create mode 100644 examples/matlab/symbol.m diff --git a/examples/matlab/PlanarSLAMExample_easy.m b/examples/matlab/PlanarSLAMExample_easy.m index 54462732b..88a988755 100644 --- a/examples/matlab/PlanarSLAMExample_easy.m +++ b/examples/matlab/PlanarSLAMExample_easy.m @@ -20,24 +20,24 @@ % - Landmarks are 2 meters away from the robot trajectory %% Create keys for variables -x1 = 1; x2 = 2; x3 = 3; -l1 = 1; l2 = 2; +x1 = symbol('x',1); x2 = symbol('x',2); x3 = symbol('x',3); +l1 = symbol('l',1); l2 = symbol('l',2); %% Create graph container and add factors to it graph = planarSLAMGraph; %% Add prior % gaussian for prior -prior_model = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); -prior_measurement = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -graph.addPrior(x1, prior_measurement, prior_model); % add directly to graph +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +graph.addPrior(x1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odom_model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -odom_measurement = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addOdometry(x1, x2, odom_measurement, odom_model); -graph.addOdometry(x2, x3, odom_measurement, odom_model); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +graph.addOdometry(x1, x2, odometry, odometryNoise); +graph.addOdometry(x2, x3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements diff --git a/examples/matlab/symbol.m b/examples/matlab/symbol.m new file mode 100644 index 000000000..c7c4af2c6 --- /dev/null +++ b/examples/matlab/symbol.m @@ -0,0 +1,4 @@ +function key = symbol(c,i) +% generate a key corresponding to a symbol +s = gtsamSymbol(c,i); +key = s.key(); \ No newline at end of file diff --git a/gtsam.h b/gtsam.h index b2dc6ca79..2c6b5a13e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -9,7 +9,7 @@ * Only one Method/Constructor per line * Methods can return * - Eigen types: Matrix, Vector - * - C/C++ basic types: string, bool, size_t, int, double, char + * - C/C++ basic types: string, bool, size_t, size_t, double, char * - void * - Any class with which be copied with boost::make_shared() * - boost::shared_ptr of any object type @@ -19,7 +19,7 @@ * 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, int, double, char + * - C/C++ basic types: string, bool, size_t, size_t, double, 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 @@ -150,7 +150,7 @@ class Rot3 { static Vector Logmap(const gtsam::Rot3& p); Matrix matrix() const; Matrix transpose() const; - gtsam::Point3 column(int index) const; + gtsam::Point3 column(size_t index) const; Vector xyz() const; Vector ypr() const; Vector rpy() const; @@ -173,7 +173,7 @@ class Pose2 { double x() const; double y() const; double theta() const; - int dim() const; + size_t dim() const; Vector localCoordinates(const gtsam::Pose2& p); gtsam::Pose2 retract(Vector v); gtsam::Pose2 compose(const gtsam::Pose2& p2); @@ -228,10 +228,13 @@ class CalibratedCamera { static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); }; + //************************************************************************* // inference //************************************************************************* + + //************************************************************************* // linear //************************************************************************* @@ -260,25 +263,25 @@ class SharedNoiseModel { class VectorValues { VectorValues(); - VectorValues(int nVars, int varDim); + VectorValues(size_t nVars, size_t varDim); void print(string s) const; bool equals(const gtsam::VectorValues& expected, double tol) const; - int size() const; - void insert(int j, Vector value); + size_t size() const; + void insert(size_t j, Vector value); }; class GaussianConditional { - GaussianConditional(int key, Vector d, Matrix R, Vector sigmas); - GaussianConditional(int key, Vector d, Matrix R, int name1, Matrix S, + GaussianConditional(size_t key, Vector d, Matrix R, Vector sigmas); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, Vector sigmas); - GaussianConditional(int key, Vector d, Matrix R, int name1, Matrix S, - int name2, Matrix T, Vector sigmas); + GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, + size_t name2, Matrix T, Vector sigmas); void print(string s) const; bool equals(const gtsam::GaussianConditional &cg, double tol) const; }; class GaussianDensity { - GaussianDensity(int key, Vector d, Matrix R, Vector sigmas); + GaussianDensity(size_t key, Vector d, Matrix R, Vector sigmas); void print(string s) const; Vector mean() const; Matrix information() const; @@ -302,11 +305,11 @@ class GaussianFactor { class JacobianFactor { JacobianFactor(); JacobianFactor(Vector b_in); - JacobianFactor(int i1, Matrix A1, Vector b, + JacobianFactor(size_t i1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); - JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, Vector b, + JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b, const gtsam::SharedDiagonal& model); - JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, int i3, Matrix A3, + JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3, Vector b, const gtsam::SharedDiagonal& model); void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; @@ -319,11 +322,11 @@ class JacobianFactor { class HessianFactor { HessianFactor(const gtsam::HessianFactor& gf); HessianFactor(); - HessianFactor(int j, Matrix G, Vector g, double f); - HessianFactor(int j, Vector mu, Matrix Sigma); - HessianFactor(int j1, int j2, Matrix G11, Matrix G12, Vector g1, Matrix G22, + 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(int j1, int j2, int j3, Matrix G11, Matrix G12, Matrix G13, + 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::GaussianConditional& cg); @@ -341,16 +344,16 @@ class GaussianFactorGraph { void push_back(gtsam::GaussianFactor* factor); void print(string s) const; bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; - int size() const; + size_t size() const; // Building the graph void add(gtsam::JacobianFactor* factor); // all these won't work as MATLAB can't handle overloading // void add(Vector b); -// void add(int key1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); -// void add(int key1, Matrix A1, int key2, Matrix A2, Vector b, +// void add(size_t key1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); +// void add(size_t key1, Matrix A1, size_t key2, Matrix A2, Vector b, // const gtsam::SharedDiagonal& model); -// void add(int key1, Matrix A1, int key2, Matrix A2, int key3, Matrix A3, +// void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3, // Vector b, const gtsam::SharedDiagonal& model); // void add(gtsam::HessianFactor* factor); @@ -375,8 +378,8 @@ class GaussianSequentialSolver { bool useQR); gtsam::GaussianBayesNet* eliminate() const; gtsam::VectorValues* optimize() const; - gtsam::GaussianFactor* marginalFactor(int j) const; - Matrix marginalCovariance(int j) const; + gtsam::GaussianFactor* marginalFactor(size_t j) const; + Matrix marginalCovariance(size_t j) const; }; class KalmanFilter { @@ -384,7 +387,7 @@ class KalmanFilter { // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); gtsam::GaussianDensity* init(Vector x0, Matrix P0); void print(string s) const; - static int step(gtsam::GaussianDensity* p); + static size_t step(gtsam::GaussianDensity* p); gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, Matrix B, Vector u, const gtsam::SharedDiagonal& modelQ); gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F, @@ -420,6 +423,7 @@ class NonlinearFactorGraph { class Values { Values(); + size_t size() const; void print(string s) const; bool exists(size_t j) const; }; @@ -432,57 +436,7 @@ class Marginals { Matrix marginalInformation(size_t variable) const; }; -} ///\namespace gtsam - -//************************************************************************* -// planarSLAM -//************************************************************************* - -#include -namespace planarSLAM { - -class Values { - Values(); - void print(string s) const; - gtsam::Pose2 pose(int key) const; - gtsam::Point2 point(int key) const; - void insertPose(int key, const gtsam::Pose2& pose); - void insertPoint(int key, const gtsam::Point2& point); -}; - -class Graph { - Graph(); - - void print(string s) const; - - double error(const planarSLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const planarSLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const planarSLAM::Values& values, - const gtsam::Ordering& ordering) const; - - void addPrior(int key, const gtsam::Pose2& pose, - const gtsam::SharedNoiseModel& noiseModel); - void addPoseConstraint(int key, const gtsam::Pose2& pose); - void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, - const gtsam::SharedNoiseModel& noiseModel); - void addBearing(int poseKey, int pointKey, const gtsam::Rot2& bearing, - const gtsam::SharedNoiseModel& noiseModel); - void addRange(int poseKey, int pointKey, double range, - const gtsam::SharedNoiseModel& noiseModel); - void addBearingRange(int poseKey, int pointKey, const gtsam::Rot2& bearing, - double range, const gtsam::SharedNoiseModel& noiseModel); - planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate); -}; - -class Odometry { - Odometry(int key1, int key2, const gtsam::Pose2& measured, - const gtsam::SharedNoiseModel& model); - void print(string s) const; - gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, - const gtsam::Ordering& ordering) const; -}; - -} ///\namespace planarSLAM +}///\namespace gtsam //************************************************************************* // Pose2SLAM @@ -493,9 +447,10 @@ namespace pose2SLAM { class Values { Values(); + void insertPose(size_t key, const gtsam::Pose2& pose); + size_t size() const; void print(string s) const; - void insertPose(int key, const gtsam::Pose2& pose); - gtsam::Pose2 pose(int i); + gtsam::Pose2 pose(size_t i); }; class Graph { @@ -508,16 +463,68 @@ class Graph { gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, const gtsam::Ordering& ordering) const; - void addPrior(int key, const gtsam::Pose2& pose, + void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); - void addPoseConstraint(int key, const gtsam::Pose2& pose); - void addOdometry(int key1, int key2, const gtsam::Pose2& odometry, + void addPoseConstraint(size_t key, const gtsam::Pose2& pose); + void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, + const gtsam::SharedNoiseModel& noiseModel); + void addConstraint(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const; gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; }; -} ///\namespace pose2SLAM +}///\namespace pose2SLAM + +//************************************************************************* +// planarSLAM +//************************************************************************* + +#include +namespace planarSLAM { + +class Values { + Values(); + void insertPose(size_t key, const gtsam::Pose2& pose); + void insertPoint(size_t key, const gtsam::Point2& point); + void print(string s) const; + gtsam::Pose2 pose(size_t key) const; + gtsam::Point2 point(size_t key) const; +}; + +class Graph { + Graph(); + + void print(string s) const; + + double error(const planarSLAM::Values& values) const; + gtsam::Ordering* orderingCOLAMD(const planarSLAM::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const planarSLAM::Values& values, + const gtsam::Ordering& ordering) const; + + void addPrior(size_t key, const gtsam::Pose2& pose, + const gtsam::SharedNoiseModel& noiseModel); + void addPoseConstraint(size_t key, const gtsam::Pose2& pose); + void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, + const gtsam::SharedNoiseModel& noiseModel); + void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, + const gtsam::SharedNoiseModel& noiseModel); + void addRange(size_t poseKey, size_t pointKey, double range, + const gtsam::SharedNoiseModel& noiseModel); + void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, + double range, const gtsam::SharedNoiseModel& noiseModel); + planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate); +}; + +class Odometry { + Odometry(size_t key1, size_t key2, const gtsam::Pose2& measured, + const gtsam::SharedNoiseModel& model); + void print(string s) const; + gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, + const gtsam::Ordering& ordering) const; +}; + +}///\namespace planarSLAM //************************************************************************* // Simulated2D @@ -528,12 +535,12 @@ namespace simulated2D { class Values { Values(); - void insertPose(int i, const gtsam::Point2& p); - void insertPoint(int j, const gtsam::Point2& p); - int nrPoses() const; - int nrPoints() const; - gtsam::Point2 pose(int i); - gtsam::Point2 point(int j); + void insertPose(size_t i, const gtsam::Point2& p); + void insertPoint(size_t j, const gtsam::Point2& p); + size_t nrPoses() const; + size_t nrPoints() const; + gtsam::Point2 pose(size_t i); + gtsam::Point2 point(size_t j); }; class Graph { @@ -550,12 +557,12 @@ namespace simulated2DOriented { class Values { Values(); - void insertPose(int i, const gtsam::Pose2& p); - void insertPoint(int j, const gtsam::Point2& p); - int nrPoses() const; - int nrPoints() const; - gtsam::Pose2 pose(int i); - gtsam::Point2 point(int j); + void insertPose(size_t i, const gtsam::Pose2& p); + void insertPoint(size_t j, const gtsam::Point2& p); + size_t nrPoses() const; + size_t nrPoints() const; + gtsam::Pose2 pose(size_t i); + gtsam::Point2 point(size_t j); }; class Graph { From a75c9f1da34e411486fe3840e7a42c14e751d93e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 05:26:30 +0000 Subject: [PATCH 101/914] Small Manhattan world example --- examples/Data/w100-odom.graph | 440 +++++++++++++++++++++++ examples/matlab/Pose2SLAMExample_graph.m | 75 ++++ examples/matlab/plotTrajectory.m | 10 + 3 files changed, 525 insertions(+) create mode 100644 examples/Data/w100-odom.graph create mode 100644 examples/matlab/Pose2SLAMExample_graph.m create mode 100644 examples/matlab/plotTrajectory.m diff --git a/examples/Data/w100-odom.graph b/examples/Data/w100-odom.graph new file mode 100644 index 000000000..a88d18741 --- /dev/null +++ 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-1.03384 0.0366015 -0.00108394 1 0 1 1 0 0 +EDGE2 99 40 0.949815 -0.0200951 -3.15597 1 0 1 1 0 0 +EDGE2 99 60 0.982217 0.038669 -3.1331 1 0 1 1 0 0 +EDGE2 99 0 1.14879 0.0129747 -1.57804 1 0 1 1 0 0 +EDGE2 99 20 1.00089 0.0504254 -3.15355 1 0 1 1 0 0 +EDGE2 99 98 -1.00067 -0.053216 -0.0254751 1 0 1 1 0 0 +EQUIV 21 1 +EQUIV 22 2 +EQUIV 23 3 +EQUIV 24 4 +EQUIV 25 5 +EQUIV 26 6 +EQUIV 27 7 +EQUIV 28 8 +EQUIV 29 9 +EQUIV 30 10 +EQUIV 31 11 +EQUIV 32 12 +EQUIV 33 13 +EQUIV 34 14 +EQUIV 35 15 +EQUIV 36 16 +EQUIV 37 17 +EQUIV 38 18 +EQUIV 39 19 +EQUIV 40 20 +EQUIV 41 1 +EQUIV 42 2 +EQUIV 43 3 +EQUIV 44 4 +EQUIV 45 5 +EQUIV 46 6 +EQUIV 47 7 +EQUIV 48 8 +EQUIV 49 9 +EQUIV 50 10 +EQUIV 51 11 +EQUIV 52 12 +EQUIV 53 13 +EQUIV 54 14 +EQUIV 55 15 +EQUIV 56 16 +EQUIV 57 17 +EQUIV 58 18 +EQUIV 59 19 +EQUIV 60 20 diff --git a/examples/matlab/Pose2SLAMExample_graph.m b/examples/matlab/Pose2SLAMExample_graph.m new file mode 100644 index 000000000..d4c5f261a --- /dev/null +++ b/examples/matlab/Pose2SLAMExample_graph.m @@ -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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create graph container and add factors to it +graph = pose2SLAMGraph; +initialEstimate = pose2SLAMValues; +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +constraint=gtsamPose2; % identity + +%% Add a Gaussian prior on pose x_1 +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +graph.addPrior(0, priorMean, priorNoise); % add directly to graph + +%% Read File and create graph and initial estimate +fid = fopen('../Data/w100-odom.graph'); +if fid < 0 + error('Cannot open the file '); +end + +disp('Reading data from file...') +lines=textscan(fid,'%s','delimiter','\n'); +fclose(fid); +n=size(lines{1},1); + +for i=1:n + text=cell2mat(lines{1}(i)); + if strcmp('VERTEX2',text(1:7)) + v = textscan(text,'%s %d %f %f %f',1); + initialEstimate.insertPose(v{2}, gtsamPose2(v{3}, v{4}, v{5})); + elseif strcmp('EDGE2',text(1:5)) + e = textscan(text,'%s %d %d %f %f %f',1); + graph.addOdometry(e{2}, e{3}, gtsamPose2(e{4}, e{5}, e{6}), odometryNoise); + end +end + +%% Plot Initial Estimate +figure(1) +clf +plotTrajectory(initialEstimate,'r-*') +hold on + +addEquivalences=0; +if addEquivalences + %% Add equivalence constraints + for i=1:n + text=cell2mat(lines{1}(i)); + if strcmp('EQUIV',text(1:5)) + equiv = textscan(text,'%s %d %d',1); + graph.addOdometry(e{2}, e{3}, constraint, odometryNoise); + end + end + +end + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +plotTrajectory(result,'g-*') + +%% Plot Covariance Ellipses +% marginals = graph.marginals(result); +% for i=0:result2.size()-1 +% pose_i = result.pose(i); +% P_i=marginals.marginalCovariance(i); +% covarianceEllipse([pose_i.x;pose_i.y],P_i,'g') +% end diff --git a/examples/matlab/plotTrajectory.m b/examples/matlab/plotTrajectory.m new file mode 100644 index 000000000..e67663a55 --- /dev/null +++ b/examples/matlab/plotTrajectory.m @@ -0,0 +1,10 @@ +function plotTrajectory(values,color) +% plotTrajectory: plot the poses in a values object +% assumes keys are 0 to N-1, where N is values.size() +X=[];Y=[]; +for i=0:values.size()-1 + pose_i = values.pose(i); + X=[X;pose_i.x]; + Y=[Y;pose_i.y]; +end +plot(X,Y,color); From 7d132ef2177ceb85146d5bc7566b0b39bb2c254b Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 14:52:26 +0000 Subject: [PATCH 102/914] add a simple spcg implementation and revive the example --- examples/Pose2SLAMwSPCG_advanced.cpp | 109 --------- examples/Pose2SLAMwSPCG_easy.cpp | 101 ++++---- .../linear/IterativeOptimizationParameters.h | 6 +- gtsam/linear/IterativeSolver.h | 11 +- gtsam/linear/SimpleSPCGSolver.cpp | 230 ++++++++++++++++++ gtsam/linear/SimpleSPCGSolver.h | 87 +++++++ .../nonlinear/LevenbergMarquardtOptimizer.cpp | 4 +- 7 files changed, 366 insertions(+), 182 deletions(-) delete mode 100644 examples/Pose2SLAMwSPCG_advanced.cpp create mode 100644 gtsam/linear/SimpleSPCGSolver.cpp create mode 100644 gtsam/linear/SimpleSPCGSolver.h diff --git a/examples/Pose2SLAMwSPCG_advanced.cpp b/examples/Pose2SLAMwSPCG_advanced.cpp deleted file mode 100644 index 12d17a6e9..000000000 --- a/examples/Pose2SLAMwSPCG_advanced.cpp +++ /dev/null @@ -1,109 +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 Pose2SLAMwSPCG_advanced.cpp - * @brief Solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface - * @author Yong Dian - * Created October 21, 2010 - */ - -#include - -#if ENABLE_SPCG - -#include - -#include -#include -#include - -using namespace std; -using namespace gtsam; -using namespace pose2SLAM; - -typedef boost::shared_ptr sharedGraph ; -typedef boost::shared_ptr sharedValue ; -//typedef NonlinearOptimizer > SPCGOptimizer; - - -typedef SubgraphSolver Solver; -typedef boost::shared_ptr sharedSolver ; -typedef NonlinearOptimizer SPCGOptimizer; - -sharedGraph graph; -sharedValue initial; -Values result; - -/* ************************************************************************* */ -int main(void) { - - /* generate synthetic data */ - const SharedNoiseModel sigma(noiseModel::Unit::Create(0.1)); - Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9); - - graph = boost::make_shared() ; - initial = boost::make_shared() ; - - // create a 3 by 3 grid - // x3 x6 x9 - // x2 x5 x8 - // x1 x4 x7 - graph->addConstraint(x1,x2,Pose2(0,2,0),sigma) ; - graph->addConstraint(x2,x3,Pose2(0,2,0),sigma) ; - graph->addConstraint(x4,x5,Pose2(0,2,0),sigma) ; - graph->addConstraint(x5,x6,Pose2(0,2,0),sigma) ; - graph->addConstraint(x7,x8,Pose2(0,2,0),sigma) ; - graph->addConstraint(x8,x9,Pose2(0,2,0),sigma) ; - graph->addConstraint(x1,x4,Pose2(2,0,0),sigma) ; - graph->addConstraint(x4,x7,Pose2(2,0,0),sigma) ; - graph->addConstraint(x2,x5,Pose2(2,0,0),sigma) ; - graph->addConstraint(x5,x8,Pose2(2,0,0),sigma) ; - graph->addConstraint(x3,x6,Pose2(2,0,0),sigma) ; - graph->addConstraint(x6,x9,Pose2(2,0,0),sigma) ; - graph->addPrior(x1, Pose2(0,0,0), sigma) ; - - initial->insert(x1, Pose2( 0, 0, 0)); - initial->insert(x2, Pose2( 0, 2.1, 0.01)); - initial->insert(x3, Pose2( 0, 3.9,-0.01)); - initial->insert(x4, Pose2(2.1,-0.1, 0)); - initial->insert(x5, Pose2(1.9, 2.1, 0.02)); - initial->insert(x6, Pose2(2.0, 3.9,-0.02)); - initial->insert(x7, Pose2(4.0, 0.1, 0.03 )); - initial->insert(x8, Pose2(3.9, 2.1, 0.01)); - initial->insert(x9, Pose2(4.1, 3.9,-0.01)); - /* done with generating data */ - - - graph->print("full graph") ; - initial->print("initial estimate") ; - - sharedSolver solver(new Solver(*graph, *initial)) ; - SPCGOptimizer optimizer(graph, initial, solver->ordering(), solver) ; - - cout << "before optimization, sum of error is " << optimizer.error() << endl; - SPCGOptimizer optimizer2 = optimizer.levenbergMarquardt(); - cout << "after optimization, sum of error is " << optimizer2.error() << endl; - - result = *optimizer2.values() ; - result.print("final result") ; - - return 0 ; -} - -#else - -int main() { - std::cout << "SPCG is currently disabled" << std::endl; - return 0; -} - -#endif diff --git a/examples/Pose2SLAMwSPCG_easy.cpp b/examples/Pose2SLAMwSPCG_easy.cpp index e610d327c..5565b6206 100644 --- a/examples/Pose2SLAMwSPCG_easy.cpp +++ b/examples/Pose2SLAMwSPCG_easy.cpp @@ -9,79 +9,60 @@ * -------------------------------------------------------------------------- */ -/* - * @file Pose2SLAMwSPCG_easy.cpp - * @brief Solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface - * @author Yong Dian - * Created October 21, 2010 - */ - -#include - -#if ENABLE_SPCG +#include +#include +#include #include - -#include -#include - +#include using namespace std; using namespace gtsam; -using namespace pose2SLAM; - -Graph graph; -Values initial, result; /* ************************************************************************* */ int main(void) { - /* generate synthetic data */ - const SharedNoiseModel sigma(noiseModel::Unit::Create(0.1)); - Key x1(1), x2(2), x3(3), x4(4), x5(5), x6(6), x7(7), x8(8), x9(9); + // 1. Create graph container and add factors to it + pose2SLAM::Graph graph ; - // create a 3 by 3 grid - // x3 x6 x9 - // x2 x5 x8 - // x1 x4 x7 - graph.addConstraint(x1,x2,Pose2(0,2,0),sigma) ; - graph.addConstraint(x2,x3,Pose2(0,2,0),sigma) ; - graph.addConstraint(x4,x5,Pose2(0,2,0),sigma) ; - graph.addConstraint(x5,x6,Pose2(0,2,0),sigma) ; - graph.addConstraint(x7,x8,Pose2(0,2,0),sigma) ; - graph.addConstraint(x8,x9,Pose2(0,2,0),sigma) ; - graph.addConstraint(x1,x4,Pose2(2,0,0),sigma) ; - graph.addConstraint(x4,x7,Pose2(2,0,0),sigma) ; - graph.addConstraint(x2,x5,Pose2(2,0,0),sigma) ; - graph.addConstraint(x5,x8,Pose2(2,0,0),sigma) ; - graph.addConstraint(x3,x6,Pose2(2,0,0),sigma) ; - graph.addConstraint(x6,x9,Pose2(2,0,0),sigma) ; - graph.addPrior(x1, Pose2(0,0,0), sigma) ; + // 2a. Add Gaussian prior + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); + graph.addPrior(1, priorMean, priorNoise); - initial.insert(x1, Pose2( 0, 0, 0)); - initial.insert(x2, Pose2( 0, 2.1, 0.01)); - initial.insert(x3, Pose2( 0, 3.9,-0.01)); - initial.insert(x4, Pose2(2.1,-0.1, 0)); - initial.insert(x5, Pose2(1.9, 2.1, 0.02)); - initial.insert(x6, Pose2(2.0, 3.9,-0.02)); - initial.insert(x7, Pose2(4.0, 0.1, 0.03 )); - initial.insert(x8, Pose2(3.9, 2.1, 0.01)); - initial.insert(x9, Pose2(4.1, 3.9,-0.01)); - /* done */ + // 2b. Add odometry factors + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); + graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); + graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + // 2c. Add pose constraint + SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); + graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + + // print + graph.print("\nFactor graph:\n"); + + // 3. Create the data structure to hold the initialEstimate estinmate to the solution + pose2SLAM::Values initialEstimate; + Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); + Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); + Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); + Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); + Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + initialEstimate.print("\nInitial estimate:\n "); + cout << "initial error = " << graph.error(initialEstimate) << endl ; + + // 4. Single Step Optimization using Levenberg-Marquardt + LevenbergMarquardtParams param; + param.linearSolverType = SuccessiveLinearizationParams::CG; + param.iterativeParams = boost::make_shared(); + + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); + Values result = optimizer.optimize(); + cout << "final error = " << graph.error(result) << endl; - graph.print("full graph") ; - initial.print("initial estimate"); - result = optimizeSPCG(graph, initial); - result.print("final result") ; return 0 ; } -#else - -int main() { - std::cout << "SPCG is currently disabled" << std::endl; - return 0; -} - -#endif diff --git a/gtsam/linear/IterativeOptimizationParameters.h b/gtsam/linear/IterativeOptimizationParameters.h index b38f6ab1a..f6b1877ce 100644 --- a/gtsam/linear/IterativeOptimizationParameters.h +++ b/gtsam/linear/IterativeOptimizationParameters.h @@ -96,7 +96,7 @@ struct PreconditionerParameters { enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ - PreconditionerParameters(): kernel_(CHOLMOD), type_(Combinatorial), verbosity_(SILENT) {} + PreconditionerParameters(): kernel_(GTSAM), type_(Combinatorial), verbosity_(SILENT) {} PreconditionerParameters(Kernel kernel, const CombinatorialParameters &combinatorial, Verbosity verbosity) : kernel_(kernel), type_(Combinatorial), combinatorial_(combinatorial), verbosity_(verbosity) {} @@ -180,13 +180,13 @@ public: PreconditionerParameters preconditioner_; ConjugateGradientParameters cg_; - enum Kernel { PCG = 0 /*, PCGPlus*/, LSPCG } kernel_ ; /* Iterative Method Kernel */ + enum Kernel { PCG = 0, LSPCG } kernel_ ; /* Iterative Method Kernel */ enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ public: IterativeOptimizationParameters() - : preconditioner_(), cg_(), kernel_(PCG), verbosity_(SILENT) {} + : preconditioner_(), cg_(), kernel_(LSPCG), verbosity_(SILENT) {} IterativeOptimizationParameters(const IterativeOptimizationParameters &p) : preconditioner_(p.preconditioner_), cg_(p.cg_), kernel_(p.kernel_), verbosity_(p.verbosity_) {} diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 7b1c1e630..9b07d8e07 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -9,18 +9,11 @@ * -------------------------------------------------------------------------- */ -/** - * @file IterativeSolver.h - * @date Oct 24, 2010 - * @author Yong-Dian Jian - * @brief Base Class for all iterative solvers of linear systems - */ - #pragma once -#include #include #include +#include namespace gtsam { @@ -46,7 +39,7 @@ public: virtual VectorValues::shared_ptr optimize () = 0; - Parameters::shared_ptr parameters() { return parameters_ ; } + inline Parameters::shared_ptr parameters() { return parameters_ ; } }; } diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp new file mode 100644 index 000000000..4379d70e4 --- /dev/null +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -0,0 +1,230 @@ +/* ---------------------------------------------------------------------------- + + * 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 +#include +#include + +namespace gtsam { + +/* utility function */ +std::vector extractRowSpec_(const FactorGraph& jfg) { + std::vector spec; spec.reserve(jfg.size()); + BOOST_FOREACH ( const JacobianFactor::shared_ptr &jf, jfg ) { + spec.push_back(jf->rows()); + } + return spec; +} + +std::vector extractColSpec_(const FactorGraph& gfg, const VariableIndex &index) { + const size_t n = index.size(); + std::vector spec(n, 0); + for ( Index i = 0 ; i < n ; ++i ) { + const GaussianFactor &gf = *(gfg[index[i].front()]); + for ( GaussianFactor::const_iterator it = gf.begin() ; it != gf.end() ; ++it ) { + spec[*it] = gf.getDim(it); + } + } + return spec; +} + +SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters::shared_ptr ¶meters) + : Base(parameters) +{ + std::vector colSpec = extractColSpec_(gfg, VariableIndex(gfg)); + + nVar_ = colSpec.size(); + + /* split the factor graph into At (tree) and Ac (constraints) */ + GaussianFactorGraph::shared_ptr At; + boost::tie(At, Ac_) = this->splitGraph(gfg); + + /* construct row vector spec of the new system */ + nAc_ = Ac_->size(); + std::vector rowSpec = extractRowSpec_(*Ac_); + for ( Index i = 0 ; i < nVar_ ; ++i ) { + rowSpec.push_back(colSpec[i]); + } + + /* solve the tree with direct solver. get preconditioner */ + Rt_ = EliminationTree::Create(*At)->eliminate(EliminateQR); + xt_ = boost::make_shared(gtsam::optimize(*Rt_)); + + /* initial value for the lspcg method */ + y0_ = boost::make_shared(VectorValues::Zero(colSpec)); + + /* the right hand side of the new system */ + by_ = boost::make_shared(VectorValues::Zero(rowSpec)); + for ( Index i = 0 ; i < nAc_ ; ++i ) { + JacobianFactor::shared_ptr jf = (*Ac_)[i]; + Vector xi = internal::extractVectorValuesSlices(*xt_, jf->begin(), jf->end()); + (*by_)[i] = jf->getb() - jf->getA()*xi; + } + + /* allocate buffer for row and column vectors */ + tmpY_ = boost::make_shared(VectorValues::Zero(colSpec)); + tmpB_ = boost::make_shared(VectorValues::Zero(rowSpec)); +} + +/* implements the CGLS method in Section 7.4 of Bjork's book */ +VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial) { + + VectorValues::shared_ptr x(new VectorValues(initial)); + VectorValues r = VectorValues::Zero(*by_), + q = VectorValues::Zero(*by_), + p = VectorValues::Zero(*y0_), + s = VectorValues::Zero(*y0_); + + residual(*x, r); + transposeMultiply(r, s) ; + p.vector() = s.vector() ; + + double gamma = s.vector().squaredNorm(), new_gamma = 0.0, alpha = 0.0, beta = 0.0 ; + + const double threshold = + ::max(parameters_->epsilon_abs(), + parameters_->epsilon() * parameters_->epsilon() * gamma); + const size_t iMaxIterations = parameters_->maxIterations(); + + if ( parameters_->verbosity() >= IterativeOptimizationParameters::ERROR ) + cout << "[SimpleSPCGSolver] epsilon = " << parameters_->epsilon() + << ", max = " << parameters_->maxIterations() + << ", ||r0|| = " << std::sqrt(gamma) + << ", threshold = " << threshold << std::endl; + + size_t k ; + for ( k = 1 ; k < iMaxIterations ; ++k ) { + + multiply(p, q); + alpha = gamma / q.vector().squaredNorm() ; + x->vector() += (alpha * p.vector()); + r.vector() -= (alpha * q.vector()); + transposeMultiply(r, s); + new_gamma = s.vector().squaredNorm(); + beta = new_gamma / gamma ; + p.vector() = s.vector() + beta * p.vector(); + gamma = new_gamma ; + + if ( parameters_->verbosity() >= IterativeOptimizationParameters::ERROR) { + cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << endl; + } + + if ( gamma < threshold ) break ; + } // k + + if ( parameters_->verbosity() >= IterativeOptimizationParameters::ERROR ) + cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << endl; + + /* transform y back to x */ + return this->transform(*x); +} + +void SimpleSPCGSolver::residual(const VectorValues &input, VectorValues &output) { + output.vector() = by_->vector(); + this->multiply(input, *tmpB_); + axpy(-1.0, *tmpB_, output); +} + +void SimpleSPCGSolver::multiply(const VectorValues &input, VectorValues &output) { + this->backSubstitute(input, *tmpY_); + gtsam::multiply(*Ac_, *tmpY_, output); + for ( Index i = 0 ; i < nVar_ ; ++i ) { + output[i + nAc_] = input[i]; + } +} + +void SimpleSPCGSolver::transposeMultiply(const VectorValues &input, VectorValues &output) { + gtsam::transposeMultiply(*Ac_, input, *tmpY_); + this->transposeBackSubstitute(*tmpY_, output); + for ( Index i = 0 ; i < nVar_ ; ++i ) { + output[i] += input[nAc_+i]; + } +} + +void SimpleSPCGSolver::backSubstitute(const VectorValues &input, VectorValues &output) { + for ( Index i = 0 ; i < input.size() ; ++i ) { + output[i] = input[i] ; + } + BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, *Rt_) { + const Index key = *(cg->beginFrontals()); + Vector xS = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()); + xS = input[key] - cg->get_S() * xS; + output[key] = cg->get_R().triangularView().solve(xS); + } +} + +void SimpleSPCGSolver::transposeBackSubstitute(const VectorValues &input, VectorValues &output) { + for ( Index i = 0 ; i < input.size() ; ++i ) { + output[i] = input[i] ; + } + BOOST_FOREACH(const boost::shared_ptr cg, *Rt_) { + const Index key = *(cg->beginFrontals()); + output[key] = gtsam::backSubstituteUpper(output[key], Matrix(cg->get_R())); + const Vector d = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()) + - cg->get_S().transpose() * output[key]; + internal::writeVectorValuesSlices(d, output, cg->beginParents(), cg->endParents()); + } +} + +VectorValues::shared_ptr SimpleSPCGSolver::transform(const VectorValues &y) { + VectorValues::shared_ptr x = boost::make_shared(VectorValues::Zero(y)); + this->backSubstitute(y, *x); + axpy(1.0, *xt_, *x); + return x; +} + +boost::tuple::shared_ptr> +SimpleSPCGSolver::splitGraph(const GaussianFactorGraph &gfg) { + + VariableIndex index(gfg); + size_t n = index.size(); + std::vector connected(n, false); + + GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); + FactorGraph::shared_ptr Ac( new FactorGraph()); + + BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) { + bool augment = false ; + + /* check whether this factor should be augmented to the "tree" graph */ + if ( gf->keys().size() == 1 ) augment = true; + else { + BOOST_FOREACH ( const Index key, *gf ) { + if ( connected[key] == false ) { + augment = true ; + } + connected[key] = true; + } + } + + if ( augment ) At->push_back(gf); + else Ac->push_back(boost::dynamic_pointer_cast(gf)); + } + +// gfg.print("gfg"); +// At->print("At"); +// Ac->print("Ac"); + + return boost::tie(At, Ac); +} + + + + + + +} diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h new file mode 100644 index 000000000..416826cc7 --- /dev/null +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -0,0 +1,87 @@ +/* ---------------------------------------------------------------------------- + + * 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 +#include +#include + +namespace gtsam { + +/** + * This class gives a simple implementation to the SPCG solver presented in Dellaert et al. IROS'10. + * Given a linear least-squares problem f(x) = |A x - b|^2. + * We split the problem into f(x) = |At - bt|^2 + |Ac - bc|^2 where At denotes the "tree" part, + * and Ac denotes the "constraint" part. At is factorized into Qt Rt, and we compute ct = Qt\bt, and xt = Rt\ct. + * Then we solve reparametrized problem f(y) = |y|^2 + |Ac Rt \ y - by|^2, where y = Rt(x - xt), and by = (bc - Ac xt) + * In the matrix form, it is equivalent to solving [Ac Rt^{-1} ; I ] y = [by ; 0]. + */ + +class SimpleSPCGSolver : public IterativeSolver { + +public: + + typedef IterativeSolver Base; + typedef boost::shared_ptr shared_ptr; + +protected: + + size_t nVar_ ; /* number of variables */ + size_t nAc_ ; /* number of factors in Ac */ + + /* for SPCG */ + FactorGraph::shared_ptr Ac_; + GaussianBayesNet::shared_ptr Rt_; + VectorValues::shared_ptr xt_; + VectorValues::shared_ptr y0_; + VectorValues::shared_ptr by_; /* [bc_bar ; 0 ] */ + + /* buffer for row and column vectors in */ + VectorValues::shared_ptr tmpY_; + VectorValues::shared_ptr tmpB_; + +public: + + SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters::shared_ptr ¶meters); + virtual ~SimpleSPCGSolver() {} + virtual VectorValues::shared_ptr optimize () {return optimize(*y0_);} + +protected: + + VectorValues::shared_ptr optimize (const VectorValues &initial); + + /* output = [bc_bar ; 0 ] - [Ac Rt^{-1} ; I] y */ + void residual(const VectorValues &input, VectorValues &output); + + /* output = [Ac Rt^{-1} ; I] input */ + void multiply(const VectorValues &input, VectorValues &output); + + /* output = [Rt^{-T} Ac^T, I] input */ + void transposeMultiply(const VectorValues &input, VectorValues &output); + + /* output = Rt^{-1} input */ + void backSubstitute(const VectorValues &rhs, VectorValues &sol) ; + + /* output = Rt^{-T} input */ + void transposeBackSubstitute(const VectorValues &rhs, VectorValues &sol) ; + + /* return x = Rt^{-1} y + x_t */ + VectorValues::shared_ptr transform(const VectorValues &y); + + /* naively split a gaussian factor graph into tree and constraint parts */ + boost::tuple::shared_ptr> + splitGraph(const GaussianFactorGraph &gfg); + +}; + +} diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index f1f5ab1df..e1133d86e 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -21,6 +21,7 @@ #include // For NegativeMatrixException #include #include +#include using namespace std; @@ -71,7 +72,8 @@ void LevenbergMarquardtOptimizer::iterate() { delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); } else if ( params_.isCG() ) { - throw runtime_error("todo: "); + SimpleSPCGSolver solver(dampedSystem, *params_.iterativeParams); + delta = *solver.optimize(); } else { throw runtime_error("Optimization parameter is invalid: LevenbergMarquardtParams::elimination"); From 26f1f3fa4fc191144c6bc9aaec9a88619b2b1dda Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 15:07:10 +0000 Subject: [PATCH 103/914] --- gtsam/linear/SimpleSPCGSolver.cpp | 3 ++- gtsam/linear/SimpleSPCGSolver.h | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index 4379d70e4..e7cef9e64 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -49,7 +49,8 @@ SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Paramet nVar_ = colSpec.size(); - /* split the factor graph into At (tree) and Ac (constraints) */ + /* Split the factor graph into At (tree) and Ac (constraints) + * Note: This part has to be refined for your graph/application */ GaussianFactorGraph::shared_ptr At; boost::tie(At, Ac_) = this->splitGraph(gfg); diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index 416826cc7..c7367f663 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -78,7 +78,8 @@ protected: /* return x = Rt^{-1} y + x_t */ VectorValues::shared_ptr transform(const VectorValues &y); - /* naively split a gaussian factor graph into tree and constraint parts */ + /* naively split a gaussian factor graph into tree and constraint parts + * Note: This function has to be refined for your graph/application */ boost::tuple::shared_ptr> splitGraph(const GaussianFactorGraph &gfg); From 950bd8fcad258bb3b8c147799b9d4f66c8632fa5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 15:44:39 +0000 Subject: [PATCH 104/914] Added MATLAB utility functions to pose2SLAM --- examples/matlab/Pose2SLAMExample_graph.m | 36 +++++++++++------------- examples/matlab/plotTrajectory.m | 10 ------- gtsam.h | 5 +++- gtsam/slam/pose2SLAM.cpp | 30 ++++++++++++++++++++ gtsam/slam/pose2SLAM.h | 8 ++++-- gtsam/slam/tests/testPose2SLAM.cpp | 12 +++++++- 6 files changed, 67 insertions(+), 34 deletions(-) delete mode 100644 examples/matlab/plotTrajectory.m diff --git a/examples/matlab/Pose2SLAMExample_graph.m b/examples/matlab/Pose2SLAMExample_graph.m index d4c5f261a..af0b1f3fb 100644 --- a/examples/matlab/Pose2SLAMExample_graph.m +++ b/examples/matlab/Pose2SLAMExample_graph.m @@ -12,7 +12,7 @@ %% Create graph container and add factors to it graph = pose2SLAMGraph; -initialEstimate = pose2SLAMValues; +initial = pose2SLAMValues; odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); constraint=gtsamPose2; % identity @@ -27,35 +27,33 @@ if fid < 0 error('Cannot open the file '); end -disp('Reading data from file...') -lines=textscan(fid,'%s','delimiter','\n'); +columns=textscan(fid,'%s','delimiter','\n'); fclose(fid); -n=size(lines{1},1); +lines=columns{1}; +n=size(lines,1); for i=1:n - text=cell2mat(lines{1}(i)); - if strcmp('VERTEX2',text(1:7)) - v = textscan(text,'%s %d %f %f %f',1); - initialEstimate.insertPose(v{2}, gtsamPose2(v{3}, v{4}, v{5})); - elseif strcmp('EDGE2',text(1:5)) - e = textscan(text,'%s %d %d %f %f %f',1); + line_i=lines{i}; + if strcmp('VERTEX2',line_i(1:7)) + v = textscan(line_i,'%s %d %f %f %f',1); + initial.insertPose(v{2}, gtsamPose2(v{3}, v{4}, v{5})); + elseif strcmp('EDGE2',line_i(1:5)) + e = textscan(line_i,'%s %d %d %f %f %f',1); graph.addOdometry(e{2}, e{3}, gtsamPose2(e{4}, e{5}, e{6}), odometryNoise); end end %% Plot Initial Estimate -figure(1) -clf -plotTrajectory(initialEstimate,'r-*') -hold on +figure(1);clf +plot(initial.xs(),initial.ys(),'r-*'); axis equal addEquivalences=0; if addEquivalences %% Add equivalence constraints for i=1:n - text=cell2mat(lines{1}(i)); - if strcmp('EQUIV',text(1:5)) - equiv = textscan(text,'%s %d %d',1); + line_i=cell2mat(lines(i)); + if strcmp('EQUIV',line_i(1:5)) + equiv = textscan(line_i,'%s %d %d',1); graph.addOdometry(e{2}, e{3}, constraint, odometryNoise); end end @@ -63,8 +61,8 @@ if addEquivalences end %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); -plotTrajectory(result,'g-*') +result = graph.optimize(initial); +hold on; plot(result.xs(),result.ys(),'g-*') %% Plot Covariance Ellipses % marginals = graph.marginals(result); diff --git a/examples/matlab/plotTrajectory.m b/examples/matlab/plotTrajectory.m deleted file mode 100644 index e67663a55..000000000 --- a/examples/matlab/plotTrajectory.m +++ /dev/null @@ -1,10 +0,0 @@ -function plotTrajectory(values,color) -% plotTrajectory: plot the poses in a values object -% assumes keys are 0 to N-1, where N is values.size() -X=[];Y=[]; -for i=0:values.size()-1 - pose_i = values.pose(i); - X=[X;pose_i.x]; - Y=[Y;pose_i.y]; -end -plot(X,Y,color); diff --git a/gtsam.h b/gtsam.h index 2c6b5a13e..57f2a6e23 100644 --- a/gtsam.h +++ b/gtsam.h @@ -448,9 +448,12 @@ namespace pose2SLAM { class Values { Values(); void insertPose(size_t key, const gtsam::Pose2& pose); - size_t size() const; + size_t size() const; void print(string s) const; gtsam::Pose2 pose(size_t i); + Vector xs() const; + Vector ys() const; + Vector thetas() const; }; class Graph { diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index b08f0c305..a1e5932d9 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -31,6 +31,36 @@ namespace pose2SLAM { return x; } + /* ************************************************************************* */ + Vector Values::xs() const { + size_t j=0; + Vector result(size()); + ConstFiltered poses = filter(); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.x(); + return result; + } + + /* ************************************************************************* */ + Vector Values::ys() const { + size_t j=0; + Vector result(size()); + ConstFiltered poses = filter(); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.y(); + return result; + } + + /* ************************************************************************* */ + Vector Values::thetas() const { + size_t j=0; + Vector result(size()); + ConstFiltered poses = filter(); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.theta (); + return result; + } + /* ************************************************************************* */ void Graph::addPrior(Key i, const Pose2& p, const SharedNoiseModel& model) { sharedFactor factor(new Prior(i, p, model)); diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 84fbc528f..f438ce24d 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -41,13 +41,15 @@ namespace pose2SLAM { gtsam::Values(values) { } - // Convenience for MATLAB wrapper, which does not allow for identically named methods + /// insert a pose + void insertPose(Key i, const Pose2& pose) { insert(i, pose); } /// get a pose Pose2 pose(Key i) const { return at(i); } - /// insert a pose - void insertPose(Key i, const Pose2& pose) { insert(i, pose); } + Vector xs() const; ///< get all x coordinates in a matrix + Vector ys() const; ///< get all y coordinates in a matrix + Vector thetas() const; ///< get all orientations in a matrix }; /** diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 580d40e8a..7f329f1cb 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -41,7 +41,17 @@ static Matrix cov(Matrix_(3, 3, 0.0, 0.0, st*st )); static noiseModel::Gaussian::shared_ptr covariance(noiseModel::Gaussian::Covariance(cov)); -//static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3)); + +/* ************************************************************************* */ +TEST_UNSAFE( Pose2SLAM, XYT ) +{ + pose2SLAM::Values values; + values.insertPose(1,Pose2(1,2,3)); + values.insertPose(2,Pose2(4,5,6)); + EXPECT(assert_equal(Vector_(2,1.0,4.0),values.xs())); + EXPECT(assert_equal(Vector_(2,2.0,5.0),values.ys())); + EXPECT(assert_equal(Vector_(2,3.0,6.0-2*M_PI),values.thetas())); +} /* ************************************************************************* */ // Test constraint, small displacement From bd7724781d9ccda76ec986b227150c2e0f93a97c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 18:20:48 +0000 Subject: [PATCH 105/914] Manhattan world example with covariances, in C++ and MATLAB --- .cproject | 332 +++++++++++----------- examples/Pose2SLAMExample_graph.cpp | 53 ++++ examples/matlab/Pose2SLAMExample_graph.m | 64 +---- examples/matlab/load2D.m | 29 ++ gtsam/slam/dataset.cpp | 342 ++++++++++++----------- gtsam/slam/dataset.h | 73 ++--- gtsam/slam/pose2SLAM.h | 8 +- 7 files changed, 489 insertions(+), 412 deletions(-) create mode 100644 examples/Pose2SLAMExample_graph.cpp create mode 100644 examples/matlab/load2D.m diff --git a/.cproject b/.cproject index ec6a2bf6f..b075667ed 100644 --- a/.cproject +++ b/.cproject @@ -311,6 +311,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -337,7 +345,6 @@ make - tests/testBayesTree.run true false @@ -345,7 +352,6 @@ make - testBinaryBayesNet.run true false @@ -393,7 +399,6 @@ make - testSymbolicBayesNet.run true false @@ -401,7 +406,6 @@ make - tests/testSymbolicFactor.run true false @@ -409,7 +413,6 @@ make - testSymbolicFactorGraph.run true false @@ -425,20 +428,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -511,22 +505,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -543,6 +521,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -567,26 +561,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -671,18 +657,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -921,7 +915,6 @@ make - testGraph.run true false @@ -929,7 +922,6 @@ make - testJunctionTree.run true false @@ -937,7 +929,6 @@ make - testSymbolicBayesNetB.run true false @@ -1049,7 +1040,6 @@ make - testErrors.run true false @@ -1505,6 +1495,7 @@ make + testSimulated2DOriented.run true false @@ -1544,6 +1535,7 @@ make + testSimulated2D.run true false @@ -1551,6 +1543,7 @@ make + testSimulated3D.run true false @@ -1748,10 +1741,10 @@ true true - + make -j5 - Pose2SLAMwSPCG_advanced.run + Pose2SLAMExample_graph.run true true true @@ -1766,6 +1759,7 @@ make + tests/testGaussianISAM2 true false @@ -1787,6 +1781,102 @@ 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 -j2 @@ -1988,7 +2078,6 @@ cpack - -G DEB true false @@ -1996,7 +2085,6 @@ cpack - -G RPM true false @@ -2004,7 +2092,6 @@ cpack - -G TGZ true false @@ -2012,7 +2099,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2066,98 +2152,42 @@ true true - + make - -j2 - testRot3.run + -j5 + wrap.testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + wrap.testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run + -j5 + wrap_gtsam 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 + -j5 + wrap true true true @@ -2201,46 +2231,6 @@ false true - - make - -j5 - wrap.testSpirit.run - true - true - true - - - make - -j5 - wrap.testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp new file mode 100644 index 000000000..6abeceb55 --- /dev/null +++ b/examples/Pose2SLAMExample_graph.cpp @@ -0,0 +1,53 @@ +/* ---------------------------------------------------------------------------- + + * 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 Pose2SLAMExample_graph->cpp + * @brief Read graph from file and perform GraphSLAM + * @date June 3, 2012 + * @author Frank Dellaert + */ + +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char** argv) { + + // Read File and create graph and initial estimate + // we are in build/examples, data is in examples/Data + pose2SLAM::Graph::shared_ptr graph ; + pose2SLAM::Values::shared_ptr initial; + SharedDiagonal model(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0)); + boost::tie(graph,initial) = load2D("../../examples/Data/w100-odom.graph",model); + initial->print("Initial estimate:\n"); + + // Add a Gaussian prior on first poses + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + SharedDiagonal priorNoise(Vector_(3, 0.01, 0.01, 0.01)); + graph->addPrior(0, priorMean, priorNoise); + + // Single Step Optimization using Levenberg-Marquardt + pose2SLAM::Values result = graph->optimize(*initial); + result.print("\nFinal result:\n"); + + // Plot the covariance of the last pose + Marginals marginals(*graph, result); + cout.precision(2); + cout << "\nP3:\n" << marginals.marginalCovariance(99) << endl; + +return 0; +} diff --git a/examples/matlab/Pose2SLAMExample_graph.m b/examples/matlab/Pose2SLAMExample_graph.m index af0b1f3fb..7118efe01 100644 --- a/examples/matlab/Pose2SLAMExample_graph.m +++ b/examples/matlab/Pose2SLAMExample_graph.m @@ -10,64 +10,30 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create graph container and add factors to it -graph = pose2SLAMGraph; -initial = pose2SLAMValues; -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -constraint=gtsamPose2; % identity +%% Initialize graph, initial estimate, and odometry noise +model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); +[graph,initial]=load2D('../Data/w100-odom.graph',model); +initial.print('Initial estimate:\n'); %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +priorNoise = gtsamSharedNoiseModel_Sigmas([0.01; 0.01; 0.01]); graph.addPrior(0, priorMean, priorNoise); % add directly to graph -%% Read File and create graph and initial estimate -fid = fopen('../Data/w100-odom.graph'); -if fid < 0 - error('Cannot open the file '); -end - -columns=textscan(fid,'%s','delimiter','\n'); -fclose(fid); -lines=columns{1}; -n=size(lines,1); - -for i=1:n - line_i=lines{i}; - if strcmp('VERTEX2',line_i(1:7)) - v = textscan(line_i,'%s %d %f %f %f',1); - initial.insertPose(v{2}, gtsamPose2(v{3}, v{4}, v{5})); - elseif strcmp('EDGE2',line_i(1:5)) - e = textscan(line_i,'%s %d %d %f %f %f',1); - graph.addOdometry(e{2}, e{3}, gtsamPose2(e{4}, e{5}, e{6}), odometryNoise); - end -end - %% Plot Initial Estimate figure(1);clf -plot(initial.xs(),initial.ys(),'r-*'); axis equal - -addEquivalences=0; -if addEquivalences - %% Add equivalence constraints - for i=1:n - line_i=cell2mat(lines(i)); - if strcmp('EQUIV',line_i(1:5)) - equiv = textscan(line_i,'%s %d %d',1); - graph.addOdometry(e{2}, e{3}, constraint, odometryNoise); - end - end - -end +plot(initial.xs(),initial.ys(),'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initial); -hold on; plot(result.xs(),result.ys(),'g-*') +hold on; plot(result.xs(),result.ys(),'b-*') +result.print('\nFinal result:\n'); %% Plot Covariance Ellipses -% marginals = graph.marginals(result); -% for i=0:result2.size()-1 -% pose_i = result.pose(i); -% P_i=marginals.marginalCovariance(i); -% covarianceEllipse([pose_i.x;pose_i.y],P_i,'g') -% end +marginals = graph.marginals(result); +for i=1:result.size()-1 + pose_i = result.pose(i); + P{i}=marginals.marginalCovariance(i); + covarianceEllipse([pose_i.x;pose_i.y],P{i},'b') +end +fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file diff --git a/examples/matlab/load2D.m b/examples/matlab/load2D.m new file mode 100644 index 000000000..e459dfc63 --- /dev/null +++ b/examples/matlab/load2D.m @@ -0,0 +1,29 @@ +function [graph,initial] = load2D(filename,model) +% load2D: read TORO pose graph +% cannot read noise model from file yet, uses specified model + +fid = fopen(filename); +if fid < 0 + error(['load2D: Cannot open file ' filename]); +end + +% scan all lines into a cell array +columns=textscan(fid,'%s','delimiter','\n'); +fclose(fid); +lines=columns{1}; + +% loop over lines and add vertices +graph = pose2SLAMGraph; +initial = pose2SLAMValues; +n=size(lines,1); +for i=1:n + line_i=lines{i}; + if strcmp('VERTEX2',line_i(1:7)) + v = textscan(line_i,'%s %d %f %f %f',1); + initial.insertPose(v{2}, gtsamPose2(v{3}, v{4}, v{5})); + elseif strcmp('EDGE2',line_i(1:5)) + e = textscan(line_i,'%s %d %d %f %f %f',1); + graph.addOdometry(e{2}, e{3}, gtsamPose2(e{4}, e{5}, e{6}), model); + end +end + diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 2aec8e55a..d4be33f31 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -16,7 +16,6 @@ * @brief utility functions for loading datasets */ - #include #include #include @@ -28,192 +27,219 @@ using namespace gtsam; #define LINESIZE 81920 -typedef boost::shared_ptr sharedPose2Graph; -typedef pose2SLAM::Odometry Pose2Factor; ///< Typedef for Constraint class for backwards compatibility - namespace gtsam { -/* ************************************************************************* */ -pair > dataset(const string& dataset, const string& user_path) { - string path = user_path, set = dataset; - boost::optional null_model; - boost::optional identity(noiseModel::Unit::Create(3)); - boost::optional small(noiseModel::Diagonal::Variances( - gtsam::Vector_(3, 0.0001, 0.0001, 0.0003))); + /* ************************************************************************* */ + pair > dataset(const string& dataset, + const string& user_path) { + string path = user_path, set = dataset; + boost::optional null_model; + boost::optional identity(noiseModel::Unit::Create(3)); + boost::optional small( + noiseModel::Diagonal::Variances( + gtsam::Vector_(3, 0.0001, 0.0001, 0.0003))); - if (path.empty()) path = string(getenv("HOME")) + "/data"; - if (set.empty()) set = string(getenv("DATASET")); + if (path.empty()) + path = string(getenv("HOME")) + "/data"; + if (set.empty()) + set = string(getenv("DATASET")); - if (set == "intel") return make_pair(path + "/Intel/intel.graph", null_model); - if (set == "intel-gfs") return make_pair(path + "/Intel/intel.gfs.graph", null_model); - if (set == "Killian-gfs") return make_pair(path + "/Killian/Killian.gfs.graph", null_model); - if (set == "Killian") return make_pair(path + "/Killian/Killian.graph", small); - if (set == "Killian-noised") return make_pair(path + "/Killian/Killian-noised.graph", null_model); - if (set == "3") return make_pair(path + "/TORO/w3-odom.graph", identity); - if (set == "100") return make_pair(path + "/TORO/w100-odom.graph", identity); - if (set == "10K") return make_pair(path + "/TORO/w10000-odom.graph", identity); - if (set == "10K2") return make_pair(path + "/hogman/data/2D/w10000.graph", - noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05))); - if (set == "Eiffel100") return make_pair(path + "/TORO/w100-Eiffel.graph", identity); - if (set == "Eiffel10K") return make_pair(path + "/TORO/w10000-Eiffel.graph", identity); - if (set == "olson") return make_pair(path + "/Olson/olson06icra.graph", null_model); - if (set == "victoria") return make_pair(path + "/VictoriaPark/victoria_park.graph", null_model); - if (set == "beijing") return make_pair(path + "/Beijing/beijingData_trips.graph", null_model); + if (set == "intel") + return make_pair(path + "/Intel/intel.graph", null_model); + if (set == "intel-gfs") + return make_pair(path + "/Intel/intel.gfs.graph", null_model); + if (set == "Killian-gfs") + return make_pair(path + "/Killian/Killian.gfs.graph", null_model); + if (set == "Killian") + return make_pair(path + "/Killian/Killian.graph", small); + if (set == "Killian-noised") + return make_pair(path + "/Killian/Killian-noised.graph", null_model); + if (set == "3") + return make_pair(path + "/TORO/w3-odom.graph", identity); + if (set == "100") + return make_pair(path + "/TORO/w100-odom.graph", identity); + if (set == "10K") + return make_pair(path + "/TORO/w10000-odom.graph", identity); + if (set == "10K2") + return make_pair(path + "/hogman/data/2D/w10000.graph", + noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05))); + if (set == "Eiffel100") + return make_pair(path + "/TORO/w100-Eiffel.graph", identity); + if (set == "Eiffel10K") + return make_pair(path + "/TORO/w10000-Eiffel.graph", identity); + if (set == "olson") + return make_pair(path + "/Olson/olson06icra.graph", null_model); + if (set == "victoria") + return make_pair(path + "/VictoriaPark/victoria_park.graph", null_model); + if (set == "beijing") + return make_pair(path + "/Beijing/beijingData_trips.graph", null_model); - return make_pair("unknown", null_model); -} - -/* ************************************************************************* */ - -pair load2D( - pair > dataset, - int maxID, bool addNoise, bool smart) { - return load2D(dataset.first, dataset.second, maxID, addNoise, smart); -} - -pair load2D(const string& filename, - boost::optional model, int maxID, bool addNoise, bool smart) { - cout << "Will try to read " << filename << endl; - ifstream is(filename.c_str()); - if (!is) { - cout << "load2D: can not find the file!"; - exit(-1); + return make_pair("unknown", null_model); } - Values::shared_ptr poses(new Values); - sharedPose2Graph graph(new pose2SLAM::Graph); + /* ************************************************************************* */ - string tag; + pair load2D( + pair > dataset, + int maxID, bool addNoise, bool smart) { + return load2D(dataset.first, dataset.second, maxID, addNoise, smart); + } - // load the poses - while (is) { - is >> tag; - - if ((tag == "VERTEX2") || (tag == "VERTEX")) { - int id; - double x, y, yaw; - is >> id >> x >> y >> yaw; - // optional filter - if (maxID && id >= maxID) continue; - poses->insert(id, Pose2(x, y, yaw)); + pair load2D( + const string& filename, boost::optional model, int maxID, + bool addNoise, bool smart) { + cout << "Will try to read " << filename << endl; + ifstream is(filename.c_str()); + if (!is) { + cout << "load2D: can not find the file!"; + exit(-1); } - is.ignore(LINESIZE, '\n'); - } - is.clear(); /* clears the end-of-file and error flags */ - is.seekg(0, ios::beg); - // load the factors - while (is) { - is >> tag; + pose2SLAM::Values::shared_ptr poses(new pose2SLAM::Values); + pose2SLAM::Graph::shared_ptr graph(new pose2SLAM::Graph); - if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { - int id1, id2; - double x, y, yaw; + string tag; - is >> id1 >> id2 >> x >> y >> yaw; - Matrix m = eye(3); - is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); - m(2, 0) = m(0, 2); - m(2, 1) = m(1, 2); - m(1, 0) = m(0, 1); + // load the poses + while (is) { + is >> tag; - // optional filter - if (maxID && (id1 >= maxID || id2 >= maxID)) continue; - - Pose2 l1Xl2(x, y, yaw); - - // SharedNoiseModel noise = noiseModel::Gaussian::Covariance(m, smart); - if (!model) { - Vector variances = Vector_(3,m(0,0),m(1,1),m(2,2)); - model = noiseModel::Diagonal::Variances(variances, smart); + if ((tag == "VERTEX2") || (tag == "VERTEX")) { + int id; + double x, y, yaw; + is >> id >> x >> y >> yaw; + // optional filter + if (maxID && id >= maxID) + continue; + poses->insert(id, Pose2(x, y, yaw)); } - - if (addNoise) - l1Xl2 = l1Xl2.retract((*model)->sample()); - - // Insert vertices if pure odometry file - if (!poses->exists(id1)) poses->insert(id1, Pose2()); - if (!poses->exists(id2)) poses->insert(id2, poses->at(id1) * l1Xl2); - - pose2SLAM::Graph::sharedFactor factor(new Pose2Factor(id1, id2, l1Xl2, *model)); - graph->push_back(factor); + is.ignore(LINESIZE, '\n'); } - is.ignore(LINESIZE, '\n'); - } + is.clear(); /* clears the end-of-file and error flags */ + is.seekg(0, ios::beg); - cout << "load2D read a graph file with " << poses->size() << " vertices and " - << graph->nrFactors() << " factors" << endl; + // load the factors + while (is) { + is >> tag; - return make_pair(graph, poses); -} + if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { + int id1, id2; + double x, y, yaw; -/* ************************************************************************* */ -void save2D(const pose2SLAM::Graph& graph, const Values& config, const SharedDiagonal model, - const string& filename) { + is >> id1 >> id2 >> x >> y >> yaw; + Matrix m = eye(3); + is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); + m(2, 0) = m(0, 2); + m(2, 1) = m(1, 2); + m(1, 0) = m(0, 1); - fstream stream(filename.c_str(), fstream::out); + // optional filter + if (maxID && (id1 >= maxID || id2 >= maxID)) + continue; - // save poses - BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, config) { - const Pose2& pose = dynamic_cast(key_value.value); - stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " << pose.y() << " " << pose.theta() << endl; - } + Pose2 l1Xl2(x, y, yaw); - // save edges - Matrix R = model->R(); - Matrix RR = trans(R)*R;//prod(trans(R),R); - BOOST_FOREACH(boost::shared_ptr factor_, graph) { - boost::shared_ptr factor = boost::dynamic_pointer_cast(factor_); - if (!factor) continue; + // SharedNoiseModel noise = noiseModel::Gaussian::Covariance(m, smart); + if (!model) { + Vector variances = Vector_(3, m(0, 0), m(1, 1), m(2, 2)); + model = noiseModel::Diagonal::Variances(variances, smart); + } - Pose2 pose = factor->measured().inverse(); - stream << "EDGE2 " << factor->key2() << " " << factor->key1() - << " " << pose.x() << " " << pose.y() << " " << pose.theta() - << " " << RR(0, 0) << " " << RR(0, 1) << " " << RR(1, 1) << " " << RR(2, 2) - << " " << RR(0, 2) << " " << RR(1, 2) << endl; - } + if (addNoise) + l1Xl2 = l1Xl2.retract((*model)->sample()); - stream.close(); -} + // Insert vertices if pure odometry file + if (!poses->exists(id1)) + poses->insert(id1, Pose2()); + if (!poses->exists(id2)) + poses->insert(id2, poses->at(id1) * l1Xl2); -/* ************************************************************************* */ -bool load3D(const string& filename) { - ifstream is(filename.c_str()); - if (!is) return false; - - while (is) { - char buf[LINESIZE]; - is.getline(buf, LINESIZE); - istringstream ls(buf); - string tag; - ls >> tag; - - if (tag == "VERTEX3") { - int id; - double x, y, z, roll, pitch, yaw; - ls >> id >> x >> y >> z >> roll >> pitch >> yaw; + pose2SLAM::Graph::sharedFactor factor( + new pose2SLAM::Odometry(id1, id2, l1Xl2, *model)); + graph->push_back(factor); + } + is.ignore(LINESIZE, '\n'); } + + cout << "load2D read a graph file with " << poses->size() + << " vertices and " << graph->nrFactors() << " factors" << endl; + + return make_pair(graph, poses); } - is.clear(); /* clears the end-of-file and error flags */ - is.seekg(0, ios::beg); - while (is) { - char buf[LINESIZE]; - is.getline(buf, LINESIZE); - istringstream ls(buf); - string tag; - ls >> tag; + /* ************************************************************************* */ + void save2D(const pose2SLAM::Graph& graph, const Values& config, + const SharedDiagonal model, const string& filename) { - if (tag == "EDGE3") { - int id1, id2; - double x, y, z, roll, pitch, yaw; - ls >> id1 >> id2 >> x >> y >> z >> roll >> pitch >> yaw; - Matrix m = eye(6); - for (int i = 0; i < 6; i++) - for (int j = i; j < 6; j++) - ls >> m(i, j); + fstream stream(filename.c_str(), fstream::out); + + // save poses + BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, config) + { + const Pose2& pose = dynamic_cast(key_value.value); + stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " + << pose.y() << " " << pose.theta() << endl; + } + + // save edges + Matrix R = model->R(); + Matrix RR = trans(R) * R; //prod(trans(R),R); + BOOST_FOREACH(boost::shared_ptr factor_, graph) + { + boost::shared_ptr factor = + boost::dynamic_pointer_cast(factor_); + if (!factor) + continue; + + Pose2 pose = factor->measured().inverse(); + stream << "EDGE2 " << factor->key2() << " " << factor->key1() << " " + << pose.x() << " " << pose.y() << " " << pose.theta() << " " + << RR(0, 0) << " " << RR(0, 1) << " " << RR(1, 1) << " " + << RR(2, 2) << " " << RR(0, 2) << " " << RR(1, 2) << endl; + } + + stream.close(); + } + + /* ************************************************************************* */ + bool load3D(const string& filename) { + ifstream is(filename.c_str()); + if (!is) + return false; + + while (is) { + char buf[LINESIZE]; + is.getline(buf, LINESIZE); + istringstream ls(buf); + string tag; + ls >> tag; + + if (tag == "VERTEX3") { + int id; + double x, y, z, roll, pitch, yaw; + ls >> id >> x >> y >> z >> roll >> pitch >> yaw; + } } + is.clear(); /* clears the end-of-file and error flags */ + is.seekg(0, ios::beg); + + while (is) { + char buf[LINESIZE]; + is.getline(buf, LINESIZE); + istringstream ls(buf); + string tag; + ls >> tag; + + if (tag == "EDGE3") { + int id1, id2; + double x, y, z, roll, pitch, yaw; + ls >> id1 >> id2 >> x >> y >> z >> roll >> pitch >> yaw; + Matrix m = eye(6); + for (int i = 0; i < 6; i++) + for (int j = i; j < 6; j++) + ls >> m(i, j); + } + } + return true; } - return true; -} } diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index 5e06e583d..a099fb3d5 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -18,43 +18,52 @@ #pragma once - -#include #include +#include -namespace gtsam -{ -/** - * Construct dataset filename from short name - * Currently has "Killian" "intel.gfs", "10K", etc... - * @param filename - * @param optional dataset, if empty will try to getenv $DATASET - * @param optional path, if empty will try to getenv $HOME - */ -std::pair > +namespace gtsam { + /** + * Construct dataset filename from short name + * Currently has "Killian" "intel.gfs", "10K", etc... + * @param filename + * @param optional dataset, if empty will try to getenv $DATASET + * @param optional path, if empty will try to getenv $HOME + */ + std::pair > dataset(const std::string& dataset = "", const std::string& path = ""); -/** - * Load TORO 2D Graph - * @param filename - * @param maxID, if non-zero cut out vertices >= maxID - * @param smart: try to reduce complexity of covariance to cheapest model - */ -std::pair, boost::shared_ptr > load2D( - std::pair > dataset, - int maxID = 0, bool addNoise=false, bool smart=true); -std::pair, boost::shared_ptr > load2D( - const std::string& filename, - boost::optional model = boost::optional(), - int maxID = 0, bool addNoise=false, bool smart=true); + /** + * Load TORO 2D Graph + * @param dataset/model pair as constructed by [dataset] + * @param maxID if non-zero cut out vertices >= maxID + * @param addNoise add noise to the edges + * @param smart try to reduce complexity of covariance to cheapest model + */ + std::pair load2D( + std::pair > dataset, + int maxID = 0, bool addNoise = false, bool smart = true); -/** save 2d graph */ -void save2D(const pose2SLAM::Graph& graph, const Values& config, const gtsam::SharedDiagonal model, - const std::string& filename); + /** + * Load TORO 2D Graph + * @param filename + * @param model optional noise model to use instead of one specified by file + * @param maxID if non-zero cut out vertices >= maxID + * @param addNoise add noise to the edges + * @param smart try to reduce complexity of covariance to cheapest model + */ + std::pair load2D( + const std::string& filename, + boost::optional model = boost::optional< + gtsam::SharedDiagonal>(), int maxID = 0, bool addNoise = false, + bool smart = true); -/** - * Load TORO 3D Graph - */ -bool load3D(const std::string& filename); + /** save 2d graph */ + void save2D(const pose2SLAM::Graph& graph, const Values& config, + const gtsam::SharedDiagonal model, const std::string& filename); + + /** + * Load TORO 3D Graph + */ + bool load3D(const std::string& filename); } // namespace gtsam diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index f438ce24d..5668f8ad0 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -33,7 +33,9 @@ namespace pose2SLAM { /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper struct Values: public gtsam::Values { - /// Default constructor + typedef boost::shared_ptr shared_ptr; + + /// Default constructor Values() {} /// Copy constructor @@ -75,7 +77,9 @@ namespace pose2SLAM { /// Graph struct Graph: public NonlinearFactorGraph { - /// Default constructor for a NonlinearFactorGraph + typedef boost::shared_ptr shared_ptr; + + /// Default constructor for a NonlinearFactorGraph Graph(){} /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph From 720db709bed571c9c6cf26d1e633b23fb0a2bec4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 3 Jun 2012 19:26:28 +0000 Subject: [PATCH 106/914] Examples install now installs data for Matlab examples. Fixed typo in examples documentation --- examples/README | 2 +- wrap/CMakeLists.txt | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/examples/README b/examples/README index d7706a0b8..3c0c90850 100644 --- a/examples/README +++ b/examples/README @@ -1,4 +1,4 @@ -This directory contains a number of exapmples that illustrate the use of GTSAM: +This directory contains a number of examples that illustrate the use of GTSAM: SimpleRotation: a super-simple example of optimizing a single rotation according to a single prior diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 36415df35..d1cd2ac64 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -72,6 +72,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) message(STATUS "Installing Matlab Toolbox Examples") file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m") install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) + + message(STATUS "Installing Matlab Toolbox Examples (Data)") + file(GLOB matlab_examples_data "${CMAKE_SOURCE_DIR}/examples/Data/*.*") + install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples/Data) endif (GTSAM_INSTALL_MATLAB_EXAMPLES) # Tests From 73d1f0f6e06cd8f6f40c2f705029e013de9548c6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 19:50:04 +0000 Subject: [PATCH 107/914] use make_shared, cleanup --- examples/CameraResectioning.cpp | 111 +++++++++++++++----------------- 1 file changed, 52 insertions(+), 59 deletions(-) diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index 0280a4f8d..3f586a67f 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -17,88 +17,81 @@ */ #include -#include -#include -#include -#include -#include #include +#include +#include using namespace gtsam; +using symbol_shorthand::X; /** - * Unary factor for the pose. + * Unary factor on the unknown pose, resulting from meauring the projection of + * a known 3D point in the image */ class ResectioningFactor: public NoiseModelFactor1 { - typedef NoiseModelFactor1 Base; + typedef NoiseModelFactor1 Base; - shared_ptrK K_; // camera's intrinsic parameters - Point3 P_; // 3D point on the calibration rig - Point2 p_; // 2D measurement of the 3D point + shared_ptrK K_; // camera's intrinsic parameters + Point3 P_; // 3D point on the calibration rig + Point2 p_; // 2D measurement of the 3D point public: - ResectioningFactor(const SharedNoiseModel& model, const Symbol& key, - const shared_ptrK& calib, const Point2& p, const Point3& P) : - Base(model, key), K_(calib), P_(P), p_(p) { - } - virtual ~ResectioningFactor() {} + /// Construct factor given known point P and its projection p + ResectioningFactor(const SharedNoiseModel& model, const Key& key, + const shared_ptrK& calib, const Point2& p, const Point3& P) : + Base(model, key), K_(calib), P_(P), p_(p) { + } - ADD_CLONE_NONLINEAR_FACTOR(ResectioningFactor) - - virtual Vector evaluateError(const Pose3& X, boost::optional H = boost::none) const { - SimpleCamera camera(*K_, X); - Point2 reprojectionError(camera.project(P_, H) - p_); - return reprojectionError.vector(); - } + /// evaluate the error + virtual Vector evaluateError(const Pose3& pose, boost::optional H = + boost::none) const { + SimpleCamera camera(*K_, pose); + Point2 reprojectionError(camera.project(P_, H) - p_); + return reprojectionError.vector(); + } }; -/*******************************************************************************/ -/** - * Camera: f = 1.0, Image: 100x100, center: 50.0, 50.0 +/******************************************************************************* + * Camera: f = 1, Image: 100x100, center: 50, 50.0 * Pose (ground truth): (Xw, -Yw, -Zw, [0,0,2.0]') * Known landmarks: * 3D Points: (10,10,0) (-10,10,0) (-10,-10,0) (10,-10,0) * Perfect measurements: * 2D Point: (55,45) (45,45) (45,55) (55,55) - */ + *******************************************************************************/ int main(int argc, char* argv[]) { - /* read camera intrinsic parameters */ - shared_ptrK calib(new Cal3_S2(1.0, 1.0, 0, 50.0, 50.0)); + /* read camera intrinsic parameters */ + shared_ptrK calib(new Cal3_S2(1, 1, 0, 50, 50)); - /* create keys for variables */ - // we have only 1 variable to solve: the camera pose - Symbol X('x',1); + /* 1. create graph */ + NonlinearFactorGraph graph; - /* 1. create graph */ - NonlinearFactorGraph graph; + /* 2. add factors to the graph */ + // add measurement factors + SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5)); + boost::shared_ptr factor; + graph.push_back( + boost::make_shared(measurementNoise, X(1), calib, + Point2(55, 45), Point3(10, 10, 0))); + graph.push_back( + boost::make_shared(measurementNoise, X(1), calib, + Point2(45, 45), Point3(-10, 10, 0))); + graph.push_back( + boost::make_shared(measurementNoise, X(1), calib, + Point2(45, 55), Point3(-10, -10, 0))); + graph.push_back( + boost::make_shared(measurementNoise, X(1), calib, + Point2(55, 55), Point3(10, -10, 0))); - /* 2. add factors to the graph */ - // add measurement factors - SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5)); - boost::shared_ptr factor; - factor = boost::shared_ptr(new ResectioningFactor( - measurementNoise, X, calib, Point2(55.0, 45.0), Point3(10.0, 10.0, 0.0))); - graph.push_back(factor); - factor = boost::shared_ptr(new ResectioningFactor( - measurementNoise, X, calib, Point2(45.0, 45.0), Point3(-10.0, 10.0, 0.0))); - graph.push_back(factor); - factor = boost::shared_ptr(new ResectioningFactor( - measurementNoise, X, calib, Point2(45.0, 55.0), Point3(-10.0, -10.0, 0.0))); - graph.push_back(factor); - factor = boost::shared_ptr(new ResectioningFactor( - measurementNoise, X, calib, Point2(55.0, 55.0), Point3(10.0, -10.0, 0.0))); - graph.push_back(factor); + /* 3. Create an initial estimate for the camera pose */ + Values initial; + initial.insert(X(1), + Pose3(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(0, 0, 2))); - /* 3. Create an initial estimate for the camera pose */ - Values initial; - initial.insert(X, Pose3(Rot3(1.,0.,0., - 0.,-1.,0., - 0.,0.,-1.), Point3(0.,0.,2.0))); + /* 4. Optimize the graph using Levenberg-Marquardt*/ + Values result = LevenbergMarquardtOptimizer(graph, initial).optimize(); + result.print("Final result:\n"); - /* 4. Optimize the graph using Levenberg-Marquardt*/ - Values result = LevenbergMarquardtOptimizer(graph, initial).optimize(); - result.print("Final result: "); - - return 0; + return 0; } From e23818431e21ed6a243fc75731dccfb353551c53 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 19:52:35 +0000 Subject: [PATCH 108/914] Renamed examples to not have _easy.... --- .../{PlanarSLAMExample_easy.cpp => PlanarSLAMExample.cpp} | 0 .../{Pose2SLAMExample_easy.cpp => Pose2SLAMExample.cpp} | 2 +- examples/{Pose2SLAMwSPCG_easy.cpp => Pose2SLAMwSPCG.cpp} | 0 examples/README | 8 +++++--- 4 files changed, 6 insertions(+), 4 deletions(-) rename examples/{PlanarSLAMExample_easy.cpp => PlanarSLAMExample.cpp} (100%) rename examples/{Pose2SLAMExample_easy.cpp => Pose2SLAMExample.cpp} (98%) rename examples/{Pose2SLAMwSPCG_easy.cpp => Pose2SLAMwSPCG.cpp} (100%) diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample.cpp similarity index 100% rename from examples/PlanarSLAMExample_easy.cpp rename to examples/PlanarSLAMExample.cpp diff --git a/examples/Pose2SLAMExample_easy.cpp b/examples/Pose2SLAMExample.cpp similarity index 98% rename from examples/Pose2SLAMExample_easy.cpp rename to examples/Pose2SLAMExample.cpp index b6507d7fc..851363b2e 100644 --- a/examples/Pose2SLAMExample_easy.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file Pose2SLAMExample_easy.cpp + * @file Pose2SLAMExample.cpp * @brief A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h * @date Oct 21, 2010 * @author Yong Dian Jian diff --git a/examples/Pose2SLAMwSPCG_easy.cpp b/examples/Pose2SLAMwSPCG.cpp similarity index 100% rename from examples/Pose2SLAMwSPCG_easy.cpp rename to examples/Pose2SLAMwSPCG.cpp diff --git a/examples/README b/examples/README index 3c0c90850..8558ea62d 100644 --- a/examples/README +++ b/examples/README @@ -11,10 +11,11 @@ errorStateKalmanFilter: simple 1D example of a moving target measured by a accel 2D Pose SLAM ============ -Pose2SLAMExample_easy: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h +LocalizationExample.cpp: modeling robot motion +LocalizationExample2.cpp: example with GPS like measurements +Pose2SLAMExample: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h Pose2SLAMExample_advanced: same, but uses an Optimizer object -Pose2SLAMwSPCG_easy: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface -Pose2SLAMwSPCG_advanced: solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface +Pose2SLAMwSPCG: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface Planar SLAM with landmarks ========================== @@ -23,6 +24,7 @@ PlanarSLAMSelfContained_advanced: simple robotics example with all typedefs inte Visual SLAM =========== +CameraResectioning.cpp: An example of gtsam for solving the camera resectioning problem The directory vSLAMexample includes 2 simple examples using GTSAM: - vSFMexample using visualSLAM in for structure-from-motion (SFM), and - vISAMexample using visualSLAM and ISAM for incremental SLAM updates From 839b539aad1f1c1ea6890bed9244e2ce43e4b16c Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 3 Jun 2012 20:08:46 +0000 Subject: [PATCH 109/914] Fixed a bug in cmake install that tried to copy a .svn folder --- wrap/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index d1cd2ac64..0ed4cc903 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -74,7 +74,9 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) message(STATUS "Installing Matlab Toolbox Examples (Data)") + set(data_excludes "${CMAKE_SOURCE_DIR}/examples/Data/.svn") file(GLOB matlab_examples_data "${CMAKE_SOURCE_DIR}/examples/Data/*.*") + list(REMOVE_ITEM matlab_examples_data ${data_excludes}) install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples/Data) endif (GTSAM_INSTALL_MATLAB_EXAMPLES) From 0baa83cf45f98522985267f4e83f02c08a068d90 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 20:11:40 +0000 Subject: [PATCH 110/914] Another rename --- .cproject | 24 +++++++++---------- ...pp => PlanarSLAMExample_selfcontained.cpp} | 2 +- examples/README | 2 +- 3 files changed, 14 insertions(+), 14 deletions(-) rename examples/{PlanarSLAMSelfContained_advanced.cpp => PlanarSLAMExample_selfcontained.cpp} (99%) diff --git a/.cproject b/.cproject index b075667ed..1f29f86b7 100644 --- a/.cproject +++ b/.cproject @@ -1653,10 +1653,10 @@ true true - + make - -j2 - PlanarSLAMExample_easy.run + -j5 + PlanarSLAMExample.run true true true @@ -1685,10 +1685,10 @@ true true - + make - -j2 - PlanarSLAMSelfContained_advanced.run + -j5 + PlanarSLAMExample_selfcontained.run true true true @@ -1701,18 +1701,18 @@ true true - + make - -j2 - Pose2SLAMExample_easy.run + -j5 + Pose2SLAMExample.run true true true - + make - -j2 - Pose2SLAMwSPCG_easy.run + -j5 + Pose2SLAMwSPCG.run true true true diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMExample_selfcontained.cpp similarity index 99% rename from examples/PlanarSLAMSelfContained_advanced.cpp rename to examples/PlanarSLAMExample_selfcontained.cpp index f7c321f2d..7e17c2a0e 100644 --- a/examples/PlanarSLAMSelfContained_advanced.cpp +++ b/examples/PlanarSLAMExample_selfcontained.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file PlanarSLAMSelfContained_advanced.cpp + * @file PlanarSLAMExample_selfcontained.cpp * @brief Simple robotics example with all typedefs internal to this script. * @author Alex Cunningham */ diff --git a/examples/README b/examples/README index 8558ea62d..2a54459f3 100644 --- a/examples/README +++ b/examples/README @@ -20,7 +20,7 @@ Pose2SLAMwSPCG: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy S Planar SLAM with landmarks ========================== PlanarSLAMExample: simple robotics example using the pre-built planar SLAM domain -PlanarSLAMSelfContained_advanced: simple robotics example with all typedefs internal to this script. +PlanarSLAMExample_selfcontained: simple robotics example with all typedefs internal to this script. Visual SLAM =========== From 6895481f0dcd29d7d991067e73a934c8f8d5fc66 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 20:12:12 +0000 Subject: [PATCH 111/914] Synchronized C++ and MATLAB --- examples/Pose2SLAMExample.cpp | 6 ++--- examples/matlab/Pose2SLAMExample_easy.m | 34 +++++++++++++----------- examples/matlab/Pose2SLAMExample_graph.m | 4 +-- 3 files changed, 23 insertions(+), 21 deletions(-) diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index 851363b2e..265e323db 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -47,18 +47,18 @@ int main(int argc, char** argv) { // print graph.print("\nFactor graph:\n"); - // 3. Create the data structure to hold the initialEstimate estinmate to the solution + // 3. Create the data structure to hold the initialEstimate estimate to the solution pose2SLAM::Values initialEstimate; Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); - initialEstimate.print("\nInitial estimate:\n "); + initialEstimate.print("\nInitial estimate:\n"); // 4. Single Step Optimization using Levenberg-Marquardt pose2SLAM::Values result = graph.optimize(initialEstimate); - result.print("\nFinal result:\n "); + result.print("\nFinal result:\n"); return 0; } diff --git a/examples/matlab/Pose2SLAMExample_easy.m b/examples/matlab/Pose2SLAMExample_easy.m index b0200946b..2172f5767 100644 --- a/examples/matlab/Pose2SLAMExample_easy.m +++ b/examples/matlab/Pose2SLAMExample_easy.m @@ -1,9 +1,9 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% GTSAM Copyright 2010, Georgia Tech Research Corporation, +% 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 % % @brief Simple robotics example using the pre-built planar SLAM domain @@ -23,32 +23,34 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addOdometry(1, 2, odometry, odometryNoise); -graph.addOdometry(2, 3, odometry, odometryNoise); +graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -%% Add measurements -% general noisemodel for measurements -meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +%% Add pose constraint +constraintUncertainty = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), constraintUncertainty); % print -graph.print('full graph'); +graph.print(sprintf('/nFactor graph:\n')); %% Initialize to noisy points initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); - -initialEstimate.print('initial estimate'); +x1 = gtsamPose2(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); +x2 = gtsamPose2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); +x3 = gtsamPose2(4.1, 0.1, pi/2); initialEstimate.insertPose(3, x3); +x4 = gtsamPose2(4.0, 2.0, pi ); initialEstimate.insertPose(4, x4); +x5 = gtsamPose2(2.1, 2.1,-pi/2); initialEstimate.insertPose(5, x5); +initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate); -result.print('final result'); +result.print(sprintf('\nFinal result:\n')); diff --git a/examples/matlab/Pose2SLAMExample_graph.m b/examples/matlab/Pose2SLAMExample_graph.m index 7118efe01..142c9b36d 100644 --- a/examples/matlab/Pose2SLAMExample_graph.m +++ b/examples/matlab/Pose2SLAMExample_graph.m @@ -13,7 +13,7 @@ %% Initialize graph, initial estimate, and odometry noise model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); [graph,initial]=load2D('../Data/w100-odom.graph',model); -initial.print('Initial estimate:\n'); +initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin @@ -27,7 +27,7 @@ plot(initial.xs(),initial.ys(),'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initial); hold on; plot(result.xs(),result.ys(),'b-*') -result.print('\nFinal result:\n'); +result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses marginals = graph.marginals(result); From 2d4fcbf1012237a2bad6ce2957a00b3912474304 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 20:14:23 +0000 Subject: [PATCH 112/914] renamed MATLAB examples --- .../matlab/{PlanarSLAMExample_easy.m => PlanarSLAMExample.m} | 0 examples/matlab/{Pose2SLAMExample_easy.m => Pose2SLAMExample.m} | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename examples/matlab/{PlanarSLAMExample_easy.m => PlanarSLAMExample.m} (100%) rename examples/matlab/{Pose2SLAMExample_easy.m => Pose2SLAMExample.m} (98%) diff --git a/examples/matlab/PlanarSLAMExample_easy.m b/examples/matlab/PlanarSLAMExample.m similarity index 100% rename from examples/matlab/PlanarSLAMExample_easy.m rename to examples/matlab/PlanarSLAMExample.m diff --git a/examples/matlab/Pose2SLAMExample_easy.m b/examples/matlab/Pose2SLAMExample.m similarity index 98% rename from examples/matlab/Pose2SLAMExample_easy.m rename to examples/matlab/Pose2SLAMExample.m index 2172f5767..41d4c0708 100644 --- a/examples/matlab/Pose2SLAMExample_easy.m +++ b/examples/matlab/Pose2SLAMExample.m @@ -40,7 +40,7 @@ constraintUncertainty = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), constraintUncertainty); % print -graph.print(sprintf('/nFactor graph:\n')); +graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points initialEstimate = pose2SLAMValues; From 5aee7b4439c2ca67fe66fc3ac42a42711d7ac34a Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 20:24:58 +0000 Subject: [PATCH 113/914] add doxygen-comment to spcg solver --- examples/Pose2SLAMwSPCG.cpp | 13 ++++++-- gtsam/linear/SimpleSPCGSolver.h | 55 +++++++++++++++++---------------- 2 files changed, 40 insertions(+), 28 deletions(-) diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 5565b6206..c5c2efc66 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -9,6 +9,13 @@ * -------------------------------------------------------------------------- */ +/** + * @file Pose2SLAMwSPCG.cpp + * @brief A 2D Pose SLAM example using the SimpleSPCGSolver. + * @author Yong-Dian Jian + * @date June 2, 2012 + */ + #include #include #include @@ -55,6 +62,9 @@ int main(void) { cout << "initial error = " << graph.error(initialEstimate) << endl ; // 4. Single Step Optimization using Levenberg-Marquardt + // Note: Although there are many options in IterativeOptimizationParameters, + // the SimpleSPCGSolver doesn't actually use all of them at this moment. + // More detail in the next release. LevenbergMarquardtParams param; param.linearSolverType = SuccessiveLinearizationParams::CG; param.iterativeParams = boost::make_shared(); @@ -63,6 +73,5 @@ int main(void) { Values result = optimizer.optimize(); cout << "final error = " << graph.error(result) << endl; - return 0 ; + return 0 ; } - diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index c7367f663..04729fc1a 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -19,12 +19,19 @@ namespace gtsam { /** - * This class gives a simple implementation to the SPCG solver presented in Dellaert et al. IROS'10. - * Given a linear least-squares problem f(x) = |A x - b|^2. - * We split the problem into f(x) = |At - bt|^2 + |Ac - bc|^2 where At denotes the "tree" part, - * and Ac denotes the "constraint" part. At is factorized into Qt Rt, and we compute ct = Qt\bt, and xt = Rt\ct. - * Then we solve reparametrized problem f(y) = |y|^2 + |Ac Rt \ y - by|^2, where y = Rt(x - xt), and by = (bc - Ac xt) - * In the matrix form, it is equivalent to solving [Ac Rt^{-1} ; I ] y = [by ; 0]. + * This class gives a simple implementation to the SPCG solver presented in Dellaert et al in IROS'10. + * + * Given a linear least-squares problem \f$ f(x) = |A x - b|^2 \f$. We split the problem into + * \f$ f(x) = |A_t - b_t|^2 + |A_c - b_c|^2 \f$ where \f$ A_t \f$ denotes the "tree" part, and \f$ A_c \f$ denotes the "constraint" part. + * \f$ A_t \f$ is factorized into \f$ Q_t R_t \f$, and we compute \f$ c_t = Q_t^{-1} b_t \f$, and \f$ x_t = R_t^{-1} c_t \f$ accordingly. + * Then we solve a reparametrized problem \f$ f(y) = |y|^2 + |A_c R_t^{-1} y - \bar{b_y}|^2 \f$, where \f$ y = R_t(x - x_t) \f$, and \f$ \bar{b_y} = (b_c - A_c x_t) \f$ + * + * In the matrix form, it is equivalent to solving \f$ [A_c R_t^{-1} ; I ] y = [\bar{b_y} ; 0] \f$. We can solve it + * with the least-squares variation of the conjugate gradient method. + * + * Note: A full SPCG implementation will come up soon in the next release. + * + * \nosubgrouping */ class SimpleSPCGSolver : public IterativeSolver { @@ -36,19 +43,15 @@ public: protected: - size_t nVar_ ; /* number of variables */ - size_t nAc_ ; /* number of factors in Ac */ - - /* for SPCG */ - FactorGraph::shared_ptr Ac_; - GaussianBayesNet::shared_ptr Rt_; - VectorValues::shared_ptr xt_; - VectorValues::shared_ptr y0_; - VectorValues::shared_ptr by_; /* [bc_bar ; 0 ] */ - - /* buffer for row and column vectors in */ - VectorValues::shared_ptr tmpY_; - VectorValues::shared_ptr tmpB_; + size_t nVar_ ; ///< number of variables \f$ x \f$ + size_t nAc_ ; ///< number of factors in \f$ A_c \f$ + FactorGraph::shared_ptr Ac_; ///< the constrained part of the graph + GaussianBayesNet::shared_ptr Rt_; ///< the gaussian bayes net of the tree part of the graph + VectorValues::shared_ptr xt_; ///< the solution of the \f$ A_t^{-1} b_t \f$ + VectorValues::shared_ptr y0_; ///< a column zero vector + VectorValues::shared_ptr by_; ///< \f$ [\bar{b_y} ; 0 ] \f$ + VectorValues::shared_ptr tmpY_; ///< buffer for the column vectors + VectorValues::shared_ptr tmpB_; ///< buffer for the row vectors public: @@ -60,25 +63,25 @@ protected: VectorValues::shared_ptr optimize (const VectorValues &initial); - /* output = [bc_bar ; 0 ] - [Ac Rt^{-1} ; I] y */ + /** output = \f$ [\bar{b_y} ; 0 ] - [A_c R_t^{-1} ; I] \f$ input */ void residual(const VectorValues &input, VectorValues &output); - /* output = [Ac Rt^{-1} ; I] input */ + /** output = \f$ [A_c R_t^{-1} ; I] \f$ input */ void multiply(const VectorValues &input, VectorValues &output); - /* output = [Rt^{-T} Ac^T, I] input */ + /** output = \f$ [R_t^{-T} A_c^T, I] \f$ input */ void transposeMultiply(const VectorValues &input, VectorValues &output); - /* output = Rt^{-1} input */ + /** output = \f$ R_t^{-1} \f$ input */ void backSubstitute(const VectorValues &rhs, VectorValues &sol) ; - /* output = Rt^{-T} input */ + /** output = \f$ R_t^{-T} \f$ input */ void transposeBackSubstitute(const VectorValues &rhs, VectorValues &sol) ; - /* return x = Rt^{-1} y + x_t */ + /** return \f$ R_t^{-1} y + x_t \f$ */ VectorValues::shared_ptr transform(const VectorValues &y); - /* naively split a gaussian factor graph into tree and constraint parts + /** naively split a gaussian factor graph into tree and constraint parts * Note: This function has to be refined for your graph/application */ boost::tuple::shared_ptr> splitGraph(const GaussianFactorGraph &gfg); From abcb6c6bd933a6f1b239f24f182cdc1db62c4242 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 20:45:00 +0000 Subject: [PATCH 114/914] move iterative.* to unstable --- gtsam_unstable/linear/CMakeLists.txt | 20 +++++++++++++++++++ .../linear/iterative-inl.h | 5 ++--- .../linear/iterative.cpp | 6 ++++-- {gtsam => gtsam_unstable}/linear/iterative.h | 0 4 files changed, 26 insertions(+), 5 deletions(-) create mode 100644 gtsam_unstable/linear/CMakeLists.txt rename {gtsam => gtsam_unstable}/linear/iterative-inl.h (99%) rename {gtsam => gtsam_unstable}/linear/iterative.cpp (98%) rename {gtsam => gtsam_unstable}/linear/iterative.h (100%) diff --git a/gtsam_unstable/linear/CMakeLists.txt b/gtsam_unstable/linear/CMakeLists.txt new file mode 100644 index 000000000..d5429a5df --- /dev/null +++ b/gtsam_unstable/linear/CMakeLists.txt @@ -0,0 +1,20 @@ +# Install headers +file(GLOB base_headers "*.h") +install(FILES ${linear_headers} DESTINATION include/gtsam_unstable/linear) + +# Components to link tests in this subfolder against +set(linear_local_libs + linear + linear_unstable + base) + +set (linear_full_libs + gtsam-static + gtsam_unstable-static) + +# Exclude tests that don't work +set (base_excluded_tests "") + +# Add all tests +gtsam_add_subdir_tests(linear_unstable "${linear_local_libs}" "${linear_full_libs}" "${linear_excluded_tests}") +add_dependencies(check.unstable check.linear_unstable) diff --git a/gtsam/linear/iterative-inl.h b/gtsam_unstable/linear/iterative-inl.h similarity index 99% rename from gtsam/linear/iterative-inl.h rename to gtsam_unstable/linear/iterative-inl.h index 02048d3df..73b1e9497 100644 --- a/gtsam/linear/iterative-inl.h +++ b/gtsam_unstable/linear/iterative-inl.h @@ -18,10 +18,9 @@ #pragma once -#include - +#include #include -#include +#include using namespace std; diff --git a/gtsam/linear/iterative.cpp b/gtsam_unstable/linear/iterative.cpp similarity index 98% rename from gtsam/linear/iterative.cpp rename to gtsam_unstable/linear/iterative.cpp index c431e0c82..35b11f16d 100644 --- a/gtsam/linear/iterative.cpp +++ b/gtsam_unstable/linear/iterative.cpp @@ -15,13 +15,15 @@ * @author Frank Dellaert * @date Dec 28, 2009 */ -#include +#include #include #include #include #include -#include + + +#include using namespace std; diff --git a/gtsam/linear/iterative.h b/gtsam_unstable/linear/iterative.h similarity index 100% rename from gtsam/linear/iterative.h rename to gtsam_unstable/linear/iterative.h From 009907c347980a01ddd7db46dd97fb1de618d252 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 20:45:36 +0000 Subject: [PATCH 115/914] --- gtsam_unstable/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 9e9d66a7c..b50667f48 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -4,6 +4,7 @@ set (gtsam_unstable_subdirs base discrete dynamics + linear slam ) @@ -29,6 +30,7 @@ set(gtsam_unstable_srcs ${base_srcs} ${discrete_srcs} ${dynamics_srcs} + ${linear_srcs} ${slam_srcs} ) From 6bf036d3c112878408ef22b702ecdc4bc1e3a180 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 3 Jun 2012 21:51:33 +0000 Subject: [PATCH 116/914] Corrected some doxygen warnings --- gtsam/inference/BayesNet.h | 2 +- gtsam/inference/BayesTree-inl.h | 2 +- gtsam/inference/BayesTree.h | 2 +- gtsam/inference/BayesTreeCliqueBase-inl.h | 2 +- gtsam/inference/BayesTreeCliqueBase.h | 2 +- gtsam/inference/EliminationTree-inl.h | 2 +- gtsam/inference/graph-inl.h | 4 ++-- gtsam/inference/inference.cpp | 5 +++-- gtsam/inference/inference.h | 3 ++- gtsam/linear/GaussianBayesTree-inl.h | 2 +- gtsam/linear/GaussianISAM.cpp | 2 +- gtsam/linear/GaussianISAM.h | 2 +- gtsam/linear/GaussianSequentialSolver.cpp | 2 +- gtsam/linear/GaussianSequentialSolver.h | 2 +- gtsam/linear/KalmanFilter.h | 7 ++----- gtsam/nonlinear/NonlinearFactor.h | 4 ++-- 16 files changed, 22 insertions(+), 23 deletions(-) diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index 0f78a15e3..f6721816c 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file BayesNet + * @file BayesNet.h * @brief Bayes network * @author Frank Dellaert */ diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 95b070739..3a871c29a 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file BayesTree.cpp + * @file BayesTree-inl.h * @brief Bayes Tree is a tree of cliques of a Bayes Chain * @author Frank Dellaert * @author Michael Kaess diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index a9ed53ee9..a4cdbaafe 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file BayesTree + * @file BayesTree.h * @brief Bayes Tree is a tree of cliques of a Bayes Chain * @author Frank Dellaert */ diff --git a/gtsam/inference/BayesTreeCliqueBase-inl.h b/gtsam/inference/BayesTreeCliqueBase-inl.h index dfc8864f7..c57d6ed50 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inl.h +++ b/gtsam/inference/BayesTreeCliqueBase-inl.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file BayesTreeCliqueBase + * @file BayesTreeCliqueBase-inl.h * @brief Base class for cliques of a BayesTree * @author Richard Roberts and Frank Dellaert */ diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index 194b616b7..7ae2c15f9 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file BayesTreeCliqueBase + * @file BayesTreeCliqueBase.h * @brief Base class for cliques of a BayesTree * @author Richard Roberts and Frank Dellaert */ diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index 488911127..e5f50a867 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file EliminationTree.cpp + * @file EliminationTree-inl.h * @author Frank Dellaert * @date Oct 13, 2010 */ diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h index d8395942a..8f6feb55d 100644 --- a/gtsam/inference/graph-inl.h +++ b/gtsam/inference/graph-inl.h @@ -10,9 +10,9 @@ * -------------------------------------------------------------------------- */ /* - * graph-inl.h + * @file graph-inl.h * @brief Graph algorithm using boost library - * @author: Kai Ni + * @author Kai Ni */ #pragma once diff --git a/gtsam/inference/inference.cpp b/gtsam/inference/inference.cpp index 9b7252030..7afad8330 100644 --- a/gtsam/inference/inference.cpp +++ b/gtsam/inference/inference.cpp @@ -10,9 +10,10 @@ * -------------------------------------------------------------------------- */ /** - * @file inference-inl.h + * @file inference.cpp * @brief inference definitions - * @author Frank Dellaert, Richard Roberts + * @author Frank Dellaert + * @author Richard Roberts */ #include diff --git a/gtsam/inference/inference.h b/gtsam/inference/inference.h index d87720b5a..38f896a0f 100644 --- a/gtsam/inference/inference.h +++ b/gtsam/inference/inference.h @@ -13,7 +13,8 @@ * @file inference.h * @brief Contains *generic* inference algorithms that convert between templated * graphical models, i.e., factor graphs, Bayes nets, and Bayes trees - * @author Frank Dellaert, Richard Roberts + * @author Frank Dellaert + * @author Richard Roberts */ #pragma once diff --git a/gtsam/linear/GaussianBayesTree-inl.h b/gtsam/linear/GaussianBayesTree-inl.h index 4972b13bf..4e398ef7f 100644 --- a/gtsam/linear/GaussianBayesTree-inl.h +++ b/gtsam/linear/GaussianBayesTree-inl.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file GaussianBayesTree.cpp + * @file GaussianBayesTree-inl.h * @brief Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree * @brief GaussianBayesTree * @author Frank Dellaert diff --git a/gtsam/linear/GaussianISAM.cpp b/gtsam/linear/GaussianISAM.cpp index 6207d6ac7..f78d8b3c3 100644 --- a/gtsam/linear/GaussianISAM.cpp +++ b/gtsam/linear/GaussianISAM.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file GaussianISAM + * @file GaussianISAM.cpp * @brief Linear ISAM only * @author Michael Kaess */ diff --git a/gtsam/linear/GaussianISAM.h b/gtsam/linear/GaussianISAM.h index af96d5317..e4ac62704 100644 --- a/gtsam/linear/GaussianISAM.h +++ b/gtsam/linear/GaussianISAM.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file GaussianISAM + * @file GaussianISAM.h * @brief Linear ISAM only * @author Michael Kaess */ diff --git a/gtsam/linear/GaussianSequentialSolver.cpp b/gtsam/linear/GaussianSequentialSolver.cpp index b83926647..d3ff3146c 100644 --- a/gtsam/linear/GaussianSequentialSolver.cpp +++ b/gtsam/linear/GaussianSequentialSolver.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file SequentialSolver.cpp + * @file GaussianSequentialSolver.cpp * @author Richard Roberts * @date Oct 19, 2010 */ diff --git a/gtsam/linear/GaussianSequentialSolver.h b/gtsam/linear/GaussianSequentialSolver.h index 2fad97867..36e93bcf4 100644 --- a/gtsam/linear/GaussianSequentialSolver.h +++ b/gtsam/linear/GaussianSequentialSolver.h @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file SequentialSolver.h + * @file GaussianSequentialSolver.h * @brief Solves a GaussianFactorGraph (i.e. a sparse linear system) using sequential variable elimination. * @author Richard Roberts * @date Oct 19, 2010 diff --git a/gtsam/linear/KalmanFilter.h b/gtsam/linear/KalmanFilter.h index b74a0db7d..6df029b61 100644 --- a/gtsam/linear/KalmanFilter.h +++ b/gtsam/linear/KalmanFilter.h @@ -10,11 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @file testKalmanFilter.cpp - * - * Simple linear Kalman filter. - * Implemented using factor graphs, i.e., does Cholesky-based SRIF, really. - * + * @file KalmanFilter.h + * @brief Simple linear Kalman filter. Implemented using factor graphs, i.e., does Cholesky-based SRIF, really. * @date Sep 3, 2011 * @author Stephen Williams * @author Frank Dellaert diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 12001551c..73c150695 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @file NoiseModelFactor.h - * @brief Non-linear factor class + * @file NonlinearFactor.h + * @brief Non-linear factor base classes * @author Frank Dellaert * @author Richard Roberts */ From c558a67786158374b75dfe133d79ec5034308093 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 00:36:21 +0000 Subject: [PATCH 117/914] fleshed out visualSLAM namespace for Matlab wrapping --- gtsam/slam/tests/testSerializationSLAM.cpp | 2 +- gtsam/slam/visualSLAM.cpp | 7 +++++ gtsam/slam/visualSLAM.h | 32 ++++++++++++++++++++++ 3 files changed, 40 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/gtsam/slam/tests/testSerializationSLAM.cpp index 51d37db74..275abe1b8 100644 --- a/gtsam/slam/tests/testSerializationSLAM.cpp +++ b/gtsam/slam/tests/testSerializationSLAM.cpp @@ -181,7 +181,7 @@ Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); /* ************************************************************************* */ TEST (Serialization, visual_system) { using namespace visualSLAM; - Values values; + visualSLAM::Values values; Symbol x1('x',1), x2('x',2); Symbol l1('l',1), l2('l',2); Pose3 pose1 = pose3, pose2 = pose3.inverse(); diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index cc37e8bff..346455063 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -27,6 +27,13 @@ namespace visualSLAM { push_back(factor); } + /* ************************************************************************* */ + void Graph::addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, + Key poseKey, Key pointKey, const shared_ptrKStereo& K) { + boost::shared_ptr factor(new StereoFactor(measured, model, poseKey, pointKey, K)); + push_back(factor); + } + /* ************************************************************************* */ void Graph::addPoseConstraint(Key poseKey, const Pose3& p) { boost::shared_ptr factor(new PoseConstraint(poseKey, p)); diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 32824b60e..f13755836 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -46,6 +46,27 @@ namespace visualSLAM { typedef GenericProjectionFactor ProjectionFactor; typedef GenericStereoFactor StereoFactor; + /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + struct Values: public gtsam::Values { + + typedef boost::shared_ptr shared_ptr; + + /// Default constructor + Values() {} + + /// Copy constructor + Values(const gtsam::Values& values) : + gtsam::Values(values) { + } + + /// insert a pose + void insertPose(Key i, const Pose3& pose) { insert(i, pose); } + + /// get a pose + Pose3 pose(Key i) const { return at(i); } + + }; + /** * Non-linear factor graph for vanilla visual SLAM */ @@ -80,6 +101,17 @@ namespace visualSLAM { void addMeasurement(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrK& K); + /** + * Add a stereo factor measurement + * @param measured the measurement + * @param model the noise model for the measurement + * @param poseKey variable key for the camera pose + * @param pointKey variable key for the landmark + * @param K shared pointer to stereo calibration object + */ + void addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, + Key poseKey, Key pointKey, const shared_ptrKStereo& K); + /** * Add a constraint on a pose (for now, *must* be satisfied in any Values) * @param key variable key of the camera pose From 877e9d4045b0b81b33d9a5a8b28f72a6d0c91e3e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 00:41:13 +0000 Subject: [PATCH 118/914] new Pose3SLAM examples in C++ and MATLAB --- examples/Data/sphere_smallnoise.graph | 10847 ++++++++++++++++++++ examples/Pose2SLAMExample.cpp | 20 +- examples/matlab/Pose2SLAMExample.m | 14 +- examples/matlab/Pose2SLAMExample_circle.m | 48 + examples/matlab/Pose3SLAMExample_circle.m | 49 + examples/matlab/Pose3SLAMExample_graph.m | 28 + examples/matlab/load3D.m | 38 + gtsam.h | 96 +- gtsam/slam/planarSLAM.h | 21 +- gtsam/slam/pose2SLAM.cpp | 2 +- gtsam/slam/pose2SLAM.h | 28 +- gtsam/slam/pose3SLAM.cpp | 32 +- gtsam/slam/pose3SLAM.h | 51 +- gtsam/slam/tests/testPose2SLAM.cpp | 8 +- gtsam/slam/tests/testPose3SLAM.cpp | 6 +- 15 files changed, 11221 insertions(+), 67 deletions(-) create mode 100644 examples/Data/sphere_smallnoise.graph create mode 100644 examples/matlab/Pose2SLAMExample_circle.m create mode 100644 examples/matlab/Pose3SLAMExample_circle.m create mode 100644 examples/matlab/Pose3SLAMExample_graph.m create mode 100644 examples/matlab/load3D.m diff --git a/examples/Data/sphere_smallnoise.graph b/examples/Data/sphere_smallnoise.graph new file mode 100644 index 000000000..121d73021 --- /dev/null +++ b/examples/Data/sphere_smallnoise.graph @@ -0,0 +1,10847 @@ +VERTEX3 0 18.7381 0 98.2287 0 -0 0 +VERTEX3 1 19.0431 1.63954 98.2211 -0.00241135 0.00245691 0.0227253 +VERTEX3 2 19.3024 1.46516 98.2348 -0.0073934 0.0114248 0.0385095 +VERTEX3 3 19.4696 1.22986 98.2737 -0.0101597 0.010242 0.0436139 +VERTEX3 4 19.697 0.303547 98.2997 -0.00852083 0.00885516 0.0545687 +VERTEX3 5 19.5789 -0.379743 98.3832 -0.00736082 0.0109028 0.0566972 +VERTEX3 6 19.328 -1.14383 98.4195 -0.0303184 0.00646135 0.0658667 +VERTEX3 7 19.0094 -1.9915 98.4898 -0.026699 0.00843884 0.0734272 +VERTEX3 8 18.7529 -2.8681 98.5345 -0.0313252 0.00411628 0.0715125 +VERTEX3 9 18.3629 -3.4453 98.5719 -0.0260115 -0.00323782 0.081969 +VERTEX3 10 18.0513 -3.8475 98.6776 -0.0318878 -0.000172174 0.0894192 +VERTEX3 11 17.54 -3.94508 98.7117 -0.0323191 -0.0056373 0.0985955 +VERTEX3 12 17.0645 -3.83338 98.7999 -0.0333963 -0.00697699 0.091581 +VERTEX3 13 16.4558 -3.45396 98.8986 -0.0231773 0.0104809 0.121622 +VERTEX3 14 15.9229 -2.86382 99.0857 -0.0268982 0.00209767 0.126171 +VERTEX3 15 15.1885 -2.10545 99.0647 -0.0253835 0.00266245 0.14307 +VERTEX3 16 14.5113 -1.23672 99.1655 -0.0243512 0.00633828 0.150758 +VERTEX3 17 13.8832 -0.242326 99.3399 -0.0233449 0.00963607 0.174731 +VERTEX3 18 13.2505 1.11904 99.4251 -0.0224392 0.00946535 0.187379 +VERTEX3 19 12.5924 2.43885 99.4403 -0.02154 0.0104606 0.193732 +VERTEX3 20 11.8083 3.98539 99.5278 -0.0201605 0.0122858 0.22571 +VERTEX3 21 10.9248 5.66426 99.5785 -0.0203364 0.0139431 0.241639 +VERTEX3 22 9.96621 7.48105 99.685 -0.0202533 0.0141297 0.267345 +VERTEX3 23 8.86717 9.44094 99.7319 -0.0217672 0.0209338 0.299055 +VERTEX3 24 7.84805 11.7304 99.7871 -0.0151343 0.0300637 0.335819 +VERTEX3 25 6.75298 14.1789 99.8258 -0.0222049 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-0.000380502 0.022061 0.00674755 0.176131 +EDGE3 1912 1913 -0.58462 6.54622 0.112154 0.0235749 0.0118063 0.139007 +EDGE3 1913 1914 -0.617625 6.49059 -0.148337 0.00535814 -0.00172524 0.129453 +EDGE3 1914 1915 -0.479683 6.62715 -0.080135 -0.0178309 -0.00365513 0.0875597 +EDGE3 1915 1916 -0.58749 6.70822 0.0847443 -0.0305741 0.00754548 0.129222 +EDGE3 1916 1917 -0.451042 6.48218 -0.0207604 0.018108 0.0189387 0.117504 +EDGE3 1917 1918 -0.391254 6.60939 -0.173592 0.0496346 0.0202329 0.0947357 +EDGE3 1918 1919 -0.392004 6.42854 -0.047911 0.00284509 -0.0178553 0.12102 +EDGE3 1919 1920 -0.3076 6.52029 -0.00805391 0.00960978 -0.00877807 0.111829 +EDGE3 1920 1921 -0.482137 6.50725 0.0133788 0.0128875 -0.0255452 0.145842 +EDGE3 1921 1922 -0.422145 6.36038 -0.146317 -0.0380725 -0.00340331 0.128358 +EDGE3 1922 1923 -0.628684 6.32894 -0.155959 -0.000589319 -0.00927705 0.090458 +EDGE3 1923 1924 -0.489771 6.38105 -0.0216703 -0.0315264 0.00371578 0.140759 +EDGE3 1924 1925 -0.472106 6.34225 -0.20346 0.00230964 0.018118 0.1366 +EDGE3 1925 1926 -0.516094 6.42739 -0.129203 0.0551955 -0.0316826 0.125383 +EDGE3 1926 1927 -0.313683 6.38208 -0.050251 -0.0169743 0.0259984 0.0812736 +EDGE3 1927 1928 -0.477272 6.2889 -0.0326432 0.00185164 0.0239854 0.148875 +EDGE3 1928 1929 -0.457734 6.37111 -0.0477562 -0.0254784 -0.0154525 0.11644 +EDGE3 1929 1930 -0.50595 6.45736 -0.0867234 -0.0517454 -0.0307942 0.157101 +EDGE3 1930 1931 -0.647519 6.18865 -0.167554 0.0337091 0.00535225 0.131821 +EDGE3 1931 1932 -0.417839 6.3653 -0.191163 -0.0250263 0.0148571 0.131897 +EDGE3 1932 1933 -0.368519 6.39371 0.0628883 0.00944716 0.00232136 0.136309 +EDGE3 1933 1934 -0.407855 6.22758 -0.208137 -0.00569539 -0.00339384 0.152747 +EDGE3 1934 1935 -0.522082 6.06436 -0.00142494 -0.029872 -0.0185306 0.158903 +EDGE3 1935 1936 -0.549863 6.27677 -0.156211 -0.00563626 -0.0254933 0.143366 +EDGE3 1936 1937 -0.620376 6.10427 0.0152066 -0.00857525 -0.0180701 0.130078 +EDGE3 1937 1938 -0.470794 6.18691 0.0259853 0.00828865 0.0259791 0.130076 +EDGE3 1938 1939 -0.656877 6.23153 -0.100291 0.026037 0.0110495 0.0894652 +EDGE3 1939 1940 -0.635102 6.26215 -0.1812 0.0141179 0.00524722 0.124909 +EDGE3 1940 1941 -0.29092 6.22965 -0.0967064 -0.00883403 -0.019549 0.106338 +EDGE3 1941 1942 -0.589252 6.19792 0.0795378 0.00113142 0.00466372 0.159739 +EDGE3 1942 1943 -0.494553 6.07509 0.125068 0.0333908 0.0240146 0.068152 +EDGE3 1943 1944 -0.523077 6.14972 0.0384974 0.0279524 -0.0172954 0.119458 +EDGE3 1944 1945 -0.611566 6.08104 -0.037546 0.00407767 -0.0236275 0.11156 +EDGE3 1945 1946 -0.429217 6.02741 -0.180638 0.0141882 -0.00131638 0.181681 +EDGE3 1946 1947 -0.546358 6.22259 -0.0712174 -0.0239666 0.011451 0.115811 +EDGE3 1947 1948 -0.562523 6.13647 -0.0875678 -0.0105486 -0.00541187 0.122796 +EDGE3 1948 1949 -0.472512 6.15933 0.0987717 0.00384033 0.00405963 0.104676 +EDGE3 1949 1950 -0.475066 6.06233 -0.102596 0.0299962 0.0314837 0.0969954 +EDGE3 1950 1951 -0.511935 6.096 -0.220851 -0.0213939 -0.0033149 0.133139 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1965 -0.543294 5.76971 0.091288 -0.0136055 0.0222789 0.143091 +EDGE3 1965 1966 -0.360085 5.80105 0.0883711 -0.0380865 0.0073375 0.102164 +EDGE3 1966 1967 -0.364984 5.81232 0.0157722 -0.0173888 0.0388329 0.0916746 +EDGE3 1967 1968 -0.486811 5.79092 -0.188699 0.012606 0.0375289 0.135605 +EDGE3 1968 1969 -0.464428 5.81241 -0.0374998 0.00117953 -0.00249678 0.132459 +EDGE3 1969 1970 -0.53232 5.52107 -0.0579246 -0.0457853 0.0192236 0.127546 +EDGE3 1970 1971 -0.390767 5.82101 -0.240988 0.00989655 0.000650397 0.140344 +EDGE3 1971 1972 -0.476969 5.77308 -0.00352681 0.00546006 0.00573579 0.133397 +EDGE3 1972 1973 -0.587015 5.76284 0.0642154 0.00948602 0.00942862 0.132311 +EDGE3 1973 1974 -0.585743 5.54748 -0.110048 0.0671397 -0.0149584 0.132186 +EDGE3 1974 1975 -0.428105 5.78837 -0.128039 -0.00878907 0.0170606 0.116039 +EDGE3 1975 1976 -0.52385 5.64427 -0.10341 -0.0367064 -0.0184896 0.146108 +EDGE3 1976 1977 -0.488289 5.50558 -0.326557 0.00112729 -0.0106616 0.0851344 +EDGE3 1977 1978 -0.482771 5.59547 0.0791137 0.0258674 0.0283043 0.120395 +EDGE3 1978 1979 -0.391061 5.71276 -0.0322463 -0.0414818 0.024244 0.139271 +EDGE3 1979 1980 -0.702794 5.62131 -0.176999 -0.0226085 -0.0162185 0.162242 +EDGE3 1980 1981 -0.4975 5.6404 0.199187 -0.0115058 0.0311392 0.124026 +EDGE3 1981 1982 -0.427967 5.61673 0.124204 -0.0177554 0.054869 0.0853869 +EDGE3 1982 1983 -0.410515 5.77818 0.0865397 0.00134919 0.0120908 0.124951 +EDGE3 1983 1984 -0.343418 5.69079 -0.208926 0.00737766 0.00820264 0.129788 +EDGE3 1984 1985 -0.524235 5.44817 -0.125203 0.0226284 0.0001204 0.100746 +EDGE3 1985 1986 -0.514837 5.45277 -0.0772258 -0.00204544 -0.0158974 0.0850198 +EDGE3 1986 1987 -0.401212 5.50711 -0.244434 0.0454171 0.0344975 0.134734 +EDGE3 1987 1988 -0.448047 5.60183 -0.0694431 0.0077945 0.00634264 0.114974 +EDGE3 1989 1990 -0.521532 5.51511 -0.203855 -0.0175875 -0.0356895 0.148315 +EDGE3 1988 1989 -0.447219 5.70468 -0.117758 -0.0254064 -0.0530245 0.103838 +EDGE3 1991 1992 -0.612525 5.37322 0.106326 -0.0349751 0.0235161 0.102388 +EDGE3 1990 1991 -0.526438 5.57083 -0.102111 -0.0259494 -0.0107402 0.101864 +EDGE3 1993 1994 -0.504727 5.32919 -0.0139626 -0.0265182 0.0154989 0.136552 +EDGE3 1992 1993 -0.366157 5.40521 -0.0683859 -0.0408997 0.0262 0.0864175 +EDGE3 1995 1996 -0.500908 5.36918 -0.00902292 0.00719876 -0.0325022 0.134315 +EDGE3 1994 1995 -0.515844 5.30031 -0.0592006 -0.00689442 -0.0143751 0.114798 +EDGE3 1997 1998 -0.583692 5.25541 -0.0275784 -0.00180304 -0.0030146 0.100445 +EDGE3 1996 1997 -0.34656 5.2351 -0.115611 0.049704 -0.0620094 0.111174 +EDGE3 1999 2000 -0.547622 5.28742 -0.0284439 0.00042945 0.010526 0.0914189 +EDGE3 1998 1999 -0.474041 5.5418 -0.145192 -0.0659393 0.00513539 0.125029 +EDGE3 2001 2002 -0.312809 5.23361 -0.044017 0.0287767 0.0156405 0.145694 +EDGE3 2000 2001 -0.572651 5.37553 -0.0311355 -0.0204672 -0.0165423 0.118667 +EDGE3 2003 2004 -0.46431 5.33129 0.162549 -0.041681 -0.00440007 0.109217 +EDGE3 2002 2003 -0.390939 5.2792 -0.0299605 0.0249188 0.00263654 0.0925308 +EDGE3 2005 2006 -0.599122 5.21584 -0.0843733 0.0220407 -0.00558616 0.122876 +EDGE3 2004 2005 -0.310875 5.31006 0.105366 0.00588317 -0.0475671 0.121278 +EDGE3 2007 2008 -0.606692 5.02984 0.0140732 -0.0333321 -0.0208616 0.146249 +EDGE3 2006 2007 -0.505119 5.31184 -0.00702885 0.0145621 0.0144722 0.121631 +EDGE3 2009 2010 -0.544477 5.11131 -0.0141051 0.00774711 0.0299208 0.148513 +EDGE3 2008 2009 -0.515179 5.17657 0.0106107 -0.0524172 0.0129831 0.135736 +EDGE3 2011 2012 -0.399633 5.14524 -0.118435 0.00562244 -0.00326332 0.100216 +EDGE3 2010 2011 -0.519642 5.05966 -0.137022 -0.0101053 -0.015811 0.122661 +EDGE3 2013 2014 -0.373308 5.21712 -0.0576836 -0.0147453 -0.0226989 0.120168 +EDGE3 2012 2013 -0.249265 4.96769 -0.125062 0.0115382 -0.00502312 0.139843 +EDGE3 2015 2016 -0.354819 5.14559 -0.0329543 0.0237119 -0.0426784 0.0853697 +EDGE3 2014 2015 -0.398446 5.09908 -0.112416 -0.0310785 -0.0146828 0.0966568 +EDGE3 2017 2018 -0.440011 5.24708 0.0875014 -0.00646356 -0.0276751 0.109471 +EDGE3 2016 2017 -0.416948 4.97894 -0.0427855 0.0201379 0.0183188 0.0877941 +EDGE3 2019 2020 -0.542174 5.01498 -0.24226 0.0191092 -0.0269399 0.10241 +EDGE3 2018 2019 -0.429374 5.18693 -0.104807 -0.0218478 0.0118937 0.0939241 +EDGE3 2021 2022 -0.433611 5.05696 0.0452068 0.0500272 0.00608865 0.150643 +EDGE3 2020 2021 -0.338687 4.89056 0.0779519 -0.0432755 -0.0424353 0.137962 +EDGE3 2023 2024 -0.580713 4.85174 -0.0214444 -0.00537442 0.0299923 0.0852498 +EDGE3 2022 2023 -0.329746 4.95757 -0.0850476 0.0356472 -0.0221145 0.142208 +EDGE3 2025 2026 -0.49215 5.0963 -0.0883497 0.000909229 -0.0241072 0.124497 +EDGE3 2024 2025 -0.475041 5.03223 -0.0614471 -0.00086757 0.00342266 0.119408 +EDGE3 2027 2028 -0.42349 5.09462 -0.0390856 -0.0112489 0.050239 0.143096 +EDGE3 2026 2027 -0.507461 5.09471 0.0658235 0.0113328 0.00183257 0.102365 +EDGE3 2029 2030 -0.583709 4.91967 -0.110588 -0.0552586 -0.0124483 0.133408 +EDGE3 2028 2029 -0.318981 4.76875 -0.00648015 0.00477891 0.0324749 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1846 1896 -5.18598 0.00670256 -3.55278 0.00072354 0.00793236 -0.00241618 +EDGE3 1845 1896 -5.70185 6.77358 -3.63124 0.00626283 -0.00654293 0.134823 +EDGE3 1846 1895 -5.49589 -6.79489 -3.50549 0.000323905 -0.00142103 -0.124881 +EDGE3 1847 1897 -5.18581 -0.0212236 -3.54927 -0.00598339 0.00263016 0.000319618 +EDGE3 1846 1897 -5.71812 6.76556 -3.61555 0.00525337 -0.0119964 0.131982 +EDGE3 1847 1896 -5.50499 -6.76911 -3.47207 -0.000959178 0.00362545 -0.128037 +EDGE3 1848 1898 -5.19506 0.0152057 -3.53071 -0.014967 -0.0170116 -0.00631657 +EDGE3 1847 1898 -5.71701 6.73923 -3.59891 -0.000968431 0.00451709 0.127672 +EDGE3 1848 1897 -5.48812 -6.75158 -3.47401 0.0164432 0.00327616 -0.124409 +EDGE3 1849 1899 -5.18717 0.0029429 -3.55133 0.00719912 -0.000800041 -0.00267123 +EDGE3 1848 1899 -5.71834 6.73421 -3.60384 -0.00817363 0.00213857 0.1205 +EDGE3 1849 1898 -5.50698 -6.73763 -3.47791 -8.89939e-05 -0.00707023 -0.130531 +EDGE3 1850 1900 -5.19995 0.00219266 -3.53971 -0.006476 -0.00103317 0.00292286 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6.3125 -3.39884 -0.00748567 -0.00479524 0.122864 +EDGE3 1880 1929 -5.6204 -6.322 -3.29004 -0.00737452 0.000543084 -0.127591 +EDGE3 1881 1931 -5.32376 0.0188107 -3.32871 0.00226888 0.00114298 -0.000860421 +EDGE3 1880 1931 -5.84215 6.28429 -3.38561 -0.00635031 0.000640743 0.123886 +EDGE3 1881 1930 -5.60928 -6.31502 -3.26762 0.00474297 0.00362334 -0.12711 +EDGE3 1882 1932 -5.34941 -0.0145751 -3.32067 -0.00551713 -0.00506063 -0.00713923 +EDGE3 1881 1932 -5.83336 6.28296 -3.40341 0.00217309 -0.0117383 0.118477 +EDGE3 1882 1931 -5.62262 -6.31396 -3.26203 0.000644942 -0.000389022 -0.116143 +EDGE3 1883 1933 -5.33678 -0.00176256 -3.30723 -0.008553 -0.000814676 -0.00253509 +EDGE3 1882 1933 -5.83333 6.27239 -3.37095 -0.00195533 0.0110726 0.121232 +EDGE3 1884 1934 -5.33191 -0.0135106 -3.29591 -0.000979606 -0.0083674 -0.000716074 +EDGE3 1883 1932 -5.62804 -6.27797 -3.25187 0.00240717 -0.00374037 -0.116508 +EDGE3 1883 1934 -5.85036 6.24668 -3.38002 0.00563628 0.00751899 0.124951 +EDGE3 1884 1933 -5.63223 -6.27262 -3.21787 -0.00632356 0.00639955 -0.121825 +EDGE3 1885 1935 -5.3417 0.000777446 -3.30502 -0.00283064 -0.00411176 0.00309049 +EDGE3 1884 1935 -5.83889 6.2415 -3.36858 0.00738546 0.00258514 0.121209 +EDGE3 1885 1934 -5.64838 -6.27245 -3.25528 0.000167137 0.00424364 -0.132344 +EDGE3 1886 1936 -5.34165 0.0129769 -3.28782 -0.00222081 -0.000199987 0.00869588 +EDGE3 1885 1936 -5.8471 6.24331 -3.35897 0.00645663 -0.000276771 0.126907 +EDGE3 1886 1935 -5.63422 -6.24597 -3.23288 -0.00164495 -0.000206825 -0.124356 +EDGE3 1887 1937 -5.3496 -0.00336737 -3.29753 0.00189651 -0.00379822 -0.00169804 +EDGE3 1886 1937 -5.84256 6.22436 -3.35095 0.00211102 -0.00436196 0.121722 +EDGE3 1888 1938 -5.35685 0.00872093 -3.28596 0.00318347 -0.0013277 0.00622994 +EDGE3 1887 1936 -5.6312 -6.23387 -3.21444 0.00798513 -0.000410798 -0.130586 +EDGE3 1887 1938 -5.85449 6.20253 -3.34263 -0.00654313 -0.00814656 0.128688 +EDGE3 1888 1937 -5.64048 -6.22007 -3.22368 0.00135903 -0.00901814 -0.118991 +EDGE3 1889 1939 -5.34808 0.01118 -3.28136 -0.00532863 0.00238961 -0.000422936 +EDGE3 1888 1939 -5.85263 6.19161 -3.33252 -0.0055176 0.00221429 0.12737 +EDGE3 1889 1938 -5.64984 -6.19307 -3.21376 0.00183303 -0.00254312 -0.126056 +EDGE3 1890 1940 -5.36943 -0.0179558 -3.2711 0.00212436 0.000554887 -0.00313354 +EDGE3 1889 1940 -5.86675 6.17547 -3.33117 0.00190882 -0.0012467 0.124803 +EDGE3 1890 1939 -5.65898 -6.1785 -3.18345 -0.000415469 0.00603812 -0.122632 +EDGE3 1891 1941 -5.36203 0.00421967 -3.26074 0.00305489 -0.00262201 -0.00121929 +EDGE3 1890 1941 -5.85405 6.15938 -3.31977 0.00346342 -0.00107154 0.125635 +EDGE3 1891 1940 -5.63669 -6.19038 -3.1908 0.00373237 0.0015159 -0.12711 +EDGE3 1892 1942 -5.36357 0.00160392 -3.27006 -0.00708724 0.00393476 -0.00414916 +EDGE3 1891 1942 -5.87015 6.16503 -3.30907 0.0018498 0.000423082 0.127875 +EDGE3 1892 1941 -5.6386 -6.1559 -3.18604 0.00219947 -0.00485354 -0.119984 +EDGE3 1893 1943 -5.35773 -0.0038269 -3.25575 -0.00235348 0.000834121 0.00152251 +EDGE3 1892 1943 -5.87439 6.13316 -3.30729 -0.000247705 -0.000988456 0.125336 +EDGE3 1893 1942 -5.64967 -6.16036 -3.19567 0.00188488 0.000852968 -0.125223 +EDGE3 1894 1944 -5.37145 -0.0092327 -3.24162 0.000189917 0.00433797 0.00365577 +EDGE3 1893 1944 -5.8763 6.11825 -3.30746 -0.000117102 0.00196663 0.130015 +EDGE3 1894 1943 -5.66446 -6.14086 -3.16173 -0.00212123 0.000973495 -0.129907 +EDGE3 1895 1945 -5.38967 0.0037349 -3.22818 0.0116071 0.000677882 -0.00259782 +EDGE3 1894 1945 -5.88192 6.11668 -3.28301 -0.00144359 0.00372206 0.121672 +EDGE3 1895 1944 -5.6635 -6.10784 -3.16296 0.00731365 0.0017216 -0.12533 +EDGE3 1896 1946 -5.39573 0.00657945 -3.22439 0.000317883 -0.00183642 0.000368526 +EDGE3 1895 1946 -5.86667 6.09899 -3.29684 -0.000263134 -0.0015017 0.12179 +EDGE3 1896 1945 -5.67412 -6.08366 -3.16545 0.0052457 0.00250773 -0.121947 +EDGE3 1897 1947 -5.39357 0.00283829 -3.24237 -0.00228744 0.000173388 -0.00512873 +EDGE3 1896 1947 -5.87511 6.08954 -3.29632 0.00478532 0.00304064 0.135981 +EDGE3 1897 1946 -5.65847 -6.08136 -3.16787 0.000409056 0.00413764 -0.125668 +EDGE3 1898 1948 -5.3819 0.00821504 -3.18909 -0.000252837 0.00906003 -0.000641906 +EDGE3 1897 1948 -5.88923 6.05664 -3.2788 -0.00104689 -0.0095697 0.12056 +EDGE3 1898 1947 -5.65132 -6.06553 -3.15595 -0.0055003 -0.000760796 -0.12838 +EDGE3 1898 1949 -5.8924 6.0315 -3.28629 0.00283168 0.00015285 0.127207 +EDGE3 1899 1949 -5.41409 0.004899 -3.18113 -0.0128026 0.00242451 -0.00301246 +EDGE3 1900 1950 -5.40555 0.00449769 -3.19031 -0.000773293 0.0085803 -0.000855349 +EDGE3 1899 1948 -5.69256 -6.07514 -3.13826 -0.00385793 4.38254e-06 -0.126257 +EDGE3 1899 1950 -5.88508 6.03227 -3.26025 0.0021558 -0.000973312 0.122006 +EDGE3 1900 1949 -5.66991 -6.05268 -3.13665 0.000980291 0.000524749 -0.115893 +EDGE3 1901 1951 -5.41686 -0.00564788 -3.20732 -0.00363837 -0.00610922 -0.000700343 +EDGE3 1900 1951 -5.89034 6.02068 -3.25921 0.00998144 0.0066982 0.119863 +EDGE3 1901 1950 -5.68476 -6.04687 -3.11809 -0.00232885 -0.00152281 -0.118596 +EDGE3 1902 1952 -5.43038 -0.00833196 -3.19583 -0.00703495 -0.00572986 0.00186532 +EDGE3 1901 1952 -5.88789 6.01479 -3.23085 -0.00535047 -0.0103298 0.121357 +EDGE3 1902 1951 -5.6708 -6.03229 -3.11827 -0.000596574 -0.00443279 -0.134258 +EDGE3 1903 1953 -5.42626 0.00738079 -3.17987 0.00709033 0.00365837 -0.00206977 +EDGE3 1902 1953 -5.89223 5.98688 -3.25339 -0.00229023 0.00156955 0.128186 +EDGE3 1903 1952 -5.68034 -6.02174 -3.1325 0.00753471 -0.000517762 -0.126598 +EDGE3 1904 1954 -5.42408 0.0199544 -3.16109 -0.00149456 -0.00244919 0.00214676 +EDGE3 1903 1954 -5.90704 5.9817 -3.2394 -0.0106598 0.00431322 0.125747 +EDGE3 1904 1953 -5.70119 -5.98925 -3.11563 -0.00611544 -0.0017025 -0.127205 +EDGE3 1905 1955 -5.4262 -0.00225865 -3.17554 -0.00220082 0.00670061 -0.00840319 +EDGE3 1904 1955 -5.9073 5.96329 -3.24276 -0.00635743 -0.00742364 0.121181 +EDGE3 1905 1954 -5.67821 -5.98115 -3.11112 -0.00418176 0.00724216 -0.123352 +EDGE3 1906 1956 -5.43128 0.00871152 -3.15222 -0.0045412 -0.0023397 0.00332764 +EDGE3 1905 1956 -5.90631 5.94665 -3.23051 -0.00299968 -0.00395425 0.123487 +EDGE3 1906 1955 -5.69797 -5.96699 -3.09568 -0.00650241 -0.00756336 -0.131506 +EDGE3 1907 1957 -5.41931 -0.00557384 -3.1389 -0.0127214 0.00485097 -0.00732458 +EDGE3 1906 1957 -5.91347 5.95343 -3.22571 0.00138954 -0.00508784 0.122327 +EDGE3 1907 1956 -5.69957 -5.9499 -3.07238 0.0050695 -0.0027827 -0.134899 +EDGE3 1908 1958 -5.45633 0.0119737 -3.16457 0.0181138 0.00275565 -0.0032894 +EDGE3 1907 1958 -5.91871 5.92302 -3.20011 -0.00220222 -0.000995355 0.128028 +EDGE3 1908 1957 -5.70374 -5.93753 -3.09047 0.00433953 0.00191999 -0.112961 +EDGE3 1909 1959 -5.43794 0.00255173 -3.12671 0.00169914 0.00327618 0.00143381 +EDGE3 1908 1959 -5.91487 5.90552 -3.21657 -0.0019754 0.00129584 0.129298 +EDGE3 1909 1958 -5.70787 -5.93481 -3.07223 0.00896748 -0.00820647 -0.13072 +EDGE3 1910 1960 -5.45253 0.00299423 -3.12474 0.00722001 0.00176273 -0.00083542 +EDGE3 1909 1960 -5.92128 5.90153 -3.21425 0.00767992 -0.00274562 0.128302 +EDGE3 1910 1959 -5.70742 -5.91613 -3.06455 0.00616479 -0.00631238 -0.12793 +EDGE3 1911 1961 -5.44458 -0.00107663 -3.142 -0.00786885 0.00688707 0.00658756 +EDGE3 1910 1961 -5.93376 5.88349 -3.17342 0.0111102 0.00311372 0.12621 +EDGE3 1911 1960 -5.72226 -5.90948 -3.06114 0.0110804 -0.000140461 -0.123374 +EDGE3 1912 1962 -5.45094 -0.00970238 -3.12651 -0.011332 -0.00322675 -0.00543351 +EDGE3 1911 1962 -5.90333 5.87903 -3.17783 0.00807875 0.0014455 0.133496 +EDGE3 1912 1961 -5.7152 -5.90113 -3.05341 -0.000771196 0.00342868 -0.127841 +EDGE3 1913 1963 -5.45458 -0.0108798 -3.11279 -0.00207864 0.0010523 0.00111623 +EDGE3 1912 1963 -5.92005 5.85179 -3.18131 -0.000944133 -0.000473549 0.1245 +EDGE3 1913 1962 -5.71749 -5.87549 -3.04925 0.0152772 -0.00274506 -0.126617 +EDGE3 1914 1964 -5.45486 0.0139235 -3.09703 0.00791159 -0.00682328 -0.00499117 +EDGE3 1913 1964 -5.92801 5.84591 -3.16384 -0.0028415 0.00221034 0.122493 +EDGE3 1914 1963 -5.7099 -5.86629 -3.03149 -0.00664256 -0.00755185 -0.124237 +EDGE3 1915 1965 -5.45465 -0.00518927 -3.09157 0.00402723 0.00513008 0.000818003 +EDGE3 1914 1965 -5.9486 5.81957 -3.16872 0.00816466 -0.000146956 0.12543 +EDGE3 1915 1964 -5.73817 -5.84353 -3.04801 0.00321765 0.00421407 -0.126767 +EDGE3 1916 1966 -5.46059 -0.00275226 -3.07958 -0.0134542 0.00801459 -0.0060315 +EDGE3 1915 1966 -5.93285 5.83272 -3.14942 0.0107932 0.00480811 0.121129 +EDGE3 1916 1965 -5.7283 -5.83024 -3.0416 -0.00678177 0.000375403 -0.123407 +EDGE3 1917 1967 -5.47525 0.00102524 -3.08743 0.00147318 8.50273e-05 0.00990075 +EDGE3 1916 1967 -5.95191 5.80714 -3.15122 -0.00863514 0.00559517 0.138128 +EDGE3 1917 1966 -5.73631 -5.82201 -3.01779 0.00481043 -0.0105813 -0.138089 +EDGE3 1918 1968 -5.46687 0.0129975 -3.0764 0.00112787 0.00416425 -0.00597787 +EDGE3 1917 1968 -5.93639 5.79409 -3.12968 0.000345783 0.0037258 0.12408 +EDGE3 1918 1967 -5.7103 -5.81196 -3.0143 0.0013524 -0.00193262 -0.133577 +EDGE3 1919 1969 -5.47851 0.00531679 -3.08727 -0.00115575 0.00299742 -0.00741325 +EDGE3 1918 1969 -5.94807 5.79671 -3.12893 0.00132322 0.00553222 0.119934 +EDGE3 1919 1968 -5.75164 -5.78267 -3.00684 -0.00500797 0.00385851 -0.128026 +EDGE3 1920 1970 -5.51027 0.00290657 -3.06881 0.00177696 -0.00481297 -0.00188406 +EDGE3 1919 1970 -5.95473 5.75885 -3.10824 -0.00776289 0.00768938 0.130911 +EDGE3 1920 1969 -5.74765 -5.78063 -3.00592 0.000494625 0.00218535 -0.118755 +EDGE3 1921 1971 -5.48623 0.0127142 -3.05473 -0.000712989 0.00595857 0.00520224 +EDGE3 1920 1971 -5.96173 5.74132 -3.12812 0.00672913 0.00156664 0.126894 +EDGE3 1921 1970 -5.74785 -5.75423 -2.9902 -0.00442636 0.00591841 -0.124254 +EDGE3 1922 1972 -5.47486 -0.00957271 -3.03015 0.00575038 0.00956175 0.00901711 +EDGE3 1921 1972 -5.96861 5.7276 -3.10775 0.00677739 -0.00107328 0.119132 +EDGE3 1922 1971 -5.75517 -5.75839 -2.99568 -0.00219476 0.00199698 -0.127549 +EDGE3 1923 1973 -5.505 -0.00324469 -3.04968 0.00360502 -0.00987679 -0.00702848 +EDGE3 1922 1973 -5.96631 5.73624 -3.10643 -0.0020861 -0.00207337 0.132013 +EDGE3 1923 1972 -5.74023 -5.71548 -2.99698 0.00335579 0.00137074 -0.124558 +EDGE3 1924 1974 -5.51265 0.00504605 -3.03273 0.00297301 0.000267571 -0.00238564 +EDGE3 1923 1974 -5.96351 5.71065 -3.11396 0.00538354 -0.00737199 0.124121 +EDGE3 1924 1973 -5.7536 -5.71326 -2.96847 0.00353678 0.0102409 -0.129999 +EDGE3 1925 1975 -5.49935 0.00976312 -3.04737 -3.64189e-05 0.00117017 -0.000540121 +EDGE3 1924 1975 -5.97896 5.67893 -3.09727 -0.0037038 0.00462302 0.124485 +EDGE3 1925 1974 -5.7542 -5.70214 -2.96842 0.0102969 0.00325885 -0.125939 +EDGE3 1926 1976 -5.51296 0.0058147 -3.02713 0.000238775 -0.000365179 -0.00342774 +EDGE3 1925 1976 -5.96709 5.67253 -3.08881 -0.00493901 -0.0139938 0.129311 +EDGE3 1926 1975 -5.73122 -5.6896 -2.97701 0.00409519 0.000105824 -0.134319 +EDGE3 1927 1977 -5.53409 0.00925834 -3.01108 -0.00234978 -0.00809264 -0.00670391 +EDGE3 1926 1977 -5.98768 5.66112 -3.07957 0.00207868 -0.00428169 0.118597 +EDGE3 1927 1976 -5.76025 -5.66852 -2.9705 0.00425601 -0.00519793 -0.124708 +EDGE3 1928 1978 -5.49545 -0.0113442 -2.97665 0.00347308 0.000693838 -0.00418668 +EDGE3 1927 1978 -5.95456 5.6351 -3.06152 -0.00627341 0.000832713 0.130825 +EDGE3 1928 1977 -5.74925 -5.6621 -2.93415 -0.00152813 -0.00691283 -0.122927 +EDGE3 1929 1979 -5.52943 0.0037856 -3.00264 -0.0031097 -0.00164873 -0.000470783 +EDGE3 1928 1979 -5.99905 5.64829 -3.0759 -0.0013635 0.00264902 0.112056 +EDGE3 1929 1978 -5.7643 -5.63266 -2.94203 0.00087833 0.00022573 -0.128858 +EDGE3 1930 1980 -5.52834 0.00646121 -2.99251 -0.00105196 -0.00491989 0.00375517 +EDGE3 1929 1980 -5.98436 5.61263 -3.06471 -0.00595355 -0.00497491 0.133621 +EDGE3 1930 1979 -5.77351 -5.65358 -2.94399 0.011942 0.00784394 -0.12568 +EDGE3 1931 1981 -5.53466 0.0108668 -2.98951 0.00335638 -0.00151867 0.00626584 +EDGE3 1930 1981 -5.97143 5.61538 -3.05299 -0.00268779 0.00806028 0.12164 +EDGE3 1931 1980 -5.76763 -5.60878 -2.92867 -0.000692859 0.00759049 -0.130414 +EDGE3 1932 1982 -5.54389 0.0158913 -2.97691 -0.00275903 -0.0020458 0.00791519 +EDGE3 1931 1982 -5.98414 5.61229 -3.04283 -0.00778799 0.0019244 0.126726 +EDGE3 1932 1981 -5.7656 -5.60498 -2.90806 -0.00058178 -7.96522e-05 -0.117146 +EDGE3 1933 1983 -5.52911 0.00249384 -2.9692 0.00255532 0.00426569 0.0105989 +EDGE3 1932 1983 -5.99046 5.57183 -3.04143 0.0114317 0.00166349 0.12025 +EDGE3 1933 1982 -5.78678 -5.60859 -2.91803 -0.00619448 0.000866437 -0.118936 +EDGE3 1934 1984 -5.5434 0.0080529 -2.96469 -0.00153978 0.00478685 -0.00970984 +EDGE3 1933 1984 -6.0028 5.56902 -3.02333 -0.0102068 0.00696758 0.12744 +EDGE3 1934 1983 -5.77199 -5.58286 -2.91125 -0.00257946 0.00054549 -0.126268 +EDGE3 1935 1985 -5.55857 -0.00577557 -2.96556 0.00483907 -0.00353712 -0.000410494 +EDGE3 1934 1985 -6.00934 5.53947 -3.01819 -0.00800605 0.00262047 0.128033 +EDGE3 1935 1984 -5.79441 -5.57675 -2.90252 -0.00133558 -0.000237224 -0.131593 +EDGE3 1936 1986 -5.54686 0.0023144 -2.94801 0.00597871 3.93326e-05 0.00112469 +EDGE3 1935 1986 -6.0051 5.54155 -3.00839 -0.00116882 -0.00665964 0.130864 +EDGE3 1936 1985 -5.78159 -5.54734 -2.89328 0.00478137 -0.00117958 -0.130937 +EDGE3 1937 1987 -5.54665 -0.011941 -2.92994 -0.00724633 -0.00108401 -0.0052027 +EDGE3 1936 1987 -6.01735 5.52662 -3.00387 0.00842214 0.00210134 0.116253 +EDGE3 1937 1986 -5.77099 -5.53528 -2.8886 0.000346885 0.00526133 -0.124321 +EDGE3 1938 1988 -5.56683 -0.00291494 -2.9358 -0.000712875 -0.00129538 -0.000686411 +EDGE3 1937 1988 -6.01441 5.51297 -3.00172 0.00520635 0.00497543 0.129399 +EDGE3 1938 1987 -5.79441 -5.50623 -2.88102 -0.0047978 -0.00417152 -0.134286 +EDGE3 1939 1989 -5.55124 -0.0158818 -2.93374 0.000801164 -0.00105943 -0.00579888 +EDGE3 1938 1989 -6.0063 5.50203 -2.98735 -0.0063503 0.00427412 0.114408 +EDGE3 1939 1988 -5.79818 -5.52221 -2.88128 0.00701604 -0.00536374 -0.112867 +EDGE3 1940 1990 -5.57132 0.0116076 -2.92598 0.00380591 -0.00131419 0.00322591 +EDGE3 1939 1990 -6.00843 5.47458 -2.98888 -0.000492734 0.00235777 0.126978 +EDGE3 1940 1989 -5.78457 -5.49092 -2.88974 0.000228448 0.00680623 -0.126548 +EDGE3 1941 1991 -5.56991 -0.00558997 -2.89809 0.00242658 0.00931747 0.00204082 +EDGE3 1940 1991 -5.99684 5.45655 -2.98526 -0.00137462 -0.00527492 0.131652 +EDGE3 1941 1990 -5.79629 -5.47263 -2.85105 0.00595228 -0.00142078 -0.12293 +EDGE3 1942 1992 -5.59152 -0.0212325 -2.90127 -0.00540962 0.00597246 0.00312764 +EDGE3 1941 1992 -6.02367 5.44705 -2.98275 0.00135644 0.00170721 0.122284 +EDGE3 1942 1991 -5.79717 -5.44616 -2.8524 0.00486424 0.00873439 -0.1335 +EDGE3 1943 1993 -5.5772 -0.010063 -2.88379 -0.00103114 -0.00478939 -0.00587242 +EDGE3 1942 1993 -6.01119 5.43886 -2.97587 -0.00725017 -0.00319134 0.126522 +EDGE3 1943 1992 -5.79927 -5.47078 -2.83014 0.00352528 0.00413822 -0.125509 +EDGE3 1944 1994 -5.57365 0.000848455 -2.88549 -0.001073 0.00572914 -0.0008407 +EDGE3 1943 1994 -6.02653 5.41374 -2.9452 -0.000383602 -0.00795551 0.12434 +EDGE3 1944 1993 -5.80088 -5.41726 -2.85127 0.0114619 -0.00490873 -0.125047 +EDGE3 1945 1995 -5.58552 0.00101109 -2.90024 -0.00814831 0.0039062 -0.00378408 +EDGE3 1944 1995 -6.01961 5.40448 -2.95355 0.00527659 0.00264058 0.13221 +EDGE3 1945 1994 -5.7977 -5.4279 -2.85378 -0.0101286 0.00276164 -0.123742 +EDGE3 1946 1996 -5.57451 -0.00145722 -2.8682 0.00169367 -0.0146546 -0.00380074 +EDGE3 1945 1996 -6.03607 5.38742 -2.9358 0.00149363 -0.00246134 0.129947 +EDGE3 1946 1995 -5.80325 -5.41852 -2.81974 0.0107271 -0.00925749 -0.122772 +EDGE3 1947 1997 -5.59283 -0.0117238 -2.87841 -0.000609928 -0.00221692 0.00111616 +EDGE3 1946 1997 -6.03117 5.36613 -2.93584 0.00889473 0.00301499 0.122241 +EDGE3 1947 1996 -5.80672 -5.37803 -2.83131 -0.0062877 -0.0032303 -0.126607 +EDGE3 1948 1998 -5.58457 -0.00119354 -2.87158 -0.00559931 -0.00844645 -0.00423722 +EDGE3 1947 1998 -6.03402 5.37986 -2.93836 -0.00682208 -0.00144857 0.11827 +EDGE3 1948 1997 -5.82088 -5.38313 -2.80311 0.000691188 0.00215266 -0.122895 +EDGE3 1949 1999 -5.59071 0.00667578 -2.86478 8.55629e-05 0.00595285 -0.0049736 +EDGE3 1948 1999 -6.02021 5.33921 -2.92573 -0.00142202 -0.00573423 0.127055 +EDGE3 1949 1998 -5.81159 -5.35273 -2.80336 0.000684082 0.0035971 -0.121843 +EDGE3 1950 2000 -5.59575 -0.00419579 -2.86647 -0.00277985 0.0104589 -0.00212302 +EDGE3 1949 2000 -6.0742 5.32421 -2.89755 0.0123511 0.00706643 0.125618 +EDGE3 1950 1999 -5.81671 -5.34966 -2.79616 0.00230823 -0.00228506 -0.126171 +EDGE3 1951 2001 -5.60296 -0.00817804 -2.8594 0.000276944 -0.000886763 0.0110153 +EDGE3 1950 2001 -6.05539 5.32921 -2.90149 -0.00189942 -0.00572901 0.119612 +EDGE3 1951 2000 -5.81911 -5.34241 -2.79742 -0.000302118 0.00617901 -0.122047 +EDGE3 1952 2002 -5.61285 0.00273397 -2.85226 -0.00131322 0.00654866 0.00451317 +EDGE3 1951 2002 -6.04454 5.31233 -2.90912 -0.00676358 -0.00176541 0.123367 +EDGE3 1952 2001 -5.81987 -5.29939 -2.7974 0.00237527 0.0029512 -0.127436 +EDGE3 1953 2003 -5.61281 0.0173624 -2.83283 -0.00821729 0.00231243 -0.00198992 +EDGE3 1952 2003 -6.0442 5.28225 -2.88559 0.00479039 -0.00290219 0.12475 +EDGE3 1953 2002 -5.84024 -5.31216 -2.76189 0.00841298 -0.00132699 -0.12934 +EDGE3 1954 2004 -5.60898 -0.00274502 -2.8168 -0.00367854 -0.00114419 0.00228453 +EDGE3 1953 2004 -6.04515 5.27668 -2.88639 0.00377854 -0.00605849 0.118488 +EDGE3 1954 2003 -5.81976 -5.29148 -2.78273 0.00333521 -0.000956545 -0.131773 +EDGE3 1955 2005 -5.61379 0.00407275 -2.82358 -0.00383064 0.00663643 -0.00336601 +EDGE3 1954 2005 -6.06558 5.26941 -2.8788 0.00720361 -0.00582111 0.123006 +EDGE3 1955 2004 -5.82779 -5.2801 -2.76155 -0.000260862 0.00568802 -0.137603 +EDGE3 1956 2006 -5.6295 -0.00297196 -2.80581 -0.00538486 0.00249065 0.00309432 +EDGE3 1955 2006 -6.0489 5.24933 -2.85136 0.00451571 -0.00804957 0.120522 +EDGE3 1956 2005 -5.83137 -5.26182 -2.75858 -0.00344215 -0.00685491 -0.121845 +EDGE3 1957 2007 -5.61548 0.00536062 -2.80103 0.00297612 -0.00503937 0.00470988 +EDGE3 1956 2007 -6.06453 5.24294 -2.8512 -0.000956403 -0.00108455 0.131191 +EDGE3 1957 2006 -5.85078 -5.26019 -2.75804 -0.00825878 -0.00388195 -0.131439 +EDGE3 1958 2008 -5.62227 0.0155275 -2.79241 0.000697699 -0.000490867 0.00176388 +EDGE3 1957 2008 -6.05818 5.22696 -2.86052 0.00365555 -0.000990128 0.124371 +EDGE3 1958 2007 -5.83188 -5.21839 -2.74016 -0.00317899 0.00187072 -0.12843 +EDGE3 1959 2009 -5.6453 0.00740263 -2.78745 0.00713127 0.00674665 0.00755264 +EDGE3 1958 2009 -6.06069 5.20371 -2.84382 0.00427806 -0.00211225 0.120322 +EDGE3 1959 2008 -5.82827 -5.22266 -2.74746 0.00499369 0.00577802 -0.115161 +EDGE3 1960 2010 -5.64157 0.0181014 -2.78037 -0.00184412 -0.00143602 -0.00150876 +EDGE3 1959 2010 -6.07768 5.19253 -2.83891 -0.00825649 -0.00219315 0.130249 +EDGE3 1960 2009 -5.84075 -5.21011 -2.71681 0.00608648 0.00230065 -0.13551 +EDGE3 1961 2011 -5.62202 0.00423525 -2.7681 0.00262469 -0.00404198 0.0140314 +EDGE3 1960 2011 -6.07257 5.18361 -2.82335 0.00486628 0.0103289 0.123439 +EDGE3 1961 2010 -5.85159 -5.20161 -2.70799 0.00840214 2.97394e-05 -0.139751 +EDGE3 1962 2012 -5.63987 0.00177652 -2.77025 0.00348143 -0.00461863 0.00311556 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-0.00290824 +EDGE3 1974 2025 -6.10495 4.98567 -2.72957 -0.00874588 0.00174585 0.127264 +EDGE3 1975 2024 -5.87097 -4.97912 -2.62542 0.00586282 0.00449985 -0.122856 +EDGE3 1976 2026 -5.69275 0.00175766 -2.64297 -0.00659111 -0.00304246 -0.00342775 +EDGE3 1975 2026 -6.11354 4.98457 -2.69983 -0.011482 -0.00538869 0.128734 +EDGE3 1976 2025 -5.88145 -4.99451 -2.6125 -0.00802617 -0.000498878 -0.126156 +EDGE3 1977 2027 -5.68552 -0.00259463 -2.65417 -0.000895117 -0.00917468 0.00466201 +EDGE3 1976 2027 -6.10601 4.94769 -2.71653 0.000402919 0.00629842 0.12919 +EDGE3 1977 2026 -5.88762 -4.97776 -2.60792 -0.00789496 0.00442893 -0.127865 +EDGE3 1978 2028 -5.68832 -0.0120616 -2.66402 -0.00253004 0.000279988 0.00390043 +EDGE3 1977 2028 -6.12622 4.93498 -2.71018 0.00480295 0.00156111 0.126563 +EDGE3 1978 2027 -5.87971 -4.97422 -2.60538 -0.00113797 0.00451869 -0.122012 +EDGE3 1979 2029 -5.68937 -0.00483494 -2.65422 0.0019051 0.00022987 0.000628138 +EDGE3 1978 2029 -6.0981 4.92902 -2.71323 0.00349942 -0.00319367 0.122731 +EDGE3 1979 2028 -5.89997 -4.95356 -2.60002 0.00104094 -0.0029203 -0.122893 +EDGE3 1980 2030 -5.70644 0.00981718 -2.63796 -0.000810061 0.000815083 0.00394178 +EDGE3 1979 2030 -6.11012 4.91604 -2.68577 0.000373158 -0.00146418 0.12864 +EDGE3 1980 2029 -5.89608 -4.91491 -2.58249 0.00716838 0.000627993 -0.126979 +EDGE3 1981 2031 -5.70029 0.0103036 -2.61469 -0.00812967 -0.0105987 0.000201646 +EDGE3 1980 2031 -6.12635 4.89014 -2.69433 0.00496996 0.00453455 0.129435 +EDGE3 1981 2030 -5.90683 -4.90595 -2.58374 -0.00883008 0.00295164 -0.128402 +EDGE3 1982 2032 -5.71383 -0.00508804 -2.61098 -0.00172683 -0.00616701 -0.00188828 +EDGE3 1981 2032 -6.12548 4.87477 -2.66559 -0.0019092 -0.0121391 0.123419 +EDGE3 1982 2031 -5.87399 -4.87441 -2.56641 0.000194926 -0.00365293 -0.12622 +EDGE3 1983 2033 -5.70435 -4.68006e-05 -2.61322 -0.00119224 -0.00427238 -0.000459402 +EDGE3 1982 2033 -6.14499 4.86172 -2.69185 0.00258962 0.00167336 0.119678 +EDGE3 1983 2032 -5.88933 -4.87997 -2.57352 0.0136186 -0.00053469 -0.113947 +EDGE3 1984 2034 -5.70866 0.00740743 -2.6169 0.0070403 -0.00740498 -0.00426495 +EDGE3 1983 2034 -6.12992 4.8486 -2.67041 0.000613673 -0.00484777 0.123082 +EDGE3 1984 2033 -5.89246 -4.8649 -2.55875 -0.00150449 -0.000601549 -0.118692 +EDGE3 1985 2035 -5.72381 0.00196836 -2.6104 0.00474132 0.00369973 -0.00928139 +EDGE3 1984 2035 -6.14261 4.82665 -2.65943 -0.00386675 0.000172735 0.117963 +EDGE3 1985 2034 -5.91073 -4.84735 -2.54636 -0.00497801 0.00234227 -0.12809 +EDGE3 1985 2036 -6.11982 4.80201 -2.66184 -0.00324819 0.00863909 0.12945 +EDGE3 1986 2036 -5.72677 0.00382911 -2.59004 0.00980639 0.0010069 0.0089004 +EDGE3 1987 2037 -5.729 0.0125778 -2.60432 -0.00461108 -0.000919019 -0.00405932 +EDGE3 1986 2035 -5.91921 -4.82525 -2.55333 -0.0037187 0.00610245 -0.123571 +EDGE3 1986 2037 -6.14308 4.79213 -2.6394 -0.00708418 0.000286545 0.127403 +EDGE3 1987 2036 -5.90948 -4.81843 -2.53106 -0.00374852 0.0136236 -0.130216 +EDGE3 1988 2038 -5.72723 -0.012184 -2.58184 0.00280776 -0.00303138 0.00678438 +EDGE3 1987 2038 -6.13312 4.7865 -2.65133 -0.00370447 0.000732884 0.125371 +EDGE3 1988 2037 -5.88902 -4.80056 -2.54457 -0.000314103 0.00249991 -0.126326 +EDGE3 1989 2039 -5.71025 -0.00967135 -2.5907 0.00537582 1.53546e-05 -0.00146584 +EDGE3 1988 2039 -6.153 4.76545 -2.65028 0.0117102 0.00144592 0.128812 +EDGE3 1989 2038 -5.8993 -4.80011 -2.5341 0.00288866 0.0063646 -0.119684 +EDGE3 1990 2040 -5.73889 -0.00119034 -2.56429 -0.00109989 -0.00315108 0.00031357 +EDGE3 1989 2040 -6.15324 4.77179 -2.64271 -0.001378 -0.00117353 0.124713 +EDGE3 1990 2039 -5.92804 -4.7756 -2.51318 -0.000644632 0.00395925 -0.125373 +EDGE3 1991 2041 -5.71671 4.96791e-05 -2.56081 -0.00240224 0.00493047 -0.000233993 +EDGE3 1990 2041 -6.13659 4.7519 -2.61667 -0.00117809 -0.00589109 0.124796 +EDGE3 1991 2040 -5.91479 -4.76916 -2.52589 -0.00522813 -1.21103e-05 -0.123421 +EDGE3 1992 2042 -5.741 0.0163824 -2.53424 -0.00332111 0.00513903 -0.00328601 +EDGE3 1991 2042 -6.14323 4.72251 -2.59834 -0.012849 0.00702589 0.1204 +EDGE3 1992 2041 -5.91697 -4.74255 -2.49408 0.00197826 0.00233048 -0.135124 +EDGE3 1993 2043 -5.74865 0.00741669 -2.53799 -0.00231165 -0.00337837 0.00893604 +EDGE3 1992 2043 -6.15616 4.70534 -2.60166 -0.0062415 0.00222547 0.127571 +EDGE3 1993 2042 -5.9251 -4.72891 -2.48772 -0.000202461 0.00309071 -0.127355 +EDGE3 1994 2044 -5.73641 -0.00432517 -2.55032 -0.00244914 -0.00071224 -0.00606833 +EDGE3 1993 2044 -6.14334 4.6887 -2.58314 -0.00048312 0.00916664 0.136056 +EDGE3 1994 2043 -5.93669 -4.72724 -2.49448 -0.00379939 -0.00258039 -0.125835 +EDGE3 1995 2045 -5.76333 -0.00576178 -2.53612 0.0034264 0.00257061 -0.00514583 +EDGE3 1994 2045 -6.17376 4.67516 -2.59567 -0.00447444 0.00525539 0.123384 +EDGE3 1995 2044 -5.91971 -4.69424 -2.47222 -0.00527692 -0.00213859 -0.124652 +EDGE3 1996 2046 -5.75783 0.00566603 -2.5296 0.00286347 -1.47955e-05 -0.00253179 +EDGE3 1995 2046 -6.15345 4.6678 -2.56932 0.00390513 0.00643812 0.131291 +EDGE3 1996 2045 -5.92701 -4.67611 -2.47095 -0.00161134 0.000700915 -0.120453 +EDGE3 1997 2047 -5.74533 0.00651527 -2.52244 -0.00324859 0.00305536 -0.00550445 +EDGE3 1996 2047 -6.15972 4.65363 -2.56111 -0.00111321 -0.00352066 0.131328 +EDGE3 1997 2046 -5.90996 -4.66918 -2.46934 0.00750882 0.00411914 -0.125018 +EDGE3 1998 2048 -5.74915 0.00115262 -2.52889 0.000972271 -0.000143849 0.00251976 +EDGE3 1997 2048 -6.18446 4.64395 -2.57079 0.00187662 -0.00478119 0.118365 +EDGE3 1998 2047 -5.9519 -4.66086 -2.44759 -0.00208003 -0.00851716 -0.13098 +EDGE3 1999 2049 -5.76126 -0.0108822 -2.50516 -0.00467626 -0.00446563 -0.00804558 +EDGE3 1998 2049 -6.15605 4.6253 -2.56056 0.00279508 -0.0109602 0.134323 +EDGE3 1999 2048 -5.94408 -4.65923 -2.45192 0.000883096 0.00140328 -0.123139 +EDGE3 2000 2050 -5.74839 -0.00734357 -2.49863 0.000311057 -0.00142417 -0.00377704 +EDGE3 1999 2050 -6.15495 4.61349 -2.5414 -0.000181217 -0.00203306 0.129037 +EDGE3 2000 2049 -5.9317 -4.64752 -2.44503 0.00901745 0.0017234 -0.118038 +EDGE3 2001 2051 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Create graph container and add factors to it - pose2SLAM::Graph graph ; + pose2SLAM::Graph graph; // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin @@ -35,25 +35,25 @@ int main(int argc, char** argv) { // 2b. Add odometry factors SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); - graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); + graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise); graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint - SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); - graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + SharedDiagonal model(Vector_(3, 0.2, 0.2, 0.1)); + graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), model); // print graph.print("\nFactor graph:\n"); - // 3. Create the data structure to hold the initialEstimate estimate to the solution + // 3. Create the data structure to hold the initialEstimate estimate to the solution pose2SLAM::Values initialEstimate; - Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); - Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); - Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); - Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); - Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insertPose(2, Pose2(2.3, 0.1, -0.2)); + initialEstimate.insertPose(3, Pose2(4.1, 0.1, M_PI_2)); + initialEstimate.insertPose(4, Pose2(4.0, 2.0, M_PI)); + initialEstimate.insertPose(5, Pose2(2.1, 2.1, -M_PI_2)); initialEstimate.print("\nInitial estimate:\n"); // 4. Single Step Optimization using Levenberg-Marquardt diff --git a/examples/matlab/Pose2SLAMExample.m b/examples/matlab/Pose2SLAMExample.m index 41d4c0708..5641d2ac3 100644 --- a/examples/matlab/Pose2SLAMExample.m +++ b/examples/matlab/Pose2SLAMExample.m @@ -36,19 +36,19 @@ graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -constraintUncertainty = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), constraintUncertainty); +model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points initialEstimate = pose2SLAMValues; -x1 = gtsamPose2(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); -x2 = gtsamPose2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); -x3 = gtsamPose2(4.1, 0.1, pi/2); initialEstimate.insertPose(3, x3); -x4 = gtsamPose2(4.0, 2.0, pi ); initialEstimate.insertPose(4, x4); -x5 = gtsamPose2(2.1, 2.1,-pi/2); initialEstimate.insertPose(5, x5); +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 )); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 )); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2)); +initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); +initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd diff --git a/examples/matlab/Pose2SLAMExample_circle.m b/examples/matlab/Pose2SLAMExample_circle.m new file mode 100644 index 000000000..7e7ab6694 --- /dev/null +++ b/examples/matlab/Pose2SLAMExample_circle.m @@ -0,0 +1,48 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create a hexagon of poses +hexagon = pose2SLAMValues_Circle(6,1.0); +p0 = hexagon.pose(0); +p1 = hexagon.pose(1); + +%% create a Pose graph with one equality constraint and one measurement +fg = pose2SLAMGraph; +fg.addPoseConstraint(0, p0); +delta = p0.between(p1); +covariance = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); +fg.addOdometry(0,1, delta, covariance); +fg.addOdometry(1,2, delta, covariance); +fg.addOdometry(2,3, delta, covariance); +fg.addOdometry(3,4, delta, covariance); +fg.addOdometry(4,5, delta, covariance); +fg.addOdometry(5,0, delta, covariance); + +%% Create initial config +initial = pose2SLAMValues; +initial.insertPose(0, p0); +initial.insertPose(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]')); +initial.insertPose(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]')); +initial.insertPose(3, hexagon.pose(3).retract([-0.1, 0.1,-0.1]')); +initial.insertPose(4, hexagon.pose(4).retract([ 0.1,-0.1, 0.1]')); +initial.insertPose(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]')); + +%% Plot Initial Estimate +figure(1);clf +plot(initial.xs(),initial.ys(),'g-*'); axis equal + +%% optimize +result = fg.optimize(initial); + +%% Show Result +hold on; plot(result.xs(),result.ys(),'b-*') +result.print(sprintf('\nFinal result:\n')); diff --git a/examples/matlab/Pose3SLAMExample_circle.m b/examples/matlab/Pose3SLAMExample_circle.m new file mode 100644 index 000000000..d1676626c --- /dev/null +++ b/examples/matlab/Pose3SLAMExample_circle.m @@ -0,0 +1,49 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create a hexagon of poses +hexagon = pose3SLAMValues_Circle(6,1.0); +p0 = hexagon.pose(0); +p1 = hexagon.pose(1); + +%% create a Pose graph with one equality constraint and one measurement +fg = pose3SLAMGraph; +fg.addHardConstraint(0, p0); +delta = p0.between(p1); +covariance = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +fg.addConstraint(0,1, delta, covariance); +fg.addConstraint(1,2, delta, covariance); +fg.addConstraint(2,3, delta, covariance); +fg.addConstraint(3,4, delta, covariance); +fg.addConstraint(4,5, delta, covariance); +fg.addConstraint(5,0, delta, covariance); + +%% Create initial config +initial = pose3SLAMValues; +s = 0.10; +initial.insertPose(0, p0); +initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1))); +initial.insertPose(2, hexagon.pose(2).retract(s*randn(6,1))); +initial.insertPose(3, hexagon.pose(3).retract(s*randn(6,1))); +initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1))); +initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); + +%% Plot Initial Estimate +figure(1);clf +plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); axis equal + +%% optimize +result = fg.optimize(initial); + +%% Show Result +hold on; plot3(result.xs(),result.ys(),result.zs(),'b-*') +result.print(sprintf('\nFinal result:\n')); diff --git a/examples/matlab/Pose3SLAMExample_graph.m b/examples/matlab/Pose3SLAMExample_graph.m new file mode 100644 index 000000000..a42484484 --- /dev/null +++ b/examples/matlab/Pose3SLAMExample_graph.m @@ -0,0 +1,28 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Initialize graph, initial estimate, and odometry noise +model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +[graph,initial]=load3D('../Data/sphere_smallnoise.graph',model,100); + +%% Fix first pose +first = initial.pose(0); +graph.addHardConstraint(0, first); % add directly to graph + +%% Plot Initial Estimate +figure(1);clf +plot3(initial.xs(),initial.ys(),initial.zs(),'g-'); hold on +plot3(first.x(),first.y(),first.z(),'r*'); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initial); +hold on; plot3(result.xs(),result.ys(),result.zs(),'b-');axis equal; \ No newline at end of file diff --git a/examples/matlab/load3D.m b/examples/matlab/load3D.m new file mode 100644 index 000000000..0ed6ecd61 --- /dev/null +++ b/examples/matlab/load3D.m @@ -0,0 +1,38 @@ +function [graph,initial] = load3D(filename,model,N) +% load3D: read TORO 3D pose graph +% cannot read noise model from file yet, uses specified model +fid = fopen(filename); +if fid < 0 + error(['load2D: Cannot open file ' filename]); +end + +% scan all lines into a cell array +columns=textscan(fid,'%s','delimiter','\n'); +fclose(fid); +lines=columns{1}; + +% loop over lines and add vertices +graph = pose3SLAMGraph; +initial = pose3SLAMValues; +n=size(lines,1); +if nargin<3, N=n;end + +for i=1:n + line_i=lines{i}; + if strcmp('VERTEX3',line_i(1:7)) + v = textscan(line_i,'%s %d %f %f %f %f %f %f',1); + if v{2} +namespace pose3SLAM { + +class Values { + Values(); + size_t size() const; + void print(string s) const; + static pose3SLAM::Values Circle(size_t n, double R); + void insertPose(size_t key, const gtsam::Pose3& pose); + gtsam::Pose3 pose(size_t i); + Vector xs() const; + Vector ys() const; + Vector zs() const; +}; + +class Graph { + Graph(); + + // FactorGraph + void print(string s) const; + bool equals(const pose3SLAM::Graph& fg, double tol) const; + size_t size() const; + bool empty() const; + void remove(size_t i); + size_t nrFactors() const; + + // NonlinearFactorGraph + double error(const pose3SLAM::Values& values) const; + double probPrime(const pose3SLAM::Values& values) const; + gtsam::Ordering* orderingCOLAMD(const pose3SLAM::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const pose3SLAM::Values& values, + const gtsam::Ordering& ordering) const; + + // pose3SLAM-specific + void addPrior(size_t key, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model); + void addConstraint(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::SharedNoiseModel& model); + void addHardConstraint(size_t i, const gtsam::Pose3& p); + pose3SLAM::Values optimize(const pose3SLAM::Values& initialEstimate) const; + gtsam::Marginals marginals(const pose3SLAM::Values& solution) const; +}; + +}///\namespace pose3SLAM + //************************************************************************* // planarSLAM //************************************************************************* @@ -488,9 +542,10 @@ namespace planarSLAM { class Values { Values(); + size_t size() const; + void print(string s) const; void insertPose(size_t key, const gtsam::Pose2& pose); void insertPoint(size_t key, const gtsam::Point2& point); - void print(string s) const; gtsam::Pose2 pose(size_t key) const; gtsam::Point2 point(size_t key) const; }; @@ -498,25 +553,30 @@ class Values { class Graph { Graph(); + // FactorGraph void print(string s) const; + bool equals(const planarSLAM::Graph& fg, double tol) const; + size_t size() const; + bool empty() const; + void remove(size_t i); + size_t nrFactors() const; + // NonlinearFactorGraph double error(const planarSLAM::Values& values) const; + double probPrime(const planarSLAM::Values& values) const; gtsam::Ordering* orderingCOLAMD(const planarSLAM::Values& values) const; gtsam::GaussianFactorGraph* linearize(const planarSLAM::Values& values, const gtsam::Ordering& ordering) const; - void addPrior(size_t key, const gtsam::Pose2& pose, - const gtsam::SharedNoiseModel& noiseModel); + // planarSLAM-specific + void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); void addPoseConstraint(size_t key, const gtsam::Pose2& pose); - void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, - const gtsam::SharedNoiseModel& noiseModel); - void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, - const gtsam::SharedNoiseModel& noiseModel); - void addRange(size_t poseKey, size_t pointKey, double range, - const gtsam::SharedNoiseModel& noiseModel); - void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, - double range, const gtsam::SharedNoiseModel& noiseModel); + void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); + void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, const gtsam::SharedNoiseModel& noiseModel); + void addRange(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& noiseModel); + void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::SharedNoiseModel& noiseModel); planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate); + gtsam::Marginals marginals(const planarSLAM::Values& solution) const; }; class Odometry { diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index f45c3bc86..5d03cd646 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -24,8 +24,13 @@ #include #include #include +#include #include +/** + * @defgroup SLAM + */ + // Use planarSLAM namespace for specific SLAM instance namespace planarSLAM { @@ -48,9 +53,9 @@ namespace planarSLAM { /// A factor between a pose and a point to express difference in rotation and location typedef BearingRangeFactor BearingRange; - /** - * Values class, using specific poses and points - * Mainly as a convenience for MATLAB wrapper, which does not allow for identically named methods + /* + * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + * @ingroup SLAM */ struct Values: public gtsam::Values { @@ -75,7 +80,10 @@ namespace planarSLAM { void insertPoint(Key j, const Point2& point) { insert(j, point); } }; - /// Creates a NonlinearFactorGraph with the Values type + /** + * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper + * @ingroup SLAM + */ struct Graph: public NonlinearFactorGraph { /// Default constructor for a NonlinearFactorGraph @@ -104,6 +112,11 @@ namespace planarSLAM { /// Optimize Values optimize(const Values& initialEstimate) const; + + /// Return a Marginals object + Marginals marginals(const Values& solution) const { + return Marginals(*this,solution); + } }; } // planarSLAM diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index a1e5932d9..49ab37111 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -23,7 +23,7 @@ namespace pose2SLAM { /* ************************************************************************* */ - Values circle(size_t n, double R) { + Values Values::Circle(size_t n, double R) { Values x; double theta = 0, dtheta = 2 * M_PI / n; for (size_t i = 0; i < n; i++, theta += dtheta) diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 5668f8ad0..d7ebd3323 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -30,7 +30,10 @@ namespace pose2SLAM { using namespace gtsam; - /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + /* + * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + * @ingroup SLAM + */ struct Values: public gtsam::Values { typedef boost::shared_ptr shared_ptr; @@ -43,6 +46,15 @@ namespace pose2SLAM { gtsam::Values(values) { } + /** + * Create a circle of n 2D poses tangent to circle of radius R, first pose at (R,0) + * @param n number of poses + * @param R radius of circle + * @param c character to use for keys + * @return circle of n 2D poses + */ + static Values Circle(size_t n, double R); + /// insert a pose void insertPose(Key i, const Pose2& pose) { insert(i, pose); } @@ -54,15 +66,6 @@ namespace pose2SLAM { Vector thetas() const; ///< get all orientations in a matrix }; - /** - * Create a circle of n 2D poses tangent to circle of radius R, first pose at (R,0) - * @param n number of poses - * @param R radius of circle - * @param c character to use for keys - * @return circle of n 2D poses - */ - Values circle(size_t n, double R); - /** * List of typedefs for factors */ @@ -74,7 +77,10 @@ namespace pose2SLAM { /// A factor to add an odometry measurement between two poses. typedef BetweenFactor Odometry; - /// Graph + /** + * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper + * @ingroup SLAM + */ struct Graph: public NonlinearFactorGraph { typedef boost::shared_ptr shared_ptr; diff --git a/gtsam/slam/pose3SLAM.cpp b/gtsam/slam/pose3SLAM.cpp index ffce28fe7..c7f8a29c5 100644 --- a/gtsam/slam/pose3SLAM.cpp +++ b/gtsam/slam/pose3SLAM.cpp @@ -22,7 +22,7 @@ namespace pose3SLAM { /* ************************************************************************* */ - Values circle(size_t n, double radius) { + Values Values::Circle(size_t n, double radius) { Values x; double theta = 0, dtheta = 2 * M_PI / n; // We use aerospace/navlab convention, X forward, Y right, Z down @@ -41,6 +41,36 @@ namespace pose3SLAM { return x; } + /* ************************************************************************* */ + Vector Values::xs() const { + size_t j=0; + Vector result(size()); + ConstFiltered poses = filter(); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.x(); + return result; + } + + /* ************************************************************************* */ + Vector Values::ys() const { + size_t j=0; + Vector result(size()); + ConstFiltered poses = filter(); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.y(); + return result; + } + + /* ************************************************************************* */ + Vector Values::zs() const { + size_t j=0; + Vector result(size()); + ConstFiltered poses = filter(); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.z(); + return result; + } + /* ************************************************************************* */ void Graph::addPrior(Key i, const Pose3& p, const SharedNoiseModel& model) { sharedFactor factor(new Prior(i, p, model)); diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index f81070818..448914f0d 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -17,25 +17,53 @@ #pragma once -#include #include #include #include #include #include +#include +#include /// Use pose3SLAM namespace for specific SLAM instance namespace pose3SLAM { using namespace gtsam; - /** - * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0) - * @param n number of poses - * @param R radius of circle - * @return circle of n 3D poses + /* + * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + * @ingroup SLAM */ - Values circle(size_t n, double R); + struct Values: public gtsam::Values { + + typedef boost::shared_ptr shared_ptr; + + /// Default constructor + Values() {} + + /// Copy constructor + Values(const gtsam::Values& values) : + gtsam::Values(values) { + } + + /** + * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0) + * @param n number of poses + * @param R radius of circle + * @return circle of n 3D poses + */ + static Values Circle(size_t n, double R); + + /// insert a pose + void insertPose(Key i, const Pose3& pose) { insert(i, pose); } + + /// get a pose + Pose3 pose(Key i) const { return at(i); } + + Vector xs() const; ///< get all x coordinates in a matrix + Vector ys() const; ///< get all y coordinates in a matrix + Vector zs() const; ///< get all z coordinates in a matrix + }; /// A prior factor on Key with Pose3 data type. typedef PriorFactor Prior; @@ -44,7 +72,10 @@ namespace pose3SLAM { /// A hard constraint would enforce that the given key would have the input value in the results. typedef NonlinearEquality HardConstraint; - /// Graph + /** + * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper + * @ingroup SLAM + */ struct Graph: public NonlinearFactorGraph { /// Adds a factor between keys of the same type @@ -61,6 +92,10 @@ namespace pose3SLAM { return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); } + /// Return a Marginals object + Marginals marginals(const Values& solution) const { + return Marginals(*this,solution); + } }; } // pose3SLAM diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 7f329f1cb..55558b106 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -195,7 +195,7 @@ TEST_UNSAFE(Pose2SLAM, optimize) { TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) { // Create a hexagon of poses - pose2SLAM::Values hexagon = pose2SLAM::circle(3,1.0); + pose2SLAM::Values hexagon = pose2SLAM::Values::Circle(3,1.0); Pose2 p0 = hexagon.pose(0), p1 = hexagon.pose(1); // create a Pose graph with one equality constraint and one measurement @@ -231,7 +231,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) { TEST_UNSAFE(Pose2SLAM, optimizeCircle) { // Create a hexagon of poses - pose2SLAM::Values hexagon = pose2SLAM::circle(6,1.0); + pose2SLAM::Values hexagon = pose2SLAM::Values::Circle(6,1.0); Pose2 p0 = hexagon.pose(0), p1 = hexagon.pose(1); // create a Pose graph with one equality constraint and one measurement @@ -366,7 +366,7 @@ TEST_UNSAFE(Pose2Values, pose2Circle ) expected.insert(2, Pose2(-1, 0, - M_PI_2)); expected.insert(3, Pose2( 0, -1, 0 )); - pose2SLAM::Values actual = pose2SLAM::circle(4,1.0); + pose2SLAM::Values actual = pose2SLAM::Values::Circle(4,1.0); CHECK(assert_equal(expected,actual)); } @@ -381,7 +381,7 @@ TEST_UNSAFE(Pose2SLAM, expmap ) expected.insert(3, Pose2( 0.1, -1, 0 )); // Note expmap coordinates are in local coordinates, so shifting to right requires thought !!! - pose2SLAM::Values circle(pose2SLAM::circle(4,1.0)); + pose2SLAM::Values circle = pose2SLAM::Values::Circle(4,1.0); Ordering ordering(*circle.orderingArbitrary()); VectorValues delta(circle.dims(ordering)); delta[ordering[0]] = Vector_(3, 0.0,-0.1,0.0); diff --git a/gtsam/slam/tests/testPose3SLAM.cpp b/gtsam/slam/tests/testPose3SLAM.cpp index 4ebe7d27f..46a1c35c5 100644 --- a/gtsam/slam/tests/testPose3SLAM.cpp +++ b/gtsam/slam/tests/testPose3SLAM.cpp @@ -43,7 +43,7 @@ TEST(Pose3Graph, optimizeCircle) { // Create a hexagon of poses double radius = 10; - Values hexagon = pose3SLAM::circle(6,radius); + Values hexagon = pose3SLAM::Values::Circle(6,radius); Pose3 gT0 = hexagon.at(0), gT1 = hexagon.at(1); // create a Pose graph with one equality constraint and one measurement @@ -179,7 +179,7 @@ TEST( Values, pose3Circle ) expected.insert(2, Pose3(R3, Point3(-1, 0, 0))); expected.insert(3, Pose3(R4, Point3( 0,-1, 0))); - Values actual = pose3SLAM::circle(4,1.0); + Values actual = pose3SLAM::Values::Circle(4,1.0); CHECK(assert_equal(expected,actual)); } @@ -199,7 +199,7 @@ TEST( Values, expmap ) 0.0,0.0,0.0, 0.1, 0.0, 0.0, 0.0,0.0,0.0, 0.1, 0.0, 0.0, 0.0,0.0,0.0, 0.1, 0.0, 0.0); - Values actual = pose3SLAM::circle(4,1.0).retract(delta, ordering); + Values actual = pose3SLAM::Values::Circle(4,1.0).retract(delta, ordering); CHECK(assert_equal(expected,actual)); } From ae78b89c6f6cd1edf66d6e20d6d0a25719572eec Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 02:41:14 +0000 Subject: [PATCH 119/914] finished wrapping visualSLAM namespace --- examples/vSLAMexample/vISAMexample.cpp | 4 +- gtsam.h | 74 ++++++++++++++++++++++++++ gtsam/slam/visualSLAM.cpp | 4 +- gtsam/slam/visualSLAM.h | 16 +++++- 4 files changed, 92 insertions(+), 6 deletions(-) diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp index 16c250953..7b37a57fb 100644 --- a/examples/vSLAMexample/vISAMexample.cpp +++ b/examples/vSLAMexample/vISAMexample.cpp @@ -78,7 +78,7 @@ void readAllDataISAM() { /** * Setup newFactors and initialValues for each new pose and set of measurements at each frame. */ -void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& initialValues, +void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& initialValues, int pose_id, const Pose3& pose, const std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { // Create a graph of newFactors with new measurements @@ -99,7 +99,7 @@ void createNewFactors(shared_ptr& newFactors, boost::shared_p } // Create initial values for all nodes in the newFactors - initialValues = shared_ptr (new Values()); + initialValues = shared_ptr (new visualSLAM::Values()); initialValues->insert(X(pose_id), pose); for (size_t i = 0; i < measurements.size(); i++) { initialValues->insert(L(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); diff --git a/gtsam.h b/gtsam.h index 64dbf1cec..f1e6fff45 100644 --- a/gtsam.h +++ b/gtsam.h @@ -81,6 +81,18 @@ class Point2 { gtsam::Point2 retract(Vector v); }; +class StereoPoint2 { + StereoPoint2(); + StereoPoint2(double uL, double uR, double v); + static gtsam::StereoPoint2 Expmap(Vector v); + static Vector Logmap(const gtsam::StereoPoint2& p); + void print(string s) const; + Vector localCoordinates(const gtsam::StereoPoint2& p); + gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2); + gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2); + gtsam::StereoPoint2 retract(Vector v); +}; + class Point3 { Point3(); Point3(double x, double y, double z); @@ -207,6 +219,20 @@ class Pose3 { gtsam::Rot3 rotation() const; }; +class Cal3_S2 { + Cal3_S2(); + Cal3_S2(double fx, double fy, double s, double u0, double v0); + + void print(string s) const; +}; + +class Cal3_S2Stereo { + Cal3_S2Stereo(); + Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); + + void print(string s) const; +}; + class CalibratedCamera { CalibratedCamera(); @@ -635,3 +661,51 @@ class Graph { // TODO: add factors, etc. }///\namespace simulated2DOriented + +//************************************************************************* +// VisualSLAM +//************************************************************************* + +#include +namespace visualSLAM { + +class Values { + Values(); + void insertPose(size_t key, const gtsam::Pose3& pose); + void insertPoint(size_t key, const gtsam::Point3& pose); + size_t size() const; + void print(string s) const; + gtsam::Pose3 pose(size_t i); + gtsam::Point3 point(size_t j); +}; + +class Graph { + Graph(); + + void print(string s) const; + + double error(const pose2SLAM::Values& values) const; + gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, + const gtsam::Ordering& ordering) const; + + // Measurements + void addMeasurement(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, + size_t poseKey, size_t pointKey, const gtsam::Cal3_S2* K); + void addStereoMeasurement(const gtsam::StereoPoint2& measured, const gtsam::SharedNoiseModel& model, + size_t poseKey, size_t pointKey, const gtsam::Cal3_S2Stereo* K); + + // Constraints + void addPoseConstraint(size_t poseKey, const gtsam::Pose3& p); + void addPointConstraint(size_t pointKey, const gtsam::Point3& p); + + // Priors + void addPosePrior(size_t poseKey, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model); + void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::SharedNoiseModel& model); + void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& model); + + visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate) const; + gtsam::Marginals marginals(const visualSLAM::Values& solution) const; +}; + +}///\namespace visualSLAM diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 346455063..f4cdb0af3 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -22,14 +22,14 @@ namespace visualSLAM { /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrK& K) { + Key poseKey, Key pointKey, const shared_ptrK K) { boost::shared_ptr factor(new ProjectionFactor(measured, model, poseKey, pointKey, K)); push_back(factor); } /* ************************************************************************* */ void Graph::addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrKStereo& K) { + Key poseKey, Key pointKey, const shared_ptrKStereo K) { boost::shared_ptr factor(new StereoFactor(measured, model, poseKey, pointKey, K)); push_back(factor); } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index f13755836..f71d0c4ca 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -26,6 +26,7 @@ #include #include #include +#include #include @@ -62,9 +63,15 @@ namespace visualSLAM { /// insert a pose void insertPose(Key i, const Pose3& pose) { insert(i, pose); } + /// insert a point + void insertPoint(Key j, const Point3& point) { insert(j, point); } + /// get a pose Pose3 pose(Key i) const { return at(i); } + /// get a point + Point3 point(Key j) const { return at(j); } + }; /** @@ -99,7 +106,7 @@ namespace visualSLAM { * @param K shared pointer to calibration object */ void addMeasurement(const Point2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrK& K); + Key poseKey, Key pointKey, const shared_ptrK K); /** * Add a stereo factor measurement @@ -110,7 +117,7 @@ namespace visualSLAM { * @param K shared pointer to stereo calibration object */ void addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrKStereo& K); + Key poseKey, Key pointKey, const shared_ptrKStereo K); /** * Add a constraint on a pose (for now, *must* be satisfied in any Values) @@ -162,6 +169,11 @@ namespace visualSLAM { return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); } + /// Return a Marginals object + Marginals marginals(const Values& solution) const { + return Marginals(*this,solution); + } + }; // Graph } // namespaces From aedaec8135125f3059abc4b7dcc3b559776fcc72 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 02:50:41 +0000 Subject: [PATCH 120/914] bugfix --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index f1e6fff45..1a227b319 100644 --- a/gtsam.h +++ b/gtsam.h @@ -684,7 +684,7 @@ class Graph { void print(string s) const; - double error(const pose2SLAM::Values& values) const; + double error(const visualSLAM::Values& values) const; gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const; gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, const gtsam::Ordering& ordering) const; From 28801525e35f392486e42db193c6d6f4260f615c Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 02:51:49 +0000 Subject: [PATCH 121/914] two more small fixes --- gtsam.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index 1a227b319..48a205e2e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -685,8 +685,8 @@ class Graph { void print(string s) const; double error(const visualSLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, + gtsam::Ordering* orderingCOLAMD(const visualSLAM::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const visualSLAM::Values& values, const gtsam::Ordering& ordering) const; // Measurements From 198279f4ff47fad3a8861c664a5bf6185c51e401 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 05:51:36 +0000 Subject: [PATCH 122/914] Michael's example with our conventions... --- examples/Data/sphere2500.txt | 4949 ++++++++++++++++++++++ examples/Data/sphere2500_groundtruth.txt | 4949 ++++++++++++++++++++++ 2 files changed, 9898 insertions(+) create mode 100644 examples/Data/sphere2500.txt create mode 100644 examples/Data/sphere2500_groundtruth.txt diff --git a/examples/Data/sphere2500.txt b/examples/Data/sphere2500.txt new file mode 100644 index 000000000..dd76a3c8d --- /dev/null +++ b/examples/Data/sphere2500.txt @@ -0,0 +1,4949 @@ +EDGE3 0 1 0.341895 -0.0416997 0.0330394 -0.00305942 0.00822248 0.1802 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1 2 0.229005 0.138346 -0.0985239 -0.00165533 0.0168837 0.111357 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2 3 0.134845 -0.100952 -0.235999 -0.00238046 -0.00487134 0.120841 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 3 4 0.160394 0.0789167 -0.144281 0.00735169 -5.00329e-05 0.153437 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 4 5 0.325826 -0.0659292 -0.0839178 -0.0155927 0.00860976 0.170047 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 5 6 0.204328 -0.0241672 -0.0128254 -0.00899836 0.00684956 0.0630334 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 6 7 0.259333 -0.220076 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1838 0.0471752 -3.08736 0.05968 0.030737 0.0159755 0.0527381 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1838 1839 4.77426 -0.113355 -0.322589 -0.0143616 0.0943777 -0.0917203 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1789 1839 0.0188436 -3.06368 0.0720668 0.0818474 0.0114799 -0.00345901 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1839 1840 4.61616 -0.293992 -0.216557 0.000582939 0.0886109 -0.121437 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1790 1840 -0.0206358 -3.06349 -0.261491 0.0681527 0.0134471 0.00972475 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1840 1841 4.67614 -0.295208 -0.313561 -0.00382282 0.117662 -0.090094 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1791 1841 0.0958677 -3.05315 -0.22173 0.0458412 0.00462257 -0.0468129 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1841 1842 4.61225 -0.179533 -0.271756 -0.0149073 0.114372 -0.0772276 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 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0 0 0 100 0 0 100 0 25 +EDGE3 1800 1850 -0.108137 -2.87796 -0.224581 0.0708447 0.000116664 0.00372955 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1850 1851 4.63142 -0.272999 -0.128289 0.00536304 0.0791685 -0.108227 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1801 1851 0.042069 -2.80394 -0.18803 0.0621952 -0.0043172 -0.0157536 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1851 1852 4.68181 -0.0973537 -0.151376 -0.00658094 0.0990499 -0.0917664 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1802 1852 -0.0877699 -3.17664 -0.0572846 0.0479959 0.00962734 0.100438 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1852 1853 4.6503 -0.320069 -0.331807 -0.00976131 0.100877 -0.13558 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1803 1853 -0.0742592 -2.90932 0.0189127 0.0721261 -0.0165091 -0.036432 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1853 1854 4.69398 -0.193299 0.0197714 -0.0176067 0.0909729 -0.0080528 10 0 0 0 0 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-0.240782 -0.264261 -0.00605098 0.102242 -0.0886238 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1816 1866 0.10855 -3.03261 -0.123647 0.0590287 0.006759 -0.0136211 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1866 1867 4.55391 -0.261659 -0.358861 -0.00253605 0.0808509 -0.0814289 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1817 1867 0.1199 -3.1384 -0.247879 0.0475286 0.00597141 0.031673 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1867 1868 4.55404 -0.030304 -0.261655 0.0110733 0.087561 -0.123222 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1818 1868 0.101038 -3.15884 -0.0424015 0.0570756 0.0125934 0.124163 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1868 1869 4.59594 -0.359304 -0.28261 -0.00562722 0.0929925 -0.0350109 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1819 1869 0.0952807 -2.85621 0.124586 0.0332439 -0.0103211 -0.00109132 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1869 1870 4.78738 -0.167502 -0.151601 0.00195706 0.0897277 -0.10005 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1820 1870 -0.0168166 -3.04721 -0.239359 0.0431807 0.0042476 -0.0155395 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1870 1871 4.56802 -0.129037 -0.20308 0.00238513 0.098059 -0.111834 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1821 1871 0.0803017 -3.02661 -0.191708 0.0635411 0.0149503 -0.0343494 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1871 1872 4.48885 -0.0342608 -0.0181551 0.0193062 0.0753743 -0.0586859 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1822 1872 0.0739379 -2.96847 0.00569321 0.0682755 0.00374356 0.0332516 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1872 1873 4.3311 -0.264852 -0.186083 -0.0110717 0.104062 -0.132561 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1823 1873 -0.0143154 -3.23242 -0.0257429 0.0622019 0.00240997 -0.0137481 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1873 1874 4.49719 -0.261598 0.0532623 0.00122266 0.0922871 -0.093952 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1824 1874 0.0613559 -2.92594 -0.312506 0.0596012 -0.00863976 -0.052485 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1874 1875 4.58532 -0.23031 -0.192696 -0.00494584 0.101564 -0.10779 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1825 1875 0.00772411 -3.10499 -0.0477326 0.0679275 -0.000813983 -0.0185891 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1875 1876 4.35546 -0.339718 -0.169654 -0.0109987 0.0809854 -0.0920165 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1826 1876 0.161524 -3.2491 -0.114827 0.0804324 0.00224102 -0.0176379 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1876 1877 4.54031 -0.244959 -0.267222 0.00241677 0.0762422 -0.0662324 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1827 1877 0.186278 -3.11028 -0.0133621 0.052274 -0.00292716 0.0280542 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1877 1878 4.60547 -0.309716 -0.251823 -0.00599094 0.0954587 -0.179015 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1828 1878 0.0531775 -3.08589 -0.112001 0.0405242 -0.0064053 0.00917279 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1878 1879 4.54325 -0.115893 -0.140441 -0.0146982 0.0978564 -0.0836896 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1829 1879 -0.020543 -3.27013 -0.212735 0.0564147 0.0128103 -0.0760244 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1879 1880 4.52617 -0.302251 -0.37575 -0.00183563 0.108235 -0.158284 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1830 1880 -0.00259814 -3.14464 -0.087878 0.0695936 -0.00956796 -0.0445708 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1880 1881 4.54856 -0.158533 -0.254646 0.00205262 0.0994201 -0.100491 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1831 1881 -0.0893566 -3.07893 -0.18693 0.0610658 0.00073669 0.0440814 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1881 1882 4.35954 -0.288155 -0.211167 0.00745067 0.0837914 -0.0691687 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1832 1882 0.116092 -2.92028 -0.0442224 0.0677234 -0.00204854 0.0439028 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1882 1883 4.56887 -0.0929468 -0.311223 0.000460255 0.0872684 -0.178205 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1833 1883 0.0758564 -3.18104 -0.226805 0.0709626 0.0129886 0.00358545 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1883 1884 4.46033 -0.294934 -0.219197 0.00569462 0.102623 -0.0999751 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1834 1884 -0.084759 -3.22165 0.0114432 0.0499421 -0.0148616 0.00918912 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1884 1885 4.38959 -0.196717 -0.208776 0.00624706 0.0935683 -0.108966 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1835 1885 0.0548894 -2.99025 -0.144123 0.0655518 -0.00423922 -0.0542006 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1885 1886 4.43024 -0.160032 -0.239509 -0.0349875 0.090498 -0.123335 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1836 1886 0.0885277 -3.14703 -0.0265822 0.0579084 0.0137227 0.00905663 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1886 1887 4.50574 -0.253492 -0.131022 -0.00630733 0.0910965 -0.0538159 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1837 1887 0.0218338 -3.13588 -0.113553 0.0668271 0.00372304 -0.0991861 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1887 1888 4.51343 -0.429701 -0.287934 -0.000209637 0.108305 -0.149976 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1838 1888 -0.00821434 -3.17133 0.00805733 0.0666172 -0.00824035 -0.0363585 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1888 1889 4.47962 -0.37622 -0.272483 -0.00789119 0.0813587 -0.06964 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1839 1889 -0.0509058 -2.91188 -0.212373 0.067461 -0.0205428 -0.000182639 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1889 1890 4.34179 -0.0240087 -0.241593 0.00726602 0.0975707 -0.0839039 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1840 1890 -0.0505836 -2.91351 -0.250506 0.08337 -0.00630299 -0.0501471 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1890 1891 4.35205 -0.16348 -0.20882 -0.0123174 0.087271 -0.0518578 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1841 1891 -0.129239 -3.18183 -0.230686 0.0538964 -0.000225464 -0.0838791 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1891 1892 4.30193 -0.281841 -0.088496 -0.00954845 0.0929985 -0.157635 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1842 1892 -0.0535983 -2.92779 -0.0518271 0.0799358 0.0142019 -0.00681962 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1892 1893 4.21476 -0.111473 -0.192084 -0.0180358 0.0735265 -0.0606514 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1843 1893 0.0324093 -3.19663 -0.0408329 0.0612652 -0.00871208 -0.04819 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1893 1894 4.4421 -0.337322 -0.22283 -0.000882865 0.0823614 -0.0208079 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1844 1894 -0.0770178 -3.16532 -0.0640183 0.0707633 -0.00977542 -0.0208785 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1894 1895 4.38043 -0.385174 -0.169445 0.00567405 0.101163 -0.0937427 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1845 1895 -0.0234045 -3.15978 -0.0221831 0.0646353 -0.0128911 0.0948391 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1895 1896 4.31434 -0.270794 -0.282302 0.00240869 0.0900273 -0.0768036 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1846 1896 -0.0843723 -3.00494 0.000423335 0.0531676 -0.0111417 -0.0622419 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1896 1897 4.44356 -0.29539 -0.240215 -0.0141811 0.0836801 -0.0817204 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1847 1897 0.191385 -2.92016 -0.208971 0.0585519 0.00772875 0.0571633 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1897 1898 4.46323 -0.226667 -0.147095 0.0140399 0.0697035 -0.121016 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1848 1898 0.202927 -3.05126 -0.142374 0.0555069 0.0103147 -0.011735 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1898 1899 4.31549 -0.306274 -0.332723 0.0109474 0.0945646 -0.0817513 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1849 1899 0.0403644 -3.03129 -0.0179074 0.0614092 -0.00291469 0.028469 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1899 1900 4.18451 -0.150939 -0.40337 -0.00138186 0.0876948 -0.0471816 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1850 1900 0.0957077 -3.01279 -0.044987 0.0506446 -0.000660243 -0.019608 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1900 1901 4.3209 -0.0123597 -0.102028 9.83534e-05 0.0922107 -0.051044 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1851 1901 -0.174056 -3.04715 -0.111642 0.0621035 -0.00755424 0.0135644 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1901 1902 4.319 -0.192356 -0.0337542 -0.0182751 0.0833723 -0.0809759 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1852 1902 0.0680705 -3.14048 -0.178702 0.0607085 0.0135957 -0.00229303 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1902 1903 4.41828 -0.0962022 -0.211985 -0.00995988 0.0744657 -0.110466 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1853 1903 0.00378761 -3.16236 -0.141362 0.0591533 0.00509642 -0.0140452 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1903 1904 4.25658 -0.12072 -0.0793969 0.00515729 0.0963357 -0.00792459 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1854 1904 0.095026 -2.88379 -0.278144 0.0622662 0.00417311 0.0479794 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1904 1905 4.25253 -0.242802 -0.268575 0.0113678 0.0943997 -0.0600259 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1855 1905 -0.32096 -3.21696 -0.1433 0.0553023 0.0075246 -0.00153905 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1905 1906 4.49917 -0.266086 -0.377066 -0.0152041 0.0946548 -0.193306 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1856 1906 -0.0141632 -2.94756 -0.266488 0.0727217 0.00277965 -0.0160306 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1906 1907 4.31382 -0.267079 -0.208264 -0.000243839 0.0892815 -0.114627 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1857 1907 0.123448 -3.11809 -0.0386667 0.0618456 0.0068748 -0.0346133 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1907 1908 4.45144 -0.365909 -0.312542 -0.013901 0.0890966 -0.112512 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1858 1908 0.175612 -3.00971 0.0343817 0.0670299 -0.000263977 0.0405356 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1908 1909 4.26669 -0.274093 -0.135733 -0.0133767 0.0888738 -0.0922154 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1859 1909 -0.0143492 -3.03281 -0.191016 0.0633778 0.0168929 0.048693 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1909 1910 4.24691 -0.11138 -0.14229 0.000229511 0.0858012 -0.0592783 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1860 1910 -0.0958643 -3.07388 0.0497909 0.0470989 0.00508015 -0.0126608 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1910 1911 4.22629 -0.253439 -0.157639 0.00267606 0.0815736 -0.075993 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1861 1911 -0.0332655 -2.95962 0.0264198 0.0576656 -0.00461829 0.00380271 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1911 1912 4.2983 -0.148176 -0.101345 -0.00615889 0.0695333 -0.11309 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1862 1912 -0.0801627 -3.03279 -0.126231 0.066146 -0.000662345 0.0254509 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1912 1913 4.29847 -0.247014 -0.216417 0.00466853 0.0894955 -0.167794 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1863 1913 -0.0067682 -2.99896 -0.114812 0.0652925 -0.00769526 -0.0398806 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1913 1914 4.28744 -0.190456 -0.1246 -0.00523147 0.0884533 -0.132183 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1864 1914 -0.0875273 -3.18437 0.008422 0.0670764 -0.0098103 0.0340302 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1914 1915 4.26013 -0.293275 -0.118631 0.00162434 0.0840828 -0.0931572 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1865 1915 0.110046 -2.95598 -0.203223 0.0707307 0.0097679 -0.00974171 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1915 1916 4.29278 -0.211865 -0.419779 -0.00516219 0.0925443 -0.104693 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1866 1916 0.165809 -2.92397 -0.0639948 0.0704789 0.00142009 0.0184804 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1916 1917 4.43892 -0.212728 -0.157385 -0.00128075 0.0870124 -0.177047 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1867 1917 -0.25459 -2.94055 -0.067981 0.0766394 0.00910864 -0.0155151 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1917 1918 4.24089 -0.232276 -0.177805 -0.01324 0.0511016 -0.120929 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1868 1918 0.0744493 -3.18284 -0.0596563 0.0497036 -0.0110359 -0.0138372 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1918 1919 4.16527 -0.25614 -0.129577 -0.00676019 0.0739457 -0.0449676 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1869 1919 0.0474249 -3.14388 -0.120452 0.0523094 -0.000940022 0.0649863 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1919 1920 4.2376 -0.208001 -0.244516 0.0025855 0.0658397 -0.128578 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1870 1920 -0.131812 -2.99875 -0.0187358 0.0535419 -0.00572999 -0.0170683 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1920 1921 4.26588 -0.244314 -0.138584 0.0169447 0.0923461 -0.129302 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1871 1921 0.172469 -3.1663 -0.203053 0.057713 0.00698398 -0.00323928 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1921 1922 4.29202 -0.326796 -0.249091 0.00999889 0.0881306 -0.0893554 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1872 1922 -0.100465 -3.18693 -0.118614 0.0761284 0.0021087 -0.0232732 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1922 1923 4.17805 -0.216368 -0.262239 -0.0106656 0.0997709 -0.046544 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1873 1923 -0.0256783 -3.09551 -0.206493 0.0508551 0.00287114 -0.0136379 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1923 1924 4.27869 -0.319575 -0.233288 -0.0235943 0.0785207 -0.0909385 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1874 1924 0.153733 -3.12105 -0.0643246 0.0435506 -0.00758778 -0.00679884 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1924 1925 4.29058 -0.376121 -0.384833 -0.00123667 0.0939581 -0.112237 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1875 1925 -0.0190031 -3.11941 -0.0322153 0.0538352 2.90802e-05 0.0887264 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1925 1926 4.39244 -0.23956 0.0539397 -0.01035 0.0845915 -0.127842 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1876 1926 0.0236955 -2.959 -0.096646 0.0505093 -0.0271878 0.000431228 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1926 1927 4.19606 -0.34414 -0.142735 -0.00773727 0.0841039 -0.0667369 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1877 1927 0.173492 -3.00229 -0.127557 0.0588094 -0.000669096 0.0608391 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1927 1928 4.30325 -0.266877 -0.14374 -0.0123015 0.0828402 -0.0535617 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1878 1928 -0.162028 -3.22612 -0.195156 0.0718848 -0.00182541 0.0323809 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1928 1929 4.19134 -0.324255 -0.178556 -0.0162972 0.0883525 -0.0796562 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1879 1929 -0.0358555 -3.01209 -0.053434 0.0657251 0.00166911 -0.0196347 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1929 1930 4.09887 -0.297373 -0.32448 0.00265376 0.0759434 -0.0684646 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1880 1930 0.157879 -3.04929 -0.0713773 0.0655567 0.00327823 0.0290589 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1930 1931 4.23549 -0.303304 -0.379125 0.00468234 0.0774373 -0.0812882 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1881 1931 0.0286061 -3.12105 0.0517603 0.0694921 -0.0056283 0.0145916 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1931 1932 4.08328 -0.391529 -0.19426 -0.0121089 0.0722206 -0.0945631 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1882 1932 -0.0399439 -2.92277 -0.0809829 0.0527822 -0.0069721 0.0710042 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1932 1933 4.06086 -0.167069 -0.0924443 -0.0182719 0.0867986 -0.0859814 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1883 1933 -0.052735 -2.93029 -0.147111 0.0653108 -0.00151232 0.00249172 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1933 1934 4.15542 -0.178941 -0.0754697 -0.0181083 0.0880364 -0.119904 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1884 1934 -0.0664556 -2.95549 -0.0643582 0.0736804 -0.0074965 -0.00673016 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1934 1935 4.28579 -0.482084 -0.197275 -0.000602183 0.0745662 -0.0762575 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1885 1935 -0.120315 -3.15726 -0.190176 0.0599016 0.00897308 -0.025345 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1935 1936 4.3514 -0.266014 -0.196074 -0.0118994 0.0771209 -0.0921799 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1886 1936 0.154242 -3.04692 -0.0974953 0.0547337 -0.000535011 0.0662167 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1936 1937 4.12983 -0.285903 -0.183014 0.0179957 0.0561641 -0.0796293 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1887 1937 -0.0863398 -3.22479 -0.161658 0.0534412 0.00288308 0.0673637 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1937 1938 4.21764 -0.27165 -0.0621017 -0.00391806 0.0844955 -0.142137 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1888 1938 -0.0734187 -3.02007 0.0673569 0.0676042 0.0134512 -0.0555018 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1938 1939 4.08981 -0.344466 -0.0921311 -0.0263845 0.0760042 -0.0575004 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1889 1939 0.0840464 -3.17894 -0.0339765 0.0519333 -0.0111514 0.0558327 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1939 1940 3.9116 -0.223302 -0.244041 -0.00472284 0.0642214 -0.0360385 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1890 1940 0.0570372 -2.8924 -0.0610536 0.0479607 -0.00817971 -0.0361353 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1940 1941 4.26428 -0.17288 -0.229269 0.00422024 0.103071 -0.115945 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1891 1941 0.131844 -3.0645 -0.232504 0.0791449 -0.00380398 0.0389546 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1941 1942 4.15675 -0.219201 -0.266267 -0.000560014 0.0727546 -0.135641 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1892 1942 0.0777617 -3.04831 -0.0535451 0.0631704 0.00942701 -0.0371857 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1942 1943 4.14824 -0.308997 -0.252387 -0.000623447 0.0904886 -0.0854588 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1893 1943 -0.128108 -2.88505 -0.155163 0.0588831 0.00675514 -0.0422598 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1943 1944 4.25728 -0.188387 -0.156685 -0.0101019 0.0732098 -0.112368 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1894 1944 0.153072 -3.01143 -0.0797814 0.0677367 -0.00878229 -0.007482 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1944 1945 4.02996 -0.35726 -0.0912853 0.00188491 0.0954209 -0.132888 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1895 1945 0.164682 -2.9473 -0.119452 0.0611001 -0.000673267 -0.0181416 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1945 1946 4.12195 -0.337303 -0.280472 -0.00303241 0.0869872 -0.0903253 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1896 1946 -0.023264 -3.04771 -0.152045 0.0619894 -0.00634507 0.0392784 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1946 1947 4.06167 -0.23868 -0.11998 0.00265271 0.0892516 -0.0327593 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1897 1947 0.00547007 -3.09013 -0.0511763 0.0619846 0.0226482 -0.0110786 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1947 1948 4.0425 -0.258 -0.250096 -0.0115353 0.0709673 -0.101372 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1898 1948 0.121128 -3.11473 -0.121931 0.0492621 0.0190299 -0.0223325 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1948 1949 3.97484 -0.296761 -0.193436 -0.0193701 0.0916655 -0.0781071 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1899 1949 0.151909 -2.89019 0.101183 0.0594345 -0.00383205 -0.0576626 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1949 1950 4.20071 -0.309989 -0.326205 0.00498975 0.0794809 -0.0219681 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1900 1950 -0.0558459 -3.05886 -0.00808693 0.0555724 -0.00178108 -0.00258199 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1950 1951 3.98914 -0.377714 -0.146508 -0.00503001 0.0779264 -0.0456139 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1901 1951 0.020223 -3.10738 -0.0417297 0.058371 -0.00154075 -0.00161483 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1951 1952 4.15649 -0.474466 -0.205463 0.013224 0.0776772 -0.149838 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1902 1952 -0.030244 -3.05845 -0.136567 0.073076 0.0222177 -0.0470917 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1952 1953 4.07392 -0.131107 -0.159059 -0.0101704 0.0816373 -0.020526 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1903 1953 0.0557011 -2.99479 -0.102065 0.0675648 -0.00381538 -0.0271069 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1953 1954 4.12942 -0.238501 -0.193384 -0.0172608 0.0778085 -0.0947855 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1904 1954 -0.216131 -3.03897 -0.0433695 0.0675301 0.0177496 -0.115951 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1954 1955 4.02161 -0.230868 -0.153143 -0.0050373 0.0722148 -0.164973 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1905 1955 -0.0897988 -2.97752 -0.10118 0.0403913 0.010461 0.0133102 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1955 1956 4.0127 -0.332368 -0.219003 -0.00789817 0.0838446 -0.0571936 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1906 1956 -0.14467 -3.05528 -0.312279 0.0916964 -0.00669889 -0.007295 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1956 1957 4.03161 -0.142439 -0.102149 -0.0106457 0.0602491 -0.0406136 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1907 1957 -0.00123278 -2.90526 -0.26953 0.0627806 -0.0049433 0.045618 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1957 1958 4.12457 -0.027463 -0.204845 -0.00720539 0.0870151 -0.0582056 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1908 1958 -0.0813435 -3.02588 -0.157532 0.0655548 -0.00357006 0.0378483 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1958 1959 4.1822 -0.196563 -0.382705 0.0133169 0.063573 -0.0505472 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1909 1959 -0.0978837 -2.90575 0.093453 0.0612773 -0.0101771 -0.0149189 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1959 1960 4.01098 -0.16293 -0.205224 0.000690703 0.0683197 -0.125481 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1910 1960 0.0592711 -3.1138 -0.247364 0.042871 0.0105628 0.0428797 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1960 1961 4.15577 -0.195198 -0.143934 -0.0131374 0.0808275 -0.0620354 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1911 1961 -0.150285 -2.98368 -0.165131 0.055658 0.0171125 -0.0177415 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1961 1962 4.09018 -0.436098 -0.185573 0.00168603 0.0734392 -0.0857874 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1912 1962 -0.0789751 -3.01499 -0.00610366 0.0720518 -0.0216005 -0.0843853 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1962 1963 4.23886 -0.278578 -0.0758427 -0.015394 0.0964312 -0.0925962 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1913 1963 -0.0355763 -3.07105 -0.0748421 0.065682 0.00753022 0.0274502 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1963 1964 3.98134 -0.180001 -0.190638 -0.0111859 0.0981133 -0.124912 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1914 1964 0.0190411 -2.94673 -0.0715748 0.0608257 0.00820011 -0.0121434 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1964 1965 4.0293 -0.29605 -0.192949 -0.0197484 0.0819707 -0.0836343 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1915 1965 -0.0626555 -2.99931 -0.241992 0.0651594 -0.0174585 0.0097151 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1965 1966 4.05788 -0.0722964 -0.149412 -0.0178659 0.0895746 -0.0876653 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1916 1966 -0.0834555 -3.04717 -0.145403 0.0560101 0.00345291 0.0225831 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1966 1967 4.0752 -0.299522 -0.203021 0.00613674 0.0771903 -0.0641583 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1917 1967 -0.0617324 -3.03557 -0.0924446 0.0617031 -0.00550161 0.0236195 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1967 1968 4.04603 -0.198135 -0.355313 -0.00646143 0.0831503 -0.0733695 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1918 1968 0.108933 -3.15224 -0.290402 0.0598904 0.0105879 -0.00255137 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1968 1969 3.97505 -0.193533 -0.0404268 0.000963879 0.0850782 -0.0726859 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1919 1969 -0.113101 -3.01724 -0.00961383 0.0669725 0.00283789 -0.0347312 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1969 1970 3.85677 -0.19319 -0.0938565 -0.0142197 0.083613 -0.0351686 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1920 1970 -0.197512 -3.11572 -0.157018 0.0708744 -0.00664834 0.0273647 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1970 1971 3.93538 -0.192721 -0.100265 -0.00327336 0.0778942 -0.0921695 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1921 1971 -0.179218 -3.18095 -0.0896117 0.0861331 -0.000132903 0.081152 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1971 1972 3.87697 -0.23189 -0.142868 -0.00194415 0.0649033 -0.0405224 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1922 1972 -0.0476279 -3.02727 -0.0677929 0.0620293 0.0183332 -0.0468609 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1972 1973 3.93295 -0.351428 -0.0692229 0.00157272 0.0777122 -0.0645434 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1923 1973 -0.18019 -3.1274 -0.215239 0.0605612 -0.000547583 -0.0478365 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1973 1974 4.08117 -0.325844 -0.143426 0.011943 0.0773388 -0.0861566 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1924 1974 0.0718273 -3.10457 -0.177574 0.0561563 0.00150109 -0.0534509 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1974 1975 3.96931 -0.200514 -0.227838 -0.0135039 0.0838421 -0.0910143 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1925 1975 -0.0852625 -2.9934 0.0333761 0.0691608 -0.000100165 0.0396848 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1975 1976 3.95499 -0.126193 -0.182623 0.0101559 0.0757382 -0.0414272 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1926 1976 -0.0549844 -2.95415 0.0503509 0.074622 0.00286758 -0.0197989 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1976 1977 3.93775 -0.105977 -0.299612 0.00251116 0.0748473 -0.0919241 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1927 1977 0.0499105 -3.05122 -0.122024 0.0615881 0.0182797 0.00690448 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1977 1978 3.9011 -0.365612 -0.104658 -0.00881255 0.073347 -0.031555 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1928 1978 0.0773659 -3.07539 -0.0405432 0.0525861 0.000438271 -0.0102741 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1978 1979 4.11376 -0.298042 -0.179663 -0.00309183 0.0877969 -0.0708691 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1929 1979 0.107398 -3.25687 0.0176977 0.0494088 -0.0221734 0.00732095 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1979 1980 3.83187 -0.257301 -0.171019 -0.000184932 0.0918396 -0.251722 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1930 1980 -0.11863 -3.04041 -0.122991 0.0487717 0.0118078 -0.0144252 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1980 1981 3.88607 -0.285043 -0.264392 -0.00570068 0.0822052 -0.0919888 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1931 1981 0.0186651 -3.18181 -0.139696 0.0557855 0.00998612 -0.0106596 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1981 1982 3.92373 -0.232823 -0.117316 0.00108363 0.0721919 -0.112173 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1932 1982 -0.0241102 -2.99522 -0.167005 0.0753525 -0.0178488 -0.0100052 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1982 1983 3.89774 -0.399653 -0.203818 -0.00998694 0.0693313 -0.143321 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1933 1983 0.135014 -2.82967 -0.252255 0.0644094 0.00820984 0.052871 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1983 1984 3.7314 -0.326964 -0.249638 -0.00458387 0.0856673 -0.149648 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1934 1984 0.044808 -3.12939 -0.0859541 0.0857895 -0.0104472 -0.0701079 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1984 1985 3.89 -0.181903 -0.283264 -0.00275248 0.0796951 -0.146341 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1935 1985 0.0236924 -3.08302 -0.0928126 0.0673263 -0.00174586 -0.0534962 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1985 1986 3.83248 -0.409762 -0.239389 -0.0139169 0.0736887 -0.0531359 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1936 1986 -0.00505125 -3.11936 -0.122213 0.0690315 -0.00639175 0.0574055 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1986 1987 4.06696 -0.272481 -0.22723 0.0143956 0.0983608 -0.0790062 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1937 1987 0.0263322 -2.97505 -0.133867 0.0476881 -0.0104861 0.0182313 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1987 1988 3.94074 -0.166553 -0.203753 -0.00466307 0.095582 -0.143967 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1938 1988 0.0091196 -3.11688 -0.178431 0.0461039 0.00581804 0.00249168 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1988 1989 3.99065 -0.304642 -0.162138 -0.00807173 0.0894635 -0.000532056 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1939 1989 -0.00433661 -3.26607 0.0314002 0.0449051 0.00750661 -0.0135727 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1989 1990 3.71339 -0.218157 -0.0834343 -0.00850129 0.0599762 0.00411139 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1940 1990 -0.0190984 -3.22341 -0.0442282 0.0567095 0.014596 -0.0250566 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1990 1991 3.93 -0.204349 -0.129851 -0.000377474 0.0711486 -0.0579703 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1941 1991 0.0897336 -2.94896 -0.0238168 0.0333184 0.0052942 -0.0727295 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1991 1992 3.92079 -0.288127 -0.269137 -0.00950973 0.0779951 -0.0870242 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1942 1992 -0.107628 -3.15056 0.040788 0.0350415 0.00204729 0.0227784 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1992 1993 3.85097 -0.408908 -0.198446 -0.00653542 0.0911453 -0.160269 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1943 1993 0.0377913 -2.97537 -0.00858782 0.0473134 0.00133275 -0.00761058 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1993 1994 3.83342 -0.209282 -0.107311 -0.00523756 0.0760703 -0.129525 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1944 1994 -0.200275 -3.02643 -0.145734 0.0553561 0.0124984 0.0833295 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1994 1995 3.84574 -0.097062 -0.189343 -0.0141308 0.0815852 -0.189678 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1945 1995 0.0516165 -2.97591 -0.0560244 0.0752554 -0.0060587 -0.0421071 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1995 1996 3.80267 -0.249033 -0.0632055 -0.0248118 0.07084 -0.091551 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1946 1996 0.121357 -3.04053 -0.200719 0.0611263 -0.00402293 0.0575747 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1996 1997 4.05999 -0.348409 -0.0678961 0.00148827 0.0813297 -0.0731714 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1947 1997 -0.0308405 -3.04748 0.0571645 0.0523132 -0.00572717 0.0819391 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1997 1998 3.58636 -0.259717 -0.0849707 -0.00130152 0.0771543 -0.0938153 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1948 1998 0.0536134 -3.12658 -0.320196 0.0687956 0.0098049 0.0385344 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1998 1999 3.75228 -0.132566 -0.0826785 0.00855786 0.0810907 -0.0815025 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1949 1999 0.030286 -3.07141 -0.0710082 0.0662994 -0.0132673 -0.0325276 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1999 2000 3.7061 -0.277007 -0.229495 -0.00764001 0.0678636 -0.0723049 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1950 2000 0.0148607 -3.13423 -0.138566 0.0633798 -0.00206171 0.0100648 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2000 2001 3.94372 -0.364221 -0.182918 0.00645856 0.0502168 -0.103713 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1951 2001 0.0521878 -3.03471 0.0377428 0.0596219 -0.00708902 0.0657467 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2001 2002 3.76193 -0.355789 -0.222014 -0.00300618 0.0753516 -0.0479499 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1952 2002 0.0312852 -3.05352 -0.188157 0.0675008 0.0202726 -0.043469 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2002 2003 3.67902 -0.213382 -0.214829 0.00701115 0.0853371 -0.112833 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1953 2003 -0.138849 -3.01898 -0.0750788 0.0611615 -0.00905312 0.0224817 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2003 2004 3.91755 -0.164977 -0.10725 0.0131947 0.0648788 -0.0717277 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1954 2004 -0.00099052 -3.14651 -0.0146388 0.0769402 -0.0157311 -0.00425177 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2004 2005 3.77653 -0.391448 -0.0360583 -0.010608 0.0958135 -0.0435752 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1955 2005 0.0925024 -3.09935 -0.0978751 0.0809205 -0.00698252 0.0460514 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2005 2006 3.80116 -0.310168 -0.138617 -0.00192078 0.0832512 -0.0808566 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1956 2006 -0.194563 -3.01287 0.0205387 0.0600865 0.00446102 0.0305715 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2006 2007 3.73529 -0.459481 -0.231161 -0.00750538 0.0695369 -0.0437146 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1957 2007 0.105266 -2.96184 -0.111297 0.0575965 -0.00939636 0.0651021 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2007 2008 3.73511 -0.347834 -0.158496 -0.0096189 0.0724432 -0.0660995 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1958 2008 -0.108838 -2.9883 -0.0176286 0.0661488 0.0109523 -0.0218325 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2008 2009 3.80865 -0.0847682 0.0484325 -0.00860126 0.0841538 -0.0958081 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1959 2009 0.0198086 -2.87677 -0.0693471 0.0462626 0.0101029 -0.0620391 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2009 2010 3.64592 -0.348139 -0.205187 -0.0144 0.0734242 -0.0908535 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1960 2010 0.0620823 -2.86315 -0.146143 0.0516219 -0.0059276 0.0166504 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2010 2011 3.83458 -0.176115 -0.0552606 0.00770637 0.0693927 -0.100231 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1961 2011 -0.104128 -3.09505 -0.0121927 0.0663289 0.00195369 0.0209419 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2011 2012 3.76957 -0.220653 -0.136653 -0.0111087 0.0662607 -0.0385169 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1962 2012 -0.0382338 -3.00643 -0.0654127 0.0568282 -0.00939105 -0.0513172 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2012 2013 3.6968 -0.260408 -0.306459 0.00809763 0.0715436 -0.0774 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1963 2013 -0.103737 -3.12396 -0.270104 0.0610715 -0.016514 0.0787495 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2013 2014 3.57015 -0.217549 -0.237674 0.00505963 0.068742 -0.0933335 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1964 2014 -0.0410864 -3.12942 -0.121939 0.0671667 -0.0188968 0.023357 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2014 2015 3.69388 -0.331596 -0.0171443 0.0141729 0.0550964 -0.158971 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1965 2015 -0.00394692 -3.12284 -0.120259 0.0468607 -0.003365 -0.0812927 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2015 2016 3.75549 -0.324537 -0.270617 0.00843679 0.0762542 -0.109485 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1966 2016 0.035538 -3.01311 -0.167803 0.0735814 -0.0187464 0.0506743 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2016 2017 3.66044 -0.416423 -0.151793 -0.00953658 0.0575649 -0.0875991 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1967 2017 0.00160172 -3.00319 -0.289741 0.0381222 0.00950498 0.0147429 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2017 2018 3.77146 -0.2592 -0.0438973 0.00856138 0.0676355 -0.152065 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1968 2018 0.0183999 -2.92201 0.0329823 0.0560734 -0.00541229 0.0589358 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2018 2019 3.69838 -0.318102 0.0969819 -0.00353239 0.058472 -0.0906684 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1969 2019 0.0269479 -3.06412 -0.134239 0.041109 0.00631797 -0.0485567 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2019 2020 3.62488 -0.229052 -0.194989 -0.00431024 0.0724754 -0.0967823 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1970 2020 -0.000304255 -3.18856 -0.112986 0.0627602 0.0078902 0.0385972 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2020 2021 3.67628 -0.359818 -0.0531481 0.00291086 0.0821518 -0.0514497 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1971 2021 0.0243198 -2.98738 -0.23178 0.0793911 -0.00397448 0.0673275 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2021 2022 3.70208 -0.00211951 0.035242 0.00466816 0.0752083 -0.143919 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1972 2022 0.0411305 -2.97061 -0.0454571 0.0803237 -0.0024945 -0.0109802 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2022 2023 3.70533 -0.343122 -0.21916 -0.011092 0.062428 -0.064884 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1973 2023 0.110846 -3.00954 -0.0460256 0.0523123 -0.00651303 -0.0717703 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2023 2024 3.57595 -0.130087 -0.182328 -0.00763289 0.0828123 -0.0692883 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1974 2024 -0.0597523 -3.03427 -0.0776605 0.0415787 0.00119917 0.0597269 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2024 2025 3.63867 -0.362192 -0.232067 6.71021e-06 0.0872261 -0.0926256 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1975 2025 -0.0932133 -3.05779 -0.152591 0.0573443 -0.00508391 0.0396799 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2025 2026 3.51279 -0.292839 -0.289881 -0.0342383 0.061289 -0.11843 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1976 2026 0.00357393 -3.23914 -0.161052 0.068616 -0.00646015 0.052866 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2026 2027 3.70234 -0.387619 -0.269292 0.00404123 0.077507 -0.153865 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1977 2027 -0.180899 -3.16128 -0.147999 0.084729 0.00248696 0.0222292 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2027 2028 3.56233 -0.372679 -0.200957 -0.00550305 0.0669253 -0.0339962 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1978 2028 -0.13379 -3.24197 -0.172663 0.0556349 -0.00512141 -0.0460592 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2028 2029 3.49367 -0.276565 -0.111897 0.00872853 0.0698488 -0.0909876 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1979 2029 0.157572 -3.08483 -0.015791 0.0561958 0.00428978 -0.00142322 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2029 2030 3.55546 -0.347194 -0.147411 0.00792586 0.0812436 -0.0735982 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1980 2030 0.0558258 -3.01001 -0.158652 0.0705229 -0.0357807 0.0155148 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2030 2031 3.59624 -0.121327 -0.182388 -0.00717412 0.0676787 -0.140362 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1981 2031 0.0523394 -3.16742 -0.19736 0.0479983 0.00712977 0.0050826 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2031 2032 3.67612 -0.369524 -0.125767 -0.0154269 0.0631136 -0.133743 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1982 2032 -0.21673 -2.86464 -0.162463 0.0627936 0.00608695 -0.0030869 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2032 2033 3.55253 -0.266153 -0.0398371 0.00205329 0.0751987 -0.109453 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1983 2033 -0.144195 -3.13249 0.00132992 0.0703013 -0.00318527 0.00140536 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2033 2034 3.58934 -0.307994 -0.207852 0.00107559 0.0675295 -0.0862884 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1984 2034 -0.0670177 -2.888 0.237676 0.056287 -0.0128674 0.0711759 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2034 2035 3.60535 -0.133341 -0.248406 0.0114793 0.0632323 -0.0995834 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1985 2035 -0.0209647 -3.17551 -0.267033 0.0536729 0.0104624 0.031267 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2035 2036 3.66779 -0.178988 -0.130556 -0.00301086 0.0635599 -0.0946509 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1986 2036 -0.0238239 -2.8232 -0.0525839 0.0708069 -0.00836265 0.0468911 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2036 2037 3.57846 -0.118432 -0.179432 0.00629884 0.0835163 -0.100247 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1987 2037 -0.0504269 -3.11407 -0.185938 0.0526284 -0.00551218 -0.0259865 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2037 2038 3.52523 -0.244794 -0.0520923 -0.0198477 0.0611237 -0.127133 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1988 2038 -0.0189585 -3.07027 -0.0683004 0.0748082 -0.00908523 -0.0230099 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2038 2039 3.7194 -0.243581 -0.219514 -0.00127801 0.0899491 -0.118238 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1989 2039 0.0147197 -3.09238 -0.208605 0.056931 0.00255577 0.0326083 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2039 2040 3.43304 -0.130643 -0.142288 0.00439302 0.0684212 -0.05758 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1990 2040 0.032072 -3.24973 -0.0696703 0.0679527 0.0135707 0.0290668 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2040 2041 3.4791 -0.198703 -0.126062 0.0121599 0.0839251 -0.138899 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1991 2041 -0.0359589 -3.21296 -0.0623838 0.0742012 0.0253433 -0.0125126 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2041 2042 3.64315 -0.226554 -0.315696 0.00271988 0.0742986 -0.151842 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1992 2042 -0.0774013 -3.063 -0.0814995 0.0774075 0.00164421 0.0314242 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2042 2043 3.50459 -0.266466 -0.173174 -0.0162543 0.0742343 -0.0756713 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1993 2043 -0.0160024 -2.94983 0.0273565 0.0683551 -0.0176981 0.0241458 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2043 2044 3.5959 -0.1959 -0.181279 -0.0141972 0.060515 -0.0838814 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1994 2044 0.0384637 -3.16603 -0.0156016 0.0636765 -0.0178174 0.0431538 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2044 2045 3.55489 -0.303045 -0.0642663 0.00604594 0.0725077 -0.0732478 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1995 2045 0.010927 -3.03111 0.0104183 0.0546198 0.000893637 0.0111643 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2045 2046 3.57822 -0.142312 0.105578 0.00886738 0.0837704 -0.130746 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1996 2046 0.097244 -2.99099 0.048626 0.0500272 -6.90939e-05 0.0213143 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2046 2047 3.42728 -0.356409 -0.161725 0.0110012 0.0698618 -0.0957525 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1997 2047 -0.0624482 -3.01433 -0.0802096 0.0718351 0.000960346 -0.00992014 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2047 2048 3.55289 -0.156051 -0.331846 0.0071787 0.067836 -0.072484 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1998 2048 -0.00224381 -3.00439 0.0464199 0.0498342 -0.011921 -0.000426229 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2048 2049 3.55217 -0.271874 -0.0598408 0.0101431 0.0856169 -0.089823 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1999 2049 -0.0144345 -3.06316 -0.175608 0.0514101 -0.00300242 -0.00371854 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2049 2050 3.60147 -0.114269 0.0564121 -0.00201539 0.0626433 -0.0877492 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2000 2050 -0.0643962 -3.18008 -0.166869 0.0550361 0.00769411 -0.0584173 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2050 2051 3.57746 -0.0468281 -0.0789584 -0.00395663 0.0705354 -0.157622 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2001 2051 0.0371151 -3.14533 -0.0838149 0.0651258 0.00222369 -0.0292995 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2051 2052 3.63038 -0.270854 -0.0144253 -0.00874243 0.0625857 -0.0683319 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2002 2052 0.0835603 -3.07361 -0.0633718 0.0528567 -0.000765593 -0.0420744 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2052 2053 3.31559 -0.181155 -0.304759 0.00772557 0.077911 -0.0912202 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2003 2053 0.115243 -3.09724 -0.138628 0.0673004 -0.00177217 -0.000381095 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2053 2054 3.30556 -0.217723 -0.168323 -0.00390401 0.0572114 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0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1815 1816 4.82053 -0.254734 -0.23357 -0.00266748 0.0966591 -0.0804273 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1766 1816 1.22764e-11 -3.05972 -0.0937068 0.0612327 2.57572e-13 -1.88738e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1816 1817 4.81562 -0.254823 -0.233095 -0.00266924 0.0965606 -0.0805456 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1767 1817 1.22675e-11 -3.05972 -0.0937068 0.0612327 2.57572e-13 -1.89182e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1817 1818 4.81071 -0.25491 -0.23262 -0.00267097 0.096462 -0.0806638 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1768 1818 1.22533e-11 -3.05972 -0.0937068 0.0612327 2.57572e-13 -1.89182e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1818 1819 4.80579 -0.254996 -0.232145 -0.00267268 0.0963633 -0.0807819 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1769 1819 1.22391e-11 -3.05972 -0.0937068 0.0612327 2.57128e-13 -1.89626e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1819 1820 4.80086 -0.255081 -0.23167 -0.00267436 0.0962644 -0.0808998 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1770 1820 1.22249e-11 -3.05972 -0.0937068 0.0612327 2.56684e-13 -1.9007e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1820 1821 4.79592 -0.255165 -0.231194 -0.00267602 0.0961653 -0.0810176 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1771 1821 1.22178e-11 -3.05972 -0.0937068 0.0612327 2.56684e-13 -1.90514e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1821 1822 4.79098 -0.255248 -0.230719 -0.00267766 0.0960661 -0.0811353 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1772 1822 1.22036e-11 -3.05972 -0.0937068 0.0612327 2.56239e-13 -1.90514e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1822 1823 4.78603 -0.25533 -0.230243 -0.00267927 0.0959668 -0.0812528 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1773 1823 1.21876e-11 -3.05972 -0.0937068 0.0612327 2.56239e-13 -1.90958e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1823 1824 4.78107 -0.25541 -0.229767 -0.00268086 0.0958674 -0.0813703 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1774 1824 1.21769e-11 -3.05972 -0.0937068 0.0612327 2.55795e-13 -1.91402e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1824 1825 4.77611 -0.255489 -0.22929 -0.00268243 0.0957677 -0.0814876 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1775 1825 1.2165e-11 -3.05972 -0.0937068 0.0612327 2.55795e-13 -1.91402e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1825 1826 4.77113 -0.255567 -0.228814 -0.00268397 0.095668 -0.0816048 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1776 1826 1.21512e-11 -3.05972 -0.0937068 0.0612327 2.55351e-13 -1.91847e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1826 1827 4.76615 -0.255644 -0.228337 -0.00268549 0.0955681 -0.0817219 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1777 1827 1.21396e-11 -3.05972 -0.0937068 0.0612327 2.55351e-13 -1.92291e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1827 1828 4.76117 -0.25572 -0.22786 -0.00268699 0.095468 -0.0818388 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1778 1828 1.2129e-11 -3.05972 -0.0937068 0.0612327 2.54907e-13 -1.92291e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1828 1829 4.75617 -0.255795 -0.227383 -0.00268846 0.0953679 -0.0819556 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1779 1829 1.21183e-11 -3.05972 -0.0937068 0.0612327 2.54907e-13 -1.92735e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1829 1830 4.75117 -0.255868 -0.226906 -0.00268991 0.0952675 -0.0820723 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1780 1830 1.21041e-11 -3.05972 -0.0937068 0.0612327 2.54463e-13 -1.93179e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1830 1831 4.74617 -0.25594 -0.226429 -0.00269134 0.0951671 -0.0821889 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1781 1831 1.20934e-11 -3.05972 -0.0937068 0.0612327 2.54463e-13 -1.93623e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1831 1832 4.74115 -0.256011 -0.225951 -0.00269274 0.0950665 -0.0823053 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1782 1832 1.20757e-11 -3.05972 -0.0937068 0.0612327 2.54019e-13 -1.93623e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1832 1833 4.73613 -0.256081 -0.225473 -0.00269412 0.0949657 -0.0824216 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1783 1833 1.20579e-11 -3.05972 -0.0937068 0.0612327 2.54019e-13 -1.94067e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1833 1834 4.7311 -0.25615 -0.224995 -0.00269547 0.0948648 -0.0825378 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1784 1834 1.20526e-11 -3.05972 -0.0937068 0.0612327 2.53575e-13 -1.94511e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1834 1835 4.72606 -0.256218 -0.224517 -0.0026968 0.0947638 -0.0826539 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1785 1835 1.20384e-11 -3.05972 -0.0937068 0.0612327 2.53131e-13 -1.94511e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1835 1836 4.72102 -0.256284 -0.224039 -0.00269811 0.0946626 -0.0827698 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1786 1836 1.20259e-11 -3.05972 -0.0937068 0.0612327 2.53131e-13 -1.94955e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1836 1837 4.71597 -0.256349 -0.223561 -0.0026994 0.0945613 -0.0828856 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1787 1837 1.20117e-11 -3.05972 -0.0937068 0.0612327 2.52687e-13 -1.95399e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1837 1838 4.71091 -0.256413 -0.223082 -0.00270066 0.0944598 -0.0830013 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1788 1838 1.1998e-11 -3.05972 -0.0937068 0.0612327 2.52687e-13 -1.95399e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1838 1839 4.70585 -0.256476 -0.222603 -0.00270189 0.0943582 -0.0831169 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1789 1839 1.19851e-11 -3.05972 -0.0937068 0.0612327 2.52243e-13 -1.95843e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1839 1840 4.70078 -0.256538 -0.222125 -0.00270311 0.0942565 -0.0832323 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1790 1840 1.19726e-11 -3.05972 -0.0937068 0.0612327 2.52243e-13 -1.96287e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1840 1841 4.6957 -0.256598 -0.221646 -0.0027043 0.0941546 -0.0833476 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1791 1841 1.19584e-11 -3.05972 -0.0937068 0.0612327 2.51799e-13 -1.96287e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1841 1842 4.69061 -0.256658 -0.221166 -0.00270547 0.0940526 -0.0834628 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1792 1842 1.19478e-11 -3.05972 -0.0937068 0.0612327 2.51799e-13 -1.96732e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1842 1843 4.68552 -0.256716 -0.220687 -0.00270661 0.0939504 -0.0835779 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1793 1843 1.19371e-11 -3.05972 -0.0937068 0.0612327 2.51354e-13 -1.97176e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1843 1844 4.68042 -0.256773 -0.220208 -0.00270773 0.0938481 -0.0836928 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1794 1844 1.19229e-11 -3.05972 -0.0937068 0.0612327 2.51354e-13 -1.9762e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1844 1845 4.67531 -0.256829 -0.219728 -0.00270882 0.0937456 -0.0838076 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1795 1845 1.19051e-11 -3.05972 -0.0937068 0.0612327 2.5091e-13 -1.9762e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1845 1846 4.6702 -0.256883 -0.219248 -0.00270989 0.0936431 -0.0839223 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1796 1846 1.18927e-11 -3.05972 -0.0937068 0.0612327 2.50466e-13 -1.98064e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1846 1847 4.66508 -0.256937 -0.218768 -0.00271094 0.0935403 -0.0840368 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1797 1847 1.18821e-11 -3.05972 -0.0937068 0.0612327 2.50466e-13 -1.98508e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1847 1848 4.65995 -0.256989 -0.218288 -0.00271197 0.0934375 -0.0841513 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1798 1848 1.18696e-11 -3.05972 -0.0937068 0.0612327 2.50022e-13 -1.98508e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1848 1849 4.65482 -0.25704 -0.217808 -0.00271297 0.0933345 -0.0842656 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1799 1849 1.18563e-11 -3.05972 -0.0937068 0.0612327 2.50022e-13 -1.98952e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1849 1850 4.64967 -0.25709 -0.217328 -0.00271395 0.0932313 -0.0843797 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1800 1850 1.18423e-11 -3.05972 -0.0937068 0.0612327 2.49578e-13 -1.99396e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1850 1851 4.64453 -0.257139 -0.216848 -0.0027149 0.093128 -0.0844938 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1801 1851 1.18296e-11 -3.05972 -0.0937068 0.0612327 2.49578e-13 -1.99396e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1851 1852 4.63937 -0.257187 -0.216367 -0.00271583 0.0930246 -0.0846077 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1802 1852 1.18181e-11 -3.05972 -0.0937068 0.0612327 2.49134e-13 -1.9984e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1852 1853 4.63421 -0.257233 -0.215887 -0.00271674 0.0929211 -0.0847214 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1803 1853 1.18039e-11 -3.05972 -0.0937068 0.0612327 2.49134e-13 -2.00284e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1853 1854 4.62904 -0.257278 -0.215406 -0.00271762 0.0928174 -0.0848351 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1804 1854 1.17932e-11 -3.05972 -0.0937068 0.0612327 2.4869e-13 -2.00728e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1854 1855 4.62386 -0.257323 -0.214925 -0.00271848 0.0927135 -0.0849486 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1805 1855 1.17737e-11 -3.05972 -0.0937068 0.0612327 2.4869e-13 -2.00728e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1855 1856 4.61868 -0.257365 -0.214444 -0.00271931 0.0926095 -0.085062 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1806 1856 1.17595e-11 -3.05972 -0.0937068 0.0612327 2.48246e-13 -2.01172e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1856 1857 4.61349 -0.257407 -0.213963 -0.00272013 0.0925054 -0.0851753 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1807 1857 1.17524e-11 -3.05972 -0.0937068 0.0612327 2.48246e-13 -2.01617e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1857 1858 4.60829 -0.257448 -0.213482 -0.00272091 0.0924012 -0.0852884 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1808 1858 1.17346e-11 -3.05972 -0.0937068 0.0612327 2.47802e-13 -2.01617e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1858 1859 4.60309 -0.257487 -0.213001 -0.00272168 0.0922968 -0.0854014 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1809 1859 1.17222e-11 -3.05972 -0.0937068 0.0612327 2.47358e-13 -2.02061e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1859 1860 4.59787 -0.257525 -0.212519 -0.00272242 0.0921923 -0.0855143 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1810 1860 1.17115e-11 -3.05972 -0.0937068 0.0612327 2.47358e-13 -2.02505e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1860 1861 4.59266 -0.257562 -0.212038 -0.00272314 0.0920876 -0.085627 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1811 1861 1.16964e-11 -3.05972 -0.0937068 0.0612327 2.46914e-13 -2.02505e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1861 1862 4.58743 -0.257598 -0.211556 -0.00272383 0.0919828 -0.0857397 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1812 1862 1.16835e-11 -3.05972 -0.0937068 0.0612327 2.46914e-13 -2.02949e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1862 1863 4.5822 -0.257633 -0.211075 -0.0027245 0.0918778 -0.0858521 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1813 1863 1.16693e-11 -3.05972 -0.0937068 0.0612327 2.4647e-13 -2.03393e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1863 1864 4.57696 -0.257666 -0.210593 -0.00272514 0.0917728 -0.0859645 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1814 1864 1.16565e-11 -3.05972 -0.0937068 0.0612327 2.4647e-13 -2.03393e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1864 1865 4.57172 -0.257698 -0.210111 -0.00272577 0.0916676 -0.0860767 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1815 1865 1.16422e-11 -3.05972 -0.0937068 0.0612327 2.46025e-13 -2.03837e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1865 1866 4.56646 -0.25773 -0.20963 -0.00272636 0.0915622 -0.0861888 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1816 1866 1.1628e-11 -3.05972 -0.0937068 0.0612327 2.45581e-13 -2.04281e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1866 1867 4.5612 -0.25776 -0.209148 -0.00272694 0.0914567 -0.0863008 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1817 1867 1.16174e-11 -3.05972 -0.0937068 0.0612327 2.45581e-13 -2.04281e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1867 1868 4.55594 -0.257788 -0.208666 -0.00272749 0.0913511 -0.0864126 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1818 1868 1.16032e-11 -3.05972 -0.0937068 0.0612327 2.45581e-13 -2.04725e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1868 1869 4.55067 -0.257816 -0.208184 -0.00272802 0.0912453 -0.0865243 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1819 1869 1.15854e-11 -3.05972 -0.0937068 0.0612327 2.45137e-13 -2.05169e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1869 1870 4.54539 -0.257842 -0.207702 -0.00272852 0.0911394 -0.0866359 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1820 1870 1.15783e-11 -3.05972 -0.0937068 0.0612327 2.44693e-13 -2.05169e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1870 1871 4.5401 -0.257867 -0.207219 -0.002729 0.0910334 -0.0867473 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1821 1871 1.15623e-11 -3.05972 -0.0937068 0.0612327 2.44693e-13 -2.05613e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1871 1872 4.53481 -0.257891 -0.206737 -0.00272946 0.0909272 -0.0868586 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1822 1872 1.15481e-11 -3.05972 -0.0937068 0.0612327 2.44249e-13 -2.06057e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1872 1873 4.52951 -0.257914 -0.206255 -0.00272989 0.0908209 -0.0869698 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1823 1873 1.15339e-11 -3.05972 -0.0937068 0.0612327 2.43805e-13 -2.06057e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1873 1874 4.5242 -0.257936 -0.205772 -0.0027303 0.0907145 -0.0870808 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1824 1874 1.15223e-11 -3.05972 -0.0937068 0.0612327 2.43805e-13 -2.06501e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1874 1875 4.51888 -0.257956 -0.20529 -0.00273068 0.0906079 -0.0871918 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1825 1875 1.15085e-11 -3.05972 -0.0937068 0.0612327 2.43361e-13 -2.06946e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1875 1876 4.51356 -0.257976 -0.204808 -0.00273104 0.0905012 -0.0873025 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1826 1876 1.14948e-11 -3.05972 -0.0937068 0.0612327 2.43361e-13 -2.06946e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1876 1877 4.50824 -0.257994 -0.204325 -0.00273138 0.0903943 -0.0874132 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1827 1877 1.14824e-11 -3.05972 -0.0937068 0.0612327 2.42917e-13 -2.0739e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1877 1878 4.5029 -0.258011 -0.203843 -0.00273169 0.0902874 -0.0875237 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1828 1878 1.14699e-11 -3.05972 -0.0937068 0.0612327 2.42917e-13 -2.07834e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1878 1879 4.49756 -0.258027 -0.20336 -0.00273198 0.0901802 -0.0876341 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1829 1879 1.14557e-11 -3.05972 -0.0937068 0.0612327 2.42473e-13 -2.07834e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1879 1880 4.49221 -0.258041 -0.202877 -0.00273225 0.090073 -0.0877443 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1830 1880 1.14433e-11 -3.05972 -0.0937068 0.0612327 2.42029e-13 -2.08278e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1880 1881 4.48686 -0.258054 -0.202395 -0.00273249 0.0899656 -0.0878544 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1831 1881 1.14255e-11 -3.05972 -0.0937068 0.0612327 2.42029e-13 -2.08722e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1881 1882 4.4815 -0.258067 -0.201912 -0.00273271 0.0898581 -0.0879644 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1832 1882 1.14184e-11 -3.05972 -0.0937068 0.0612327 2.41585e-13 -2.08722e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1882 1883 4.47613 -0.258078 -0.201429 -0.00273291 0.0897504 -0.0880743 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1833 1883 1.14007e-11 -3.05972 -0.0937068 0.0612327 2.41585e-13 -2.09166e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1883 1884 4.47076 -0.258088 -0.200947 -0.00273308 0.0896426 -0.088184 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1834 1884 1.13847e-11 -3.05972 -0.0937068 0.0612327 2.4114e-13 -2.0961e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1884 1885 4.46538 -0.258096 -0.200464 -0.00273322 0.0895347 -0.0882936 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1835 1885 1.13722e-11 -3.05972 -0.0937068 0.0612327 2.4114e-13 -2.0961e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1885 1886 4.45999 -0.258104 -0.199981 -0.00273335 0.0894267 -0.088403 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1836 1886 1.1358e-11 -3.05972 -0.0937068 0.0612327 2.40696e-13 -2.10054e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1886 1887 4.45459 -0.25811 -0.199498 -0.00273345 0.0893185 -0.0885123 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1837 1887 1.13438e-11 -3.05972 -0.0937068 0.0612327 2.40252e-13 -2.10498e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1887 1888 4.44919 -0.258115 -0.199015 -0.00273352 0.0892101 -0.0886215 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1838 1888 1.13305e-11 -3.05972 -0.0937068 0.0612327 2.40252e-13 -2.10498e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1888 1889 4.44378 -0.258119 -0.198533 -0.00273358 0.0891017 -0.0887306 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1839 1889 1.13189e-11 -3.05972 -0.0937068 0.0612327 2.39808e-13 -2.10942e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1889 1890 4.43837 -0.258122 -0.19805 -0.00273361 0.0889931 -0.0888395 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1840 1890 1.1303e-11 -3.05972 -0.0937068 0.0612327 2.39808e-13 -2.11386e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1890 1891 4.43295 -0.258123 -0.197567 -0.00273361 0.0888844 -0.0889482 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1841 1891 1.12941e-11 -3.05972 -0.0937068 0.0612327 2.39364e-13 -2.11386e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1891 1892 4.42752 -0.258124 -0.197084 -0.00273359 0.0887755 -0.0890569 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1842 1892 1.12763e-11 -3.05972 -0.0937068 0.0612327 2.39364e-13 -2.11831e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1892 1893 4.42209 -0.258123 -0.196601 -0.00273355 0.0886665 -0.0891654 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1843 1893 1.12621e-11 -3.05972 -0.0937068 0.0612327 2.3892e-13 -2.12275e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1893 1894 4.41664 -0.258121 -0.196118 -0.00273348 0.0885574 -0.0892738 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1844 1894 1.12443e-11 -3.05972 -0.0937068 0.0612327 2.38476e-13 -2.12275e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1894 1895 4.4112 -0.258118 -0.195636 -0.00273339 0.0884482 -0.089382 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1845 1895 1.12372e-11 -3.05972 -0.0937068 0.0612327 2.38476e-13 -2.12719e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1895 1896 4.40574 -0.258113 -0.195153 -0.00273328 0.0883388 -0.0894901 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1846 1896 1.12177e-11 -3.05972 -0.0937068 0.0612327 2.38032e-13 -2.13163e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1896 1897 4.40028 -0.258108 -0.19467 -0.00273314 0.0882293 -0.0895981 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1847 1897 1.12035e-11 -3.05972 -0.0937068 0.0612327 2.38032e-13 -2.13163e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1897 1898 4.39481 -0.258101 -0.194187 -0.00273298 0.0881196 -0.0897059 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1848 1898 1.1191e-11 -3.05972 -0.0937068 0.0612327 2.37588e-13 -2.13607e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1898 1899 4.38934 -0.258093 -0.193704 -0.00273279 0.0880099 -0.0898136 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1849 1899 1.11795e-11 -3.05972 -0.0937068 0.0612327 2.37144e-13 -2.14051e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1899 1900 4.38386 -0.258084 -0.193222 -0.00273259 0.0878999 -0.0899211 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1850 1900 1.11639e-11 -3.05972 -0.0937068 0.0612327 2.37144e-13 -2.14051e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1900 1901 4.37837 -0.258074 -0.192739 -0.00273235 0.0877899 -0.0900286 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1851 1901 1.11502e-11 -3.05972 -0.0937068 0.0612327 2.367e-13 -2.14495e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1901 1902 4.37288 -0.258062 -0.192256 -0.0027321 0.0876797 -0.0901359 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1852 1902 1.11342e-11 -3.05972 -0.0937068 0.0612327 2.367e-13 -2.14939e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1902 1903 4.36738 -0.25805 -0.191774 -0.00273182 0.0875694 -0.090243 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1853 1903 1.11218e-11 -3.05972 -0.0937068 0.0612327 2.36255e-13 -2.14939e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1903 1904 4.36187 -0.258036 -0.191291 -0.00273151 0.087459 -0.09035 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1854 1904 1.11058e-11 -3.05972 -0.0937068 0.0612327 2.36255e-13 -2.15383e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1904 1905 4.35636 -0.258021 -0.190808 -0.00273119 0.0873484 -0.0904569 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1855 1905 1.10951e-11 -3.05972 -0.0937068 0.0612327 2.35811e-13 -2.15827e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1905 1906 4.35084 -0.258005 -0.190326 -0.00273084 0.0872378 -0.0905636 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1856 1906 1.10809e-11 -3.05972 -0.0937068 0.0612327 2.35367e-13 -2.15827e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1906 1907 4.34531 -0.257988 -0.189843 -0.00273046 0.0871269 -0.0906702 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1857 1907 1.10632e-11 -3.05972 -0.0937068 0.0612327 2.35367e-13 -2.16271e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1907 1908 4.33978 -0.257969 -0.189361 -0.00273006 0.087016 -0.0907767 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1858 1908 1.10507e-11 -3.05972 -0.0937068 0.0612327 2.34923e-13 -2.16716e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1908 1909 4.33424 -0.257949 -0.188878 -0.00272964 0.0869049 -0.090883 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1859 1909 1.10401e-11 -3.05972 -0.0937068 0.0612327 2.34479e-13 -2.16716e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1909 1910 4.32869 -0.257928 -0.188396 -0.00272919 0.0867937 -0.0909892 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1860 1910 1.10205e-11 -3.05972 -0.0937068 0.0612327 2.34479e-13 -2.1716e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1910 1911 4.32314 -0.257906 -0.187914 -0.00272872 0.0866823 -0.0910953 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1861 1911 1.1009e-11 -3.05972 -0.0937068 0.0612327 2.34035e-13 -2.17604e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1911 1912 4.31758 -0.257883 -0.187431 -0.00272823 0.0865709 -0.0912012 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1862 1912 1.09948e-11 -3.05972 -0.0937068 0.0612327 2.34035e-13 -2.17604e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1912 1913 4.31201 -0.257859 -0.186949 -0.00272771 0.0864593 -0.0913069 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1863 1913 1.09805e-11 -3.05972 -0.0937068 0.0612327 2.33591e-13 -2.18048e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1913 1914 4.30644 -0.257833 -0.186467 -0.00272717 0.0863475 -0.0914126 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1864 1914 1.09663e-11 -3.05972 -0.0937068 0.0612327 2.33147e-13 -2.18048e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1914 1915 4.30086 -0.257806 -0.185985 -0.00272661 0.0862357 -0.0915181 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1865 1915 1.0953e-11 -3.05972 -0.0937068 0.0612327 2.33147e-13 -2.18492e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1915 1916 4.29528 -0.257778 -0.185503 -0.00272602 0.0861237 -0.0916234 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1866 1916 1.09353e-11 -3.05972 -0.0937068 0.0612327 2.32703e-13 -2.18936e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1916 1917 4.28969 -0.257749 -0.185021 -0.00272541 0.0860116 -0.0917287 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1867 1917 1.09228e-11 -3.05972 -0.0937068 0.0612327 2.32703e-13 -2.18936e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1917 1918 4.28409 -0.257719 -0.184539 -0.00272477 0.0858993 -0.0918337 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1868 1918 1.09139e-11 -3.05972 -0.0937068 0.0612327 2.32259e-13 -2.1938e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1918 1919 4.27849 -0.257687 -0.184057 -0.00272411 0.085787 -0.0919387 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1869 1919 1.08962e-11 -3.05972 -0.0937068 0.0612327 2.31815e-13 -2.19824e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1919 1920 4.27287 -0.257654 -0.183575 -0.00272343 0.0856745 -0.0920435 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1870 1920 1.08749e-11 -3.05972 -0.0937068 0.0612327 2.31815e-13 -2.19824e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1920 1921 4.26726 -0.257621 -0.183094 -0.00272272 0.0855618 -0.0921481 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1871 1921 1.08678e-11 -3.05972 -0.0937068 0.0612327 2.3137e-13 -2.20268e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1921 1922 4.26163 -0.257585 -0.182612 -0.00272199 0.0854491 -0.0922527 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1872 1922 1.08535e-11 -3.05972 -0.0937068 0.0612327 2.30926e-13 -2.20268e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1922 1923 4.256 -0.257549 -0.182131 -0.00272124 0.0853362 -0.0923571 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1873 1923 1.08411e-11 -3.05972 -0.0937068 0.0612327 2.30926e-13 -2.20712e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1923 1924 4.25037 -0.257512 -0.181649 -0.00272046 0.0852232 -0.0924613 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1874 1924 1.08225e-11 -3.05972 -0.0937068 0.0612327 2.30482e-13 -2.21156e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1924 1925 4.24472 -0.257473 -0.181168 -0.00271966 0.0851101 -0.0925654 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1875 1925 1.08089e-11 -3.05972 -0.0937068 0.0612327 2.30482e-13 -2.21156e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1925 1926 4.23908 -0.257433 -0.180687 -0.00271884 0.0849968 -0.0926694 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1876 1926 1.07949e-11 -3.05972 -0.0937068 0.0612327 2.30038e-13 -2.21601e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1926 1927 4.23342 -0.257392 -0.180206 -0.00271799 0.0848834 -0.0927732 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1877 1927 1.07789e-11 -3.05972 -0.0937068 0.0612327 2.30038e-13 -2.22045e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1927 1928 4.22776 -0.25735 -0.179725 -0.00271712 0.0847699 -0.0928769 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1878 1928 1.07647e-11 -3.05972 -0.0937068 0.0612327 2.29594e-13 -2.22045e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1928 1929 4.22209 -0.257307 -0.179244 -0.00271622 0.0846563 -0.0929804 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1879 1929 1.07487e-11 -3.05972 -0.0937068 0.0612327 2.2915e-13 -2.22489e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1929 1930 4.21642 -0.257263 -0.178763 -0.0027153 0.0845425 -0.0930838 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1880 1930 1.07363e-11 -3.05972 -0.0937068 0.0612327 2.2915e-13 -2.22933e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1930 1931 4.21074 -0.257217 -0.178282 -0.00271436 0.0844286 -0.0931871 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1881 1931 1.07256e-11 -3.05972 -0.0937068 0.0612327 2.28706e-13 -2.22933e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1931 1932 4.20505 -0.25717 -0.177802 -0.00271339 0.0843146 -0.0932902 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1882 1932 1.07043e-11 -3.05972 -0.0937068 0.0612327 2.28262e-13 -2.23377e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1932 1933 4.19936 -0.257122 -0.177321 -0.0027124 0.0842004 -0.0933932 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1883 1933 1.06972e-11 -3.05972 -0.0937068 0.0612327 2.28262e-13 -2.23821e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1933 1934 4.19366 -0.257073 -0.176841 -0.00271139 0.0840862 -0.093496 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1884 1934 1.06777e-11 -3.05972 -0.0937068 0.0612327 2.27818e-13 -2.23821e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1934 1935 4.18795 -0.257022 -0.176361 -0.00271035 0.0839718 -0.0935987 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1885 1935 1.06635e-11 -3.05972 -0.0937068 0.0612327 2.27818e-13 -2.24265e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1935 1936 4.18224 -0.256971 -0.175881 -0.00270929 0.0838572 -0.0937013 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1886 1936 1.06484e-11 -3.05972 -0.0937068 0.0612327 2.27374e-13 -2.24265e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1936 1937 4.17652 -0.256918 -0.175401 -0.0027082 0.0837426 -0.0938037 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1887 1937 1.0635e-11 -3.05972 -0.0937068 0.0612327 2.2693e-13 -2.24709e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1937 1938 4.17079 -0.256864 -0.174921 -0.0027071 0.0836278 -0.093906 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1888 1938 1.06204e-11 -3.05972 -0.0937068 0.0612327 2.2693e-13 -2.25153e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1938 1939 4.16506 -0.256809 -0.174441 -0.00270597 0.0835129 -0.0940081 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1889 1939 1.0604e-11 -3.05972 -0.0937068 0.0612327 2.26485e-13 -2.25153e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1939 1940 4.15933 -0.256753 -0.173962 -0.00270481 0.0833979 -0.0941101 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1890 1940 1.05924e-11 -3.05972 -0.0937068 0.0612327 2.26485e-13 -2.25597e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1940 1941 4.15358 -0.256695 -0.173482 -0.00270363 0.0832828 -0.0942119 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1891 1941 1.05747e-11 -3.05972 -0.0937068 0.0612327 2.26041e-13 -2.25597e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1941 1942 4.14783 -0.256637 -0.173003 -0.00270243 0.0831675 -0.0943136 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1892 1942 1.05587e-11 -3.05972 -0.0937068 0.0612327 2.25597e-13 -2.26041e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1942 1943 4.14208 -0.256577 -0.172524 -0.0027012 0.0830521 -0.0944152 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1893 1943 1.05409e-11 -3.05972 -0.0937068 0.0612327 2.25597e-13 -2.26485e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1943 1944 4.13632 -0.256516 -0.172045 -0.00269995 0.0829366 -0.0945166 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1894 1944 1.05373e-11 -3.05972 -0.0937068 0.0612327 2.25153e-13 -2.26485e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1944 1945 4.13055 -0.256454 -0.171566 -0.00269868 0.082821 -0.0946179 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1895 1945 1.05143e-11 -3.05972 -0.0937068 0.0612327 2.24709e-13 -2.2693e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1945 1946 4.12477 -0.256391 -0.171088 -0.00269739 0.0827052 -0.094719 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1896 1946 1.05054e-11 -3.05972 -0.0937068 0.0612327 2.24709e-13 -2.27374e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1946 1947 4.11899 -0.256326 -0.170609 -0.00269607 0.0825893 -0.09482 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1897 1947 1.04894e-11 -3.05972 -0.0937068 0.0612327 2.24265e-13 -2.27374e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1947 1948 4.1132 -0.256261 -0.170131 -0.00269472 0.0824733 -0.0949209 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1898 1948 1.04716e-11 -3.05972 -0.0937068 0.0612327 2.23821e-13 -2.27818e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1948 1949 4.10741 -0.256194 -0.169652 -0.00269336 0.0823572 -0.0950216 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1899 1949 1.04583e-11 -3.05972 -0.0937068 0.0612327 2.23821e-13 -2.27818e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1949 1950 4.10161 -0.256126 -0.169174 -0.00269197 0.0822409 -0.0951221 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1900 1950 1.04437e-11 -3.05972 -0.0937068 0.0612327 2.23377e-13 -2.28262e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1950 1951 4.09581 -0.256057 -0.168697 -0.00269055 0.0821245 -0.0952226 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1901 1951 1.0429e-11 -3.05972 -0.0937068 0.0612327 2.23377e-13 -2.28706e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1951 1952 4.09 -0.255986 -0.168219 -0.00268912 0.082008 -0.0953228 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1902 1952 1.04157e-11 -3.05972 -0.0937068 0.0612327 2.22933e-13 -2.28706e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1952 1953 4.08418 -0.255915 -0.167741 -0.00268766 0.0818914 -0.095423 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1903 1953 1.0397e-11 -3.05972 -0.0937068 0.0612327 2.22933e-13 -2.2915e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1953 1954 4.07835 -0.255842 -0.167264 -0.00268617 0.0817747 -0.0955229 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1904 1954 1.03881e-11 -3.05972 -0.0937068 0.0612327 2.22489e-13 -2.29594e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1954 1955 4.07252 -0.255768 -0.166787 -0.00268466 0.0816578 -0.0956228 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1905 1955 1.03668e-11 -3.05972 -0.0937068 0.0612327 2.22045e-13 -2.29594e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1955 1956 4.06669 -0.255693 -0.16631 -0.00268313 0.0815408 -0.0957225 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1906 1956 1.03562e-11 -3.05972 -0.0937068 0.0612327 2.22045e-13 -2.30038e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1956 1957 4.06085 -0.255617 -0.165833 -0.00268158 0.0814237 -0.095822 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1907 1957 1.03419e-11 -3.05972 -0.0937068 0.0612327 2.21601e-13 -2.30038e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1957 1958 4.055 -0.25554 -0.165356 -0.00268 0.0813065 -0.0959214 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1908 1958 1.03242e-11 -3.05972 -0.0937068 0.0612327 2.21156e-13 -2.30482e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1958 1959 4.04914 -0.255461 -0.16488 -0.0026784 0.0811891 -0.0960207 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1909 1959 1.031e-11 -3.05972 -0.0937068 0.0612327 2.21156e-13 -2.30926e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1959 1960 4.04328 -0.255382 -0.164404 -0.00267678 0.0810716 -0.0961198 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1910 1960 1.02958e-11 -3.05972 -0.0937068 0.0612327 2.20712e-13 -2.30926e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1960 1961 4.03742 -0.255301 -0.163928 -0.00267513 0.0809541 -0.0962188 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1911 1961 1.02807e-11 -3.05972 -0.0937068 0.0612327 2.20268e-13 -2.3137e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1961 1962 4.03154 -0.255219 -0.163452 -0.00267346 0.0808363 -0.0963176 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1912 1962 1.02642e-11 -3.05972 -0.0937068 0.0612327 2.20268e-13 -2.3137e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1962 1963 4.02567 -0.255136 -0.162976 -0.00267176 0.0807185 -0.0964163 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1913 1963 1.025e-11 -3.05972 -0.0937068 0.0612327 2.19824e-13 -2.31815e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1963 1964 4.01978 -0.255051 -0.162501 -0.00267005 0.0806006 -0.0965148 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1914 1964 1.02354e-11 -3.05972 -0.0937068 0.0612327 2.1938e-13 -2.32259e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1964 1965 4.01389 -0.254966 -0.162026 -0.0026683 0.0804825 -0.0966132 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1915 1965 1.02212e-11 -3.05972 -0.0937068 0.0612327 2.1938e-13 -2.32259e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1965 1966 4.00799 -0.254879 -0.161551 -0.00266654 0.0803643 -0.0967115 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1916 1966 1.02069e-11 -3.05972 -0.0937068 0.0612327 2.18936e-13 -2.32703e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1966 1967 4.00209 -0.254791 -0.161076 -0.00266475 0.080246 -0.0968095 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1917 1967 1.01874e-11 -3.05972 -0.0937068 0.0612327 2.18492e-13 -2.32703e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1967 1968 3.99618 -0.254702 -0.160601 -0.00266294 0.0801275 -0.0969075 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1918 1968 1.0175e-11 -3.05972 -0.0937068 0.0612327 2.18492e-13 -2.33147e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1968 1969 3.99027 -0.254612 -0.160127 -0.00266111 0.080009 -0.0970053 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1919 1969 1.01625e-11 -3.05972 -0.0937068 0.0612327 2.18048e-13 -2.33591e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1969 1970 3.98435 -0.254521 -0.159653 -0.00265925 0.0798903 -0.097103 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1920 1970 1.0143e-11 -3.05972 -0.0937068 0.0612327 2.18048e-13 -2.33591e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1970 1971 3.97842 -0.254428 -0.159179 -0.00265737 0.0797715 -0.0972005 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1921 1971 1.01306e-11 -3.05972 -0.0937068 0.0612327 2.17604e-13 -2.34035e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1971 1972 3.97249 -0.254335 -0.158705 -0.00265547 0.0796526 -0.0972978 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1922 1972 1.01128e-11 -3.05972 -0.0937068 0.0612327 2.1716e-13 -2.34479e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1972 1973 3.96655 -0.25424 -0.158232 -0.00265354 0.0795336 -0.0973951 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1923 1973 1.00959e-11 -3.05972 -0.0937068 0.0612327 2.1716e-13 -2.34479e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1973 1974 3.96061 -0.254144 -0.157759 -0.00265159 0.0794144 -0.0974921 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1924 1974 1.00857e-11 -3.05972 -0.0937068 0.0612327 2.16716e-13 -2.34923e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1974 1975 3.95466 -0.254047 -0.157286 -0.00264962 0.0792952 -0.0975891 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1925 1975 1.00687e-11 -3.05972 -0.0937068 0.0612327 2.16271e-13 -2.34923e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1975 1976 3.9487 -0.253949 -0.156813 -0.00264762 0.0791758 -0.0976858 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1926 1976 1.00528e-11 -3.05972 -0.0937068 0.0612327 2.16271e-13 -2.35367e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1976 1977 3.94274 -0.253849 -0.156341 -0.0026456 0.0790563 -0.0977825 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1927 1977 1.00409e-11 -3.05972 -0.0937068 0.0612327 2.15827e-13 -2.35367e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1977 1978 3.93677 -0.253749 -0.155868 -0.00264356 0.0789367 -0.0978789 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1928 1978 1.0024e-11 -3.05972 -0.0937068 0.0612327 2.15383e-13 -2.35811e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1978 1979 3.93079 -0.253647 -0.155396 -0.00264149 0.0788169 -0.0979753 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1929 1979 1.00098e-11 -3.05972 -0.0937068 0.0612327 2.15383e-13 -2.36255e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1979 1980 3.92481 -0.253544 -0.154925 -0.0026394 0.0786971 -0.0980715 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1930 1980 9.98845e-12 -3.05972 -0.0937068 0.0612327 2.14939e-13 -2.36255e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1980 1981 3.91883 -0.25344 -0.154453 -0.00263729 0.0785771 -0.0981675 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1931 1981 9.9778e-12 -3.05972 -0.0937068 0.0612327 2.14939e-13 -2.367e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1981 1982 3.91284 -0.253335 -0.153982 -0.00263515 0.078457 -0.0982634 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1932 1982 9.96359e-12 -3.05972 -0.0937068 0.0612327 2.14495e-13 -2.367e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1982 1983 3.90684 -0.253228 -0.153511 -0.00263299 0.0783368 -0.0983591 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1933 1983 9.94937e-12 -3.05972 -0.0937068 0.0612327 2.14051e-13 -2.37144e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1983 1984 3.90084 -0.253121 -0.15304 -0.00263081 0.0782165 -0.0984547 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1934 1984 9.93161e-12 -3.05972 -0.0937068 0.0612327 2.14051e-13 -2.37588e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1984 1985 3.89483 -0.253012 -0.15257 -0.00262861 0.0780961 -0.0985502 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1935 1985 9.91562e-12 -3.05972 -0.0937068 0.0612327 2.13607e-13 -2.37588e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1985 1986 3.88881 -0.252902 -0.152099 -0.00262638 0.0779755 -0.0986455 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1936 1986 9.90141e-12 -3.05972 -0.0937068 0.0612327 2.13163e-13 -2.38032e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1986 1987 3.88279 -0.252791 -0.15163 -0.00262413 0.0778549 -0.0987406 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1937 1987 9.8852e-12 -3.05972 -0.0937068 0.0612327 2.13163e-13 -2.38032e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1987 1988 3.87676 -0.252679 -0.15116 -0.00262186 0.0777341 -0.0988356 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1938 1988 9.86988e-12 -3.05972 -0.0937068 0.0612327 2.12719e-13 -2.38476e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1988 1989 3.87073 -0.252566 -0.150691 -0.00261956 0.0776132 -0.0989305 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1939 1989 9.85523e-12 -3.05972 -0.0937068 0.0612327 2.12275e-13 -2.3892e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1989 1990 3.86469 -0.252452 -0.150221 -0.00261724 0.0774922 -0.0990252 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1940 1990 9.84102e-12 -3.05972 -0.0937068 0.0612327 2.12275e-13 -2.3892e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1990 1991 3.85865 -0.252336 -0.149753 -0.0026149 0.077371 -0.0991197 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1941 1991 9.82503e-12 -3.05972 -0.0937068 0.0612327 2.11831e-13 -2.39364e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1991 1992 3.8526 -0.252219 -0.149284 -0.00261253 0.0772498 -0.0992141 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1942 1992 9.81082e-12 -3.05972 -0.0937068 0.0612327 2.11386e-13 -2.39364e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1992 1993 3.84654 -0.252101 -0.148816 -0.00261014 0.0771284 -0.0993084 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1943 1993 9.79838e-12 -3.05972 -0.0937068 0.0612327 2.11386e-13 -2.39808e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1993 1994 3.84048 -0.251982 -0.148348 -0.00260773 0.0770069 -0.0994025 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1944 1994 9.77529e-12 -3.05972 -0.0937068 0.0612327 2.10942e-13 -2.39808e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1994 1995 3.83441 -0.251862 -0.14788 -0.0026053 0.0768853 -0.0994964 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1945 1995 9.76108e-12 -3.05972 -0.0937068 0.0612327 2.10498e-13 -2.40252e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1995 1996 3.82834 -0.251741 -0.147413 -0.00260284 0.0767636 -0.0995902 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1946 1996 9.74687e-12 -3.05972 -0.0937068 0.0612327 2.10498e-13 -2.40696e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1996 1997 3.82226 -0.251619 -0.146946 -0.00260036 0.0766418 -0.0996839 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1947 1997 9.73266e-12 -3.05972 -0.0937068 0.0612327 2.10054e-13 -2.40696e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1997 1998 3.81618 -0.251495 -0.146479 -0.00259785 0.0765199 -0.0997774 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1948 1998 9.71667e-12 -3.05972 -0.0937068 0.0612327 2.0961e-13 -2.4114e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1998 1999 3.81009 -0.25137 -0.146013 -0.00259533 0.0763978 -0.0998707 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1949 1999 9.6998e-12 -3.05972 -0.0937068 0.0612327 2.0961e-13 -2.4114e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1999 2000 3.80399 -0.251244 -0.145547 -0.00259278 0.0762757 -0.0999639 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1950 2000 9.68433e-12 -3.05972 -0.0937068 0.0612327 2.09166e-13 -2.41585e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2000 2001 3.79789 -0.251117 -0.145081 -0.00259021 0.0761534 -0.100057 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1951 2001 9.66782e-12 -3.05972 -0.0937068 0.0612327 2.08722e-13 -2.41585e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2001 2002 3.79178 -0.250989 -0.144615 -0.00258761 0.076031 -0.10015 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1952 2002 9.65272e-12 -3.05972 -0.0937068 0.0612327 2.08722e-13 -2.42029e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2002 2003 3.78567 -0.25086 -0.14415 -0.00258499 0.0759085 -0.100243 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1953 2003 9.63674e-12 -3.05972 -0.0937068 0.0612327 2.08278e-13 -2.42473e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2003 2004 3.77955 -0.25073 -0.143685 -0.00258235 0.0757859 -0.100335 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1954 2004 9.62252e-12 -3.05972 -0.0937068 0.0612327 2.07834e-13 -2.42473e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2004 2005 3.77343 -0.250598 -0.143221 -0.00257969 0.0756632 -0.100428 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1955 2005 9.60476e-12 -3.05972 -0.0937068 0.0612327 2.0739e-13 -2.42917e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2005 2006 3.7673 -0.250465 -0.142756 -0.00257701 0.0755403 -0.10052 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1956 2006 9.5941e-12 -3.05972 -0.0937068 0.0612327 2.0739e-13 -2.42917e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2006 2007 3.76116 -0.250331 -0.142292 -0.0025743 0.0754174 -0.100612 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1957 2007 9.57634e-12 -3.05972 -0.0937068 0.0612327 2.06946e-13 -2.43361e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2007 2008 3.75502 -0.250196 -0.141829 -0.00257157 0.0752943 -0.100704 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1958 2008 9.5568e-12 -3.05972 -0.0937068 0.0612327 2.06946e-13 -2.43361e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2008 2009 3.74887 -0.25006 -0.141366 -0.00256881 0.0751712 -0.100796 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1959 2009 9.54081e-12 -3.05972 -0.0937068 0.0612327 2.06501e-13 -2.43805e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2009 2010 3.74272 -0.249923 -0.140903 -0.00256604 0.0750479 -0.100888 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1960 2010 9.5266e-12 -3.05972 -0.0937068 0.0612327 2.06057e-13 -2.44249e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2010 2011 3.73656 -0.249785 -0.14044 -0.00256324 0.0749245 -0.100979 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1961 2011 9.51239e-12 -3.05972 -0.0937068 0.0612327 2.06057e-13 -2.44249e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2011 2012 3.7304 -0.249645 -0.139978 -0.00256041 0.074801 -0.101071 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1962 2012 9.4964e-12 -3.05972 -0.0937068 0.0612327 2.05613e-13 -2.44693e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2012 2013 3.72423 -0.249504 -0.139516 -0.00255757 0.0746773 -0.101162 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1963 2013 9.48108e-12 -3.05972 -0.0937068 0.0612327 2.05169e-13 -2.44693e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2013 2014 3.71805 -0.249363 -0.139054 -0.0025547 0.0745536 -0.101253 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1964 2014 9.46532e-12 -3.05972 -0.0937068 0.0612327 2.04725e-13 -2.45137e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2014 2015 3.71187 -0.24922 -0.138593 -0.00255181 0.0744298 -0.101344 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1965 2015 9.45022e-12 -3.05972 -0.0937068 0.0612327 2.04725e-13 -2.45137e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2015 2016 3.70569 -0.249076 -0.138132 -0.0025489 0.0743058 -0.101435 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1966 2016 9.43423e-12 -3.05972 -0.0937068 0.0612327 2.04281e-13 -2.45581e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2016 2017 3.69949 -0.248931 -0.137672 -0.00254597 0.0741817 -0.101525 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1967 2017 9.41824e-12 -3.05972 -0.0937068 0.0612327 2.04281e-13 -2.46025e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2017 2018 3.6933 -0.248784 -0.137212 -0.00254301 0.0740576 -0.101616 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1968 2018 9.40226e-12 -3.05972 -0.0937068 0.0612327 2.03837e-13 -2.46025e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2018 2019 3.68709 -0.248637 -0.136752 -0.00254003 0.0739333 -0.101706 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1969 2019 9.38449e-12 -3.05972 -0.0937068 0.0612327 2.03393e-13 -2.4647e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2019 2020 3.68089 -0.248488 -0.136292 -0.00253703 0.0738089 -0.101796 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1970 2020 9.37206e-12 -3.05972 -0.0937068 0.0612327 2.02949e-13 -2.4647e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2020 2021 3.67467 -0.248339 -0.135833 -0.002534 0.0736844 -0.101886 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1971 2021 9.3543e-12 -3.05972 -0.0937068 0.0612327 2.02949e-13 -2.46914e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2021 2022 3.66845 -0.248188 -0.135375 -0.00253095 0.0735598 -0.101976 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1972 2022 9.34008e-12 -3.05972 -0.0937068 0.0612327 2.02505e-13 -2.46914e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2022 2023 3.66223 -0.248036 -0.134916 -0.00252788 0.073435 -0.102066 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1973 2023 9.32321e-12 -3.05972 -0.0937068 0.0612327 2.02061e-13 -2.47358e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2023 2024 3.656 -0.247883 -0.134458 -0.00252479 0.0733102 -0.102155 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1974 2024 9.30589e-12 -3.05972 -0.0937068 0.0612327 2.02061e-13 -2.47802e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2024 2025 3.64976 -0.247729 -0.134001 -0.00252168 0.0731853 -0.102245 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1975 2025 9.29086e-12 -3.05972 -0.0937068 0.0612327 2.01617e-13 -2.47802e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2025 2026 3.64352 -0.247573 -0.133544 -0.00251854 0.0730602 -0.102334 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1976 2026 9.27525e-12 -3.05972 -0.0937068 0.0612327 2.01172e-13 -2.48246e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2026 2027 3.63727 -0.247417 -0.133087 -0.00251538 0.0729351 -0.102423 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1977 2027 9.25748e-12 -3.05972 -0.0937068 0.0612327 2.01172e-13 -2.48246e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2027 2028 3.63102 -0.24726 -0.13263 -0.0025122 0.0728098 -0.102512 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1978 2028 9.24061e-12 -3.05972 -0.0937068 0.0612327 2.00728e-13 -2.4869e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2028 2029 3.62476 -0.247101 -0.132174 -0.002509 0.0726844 -0.102601 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1979 2029 9.2264e-12 -3.05972 -0.0937068 0.0612327 2.00284e-13 -2.4869e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2029 2030 3.6185 -0.246941 -0.131719 -0.00250577 0.0725589 -0.102689 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1980 2030 9.21752e-12 -3.05972 -0.0937068 0.0612327 2.00284e-13 -2.49134e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2030 2031 3.61223 -0.24678 -0.131264 -0.00250252 0.0724333 -0.102778 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1981 2031 9.19265e-12 -3.05972 -0.0937068 0.0612327 1.9984e-13 -2.49134e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2031 2032 3.60596 -0.246618 -0.130809 -0.00249925 0.0723076 -0.102866 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1982 2032 9.17666e-12 -3.05972 -0.0937068 0.0612327 1.99396e-13 -2.49578e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2032 2033 3.59968 -0.246455 -0.130354 -0.00249596 0.0721818 -0.102954 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1983 2033 9.16067e-12 -3.05972 -0.0937068 0.0612327 1.98952e-13 -2.49578e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2033 2034 3.59339 -0.246291 -0.1299 -0.00249264 0.0720559 -0.103042 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1984 2034 9.14646e-12 -3.05972 -0.0937068 0.0612327 1.98952e-13 -2.50022e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2034 2035 3.5871 -0.246126 -0.129447 -0.0024893 0.0719299 -0.10313 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1985 2035 9.13225e-12 -3.05972 -0.0937068 0.0612327 1.98508e-13 -2.50466e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2035 2036 3.58081 -0.245959 -0.128993 -0.00248594 0.0718038 -0.103218 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1986 2036 9.11538e-12 -3.05972 -0.0937068 0.0612327 1.98064e-13 -2.50466e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2036 2037 3.57451 -0.245792 -0.12854 -0.00248256 0.0716775 -0.103305 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1987 2037 9.09872e-12 -3.05972 -0.0937068 0.0612327 1.98064e-13 -2.5091e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2037 2038 3.5682 -0.245623 -0.128088 -0.00247916 0.0715512 -0.103393 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1988 2038 9.08296e-12 -3.05972 -0.0937068 0.0612327 1.9762e-13 -2.5091e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2038 2039 3.56189 -0.245453 -0.127636 -0.00247573 0.0714247 -0.10348 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1989 2039 9.06653e-12 -3.05972 -0.0937068 0.0612327 1.97176e-13 -2.51354e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2039 2040 3.55557 -0.245282 -0.127184 -0.00247228 0.0712982 -0.103567 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1990 2040 9.04876e-12 -3.05972 -0.0937068 0.0612327 1.97176e-13 -2.51354e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2040 2041 3.54925 -0.245111 -0.126733 -0.00246881 0.0711715 -0.103654 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1991 2041 9.03277e-12 -3.05972 -0.0937068 0.0612327 1.96732e-13 -2.51799e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2041 2042 3.54292 -0.244937 -0.126282 -0.00246532 0.0710448 -0.103741 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1992 2042 9.02212e-12 -3.05972 -0.0937068 0.0612327 1.96287e-13 -2.52243e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2042 2043 3.53659 -0.244763 -0.125832 -0.0024618 0.0709179 -0.103827 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1993 2043 9.00258e-12 -3.05972 -0.0937068 0.0612327 1.96287e-13 -2.52243e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2043 2044 3.53025 -0.244588 -0.125382 -0.00245827 0.0707909 -0.103914 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1994 2044 8.98659e-12 -3.05972 -0.0937068 0.0612327 1.95843e-13 -2.52243e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2044 2045 3.52391 -0.244412 -0.124933 -0.00245471 0.0706638 -0.104 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1995 2045 8.96883e-12 -3.05972 -0.0937068 0.0612327 1.95399e-13 -2.52687e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2045 2046 3.51756 -0.244234 -0.124484 -0.00245113 0.0705366 -0.104086 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1996 2046 8.95284e-12 -3.05972 -0.0937068 0.0612327 1.95399e-13 -2.53131e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2046 2047 3.51121 -0.244056 -0.124035 -0.00244753 0.0704094 -0.104172 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1997 2047 8.93685e-12 -3.05972 -0.0937068 0.0612327 1.94955e-13 -2.53131e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2047 2048 3.50485 -0.243876 -0.123587 -0.0024439 0.070282 -0.104258 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1998 2048 8.92264e-12 -3.05972 -0.0937068 0.0612327 1.94511e-13 -2.53575e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2048 2049 3.49848 -0.243695 -0.123139 -0.00244026 0.0701545 -0.104344 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 1999 2049 8.90443e-12 -3.05972 -0.0937068 0.0612327 1.94067e-13 -2.53575e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2049 2050 3.49211 -0.243513 -0.122692 -0.00243659 0.0700269 -0.104429 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2000 2050 8.88867e-12 -3.05972 -0.0937068 0.0612327 1.94067e-13 -2.54019e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2050 2051 3.48574 -0.24333 -0.122245 -0.0024329 0.0698991 -0.104515 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2001 2051 8.8729e-12 -3.05972 -0.0937068 0.0612327 1.93623e-13 -2.54019e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2051 2052 3.47936 -0.243146 -0.121799 -0.00242919 0.0697713 -0.1046 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2002 2052 8.85514e-12 -3.05972 -0.0937068 0.0612327 1.93179e-13 -2.54463e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2052 2053 3.47297 -0.242961 -0.121353 -0.00242545 0.0696434 -0.104685 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2003 2053 8.8427e-12 -3.05972 -0.0937068 0.0612327 1.93179e-13 -2.54907e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2053 2054 3.46658 -0.242775 -0.120907 -0.0024217 0.0695154 -0.10477 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2004 2054 8.82139e-12 -3.05972 -0.0937068 0.0612327 1.92735e-13 -2.54907e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2054 2055 3.46018 -0.242587 -0.120462 -0.00241792 0.0693873 -0.104854 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2005 2055 8.81073e-12 -3.05972 -0.0937068 0.0612327 1.92291e-13 -2.54907e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2055 2056 3.45378 -0.242399 -0.120018 -0.00241412 0.069259 -0.104939 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2006 2056 8.78586e-12 -3.05972 -0.0937068 0.0612327 1.92291e-13 -2.55351e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2056 2057 3.44738 -0.24221 -0.119574 -0.0024103 0.0691307 -0.105023 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2007 2057 8.7752e-12 -3.05972 -0.0937068 0.0612327 1.91847e-13 -2.55351e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2057 2058 3.44097 -0.242019 -0.11913 -0.00240646 0.0690023 -0.105108 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2008 2058 8.75922e-12 -3.05972 -0.0937068 0.0612327 1.91402e-13 -2.55795e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2058 2059 3.43455 -0.241827 -0.118687 -0.00240259 0.0688737 -0.105192 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2009 2059 8.745e-12 -3.05972 -0.0937068 0.0612327 1.90958e-13 -2.55795e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2059 2060 3.42813 -0.241634 -0.118244 -0.00239871 0.0687451 -0.105276 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2010 2060 8.72724e-12 -3.05972 -0.0937068 0.0612327 1.90958e-13 -2.56239e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2060 2061 3.4217 -0.241441 -0.117802 -0.0023948 0.0686164 -0.105359 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2011 2061 8.70859e-12 -3.05972 -0.0937068 0.0612327 1.90514e-13 -2.56684e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2061 2062 3.41527 -0.241246 -0.11736 -0.00239087 0.0684875 -0.105443 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2012 2062 8.69282e-12 -3.05972 -0.0937068 0.0612327 1.9007e-13 -2.56684e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2062 2063 3.40883 -0.24105 -0.116919 -0.00238692 0.0683586 -0.105526 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2013 2063 8.67595e-12 -3.05972 -0.0937068 0.0612327 1.9007e-13 -2.57128e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2063 2064 3.40239 -0.240853 -0.116478 -0.00238295 0.0682295 -0.10561 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2014 2064 8.66063e-12 -3.05972 -0.0937068 0.0612327 1.89626e-13 -2.57128e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2064 2065 3.39594 -0.240654 -0.116038 -0.00237895 0.0681004 -0.105693 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2015 2065 8.64286e-12 -3.05972 -0.0937068 0.0612327 1.89182e-13 -2.57572e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2065 2066 3.38949 -0.240455 -0.115598 -0.00237494 0.0679711 -0.105776 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2016 2066 8.62599e-12 -3.05972 -0.0937068 0.0612327 1.89182e-13 -2.57572e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2066 2067 3.38303 -0.240255 -0.115159 -0.0023709 0.0678418 -0.105859 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2017 2067 8.61178e-12 -3.05972 -0.0937068 0.0612327 1.88738e-13 -2.58016e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2067 2068 3.37657 -0.240053 -0.11472 -0.00236684 0.0677124 -0.105941 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2018 2068 8.59579e-12 -3.05972 -0.0937068 0.0612327 1.88294e-13 -2.58016e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2068 2069 3.3701 -0.239851 -0.114282 -0.00236276 0.0675828 -0.106024 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2019 2069 8.5798e-12 -3.05972 -0.0937068 0.0612327 1.8785e-13 -2.5846e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2069 2070 3.36363 -0.239647 -0.113844 -0.00235866 0.0674532 -0.106106 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2020 2070 8.56204e-12 -3.05972 -0.0937068 0.0612327 1.8785e-13 -2.5846e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2070 2071 3.35715 -0.239443 -0.113407 -0.00235454 0.0673234 -0.106188 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2021 2071 8.54783e-12 -3.05972 -0.0937068 0.0612327 1.87406e-13 -2.58904e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2071 2072 3.35067 -0.239237 -0.11297 -0.0023504 0.0671936 -0.10627 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2022 2072 8.52651e-12 -3.05972 -0.0937068 0.0612327 1.86962e-13 -2.58904e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2072 2073 3.34418 -0.23903 -0.112533 -0.00234623 0.0670636 -0.106352 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2023 2073 8.5123e-12 -3.05972 -0.0937068 0.0612327 1.86517e-13 -2.59348e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2073 2074 3.33769 -0.238822 -0.112098 -0.00234204 0.0669336 -0.106434 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2024 2074 8.49498e-12 -3.05972 -0.0937068 0.0612327 1.86517e-13 -2.59348e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2074 2075 3.33119 -0.238614 -0.111662 -0.00233784 0.0668034 -0.106516 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2025 2075 8.47816e-12 -3.05972 -0.0937068 0.0612327 1.86073e-13 -2.59792e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2075 2076 3.32469 -0.238404 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0 25 +EDGE3 2079 2080 3.29862 -0.237553 -0.109493 -0.00231648 0.0661512 -0.106921 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2030 2080 8.39506e-12 -3.05972 -0.0937068 0.0612327 1.84741e-13 -2.6068e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2080 2081 3.2921 -0.237338 -0.109061 -0.00231214 0.0660204 -0.107002 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2031 2081 8.37908e-12 -3.05972 -0.0937068 0.0612327 1.84297e-13 -2.61124e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2081 2082 3.28556 -0.237121 -0.10863 -0.00230779 0.0658896 -0.107082 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2032 2082 8.35954e-12 -3.05972 -0.0937068 0.0612327 1.83853e-13 -2.61124e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2082 2083 3.27903 -0.236904 -0.108198 -0.00230341 0.0657587 -0.107162 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2033 2083 8.3471e-12 -3.05972 -0.0937068 0.0612327 1.83409e-13 -2.61569e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2083 2084 3.27248 -0.236686 -0.107768 -0.00229901 0.0656276 -0.107242 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2034 2084 8.32756e-12 -3.05972 -0.0937068 0.0612327 1.83409e-13 -2.62013e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2084 2085 3.26594 -0.236466 -0.107338 -0.00229459 0.0654965 -0.107322 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2035 2085 8.31157e-12 -3.05972 -0.0937068 0.0612327 1.82965e-13 -2.62013e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2085 2086 3.25938 -0.236246 -0.106908 -0.00229015 0.0653653 -0.107402 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2036 2086 8.2947e-12 -3.05972 -0.0937068 0.0612327 1.82521e-13 -2.62013e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2086 2087 3.25283 -0.236024 -0.106479 -0.00228569 0.0652339 -0.107482 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2037 2087 8.27849e-12 -3.05972 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-3.16192e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2468 2469 0.487948 -0.0918356 -0.00246533 0.000602968 0.00991213 -0.125274 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2419 2469 1.22746e-12 -3.05972 -0.0937068 0.0612327 4.44089e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2469 2470 0.480296 -0.0913586 -0.00239037 0.000612508 0.00975911 -0.125286 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2420 2470 1.20748e-12 -3.05972 -0.0937068 0.0612327 4.39648e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2470 2471 0.472644 -0.0908815 -0.00231657 0.00062205 0.00960607 -0.125298 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2421 2471 1.18883e-12 -3.05972 -0.0937068 0.0612327 4.35207e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2471 2472 0.464991 -0.0904041 -0.00224395 0.000631597 0.00945302 -0.12531 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2422 2472 1.16862e-12 -3.05972 -0.0937068 0.0612327 4.30767e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2472 2473 0.457337 -0.0899266 -0.00217249 0.000641147 0.00929995 -0.125321 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2423 2473 1.1493e-12 -3.05972 -0.0937068 0.0612327 4.26326e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2473 2474 0.449683 -0.0894489 -0.0021022 0.0006507 0.00914687 -0.125332 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2424 2474 1.12998e-12 -3.05972 -0.0937068 0.0612327 4.21885e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2474 2475 0.442028 -0.088971 -0.00203309 0.000660257 0.00899378 -0.125343 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2425 2475 1.1104e-12 -3.05972 -0.0937068 0.0612327 4.21885e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2475 2476 0.434372 -0.088493 -0.00196514 0.000669817 0.00884067 -0.125354 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2426 2476 1.09074e-12 -3.05972 -0.0937068 0.0612327 4.17444e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2476 2477 0.426716 -0.0880148 -0.00189837 0.00067938 0.00868755 -0.125365 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2427 2477 1.07125e-12 -3.05972 -0.0937068 0.0612327 4.13003e-14 -3.16636e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2477 2478 0.419059 -0.0875364 -0.00183276 0.000688947 0.00853442 -0.125375 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2428 2478 1.0516e-12 -3.05972 -0.0937068 0.0612327 4.08562e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2478 2479 0.411401 -0.0870579 -0.00176833 0.000698517 0.00838127 -0.125385 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2429 2479 1.03251e-12 -3.05972 -0.0937068 0.0612327 4.04121e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2479 2480 0.403743 -0.0865792 -0.00170507 0.00070809 0.00822812 -0.125395 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2430 2480 1.01275e-12 -3.05972 -0.0937068 0.0612327 3.9968e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2480 2481 0.396084 -0.0861004 -0.00164299 0.000717666 0.00807495 -0.125405 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2431 2481 9.9365e-13 -3.05972 -0.0937068 0.0612327 3.95239e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2481 2482 0.388425 -0.0856214 -0.00158207 0.000727245 0.00792176 -0.125415 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2432 2482 9.73888e-13 -3.05972 -0.0937068 0.0612327 3.90799e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2482 2483 0.380765 -0.0851423 -0.00152233 0.000736827 0.00776857 -0.125425 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2433 2483 9.54348e-13 -3.05972 -0.0937068 0.0612327 3.90799e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2483 2484 0.373104 -0.084663 -0.00146377 0.000746412 0.00761537 -0.125434 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2434 2484 9.3503e-13 -3.05972 -0.0937068 0.0612327 3.86358e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2484 2485 0.365443 -0.0841836 -0.00140637 0.000756 0.00746215 -0.125443 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2435 2485 9.15268e-13 -3.05972 -0.0937068 0.0612327 3.81917e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2485 2486 0.357781 -0.0837041 -0.00135016 0.00076559 0.00730892 -0.125452 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2436 2486 8.95728e-13 -3.05972 -0.0937068 0.0612327 3.77476e-14 -3.1708e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2486 2487 0.350119 -0.0832244 -0.00129511 0.000775183 0.00715568 -0.125461 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2437 2487 8.76077e-13 -3.05972 -0.0937068 0.0612327 3.73035e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2487 2488 0.342456 -0.0827446 -0.00124124 0.000784779 0.00700244 -0.125469 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2438 2488 8.56537e-13 -3.05972 -0.0937068 0.0612327 3.68594e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2488 2489 0.334793 -0.0822646 -0.00118855 0.000794378 0.00684918 -0.125478 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2439 2489 8.36831e-13 -3.05972 -0.0937068 0.0612327 3.64153e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2489 2490 0.327129 -0.0817845 -0.00113703 0.000803979 0.00669591 -0.125486 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2440 2490 8.17235e-13 -3.05972 -0.0937068 0.0612327 3.59712e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2490 2491 0.319465 -0.0813043 -0.00108669 0.000813582 0.00654263 -0.125494 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2441 2491 7.97584e-13 -3.05972 -0.0937068 0.0612327 3.59712e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2491 2492 0.3118 -0.080824 -0.00103753 0.000823188 0.00638934 -0.125502 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2442 2492 7.77822e-13 -3.05972 -0.0937068 0.0612327 3.55271e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2492 2493 0.304135 -0.0803435 -0.000989541 0.000832796 0.00623604 -0.12551 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2443 2493 7.59171e-13 -3.05972 -0.0937068 0.0612327 3.5083e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2493 2494 0.296469 -0.079863 -0.000942729 0.000842407 0.00608273 -0.125517 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2444 2494 7.39631e-13 -3.05972 -0.0937068 0.0612327 3.4639e-14 -3.17524e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2494 2495 0.288803 -0.0793823 -0.000897096 0.00085202 0.00592942 -0.125524 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2445 2495 7.19869e-13 -3.05972 -0.0937068 0.0612327 3.41949e-14 -3.17968e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2495 2496 0.281136 -0.0789015 -0.000852639 0.000861635 0.00577609 -0.125532 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2446 2496 7.0044e-13 -3.05972 -0.0937068 0.0612327 3.37508e-14 -3.17968e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2496 2497 0.27347 -0.0784206 -0.00080936 0.000871253 0.00562276 -0.125539 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2447 2497 6.80456e-13 -3.05972 -0.0937068 0.0612327 3.33067e-14 -3.17968e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2497 2498 0.265802 -0.0779396 -0.000767259 0.000880872 0.00546942 -0.125545 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2448 2498 6.61027e-13 -3.05972 -0.0937068 0.0612327 3.28626e-14 -3.17968e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2498 2499 0.258134 -0.0774585 -0.000726337 0.000890493 0.00531607 -0.125552 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 +EDGE3 2449 2499 6.41709e-13 -3.05972 -0.0937068 0.0612327 3.28626e-14 -3.17968e-13 10 0 0 0 0 0 10 0 0 0 0 10 0 0 0 100 0 0 100 0 25 From be7828b8cf7e896cde9174dd607173b68cc7a189 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 05:53:51 +0000 Subject: [PATCH 123/914] Pose3SLAM example works (MATLAB only) --- examples/matlab/Pose3SLAMExample_graph.m | 23 +++++++----- examples/matlab/load3D.m | 36 +++++++++++++----- examples/matlab/plot3DTrajectory.m | 15 ++++++++ gtsam.h | 47 ++++++++++++++++++------ 4 files changed, 92 insertions(+), 29 deletions(-) create mode 100644 examples/matlab/plot3DTrajectory.m diff --git a/examples/matlab/Pose3SLAMExample_graph.m b/examples/matlab/Pose3SLAMExample_graph.m index a42484484..b1f0afb1a 100644 --- a/examples/matlab/Pose3SLAMExample_graph.m +++ b/examples/matlab/Pose3SLAMExample_graph.m @@ -10,19 +10,24 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +N = 2500; +% filename = '../Data/sphere_smallnoise.graph'; +% filename = '../Data/sphere2500_groundtruth.txt'; +filename = '../Data/sphere2500.txt'; + %% Initialize graph, initial estimate, and odometry noise model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -[graph,initial]=load3D('../Data/sphere_smallnoise.graph',model,100); - -%% Fix first pose +[graph,initial]=load3D(filename,model,true,N); first = initial.pose(0); -graph.addHardConstraint(0, first); % add directly to graph +graph.addHardConstraint(0, first); %% Plot Initial Estimate figure(1);clf -plot3(initial.xs(),initial.ys(),initial.zs(),'g-'); hold on -plot3(first.x(),first.y(),first.z(),'r*'); +plot3(first.x(),first.y(),first.z(),'r*'); hold on +plot3DTrajectory(initial,'g-',false); -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initial); -hold on; plot3(result.xs(),result.ys(),result.zs(),'b-');axis equal; \ No newline at end of file +%% Read again, now all constraints +[graph,discard]=load3D(filename,model,false,N); +graph.addHardConstraint(0, first); +result = graph.optimize(initial); % start from old result +plot3DTrajectory(result,'r-',false); axis equal; diff --git a/examples/matlab/load3D.m b/examples/matlab/load3D.m index 0ed6ecd61..82ae098b9 100644 --- a/examples/matlab/load3D.m +++ b/examples/matlab/load3D.m @@ -1,6 +1,9 @@ -function [graph,initial] = load3D(filename,model,N) +function [graph,initial] = load3D(filename,model,successive,N) % load3D: read TORO 3D pose graph % cannot read noise model from file yet, uses specified model +% if [successive] is tru, constructs initial estimate from odometry + +if nargin<3, successive=false; end fid = fopen(filename); if fid < 0 error(['load2D: Cannot open file ' filename]); @@ -14,24 +17,39 @@ lines=columns{1}; % loop over lines and add vertices graph = pose3SLAMGraph; initial = pose3SLAMValues; +origin=gtsamPose3; +initial.insertPose(0,origin); n=size(lines,1); -if nargin<3, N=n;end +if nargin<4, N=n;end for i=1:n line_i=lines{i}; if strcmp('VERTEX3',line_i(1:7)) v = textscan(line_i,'%s %d %f %f %f %f %f %f',1); - if v{2}i1 + initial.insertPose(i2,initial.pose(i1).compose(dpose)); + else + initial.insertPose(i1,initial.pose(i2).compose(dpose.inverse)); + end + end + end end end end diff --git a/examples/matlab/plot3DTrajectory.m b/examples/matlab/plot3DTrajectory.m new file mode 100644 index 000000000..f2c1d8f2f --- /dev/null +++ b/examples/matlab/plot3DTrajectory.m @@ -0,0 +1,15 @@ +function plot3DTrajectory(values,style,frames) +% plot3DTrajectory +if nargin<3,frames=false;end + +plot3(values.xs(),values.ys(),values.zs(),style); hold on +if frames + for i=0:N-1 + pose = values.pose(i); + t = pose.translation; + R = pose.rotation.matrix; + quiver3(t.x,t.y,t.z,R(1,1),R(2,1),R(3,1),'r'); + quiver3(t.x,t.y,t.z,R(1,2),R(2,2),R(3,2),'g'); + quiver3(t.x,t.y,t.z,R(1,3),R(2,3),R(3,3),'b'); + end +end \ No newline at end of file diff --git a/gtsam.h b/gtsam.h index 48a205e2e..2015705ae 100644 --- a/gtsam.h +++ b/gtsam.h @@ -197,26 +197,51 @@ class Pose2 { }; class Pose3 { + // Standard Constructors Pose3(); + Pose3(const gtsam::Pose3& pose); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); - Pose3(Matrix t); Pose3(const gtsam::Pose2& pose2); - static gtsam::Pose3 Expmap(Vector v); - static Vector Logmap(const gtsam::Pose3& p); + Pose3(Matrix t); + + // Testable void print(string s) const; bool equals(const gtsam::Pose3& pose, double tol) const; + + // Group + static gtsam::Pose3 identity(); + gtsam::Pose3 inverse(); + gtsam::Pose3 compose(const gtsam::Pose3& p2); + gtsam::Pose3 between(const gtsam::Pose3& p2); + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Pose3 retract(Vector v); + gtsam::Pose3 retractFirstOrder(Vector v); + Vector localCoordinates(const gtsam::Pose3& T2) const; + + // Lie Group + static gtsam::Pose3 Expmap(Vector v); + static Vector Logmap(const gtsam::Pose3& p); + Matrix adjointMap() const; + Vector adjoint(const Vector& xi) const; + static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz); + + // Group Action on Point3 + gtsam::Point3 transform_from(const gtsam::Point3& p) const; + gtsam::Point3 transform_to(const gtsam::Point3& p) const; + + // Standard Interface + gtsam::Rot3 rotation() const; + gtsam::Point3 translation() const; double x() const; double y() const; double z() const; Matrix matrix() const; - Matrix adjointMap() const; - gtsam::Pose3 compose(const gtsam::Pose3& p2); - gtsam::Pose3 between(const gtsam::Pose3& p2); - gtsam::Pose3 retract(Vector v); - gtsam::Pose3 retractFirstOrder(Vector v); - Vector localCoordinates(const gtsam::Pose3& T2) const; - gtsam::Point3 translation() const; - gtsam::Rot3 rotation() const; + gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; + double range(const gtsam::Point3& point); + // double range(const gtsam::Pose3& pose); }; class Cal3_S2 { From 4eee4b72f48a3a705fc1a027d6922a1061f6409d Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 4 Jun 2012 08:31:26 +0000 Subject: [PATCH 124/914] add better visualSLAM examples --- examples/VisualSLAMExampleData.h | 91 +++++++++++++++++++++ examples/VisualSLAMforSFMExample.cpp | 64 +++++++++++++++ examples/VisualSLAMwISAM2Example.cpp | 113 +++++++++++++++++++++++++++ 3 files changed, 268 insertions(+) create mode 100644 examples/VisualSLAMExampleData.h create mode 100644 examples/VisualSLAMforSFMExample.cpp create mode 100644 examples/VisualSLAMwISAM2Example.cpp diff --git a/examples/VisualSLAMExampleData.h b/examples/VisualSLAMExampleData.h new file mode 100644 index 000000000..f0ee4d2b5 --- /dev/null +++ b/examples/VisualSLAMExampleData.h @@ -0,0 +1,91 @@ +/* ---------------------------------------------------------------------------- + + * 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 VisualSLAMSimulatedData.cpp + * @brief Generate ground-truth simulated data for VisualSLAM examples (SFM and ISAM2) + * @author Duy-Nguyen Ta + */ + +#pragma once + +#include +#include +#include + +/* ************************************************************************* */ +/** + * Simulated data for the example: + * - 8 Landmarks: (10,10,10) (-10,10,10) (-10,-10,10) (10,-10,10) + * (10,10,-10) (-10,10,-10) (-10,-10,-10) (10,-10,-10) + * - n 90-deg-FoV cameras with the same calibration parameters: + * f = 50.0, Image: 100x100, center: 50.0, 50.0 + * and ground-truth poses on a circle around the landmarks looking at the world's origin: + * Rot3(-sin(theta), 0, -cos(theta), + * cos(theta), 0, -sin(theta), + * 0, -1, 0 ), + * Point3(r*cos(theta), r*sin(theta), 0.0) + * (theta += 2*pi/N) + * - Measurement noise: 1 pix sigma + */ +struct VisualSLAMExampleData { + gtsam::shared_ptrK sK; // camera calibration parameters + std::vector poses; // ground-truth camera poses + gtsam::Pose3 odometry; // ground-truth odometry between 2 consecutive poses (simulated data for iSAM) + std::vector landmarks; // ground-truth landmarks + std::map > z; // 2D measurements of landmarks in each camera frame + gtsam::SharedDiagonal noiseZ; // measurement noise (noiseModel::Isotropic::Sigma(2, 5.0f)); + gtsam::SharedDiagonal noiseX; // noise for camera poses + gtsam::SharedDiagonal noiseL; // noise for landmarks + + static const VisualSLAMExampleData generate() { + VisualSLAMExampleData data; + // Landmarks (ground truth) + data.landmarks.push_back(gtsam::Point3(10.0,10.0,10.0)); + data.landmarks.push_back(gtsam::Point3(-10.0,10.0,10.0)); + data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,10.0)); + data.landmarks.push_back(gtsam::Point3(10.0,-10.0,10.0)); + data.landmarks.push_back(gtsam::Point3(10.0,10.0,-10.0)); + data.landmarks.push_back(gtsam::Point3(-10.0,10.0,-10.0)); + data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); + data.landmarks.push_back(gtsam::Point3(10.0,-10.0,-10.0)); + + // Camera calibration parameters + data.sK = gtsam::shared_ptrK(new gtsam::Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); + + // n camera poses + int n = 8; + double theta = 0.0; + double r = 30.0; + for (int i=0; isample())); + } + } + data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.01, 0.01, 0.01, 0.1, 0.1, 0.1)); + data.noiseL = gtsam::sharedSigma(3, 0.1); + + return data; + } +}; diff --git a/examples/VisualSLAMforSFMExample.cpp b/examples/VisualSLAMforSFMExample.cpp new file mode 100644 index 000000000..17f457908 --- /dev/null +++ b/examples/VisualSLAMforSFMExample.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 VisualSLAMforSFMExample.cpp + * @brief A visualSLAM example for the structure-from-motion problem on a simulated dataset + * @author Duy-Nguyen Ta + */ + +#include +#include +#include +#include +#include "VisualSLAMExampleData.h" + +using namespace std; +using namespace gtsam; + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + +/* ************************************************************************* */ +int main(int argc, char* argv[]) { + + VisualSLAMExampleData data = VisualSLAMExampleData::generate(); + + /* 1. Create graph *///using the 2D measurements (features) and the calibration data + visualSLAM::Graph graph; + + /* 2. Add factors to the graph */ + // 2a. Measurement factors + for (size_t i=0; isample())); + for (size_t j=0; jsample())); + initial.print("Intial Estimates: "); + + /* 4. Optimize the graph and print results */ + visualSLAM::Values result = GaussNewtonOptimizer(graph, initial).optimize(); +// visualSLAM::Values result = LevenbergMarquardtOptimizer(graph, initial).optimize(); + result.print("Final results: "); + + return 0; +} +/* ************************************************************************* */ + diff --git a/examples/VisualSLAMwISAM2Example.cpp b/examples/VisualSLAMwISAM2Example.cpp new file mode 100644 index 000000000..07fe0433c --- /dev/null +++ b/examples/VisualSLAMwISAM2Example.cpp @@ -0,0 +1,113 @@ +/* ---------------------------------------------------------------------------- + + * 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 VisualSLAMwISAM2Example.cpp + * @brief An ISAM example for synthesis sequence, single camera + * @author Duy-Nguyen Ta + */ + +#include +#include +#include +#include +#include "VisualSLAMExampleData.h" + +using namespace std; +using namespace gtsam; + +// Convenience for named keys +using symbol_shorthand::X; +using symbol_shorthand::L; + +/* ************************************************************************* */ +int main(int argc, char* argv[]) { + + VisualSLAMExampleData data = VisualSLAMExampleData::generate(); + + /* 1. Create a NonlinearISAM which will be relinearized and reordered after every "relinearizeInterval" updates */ + int relinearizeInterval = 3; + NonlinearISAM<> isam(relinearizeInterval); + + /* 2. At each frame (poseId) with new camera pose and set of associated measurements, + * create a graph of new factors and update ISAM */ + + // Store the current best estimate from ISAM + Values currentEstimate; + + // First two frames: + // Add factors and initial values for the first two poses and landmarks then update ISAM. + // Note: measurements from the first pose only are not enough to update ISAM: + // the system is underconstrained. + { + visualSLAM::Graph newFactors; + + // First pose with prior factor + newFactors.addPosePrior(X(0), data.poses[0], data.noiseX); + + // Second pose with odometry measurement, simulated by adding Gaussian noise to the ground-truth. + Pose3 odoMeasurement = data.odometry*Pose3::Expmap(data.noiseX->sample()); + newFactors.push_back( boost::shared_ptr >( + new BetweenFactor(X(0), X(1), odoMeasurement, data.noiseX))); + + // Visual measurements at both poses + for (size_t i=0; i<2; ++i) { + for (size_t j=0; jsample()); + initials.insert(X(0), pose0Init); + initials.insert(X(1), pose0Init*odoMeasurement); + + // Initial values for the landmarks, simulated with Gaussian noise + for (size_t j=0; jsample())); + + // Update ISAM the first time and obtain the current estimate + isam.update(newFactors, initials); + currentEstimate = isam.estimate(); + cout << "Pose 0 and 1: " << endl; + currentEstimate.print("Current estimate: "); + } + + // Subsequent frames: Add new odometry and measurement factors and initial values, + // then update ISAM at each frame + for (size_t i=2; isample()); + newFactors.push_back( boost::shared_ptr >( + new BetweenFactor(X(i-1), X(i), odoMeasurement, data.noiseX))); + // Factors for visual measurements + for (size_t j=0; j(X(i-1))*odoMeasurement); + + // update ISAM + isam.update(newFactors, initials); + currentEstimate = isam.estimate(); + cout << "****************************************************" << endl; + cout << "Pose " << i << ": " << endl; + currentEstimate.print("Current estimate: "); + } + + return 0; +} +/* ************************************************************************* */ + From 4fbdd979a1bb919fbfbb115faa077fc4d613820a Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 4 Jun 2012 08:51:03 +0000 Subject: [PATCH 125/914] small rewording --- examples/VisualSLAMwISAM2Example.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/VisualSLAMwISAM2Example.cpp b/examples/VisualSLAMwISAM2Example.cpp index 07fe0433c..1ec43136f 100644 --- a/examples/VisualSLAMwISAM2Example.cpp +++ b/examples/VisualSLAMwISAM2Example.cpp @@ -78,7 +78,7 @@ int main(int argc, char* argv[]) { // Update ISAM the first time and obtain the current estimate isam.update(newFactors, initials); currentEstimate = isam.estimate(); - cout << "Pose 0 and 1: " << endl; + cout << "Frame 0 and 1: " << endl; currentEstimate.print("Current estimate: "); } @@ -103,7 +103,7 @@ int main(int argc, char* argv[]) { isam.update(newFactors, initials); currentEstimate = isam.estimate(); cout << "****************************************************" << endl; - cout << "Pose " << i << ": " << endl; + cout << "Frame " << i << ": " << endl; currentEstimate.print("Current estimate: "); } From 9c6eba4cf8606a24365a4e51b7612c71a3e49e91 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 4 Jun 2012 08:51:34 +0000 Subject: [PATCH 126/914] remove old visual SLAM example and its data --- examples/Data/calib.txt | 1 - examples/Data/landmarks.txt | 9 -- examples/Data/measurements.txt | 12 -- examples/Data/poses.txt | 12 -- examples/Data/ttpy10.feat | 8 -- examples/Data/ttpy10.pose | 4 - examples/Data/ttpy100.feat | 8 -- examples/Data/ttpy100.pose | 4 - examples/Data/ttpy20.feat | 8 -- examples/Data/ttpy20.pose | 4 - examples/Data/ttpy30.feat | 8 -- examples/Data/ttpy30.pose | 4 - examples/Data/ttpy40.feat | 8 -- examples/Data/ttpy40.pose | 4 - examples/Data/ttpy50.feat | 8 -- examples/Data/ttpy50.pose | 4 - examples/Data/ttpy60.feat | 8 -- examples/Data/ttpy60.pose | 4 - examples/Data/ttpy70.feat | 8 -- examples/Data/ttpy70.pose | 4 - examples/Data/ttpy80.feat | 8 -- examples/Data/ttpy80.pose | 4 - examples/Data/ttpy90.feat | 8 -- examples/Data/ttpy90.pose | 4 - examples/vSLAMexample/CMakeLists.txt | 14 -- examples/vSLAMexample/Feature2D.h | 41 ------ examples/vSLAMexample/README | 101 -------------- examples/vSLAMexample/vISAMexample.cpp | 146 -------------------- examples/vSLAMexample/vSFMexample.cpp | 159 ---------------------- examples/vSLAMexample/vSLAMutils.cpp | 176 ------------------------- examples/vSLAMexample/vSLAMutils.h | 36 ----- 31 files changed, 827 deletions(-) delete mode 100644 examples/Data/calib.txt delete mode 100644 examples/Data/landmarks.txt delete mode 100644 examples/Data/measurements.txt delete mode 100644 examples/Data/poses.txt delete mode 100644 examples/Data/ttpy10.feat delete mode 100644 examples/Data/ttpy10.pose delete mode 100644 examples/Data/ttpy100.feat delete mode 100644 examples/Data/ttpy100.pose delete mode 100644 examples/Data/ttpy20.feat delete mode 100644 examples/Data/ttpy20.pose delete mode 100644 examples/Data/ttpy30.feat delete mode 100644 examples/Data/ttpy30.pose delete mode 100644 examples/Data/ttpy40.feat delete mode 100644 examples/Data/ttpy40.pose delete mode 100644 examples/Data/ttpy50.feat delete mode 100644 examples/Data/ttpy50.pose delete mode 100644 examples/Data/ttpy60.feat delete mode 100644 examples/Data/ttpy60.pose delete mode 100644 examples/Data/ttpy70.feat delete mode 100644 examples/Data/ttpy70.pose delete mode 100644 examples/Data/ttpy80.feat delete mode 100644 examples/Data/ttpy80.pose delete mode 100644 examples/Data/ttpy90.feat delete mode 100644 examples/Data/ttpy90.pose delete mode 100644 examples/vSLAMexample/CMakeLists.txt delete mode 100644 examples/vSLAMexample/Feature2D.h delete mode 100644 examples/vSLAMexample/README delete mode 100644 examples/vSLAMexample/vISAMexample.cpp delete mode 100644 examples/vSLAMexample/vSFMexample.cpp delete mode 100644 examples/vSLAMexample/vSLAMutils.cpp delete mode 100644 examples/vSLAMexample/vSLAMutils.h diff --git a/examples/Data/calib.txt b/examples/Data/calib.txt deleted file mode 100644 index cb8b77384..000000000 --- a/examples/Data/calib.txt +++ /dev/null @@ -1 +0,0 @@ -800 600 1119.61507797 1119.61507797 399.5 299.5 diff --git a/examples/Data/landmarks.txt b/examples/Data/landmarks.txt deleted file mode 100644 index f6dd9714e..000000000 --- a/examples/Data/landmarks.txt +++ /dev/null @@ -1,9 +0,0 @@ -7 -0 0 0 0 -1 10 0 0 -2 0 10 0 -3 10 10 0 -4 0 0 10 -5 10 0 10 -6 0 10 10 - diff --git a/examples/Data/measurements.txt b/examples/Data/measurements.txt deleted file mode 100644 index ffed3636e..000000000 --- a/examples/Data/measurements.txt +++ /dev/null @@ -1,12 +0,0 @@ -10 -1 ttpy10.feat -2 ttpy20.feat -3 ttpy30.feat -4 ttpy40.feat -5 ttpy50.feat -6 ttpy60.feat -7 ttpy70.feat -8 ttpy80.feat -9 ttpy90.feat -10 ttpy100.feat - diff --git a/examples/Data/poses.txt b/examples/Data/poses.txt deleted file mode 100644 index 72fec9114..000000000 --- a/examples/Data/poses.txt +++ /dev/null @@ -1,12 +0,0 @@ -10 -1 ttpy10.pose -2 ttpy20.pose -3 ttpy30.pose -4 ttpy40.pose -5 ttpy50.pose -6 ttpy60.pose -7 ttpy70.pose -8 ttpy80.pose -9 ttpy90.pose -10 ttpy100.pose - diff --git a/examples/Data/ttpy10.feat b/examples/Data/ttpy10.feat deleted file mode 100644 index 265c3dfde..000000000 --- a/examples/Data/ttpy10.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -6 424 190 -4 399.553 240.574 -2 422.974 248.632 -5 480.082 258.082 -3 496.146 264.634 -0 399.5 299.5 -1 475.915 317.106 diff --git a/examples/Data/ttpy10.pose b/examples/Data/ttpy10.pose deleted file mode 100644 index b9226c723..000000000 --- a/examples/Data/ttpy10.pose +++ /dev/null @@ -1,4 +0,0 @@ -0.93969 0.24185 -0.24185 34.202 -0.34202 -0.66446 0.66446 -93.969 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy100.feat b/examples/Data/ttpy100.feat deleted file mode 100644 index fb16b2777..000000000 --- a/examples/Data/ttpy100.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -5 321.545 223.591 -4 399.553 240.574 -1 325.395 282.512 -6 372.434 296.453 -0 399.5 299.5 -3 296.479 336.708 -2 373.796 355.347 diff --git a/examples/Data/ttpy100.pose b/examples/Data/ttpy100.pose deleted file mode 100644 index cbd21233f..000000000 --- a/examples/Data/ttpy100.pose +++ /dev/null @@ -1,4 +0,0 @@ --0.93969 -0.24185 0.24185 -34.202 --0.34202 0.66446 -0.66446 93.969 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy20.feat b/examples/Data/ttpy20.feat deleted file mode 100644 index 0afb761b9..000000000 --- a/examples/Data/ttpy20.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -6 448.854 198.317 -4 399.574 240.532 -2 446.39 257.049 -5 467.479 276.146 -3 509.674 289.86 -0 399.5 299.5 -1 463.827 335.115 diff --git a/examples/Data/ttpy20.pose b/examples/Data/ttpy20.pose deleted file mode 100644 index bba2606d0..000000000 --- a/examples/Data/ttpy20.pose +++ /dev/null @@ -1,4 +0,0 @@ -0.76604 0.45452 -0.45452 64.279 -0.64279 -0.54168 0.54168 -76.604 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy30.feat b/examples/Data/ttpy30.feat deleted file mode 100644 index 412417476..000000000 --- a/examples/Data/ttpy30.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -6 468.239 211.826 -4 399.319 240.617 -2 464.725 270.725 -5 445.7 290.2 -0 399.5 299.5 -3 510.239 317.674 -1 443.471 349.078 diff --git a/examples/Data/ttpy30.pose b/examples/Data/ttpy30.pose deleted file mode 100644 index 737e391f2..000000000 --- a/examples/Data/ttpy30.pose +++ /dev/null @@ -1,4 +0,0 @@ -0.5 0.61237 -0.61237 86.603 -0.86603 -0.35355 0.35355 -50 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy40.feat b/examples/Data/ttpy40.feat deleted file mode 100644 index 0e298272b..000000000 --- a/examples/Data/ttpy40.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -6 480.111 229.111 -4 399.556 240.556 -2 476.163 287.93 -5 417.685 298.056 -0 399.605 299.535 -3 497.1 344.3 -1 416.846 357.038 diff --git a/examples/Data/ttpy40.pose b/examples/Data/ttpy40.pose deleted file mode 100644 index 4e241c130..000000000 --- a/examples/Data/ttpy40.pose +++ /dev/null @@ -1,4 +0,0 @@ -0.17365 0.69636 -0.69636 98.481 -0.98481 -0.12279 0.12279 -17.365 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy50.feat b/examples/Data/ttpy50.feat deleted file mode 100644 index 5ec007888..000000000 --- a/examples/Data/ttpy50.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -4 399.429 240.551 -6 482.812 248.312 -5 387.364 298.964 -0 399.578 299.556 -2 478.63 307.391 -1 387.98 357.804 -3 470.922 366.471 diff --git a/examples/Data/ttpy50.pose b/examples/Data/ttpy50.pose deleted file mode 100644 index 5a57b10ef..000000000 --- a/examples/Data/ttpy50.pose +++ /dev/null @@ -1,4 +0,0 @@ --0.17365 0.69636 -0.69636 98.481 -0.98481 0.12279 -0.12279 17.365 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy60.feat b/examples/Data/ttpy60.feat deleted file mode 100644 index 05237171f..000000000 --- a/examples/Data/ttpy60.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -4 399.478 240.565 -6 474.941 267.451 -5 358.473 292.364 -0 399.5 299.5 -2 471.043 326.447 -1 360.68 351.22 -3 434.473 380.709 diff --git a/examples/Data/ttpy60.pose b/examples/Data/ttpy60.pose deleted file mode 100644 index 4e5455a0d..000000000 --- a/examples/Data/ttpy60.pose +++ /dev/null @@ -1,4 +0,0 @@ --0.5 0.61237 -0.61237 86.603 -0.86603 0.35355 -0.35355 50 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy70.feat b/examples/Data/ttpy70.feat deleted file mode 100644 index fd5af8c99..000000000 --- a/examples/Data/ttpy70.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -4 399.553 240.617 -5 335.294 279.275 -6 457.717 283.698 -0 399.5 299.5 -1 338.531 338.265 -2 454.54 342.64 -3 393.218 384.691 diff --git a/examples/Data/ttpy70.pose b/examples/Data/ttpy70.pose deleted file mode 100644 index 608e9ff7c..000000000 --- a/examples/Data/ttpy70.pose +++ /dev/null @@ -1,4 +0,0 @@ --0.76604 0.45452 -0.45452 64.279 -0.64279 0.54168 -0.54168 76.604 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy80.feat b/examples/Data/ttpy80.feat deleted file mode 100644 index 465f80804..000000000 --- a/examples/Data/ttpy80.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -4 399.5 240.5 -5 320.667 261.958 -6 432.389 295.111 -0 399.5 299.5 -1 324.653 320.898 -2 430.5 353.96 -3 352.737 377.474 diff --git a/examples/Data/ttpy80.pose b/examples/Data/ttpy80.pose deleted file mode 100644 index 8a6ae4cd1..000000000 --- a/examples/Data/ttpy80.pose +++ /dev/null @@ -1,4 +0,0 @@ --0.93969 0.24185 -0.24185 34.202 -0.34202 0.66446 -0.66446 93.969 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/Data/ttpy90.feat b/examples/Data/ttpy90.feat deleted file mode 100644 index 6731831c0..000000000 --- a/examples/Data/ttpy90.feat +++ /dev/null @@ -1,8 +0,0 @@ -7 -4 399.5 240.5 -5 316 242.5 -0 397 299.5 -6 402.765 299.588 -1 320.5 301.5 -2 402.5 358.5 -3 319 360.5 diff --git a/examples/Data/ttpy90.pose b/examples/Data/ttpy90.pose deleted file mode 100644 index 863f71fea..000000000 --- a/examples/Data/ttpy90.pose +++ /dev/null @@ -1,4 +0,0 @@ --1 -0 0 0 -0 0.70711 -0.70711 100 -0 -0.70711 -0.70711 100 -0 0 0 1 diff --git a/examples/vSLAMexample/CMakeLists.txt b/examples/vSLAMexample/CMakeLists.txt deleted file mode 100644 index 57fd6bf6d..000000000 --- a/examples/vSLAMexample/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -# Build vSLAMexample - -message(STATUS "Adding Example vISAMexample") -add_executable(vISAMexample vISAMexample.cpp vSLAMutils.cpp) -target_link_libraries(vISAMexample gtsam-static) -add_dependencies(examples vISAMexample) - -message(STATUS "Adding Example vSFMexample") -add_executable(vSFMexample vSFMexample.cpp vSLAMutils.cpp) -target_link_libraries(vSFMexample gtsam-static) -add_dependencies(examples vSFMexample) - - - diff --git a/examples/vSLAMexample/Feature2D.h b/examples/vSLAMexample/Feature2D.h deleted file mode 100644 index ea0f60e74..000000000 --- a/examples/vSLAMexample/Feature2D.h +++ /dev/null @@ -1,41 +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 Feature2D.h - * @brief - * @author Duy-Nguyen Ta - */ - -#pragma once - -#include "gtsam/geometry/Point2.h" -#include - -struct Feature2D -{ - - gtsam::Point2 m_p; - int m_idCamera; // id of the camera pose that makes this measurement - int m_idLandmark; // id of the 3D landmark that it is associated with - - Feature2D(int idCamera, int idLandmark, gtsam::Point2 p) : - m_p(p), - m_idCamera(idCamera), - m_idLandmark(idLandmark) {} - - void print(const std::string& s = "") const { - std::cout << s << std::endl; - std::cout << "Pose id: " << m_idCamera << " -- Landmark id: " << m_idLandmark << std::endl; - m_p.print("\tMeasurement: "); - } - -}; diff --git a/examples/vSLAMexample/README b/examples/vSLAMexample/README deleted file mode 100644 index 99b10608c..000000000 --- a/examples/vSLAMexample/README +++ /dev/null @@ -1,101 +0,0 @@ -README - vSLAMexample ------------------------------------------------------- - - vSLAMexample includes 2 simple examples using GTSAM: - - vSFMexample using visualSLAM in for structure-from-motion (SFM), and - - vISAMexample using visualSLAM and ISAM for incremental SLAM updates - - The two examples use the same visual SLAM graph structure which nodes are 6d camera poses (SE3) and 3d point landmarks. Measurement factors are 2D features detected on each image, connecting its camera-pose node and the corresponding landmark nodes. There are also prior factors on each pose nodes. - -Synthesized data generation ---------------------------- -The data are generated by using Panda3D graphics engine to render a sequence of virtual scene with 7 colorful small 3d patches viewing by camera moving around. The patches' coordinates are given in "landmarks.txt" file. Centroids of those colorful features in the rendered images are detected and stored in "ttpy*.feat" files. - -Files "ttpy*.pose" contain the poses of the virtual camera that renders the scene. A *VERY IMPORTANT* note is that the values in these "ttpy*.pose" files follow Panda3D's convention for camera frame coordinate system: "z up, y view", where as in our code, we follow OpenGL's convention: "y up, -z view". Thus, we have to change it to match with our convention. Essentially, the z- and y- axes are swapped, then the z-axis is negated to stick to the right-hand rule. Please see the function "gtsam::Pose3 readPose(const char* Fn)" in "vSLAMutils.cpp" for more information. - -File "calib.txt" contains intrinsic parameters of the virtual camera. The signs are correctly adjusted to match with our projection coordinate system's convention. - -Files "measurements.txt" and "poses.txt" simulate typical input data for a structure-from-motion problem. Similarly, "measurementsISAM.txt" and "posesISAM.txt" simulate the data used in SLAM context with incremental-update using ISAM. - -Note that for SFM, the whole graph is solved as a whole batch problem, so the camera_id's corresponding to the feature files and pose files need to be specified in "measurements.txt" and "poses.txt", but they are not necessarily in order. - -On the other hand, for ISAM, we sequentially add the camera poses and features and update after every frame; so the pose files and features files in "measurementsISAM.txt" and "posesISAM.txt" need to be specified in order (time order), even though the camera id's are not necessary. - - - -Data file format ------------------------------ - -"calib.txt": ------------- -image_width image_height fx fy ox oy - - -"landmarks.txt" ------------- -N #number of landmarks -landmark_id1 x1 y1 z1 -landmark_id2 x2 y2 z2 -... -landmark_idN xN yN zN - - -"ttpy*.feat" ------------- -N #number of features -corresponding_landmark_id1 x1 y1 -corresponding_landmark_id2 x2 y2 -... -corresponding_landmark_idN xN yN - - -"ttpy*.pose" ------------- -0.939693 0.34202 0 0 --0.241845 0.664463 -0.707107 0 --0.241845 0.664463 0.707107 0 -34.202 -93.9693 100 1 - -The camera pose matrix in column order. Note that these values follows Panda3D's convention for camera coordinate frame. We have to change it to match with our convention used in the code, which follows OpenGL system. See previous section for more details. - - -Data For SFM: - -"measurements.txt" ------------- -N #number of cameras -camera_id1 featureFile1 -camera_id2 featureFile2 -... -camera_id3 featureFile3 - -"poses.txt" ------------- -N #number of cameras -camera_id1 poseFile1 -camera_id2 poseFile2 -... -camera_id3 poseFile3 - - -Data For ISAM: - -"measurementsISAM.txt" ------------- -N #number of cameras -featureFile1 -featureFile2 -... -featureFile3 - -"posesISAM.txt" ------------- -N #number of cameras -poseFile1 -poseFile2 -... -poseFile3 - - - - diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp deleted file mode 100644 index 7b37a57fb..000000000 --- a/examples/vSLAMexample/vISAMexample.cpp +++ /dev/null @@ -1,146 +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 vISAMexample.cpp - * @brief An ISAM example for synthesis sequence, single camera - * @author Duy-Nguyen Ta - */ - -#include "vSLAMutils.h" -#include "Feature2D.h" - -#include -#include -#include -#include -#include -#include - -#include -#include -using boost::shared_ptr; - -using namespace std; -using namespace gtsam; - -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::L; - -/* ************************************************************************* */ -#define CALIB_FILE "calib.txt" -#define LANDMARKS_FILE "landmarks.txt" -#define POSES_FILE "poses.txt" -#define MEASUREMENTS_FILE "measurements.txt" - -// Base data folder -string g_dataFolder; - -// Store groundtruth values, read from files -shared_ptrK g_calib; -map g_landmarks; // map: -map g_poses; // map: -std::map > g_measurements; // feature sets detected at each frame - -// Noise models -SharedNoiseModel measurementSigma(noiseModel::Isotropic::Sigma(2, 5.0f)); -SharedNoiseModel poseSigma(noiseModel::Unit::Create(1)); - - -/* ************************************************************************* */ -/** - * Read all data: calibration file, landmarks, poses, and all features measurements - * Data is stored in global variables, which are used later to simulate incremental updates. - */ -void readAllDataISAM() { - g_calib = readCalibData(g_dataFolder + CALIB_FILE); - - // Read groundtruth landmarks' positions. These will be used later as intial estimates and priors for landmark nodes. - g_landmarks = readLandMarks(g_dataFolder + LANDMARKS_FILE); - - // Read groundtruth camera poses. These will be used later as intial estimates for pose nodes. - g_poses = readPoses(g_dataFolder, POSES_FILE); - - // Read all 2d measurements. Those will become factors linking their associating pose and the corresponding landmark. - g_measurements = readAllMeasurementsISAM(g_dataFolder, MEASUREMENTS_FILE); -} - -/* ************************************************************************* */ -/** - * Setup newFactors and initialValues for each new pose and set of measurements at each frame. - */ -void createNewFactors(shared_ptr& newFactors, boost::shared_ptr& initialValues, - int pose_id, const Pose3& pose, const std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { - - // Create a graph of newFactors with new measurements - newFactors = shared_ptr (new visualSLAM::Graph()); - for (size_t i = 0; i < measurements.size(); i++) { - newFactors->addMeasurement( - measurements[i].m_p, - measurementSigma, - X(pose_id), - L(measurements[i].m_idLandmark), - calib); - } - - // ... we need priors on the new pose and all new landmarks - newFactors->addPosePrior(pose_id, pose, poseSigma); - for (size_t i = 0; i < measurements.size(); i++) { - newFactors->addPointPrior(X(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); - } - - // Create initial values for all nodes in the newFactors - initialValues = shared_ptr (new visualSLAM::Values()); - initialValues->insert(X(pose_id), pose); - for (size_t i = 0; i < measurements.size(); i++) { - initialValues->insert(L(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]); - } -} - -/* ************************************************************************* */ -int main(int argc, char* argv[]) { - if (argc < 2) { - cout << "Usage: vISAMexample " << endl << endl; - cout << "\tPlease specify , which contains calibration file, initial\n" - "\tlandmarks, initial poses, and feature data." << endl; - cout << "\tSample folder is in $gtsam_source_folder$/examples/Data/" << endl << endl; - cout << "Example usage: vISAMexample '$gtsam_source_folder$/examples/Data/'" << endl; - exit(0); - } - - g_dataFolder = string(argv[1]) + "/"; - readAllDataISAM(); - - // Create a NonlinearISAM which will be relinearized and reordered after every "relinearizeInterval" updates - int relinearizeInterval = 3; - NonlinearISAM<> isam(relinearizeInterval); - - // At each frame (poseId) with new camera pose and set of associated measurements, - // create a graph of new factors and update ISAM - typedef std::map > FeatureMap; - BOOST_FOREACH(const FeatureMap::value_type& features, g_measurements) { - const int poseId = features.first; - shared_ptr newFactors; - shared_ptr initialValues; - createNewFactors(newFactors, initialValues, poseId, g_poses[poseId], - features.second, measurementSigma, g_calib); - - isam.update(*newFactors, *initialValues); - Values currentEstimate = isam.estimate(); - cout << "****************************************************" << endl; - currentEstimate.print("Current estimate: "); - } - - return 1; -} -/* ************************************************************************* */ - diff --git a/examples/vSLAMexample/vSFMexample.cpp b/examples/vSLAMexample/vSFMexample.cpp deleted file mode 100644 index 66e9a475b..000000000 --- a/examples/vSLAMexample/vSFMexample.cpp +++ /dev/null @@ -1,159 +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 vSFMexample.cpp - * @brief A visual SLAM example for simulated sequence - * @author Duy-Nguyen Ta - */ - -#include "vSLAMutils.h" -#include "Feature2D.h" - -#include -#include -#include -#include -#include - -#include -using boost::shared_ptr; - -using namespace std; -using namespace gtsam; - -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::L; - -/* ************************************************************************* */ -#define CALIB_FILE "calib.txt" -#define LANDMARKS_FILE "landmarks.txt" -#define POSES_FILE "poses.txt" -#define MEASUREMENTS_FILE "measurements.txt" - -// Base data folder -string g_dataFolder; - -// Store groundtruth values, read from files -shared_ptrK g_calib; -map g_landmarks; // map: -map g_poses; // map: -std::vector g_measurements; // Feature2D: {camera_id, landmark_id, 2d feature_position} - -// Noise models -SharedNoiseModel measurementSigma(noiseModel::Isotropic::Sigma(2, 5.0f)); - -/* ************************************************************************* */ -/** - * Read all data: calibration file, landmarks, poses, and all features measurements - * Data is stored in global variables. - */ -void readAllData() { - - g_calib = readCalibData(g_dataFolder + "/" + CALIB_FILE); - - // Read groundtruth landmarks' positions. These will be used later as intial estimates for landmark nodes. - g_landmarks = readLandMarks(g_dataFolder + "/" + LANDMARKS_FILE); - - // Read groundtruth camera poses. These will be used later as intial estimates for pose nodes. - g_poses = readPoses(g_dataFolder, POSES_FILE); - - // Read all 2d measurements. Those will become factors linking their associating pose and the corresponding landmark. - g_measurements = readAllMeasurements(g_dataFolder, MEASUREMENTS_FILE); -} - -/* ************************************************************************* */ -/** - * Setup vSLAM graph - * by adding and linking 2D features (measurements) detected in each captured image - * with their corresponding landmarks. - */ -visualSLAM::Graph setupGraph(std::vector& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) { - - visualSLAM::Graph g; - - cout << "Built graph: " << endl; - for (size_t i = 0; i < measurements.size(); i++) { - measurements[i].print(); - - g.addMeasurement( - measurements[i].m_p, - measurementSigma, - X(measurements[i].m_idCamera), - L(measurements[i].m_idLandmark), - calib); - } - - return g; -} - -/* ************************************************************************* */ -/** - * Create a structure of initial estimates for all nodes (landmarks and poses) in the graph. - * The returned Values structure contains all initial values for all nodes. - */ -Values initialize(std::map landmarks, std::map poses) { - - visualSLAM::Values initValues; - - // Initialize landmarks 3D positions. - for (map::iterator lmit = landmarks.begin(); lmit != landmarks.end(); lmit++) - initValues.insert(L(lmit->first), lmit->second); - - // Initialize camera poses. - for (map::iterator poseit = poses.begin(); poseit != poses.end(); poseit++) - initValues.insert(X(poseit->first), poseit->second); - - return initValues; -} - -/* ************************************************************************* */ -int main(int argc, char* argv[]) { - if (argc < 2) { - cout << "Usage: vSFMexample " << endl << endl; - cout << "\tPlease specify , which contains calibration file, initial\n" - "\tlandmarks, initial poses, and feature data." << endl; - cout << "\tSample folder is in $gtsam_source_folder$/examples/Data" << endl << endl; - cout << "Example usage: vSFMexample '$gtsam_source_folder$/examples/Data'" << endl; - exit(0); - } - - g_dataFolder = string(argv[1]) + "/"; - readAllData(); - - // Create a graph using the 2D measurements (features) and the calibration data - visualSLAM::Graph graph(setupGraph(g_measurements, measurementSigma, g_calib)); - - // Create an initial Values structure using groundtruth values as the initial estimates - Values initialEstimates(initialize(g_landmarks, g_poses)); - cout << "*******************************************************" << endl; - initialEstimates.print("INITIAL ESTIMATES: "); - - // Add prior factor for all poses in the graph - map::iterator poseit = g_poses.begin(); - for (; poseit != g_poses.end(); poseit++) - graph.addPosePrior(X(poseit->first), poseit->second, noiseModel::Unit::Create(1)); - - // Optimize the graph - cout << "*******************************************************" << endl; - LevenbergMarquardtParams params; - params.verbosityLM = LevenbergMarquardtParams::DAMPED; - visualSLAM::Values result = LevenbergMarquardtOptimizer(graph, initialEstimates, params).optimize(); - - // Print final results - cout << "*******************************************************" << endl; - result.print("FINAL RESULTS: "); - - return 0; -} -/* ************************************************************************* */ - diff --git a/examples/vSLAMexample/vSLAMutils.cpp b/examples/vSLAMexample/vSLAMutils.cpp deleted file mode 100644 index 1c3912f2d..000000000 --- a/examples/vSLAMexample/vSLAMutils.cpp +++ /dev/null @@ -1,176 +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 VSLAMutils.cpp - * @brief - * @author Duy-Nguyen Ta - */ - -#include "vSLAMutils.h" -#include -#include - -using namespace gtsam; -using namespace std; - -/* ************************************************************************* */ -std::map readLandMarks(const std::string& landmarkFile) { - ifstream file(landmarkFile.c_str()); - if (!file) { - cout << "Cannot read landmark file: " << landmarkFile << endl; - exit(0); - } - - int num; - file >> num; - std::map landmarks; - landmarks.clear(); - for (int i = 0; i> color_id >> x >> y >> z; - landmarks[color_id] = Point3(x, y, z); - } - - file.close(); - return landmarks; -} - -/* ************************************************************************* */ -gtsam::Pose3 readPose(const char* Fn) { - ifstream poseFile(Fn); - if (!poseFile) { - cout << "Cannot read pose file: " << Fn << endl; - exit(0); - } - - double v[16]; - for (int i = 0; i<16; i++) - poseFile >> v[i]; - poseFile.close(); - - Matrix T = Matrix_(4,4, v); // row order !!! - - Pose3 pose(T); - return pose; -} -/* ************************************************************************* */ -std::map readPoses(const std::string& baseFolder, const std::string& posesFn) { - ifstream posesFile((baseFolder+posesFn).c_str()); - if (!posesFile) { - cout << "Cannot read all pose file: " << posesFn << endl; - exit(0); - } - int numPoses; - posesFile >> numPoses; - map poses; - for (int i = 0; i> poseId; - - string poseFileName; - posesFile >> poseFileName; - - Pose3 pose = readPose((baseFolder+poseFileName).c_str()); - poses[poseId] = pose; - } - - return poses; -} - -/* ************************************************************************* */ -gtsam::shared_ptrK readCalibData(const std::string& calibFn) { - ifstream calibFile(calibFn.c_str()); - if (!calibFile) { - cout << "Cannot read calib file: " << calibFn << endl; - exit(0); - } - int imX, imY; - float fx, fy, ox, oy; - calibFile >> imX >> imY >> fx >> fy >> ox >> oy; - calibFile.close(); - - return shared_ptrK(new Cal3_S2(fx, fy, 0, ox, oy)); // skew factor = 0 -} - -/* ************************************************************************* */ -std::vector readFeatures(int pose_id, const char* filename) { - ifstream file(filename); - if (!file) { - cout << "Cannot read feature file: " << filename<< endl; - exit(0); - } - - int numFeatures; - file >> numFeatures ; - - std::vector vFeatures_; - for (int i = 0; i < numFeatures; i++) { - int landmark_id; double x, y; - file >> landmark_id >> x >> y; - vFeatures_.push_back(Feature2D(pose_id, landmark_id, Point2(x, y))); - } - - file.close(); - return vFeatures_; -} - -/* ************************************************************************* */ -std::vector readAllMeasurements(const std::string& baseFolder, const std::string& measurementsFn) { - ifstream measurementsFile((baseFolder+measurementsFn).c_str()); - if (!measurementsFile) { - cout << "Cannot read all pose file: " << baseFolder+measurementsFn << endl; - exit(0); - } - int numPoses; - measurementsFile >> numPoses; - - vector allFeatures; - allFeatures.clear(); - - for (int i = 0; i> poseId; - - string featureFileName; - measurementsFile >> featureFileName; - vector features = readFeatures(poseId, (baseFolder+featureFileName).c_str()); - allFeatures.insert( allFeatures.end(), features.begin(), features.end() ); - } - - return allFeatures; -} - -/* ************************************************************************* */ -std::map > readAllMeasurementsISAM(const std::string& baseFolder, const std::string& measurementsFn) { - ifstream measurementsFile((baseFolder+measurementsFn).c_str()); - if (!measurementsFile) { - cout << "Cannot read all pose file: " << baseFolder+measurementsFn << endl; - exit(0); - } - int numPoses; - measurementsFile >> numPoses; - - std::map > allFeatures; - - for (int i = 0; i> poseId; - - string featureFileName; - measurementsFile >> featureFileName; - vector features = readFeatures(poseId, (baseFolder+featureFileName).c_str()); - allFeatures[poseId] = features; - } - - return allFeatures; -} diff --git a/examples/vSLAMexample/vSLAMutils.h b/examples/vSLAMexample/vSLAMutils.h deleted file mode 100644 index 2365ef35c..000000000 --- a/examples/vSLAMexample/vSLAMutils.h +++ /dev/null @@ -1,36 +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 Feature2D.cpp - * @brief - * @author Duy-Nguyen Ta - */ - -#pragma once - -#include "Feature2D.h" -#include "gtsam/geometry/Pose3.h" -#include "gtsam/geometry/Point3.h" -#include "gtsam/geometry/Cal3_S2.h" -#include -#include - -std::map readLandMarks(const std::string& landmarkFile); - -gtsam::Pose3 readPose(const char* poseFn); -std::map readPoses(const std::string& baseFolder, const std::string& posesFN); - -gtsam::shared_ptrK readCalibData(const std::string& calibFn); - -std::vector readFeatureFile(const char* filename); -std::vector readAllMeasurements(const std::string& baseFolder, const std::string& measurementsFn); -std::map > readAllMeasurementsISAM(const std::string& baseFolder, const std::string& measurementsFn); From d40d8879ae8b7f5afe7125877df1a315bcba3699 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 12:34:58 +0000 Subject: [PATCH 127/914] removed vSLAMExample directory reference --- examples/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 116379489..57d540828 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -18,4 +18,3 @@ foreach(example_src ${example_srcs} ) add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN}) endforeach(example_src) -add_subdirectory(vSLAMexample) From 872c678f024d137c4e5d30bd6f6959eac0aca81d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 13:31:18 +0000 Subject: [PATCH 128/914] turn off undocumented warnings --- Doxyfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Doxyfile b/Doxyfile index d7dd6adff..2d1dab711 100644 --- a/Doxyfile +++ b/Doxyfile @@ -597,7 +597,7 @@ WARNINGS = YES # for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. -WARN_IF_UNDOCUMENTED = YES +WARN_IF_UNDOCUMENTED = NO # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for # potential errors in the documentation, such as not documenting some From 695f2756db632d39254a6b15e248182c25fd4473 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 13:44:02 +0000 Subject: [PATCH 129/914] Build scripts --- CMakeLists.txt | 5 +++-- CppUnitLite/CMakeLists.txt | 2 ++ gtsam/CMakeLists.txt | 11 +++++------ 3 files changed, 10 insertions(+), 8 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7be750b02..335fc76c1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -130,9 +130,10 @@ if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) endif(GTSAM_BUILD_UNSTABLE) -# Make config file +# Make config files include(GtsamMakeConfigFile) -GtsamMakeConfigFile(gtsam) +GtsamMakeConfigFile(GTSAM gtsam-static) +GtsamMakeConfigFile(CppUnitLite CppUnitLite) # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt index 642e8e462..286a39258 100644 --- a/CppUnitLite/CMakeLists.txt +++ b/CppUnitLite/CMakeLists.txt @@ -5,6 +5,8 @@ file(GLOB cppunitlite_src "*.cpp") add_library(CppUnitLite STATIC ${cppunitlite_src}) +gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure + option(GTSAM_INSTALL_CPPUNITLITE "Enable/Disable installation of CppUnitLite library" ON) if (GTSAM_INSTALL_CPPUNITLITE) install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 8dd9a72ce..80c57c15c 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -19,9 +19,10 @@ add_subdirectory(3rdparty) # build convenience library set (3rdparty_srcs - 3rdparty/CCOLAMD/Source/ccolamd.c - 3rdparty/CCOLAMD/Source/ccolamd_global.c - 3rdparty/UFconfig/UFconfig.c) + ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c + ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd_global.c + ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/UFconfig/UFconfig.c) +gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure if (GTSAM_BUILD_CONVENIENCE_LIBRARIES) message(STATUS "Building Convenience Library: ccolamd") add_library(ccolamd STATIC ${3rdparty_srcs}) @@ -48,6 +49,7 @@ foreach(subdir ${gtsam_subdirs}) file(GLOB subdir_srcs "${subdir}/*.cpp") file(GLOB subdir_headers "${subdir}/*.h") set(subdir_srcs ${subdir_srcs} ${subdir_headers}) # Include header files so they show up in Visual Studio + gtsam_assign_source_folders("${subdir_srcs}") # Create MSVC structure list(REMOVE_ITEM subdir_srcs ${excluded_sources}) set(${subdir}_srcs ${subdir_srcs}) if (GTSAM_BUILD_CONVENIENCE_LIBRARIES) @@ -73,9 +75,6 @@ set(gtsam_srcs ${slam_srcs} ) -# Create MSVC structure -gtsam_assign_all_source_folders() - # Versions set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}) set(gtsam_soversion ${GTSAM_VERSION_MAJOR}) From ec29518456e95b96f9ff5520eb222f579ab07183 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 13:44:19 +0000 Subject: [PATCH 130/914] Header files --- gtsam/base/LieVector.cpp | 2 +- gtsam/base/Vector.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/LieVector.cpp b/gtsam/base/LieVector.cpp index 876c8fa6e..d5ae5d504 100644 --- a/gtsam/base/LieVector.cpp +++ b/gtsam/base/LieVector.cpp @@ -15,7 +15,7 @@ * @author Alex Cunningham */ -#include +#include #include using namespace std; diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 40fed145c..6019bbd33 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include /** From 318dd96dfb483aa4c4f8ddf315dc26ad9a40408b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 13:44:21 +0000 Subject: [PATCH 131/914] Matrix stream input operator --- gtsam/base/Matrix.cpp | 23 +++++++++++++++++++++++ gtsam/base/Matrix.h | 7 +++++++ 2 files changed, 30 insertions(+) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 320dbe896..2d32ccc04 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -235,6 +235,29 @@ void save(const Matrix& A, const string &s, const string& filename) { stream.close(); } +/* ************************************************************************* */ +//istream& operator>>(istream& inputStream, Matrix& destinationMatrix) { +// destinationMatrix.resize(0,0); +// string line; +// bool first = true; +// while(getline(inputStream, line)) { +// // Read coefficients from file +// vector coeffs; +// std::copy(istream_iterator(stringstream(line)), istream_iterator(), coeffs.end()); +// if(first) { +// destinationMatrix.resize(1, +// } +// if(coeffs.size() != dimLatent()) { +// cout << "Error reading motion file, latent variable dimension does not match file" << endl; +// exit(1); +// } +// +// // Copy coefficients to alignment matrix +// alignment_.conservativeResize(alignment_.rows() + 1, dimLatent()); +// alignment_.row(alignment_.rows() - 1) = Eigen::Map(&coeffs[0], dimLatent()).transpose(); +// } +//} + /* ************************************************************************* */ void insertSub(Matrix& fullMatrix, const Matrix& subMatrix, size_t i, size_t j) { fullMatrix.block(i, j, subMatrix.rows(), subMatrix.cols()) = subMatrix; diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 9093fb99d..553fb5b89 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -183,6 +183,13 @@ void print(const Matrix& A, const std::string& s = "", std::ostream& stream = st */ void save(const Matrix& A, const std::string &s, const std::string& filename); +/** + * Read a matrix from an input stream, such as a file. Entries can be either + * tab-, space-, or comma-separated, similar to the format read by the MATLAB + * dlmread command. + */ +//istream& operator>>(istream& inputStream, Matrix& destinationMatrix); + /** * extract submatrix, slice semantics, i.e. range = [i1,i2[ excluding i2 * @param A matrix From 2f9ed9abf2f1f1afaa42b7835ba70dfba96c8578 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 14:12:51 +0000 Subject: [PATCH 132/914] Changed data install path for toolbox --- wrap/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 0ed4cc903..16238950a 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -77,7 +77,7 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) set(data_excludes "${CMAKE_SOURCE_DIR}/examples/Data/.svn") file(GLOB matlab_examples_data "${CMAKE_SOURCE_DIR}/examples/Data/*.*") list(REMOVE_ITEM matlab_examples_data ${data_excludes}) - install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples/Data) + install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) endif (GTSAM_INSTALL_MATLAB_EXAMPLES) # Tests From e1725fb8e308afe98e41d2c2c3a310a6ab33a97b Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 15:33:16 +0000 Subject: [PATCH 133/914] Fleshed out support for building MEX binaries during gtsam build --- .cproject | 52 +++++++++++++++++++++++++---------- CMakeLists.txt | 10 +++++-- gtsam.h | 4 +-- gtsam_unstable/CMakeLists.txt | 17 ++++++++---- wrap/CMakeLists.txt | 30 +++++++++++++------- 5 files changed, 79 insertions(+), 34 deletions(-) diff --git a/.cproject b/.cproject index 1f29f86b7..9114e4159 100644 --- a/.cproject +++ b/.cproject @@ -1653,10 +1653,10 @@ true true - + make - -j5 - PlanarSLAMExample.run + -j2 + PlanarSLAMExample_easy.run true true true @@ -1685,10 +1685,10 @@ true true - + make - -j5 - PlanarSLAMExample_selfcontained.run + -j2 + PlanarSLAMSelfContained_advanced.run true true true @@ -1701,18 +1701,18 @@ true true - + make - -j5 - Pose2SLAMExample.run + -j2 + Pose2SLAMExample_easy.run true true true - + make - -j5 - Pose2SLAMwSPCG.run + -j2 + Pose2SLAMwSPCG_easy.run true true true @@ -1741,10 +1741,10 @@ true true - + make -j5 - Pose2SLAMExample_graph.run + Pose2SLAMwSPCG_advanced.run true true true @@ -2152,6 +2152,30 @@ true true + + make + -j5 + wrap_gtsam_build + true + true + true + + + make + -j5 + wrap_gtsam_unstable_build + true + true + true + + + make + -j5 + wrap_gtsam_unstable + true + true + true + make -j5 diff --git a/CMakeLists.txt b/CMakeLists.txt index 7819cfdc8..c0f273030 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -61,8 +61,12 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) -# Experimental - features disabled by default -option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF) +# TODO: Check for matlab mex binary before handling building of binaries + +# Flags for building/installing mex files +option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF) +option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF) +set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") # Flags for choosing default packaging tools set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") @@ -184,6 +188,8 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ") print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ") print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ") +print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES} "Build MEX binaries ") +print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL} "Build MEX binaries on ALL target ") message(STATUS "===============================================================") # Include CPack *after* all flags diff --git a/gtsam.h b/gtsam.h index 2015705ae..f9062cd9e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -201,7 +201,7 @@ class Pose3 { Pose3(); Pose3(const gtsam::Pose3& pose); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); - Pose3(const gtsam::Pose2& pose2); + Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) Pose3(Matrix t); // Testable @@ -239,7 +239,7 @@ class Pose3 { double y() const; double z() const; Matrix matrix() const; - gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; + gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() double range(const gtsam::Point3& point); // double range(const gtsam::Pose3& pose); }; diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index b50667f48..4b8b4ac11 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -91,14 +91,19 @@ if (GTSAM_BUILD_WRAP) DEPENDS wrap) # Build command - # Experimental: requires matlab to be on your path if (GTSAM_ENABLE_BUILD_MEX_BINARIES) # Actually compile the mex files when building the library - set(TOOLBOX_MAKE_FLAGS "-j2") - add_custom_target(wrap_gtsam_unstable_build - COMMAND make ${TOOLBOX_MAKE_FLAGS} - WORKING_DIRECTORY ${toolbox_path} - DEPENDS wrap_gtsam_unstable) + if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL) + add_custom_target(wrap_gtsam_unstable_build ALL + COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} + WORKING_DIRECTORY ${toolbox_path} + DEPENDS wrap_gtsam_unstable) + else() + add_custom_target(wrap_gtsam_unstable_build + COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} + WORKING_DIRECTORY ${toolbox_path} + DEPENDS wrap_gtsam_unstable) + endif() endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) if (GTSAM_INSTALL_MATLAB_TOOLBOX) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 16238950a..6049b8a81 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -30,7 +30,7 @@ endif(GTSAM_BUILD_TESTS) # toolboxPath : the directory in which to generate the wrappers # [mexFlags] : extra flags for the mex command -set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam") +set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/discrete -I${CMAKE_INSTALL_PREFIX}/include/gtsam/inference -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam") set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam) set(moduleName gtsam) @@ -48,20 +48,29 @@ add_custom_target(wrap_gtsam ALL COMMAND DEPENDS wrap) # Build command -# Experimental: requires matlab to be on your path if (GTSAM_ENABLE_BUILD_MEX_BINARIES) # Actually compile the mex files when building the library - set(TOOLBOX_MAKE_FLAGS "-j2") - add_custom_target(wrap_gtsam_build - COMMAND make ${TOOLBOX_MAKE_FLAGS} - WORKING_DIRECTORY ${toolbox_path} - DEPENDS wrap_gtsam) + # TODO: pass correct make flags from parent process + message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}") + if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL) + add_custom_target(wrap_gtsam_build ALL + COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} + WORKING_DIRECTORY ${toolbox_path} + DEPENDS wrap_gtsam) + else() + add_custom_target(wrap_gtsam_build + COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} + WORKING_DIRECTORY ${toolbox_path} + DEPENDS wrap_gtsam) + endif() endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Primary toolbox files + # Note that we copy the entire contents of the folder blindly - this is because + # the generated files won't exist at configuration time message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}") install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder # exploit need for trailing slash to specify a full folder, rather than just its contents to copy @@ -74,9 +83,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) message(STATUS "Installing Matlab Toolbox Examples (Data)") - set(data_excludes "${CMAKE_SOURCE_DIR}/examples/Data/.svn") - file(GLOB matlab_examples_data "${CMAKE_SOURCE_DIR}/examples/Data/*.*") - list(REMOVE_ITEM matlab_examples_data ${data_excludes}) + # Data files: *.graph and *.txt + file(GLOB matlab_examples_data_graph "${CMAKE_SOURCE_DIR}/examples/Data/*.graph") + file(GLOB matlab_examples_data_txt "${CMAKE_SOURCE_DIR}/examples/Data/*.txt") + set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) endif (GTSAM_INSTALL_MATLAB_EXAMPLES) From f7d7c5b9c8e5fc5eb4ab26a999a0bbd27d4eae05 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 4 Jun 2012 16:05:13 +0000 Subject: [PATCH 134/914] change filename for visualSLAM examples --- .../{VisualSLAMwISAM2Example.cpp => VisualISAMExample.cpp} | 4 ++-- examples/{VisualSLAMExampleData.h => VisualSLAMData.h} | 6 +++--- .../{VisualSLAMforSFMExample.cpp => VisualSLAMExample.cpp} | 4 ++-- 3 files changed, 7 insertions(+), 7 deletions(-) rename examples/{VisualSLAMwISAM2Example.cpp => VisualISAMExample.cpp} (98%) rename examples/{VisualSLAMExampleData.h => VisualSLAMData.h} (97%) rename examples/{VisualSLAMforSFMExample.cpp => VisualSLAMExample.cpp} (96%) diff --git a/examples/VisualSLAMwISAM2Example.cpp b/examples/VisualISAMExample.cpp similarity index 98% rename from examples/VisualSLAMwISAM2Example.cpp rename to examples/VisualISAMExample.cpp index 1ec43136f..682ca1743 100644 --- a/examples/VisualSLAMwISAM2Example.cpp +++ b/examples/VisualISAMExample.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file VisualSLAMwISAM2Example.cpp + * @file VisualISAMExample.cpp * @brief An ISAM example for synthesis sequence, single camera * @author Duy-Nguyen Ta */ @@ -19,7 +19,7 @@ #include #include #include -#include "VisualSLAMExampleData.h" +#include "VisualSLAMData.h" using namespace std; using namespace gtsam; diff --git a/examples/VisualSLAMExampleData.h b/examples/VisualSLAMData.h similarity index 97% rename from examples/VisualSLAMExampleData.h rename to examples/VisualSLAMData.h index f0ee4d2b5..1aa79324e 100644 --- a/examples/VisualSLAMExampleData.h +++ b/examples/VisualSLAMData.h @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @file VisualSLAMSimulatedData.cpp - * @brief Generate ground-truth simulated data for VisualSLAM examples (SFM and ISAM2) + * @file VisualSLAMData.cpp + * @brief Generate ground-truth simulated data for VisualSLAM examples * @author Duy-Nguyen Ta */ @@ -23,7 +23,7 @@ /* ************************************************************************* */ /** - * Simulated data for the example: + * Simulated data for the visual SLAM examples: * - 8 Landmarks: (10,10,10) (-10,10,10) (-10,-10,10) (10,-10,10) * (10,10,-10) (-10,10,-10) (-10,-10,-10) (10,-10,-10) * - n 90-deg-FoV cameras with the same calibration parameters: diff --git a/examples/VisualSLAMforSFMExample.cpp b/examples/VisualSLAMExample.cpp similarity index 96% rename from examples/VisualSLAMforSFMExample.cpp rename to examples/VisualSLAMExample.cpp index 17f457908..0dcd970e4 100644 --- a/examples/VisualSLAMforSFMExample.cpp +++ b/examples/VisualSLAMExample.cpp @@ -10,7 +10,7 @@ * -------------------------------------------------------------------------- */ /** - * @file VisualSLAMforSFMExample.cpp + * @file VisualSLAMExample.cpp * @brief A visualSLAM example for the structure-from-motion problem on a simulated dataset * @author Duy-Nguyen Ta */ @@ -19,7 +19,7 @@ #include #include #include -#include "VisualSLAMExampleData.h" +#include "VisualSLAMData.h" using namespace std; using namespace gtsam; From 74322b076408deb26894441ce6f352b758598714 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 4 Jun 2012 17:23:45 +0000 Subject: [PATCH 135/914] remove the optional --- examples/Pose2SLAMwSPCG.cpp | 1 - .../linear/IterativeOptimizationParameters.h | 12 ++++++++---- gtsam/linear/IterativeSolver.h | 13 +++++-------- gtsam/linear/SimpleSPCGSolver.cpp | 19 ++++++++++--------- gtsam/linear/SimpleSPCGSolver.h | 2 +- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 3 ++- .../SuccessiveLinearizationOptimizer.h | 4 ++-- 7 files changed, 28 insertions(+), 26 deletions(-) diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index c5c2efc66..46a3787f2 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -68,7 +68,6 @@ int main(void) { LevenbergMarquardtParams param; param.linearSolverType = SuccessiveLinearizationParams::CG; param.iterativeParams = boost::make_shared(); - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); Values result = optimizer.optimize(); cout << "final error = " << graph.error(result) << endl; diff --git a/gtsam/linear/IterativeOptimizationParameters.h b/gtsam/linear/IterativeOptimizationParameters.h index f6b1877ce..88303fa40 100644 --- a/gtsam/linear/IterativeOptimizationParameters.h +++ b/gtsam/linear/IterativeOptimizationParameters.h @@ -113,7 +113,9 @@ struct PreconditionerParameters { std::cout << "PreconditionerParameters: " << "kernel = " << kernelStr[kernel_] - << ", type = " << typeStr[type_] << std::endl; + << ", type = " << typeStr[type_] + << ", verbosity = " << verbosity_ + << std::endl; combinatorial_.print(); } }; @@ -167,6 +169,7 @@ struct ConjugateGradientParameters { << ", eps_rel = " << epsilon_rel_ << ", eps_abs = " << epsilon_abs_ << ", degree = " << degree_ + << ", verbosity = " << verbosity_ << std::endl; } }; @@ -180,8 +183,8 @@ public: PreconditionerParameters preconditioner_; ConjugateGradientParameters cg_; - enum Kernel { PCG = 0, LSPCG } kernel_ ; /* Iterative Method Kernel */ - enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ + enum Kernel { PCG = 0, LSPCG = 1 } kernel_ ; ///< Iterative Method Kernel + enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; ///< Verbosity public: @@ -221,7 +224,8 @@ public: const std::string kernelStr[2] = {"pcg", "lspcg"}; std::cout << s << std::endl << "IterativeOptimizationParameters: " - << "kernel = " << kernelStr[kernel_] << std::endl; + << "kernel = " << kernelStr[kernel_] + << ", verbosity = " << verbosity_ << std::endl; cg_.print(); preconditioner_.print(); diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 9b07d8e07..58e83d595 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -11,9 +11,8 @@ #pragma once -#include #include -#include +#include namespace gtsam { @@ -21,25 +20,23 @@ class IterativeSolver { public: - typedef boost::shared_ptr shared_ptr; typedef IterativeOptimizationParameters Parameters; protected: - Parameters::shared_ptr parameters_ ; + Parameters parameters_ ; public: - IterativeSolver(): parameters_(new Parameters()) {} + IterativeSolver(): parameters_() {} IterativeSolver(const IterativeSolver &solver) : parameters_(solver.parameters_) {} - IterativeSolver(const Parameters::shared_ptr& parameters) : parameters_(parameters) {} - IterativeSolver(const Parameters ¶meters) : parameters_(new Parameters(parameters)) {} + IterativeSolver(const Parameters ¶meters) : parameters_(parameters) {} virtual ~IterativeSolver() {} virtual VectorValues::shared_ptr optimize () = 0; - inline Parameters::shared_ptr parameters() { return parameters_ ; } + inline const Parameters& parameters() const { return parameters_ ; } }; } diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index e7cef9e64..ae7c9581c 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -42,7 +42,7 @@ std::vector extractColSpec_(const FactorGraph& gfg, cons return spec; } -SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters::shared_ptr ¶meters) +SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters) : Base(parameters) { std::vector colSpec = extractColSpec_(gfg, VariableIndex(gfg)); @@ -97,13 +97,14 @@ VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial double gamma = s.vector().squaredNorm(), new_gamma = 0.0, alpha = 0.0, beta = 0.0 ; const double threshold = - ::max(parameters_->epsilon_abs(), - parameters_->epsilon() * parameters_->epsilon() * gamma); - const size_t iMaxIterations = parameters_->maxIterations(); + ::max(parameters_.epsilon_abs(), + parameters_.epsilon() * parameters_.epsilon() * gamma); + const size_t iMaxIterations = parameters_.maxIterations(); + const ConjugateGradientParameters::Verbosity verbosity = parameters_.cg_.verbosity(); - if ( parameters_->verbosity() >= IterativeOptimizationParameters::ERROR ) - cout << "[SimpleSPCGSolver] epsilon = " << parameters_->epsilon() - << ", max = " << parameters_->maxIterations() + if ( verbosity >= ConjugateGradientParameters::ERROR ) + cout << "[SimpleSPCGSolver] epsilon = " << parameters_.epsilon() + << ", max = " << parameters_.maxIterations() << ", ||r0|| = " << std::sqrt(gamma) << ", threshold = " << threshold << std::endl; @@ -120,14 +121,14 @@ VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial p.vector() = s.vector() + beta * p.vector(); gamma = new_gamma ; - if ( parameters_->verbosity() >= IterativeOptimizationParameters::ERROR) { + if ( verbosity >= ConjugateGradientParameters::ERROR) { cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << endl; } if ( gamma < threshold ) break ; } // k - if ( parameters_->verbosity() >= IterativeOptimizationParameters::ERROR ) + if ( verbosity >= ConjugateGradientParameters::ERROR ) cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << endl; /* transform y back to x */ diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index 04729fc1a..570169e7b 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -55,7 +55,7 @@ protected: public: - SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters::shared_ptr ¶meters); + SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); virtual ~SimpleSPCGSolver() {} virtual VectorValues::shared_ptr optimize () {return optimize(*y0_);} diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index e1133d86e..17e92c466 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -72,7 +72,8 @@ void LevenbergMarquardtOptimizer::iterate() { delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); } else if ( params_.isCG() ) { - SimpleSPCGSolver solver(dampedSystem, *params_.iterativeParams); + IterativeOptimizationParameters::shared_ptr params(!params_.iterativeParams ? boost::make_shared() : params_.iterativeParams); + SimpleSPCGSolver solver(dampedSystem, *params); delta = *solver.optimize(); } else { diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index ea54dd344..156440f06 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -31,13 +31,13 @@ public: MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR, - CHOLMOD, /* Experimental Flag */ CG, /* Experimental Flag */ + CHOLMOD, /* Experimental Flag */ }; LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer boost::optional ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty) - boost::optional iterativeParams; ///< The container for iterativeOptimization parameters. + IterativeOptimizationParameters::shared_ptr iterativeParams; ///< The container for iterativeOptimization parameters. used in CG Solvers. SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {} From fc437cc6416810ccd838442621440bfa5bbdd0e5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 18:23:18 +0000 Subject: [PATCH 136/914] Moved matlab wrapped PoseRTV into the gtsam namespace --- gtsam_unstable/gtsam_unstable.h | 49 +++++++++++++++++---------------- 1 file changed, 25 insertions(+), 24 deletions(-) diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 376706e7f..91377da8c 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -2,15 +2,14 @@ * Matlab toolbox interface definition for gtsam_unstable */ -// Most things are in the gtsam namespace -using namespace gtsam; - // specify the classes from gtsam we are using class gtsam::Point3; class gtsam::Rot3; class gtsam::Pose3; class gtsam::SharedNoiseModel; +namespace gtsam { + #include class PoseRTV { PoseRTV(); @@ -22,7 +21,7 @@ class PoseRTV { PoseRTV(double roll, double pitch, double yaw, double x, double y, double z, double vx, double vy, double vz); // testable - bool equals(const PoseRTV& other, double tol) const; + bool equals(const gtsam::PoseRTV& other, double tol) const; void print(string s) const; // access @@ -39,27 +38,29 @@ class PoseRTV { // manifold/Lie static size_t Dim(); size_t dim() const; - PoseRTV retract(Vector v) const; - Vector localCoordinates(const PoseRTV& p) const; - static PoseRTV Expmap(Vector v); - static Vector Logmap(const PoseRTV& p); - PoseRTV inverse() const; - PoseRTV compose(const PoseRTV& p) const; - PoseRTV between(const PoseRTV& p) const; + gtsam::PoseRTV retract(Vector v) const; + Vector localCoordinates(const gtsam::PoseRTV& p) const; + static gtsam::PoseRTV Expmap(Vector v); + static Vector Logmap(const gtsam::PoseRTV& p); + gtsam::PoseRTV inverse() const; + gtsam::PoseRTV compose(const gtsam::PoseRTV& p) const; + gtsam::PoseRTV between(const gtsam::PoseRTV& p) const; // measurement - double range(const PoseRTV& other) const; - PoseRTV transformed_from(const gtsam::Pose3& trans) const; + double range(const gtsam::PoseRTV& other) const; + gtsam::PoseRTV transformed_from(const gtsam::Pose3& trans) const; // IMU/dynamics - PoseRTV planarDynamics(double vel_rate, double heading_rate, double max_accel, double dt) const; - PoseRTV flyingDynamics(double pitch_rate, double heading_rate, double lift_control, double dt) const; - PoseRTV generalDynamics(Vector accel, Vector gyro, double dt) const; - Vector imuPrediction(const PoseRTV& x2, double dt) const; - gtsam::Point3 translationIntegration(const PoseRTV& x2, double dt) const; - Vector translationIntegrationVec(const PoseRTV& x2, double dt) const; + gtsam::PoseRTV planarDynamics(double vel_rate, double heading_rate, double max_accel, double dt) const; + gtsam::PoseRTV flyingDynamics(double pitch_rate, double heading_rate, double lift_control, double dt) const; + gtsam::PoseRTV generalDynamics(Vector accel, Vector gyro, double dt) const; + Vector imuPrediction(const gtsam::PoseRTV& x2, double dt) const; + gtsam::Point3 translationIntegration(const gtsam::PoseRTV& x2, double dt) const; + Vector translationIntegrationVec(const gtsam::PoseRTV& x2, double dt) const; }; +}///\namespace gtsam + #include namespace imu { @@ -67,8 +68,8 @@ class Values { Values(); void print(string s) const; - void insertPose(size_t key, const PoseRTV& pose); - PoseRTV pose(size_t key) const; + void insertPose(size_t key, const gtsam::PoseRTV& pose); + gtsam::PoseRTV pose(size_t key) const; }; class Graph { @@ -76,8 +77,8 @@ class Graph { void print(string s) const; // prior factors - void addPrior(size_t key, const PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel); - void addConstraint(size_t key, const PoseRTV& pose); + void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel); + void addConstraint(size_t key, const gtsam::PoseRTV& pose); void addHeightPrior(size_t key, double z, const gtsam::SharedNoiseModel& noiseModel); // inertial factors @@ -86,7 +87,7 @@ class Graph { void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::SharedNoiseModel& noiseModel); // other measurements - void addBetween(size_t key1, size_t key2, const PoseRTV& z, const gtsam::SharedNoiseModel& noiseModel); + void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::SharedNoiseModel& noiseModel); void addRange(size_t key1, size_t key2, double z, const gtsam::SharedNoiseModel& noiseModel); // optimization From 6b1e862688df5494e22588d45bca85ef714a8624 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 18:46:05 +0000 Subject: [PATCH 137/914] Fix errors --- gtsam/base/tests/timeVirtual.cpp | 8 ++++---- gtsam/base/types.h | 6 ++++++ gtsam/geometry/StereoPoint2.h | 10 +++++----- tests/testGraph.cpp | 2 +- tests/timeMultifrontalOnDataset.cpp | 2 +- tests/timeSequentialOnDataset.cpp | 2 +- 6 files changed, 18 insertions(+), 12 deletions(-) diff --git a/gtsam/base/tests/timeVirtual.cpp b/gtsam/base/tests/timeVirtual.cpp index a61ce7b77..697a219b1 100644 --- a/gtsam/base/tests/timeVirtual.cpp +++ b/gtsam/base/tests/timeVirtual.cpp @@ -87,13 +87,13 @@ int main(int argc, char *argv[]) { tic_("shared plain alloc, dealloc"); for(size_t i=0; i obj(new Plain(i)); + boost::shared_ptr obj(new Plain(i)); } toc_("shared plain alloc, dealloc"); tic_("shared virtual alloc, dealloc"); for(size_t i=0; i obj(new Virtual(i)); + boost::shared_ptr obj(new Virtual(i)); } toc_("shared virtual alloc, dealloc"); @@ -130,14 +130,14 @@ int main(int argc, char *argv[]) { tic_("shared plain alloc, dealloc, call"); for(size_t i=0; i obj(new Plain(i)); + boost::shared_ptr obj(new Plain(i)); obj->setData(i+1); } toc_("shared plain alloc, dealloc, call"); tic_("shared virtual alloc, dealloc, call"); for(size_t i=0; i obj(new Virtual(i)); + boost::shared_ptr obj(new Virtual(i)); obj->setData(i+1); } toc_("shared virtual alloc, dealloc, call"); diff --git a/gtsam/base/types.h b/gtsam/base/types.h index e9264d516..2490a0cde 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -82,6 +82,12 @@ using boost::math::isinf; #ifndef M_PI #define M_PI (boost::math::constants::pi()) #endif +#ifndef M_PI_2 +#define M_PI_2 (boost::math::constants::pi() / 2.0) +#endif +#ifndef M_PI_4 +#define M_PI_4 (boost::math::constants::pi() / 4.0) +#endif #endif diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h index 43701e4e8..022296c21 100644 --- a/gtsam/geometry/StereoPoint2.h +++ b/gtsam/geometry/StereoPoint2.h @@ -119,6 +119,11 @@ namespace gtsam { return p.vector(); } + /** The difference between another point and this point */ + inline StereoPoint2 between(const StereoPoint2& p2) const { + return gtsam::between_default(*this, p2); + } + /// @} /// @name Standard Interface /// @{ @@ -133,11 +138,6 @@ namespace gtsam { return Point2(uL_, v_); } - ///TODO comment - inline StereoPoint2 between(const StereoPoint2& p2) const { - return gtsam::between_default(*this, p2); - } - private: /// @} diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index c75c42b49..63cbd43c8 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -66,7 +66,7 @@ TEST( Graph, predecessorMap2Graph ) p_map.insert(1, 2); p_map.insert(2, 2); p_map.insert(3, 2); - tie(graph, root, key2vertex) = predecessorMap2Graph, SVertex, Key>(p_map); + boost::tie(graph, root, key2vertex) = predecessorMap2Graph, SVertex, Key>(p_map); LONGS_EQUAL(3, boost::num_vertices(graph)); CHECK(root == key2vertex[2]); diff --git a/tests/timeMultifrontalOnDataset.cpp b/tests/timeMultifrontalOnDataset.cpp index 874ccf8bb..3d8ccf77e 100644 --- a/tests/timeMultifrontalOnDataset.cpp +++ b/tests/timeMultifrontalOnDataset.cpp @@ -44,7 +44,7 @@ int main(int argc, char *argv[]) { else if (argc == 4) nrTrials = strtoul(argv[3], NULL, 10); - pair, shared_ptr > data = load2D(dataset(datasetname)); + pair, boost::shared_ptr > data = load2D(dataset(datasetname)); // Add a prior on the first pose if (soft_prior) diff --git a/tests/timeSequentialOnDataset.cpp b/tests/timeSequentialOnDataset.cpp index 9e1b986f9..a37b9910c 100644 --- a/tests/timeSequentialOnDataset.cpp +++ b/tests/timeSequentialOnDataset.cpp @@ -44,7 +44,7 @@ int main(int argc, char *argv[]) { else if (argc == 4) nrTrials = strtoul(argv[3], NULL, 10); - pair, shared_ptr > data = load2D(dataset(datasetname)); + pair, boost::shared_ptr > data = load2D(dataset(datasetname)); // Add a prior on the first pose if (soft_prior) From 73b4f35e02720ebd8130e782b82c493278e7354a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 19:23:25 +0000 Subject: [PATCH 138/914] Fixed matlab issue with unsigned char types --- wrap/Argument.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index ff42b33b1..ffac23a9d 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -30,7 +30,7 @@ string Argument::matlabClass(const string& delim) const { string result; BOOST_FOREACH(const string& ns, namespaces) result += ns + delim; - if (type=="string") + if (type=="string" || type=="unsigned char") return result + "char"; if (type=="bool" || type=="int" || type=="size_t" || type=="Vector" || type=="Matrix") return result + "double"; From a07e4a73687b63714c21461c0422391811fa6ded Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 19:45:32 +0000 Subject: [PATCH 139/914] Fixed handling of char in wrap, updated README --- wrap/Argument.cpp | 2 +- wrap/README | 15 ++++++++------- wrap/tests/expected_namespaces/@ClassD/ClassD.m | 2 +- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index ffac23a9d..85073715d 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -30,7 +30,7 @@ string Argument::matlabClass(const string& delim) const { string result; BOOST_FOREACH(const string& ns, namespaces) result += ns + delim; - if (type=="string" || type=="unsigned char") + if (type=="string" || type=="unsigned char" || type=="char") return result + "char"; if (type=="bool" || type=="int" || type=="size_t" || type=="Vector" || type=="Matrix") return result + "double"; diff --git a/wrap/README b/wrap/README index 6e7acc863..92fd1967c 100644 --- a/wrap/README +++ b/wrap/README @@ -1,14 +1,17 @@ Frank Dellaert October 2011 -The wrap library wraps the GTSAM library into a MATLAB toolbox. +The wrap library wraps the GTSAM library into a MATLAB toolbox. 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. In addition, the current makefile (Oct 11) is GTSAM specific. +mex files. The GTSAM-specific functionality consists primarily of handling of +Eigen Matrix and Vector classes. + +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 -The classes and methods to be wrapped are specified in gtsam.h -This tool will not wrap arbitrary methods. Please read comments in matlab.h Some good things to know: OBJECT CREATION @@ -24,7 +27,5 @@ METHOD (AND CONSTRUCTOR) ARGUMENTS 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 -- GTSAM specific: keys will be cast automatically from strings via GTSAM_magic. This - allows us to not have to declare all key types in MATLAB. Just replace key arguments with - the (non-const, non-reference) string type + \ No newline at end of file diff --git a/wrap/tests/expected_namespaces/@ClassD/ClassD.m b/wrap/tests/expected_namespaces/@ClassD/ClassD.m index 8b78750d9..9e3ddf132 100644 --- a/wrap/tests/expected_namespaces/@ClassD/ClassD.m +++ b/wrap/tests/expected_namespaces/@ClassD/ClassD.m @@ -9,7 +9,7 @@ classdef ClassD < handle if nargin ~= 13 && obj.self == 0, error('ClassD constructor failed'); end end function delete(obj) - delete_ClassD(obj) + delete_ClassD(obj); end function display(obj), obj.print(''); end function disp(obj), obj.display; end From f8d2d7a7720014929060504cfe97f9474551c930 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 19:53:30 +0000 Subject: [PATCH 140/914] Wrapped and grouped lots of geometry methods --- gtsam.h | 286 ++++++++++++++++++++++++++++++--------- gtsam/geometry/Pose2.cpp | 6 +- gtsam/geometry/Pose2.h | 6 +- 3 files changed, 230 insertions(+), 68 deletions(-) diff --git a/gtsam.h b/gtsam.h index 2015705ae..a08c753f1 100644 --- a/gtsam.h +++ b/gtsam.h @@ -68,72 +68,142 @@ namespace gtsam { //************************************************************************* class Point2 { + // Standard Constructors Point2(); Point2(double x, double y); - static gtsam::Point2 Expmap(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Point2& pose, double tol) const; + + // Group + static gtsam::Point2 identity(); + gtsam::Point2 inverse() const; + gtsam::Point2 compose(const gtsam::Point2& p2) const; + gtsam::Point2 between(const gtsam::Point2& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Point2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Point2& p) const; + + // Lie Group + static gtsam::Point2 Expmap(Vector v); static Vector Logmap(const gtsam::Point2& p); - void print(string s) const; - double x(); - double y(); - Vector localCoordinates(const gtsam::Point2& p); - gtsam::Point2 compose(const gtsam::Point2& p2); - gtsam::Point2 between(const gtsam::Point2& p2); - gtsam::Point2 retract(Vector v); + + // Standard Interface + double x() const; + double y() const; + Vector vector() const; }; 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 + static size_t Dim(); + size_t dim() const; + 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); - void print(string s) const; - Vector localCoordinates(const gtsam::StereoPoint2& p); - gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2); - gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2); - gtsam::StereoPoint2 retract(Vector v); + + // Standard Interface + Vector vector() const; }; class Point3 { + // Standard Constructors Point3(); Point3(double x, double y, double z); Point3(Vector v); - static gtsam::Point3 Expmap(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Point3& p, double tol) const; + + // Group + static gtsam::Point3 identity(); + gtsam::Point3 inverse() const; + gtsam::Point3 compose(const gtsam::Point3& p2) const; + gtsam::Point3 between(const gtsam::Point3& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Point3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Point3& p) const; + + // Lie Group + static gtsam::Point3 Expmap(Vector v); static Vector Logmap(const gtsam::Point3& p); - void print(string s) const; - bool equals(const gtsam::Point3& p, double tol); + + // Standard Interface Vector vector() const; - double x(); - double y(); - double z(); - Vector localCoordinates(const gtsam::Point3& p); - gtsam::Point3 retract(Vector v); - gtsam::Point3 compose(const gtsam::Point3& p2); - gtsam::Point3 between(const gtsam::Point3& p2); + double x() const; + double y() const; + double z() const; }; class Rot2 { + // Standard Constructors and Named Constructors Rot2(); Rot2(double theta); - static gtsam::Rot2 Expmap(Vector v); + 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(); + static gtsam::Rot2 inverse(); + gtsam::Rot2 compose(const gtsam::Rot2& p2) const; + gtsam::Rot2 between(const gtsam::Rot2& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + 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); - static gtsam::Rot2 fromAngle(double theta); - static gtsam::Rot2 fromDegrees(double theta); - static gtsam::Rot2 fromCosSin(double c, double s); + + // 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); - void print(string s) const; - bool equals(const gtsam::Rot2& rot, double tol) const; double theta() const; double degrees() const; double c() const; double s() const; - Vector localCoordinates(const gtsam::Rot2& p); - gtsam::Rot2 retract(Vector v); - gtsam::Rot2 compose(const gtsam::Rot2& p2); - gtsam::Rot2 between(const gtsam::Rot2& p2); + Matrix matrix() const; }; class Rot3 { + // Standard Constructors and Named Constructors Rot3(); Rot3(Matrix R); static gtsam::Rot3 Rx(double t); @@ -147,17 +217,29 @@ class Rot3 { 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 rodriguez(Vector v); + + // 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 inverse() const; gtsam::Rot3 between(const gtsam::Rot3& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Rot3 retractCayley(Vector v) const; + 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; - gtsam::Rot3 retractCayley(Vector v) const; - gtsam::Rot3 retract(Vector v) const; - Vector localCoordinates(const gtsam::Rot3& p) const; + + // Standard Interface static gtsam::Rot3 Expmap(Vector v); static Vector Logmap(const gtsam::Rot3& p); Matrix matrix() const; @@ -170,30 +252,53 @@ class Rot3 { double pitch() const; double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly + Matrix matrix() const; }; class Pose2 { + // Standard Constructor Pose2(); 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 + static size_t Dim(); + size_t dim() const; + 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); - void print(string s) const; - bool equals(const gtsam::Pose2& pose, double tol) const; + Matrix adjointMap() const; + Vector adjoint() const; + static Matrix wedge(); + + // Group Actions on Point2 + gtsam::Point2 transform_from(const gtsam::Point2& p) const; + gtsam::Point2 transform_to(const gtsam::Point2& p) const; + + // Standard Interface double x() const; double y() const; double theta() const; - size_t dim() const; - Vector localCoordinates(const gtsam::Pose2& p); - gtsam::Pose2 retract(Vector v); - gtsam::Pose2 compose(const gtsam::Pose2& p2); - gtsam::Pose2 between(const gtsam::Pose2& p2); - gtsam::Rot2 bearing(const gtsam::Point2& point); - double range(const gtsam::Point2& point); + 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; }; class Pose3 { @@ -210,15 +315,15 @@ class Pose3 { // Group static gtsam::Pose3 identity(); - gtsam::Pose3 inverse(); - gtsam::Pose3 compose(const gtsam::Pose3& p2); - gtsam::Pose3 between(const gtsam::Pose3& p2); + gtsam::Pose3 inverse() const; + gtsam::Pose3 compose(const gtsam::Pose3& p2) const; + gtsam::Pose3 between(const gtsam::Pose3& p2) const; // Manifold static size_t Dim(); size_t dim() const; - gtsam::Pose3 retract(Vector v); - gtsam::Pose3 retractFirstOrder(Vector v); + gtsam::Pose3 retract(Vector v) const; + gtsam::Pose3 retractFirstOrder(Vector v) const; Vector localCoordinates(const gtsam::Pose3& T2) const; // Lie Group @@ -245,41 +350,98 @@ class Pose3 { }; class Cal3_S2 { + // Standard Constructors Cal3_S2(); Cal3_S2(double fx, double fy, double s, double u0, double v0); + // Testable void print(string s) const; + bool equals(const gtsam::Cal3_S2& pose, 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 matrix() const; + Matrix matrix_inverse() const; }; class Cal3_S2Stereo { + // Standard Constructors Cal3_S2Stereo(); Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); + // Testable void print(string s) const; + bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3_S2Stereo retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3_S2Stereo& 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 matrix() const; + Matrix matrix_inverse() const; + double baseline() const; }; class CalibratedCamera { - + // Standard Constructors and Named Constructors CalibratedCamera(); CalibratedCamera(const gtsam::Pose3& pose); CalibratedCamera(const Vector& v); + 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(const Vector& d) const; + Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; + + // Group + gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const; + gtsam::CalibratedCamera inverse() const; + + // Action on Point3 + gtsam::Point2 project(const gtsam::Point3& point) const; + static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + + // Standard Interface gtsam::Pose3 pose() const; - - gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const; - gtsam::CalibratedCamera inverse() const; - gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height); - gtsam::CalibratedCamera retract(const Vector& d) const; - Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; - - gtsam::Point2 project(const gtsam::Point3& point) const; - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods }; - //************************************************************************* // inference //************************************************************************* diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index e39dbc803..fa02ecfb8 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -108,7 +108,7 @@ Vector Pose2::localCoordinates(const Pose2& p2) const { /* ************************************************************************* */ // Calculate Adjoint map // Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi) -Matrix Pose2::AdjointMap() const { +Matrix Pose2::adjointMap() const { double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y(); return Matrix_(3,3, c, -s, y, @@ -119,7 +119,7 @@ Matrix Pose2::AdjointMap() const { /* ************************************************************************* */ Pose2 Pose2::inverse(boost::optional H1) const { - if (H1) *H1 = -AdjointMap(); + if (H1) *H1 = -adjointMap(); return Pose2(r_.inverse(), r_.unrotate(Point2(-t_.x(), -t_.y()))); } @@ -142,7 +142,7 @@ Point2 Pose2::transform_to(const Point2& point, Pose2 Pose2::compose(const Pose2& p2, boost::optional H1, boost::optional H2) const { // TODO: inline and reuse? - if(H1) *H1 = p2.inverse().AdjointMap(); + if(H1) *H1 = p2.inverse().adjointMap(); if(H2) *H2 = I3; return (*this)*p2; } diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 877eb93a1..55fe0a9d4 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -158,10 +158,10 @@ public: * Calculate Adjoint map * Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi) */ - Matrix AdjointMap() const; - inline Vector Adjoint(const Vector& xi) const { + Matrix adjointMap() const; + inline Vector adjoint(const Vector& xi) const { assert(xi.size() == 3); - return AdjointMap()*xi; + return adjointMap()*xi; } /** From e3922d7b34ad8e311a7b4357d1867280ab0432b2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 20:10:20 +0000 Subject: [PATCH 141/914] Missed rename --- gtsam/geometry/tests/testPose2.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index cdde3cd54..2a0f9ebec 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -426,7 +426,7 @@ TEST( Pose2, between ) EXPECT(assert_equal(expectedH1,actualH1)); EXPECT(assert_equal(numericalH1,actualH1)); // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx - EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1)); + EXPECT(assert_equal(-gT2.between(gT1).adjointMap(),actualH1)); Matrix expectedH2 = Matrix_(3,3, 1.0, 0.0, 0.0, From 83f656f93ded66bd0674ad92eee54b1d284f1267 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 4 Jun 2012 20:14:41 +0000 Subject: [PATCH 142/914] add the spcg example to matlab --- examples/Pose2SLAMwSPCG.cpp | 9 ++---- examples/matlab/Pose2SLAMwSPCG.m | 54 ++++++++++++++++++++++++++++++++ gtsam.h | 1 + gtsam/slam/pose2SLAM.cpp | 7 +++++ gtsam/slam/pose2SLAM.h | 1 + 5 files changed, 65 insertions(+), 7 deletions(-) create mode 100644 examples/matlab/Pose2SLAMwSPCG.m diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 46a3787f2..cec4301dc 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -63,13 +63,8 @@ int main(void) { // 4. Single Step Optimization using Levenberg-Marquardt // Note: Although there are many options in IterativeOptimizationParameters, - // the SimpleSPCGSolver doesn't actually use all of them at this moment. - // More detail in the next release. - LevenbergMarquardtParams param; - param.linearSolverType = SuccessiveLinearizationParams::CG; - param.iterativeParams = boost::make_shared(); - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); - Values result = optimizer.optimize(); + Values result = graph.optimizeSPCG(initialEstimate); + result.print("\nFinal result:\n"); cout << "final error = " << graph.error(result) << endl; return 0 ; diff --git a/examples/matlab/Pose2SLAMwSPCG.m b/examples/matlab/Pose2SLAMwSPCG.m new file mode 100644 index 000000000..f9c0537be --- /dev/null +++ b/examples/matlab/Pose2SLAMwSPCG.m @@ -0,0 +1,54 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Simple 2D robotics example using the SimpleSPCGSolver +% @author Yong-Dian Jian +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - All values are axis aligned +% - Robot poses are facing along the X axis (horizontal, to the right in images) +% - We have full odometry for measurements +% - The robot is on a grid, moving 2 meters each step + +%% Create graph container and add factors to it +graph = pose2SLAMGraph; + +%% Add prior +% gaussian for prior +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +graph.addPrior(1, priorMean, priorNoise); % add directly to graph + +%% Add odometry +% general noisemodel for odometry +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); + +%% Add pose constraint +model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); + +% print +graph.print(sprintf('\nFactor graph:\n')); + +%% Initialize to noisy points +initialEstimate = pose2SLAMValues; +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 )); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 )); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2)); +initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); +initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); +initialEstimate.print(sprintf('\nInitial estimate:\n')); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimizeSPCG(initialEstimate); +result.print(sprintf('\nFinal result:\n')); \ No newline at end of file diff --git a/gtsam.h b/gtsam.h index f9062cd9e..c73b59c3c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -532,6 +532,7 @@ class Graph { void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); void addConstraint(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const; + pose2SLAM::Values optimizeSPCG(const pose2SLAM::Values& initialEstimate) const; gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; }; diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index 49ab37111..110a50551 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -85,6 +85,13 @@ namespace pose2SLAM { return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); } + Values Graph::optimizeSPCG(const Values& initialEstimate) const { + LevenbergMarquardtParams params; + params.linearSolverType = SuccessiveLinearizationParams::CG; + return LevenbergMarquardtOptimizer(*this, initialEstimate, params).optimize(); + } + + /* ************************************************************************* */ } // pose2SLAM diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index d7ebd3323..71710f823 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -107,6 +107,7 @@ namespace pose2SLAM { /// Optimize Values optimize(const Values& initialEstimate) const; + Values optimizeSPCG(const Values& initialEstimate) const; /// Return a Marginals object Marginals marginals(const Values& solution) const { From 79f063fbb79144b6580d9be3311f9ef898fc8e14 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 4 Jun 2012 20:17:24 +0000 Subject: [PATCH 143/914] Wrapped and grouped lots of geometry methods --- gtsam.h | 286 ++++++++++++++++++++++------- gtsam/geometry/Pose2.cpp | 6 +- gtsam/geometry/Pose2.h | 6 +- gtsam/geometry/tests/testPose2.cpp | 2 +- 4 files changed, 231 insertions(+), 69 deletions(-) diff --git a/gtsam.h b/gtsam.h index c73b59c3c..044e2245a 100644 --- a/gtsam.h +++ b/gtsam.h @@ -68,72 +68,142 @@ namespace gtsam { //************************************************************************* class Point2 { + // Standard Constructors Point2(); Point2(double x, double y); - static gtsam::Point2 Expmap(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Point2& pose, double tol) const; + + // Group + static gtsam::Point2 identity(); + gtsam::Point2 inverse() const; + gtsam::Point2 compose(const gtsam::Point2& p2) const; + gtsam::Point2 between(const gtsam::Point2& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Point2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Point2& p) const; + + // Lie Group + static gtsam::Point2 Expmap(Vector v); static Vector Logmap(const gtsam::Point2& p); - void print(string s) const; - double x(); - double y(); - Vector localCoordinates(const gtsam::Point2& p); - gtsam::Point2 compose(const gtsam::Point2& p2); - gtsam::Point2 between(const gtsam::Point2& p2); - gtsam::Point2 retract(Vector v); + + // Standard Interface + double x() const; + double y() const; + Vector vector() const; }; 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 + static size_t Dim(); + size_t dim() const; + 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); - void print(string s) const; - Vector localCoordinates(const gtsam::StereoPoint2& p); - gtsam::StereoPoint2 compose(const gtsam::StereoPoint2& p2); - gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2); - gtsam::StereoPoint2 retract(Vector v); + + // Standard Interface + Vector vector() const; }; class Point3 { + // Standard Constructors Point3(); Point3(double x, double y, double z); Point3(Vector v); - static gtsam::Point3 Expmap(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Point3& p, double tol) const; + + // Group + static gtsam::Point3 identity(); + gtsam::Point3 inverse() const; + gtsam::Point3 compose(const gtsam::Point3& p2) const; + gtsam::Point3 between(const gtsam::Point3& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Point3 retract(Vector v) const; + Vector localCoordinates(const gtsam::Point3& p) const; + + // Lie Group + static gtsam::Point3 Expmap(Vector v); static Vector Logmap(const gtsam::Point3& p); - void print(string s) const; - bool equals(const gtsam::Point3& p, double tol); + + // Standard Interface Vector vector() const; - double x(); - double y(); - double z(); - Vector localCoordinates(const gtsam::Point3& p); - gtsam::Point3 retract(Vector v); - gtsam::Point3 compose(const gtsam::Point3& p2); - gtsam::Point3 between(const gtsam::Point3& p2); + double x() const; + double y() const; + double z() const; }; class Rot2 { + // Standard Constructors and Named Constructors Rot2(); Rot2(double theta); - static gtsam::Rot2 Expmap(Vector v); + 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(); + static gtsam::Rot2 inverse(); + gtsam::Rot2 compose(const gtsam::Rot2& p2) const; + gtsam::Rot2 between(const gtsam::Rot2& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + 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); - static gtsam::Rot2 fromAngle(double theta); - static gtsam::Rot2 fromDegrees(double theta); - static gtsam::Rot2 fromCosSin(double c, double s); + + // 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); - void print(string s) const; - bool equals(const gtsam::Rot2& rot, double tol) const; double theta() const; double degrees() const; double c() const; double s() const; - Vector localCoordinates(const gtsam::Rot2& p); - gtsam::Rot2 retract(Vector v); - gtsam::Rot2 compose(const gtsam::Rot2& p2); - gtsam::Rot2 between(const gtsam::Rot2& p2); + Matrix matrix() const; }; class Rot3 { + // Standard Constructors and Named Constructors Rot3(); Rot3(Matrix R); static gtsam::Rot3 Rx(double t); @@ -147,17 +217,29 @@ class Rot3 { 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 rodriguez(Vector v); + + // 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 inverse() const; gtsam::Rot3 between(const gtsam::Rot3& p2) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Rot3 retractCayley(Vector v) const; + 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; - gtsam::Rot3 retractCayley(Vector v) const; - gtsam::Rot3 retract(Vector v) const; - Vector localCoordinates(const gtsam::Rot3& p) const; + + // Standard Interface static gtsam::Rot3 Expmap(Vector v); static Vector Logmap(const gtsam::Rot3& p); Matrix matrix() const; @@ -170,30 +252,53 @@ class Rot3 { double pitch() const; double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly + Matrix matrix() const; }; class Pose2 { + // Standard Constructor Pose2(); 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 + static size_t Dim(); + size_t dim() const; + 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); - void print(string s) const; - bool equals(const gtsam::Pose2& pose, double tol) const; + Matrix adjointMap() const; + Vector adjoint() const; + static Matrix wedge(); + + // Group Actions on Point2 + gtsam::Point2 transform_from(const gtsam::Point2& p) const; + gtsam::Point2 transform_to(const gtsam::Point2& p) const; + + // Standard Interface double x() const; double y() const; double theta() const; - size_t dim() const; - Vector localCoordinates(const gtsam::Pose2& p); - gtsam::Pose2 retract(Vector v); - gtsam::Pose2 compose(const gtsam::Pose2& p2); - gtsam::Pose2 between(const gtsam::Pose2& p2); - gtsam::Rot2 bearing(const gtsam::Point2& point); - double range(const gtsam::Point2& point); + 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; }; class Pose3 { @@ -210,15 +315,15 @@ class Pose3 { // Group static gtsam::Pose3 identity(); - gtsam::Pose3 inverse(); - gtsam::Pose3 compose(const gtsam::Pose3& p2); - gtsam::Pose3 between(const gtsam::Pose3& p2); + gtsam::Pose3 inverse() const; + gtsam::Pose3 compose(const gtsam::Pose3& p2) const; + gtsam::Pose3 between(const gtsam::Pose3& p2) const; // Manifold static size_t Dim(); size_t dim() const; - gtsam::Pose3 retract(Vector v); - gtsam::Pose3 retractFirstOrder(Vector v); + gtsam::Pose3 retract(Vector v) const; + gtsam::Pose3 retractFirstOrder(Vector v) const; Vector localCoordinates(const gtsam::Pose3& T2) const; // Lie Group @@ -245,41 +350,98 @@ class Pose3 { }; class Cal3_S2 { + // Standard Constructors Cal3_S2(); Cal3_S2(double fx, double fy, double s, double u0, double v0); + // Testable void print(string s) const; + bool equals(const gtsam::Cal3_S2& pose, 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 matrix() const; + Matrix matrix_inverse() const; }; class Cal3_S2Stereo { + // Standard Constructors Cal3_S2Stereo(); Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b); + // Testable void print(string s) const; + bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3_S2Stereo retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3_S2Stereo& 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 matrix() const; + Matrix matrix_inverse() const; + double baseline() const; }; class CalibratedCamera { - + // Standard Constructors and Named Constructors CalibratedCamera(); CalibratedCamera(const gtsam::Pose3& pose); CalibratedCamera(const Vector& v); + 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(const Vector& d) const; + Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; + + // Group + gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const; + gtsam::CalibratedCamera inverse() const; + + // Action on Point3 + gtsam::Point2 project(const gtsam::Point3& point) const; + static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + + // Standard Interface gtsam::Pose3 pose() const; - - gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const; - gtsam::CalibratedCamera inverse() const; - gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height); - gtsam::CalibratedCamera retract(const Vector& d) const; - Vector localCoordinates(const gtsam::CalibratedCamera& T2) const; - - gtsam::Point2 project(const gtsam::Point3& point) const; - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods }; - //************************************************************************* // inference //************************************************************************* diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp index e39dbc803..fa02ecfb8 100644 --- a/gtsam/geometry/Pose2.cpp +++ b/gtsam/geometry/Pose2.cpp @@ -108,7 +108,7 @@ Vector Pose2::localCoordinates(const Pose2& p2) const { /* ************************************************************************* */ // Calculate Adjoint map // Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi) -Matrix Pose2::AdjointMap() const { +Matrix Pose2::adjointMap() const { double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y(); return Matrix_(3,3, c, -s, y, @@ -119,7 +119,7 @@ Matrix Pose2::AdjointMap() const { /* ************************************************************************* */ Pose2 Pose2::inverse(boost::optional H1) const { - if (H1) *H1 = -AdjointMap(); + if (H1) *H1 = -adjointMap(); return Pose2(r_.inverse(), r_.unrotate(Point2(-t_.x(), -t_.y()))); } @@ -142,7 +142,7 @@ Point2 Pose2::transform_to(const Point2& point, Pose2 Pose2::compose(const Pose2& p2, boost::optional H1, boost::optional H2) const { // TODO: inline and reuse? - if(H1) *H1 = p2.inverse().AdjointMap(); + if(H1) *H1 = p2.inverse().adjointMap(); if(H2) *H2 = I3; return (*this)*p2; } diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 877eb93a1..55fe0a9d4 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -158,10 +158,10 @@ public: * Calculate Adjoint map * Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi) */ - Matrix AdjointMap() const; - inline Vector Adjoint(const Vector& xi) const { + Matrix adjointMap() const; + inline Vector adjoint(const Vector& xi) const { assert(xi.size() == 3); - return AdjointMap()*xi; + return adjointMap()*xi; } /** diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 14e529613..88c3b4987 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -426,7 +426,7 @@ TEST( Pose2, between ) EXPECT(assert_equal(expectedH1,actualH1)); EXPECT(assert_equal(numericalH1,actualH1)); // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx - EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1)); + EXPECT(assert_equal(-gT2.between(gT1).adjointMap(),actualH1)); Matrix expectedH2 = Matrix_(3,3, 1.0, 0.0, 0.0, From 6e47a5c1b6b9e50e7ecf21d32d65c4ed8e3bae5c Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 20:51:28 +0000 Subject: [PATCH 144/914] Fixing broken functions in matlab wrapper --- gtsam.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam.h b/gtsam.h index 044e2245a..5cda5deaa 100644 --- a/gtsam.h +++ b/gtsam.h @@ -9,17 +9,17 @@ * Only one Method/Constructor per line * Methods can return * - Eigen types: Matrix, Vector - * - C/C++ basic types: string, bool, size_t, size_t, double, char + * - C/C++ basic types: string, bool, size_t, size_t, double, char, unsigned char * - void * - Any class with which be copied with boost::make_shared() * - boost::shared_ptr of any object type * Limitations on methods * - Parsing does not support overloading - * - There can only be one method with a given name + * - There can only be one method (static or otherwise) with a given name * 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 + * - 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 @@ -174,7 +174,7 @@ class Rot2 { // Group static gtsam::Rot2 identity(); - static gtsam::Rot2 inverse(); + gtsam::Rot2 inverse(); gtsam::Rot2 compose(const gtsam::Rot2& p2) const; gtsam::Rot2 between(const gtsam::Rot2& p2) const; @@ -284,7 +284,7 @@ class Pose2 { static Vector Logmap(const gtsam::Pose2& p); Matrix adjointMap() const; Vector adjoint() const; - static Matrix wedge(); + static Matrix wedge(double vx, double vy, double w); // Group Actions on Point2 gtsam::Point2 transform_from(const gtsam::Point2& p) const; From 9efcf8e17ce4b5a35de2ce4f3609d8b982959980 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 21:01:25 +0000 Subject: [PATCH 145/914] Added option to include path to mex executable in CMake --- .cproject | 372 +++++++++++++++++++++++--------------------- CMakeLists.txt | 1 + wrap/CMakeLists.txt | 8 +- wrap/Module.cpp | 4 +- wrap/Module.h | 4 +- wrap/wrap.cpp | 11 +- 6 files changed, 215 insertions(+), 185 deletions(-) diff --git a/.cproject b/.cproject index 9114e4159..57e3284f1 100644 --- a/.cproject +++ b/.cproject @@ -311,14 +311,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -345,6 +337,7 @@ make + tests/testBayesTree.run true false @@ -352,6 +345,7 @@ make + testBinaryBayesNet.run true false @@ -399,6 +393,7 @@ make + testSymbolicBayesNet.run true false @@ -406,6 +401,7 @@ make + tests/testSymbolicFactor.run true false @@ -413,6 +409,7 @@ make + testSymbolicFactorGraph.run true false @@ -428,11 +425,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -505,22 +511,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -537,6 +527,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -561,18 +567,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -657,26 +671,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -915,6 +921,7 @@ make + testGraph.run true false @@ -922,6 +929,7 @@ make + testJunctionTree.run true false @@ -929,6 +937,7 @@ make + testSymbolicBayesNetB.run true false @@ -1040,6 +1049,7 @@ make + testErrors.run true false @@ -1495,7 +1505,6 @@ make - testSimulated2DOriented.run true false @@ -1535,7 +1544,6 @@ make - testSimulated2D.run true false @@ -1543,7 +1551,6 @@ make - testSimulated3D.run true false @@ -1759,7 +1766,6 @@ make - tests/testGaussianISAM2 true false @@ -1781,102 +1787,6 @@ 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 -j2 @@ -2078,6 +1988,7 @@ cpack + -G DEB true false @@ -2085,6 +1996,7 @@ cpack + -G RPM true false @@ -2092,6 +2004,7 @@ cpack + -G TGZ true false @@ -2099,6 +2012,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2176,39 +2090,7 @@ true true - - make - -j5 - wrap.testSpirit.run - true - true - true - - - make - -j5 - wrap.testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - + make -j5 wrap @@ -2216,6 +2098,102 @@ 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 -j2 @@ -2255,6 +2233,46 @@ false true + + make + -j5 + wrap.testSpirit.run + true + true + true + + + make + -j5 + wrap.testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/CMakeLists.txt b/CMakeLists.txt index c0f273030..ac8e7b0f8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -67,6 +67,7 @@ option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap ut option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF) option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF) set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") +set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") # Flags for choosing default packaging tools set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 6049b8a81..f0999a9eb 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -44,7 +44,13 @@ endif() # Code generation command add_custom_target(wrap_gtsam ALL COMMAND - ${EXECUTABLE_OUTPUT_PATH}/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR}/../ ${moduleName} ${toolbox_path} "${mexFlags}" + ${EXECUTABLE_OUTPUT_PATH}/wrap + ${MEX_COMMAND} + ${GTSAM_MEX_BIN_EXTENSION} + ${CMAKE_CURRENT_SOURCE_DIR}/../ + ${moduleName} + ${toolbox_path} + "${mexFlags}" DEPENDS wrap) # Build command diff --git a/wrap/Module.cpp b/wrap/Module.cpp index dfd781016..d9d3c5b76 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -277,7 +277,7 @@ void verifyReturnTypes(const vector& validtypes, const vector& vt) { } /* ************************************************************************* */ -void Module::matlab_code(const string& toolboxPath, +void Module::matlab_code(const string& mexCommand, const string& toolboxPath, const string& mexExt, const string& mexFlags) const { string installCmd = "install -d " + toolboxPath; system(installCmd.c_str()); @@ -297,7 +297,7 @@ void Module::matlab_code(const string& toolboxPath, makeModuleMfile.oss << "clear delims" << endl; makeModuleMfile.oss << "addpath(toolboxpath);" << endl << endl; - makeModuleMakefile.oss << "\nMEX = mex\n"; + makeModuleMakefile.oss << "\nMEX = " << mexCommand << "\n"; makeModuleMakefile.oss << "MEXENDING = " << mexExt << "\n"; makeModuleMakefile.oss << "mex_flags = " << mexFlags << "\n\n"; diff --git a/wrap/Module.h b/wrap/Module.h index 3e97d9ba2..4b650728d 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -40,7 +40,9 @@ struct Module { bool enable_verbose=true); /// MATLAB code generation: - void matlab_code(const std::string& path, + void matlab_code( + const std::string& mexCommand, + const std::string& path, const std::string& mexExt, const std::string& mexFlags) const; }; diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp index f55927a5e..453eaa73a 100644 --- a/wrap/wrap.cpp +++ b/wrap/wrap.cpp @@ -31,7 +31,9 @@ using namespace std; * @param nameSpace e.g. gtsam * @param mexFlags extra arguments for mex script, i.e., include flags etc... */ -void generate_matlab_toolbox(const string& mexExt, +void generate_matlab_toolbox( + const string& mexCommand, + const string& mexExt, const string& interfacePath, const string& moduleName, const string& toolboxPath, @@ -42,13 +44,14 @@ void generate_matlab_toolbox(const string& mexExt, wrap::Module module(interfacePath, moduleName, true); // Then emit MATLAB code - module.matlab_code(toolboxPath,mexExt,mexFlags); + module.matlab_code(mexCommand,toolboxPath,mexExt,mexFlags); } /** Displays usage information */ void usage() { cerr << "wrap parses an interface file and produces a MATLAB toolbox" << endl; cerr << "usage: wrap mexExtension interfacePath moduleName toolboxPath [mexFlags]" << endl; + cerr << " mexExecutable : command to execute mex if on path, use 'mex'" << endl; cerr << " mexExtension : OS/CPU-dependent extension for MEX binaries" << endl; cerr << " interfacePath : *absolute* path to directory of module interface file" << endl; cerr << " moduleName : the name of the module, interface file must be called moduleName.h" << endl; @@ -61,7 +64,7 @@ void usage() { * Typically called from "make all" using appropriate arguments */ int main(int argc, const char* argv[]) { - if (argc<6 || argc>7) { + if (argc<7 || argc>8) { cerr << "Invalid arguments:\n"; for (int i=0; i Date: Mon, 4 Jun 2012 21:05:00 +0000 Subject: [PATCH 146/914] Fixed mex command for gtsam_unstable --- gtsam_unstable/CMakeLists.txt | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 4b8b4ac11..d90cbdecf 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -87,7 +87,13 @@ if (GTSAM_BUILD_WRAP) # Code generation command add_custom_target(wrap_gtsam_unstable ALL COMMAND - ${CMAKE_BINARY_DIR}/wrap/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}" + ${CMAKE_BINARY_DIR}/wrap/wrap + ${MEX_COMMAND} + ${GTSAM_MEX_BIN_EXTENSION} + ${CMAKE_CURRENT_SOURCE_DIR} + ${moduleName} + ${toolbox_path} + "${mexFlags}" DEPENDS wrap) # Build command From cc2351da68b267198d3bf69666c07d115aa43a33 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 4 Jun 2012 21:14:47 +0000 Subject: [PATCH 147/914] Fixed documentation for wrap --- gtsam_unstable/CMakeLists.txt | 3 ++- wrap/CMakeLists.txt | 3 ++- wrap/wrap.cpp | 3 ++- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index d90cbdecf..54e95a599 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -71,7 +71,8 @@ if (GTSAM_BUILD_WRAP) include(GtsamMatlabWrap) # Wrap codegen - #usage: wrap mexExtension interfacePath moduleName toolboxPath + #usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags] + # mexExecutable : command to execute mex if on path, use 'mex' # mexExtension : OS/CPU-dependent extension for MEX binaries # interfacePath : *absolute* path to directory of module interface file # moduleName : the name of the module, interface file must be called moduleName.h diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index f0999a9eb..45fb61ec0 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -23,7 +23,8 @@ if (GTSAM_BUILD_TESTS) endif(GTSAM_BUILD_TESTS) # Wrap codegen -#usage: wrap mexExtension interfacePath moduleName toolboxPath +#usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags] +# mexExecutable : command to execute mex if on path, use 'mex' # mexExtension : OS/CPU-dependent extension for MEX binaries # interfacePath : *absolute* path to directory of module interface file # moduleName : the name of the module, interface file must be called moduleName.h diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp index 453eaa73a..eabba647e 100644 --- a/wrap/wrap.cpp +++ b/wrap/wrap.cpp @@ -24,6 +24,7 @@ using namespace std; /** * Top-level function to wrap a module + * @param mexCommand is a sufficiently qualified command to execute mex within a makefile * @param mexExt is the extension for mex binaries for this os/cpu * @param interfacePath path to where interface file lives, e.g., borg/gtsam * @param moduleName name of the module to be generated e.g. gtsam @@ -50,7 +51,7 @@ void generate_matlab_toolbox( /** Displays usage information */ void usage() { cerr << "wrap parses an interface file and produces a MATLAB toolbox" << endl; - cerr << "usage: wrap mexExtension interfacePath moduleName toolboxPath [mexFlags]" << endl; + cerr << "usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags]" << endl; cerr << " mexExecutable : command to execute mex if on path, use 'mex'" << endl; cerr << " mexExtension : OS/CPU-dependent extension for MEX binaries" << endl; cerr << " interfacePath : *absolute* path to directory of module interface file" << endl; From a17c3c8df1c14fac6494ebd34ab51351e3cc6a7a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 21:39:29 +0000 Subject: [PATCH 148/914] Make Cal3_S2Stereo its own class, not derived --- gtsam/geometry/Cal3_S2Stereo.h | 48 +++++++++++++++++++++++----------- gtsam/geometry/StereoCamera.h | 10 ------- 2 files changed, 33 insertions(+), 25 deletions(-) diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index 7bbafd7d5..8282800c1 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -26,8 +26,10 @@ namespace gtsam { * @ingroup geometry * \nosubgrouping */ - class Cal3_S2Stereo: public Cal3_S2 { + class Cal3_S2Stereo { private: + + Cal3_S2 K_; double b_; public: @@ -39,12 +41,12 @@ namespace gtsam { /// default calibration leaves coordinates unchanged Cal3_S2Stereo() : - Cal3_S2(1, 1, 0, 0, 0), b_(1.0) { + K_(1, 1, 0, 0, 0), b_(1.0) { } /// 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) { + K_(fx, fy, s, u0, v0), b_(b) { } /// @} @@ -52,23 +54,41 @@ namespace gtsam { /// @{ void print(const std::string& s = "") const { - gtsam::print(matrix(), s); - std::cout << "Baseline: " << b_ << std::endl; + K_.print(s+"K: "); + std::cout << s << "Baseline: " << b_ << std::endl; } - /// @} + /// Check if equal up to specified tolerance + bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const { + if (fabs(b_ - other.b_) > tol) return false; + return K_.equals(other.K_,tol); + } + + /// @} /// @name Standard Interface /// @{ - //TODO: remove? -// /** -// * Check if equal up to specified tolerance -// */ -// bool equals(const Cal3_S2& K, double tol = 10e-9) const; + /// focal length x + inline double fx() const { return K_.fx();} + /// focal length x + inline double fy() const { return K_.fy();} + /// skew + inline double skew() const { return K_.skew();} - ///TODO: comment + /// image center in x + inline double px() const { return K_.px();} + + /// image center in y + inline double py() const { return K_.py();} + + /// return the principal point + Point2 principalPoint() const { + return K_.principalPoint(); + } + + /// return baseline inline double baseline() const { return b_; } /// @} @@ -81,10 +101,8 @@ namespace gtsam { template void serialize(Archive & ar, const unsigned int version) { - ar & boost::serialization::make_nvp("Cal3_S2Stereo", - boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(K_); ar & BOOST_SERIALIZATION_NVP(b_); - ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Cal3_S2); } /// @} diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index f5e07e66c..4c278fab9 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -71,16 +71,6 @@ public: return project(point, H1, H2); } - /* - * backproject using left camera calibration, up to scale only - * i.e. does not rely on baseline - */ - Point3 backproject(const Point2& projection, const double scale) const { - Point2 intrinsic = K_->calibrate(projection); - Point3 cameraPoint = Point3(intrinsic.x() * scale, intrinsic.y() * scale, scale);; - return pose().transform_from(cameraPoint); - } - Point3 backproject(const StereoPoint2& z) const { Vector measured = z.vector(); double Z = K_->baseline()*K_->fx()/(measured[0]-measured[1]); From f53e0a372e0dd37e3d10e5476246fc6e75142110 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 21:39:52 +0000 Subject: [PATCH 149/914] Fixed wrap problems induced by Richard :-) --- gtsam.h | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/gtsam.h b/gtsam.h index 5cda5deaa..5a6e58687 100644 --- a/gtsam.h +++ b/gtsam.h @@ -283,7 +283,7 @@ class Pose2 { static gtsam::Pose2 Expmap(Vector v); static Vector Logmap(const gtsam::Pose2& p); Matrix adjointMap() const; - Vector adjoint() const; + Vector adjoint(const Vector& xi) const; static Matrix wedge(double vx, double vy, double w); // Group Actions on Point2 @@ -389,16 +389,6 @@ class Cal3_S2Stereo { void print(string s) const; bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const; - // Manifold - static size_t Dim(); - size_t dim() const; - gtsam::Cal3_S2Stereo retract(Vector v) const; - Vector localCoordinates(const gtsam::Cal3_S2Stereo& 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; @@ -406,9 +396,6 @@ class Cal3_S2Stereo { double px() const; double py() const; gtsam::Point2 principalPoint() const; - Vector vector() const; - Matrix matrix() const; - Matrix matrix_inverse() const; double baseline() const; }; From 129e29d4b25ee73a9782763a5008c98cc3f6d4be Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 22:09:33 +0000 Subject: [PATCH 150/914] fix related to mex command --- wrap/tests/testWrap.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index cdee692a5..e3a51a71e 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -62,7 +62,7 @@ TEST( wrap, check_exception ) { string path = topdir + "/wrap/tests"; Module module(path.c_str(), "testDependencies",enable_verbose); - CHECK_EXCEPTION(module.matlab_code("actual_deps", "mexa64", "-O5"), DependencyMissing); + CHECK_EXCEPTION(module.matlab_code("mex", "actual_deps", "mexa64", "-O5"), DependencyMissing); } /* ************************************************************************* */ @@ -214,7 +214,7 @@ TEST( wrap, matlab_code_namespaces ) { // emit MATLAB code string exp_path = path + "/tests/expected_namespaces/"; string act_path = "actual_namespaces/"; - module.matlab_code("actual_namespaces", "mexa64", "-O5"); + module.matlab_code("mex", "actual_namespaces", "mexa64", "-O5"); EXPECT(files_equal(exp_path + "new_ClassD_.cpp" , act_path + "new_ClassD_.cpp" )); EXPECT(files_equal(exp_path + "new_ClassD_.m" , act_path + "new_ClassD_.m" )); @@ -268,7 +268,7 @@ TEST( wrap, matlab_code ) { // emit MATLAB code // make_geometry will not compile, use make testwrap to generate real make - module.matlab_code("actual", "mexa64", "-O5"); + module.matlab_code("mex", "actual", "mexa64", "-O5"); EXPECT(files_equal(path + "/tests/expected/@Point2/Point2.m" , "actual/@Point2/Point2.m" )); EXPECT(files_equal(path + "/tests/expected/@Point2/x.cpp" , "actual/@Point2/x.cpp" )); From 77707b97bbd9ef2b8e16db7a8201ace8934b8851 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 22:25:50 +0000 Subject: [PATCH 151/914] doxygen bug --- gtsam/discrete/tests/testDiscreteFactorGraph.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp index f3ca4b59e..667ce9331 100644 --- a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp +++ b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp @@ -10,8 +10,7 @@ * -------------------------------------------------------------------------- */ /* - * testDiscreteFactorGraph.cpp - * + * @file testDiscreteFactorGraph.cpp * @date Feb 14, 2011 * @author Duy-Nguyen Ta */ From 88efe3a82e583d2dbd29899fe519aab0e1911ac6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 22:26:12 +0000 Subject: [PATCH 152/914] test in place for DiscreteMarginals --- gtsam/discrete/DiscreteMarginals.h | 62 +++++++++++++++++++ .../discrete/tests/testDiscreteMarginals.cpp | 62 +++++++++++++++++++ 2 files changed, 124 insertions(+) create mode 100644 gtsam/discrete/DiscreteMarginals.h create mode 100644 gtsam/discrete/tests/testDiscreteMarginals.cpp diff --git a/gtsam/discrete/DiscreteMarginals.h b/gtsam/discrete/DiscreteMarginals.h new file mode 100644 index 000000000..f877a0128 --- /dev/null +++ b/gtsam/discrete/DiscreteMarginals.h @@ -0,0 +1,62 @@ +/* ---------------------------------------------------------------------------- + + * 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 DiscreteMarginals.h + * @brief A class for computing marginals in a DiscreteFactorGraph + * @author Abhijit Kundu + * @author Richard Roberts + * @author Frank Dellaert + * @date June 4, 2012 + */ + +#pragma once + +#include + +namespace gtsam { + + /** + * A class for computing marginals of variables in a DiscreteFactorGraph + */ + class DiscreteMarginals { + + protected: + + BayesTree bayesTree_; + + public: + + /** Construct a marginals class. + * @param graph The factor graph defining the full joint density on all variables. + */ + DiscreteMarginals(const DiscreteFactorGraph& graph) { + } + + /** print */ + void print(const std::string& str = "DiscreteMarginals: ") const { + } + + /** Compute the marginal of a single variable */ + DiscreteFactor::shared_ptr operator()(Index variable) const { + DiscreteFactor::shared_ptr p; + return p; + } + + /** Compute the marginal of a single variable */ + Vector marginalProbabilities(Index variable) const { + Vector v; + return v; + } + + }; + +} /* namespace gtsam */ diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp new file mode 100644 index 000000000..391a5f692 --- /dev/null +++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp @@ -0,0 +1,62 @@ +/* ---------------------------------------------------------------------------- + + * 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 testDiscreteMarginals.cpp + * @date Feb 14, 2011 + * @author Abhijit Kundu + * @author Richard Roberts + * @author Frank Dellaert + */ + +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ + +TEST( DiscreteMarginals, UGM_small ) { + size_t nrStates = 2; + DiscreteKey Cathy(1, nrStates), Heather(2, nrStates), Mark(3, nrStates), + Allison(4, nrStates); + DiscreteFactorGraph graph; + + // add node potentials + graph.add(Cathy, "1 3"); + graph.add(Heather, "9 1"); + graph.add(Mark, "1 3"); + graph.add(Allison, "9 1"); + + // add edge potentials + graph.add(Cathy & Heather, "2 1 1 2"); + graph.add(Heather & Mark, "2 1 1 2"); + graph.add(Mark & Allison, "2 1 1 2"); + + DiscreteMarginals marginals(graph); + + DiscreteFactor::shared_ptr actualC = marginals(Cathy.first); + DiscreteFactor::Values values; + values[Cathy.first] = 0; + EXPECT_DOUBLES_EQUAL( 1.944, (*actualC)(values), 1e-9); + + Vector actualCvector = marginals.marginalProbabilities(Cathy.first); + EXPECT(assert_equal(Vector_(2,0.7,0.3), actualCvector, 1e-9)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ + From d9e1c7b959c97e789f83f9f759cc77e11b81598a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 22:27:10 +0000 Subject: [PATCH 153/914] new target --- .cproject | 336 +++++++++++++++++++++++++++--------------------------- 1 file changed, 167 insertions(+), 169 deletions(-) diff --git a/.cproject b/.cproject index 57e3284f1..c53d6aaaf 100644 --- a/.cproject +++ b/.cproject @@ -311,6 +311,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -337,7 +345,6 @@ make - tests/testBayesTree.run true false @@ -345,7 +352,6 @@ make - testBinaryBayesNet.run true false @@ -393,7 +399,6 @@ make - testSymbolicBayesNet.run true false @@ -401,7 +406,6 @@ make - tests/testSymbolicFactor.run true false @@ -409,7 +413,6 @@ make - testSymbolicFactorGraph.run true false @@ -425,20 +428,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -511,22 +505,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -543,6 +521,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -567,26 +561,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -671,18 +657,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -767,6 +761,14 @@ true true + + make + -j5 + testDiscreteMarginals.run + true + true + true + make -j2 @@ -921,7 +923,6 @@ make - testGraph.run true false @@ -929,7 +930,6 @@ make - testJunctionTree.run true false @@ -937,7 +937,6 @@ make - testSymbolicBayesNetB.run true false @@ -1049,7 +1048,6 @@ make - testErrors.run true false @@ -1505,6 +1503,7 @@ make + testSimulated2DOriented.run true false @@ -1544,6 +1543,7 @@ make + testSimulated2D.run true false @@ -1551,6 +1551,7 @@ make + testSimulated3D.run true false @@ -1766,6 +1767,7 @@ make + tests/testGaussianISAM2 true false @@ -1787,6 +1789,102 @@ 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 -j2 @@ -1988,7 +2086,6 @@ cpack - -G DEB true false @@ -1996,7 +2093,6 @@ cpack - -G RPM true false @@ -2004,7 +2100,6 @@ cpack - -G TGZ true false @@ -2012,7 +2107,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2098,98 +2192,42 @@ true true - + make - -j2 - testRot3.run + -j5 + wrap.testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + wrap.testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run + -j5 + wrap_gtsam 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 + -j5 + wrap true true true @@ -2233,46 +2271,6 @@ false true - - make - -j5 - wrap.testSpirit.run - true - true - true - - - make - -j5 - wrap.testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - From a440106330ac5659b8455afef709d901712b6f6d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 4 Jun 2012 22:57:01 +0000 Subject: [PATCH 154/914] Moved docs to gtsam --- doc/LieGroups.lyx | 4065 ++++++++++++++++++++ doc/LieGroups.pdf | Bin 0 -> 319029 bytes doc/cholesky.lyx | 170 + doc/images/circular.pdf | Bin 0 -> 62900 bytes doc/images/circular.png | Bin 0 -> 1493 bytes doc/images/gtsam-structure.graffle | 1302 +++++++ doc/images/gtsam-structure.pdf | Bin 0 -> 29463 bytes doc/images/n-steps.pdf | Bin 0 -> 62899 bytes doc/images/n-steps.png | Bin 0 -> 1427 bytes doc/macros.lyx | 294 ++ doc/math.lyx | 5746 ++++++++++++++++++++++++++++ doc/math.pdf | Bin 0 -> 118509 bytes 12 files changed, 11577 insertions(+) create mode 100644 doc/LieGroups.lyx create mode 100644 doc/LieGroups.pdf create mode 100644 doc/cholesky.lyx create mode 100644 doc/images/circular.pdf create mode 100644 doc/images/circular.png create mode 100644 doc/images/gtsam-structure.graffle create mode 100644 doc/images/gtsam-structure.pdf create mode 100644 doc/images/n-steps.pdf create mode 100644 doc/images/n-steps.png create mode 100644 doc/macros.lyx create mode 100644 doc/math.lyx create mode 100644 doc/math.pdf diff --git a/doc/LieGroups.lyx b/doc/LieGroups.lyx new file mode 100644 index 000000000..03116dbc9 --- /dev/null +++ b/doc/LieGroups.lyx @@ -0,0 +1,4065 @@ +#LyX 2.0 created this file. For more info see http://www.lyx.org/ +\lyxformat 413 +\begin_document +\begin_header +\textclass article +\use_default_options false +\begin_modules +theorems-std +\end_modules +\maintain_unincluded_children false +\language english +\language_package default +\inputencoding auto +\fontencoding global +\font_roman times +\font_sans default +\font_typewriter default +\font_default_family rmdefault +\use_non_tex_fonts false +\font_sc false +\font_osf false +\font_sf_scale 100 +\font_tt_scale 100 + +\graphics default +\default_output_format default +\output_sync 0 +\bibtex_command default +\index_command default +\paperfontsize 12 +\spacing single +\use_hyperref false +\papersize default +\use_geometry true +\use_amsmath 1 +\use_esint 0 +\use_mhchem 1 +\use_mathdots 1 +\cite_engine basic +\use_bibtopic false +\use_indices false +\paperorientation portrait +\suppress_date false +\use_refstyle 0 +\index Index +\shortcut idx +\color #008000 +\end_index +\leftmargin 1in +\topmargin 1in +\rightmargin 1in +\bottommargin 1in +\secnumdepth 3 +\tocdepth 3 +\paragraph_separation indent +\paragraph_indentation default +\quotes_language english +\papercolumns 1 +\papersides 1 +\paperpagestyle default +\tracking_changes false +\output_changes false +\html_math_output 0 +\html_css_as_file 0 +\html_be_strict false +\end_header + +\begin_body + +\begin_layout Title +Lie Groups for Beginners +\end_layout + +\begin_layout Author +Frank Dellaert +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +Derivatives +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\deriv}[2]{\frac{\partial#1}{\partial#2}} +{\frac{\partial#1}{\partial#2}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\at}[2]{#1\biggr\rvert_{#2}} +{#1\biggr\rvert_{#2}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Jac}[3]{ \at{\deriv{#1}{#2}} {#3} } +{\at{\deriv{#1}{#2}}{#3}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +Lie Groups +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\xhat}{\hat{x}} +{\hat{x}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\yhat}{\hat{y}} +{\hat{y}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Ad}[1]{Ad_{#1}} +{Ad_{#1}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\AAdd}[1]{\mathbf{\mathop{Ad}}{}_{#1}} +{\mathbf{\mathop{Ad}}{}_{#1}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\define}{\stackrel{\Delta}{=}} +{\stackrel{\Delta}{=}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\gg}{\mathfrak{g}} +{\mathfrak{g}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Rn}{\mathbb{R}^{n}} +{\mathbb{R}^{n}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SO(2), 1 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Rtwo}{\mathfrak{\mathbb{R}^{2}}} +{\mathfrak{\mathbb{R}^{2}}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\SOtwo}{SO(2)} +{SO(2)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\sotwo}{\mathfrak{so(2)}} +{\mathfrak{so(2)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\that}{\hat{\theta}} +{\hat{\theta}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\skew}[1]{[#1]_{+}} +{[#1]_{+}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SE(2), 3 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\SEtwo}{SE(2)} +{SE(2)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\setwo}{\mathfrak{se(2)}} +{\mathfrak{se(2)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Skew}[1]{[#1]_{\times}} +{[#1]_{\times}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SO(3), 3 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Rthree}{\mathfrak{\mathbb{R}^{3}}} +{\mathfrak{\mathbb{R}^{3}}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\SOthree}{SO(3)} +{SO(3)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\sothree}{\mathfrak{so(3)}} +{\mathfrak{so(3)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\what}{\hat{\omega}} +{\hat{\omega}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SE(3),6 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Rsix}{\mathfrak{\mathbb{R}^{6}}} +{\mathfrak{\mathbb{R}^{6}}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\SEthree}{SE(3)} +{SE(3)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\sethree}{\mathfrak{se(3)}} +{\mathfrak{se(3)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\xihat}{\hat{\xi}} +{\hat{\xi}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +Aff(2),6 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\Afftwo}{Aff(2)} +{Aff(2)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\afftwo}{\mathfrak{aff(2)}} +{\mathfrak{aff(2)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\aa}{a} +{a} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\ahat}{\hat{a}} +{\hat{a}} +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Comment +status collapsed + +\begin_layout Plain Layout +SL(3),8 +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\SLthree}{SL(3)} +{SL(3)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\slthree}{\mathfrak{sl(3)}} +{\mathfrak{sl(3)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\hh}{h} +{h} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\hhat}{\hat{h}} +{\hat{h}} +\end_inset + + +\end_layout + +\begin_layout Section +Motivation: Rigid Motions in the Plane +\end_layout + +\begin_layout Standard +We will start with a small example of a robot moving in a plane, parameterized + by a +\emph on +2D pose +\emph default + +\begin_inset Formula $(x,\, y,\,\theta)$ +\end_inset + +. + When we give it a small forward velocity +\begin_inset Formula $v_{x}$ +\end_inset + +, we know that the location changes as +\begin_inset Formula +\[ +\dot{x}=v_{x} +\] + +\end_inset + +The solution to this trivial differential equation is, with +\begin_inset Formula $x_{0}$ +\end_inset + + the initial +\begin_inset Formula $x$ +\end_inset + +-position of the robot, +\begin_inset Formula +\[ +x_{t}=x_{0}+v_{x}t +\] + +\end_inset + +A similar story holds for translation in the +\begin_inset Formula $y$ +\end_inset + + direction, and in fact for translations in general: +\begin_inset Formula +\[ +(x_{t},\, y_{t},\,\theta_{t})=(x_{0}+v_{x}t,\, y_{0}+v_{y}t,\,\theta_{0}) +\] + +\end_inset + +Similarly for rotation we have +\begin_inset Formula +\[ +(x_{t},\, y_{t},\,\theta_{t})=(x_{0},\, y_{0},\,\theta_{0}+\omega t) +\] + +\end_inset + +where +\begin_inset Formula $\omega$ +\end_inset + + is angular velocity, measured in +\begin_inset Formula $rad/s$ +\end_inset + + in counterclockwise direction. + +\end_layout + +\begin_layout Standard +\begin_inset Float figure +placement h +wide false +sideways false +status collapsed + +\begin_layout Plain Layout +\align center +\begin_inset Graphics + filename images/circular.pdf + +\end_inset + + +\begin_inset Caption + +\begin_layout Plain Layout +Robot moving along a circular trajectory. +\end_layout + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +However, if we combine translation and rotation, the story breaks down! + We cannot write +\begin_inset Formula +\[ +(x_{t},\, y_{t},\,\theta_{t})=(x_{0}+v_{x}t,\, y_{0}+v_{y}t,\,\theta_{0}+\omega t) +\] + +\end_inset + +The reason is that, if we move the robot a tiny bit according to the velocity + vector +\begin_inset Formula $(v_{x},\, v_{y},\,\omega)$ +\end_inset + +, we have (to first order) +\begin_inset Formula +\[ +(x_{\delta},\, y_{\delta},\,\theta_{\delta})=(x_{0}+v_{x}\delta,\, y_{0}+v_{y}\delta,\,\theta_{0}+\omega\delta) +\] + +\end_inset + +but now the robot has rotated, and for the next incremental change, the + velocity vector would have to be rotated before it can be applied. + In fact, the robot will move on a +\emph on +circular +\emph default + trajectory. + +\end_layout + +\begin_layout Standard +The reason is that +\emph on +translation and rotation do not commute +\emph default +: if we rotate and then move we will end up in a different place than if + we moved first, then rotated. + In fact, someone once said (I forget who, kudos for who can track down + the exact quote): +\end_layout + +\begin_layout Quote +If rotation and translation commuted, we could do all rotations before leaving + home. +\end_layout + +\begin_layout Standard +\begin_inset Float figure +placement h +wide false +sideways false +status open + +\begin_layout Plain Layout +\align center +\begin_inset Graphics + filename images/n-steps.pdf + +\end_inset + + +\begin_inset Caption + +\begin_layout Plain Layout +\begin_inset CommandInset label +LatexCommand label +name "fig:n-step-program" + +\end_inset + +Approximating a circular trajectory with +\begin_inset Formula $n$ +\end_inset + + steps. +\end_layout + +\end_inset + + +\end_layout + +\end_inset + +To make progress, we have to be more precise about how the robot behaves. + Specifically, let us define composition of two poses +\begin_inset Formula $T_{1}$ +\end_inset + + and +\begin_inset Formula $T_{2}$ +\end_inset + + as +\begin_inset Formula +\[ +T_{1}T_{2}=(x_{1},\, y_{1},\,\theta_{1})(x_{2},\, y_{2},\,\theta_{2})=(x_{1}+\cos\theta_{1}x_{2}-\sin\theta y_{2},\, y_{1}+\sin\theta_{1}x_{2}+\cos\theta_{1}y_{2},\,\theta_{1}+\theta_{2}) +\] + +\end_inset + +This is a bit clumsy, so we resort to a trick: embed the 2D poses in the + space of +\begin_inset Formula $3\times3$ +\end_inset + + matrices, so we can define composition as matrix multiplication: +\begin_inset Formula +\[ +T_{1}T_{2}=\left[\begin{array}{cc} +R_{1} & t_{1}\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +R_{2} & t_{2}\\ +0 & 1 +\end{array}\right]=\left[\begin{array}{cc} +R_{1}R_{2} & R_{1}t_{2}+t_{1}\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +where the matrices +\begin_inset Formula $R$ +\end_inset + + are 2D rotation matrices defined as +\begin_inset Formula +\[ +R=\left[\begin{array}{cc} +\cos\theta & -\sin\theta\\ +\sin\theta & \cos\theta +\end{array}\right] +\] + +\end_inset + +Now a +\begin_inset Quotes eld +\end_inset + +tiny +\begin_inset Quotes erd +\end_inset + + motion of the robot can be written as +\begin_inset Formula +\[ +T(\delta)=\left[\begin{array}{ccc} +\cos\omega\delta & -\sin\omega\delta & v_{x}\delta\\ +\sin\omega\delta & \cos\omega\delta & v_{y}\delta\\ +0 & 0 & 1 +\end{array}\right]\approx\left[\begin{array}{ccc} +1 & -\omega\delta & v_{x}\delta\\ +\omega\delta & 1 & v_{y}\delta\\ +0 & 0 & 1 +\end{array}\right]=I+\delta\left[\begin{array}{ccc} +0 & -\omega & v_{x}\\ +\omega & 0 & v_{y}\\ +0 & 0 & 0 +\end{array}\right] +\] + +\end_inset + +Let us define the +\emph on +2D twist +\emph default + vector +\begin_inset Formula $\xi=(v,\omega)$ +\end_inset + +, and the matrix above as +\begin_inset Formula +\[ +\xihat\define\left[\begin{array}{ccc} +0 & -\omega & v_{x}\\ +\omega & 0 & v_{y}\\ +0 & 0 & 0 +\end{array}\right] +\] + +\end_inset + +If we wanted +\begin_inset Formula $t$ +\end_inset + + to be large, we could split up +\begin_inset Formula $t$ +\end_inset + + into smaller timesteps, say +\begin_inset Formula $n$ +\end_inset + + of them, and compose them as follows: +\begin_inset Formula +\[ +T(t)\approx\left(I+\frac{t}{n}\xihat\right)\ldots\mbox{n times}\ldots\left(I+\frac{t}{n}\xihat\right)=\left(I+\frac{t}{n}\xihat\right)^{n} +\] + +\end_inset + +The result is shown in Figure +\begin_inset CommandInset ref +LatexCommand ref +reference "fig:n-step-program" + +\end_inset + +. +\end_layout + +\begin_layout Standard +Of course, the perfect solution would be obtained if we take +\begin_inset Formula $n$ +\end_inset + + to infinity: +\begin_inset Formula +\[ +T(t)=\lim_{n\rightarrow\infty}\left(I+\frac{t}{n}\xihat\right)^{n} +\] + +\end_inset + +For real numbers, this series is familiar and is actually a way to compute + the exponential function: +\begin_inset Formula +\[ +e^{x}=\lim_{n\rightarrow\infty}\left(1+\frac{x}{n}\right)^{n}=\sum_{k=0}^{\infty}\frac{x^{k}}{k!} +\] + +\end_inset + +The series can be similarly defined for square matrices, and the final result + is that we can write the motion of a robot along a circular trajectory, + resulting from the 2D twist +\begin_inset Formula $\xi=(v,\omega)$ +\end_inset + + +\begin_inset Formula $ $ +\end_inset + + as the +\emph on +matrix exponential +\emph default + of +\begin_inset Formula $\xihat$ +\end_inset + +: +\begin_inset Formula +\[ +T(t)=e^{t\xihat}\define\lim_{n\rightarrow\infty}\left(I+\frac{t}{n}\xihat\right)^{n}=\sum_{k=0}^{\infty}\frac{t^{k}}{k!}\xihat^{k} +\] + +\end_inset + +We call this mapping from 2D twists matrices +\begin_inset Formula $\xihat$ +\end_inset + + to 2D rigid transformations the +\emph on +exponential map. +\end_layout + +\begin_layout Standard +The above has all elements of Lie group theory. + We call the space of 2D rigid transformations, along with the composition + operation, the +\emph on +special Euclidean group +\emph default + +\begin_inset Formula $\SEtwo$ +\end_inset + +. + It is called a Lie group because it is simultaneously a topological group + and a manifold, which implies that the multiplication and the inversion + operations are smooth. + The space of 2D twists, together with a special binary operation to be + defined below, is called the Lie algebra +\begin_inset Formula $\setwo$ +\end_inset + + associated with +\begin_inset Formula $\SEtwo$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +Basic Lie Group Concepts +\end_layout + +\begin_layout Standard +We now define the concepts illustrated above, introduce some notation, and + see what we can say in general. + After this we then introduce the most commonly used Lie groups and their + Lie algebras. +\end_layout + +\begin_layout Subsection +A Manifold and a Group +\end_layout + +\begin_layout Standard +A +\series bold +Lie group +\series default + +\begin_inset Formula $G$ +\end_inset + + is both a group +\emph on +and +\emph default + a manifold that possesses a smooth group operation. + Associated with it is a +\series bold +Lie Algebra +\series default + +\begin_inset Formula $\gg$ +\end_inset + + which, loosely speaking, can be identified with the tangent space at the + identity and completely defines how the groups behaves around the identity. + There is a mapping from +\begin_inset Formula $\gg$ +\end_inset + + back to +\begin_inset Formula $G$ +\end_inset + +, called the +\series bold +exponential map +\series default + +\begin_inset Formula +\[ +\exp:\gg\rightarrow G +\] + +\end_inset + +which is typically a many-to-one mapping. + The corresponding inverse can be define locally around the origin and hence + is a +\begin_inset Quotes eld +\end_inset + +logarithm +\begin_inset Quotes erd +\end_inset + + +\begin_inset Formula +\[ +\log:G\rightarrow\gg +\] + +\end_inset + +that maps elements in a neighborhood of +\begin_inset Formula $id$ +\end_inset + + in G to an element in +\begin_inset Formula $\gg$ +\end_inset + +. +\end_layout + +\begin_layout Standard +An important family of Lie groups are the matrix Lie groups, whose elements + are +\begin_inset Formula $n\times n$ +\end_inset + + invertible matrices. + The set of all such matrices, together with the matrix multiplication, + is called the general linear group +\begin_inset Formula $GL(n)$ +\end_inset + + of dimension +\begin_inset Formula $n$ +\end_inset + +, and any closed subgroup of it is a +\series bold + matrix Lie group +\series default +. + Most if not all Lie groups we are interested in will be matrix Lie groups. +\end_layout + +\begin_layout Subsection +Lie Algebra +\end_layout + +\begin_layout Standard +The Lie Algebra +\begin_inset Formula $\gg$ +\end_inset + + is called an algebra because it is endowed with a binary operation, the + +\series bold +Lie bracket +\series default + +\begin_inset Formula $[X,Y]$ +\end_inset + +, the properties of which are closely related to the group operation of + +\begin_inset Formula $G$ +\end_inset + +. + For example, for algebras associated with matrix Lie groups, the Lie bracket + is given by +\begin_inset Formula $[A,B]\define AB-BA$ +\end_inset + +. +\end_layout + +\begin_layout Standard +The relationship of the Lie bracket to the group operation is as follows: + for commutative Lie groups vector addition +\begin_inset Formula $X+Y$ +\end_inset + + in +\begin_inset Formula $\gg$ +\end_inset + + mimicks the group operation. + For example, if we have +\begin_inset Formula $Z=X+Y$ +\end_inset + + in +\begin_inset Formula $\gg$ +\end_inset + +, when mapped backed to +\begin_inset Formula $G$ +\end_inset + + via the exponential map we obtain +\begin_inset Formula +\[ +e^{Z}=e^{X+Y}=e^{X}e^{Y} +\] + +\end_inset + +However, this does +\emph on +not +\emph default + hold for non-commutative Lie groups: +\begin_inset Formula +\[ +Z=\log(e^{X}e^{Y})\neq X+Y +\] + +\end_inset + +Instead, +\begin_inset Formula $Z$ +\end_inset + + can be calculated using the Baker-Campbell-Hausdorff (BCH) formula +\begin_inset CommandInset citation +LatexCommand cite +key "Hall00book" + +\end_inset + + +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +http://en.wikipedia.org/wiki/Baker–Campbell–Hausdorff_formula +\end_layout + +\end_inset + +: +\begin_inset Formula +\[ +Z=X+Y+[X,Y]/2+[X-Y,[X,Y]]/12-[Y,[X,[X,Y]]]/24+\ldots +\] + +\end_inset + +For commutative groups the bracket is zero and we recover +\begin_inset Formula $Z=X+Y$ +\end_inset + +. + For non-commutative groups we can use the BCH formula to approximate it. +\end_layout + +\begin_layout Subsection +Exponential Coordinates +\end_layout + +\begin_layout Standard +For +\begin_inset Formula $n$ +\end_inset + +-dimensional matrix Lie groups, as a vector space the Lie algebra +\begin_inset Formula $\gg$ +\end_inset + + is isomorphic to +\begin_inset Formula $\mathbb{R}^{n}$ +\end_inset + +, and we can define the hat operator +\begin_inset CommandInset citation +LatexCommand cite +after "page 41" +key "Murray94book" + +\end_inset + +, +\begin_inset Formula +\[ +\hat{}:x\in\mathbb{R}^{n}\rightarrow\xhat\in\gg +\] + +\end_inset + +which maps +\begin_inset Formula $n$ +\end_inset + +-vectors +\begin_inset Formula $x\in\mathbb{R}^{n}$ +\end_inset + + to elements of +\begin_inset Formula $\gg$ +\end_inset + +. + In the case of matrix Lie groups, the elements +\begin_inset Formula $\xhat$ +\end_inset + + of +\begin_inset Formula $\gg$ +\end_inset + + are also +\begin_inset Formula $n\times n$ +\end_inset + + matrices, and the map is given by +\begin_inset Formula +\begin{equation} +\xhat=\sum_{i=1}^{n}x_{i}G^{i}\label{eq:generators} +\end{equation} + +\end_inset + +where the +\begin_inset Formula $G^{i}$ +\end_inset + + are +\begin_inset Formula $n\times n$ +\end_inset + + matrices known as Lie group generators. + The meaning of the map +\begin_inset Formula $x\rightarrow\xhat$ +\end_inset + + will depend on the group +\begin_inset Formula $G$ +\end_inset + + and will generally have an intuitive interpretation. +\end_layout + +\begin_layout Subsection +Actions +\end_layout + +\begin_layout Standard +An important concept is that of a group element acting on an element of + a manifold +\begin_inset Formula $M$ +\end_inset + +. + For example, 2D rotations act on 2D points, 3D rotations act on 3D points, + etc. + In particular, a +\series bold +left action +\series default + of +\begin_inset Formula $G$ +\end_inset + + on +\begin_inset Formula $M$ +\end_inset + + is defined as a smooth map +\begin_inset Formula $\Phi:G\times M\rightarrow M$ +\end_inset + + such that +\begin_inset CommandInset citation +LatexCommand cite +after "Appendix A" +key "Murray94book" + +\end_inset + +: +\end_layout + +\begin_layout Enumerate +The identity element +\begin_inset Formula $e$ +\end_inset + + has no effect, i.e., +\begin_inset Formula $\Phi(e,p)=p$ +\end_inset + + +\end_layout + +\begin_layout Enumerate +Composing two actions can be combined into one action: +\begin_inset Formula $\Phi(g,\Phi(h,p))=\Phi(gh,p)$ +\end_inset + + +\end_layout + +\begin_layout Standard +The (usual) action of an +\begin_inset Formula $n$ +\end_inset + +-dimensional matrix group +\begin_inset Formula $G$ +\end_inset + + is matrix-vector multiplication on +\begin_inset Formula $\mathbb{R}^{n}$ +\end_inset + +, +\begin_inset Formula +\[ +q=Ap +\] + +\end_inset + +with +\begin_inset Formula $p,q\in\mathbb{R}^{n}$ +\end_inset + + and +\begin_inset Formula $A\in G\subseteq GL(n)$ +\end_inset + +. + +\end_layout + +\begin_layout Subsection +The Adjoint Map and Adjoint Representation +\end_layout + +\begin_layout Standard +Suppose a point +\begin_inset Formula $p$ +\end_inset + + is specified as +\begin_inset Formula $p'$ +\end_inset + + in the frame +\begin_inset Formula $T$ +\end_inset + +, i.e., +\begin_inset Formula $p'=Tp$ +\end_inset + +, where +\begin_inset Formula $T$ +\end_inset + + transforms from the global coordinates +\begin_inset Formula $p$ +\end_inset + + to the local frame +\begin_inset Formula $p'$ +\end_inset + +. + To apply an action +\begin_inset Formula $A$ +\end_inset + + we first need to undo +\begin_inset Formula $T$ +\end_inset + +, then apply +\begin_inset Formula $A$ +\end_inset + +, and then transform the result back to +\begin_inset Formula $T$ +\end_inset + +: +\begin_inset Formula +\[ +q'=TAT^{-1}p' +\] + +\end_inset + +The matrix +\begin_inset Formula $TAT^{-1}$ +\end_inset + + is said to be conjugate to +\begin_inset Formula $A$ +\end_inset + +, and this is a central element of group theory. +\end_layout + +\begin_layout Standard +In general, the +\series bold +adjoint map +\series default + +\begin_inset Formula $\AAdd g$ +\end_inset + + maps a group element +\begin_inset Formula $a\in G$ +\end_inset + + to its +\series bold +conjugate +\series default + +\begin_inset Formula $gag^{-1}$ +\end_inset + + by +\begin_inset Formula $g$ +\end_inset + +. + This map captures conjugacy in the group +\begin_inset Formula $G$ +\end_inset + +, but there is an equivalent notion in the Lie algebra +\begin_inset Formula $\mathfrak{\gg}$ +\end_inset + +, +\begin_inset Note Note +status open + +\begin_layout Plain Layout +http://en.wikipedia.org/wiki/Exponential_map +\end_layout + +\end_inset + + +\begin_inset Formula +\[ +\AAdd ge^{\xhat}=g\exp\left(\xhat\right)g^{-1}=\exp(\Ad g{\xhat}) +\] + +\end_inset + +where +\begin_inset Formula $\Ad g:\gg\rightarrow\mathfrak{\gg}$ +\end_inset + + is a map parameterized by a group element +\begin_inset Formula $g$ +\end_inset + +, and is called the +\emph on +adjoint representation +\emph default +. + The intuitive explanation is that a change +\begin_inset Formula $\exp\left(\xhat\right)$ +\end_inset + + defined around the origin, but applied at the group element +\begin_inset Formula $g$ +\end_inset + +, can be written in one step by taking the adjoint +\begin_inset Formula $\Ad g{\xhat}$ +\end_inset + + of +\begin_inset Formula $\xhat$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +In the special case of matrix Lie groups the adjoint can be written as +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +http://en.wikipedia.org/wiki/Adjoint_representation_of_a_Lie_group +\end_layout + +\end_inset + + +\begin_inset Formula +\[ +\Ad T{\xhat}\define T\xhat T^{-1} +\] + +\end_inset + +and hence we have +\end_layout + +\begin_layout Standard +\begin_inset Formula +\begin{equation} +Te^{\xhat}T^{-1}=e^{T\xhat T^{-1}}\label{eq:matrixAdjoint} +\end{equation} + +\end_inset + +where both +\begin_inset Formula $T\in G$ +\end_inset + + and +\begin_inset Formula $\xhat\in\gg$ +\end_inset + + are +\begin_inset Formula $n\times n$ +\end_inset + + matrices for an +\begin_inset Formula $n$ +\end_inset + +-dimensional Lie group. +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +2D Rotations +\end_layout + +\begin_layout Standard +We first look at a very simple group, the 2D rotations. +\end_layout + +\begin_layout Subsection +Basics +\end_layout + +\begin_layout Standard +The Lie group +\begin_inset Formula $\SOtwo$ +\end_inset + + is a subgroup of the general linear group +\begin_inset Formula $GL(2)$ +\end_inset + + of +\begin_inset Formula $2\times2$ +\end_inset + + invertible matrices. + Its Lie algebra +\begin_inset Formula $\sotwo$ +\end_inset + + is the vector space of +\begin_inset Formula $2\times2$ +\end_inset + + skew-symmetric matrices. + Since +\begin_inset Formula $\SOtwo$ +\end_inset + + is a one-dimensional manifold, +\begin_inset Formula $\sotwo$ +\end_inset + + is isomorphic to +\begin_inset Formula $\mathbb{R}$ +\end_inset + + and we define +\begin_inset Formula +\[ +\hat{}:\mathbb{R}\rightarrow\sotwo +\] + +\end_inset + + +\begin_inset Formula +\[ +\hat{}:\omega\rightarrow\what=\skew{\omega} +\] + +\end_inset + +which maps the angle +\begin_inset Formula $\omega$ +\end_inset + + to the +\begin_inset Formula $2\times2$ +\end_inset + + skew-symmetric matrix +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none + +\begin_inset Formula $\skew{\omega}$ +\end_inset + +: +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit + +\begin_inset Formula +\[ +\skew{\omega}=\left[\begin{array}{cc} +0 & -\omega\\ +\omega & 0 +\end{array}\right] +\] + +\end_inset + +The exponential map can be computed in closed form as +\begin_inset Formula +\[ +e^{\skew{\omega}}=\left[\begin{array}{cc} +\cos\omega & -\sin\omega\\ +\sin\omega & \cos\omega +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +\begin_inset CommandInset label +LatexCommand label +name "sub:Diagonalized2D" + +\end_inset + +Diagonalized Form +\end_layout + +\begin_layout Standard +The matrix +\begin_inset Formula $\skew 1$ +\end_inset + + can be diagonalized (see +\begin_inset CommandInset citation +LatexCommand cite +key "Hall00book" + +\end_inset + +) with eigenvalues +\begin_inset Formula $-i$ +\end_inset + + and +\begin_inset Formula $i$ +\end_inset + + , and eigenvectors +\begin_inset Formula $\left[\begin{array}{c} +1\\ +i +\end{array}\right]$ +\end_inset + + and +\begin_inset Formula $\left[\begin{array}{c} +i\\ +1 +\end{array}\right]$ +\end_inset + + . + Readers familiar with projective geometry will recognize these as the circular + points when promoted to homogeneous coordinates. + In particular: +\begin_inset Formula +\[ +\skew{\omega}=\left[\begin{array}{cc} +0 & -\omega\\ +\omega & 0 +\end{array}\right]=\left[\begin{array}{cc} +1 & i\\ +i & 1 +\end{array}\right]\left[\begin{array}{cc} +-i\omega & 0\\ +0 & i\omega +\end{array}\right]\left[\begin{array}{cc} +1 & i\\ +i & 1 +\end{array}\right]^{-1} +\] + +\end_inset + +and hence +\begin_inset Formula +\[ +e^{\skew{\omega}}=\frac{1}{2}\left[\begin{array}{cc} +1 & i\\ +i & 1 +\end{array}\right]\left[\begin{array}{cc} +e^{-i\omega} & 0\\ +0 & e^{i\omega} +\end{array}\right]\left[\begin{array}{cc} +1 & -i\\ +-i & 1 +\end{array}\right]=\left[\begin{array}{cc} +\cos\omega & -\sin\omega\\ +\sin\omega & \cos\omega +\end{array}\right] +\] + +\end_inset + +where the latter can be shown using +\begin_inset Formula $e^{i\omega}=\cos\omega+i\sin\omega$ +\end_inset + +. +\end_layout + +\begin_layout Subsection +Adjoint +\end_layout + +\begin_layout Standard +The adjoint for +\begin_inset Formula $\sotwo$ +\end_inset + + is trivially equal to the identity, as is the case for +\emph on +all +\emph default + commutative groups: +\begin_inset Formula +\begin{eqnarray*} +\Ad R\what & = & \left[\begin{array}{cc} +\cos\theta & -\sin\theta\\ +\sin\theta & \cos\theta +\end{array}\right]\left[\begin{array}{cc} +0 & -\omega\\ +\omega & 0 +\end{array}\right]\left[\begin{array}{cc} +\cos\theta & -\sin\theta\\ +\sin\theta & \cos\theta +\end{array}\right]^{T}\\ + & = & \omega\left[\begin{array}{cc} +-\sin\theta & -\cos\theta\\ +\cos\theta & -\sin\theta +\end{array}\right]\left[\begin{array}{cc} +\cos\theta & \sin\theta\\ +-\sin\theta & \cos\theta +\end{array}\right]=\left[\begin{array}{cc} +0 & -\omega\\ +\omega & 0 +\end{array}\right] +\end{eqnarray*} + +\end_inset + +i.e., +\begin_inset Formula +\[ +\Ad R\what=\what +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Actions +\end_layout + +\begin_layout Standard +In the case of +\begin_inset Formula $\SOtwo$ +\end_inset + + the vector space is +\begin_inset Formula $\Rtwo$ +\end_inset + +, and the group action corresponds to rotating a point +\begin_inset Formula +\[ +q=Rp +\] + +\end_inset + +We would now like to know what an incremental rotation parameterized by + +\begin_inset Formula $\omega$ +\end_inset + + would do: +\begin_inset Formula +\[ +q(\text{\omega})=Re^{\skew{\omega}}p +\] + +\end_inset + +For small angles +\begin_inset Formula $\omega$ +\end_inset + + we have +\begin_inset Formula +\[ +e^{\skew{\omega}}\approx\skew{\omega}=\omega\skew 1 +\] + +\end_inset + +where +\begin_inset Formula $\skew 1$ +\end_inset + + acts like a restricted +\begin_inset Quotes eld +\end_inset + +cross product +\begin_inset Quotes erd +\end_inset + + in the plane on points: +\begin_inset Formula +\begin{equation} +\skew 1\left[\begin{array}{c} +x\\ +y +\end{array}\right]=R_{\pi/2}\left[\begin{array}{c} +x\\ +y +\end{array}\right]=\left[\begin{array}{c} +-y\\ +x +\end{array}\right]\label{eq:RestrictedCross} +\end{equation} + +\end_inset + +Hence the derivative of the action is given as +\begin_inset Formula +\[ +\deriv{q(\omega)}{\omega}=R\deriv{}{\omega}\left(e^{\skew{\omega}}p\right)=R\deriv{}{\omega}\left(\omega\skew 1p\right)=RH_{p} +\] + +\end_inset + +where +\begin_inset Formula $H_{p}$ +\end_inset + + is a +\begin_inset Formula $2\times1$ +\end_inset + + matrix that depends on +\begin_inset Formula $p$ +\end_inset + +: +\begin_inset Formula +\[ +H_{p}\define\skew 1p=\left[\begin{array}{c} +-p_{y}\\ +p_{x} +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +2D Rigid Transformations +\end_layout + +\begin_layout Subsection +Basics +\end_layout + +\begin_layout Standard +The Lie group +\begin_inset Formula $\SEtwo$ +\end_inset + + is a subgroup of the general linear group +\begin_inset Formula $GL(3)$ +\end_inset + + of +\begin_inset Formula $3\times3$ +\end_inset + + invertible matrices of the form +\begin_inset Formula +\[ +T\define\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +where +\begin_inset Formula $R\in\SOtwo$ +\end_inset + + is a rotation matrix and +\begin_inset Formula $t\in\Rtwo$ +\end_inset + + is a translation vector. + +\begin_inset Formula $\SEtwo$ +\end_inset + + is the +\emph on +semi-direct product +\emph default + of +\begin_inset Formula $\Rtwo$ +\end_inset + + by +\begin_inset Formula $SO(2)$ +\end_inset + +, written as +\begin_inset Formula $\SEtwo=\Rtwo\rtimes\SOtwo$ +\end_inset + +. + In particular, any element +\begin_inset Formula $T$ +\end_inset + + of +\begin_inset Formula $\SEtwo$ +\end_inset + + can be written as +\begin_inset Formula +\[ +T=\left[\begin{array}{cc} +0 & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +R & 0\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +and they compose as +\begin_inset Formula +\[ +T_{1}T_{2}=\left[\begin{array}{cc} +R_{1} & t_{1}\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +R_{2} & t_{2}\\ +0 & 1 +\end{array}\right]=\left[\begin{array}{cc} +R_{1}R_{2} & R_{1}t_{2}+t_{1}\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +Hence, an alternative way of writing down elements of +\begin_inset Formula $\SEtwo$ +\end_inset + + is as the ordered pair +\begin_inset Formula $(R,\, t)$ +\end_inset + +, with composition defined a +\begin_inset Formula +\[ +(R_{1},\, t_{1})(R_{2},\, t_{2})=(R_{1}R_{2},\, R{}_{1}t_{2}+t_{1}) +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +The corresponding Lie algebra +\begin_inset Formula $\setwo$ +\end_inset + + is the vector space of +\begin_inset Formula $3\times3$ +\end_inset + + twists +\begin_inset Formula $\xihat$ +\end_inset + + parameterized by the +\emph on +twist coordinates +\emph default + +\begin_inset Formula $\xi\in\Rthree$ +\end_inset + +, with the mapping +\begin_inset Formula +\[ +\xi\define\left[\begin{array}{c} +v\\ +\omega +\end{array}\right]\rightarrow\xihat\define\left[\begin{array}{cc} +\skew{\omega} & v\\ +0 & 0 +\end{array}\right] +\] + +\end_inset + +Note we think of robots as having a pose +\begin_inset Formula $(x,y,\theta)$ +\end_inset + + and hence I reserved the first two components for translation and the last + for rotation. + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none +The corresponding Lie group generators are +\begin_inset Formula +\[ +G^{x}=\left[\begin{array}{ccc} +0 & 0 & 1\\ +0 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{y}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 1\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{\theta}=\left[\begin{array}{ccc} +0 & -1 & 0\\ +1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right] +\] + +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +Applying the exponential map to a twist +\begin_inset Formula $\xi$ +\end_inset + + yields a screw motion yielding an element in +\begin_inset Formula $\SEtwo$ +\end_inset + +: +\begin_inset Formula +\[ +T=e^{\xihat}=\left(e^{\skew{\omega}},(I-e^{\skew{\omega}})\frac{v^{\perp}}{\omega}\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +The Adjoint Map +\end_layout + +\begin_layout Standard +The adjoint is +\begin_inset Formula +\begin{eqnarray} +\Ad T{\xihat} & = & T\xihat T^{-1}\nonumber \\ + & = & \left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +\skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{cc} +R^{T} & -R^{T}t\\ +0 & 1 +\end{array}\right]\nonumber \\ + & = & \left[\begin{array}{cc} +\skew{\omega} & -\skew{\omega}t+Rv\\ +0 & 0 +\end{array}\right]\nonumber \\ + & = & \left[\begin{array}{cc} +\skew{\omega} & Rv-\omega R_{\pi/2}t\\ +0 & 0 +\end{array}\right]\label{eq:adjointSE2} +\end{eqnarray} + +\end_inset + +From this we can express the Adjoint map in terms of plane twist coordinates: +\begin_inset Formula +\[ +\left[\begin{array}{c} +v'\\ +\omega' +\end{array}\right]=\left[\begin{array}{cc} +R & -R_{\pi/2}t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +v\\ +\omega +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Actions +\end_layout + +\begin_layout Standard +The action of +\begin_inset Formula $\SEtwo$ +\end_inset + + on 2D points is done by embedding the points in +\begin_inset Formula $\mathbb{R}^{3}$ +\end_inset + + by using homogeneous coordinates +\begin_inset Formula +\[ +\hat{q}=\left[\begin{array}{c} +q\\ +1 +\end{array}\right]=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=T\hat{p} +\] + +\end_inset + +Analoguous to +\begin_inset Formula $\SEthree$ +\end_inset + +, we can compute a velocity +\begin_inset Formula $\xihat\hat{p}$ +\end_inset + + in the local +\begin_inset Formula $T$ +\end_inset + + frame: +\begin_inset Formula +\[ +\xihat\hat{p}=\left[\begin{array}{cc} +\skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=\left[\begin{array}{c} +\skew{\omega}p+v\\ +0 +\end{array}\right] +\] + +\end_inset + +By only taking the top two rows, we can write this as a velocity in +\begin_inset Formula $\Rtwo$ +\end_inset + +, as the product of a +\begin_inset Formula $2\times3$ +\end_inset + + matrix +\begin_inset Formula $H_{p}$ +\end_inset + + that acts upon the exponential coordinates +\begin_inset Formula $\xi$ +\end_inset + + directly: +\begin_inset Formula +\[ +\skew{\omega}p+v=v+R_{\pi/2}p\omega=\left[\begin{array}{cc} +I_{2} & R_{\pi/2}p\end{array}\right]\left[\begin{array}{c} +v\\ +\omega +\end{array}\right]=H_{p}\xi +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +3D Rotations +\end_layout + +\begin_layout Subsection +Basics +\end_layout + +\begin_layout Standard +The Lie group +\begin_inset Formula $\SOthree$ +\end_inset + + is a subgroup of the general linear group +\begin_inset Formula $GL(3)$ +\end_inset + + of +\begin_inset Formula $3\times3$ +\end_inset + + invertible matrices. + Its Lie algebra +\begin_inset Formula $\sothree$ +\end_inset + + is the vector space of +\begin_inset Formula $3\times3$ +\end_inset + + skew-symmetric matrices +\begin_inset Formula $\what$ +\end_inset + +. + Since +\begin_inset Formula $\SOthree$ +\end_inset + + is a three-dimensional manifold, +\begin_inset Formula $\sothree$ +\end_inset + + is isomorphic to +\begin_inset Formula $\Rthree$ +\end_inset + + and we define the map +\begin_inset Formula +\[ +\hat{}:\Rthree\rightarrow\sothree +\] + +\end_inset + + +\begin_inset Formula +\[ +\hat{}:\omega\rightarrow\what=\Skew{\omega} +\] + +\end_inset + +which maps 3-vectors +\begin_inset Formula $\omega$ +\end_inset + + to skew-symmetric matrices +\begin_inset Formula $\Skew{\omega}$ +\end_inset + + : +\begin_inset Formula +\[ +\Skew{\omega}=\left[\begin{array}{ccc} +0 & -\omega_{z} & \omega_{y}\\ +\omega_{z} & 0 & -\omega_{x}\\ +-\omega_{y} & \omega_{x} & 0 +\end{array}\right]=\omega_{x}G^{x}+\omega_{y}G^{y}+\omega_{z}G^{z} +\] + +\end_inset + +Here the matrices +\begin_inset Formula $G^{i}$ +\end_inset + + are the generators for +\begin_inset Formula $\SOthree$ +\end_inset + +, +\begin_inset Formula +\[ +G^{x}=\left(\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & -1\\ +0 & 1 & 0 +\end{array}\right)\mbox{}G^{y}=\left(\begin{array}{ccc} +0 & 0 & 1\\ +0 & 0 & 0\\ +-1 & 0 & 0 +\end{array}\right)\mbox{ }G^{z}=\left(\begin{array}{ccc} +0 & -1 & 0\\ +1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right) +\] + +\end_inset + +corresponding to a rotation around +\begin_inset Formula $X$ +\end_inset + +, +\begin_inset Formula $Y$ +\end_inset + +, and +\begin_inset Formula $Z$ +\end_inset + +, respectively. + The Lie bracket +\begin_inset Formula $[x,y]$ +\end_inset + + in +\begin_inset Formula $\sothree$ +\end_inset + + corresponds to the cross product +\begin_inset Formula $x\times y$ +\end_inset + + in +\begin_inset Formula $\Rthree$ +\end_inset + +. +\end_layout + +\begin_layout Standard +Hence, for every +\begin_inset Formula $3$ +\end_inset + +-vector +\begin_inset Formula $\omega$ +\end_inset + + there is a corresponding rotation matrix +\begin_inset Formula +\[ +R=e^{\Skew{\omega}} +\] + +\end_inset + +which defines a canonical parameterization of +\begin_inset Formula $\SOthree$ +\end_inset + +, with +\begin_inset Formula $\omega$ +\end_inset + + known as the canonical or exponential coordinates. + It is equivalent to the axis-angle representation for rotations, where + the unit vector +\begin_inset Formula $\omega/\theta$ +\end_inset + + defines the rotation axis, and its magnitude the amount of rotation +\begin_inset Formula $\theta$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +The exponential map can be computed in closed form using +\series bold +Rodrigues' formula +\series default + +\begin_inset CommandInset citation +LatexCommand cite +after "page 28" +key "Murray94book" + +\end_inset + +: +\end_layout + +\begin_layout Standard +\begin_inset Formula +\begin{equation} +e^{\what}=I+\frac{\sin\theta}{\theta}\what+\frac{1\text{−}\cos\theta}{\theta^{2}}\what^{2}\label{eq:Rodrigues} +\end{equation} + +\end_inset + +where +\begin_inset Formula $\what^{2}=\omega\omega^{T}-I$ +\end_inset + +, with +\begin_inset Formula $\omega\omega^{T}$ +\end_inset + + the outer product of +\begin_inset Formula $\omega$ +\end_inset + +. + Hence, a slightly more efficient variant is +\begin_inset Formula +\begin{equation} +e^{\what}=\left(\cos\theta\right)I+\frac{\sin\theta}{\theta}\what+\frac{1\text{−}cos\theta}{\theta^{2}}\omega\omega^{T}\label{eq:Rodrigues2} +\end{equation} + +\end_inset + + +\end_layout + +\begin_layout Subsection +Diagonalized Form +\end_layout + +\begin_layout Standard +Because a 3D rotation +\begin_inset Formula $R$ +\end_inset + + leaves the axis +\begin_inset Formula $\omega$ +\end_inset + + unchanged, +\begin_inset Formula $R$ +\end_inset + + can be diagonalized as +\begin_inset Formula +\[ +R=C\left(\begin{array}{ccc} +e^{-i\theta} & 0 & 0\\ +0 & e^{i\theta} & 0\\ +0 & 0 & 1 +\end{array}\right)C^{-1} +\] + +\end_inset + +with +\begin_inset Formula $C=\left(\begin{array}{ccc} +c_{1} & c_{2} & \omega/\theta\end{array}\right)$ +\end_inset + +, where +\begin_inset Formula $c_{1}$ +\end_inset + + and +\begin_inset Formula $c_{2}$ +\end_inset + + are the complex eigenvectors corresponding to the 2D rotation around +\begin_inset Formula $\omega$ +\end_inset + +. + This also means that, by +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:matrixAdjoint" + +\end_inset + +, +\begin_inset Formula +\[ +\hat{\omega}=C\left(\begin{array}{ccc} +-i\theta & 0 & 0\\ +0 & i\theta & 0\\ +0 & 0 & 0 +\end{array}\right)C^{-1} +\] + +\end_inset + +In this case, +\begin_inset Formula $C$ +\end_inset + + has complex columns, but we also have +\begin_inset Formula +\begin{equation} +\hat{\omega}=B\left(\begin{array}{ccc} +0 & -\theta & 0\\ +\theta & 0 & 0\\ +0 & 0 & 0 +\end{array}\right)B^{T}\label{eq:OmegaDecomposed} +\end{equation} + +\end_inset + +with +\begin_inset Formula $B=\left(\begin{array}{ccc} +b_{1} & b_{2} & \omega/\theta\end{array}\right)$ +\end_inset + +, where +\begin_inset Formula $b_{1}$ +\end_inset + + and +\begin_inset Formula $b_{2}$ +\end_inset + + form a basis for the 2D plane through the origin and perpendicular to +\begin_inset Formula $\omega$ +\end_inset + +. + Clearly, from Section +\begin_inset CommandInset ref +LatexCommand ref +reference "sub:Diagonalized2D" + +\end_inset + +, we have +\begin_inset Formula +\[ +c_{1}=B\left(\begin{array}{c} +1\\ +i\\ +0 +\end{array}\right)\mbox{\,\,\,\ and\,\,\,\,\,}c_{2}=B\left(\begin{array}{c} +i\\ +1\\ +0 +\end{array}\right) +\] + +\end_inset + +and when we exponentiate +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:OmegaDecomposed" + +\end_inset + + we expose the 2D rotation around the axis +\begin_inset Formula $\omega/\theta$ +\end_inset + + with magnitude +\begin_inset Formula $\theta$ +\end_inset + +: +\begin_inset Formula +\[ +R=B\left(\begin{array}{ccc} +\cos\theta & -\sin\theta & 0\\ +\sin\theta & \cos\theta & 0\\ +0 & 0 & 1 +\end{array}\right)B^{T} +\] + +\end_inset + +The latter form for +\begin_inset Formula $R$ +\end_inset + + can be used to prove Rodrigues' formula. + Expanding the above, we get +\begin_inset Formula +\[ +R=\left(\cos\theta\right)\left(b_{1}b_{1}^{T}+b_{2}b_{2}^{T}\right)+\left(\sin\theta\right)\left(b_{2}b_{1}^{T}-b_{1}b_{2}^{T}\right)+\omega\omega^{T}/\theta^{2} +\] + +\end_inset + + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none +\begin_inset Formula +\begin{eqnarray*} +R & = & \left(\begin{array}{ccc} +b_{1} & b_{2} & \omega/\theta\end{array}\right)\left(\begin{array}{ccc} +\cos\theta & -\sin\theta & 0\\ +\sin\theta & \cos\theta & 0\\ +0 & 0 & 1 +\end{array}\right)\left(\begin{array}{c} +b_{1}^{T}\\ +b_{2}^{T}\\ +\omega^{T}/\theta +\end{array}\right)\\ + & = & \left(\begin{array}{ccc} +b_{1} & b_{2} & \omega/\theta\end{array}\right)\left(\begin{array}{c} +b_{1}^{T}\cos\theta-b_{2}^{T}\sin\theta\\ +b_{1}^{T}\sin\theta+b_{2}^{T}\cos\theta\\ +\omega^{T}/\theta +\end{array}\right)\\ + & = & b_{1}b_{1}^{T}\cos\theta-b_{1}b_{2}^{T}\sin\theta+b_{2}b_{1}^{T}\sin\theta+b_{2}b_{2}^{T}\cos\theta+\omega\omega^{T}/\theta^{2} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\end_inset + +Because +\begin_inset Formula $B$ +\end_inset + + is a rotation matrix, we have +\begin_inset Formula $BB^{T}=b_{1}b_{1}^{T}+b_{2}b_{2}^{T}+\omega\omega^{T}/\theta^{2}=I$ +\end_inset + +, and using +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:OmegaDecomposed" + +\end_inset + + it is easy to show that +\begin_inset Formula $b_{2}b_{1}^{T}-b_{1}b_{2}^{T}=\hat{\omega}/\theta$ +\end_inset + +, hence +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit + +\begin_inset Formula +\[ +R=\left(\cos\theta\right)(I-\omega\omega^{T}/\theta^{2})+\left(\sin\theta\right)\left(\hat{\omega}/\theta\right)+\omega\omega^{T}/\theta^{2} +\] + +\end_inset + +which is equivalent to +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:Rodrigues2" + +\end_inset + +. +\end_layout + +\begin_layout Subsection +The Adjoint Map +\end_layout + +\begin_layout Standard +For rotation matrices +\begin_inset Formula $R$ +\end_inset + + we can prove the following identity (see +\begin_inset CommandInset ref +LatexCommand vref +reference "proof1" + +\end_inset + +): +\begin_inset Formula +\begin{equation} +R\Skew{\omega}R^{T}=\Skew{R\omega}\label{eq:property1} +\end{equation} + +\end_inset + +Hence, given property +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:property1" + +\end_inset + +, the adjoint map for +\begin_inset Formula $\sothree$ +\end_inset + + simplifies to +\begin_inset Formula +\[ +\Ad R{\Skew{\omega}}=R\Skew{\omega}R^{T}=\Skew{R\omega} +\] + +\end_inset + +and this can be expressed in exponential coordinates simply by rotating + the axis +\begin_inset Formula $\omega$ +\end_inset + + to +\begin_inset Formula $R\omega$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +As an example, to apply an axis-angle rotation +\begin_inset Formula $\omega$ +\end_inset + + to a point +\begin_inset Formula $p$ +\end_inset + + in the frame +\begin_inset Formula $R$ +\end_inset + +, we could: +\end_layout + +\begin_layout Enumerate +First transform +\begin_inset Formula $p$ +\end_inset + + back to the world frame, apply +\begin_inset Formula $\omega$ +\end_inset + +, and then rotate back: +\begin_inset Formula +\[ +q=Re^{\Skew{\omega}}R^{T} +\] + +\end_inset + + +\end_layout + +\begin_layout Enumerate +Immediately apply the transformed axis-angle transformation +\begin_inset Formula $\Ad R{\Skew{\omega}}=\Skew{R\omega}$ +\end_inset + +: +\begin_inset Formula +\[ +q=e^{\Skew{R\omega}}p +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Actions +\end_layout + +\begin_layout Standard +In the case of +\begin_inset Formula $\SOthree$ +\end_inset + + the vector space is +\begin_inset Formula $\Rthree$ +\end_inset + +, and the group action corresponds to rotating a point +\begin_inset Formula +\[ +q=Rp +\] + +\end_inset + +We would now like to know what an incremental rotation parameterized by + +\begin_inset Formula $\omega$ +\end_inset + + would do: +\begin_inset Formula +\[ +q(\omega)=Re^{\Skew{\omega}}p +\] + +\end_inset + +hence the derivative is: +\begin_inset Formula +\[ +\deriv{q(\omega)}{\omega}=R\deriv{}{\omega}\left(e^{\Skew{\omega}}p\right)=R\deriv{}{\omega}\left(\Skew{\omega}p\right)=R\Skew{-p} +\] + +\end_inset + +To show the last equality note that +\begin_inset Formula +\[ +\Skew{\omega}p=\omega\times p=-p\times\omega=\Skew{-p}\omega +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +3D Rigid Transformations +\end_layout + +\begin_layout Standard +The Lie group +\begin_inset Formula $\SEthree$ +\end_inset + + is a subgroup of the general linear group +\begin_inset Formula $GL(4)$ +\end_inset + + of +\begin_inset Formula $4\times4$ +\end_inset + + invertible matrices of the form +\begin_inset Formula +\[ +T\define\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +where +\begin_inset Formula $R\in\SOthree$ +\end_inset + + is a rotation matrix and +\begin_inset Formula $t\in\Rthree$ +\end_inset + + is a translation vector. + An alternative way of writing down elements of +\begin_inset Formula $\SEthree$ +\end_inset + + is as the ordered pair +\begin_inset Formula $(R,\, t)$ +\end_inset + +, with composition defined as +\begin_inset Formula +\[ +(R_{1},\, t_{1})(R_{2},\, t_{2})=(R_{1}R_{2},\, R{}_{1}t_{2}+t_{1}) +\] + +\end_inset + + Its Lie algebra +\begin_inset Formula $\sethree$ +\end_inset + + is the vector space of +\begin_inset Formula $4\times4$ +\end_inset + + twists +\begin_inset Formula $\xihat$ +\end_inset + + parameterized by the +\emph on +twist coordinates +\emph default + +\begin_inset Formula $\xi\in\Rsix$ +\end_inset + +, with the mapping +\begin_inset CommandInset citation +LatexCommand cite +key "Murray94book" + +\end_inset + + +\begin_inset Formula +\[ +\xi\define\left[\begin{array}{c} +\omega\\ +v +\end{array}\right]\rightarrow\xihat\define\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right] +\] + +\end_inset + +Note we follow Frank Park's convention and reserve the first three components + for rotation, and the last three for translation. + Hence, with this parameterization, the generators for +\begin_inset Formula $\SEthree$ +\end_inset + + are +\begin_inset Formula +\[ +G^{1}=\left(\begin{array}{cccc} +0 & 0 & 0 & 0\\ +0 & 0 & -1 & 0\\ +0 & 1 & 0 & 0\\ +0 & 0 & 0 & 0 +\end{array}\right)\mbox{}G^{2}=\left(\begin{array}{cccc} +0 & 0 & 1 & 0\\ +0 & 0 & 0 & 0\\ +-1 & 0 & 0 & 0\\ +0 & 0 & 0 & 0 +\end{array}\right)\mbox{ }G^{3}=\left(\begin{array}{cccc} +0 & -1 & 0 & 0\\ +1 & 0 & 0 & 0\\ +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 0 +\end{array}\right) +\] + +\end_inset + + +\begin_inset Formula +\[ +G^{4}=\left(\begin{array}{cccc} +0 & 0 & 0 & 1\\ +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 0 +\end{array}\right)\mbox{}G^{5}=\left(\begin{array}{cccc} +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 1\\ +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 0 +\end{array}\right)\mbox{ }G^{6}=\left(\begin{array}{cccc} +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 0\\ +0 & 0 & 0 & 1\\ +0 & 0 & 0 & 0 +\end{array}\right) +\] + +\end_inset + +Applying the exponential map to a twist +\begin_inset Formula $\xi$ +\end_inset + + yields a screw motion yielding an element in +\begin_inset Formula $\SEthree$ +\end_inset + +: +\begin_inset Formula +\[ +T=\exp\xihat +\] + +\end_inset + +A closed form solution for the exponential map is given in +\begin_inset CommandInset citation +LatexCommand cite +after "page 42" +key "Murray94book" + +\end_inset + +. +\end_layout + +\begin_layout Standard + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none +\begin_inset Formula +\[ +\exp\left(\left[\begin{array}{c} +\omega\\ +v +\end{array}\right]t\right)=\left[\begin{array}{cc} +e^{\Skew{\omega}t} & (I-e^{\Skew{\omega}t})\left(\omega\times v\right)+\omega\omega^{T}vt\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +The Adjoint Map +\end_layout + +\begin_layout Standard +The adjoint is +\begin_inset Formula +\begin{eqnarray*} +\Ad T{\xihat} & = & T\xihat T^{-1}\\ + & = & \left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{cc} +R^{T} & -R^{T}t\\ +0 & 1 +\end{array}\right]\\ + & = & \left[\begin{array}{cc} +\Skew{R\omega} & -\Skew{R\omega}t+Rv\\ +0 & 0 +\end{array}\right]\\ + & = & \left[\begin{array}{cc} +\Skew{R\omega} & t\times R\omega+Rv\\ +0 & 0 +\end{array}\right] +\end{eqnarray*} + +\end_inset + +From this we can express the Adjoint map in terms of twist coordinates (see + also +\begin_inset CommandInset citation +LatexCommand cite +key "Murray94book" + +\end_inset + + and FP): +\begin_inset Formula +\[ +\left[\begin{array}{c} +\omega'\\ +v' +\end{array}\right]=\left[\begin{array}{cc} +R & 0\\ +\Skew tR & R +\end{array}\right]\left[\begin{array}{c} +\omega\\ +v +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Actions +\end_layout + +\begin_layout Standard +The action of +\begin_inset Formula $\SEthree$ +\end_inset + + on 3D points is done by embedding the points in +\begin_inset Formula $\mathbb{R}^{4}$ +\end_inset + + by using homogeneous coordinates +\begin_inset Formula +\[ +\hat{q}=\left[\begin{array}{c} +q\\ +1 +\end{array}\right]=\left[\begin{array}{c} +Rp+t\\ +1 +\end{array}\right]=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=T\hat{p} +\] + +\end_inset + +We would now like to know what an incremental rotation parameterized by + +\begin_inset Formula $\xi$ +\end_inset + + would do: +\begin_inset Formula +\[ +\hat{q}(\xi)=Te^{\xihat}\hat{p} +\] + +\end_inset + +hence the derivative is +\begin_inset Formula +\[ +\deriv{\hat{q}(\xi)}{\xi}=T\deriv{}{\xi}\left(\xihat\hat{p}\right) +\] + +\end_inset + +where +\begin_inset Formula $\xihat\hat{p}$ +\end_inset + + corresponds to a velocity in +\begin_inset Formula $\mathbb{R}^{4}$ +\end_inset + + (in the local +\begin_inset Formula $T$ +\end_inset + + frame): +\begin_inset Formula +\[ +\xihat\hat{p}=\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=\left[\begin{array}{c} +\omega\times p+v\\ +0 +\end{array}\right] +\] + +\end_inset + +Notice how velocities are analogous to points at infinity in projective + geometry: they correspond to free vectors indicating a direction and magnitude + of change. +\end_layout + +\begin_layout Standard +By only taking the top three rows, we can write this as a velocity in +\begin_inset Formula $\Rthree$ +\end_inset + +, as the product of a +\begin_inset Formula $3\times6$ +\end_inset + + matrix +\begin_inset Formula $H_{p}$ +\end_inset + + that acts upon the exponential coordinates +\begin_inset Formula $\xi$ +\end_inset + + directly: +\begin_inset Formula +\[ +\omega\times p+v=-p\times\omega+v=\left[\begin{array}{cc} +-\Skew p & I_{3}\end{array}\right]\left[\begin{array}{c} +\omega\\ +v +\end{array}\right] +\] + +\end_inset + +The inverse action +\begin_inset Formula $T^{-1}p$ +\end_inset + + is +\begin_inset Formula +\[ +\hat{q}=\left[\begin{array}{c} +q\\ +1 +\end{array}\right]=\left[\begin{array}{c} +R^{T}(p-t)\\ +1 +\end{array}\right]=\left[\begin{array}{cc} +R^{T} & -R^{T}t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=T^{-1}\hat{p} +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +2D Affine Transformations +\end_layout + +\begin_layout Standard +The Lie group +\begin_inset Formula $Aff(2)$ +\end_inset + + is a subgroup of the general linear group +\begin_inset Formula $GL(3)$ +\end_inset + + of +\begin_inset Formula $3\times3$ +\end_inset + + invertible matrices that maps the line infinity to itself, and hence preserves + paralellism. + The affine transformation matrices +\begin_inset Formula $A$ +\end_inset + + can be written as +\begin_inset CommandInset citation +LatexCommand cite +key "Mei08tro" + +\end_inset + + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none + +\begin_inset Formula +\[ +\left[\begin{array}{ccc} +m_{11} & m_{12} & t_{1}\\ +m_{21} & m_{22} & t_{2}\\ +0 & 0 & k +\end{array}\right] +\] + +\end_inset + +with +\begin_inset Formula $M\in GL(2)$ +\end_inset + +, +\begin_inset Formula $t\in\Rtwo$ +\end_inset + +, and +\begin_inset Formula $k$ +\end_inset + + a scalar chosen such that +\begin_inset Formula $det(A)=1$ +\end_inset + +. + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +Note that just as +\begin_inset Formula $\SEtwo$ +\end_inset + + is a semi-direct product, so too is +\begin_inset Formula $Aff(2)=\Rtwo\rtimes GL(2)$ +\end_inset + +. + In particular, any affine transformation +\begin_inset Formula $A$ +\end_inset + + can be written as +\begin_inset Formula +\[ +A=\left[\begin{array}{cc} +0 & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +M & 0\\ +0 & k +\end{array}\right] +\] + +\end_inset + +and they compose as +\begin_inset Formula +\[ +A_{1}A_{2}=\left[\begin{array}{cc} +M_{1} & t_{1}\\ +0 & k_{1} +\end{array}\right]\left[\begin{array}{cc} +M_{2} & t_{2}\\ +0 & k_{2} +\end{array}\right]=\left[\begin{array}{cc} +M_{1}M_{2} & M_{2}t_{2}+k_{2}t_{1}\\ +0 & k_{1}k_{2} +\end{array}\right] +\] + +\end_inset + +From this it can be gleaned that the groups +\begin_inset Formula $\SOtwo$ +\end_inset + + and +\begin_inset Formula $\SEtwo$ +\end_inset + + are both subgroups, with +\begin_inset Formula $\SOtwo\subset\SEtwo\subset\Afftwo$ +\end_inset + +. + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none +By choosing the generators carefully we maintain this hierarchy among the + associated Lie algebras. + In particular, +\begin_inset Formula $\setwo$ +\end_inset + + +\begin_inset Formula +\[ +G^{1}=\left[\begin{array}{ccc} +0 & 0 & 1\\ +0 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{2}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 1\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{3}=\left[\begin{array}{ccc} +0 & -1 & 0\\ +1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right] +\] + +\end_inset + +can be extended to the +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +Lie algebra +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none + +\begin_inset Formula $\afftwo$ +\end_inset + + using the three additional generators +\begin_inset Formula +\[ +G^{4}=\left[\begin{array}{ccc} +0 & 1 & 0\\ +1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{5}=\left[\begin{array}{ccc} +1 & 0 & 0\\ +0 & -1 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{6}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & -1 & 0\\ +0 & 0 & 1 +\end{array}\right] +\] + +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +Hence, the Lie algebra +\begin_inset Formula $\afftwo$ +\end_inset + + is the vector space of +\begin_inset Formula $3\times3$ +\end_inset + + incremental affine transformations +\begin_inset Formula $\ahat$ +\end_inset + + parameterized by 6 parameters +\begin_inset Formula $\aa\in\mathbb{R}^{6}$ +\end_inset + +, with the mapping +\begin_inset Formula +\[ +\aa\rightarrow\ahat\define\left[\begin{array}{ccc} +a_{5} & a_{4}-a_{3} & a_{1}\\ +a_{4}+a_{3} & -a_{5}-a_{6} & a_{2}\\ +0 & 0 & a_{6} +\end{array}\right] +\] + +\end_inset + +Note that +\begin_inset Formula $G_{5}$ +\end_inset + + and +\begin_inset Formula $G_{6}$ +\end_inset + + change the relative scale of +\begin_inset Formula $x$ +\end_inset + + and +\begin_inset Formula $y$ +\end_inset + + but without changing the determinant: +\begin_inset Formula +\[ +e^{xG_{5}}=\exp\left[\begin{array}{ccc} +x & 0 & 0\\ +0 & -x & 0\\ +0 & 0 & 0 +\end{array}\right]=\left[\begin{array}{ccc} +e^{x} & 0 & 0\\ +0 & 1/e^{x} & 0\\ +0 & 0 & 1 +\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +e^{xG_{6}}=\exp\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & -x & 0\\ +0 & 0 & x +\end{array}\right]=\left[\begin{array}{ccc} +1 & 0 & 0\\ +0 & 1/e^{x} & 0\\ +0 & 0 & e^{x} +\end{array}\right] +\] + +\end_inset + +It might be nicer to have the correspondence with scaling +\begin_inset Formula $x$ +\end_inset + + and +\begin_inset Formula $y$ +\end_inset + + more direct, by choosing +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none + +\begin_inset Formula +\[ +\mbox{ }G^{5}=\left[\begin{array}{ccc} +1 & 0 & 0\\ +0 & 0 & 0\\ +0 & 0 & -1 +\end{array}\right]\mbox{ }G^{6}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 1 & 0\\ +0 & 0 & -1 +\end{array}\right] +\] + +\end_inset + +and hence +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit + +\begin_inset Formula +\[ +e^{xG_{5}}=\exp\left[\begin{array}{ccc} +x & 0 & 0\\ +0 & 0 & 0\\ +0 & 0 & -x +\end{array}\right]=\left[\begin{array}{ccc} +e^{x} & 0 & 0\\ +0 & 1 & 0\\ +0 & 0 & 1/e^{x} +\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +e^{xG_{6}}=\exp\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & x & 0\\ +0 & 0 & -x +\end{array}\right]=\left[\begin{array}{ccc} +1 & 0 & 0\\ +0 & e^{x} & 0\\ +0 & 0 & 1/e^{x} +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Section +2D Homographies +\end_layout + +\begin_layout Standard +When viewed as operations on images, represented by 2D projective space + +\begin_inset Formula $\mathcal{P}^{3}$ +\end_inset + +, 3D rotations are a special case of 2D homographies. + These are now treated, loosely based on the exposition in +\begin_inset CommandInset citation +LatexCommand cite +key "Mei06iros,Mei08tro" + +\end_inset + +. +\end_layout + +\begin_layout Subsection +Basics +\end_layout + +\begin_layout Standard +The Lie group +\begin_inset Formula $\SLthree$ +\end_inset + + is a subgroup of the general linear group +\begin_inset Formula $GL(3)$ +\end_inset + + of +\begin_inset Formula $3\times3$ +\end_inset + + invertible matrices with determinant +\begin_inset Formula $1$ +\end_inset + +. + The homographies generalize transformations of the 2D projective space, + and +\begin_inset Formula $\Afftwo\subset\SLthree$ +\end_inset + +. + +\end_layout + +\begin_layout Standard + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none +We can extend +\begin_inset Formula $\afftwo$ +\end_inset + + to the Lie algebra +\begin_inset Formula $\slthree$ +\end_inset + + by adding two generators +\begin_inset Formula +\[ +G^{7}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 0\\ +1 & 0 & 0 +\end{array}\right]\mbox{ }G^{8}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 0\\ +0 & 1 & 0 +\end{array}\right] +\] + +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +obtaining the vector space of +\begin_inset Formula $3\times3$ +\end_inset + + incremental homographies +\begin_inset Formula $\hhat$ +\end_inset + + parameterized by 8 parameters +\begin_inset Formula $\hh\in\mathbb{R}^{8}$ +\end_inset + +, with the mapping +\begin_inset Formula +\[ +h\rightarrow\hhat\define\left[\begin{array}{ccc} +h_{5} & h_{4}-h_{3} & h_{1}\\ +h_{4}+h_{3} & -h_{5}-h_{6} & h_{2}\\ +h_{7} & h_{8} & h_{6} +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Tensor Notation +\end_layout + +\begin_layout Itemize +A homography between 2D projective spaces +\begin_inset Formula $A$ +\end_inset + + and +\begin_inset Formula $B$ +\end_inset + + can be written in tensor notation +\begin_inset Formula $H_{A}^{B}$ +\end_inset + + +\end_layout + +\begin_layout Itemize +Applying a homography is then a tensor contraction +\begin_inset Formula $x^{B}=H_{A}^{B}x^{A}$ +\end_inset + +, mapping points in +\begin_inset Formula $A$ +\end_inset + + to points in +\begin_inset Formula $B$ +\end_inset + +. +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +The inverse of a homography can be found by contracting with two permutation + tensors: +\begin_inset Formula +\[ +H_{B}^{A}=H_{A_{1}}^{B_{1}}H_{A_{2}}^{B_{2}}\epsilon_{B_{1}B_{2}B}\epsilon^{A_{1}A_{2}A} +\] + +\end_inset + + +\end_layout + +\end_inset + + +\begin_inset Note Note +status collapsed + +\begin_layout Subsection +The Adjoint Map +\end_layout + +\begin_layout Plain Layout +The adjoint can be done using tensor notation. + Denoting an incremental homography in space +\begin_inset Formula $A$ +\end_inset + + as +\begin_inset Formula $\hhat_{A_{1}}^{A_{2}}$ +\end_inset + +, we have, for example for +\begin_inset Formula $G_{1}$ +\end_inset + + +\begin_inset Formula +\begin{eqnarray*} +\hhat_{B_{1}}^{B_{2}}=\Ad{H_{A}^{B}}{\hhat_{A_{1}}^{A_{2}}} & = & H_{A_{2}}^{B_{2}}\hhat_{A_{1}}^{A_{2}}H_{B_{1}}^{A_{1}}\\ + & = & H_{A_{2}}^{B_{2}}\left[\begin{array}{ccc} +0 & 0 & 1\\ +0 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right]H_{A_{2}}^{B_{2}}H_{A_{3}}^{B_{3}}\epsilon_{B_{1}B_{2}B_{3}}\epsilon^{A_{1}A_{2}A_{3}}\\ + & = & H_{1}^{B_{2}}H_{A_{2}}^{B_{2}}H_{A_{3}}^{B_{3}}\epsilon_{B_{1}B_{2}B_{3}}\epsilon^{3A_{2}A_{3}} +\end{eqnarray*} + +\end_inset + +This does not seem to help. +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section* +Appendix: Proof of Property +\begin_inset CommandInset ref +LatexCommand ref +reference "proof1" + +\end_inset + + +\end_layout + +\begin_layout Standard +We can prove the following identity for rotation matrices +\begin_inset Formula $R$ +\end_inset + +, +\begin_inset Formula +\begin{eqnarray} +R\Skew{\omega}R^{T} & = & R\Skew{\omega}\left[\begin{array}{ccc} +a_{1} & a_{2} & a_{3}\end{array}\right]\nonumber \\ + & = & R\left[\begin{array}{ccc} +\omega\times a_{1} & \omega\times a_{2} & \omega\times a_{3}\end{array}\right]\nonumber \\ + & = & \left[\begin{array}{ccc} +a_{1}(\omega\times a_{1}) & a_{1}(\omega\times a_{2}) & a_{1}(\omega\times a_{3})\\ +a_{2}(\omega\times a_{1}) & a_{2}(\omega\times a_{2}) & a_{2}(\omega\times a_{3})\\ +a_{3}(\omega\times a_{1}) & a_{3}(\omega\times a_{2}) & a_{3}(\omega\times a_{3}) +\end{array}\right]\nonumber \\ + & = & \left[\begin{array}{ccc} +\omega(a_{1}\times a_{1}) & \omega(a_{2}\times a_{1}) & \omega(a_{3}\times a_{1})\\ +\omega(a_{1}\times a_{2}) & \omega(a_{2}\times a_{2}) & \omega(a_{3}\times a_{2})\\ +\omega(a_{1}\times a_{3}) & \omega(a_{2}\times a_{3}) & \omega(a_{3}\times a_{3}) +\end{array}\right]\nonumber \\ + & = & \left[\begin{array}{ccc} +0 & -\omega a_{3} & \omega a_{2}\\ +\omega a_{3} & 0 & -\omega a_{1}\\ +-\omega a_{2} & \omega a_{1} & 0 +\end{array}\right]\nonumber \\ + & = & \Skew{R\omega}\label{proof1} +\end{eqnarray} + +\end_inset + +where +\begin_inset Formula $a_{1}$ +\end_inset + +, +\begin_inset Formula $a_{2}$ +\end_inset + +, and +\begin_inset Formula $a_{3}$ +\end_inset + + are the +\emph on +rows +\emph default + of +\begin_inset Formula $R$ +\end_inset + +. + Above we made use of the orthogonality of rotation matrices and the triple + product rule: +\begin_inset Formula +\[ +a(b\times c)=b(c\times a)=c(a\times b) +\] + +\end_inset + +Similarly, without proof +\begin_inset CommandInset citation +LatexCommand cite +after "Lemma 2.3" +key "Murray94book" + +\end_inset + +: +\begin_inset Formula +\[ +R(a\times b)=Ra\times Rb +\] + +\end_inset + + +\end_layout + +\begin_layout Section* +Appendix: Alternative Generators for +\begin_inset Formula $\slthree$ +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset CommandInset citation +LatexCommand cite +key "Mei06iros" + +\end_inset + + uses the following generators for +\begin_inset Formula $\slthree$ +\end_inset + +: +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none + +\begin_inset Formula +\[ +G^{1}=\left[\begin{array}{ccc} +0 & 0 & 1\\ +0 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{2}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 1\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{3}=\left[\begin{array}{ccc} +0 & 1 & 0\\ +0 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +G^{4}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{5}=\left[\begin{array}{ccc} +1 & 0 & 0\\ +0 & -1 & 0\\ +0 & 0 & 0 +\end{array}\right]\mbox{ }G^{6}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & -1 & 0\\ +0 & 0 & 1 +\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +G^{7}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 0\\ +1 & 0 & 0 +\end{array}\right]\mbox{ }G^{8}=\left[\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 0\\ +0 & 1 & 0 +\end{array}\right] +\] + +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +We choose to use a different linear combination as the basis. +\end_layout + +\begin_layout Standard +\begin_inset CommandInset bibtex +LatexCommand bibtex +bibfiles 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+1,170 @@ +#LyX 1.6.7 created this file. For more info see http://www.lyx.org/ +\lyxformat 345 +\begin_document +\begin_header +\textclass article +\use_default_options true +\language english +\inputencoding auto +\font_roman default +\font_sans default +\font_typewriter default +\font_default_family default +\font_sc false +\font_osf false +\font_sf_scale 100 +\font_tt_scale 100 + +\graphics default +\paperfontsize default +\use_hyperref false +\papersize default +\use_geometry false +\use_amsmath 1 +\use_esint 1 +\cite_engine basic +\use_bibtopic false +\paperorientation portrait +\secnumdepth 3 +\tocdepth 3 +\paragraph_separation indent +\defskip medskip +\quotes_language english +\papercolumns 1 +\papersides 1 +\paperpagestyle default +\tracking_changes false +\output_changes false +\author "" +\author "" +\end_header + +\begin_body + +\begin_layout Section +Basic solving with Cholesky +\end_layout + +\begin_layout Standard +Solving a linear least-squares system: +\begin_inset Formula \[ +\arg\min_{x}\left\Vert Ax-b\right\Vert ^{2}\] + +\end_inset + +Set derivative equal to zero: +\begin_inset Formula \begin{align*} +0 & =2A^{T}\left(Ax-b\right)\\ +0 & =A^{T}Ax-A^{T}b\end{align*} + +\end_inset + +For comparison, with QR we do +\begin_inset Formula \begin{align*} +0 & =R^{T}Q^{T}QRx-R^{T}Qb\\ + & =R^{T}Rx-R^{T}Qb\\ +Rx & =Qb\\ +x & =R^{-1}Qb\end{align*} + +\end_inset + +But with Cholesky we do +\begin_inset Formula \begin{align*} +0 & =R^{T}RR^{T}Rx-R^{T}Rb\\ + & =R^{T}Rx-b\\ + & =Rx-R^{-T}b\\ +x & =R^{-1}R^{-T}b\end{align*} + +\end_inset + + +\end_layout + +\begin_layout Section +Frontal (rank-deficient) solving with Cholesky +\end_layout + +\begin_layout Standard +To do multi-frontal elimination, we decompose into rank-deficient conditionals. + +\begin_inset Formula \[ +\left[\begin{array}{cccccc} +\cdot & \cdot & \cdot & \cdot & \cdot & \cdot\\ +\cdot & \cdot & \cdot & \cdot & \cdot & \cdot\\ +\cdot & \cdot & \cdot & \cdot & \cdot & \cdot\end{array}\right]\to\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Formula \[ +\left[\begin{array}{cc} +R^{T} & 0\\ +S^{T} & C^{T}\end{array}\right]\left[\begin{array}{cc} +R & S\\ +0 & C\end{array}\right]=\left[\begin{array}{cc} +F^{T}F & F^{T}G\\ +G^{T}F & G^{T}G\end{array}\right]\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset space ~ +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Formula \[ +R^{T}R=F^{T}F\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset space ~ +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Formula \begin{align*} +R^{T}S & =F^{T}G\\ +S & =R^{-T}F^{T}G\end{align*} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset space ~ +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Formula \begin{align*} +S^{T}S+C^{T}C & =G^{T}G\\ +G^{T}FR^{-1}R^{-T}F^{T}G+C^{T}C & =G^{T}G\\ +G^{T}QRR^{-1}R^{-T}R^{T}Q^{T}G+C^{T}C & =G^{T}G\\ +\textbf{if }R\textbf{ is invertible, }G^{T}G+C^{T}C & =G^{T}G\\ +C^{T}C & =0\end{align*} + +\end_inset + + +\end_layout + +\end_body +\end_document diff --git a/doc/images/circular.pdf b/doc/images/circular.pdf new file mode 100644 index 0000000000000000000000000000000000000000..b0f43f64978d3bfd4ded1bb64c6ee9a64ea98ae8 GIT binary patch literal 62900 zcmb4q1z1!;_qVj9BF%~-C`k7uL>d%u>F(Gimk=`I23 z2EX-Z>pe~pcX6^=+gIYR4po|g{M6PZwP;&<&4=fI? zyIRk+c<;!#D$C*t$TA0i)e3eF7SCdQedj6G1Kg3`dZNpW`Vb=S3#pd@cVMI>79!u)RhtV zCqdT9(G64Y%J_Fa7~#QCh^@JdlLwTSG>|b;HE9<{?t>)rnsR?ysG{j6$PJxj}(E&3}nSZ6S|4J1ZF*4|>TG&A?-5CE` zNYR0hQTQJ-l#uvqjDIoyOZqqCe;HBaAFX))sltD=;L&_%;r0)u{$n^s9$i}q#^3_{ zq5vb$YpAWYjTdAiJfSz5)<4xY_DB=cUdR`*4~7RDWbnE6}caz$^+p^tzqoc z!$TR{G))6>^^y_0++*#RrKcFKQ4%au&orl~OTrXqCQWpLkkjxV z^f%0KXLb4ip`Rs$V#nXf&lvx}YZsD&P@p{!tuIthJPKJ(G?Yu^y0KrR%Tz?t5Fevf zP1vInUh6X=V)@6IQa-?_N0w$eCT=A3KkS7NX8FW|@7!0=@_6w;k|uo+8oJd*J$&=X z3StTSV2#ZLvd$Bt{vnWfAFmGK&j9ck7rq~H(c~zNft4gzuy&HcE2nRF^=;}kU%(Q_ 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+\end_index +\leftmargin 1in +\topmargin 1in +\rightmargin 1in +\bottommargin 1in +\secnumdepth 3 +\tocdepth 3 +\paragraph_separation indent +\paragraph_indentation default +\quotes_language english +\papercolumns 1 +\papersides 1 +\paperpagestyle default +\tracking_changes false +\output_changes false +\html_math_output 0 +\html_css_as_file 0 +\html_be_strict false +\end_header + +\begin_body + +\begin_layout Title +Derivatives and Differentials +\end_layout + +\begin_layout Author +Frank Dellaert +\end_layout + +\begin_layout Standard +\begin_inset Box Frameless +position "t" +hor_pos "c" +has_inner_box 1 +inner_pos "t" +use_parbox 0 +use_makebox 0 +width "100col%" +special "none" +height "1in" +height_special "totalheight" +status collapsed + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\SqrMah}[3]{\Vert{#1}-{#2}\Vert_{#3}^{2}} +{\Vert{#1}-{#2}\Vert_{#3}^{2}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\SqrZMah}[2]{\Vert{#1}\Vert_{#2}^{2}} +{\Vert{#1}\Vert_{#2}^{2}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Rone}{\mathbb{R}} +{\mathbb{R}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Reals}[1]{\mathbb{R}^{#1}} +{\mathbb{R}^{#1}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\OneD}[1]{\Reals{#1}\rightarrow\Rone} +{\Reals{#1}\rightarrow\Rone} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Multi}[2]{\Reals{#1}\rightarrow\Reals{#2}} +{\Reals{#1}\rightarrow\Reals{#2}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Man}{\mathcal{M}} +{\mathcal{M}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +Derivatives +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\deriv}[2]{\frac{\partial#1}{\partial#2}} +{\frac{\partial#1}{\partial#2}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\at}[2]{#1\biggr\rvert_{#2}} +{#1\biggr\rvert_{#2}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Jac}[3]{ \at{\deriv{#1}{#2}} {#3} } +{\at{\deriv{#1}{#2}}{#3}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +Lie Groups +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\xhat}{\hat{x}} +{\hat{x}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\yhat}{\hat{y}} +{\hat{y}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Ad}[1]{Ad_{#1}} +{Ad_{#1}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\define}{\stackrel{\Delta}{=}} +{\stackrel{\Delta}{=}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\gg}{\mathfrak{g}} +{\mathfrak{g}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Rn}{\mathbb{R}^{n}} +{\mathbb{R}^{n}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SO(2) +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Rtwo}{\mathbb{R}^{2}} +{\mathbb{R}^{2}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\SOtwo}{SO(2)} +{SO(2)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\sotwo}{\mathfrak{so(2)}} +{\mathfrak{so(2)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\that}{\hat{\theta}} +{\hat{\theta}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\skew}[1]{[#1]_{+}} +{[#1]_{+}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SE(2) +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\SEtwo}{SE(2)} +{SE(2)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\setwo}{\mathfrak{se(2)}} +{\mathfrak{se(2)}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SO(3) +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Rthree}{\mathbb{R}^{3}} +{\mathbb{R}^{3}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\SOthree}{SO(3)} +{SO(3)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\sothree}{\mathfrak{so(3)}} +{\mathfrak{so(3)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\what}{\hat{\omega}} +{\hat{\omega}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\Skew}[1]{[#1]_{\times}} +{[#1]_{\times}} +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset Note Comment +status open + +\begin_layout Plain Layout +SE(3) +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Plain Layout +\begin_inset FormulaMacro +\newcommand{\Rsix}{\mathbb{R}^{6}} +{\mathbb{R}^{6}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\SEthree}{SE(3)} +{SE(3)} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\sethree}{\mathfrak{se(3)}} +{\mathfrak{se(3)}} +\end_inset + + +\begin_inset FormulaMacro +\newcommand{\xihat}{\hat{\xi}} +{\hat{\xi}} +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Part +Theory +\end_layout + +\begin_layout Section +Optimization +\end_layout + +\begin_layout Standard +We will be concerned with minimizing a non-linear least squares objective + of the form +\begin_inset Formula +\begin{equation} +x^{*}=\arg\min_{x}\SqrMah{h(x)}z{\Sigma}\label{eq:objective} +\end{equation} + +\end_inset + +where +\begin_inset Formula $x\in\Man$ +\end_inset + + is a point on an +\begin_inset Formula $n$ +\end_inset + +-dimensional manifold (which could be +\begin_inset Formula $\Reals n$ +\end_inset + +, an n-dimensional Lie group +\begin_inset Formula $G$ +\end_inset + +, or a general manifold +\begin_inset Formula $\Man)$ +\end_inset + +, +\begin_inset Formula $z\in\Reals m$ +\end_inset + + is an observed measurement, +\begin_inset Formula $h:\Man\rightarrow\Reals m$ +\end_inset + + is a measurement function that predicts +\begin_inset Formula $z$ +\end_inset + + from +\begin_inset Formula $x$ +\end_inset + +, and +\begin_inset Formula $\SqrZMah e{\Sigma}\define e^{T}\Sigma^{-1}e$ +\end_inset + + is the squared Mahalanobis distance with covariance +\begin_inset Formula $\Sigma$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +To minimize +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:objective" + +\end_inset + + we need a notion of how the non-linear measurement function +\begin_inset Formula $h(x)$ +\end_inset + + behaves in the neighborhood of a linearization point +\begin_inset Formula $a$ +\end_inset + +. + Loosely speaking, we would like to define an +\begin_inset Formula $m\times n$ +\end_inset + + Jacobian matrix +\begin_inset Formula $H_{a}$ +\end_inset + + such that +\begin_inset Formula +\begin{equation} +h(a\oplus\xi)\approx h(a)+H_{a}\xi\label{eq:LocalBehavior} +\end{equation} + +\end_inset + +with +\begin_inset Formula $\xi\in\Reals n$ +\end_inset + +, and the operation +\begin_inset Formula $\oplus$ +\end_inset + + +\begin_inset Quotes eld +\end_inset + +increments +\begin_inset Quotes erd +\end_inset + + +\begin_inset Formula $a\in\Man$ +\end_inset + +. + Below we more formally develop this notion, first for functions from +\begin_inset Formula $\Multi nm$ +\end_inset + +, then for Lie groups, and finally for manifolds. +\end_layout + +\begin_layout Standard +Once equipped with the approximation +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:LocalBehavior" + +\end_inset + +, we can minimize the objective function +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:objective" + +\end_inset + + with respect to +\begin_inset Formula $\delta x$ +\end_inset + + instead: +\begin_inset Formula +\begin{equation} +\xi^{*}=\arg\min_{\xi}\SqrMah{h(a)+H_{a}\xi}z{\Sigma}\label{eq:ApproximateObjective} +\end{equation} + +\end_inset + +This can be done by setting the derivative of +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:ApproximateObjective" + +\end_inset + + to zero, +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout + +\begin_inset Formula +\[ +\frac{1}{2}H_{a}^{T}(h(a)+H_{a}\xi-z)=0 +\] + +\end_inset + + +\end_layout + +\end_inset + + yielding the +\series bold +normal equations +\series default +, +\begin_inset Formula +\[ +H_{a}^{T}H_{a}\xi=H_{a}^{T}\left(z-h(a)\right) +\] + +\end_inset + +which can be solved using Cholesky factorization. + Of course, we might have to iterate this multiple times, and use a trust-region + method to bound +\begin_inset Formula $\xi$ +\end_inset + + when the approximation +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:LocalBehavior" + +\end_inset + + is not good. +\end_layout + +\begin_layout Section +Multivariate Differentiation +\end_layout + +\begin_layout Subsection +Derivatives +\end_layout + +\begin_layout Standard +For a vector space +\begin_inset Formula $\Reals n$ +\end_inset + +, the notion of an increment is just done by vector addition +\begin_inset Formula +\[ +a\oplus\xi\define a+\xi +\] + +\end_inset + +and for the approximation +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:LocalBehavior" + +\end_inset + + we will use a Taylor expansion using multivariate differentiation. + However, loosely following +\begin_inset CommandInset citation +LatexCommand cite +key "Spivak65book" + +\end_inset + +, we use a perhaps unfamiliar way to define derivatives: +\end_layout + +\begin_layout Definition +\begin_inset CommandInset label +LatexCommand label +name "def:differentiable" + +\end_inset + +We define a function +\begin_inset Formula $f:\Multi nm$ +\end_inset + + to be +\series bold +differentiable +\series default + at +\begin_inset Formula $a$ +\end_inset + + if there exists a matrix +\begin_inset Formula $f'(a)\in\Reals{m\times n}$ +\end_inset + + such that +\begin_inset Formula +\[ +\lim_{\delta x\rightarrow0}\frac{\left|f(a)+f'(a)\xi-f(a+\xi)\right|}{\left|\xi\right|}=0 +\] + +\end_inset + +where +\begin_inset Formula $\left|e\right|\define\sqrt{e^{T}e}$ +\end_inset + + is the usual norm. + If +\begin_inset Formula $f$ +\end_inset + + is differentiable, then the matrix +\begin_inset Formula $f'(a)$ +\end_inset + + is called the +\series bold +Jacobian matrix +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +, and the linear map +\begin_inset Formula $Df_{a}:\xi\mapsto f'(a)\xi$ +\end_inset + + is called the +\series bold +derivative +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. + When no confusion is likely, we use the notation +\begin_inset Formula $F_{a}\define f'(a)$ +\end_inset + + to stress that +\begin_inset Formula $f'(a)$ +\end_inset + + is a matrix. +\end_layout + +\begin_layout Standard +The benefit of using this definition is that it generalizes the notion of + a scalar derivative +\begin_inset Formula $f'(a):\Rone\rightarrow\Rone$ +\end_inset + + to multivariate functions from +\begin_inset Formula $\Multi nm$ +\end_inset + +. + In particular, the derivative +\begin_inset Formula $Df_{a}$ +\end_inset + + maps vector increments +\begin_inset Formula $\xi$ +\end_inset + + on +\begin_inset Formula $a$ +\end_inset + + to increments +\begin_inset Formula $f'(a)\xi$ +\end_inset + + on +\begin_inset Formula $f(a)$ +\end_inset + +, such that this linear map locally approximates +\begin_inset Formula $f$ +\end_inset + +: +\begin_inset Formula +\[ +f(a+\xi)\approx f(a)+f'(a)\xi +\] + +\end_inset + + +\end_layout + +\begin_layout Example +\begin_inset CommandInset label +LatexCommand label +name "ex:projection" + +\end_inset + +The function +\begin_inset Formula $\pi:(x,y,z)\mapsto(x/z,y/z)$ +\end_inset + + projects a 3D point +\begin_inset Formula $(x,y,z)$ +\end_inset + + to the image plane, and has the Jacobian matrix +\begin_inset Formula +\[ +\pi'(x,y,z)=\frac{1}{z}\left[\begin{array}{ccc} +1 & 0 & -x/z\\ +0 & 1 & -y/z +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Properties of Derivatives +\end_layout + +\begin_layout Standard +This notion of a multivariate derivative obeys the usual rules: +\end_layout + +\begin_layout Theorem +(Chain rule) If +\begin_inset Formula $f:\Multi np$ +\end_inset + + is differentiable at +\begin_inset Formula $a$ +\end_inset + + and +\begin_inset Formula $g:\Multi pm$ +\end_inset + + is differentiable at +\begin_inset Formula $f(a)$ +\end_inset + +, +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + then +\begin_inset Formula $D(g\circ f)_{a}=Dg_{f(a)}\circ Df_{a}$ +\end_inset + + and +\end_layout + +\end_inset + + then the Jacobian matrix +\begin_inset Formula $H_{a}$ +\end_inset + + of +\begin_inset Formula $h=g\circ f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + + is the +\begin_inset Formula $m\times n$ +\end_inset + + matrix product +\begin_inset Formula +\[ +H_{a}=G_{f(a)}F_{a} +\] + +\end_inset + + +\end_layout + +\begin_layout Proof +See +\begin_inset CommandInset citation +LatexCommand cite +key "Spivak65book" + +\end_inset + + +\end_layout + +\begin_layout Example +\begin_inset CommandInset label +LatexCommand label +name "ex:chain-rule" + +\end_inset + +If we follow the projection +\begin_inset Formula $\pi$ +\end_inset + + by a calibration step +\begin_inset Formula $\gamma:(x,y)\mapsto(u_{0}+fx,u_{0}+fy)$ +\end_inset + +, with +\begin_inset Formula +\[ +\gamma'(x,y)=\left[\begin{array}{cc} +f & 0\\ +0 & f +\end{array}\right] +\] + +\end_inset + +then the combined function +\begin_inset Formula $\gamma\circ\pi$ +\end_inset + + has the Jacobian matrix +\begin_inset Formula +\[ +(\gamma\circ\pi)'(x,y)=\frac{f}{z}\left[\begin{array}{ccc} +1 & 0 & -x/z\\ +0 & 1 & -y/z +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Theorem +(Inverse) If +\begin_inset Formula $f:\Multi nn$ +\end_inset + + is differentiable and has a differentiable inverse +\begin_inset Formula $g\define f^{-1}$ +\end_inset + +, then its Jacobian matrix +\begin_inset Formula $G_{a}$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + + is just the inverse of that of +\begin_inset Formula $f$ +\end_inset + +, evaluated at +\begin_inset Formula $g(a)$ +\end_inset + +: +\begin_inset Formula +\[ +G_{a}=\left[F_{g(a)}\right]^{-1} +\] + +\end_inset + + +\end_layout + +\begin_layout Proof +See +\begin_inset CommandInset citation +LatexCommand cite +key "Spivak65book" + +\end_inset + + +\end_layout + +\begin_layout Example +\begin_inset CommandInset label +LatexCommand label +name "ex:inverse" + +\end_inset + +The function +\begin_inset Formula $f:(x,y)\mapsto(x^{2},xy)$ +\end_inset + + has the Jacobian matrix +\end_layout + +\begin_layout Example +\begin_inset Formula +\[ +F_{(x,y)}=\left[\begin{array}{cc} +2x & 0\\ +y & x +\end{array}\right] +\] + +\end_inset + +and, for +\begin_inset Formula $x\geq0$ +\end_inset + +, its inverse is the function +\begin_inset Formula $g:(x,y)\mapsto(x^{1/2},x^{-1/2}y)$ +\end_inset + + with the Jacobian matrix +\begin_inset Formula +\[ +G_{(x,y)}=\frac{1}{2}\left[\begin{array}{cc} +x^{-1/2} & 0\\ +-x^{-3/2}y & 2x^{-1/2} +\end{array}\right] +\] + +\end_inset + +It is easily verified that +\begin_inset Formula +\[ +g'(a,b)f'(a^{1/2},a^{-1/2}b)=\frac{1}{2}\left[\begin{array}{cc} +a^{-1/2} & 0\\ +-a^{-3/2}b & 2a^{-1/2} +\end{array}\right]\left[\begin{array}{cc} +2a^{1/2} & 0\\ +a^{-1/2}b & a^{1/2} +\end{array}\right]=\left[\begin{array}{cc} +1 & 0\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Problem +Verify the above for +\begin_inset Formula $(a,b)=(4,6)$ +\end_inset + +. + Sketch the situation graphically to get insight. +\end_layout + +\begin_layout Subsection +Computing Multivariate Derivatives +\end_layout + +\begin_layout Standard +Computing derivatives is made easy by defining the concept of a partial + derivative: +\end_layout + +\begin_layout Definition +For +\begin_inset Formula $f:\OneD n$ +\end_inset + +, the +\series bold +partial derivative +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +, +\series bold + +\series default + +\begin_inset Formula +\[ +D_{j}f(a)\define\lim_{h\rightarrow0}\frac{f\left(a^{1},\ldots,a^{j}+h,\ldots,a^{n}\right)-f\left(a^{1},\ldots,a^{n}\right)}{h} +\] + +\end_inset + +which is the ordinary derivative of the scalar function +\begin_inset Formula $g(x)\define f\left(a^{1},\ldots,x,\ldots,a^{n}\right)$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +Using this definition, one can show that the Jacobian matrix +\begin_inset Formula $F_{a}$ +\end_inset + + of a differentiable +\emph on +multivariate +\emph default + function +\begin_inset Formula $f:\Multi nm$ +\end_inset + + consists simply of the +\begin_inset Formula $m\times n$ +\end_inset + + partial derivatives +\begin_inset Formula $D_{j}f^{i}(a)$ +\end_inset + +, evaluated at +\begin_inset Formula $a\in\Reals n$ +\end_inset + +: +\begin_inset Formula +\[ +F_{a}=\left[\begin{array}{ccc} +D_{1}f^{1}(a) & \cdots & D_{n}f^{1}(a)\\ +\vdots & \ddots & \vdots\\ +D_{1}f^{m}(a) & \ldots & D_{n}f^{m}(a) +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Problem +Verify the derivatives in Examples +\begin_inset CommandInset ref +LatexCommand ref +reference "ex:projection" + +\end_inset + + to +\begin_inset CommandInset ref +LatexCommand ref +reference "ex:inverse" + +\end_inset + +. +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +Multivariate Functions on Lie Groups +\end_layout + +\begin_layout Subsection +Lie Groups +\end_layout + +\begin_layout Standard +Lie groups are not as easy to treat as the vector space +\begin_inset Formula $\Reals n$ +\end_inset + + but nevertheless have a lot of structure. + To generalize the concept of the total derivative above we just need to + replace +\begin_inset Formula $a\oplus\xi$ +\end_inset + + in +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:ApproximateObjective" + +\end_inset + + with a suitable operation in the Lie group +\begin_inset Formula $G$ +\end_inset + +. + In particular, the notion of an exponential map allows us to define an + incremental transformation as tracing out a geodesic curve on the group + manifold along a certain +\series bold +tangent vector +\series default + +\begin_inset Formula $\xi$ +\end_inset + +, +\begin_inset Formula +\[ +a\oplus\xi\define a\exp\left(\hat{\xi}\right) +\] + +\end_inset + +with +\begin_inset Formula $\xi\in\Reals n$ +\end_inset + + for an +\begin_inset Formula $n$ +\end_inset + +-dimensional Lie group, +\begin_inset Formula $\hat{\xi}\in\mathfrak{g}$ +\end_inset + + the Lie algebra element corresponding to the vector +\begin_inset Formula $\xi$ +\end_inset + +, and +\begin_inset Formula $\exp\hat{\xi}$ +\end_inset + + the exponential map. + Note that if +\begin_inset Formula $G$ +\end_inset + + is equal to +\begin_inset Formula $\Reals n$ +\end_inset + + then composing with the exponential map +\begin_inset Formula $ae^{\xihat}$ +\end_inset + + is just vector addition +\begin_inset Formula $a+\xi$ +\end_inset + +. +\end_layout + +\begin_layout Example +For the Lie group +\begin_inset Formula $\SOthree$ +\end_inset + + of 3D rotations the vector +\begin_inset Formula $\xi$ +\end_inset + + is denoted as +\begin_inset Formula $\omega$ +\end_inset + + and represents an angular displacement. + The Lie algebra element +\begin_inset Formula $\xihat$ +\end_inset + + is a skew symmetric matrix denoted as +\begin_inset Formula $\Skew{\omega}\in\sothree$ +\end_inset + +, and is given by +\begin_inset Formula +\[ +\Skew{\omega}=\left[\begin{array}{ccc} +0 & -\omega_{z} & \omega_{y}\\ +\omega_{z} & 0 & -\omega_{x}\\ +-\omega_{y} & \omega_{x} & 0 +\end{array}\right] +\] + +\end_inset + +Finally, the increment +\begin_inset Formula $a\oplus\xi=ae^{\xihat}$ +\end_inset + + corresponds to an incremental rotation +\begin_inset Formula $R\oplus\omega=Re^{\Skew{\omega}}$ +\end_inset + +. +\end_layout + +\begin_layout Subsection +Derivatives +\end_layout + +\begin_layout Standard +We can generalize Definition +\begin_inset CommandInset ref +LatexCommand ref +reference "def:differentiable" + +\end_inset + + to map exponential coordinates +\begin_inset Formula $\xi$ +\end_inset + + to increments +\begin_inset Formula $f'(a)\xi$ +\end_inset + + on +\begin_inset Formula $f(a)$ +\end_inset + +, such that the linear map +\begin_inset Formula $Df_{a}$ +\end_inset + + locally approximates a function +\begin_inset Formula $f$ +\end_inset + + from +\begin_inset Formula $G$ +\end_inset + + to +\begin_inset Formula $\Reals m$ +\end_inset + +: +\begin_inset Formula +\[ +f(ae^{\xihat})\approx f(a)+f'(a)\xi +\] + +\end_inset + + +\end_layout + +\begin_layout Definition +We define a function +\begin_inset Formula $f:G\rightarrow\Reals m$ +\end_inset + + to be +\series bold +differentiable +\series default + at +\begin_inset Formula $a\in G$ +\end_inset + + if there exists a matrix +\begin_inset Formula $f'(a)\in\Reals{m\times n}$ +\end_inset + + such that +\begin_inset Formula +\[ +\lim_{\xi\rightarrow0}\frac{\left|f(a)+f'(a)\xi-f(ae^{\hat{\xi}})\right|}{\left|\xi\right|}=0 +\] + +\end_inset + +If +\begin_inset Formula $f$ +\end_inset + + is differentiable, then the matrix +\begin_inset Formula $f'(a)$ +\end_inset + + is called the +\series bold +Jacobian matrix +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +, and the linear map +\begin_inset Formula $Df_{a}:\xi\mapsto f'(a)\xi$ +\end_inset + + is called the +\series bold +derivative +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. +\end_layout + +\begin_layout Standard +Note that the vectors +\begin_inset Formula $\xi$ +\end_inset + + can be viewed as lying in the tangent space to +\begin_inset Formula $G$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +, but defining this rigorously would take us on a longer tour of differential + geometry. + Informally, +\begin_inset Formula $\xi$ +\end_inset + + is simply the direction, in a local coordinate frame, that is locally tangent + at +\begin_inset Formula $a$ +\end_inset + + to a geodesic curve +\begin_inset Formula $\gamma:t\mapsto ae^{\widehat{t\xi}}$ +\end_inset + + traced out by the exponential map, with +\begin_inset Formula $\gamma(0)=a$ +\end_inset + +. +\end_layout + +\begin_layout Subsection +Derivative of an Action +\begin_inset CommandInset label +LatexCommand label +name "sec:Derivatives-of-Actions" + +\end_inset + + +\end_layout + +\begin_layout Standard +The (usual) action of an +\begin_inset Formula $n$ +\end_inset + +-dimensional matrix group +\begin_inset Formula $G$ +\end_inset + + is matrix-vector multiplication on +\begin_inset Formula $\mathbb{R}^{n}$ +\end_inset + +, i.e., +\begin_inset Formula $f:G\times\Reals n\rightarrow\Reals n$ +\end_inset + + with +\begin_inset Formula +\[ +f(T,p)=Tp +\] + +\end_inset + +Since this is a function defined on the product +\begin_inset Formula $G\times\Reals n$ +\end_inset + + the derivative is a linear transformation +\begin_inset Formula $Df:\Multi{2n}n$ +\end_inset + + with +\begin_inset Formula +\[ +Df_{(T,p)}\left(\xi,\delta p\right)=D_{1}f_{(T,p)}\left(\xi\right)+D_{2}f_{(T,p)}\left(\delta p\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Theorem +\begin_inset CommandInset label +LatexCommand label +name "th:Action" + +\end_inset + +The Jacobian matrix of the group action +\begin_inset Formula $f(T,P)=Tp$ +\end_inset + + at +\begin_inset Formula $(T,p)$ +\end_inset + + is given by +\begin_inset Formula +\[ +F_{(T,p)}=\left[\begin{array}{cc} +TH(p) & T\end{array}\right]=T\left[\begin{array}{cc} +H(p) & I_{n}\end{array}\right] +\] + +\end_inset + +with +\begin_inset Formula $H:\Reals n\rightarrow\Reals{n\times n}$ +\end_inset + + a linear mapping that depends on +\begin_inset Formula $p$ +\end_inset + +, and +\begin_inset Formula $I_{n}$ +\end_inset + + the +\begin_inset Formula $n\times n$ +\end_inset + + identity matrix. +\end_layout + +\begin_layout Proof +First, the derivative +\begin_inset Formula $D_{2}f$ +\end_inset + + with respect to in +\begin_inset Formula $p$ +\end_inset + + is easy, as its matrix is simply T: +\begin_inset Formula +\[ +f(T,p+\delta p)=T(p+\delta p)=Tp+T\delta p=f(T,p)+D_{2}f(\delta p) +\] + +\end_inset + +For the derivative +\begin_inset Formula $D_{1}f$ +\end_inset + + with respect to a change in the first argument +\begin_inset Formula $T$ +\end_inset + +, we want +\end_layout + +\begin_layout Proof + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none +\begin_inset Formula +\[ +f(Te^{\hat{\xi}},p)=Te^{\hat{\xi}}p\approx Tp+D_{1}f(\xi) +\] + +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit +Since the matrix exponential is given by the series +\begin_inset Formula $e^{A}=I+A+\frac{A^{2}}{2!}+\frac{A^{3}}{3!}+\ldots$ +\end_inset + + we have, to first order +\begin_inset Formula +\[ +Te^{\hat{\xi}}p\approx T(I+\hat{\xi})p=Tp+T\hat{\xi}p +\] + +\end_inset + + +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +Note also that +\begin_inset Formula +\[ +T\hat{\xi}p=\left(T\hat{\xi}T^{-1}\right)Tp=\left(\Ad T\xihat\right)\left(Tp\right) +\] + +\end_inset + + +\end_layout + +\end_inset + +Hence, we need to show that +\begin_inset Formula +\begin{equation} +\xihat p=H(p)\xi\label{eq:Hp} +\end{equation} + +\end_inset + +with +\begin_inset Formula $H(p)$ +\end_inset + + an +\begin_inset Formula $n\times n$ +\end_inset + + matrix that depends on +\begin_inset Formula $p$ +\end_inset + +. + Expressing the map +\begin_inset Formula $\xi\rightarrow\hat{\xi}$ +\end_inset + + in terms of the Lie algebra generators +\begin_inset Formula $G^{i}$ +\end_inset + +, using tensors and Einstein summation, we have +\begin_inset Formula $\hat{\xi}_{j}^{i}=G_{jk}^{i}\xi^{k}$ +\end_inset + + allowing us to calculate +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none + +\begin_inset Formula $\hat{\xi}p$ +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit + as +\begin_inset Formula +\[ +\left(\hat{\xi}p\right)^{i}=\hat{\xi}_{j}^{i}p^{j}=G_{jk}^{i}\xi^{k}p^{j}=\left(G_{jk}^{i}p^{j}\right)\xi^{k}=H_{k}^{i}(p)\xi^{k} +\] + +\end_inset + + +\end_layout + +\begin_layout Example +For 3D rotations +\begin_inset Formula $R\in\SOthree$ +\end_inset + +, we have +\begin_inset Formula $\hat{\omega}=\Skew{\omega}$ +\end_inset + + and +\begin_inset Formula +\[ +G_{k=1}:\left(\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & -1\\ +0 & 1 & 0 +\end{array}\right)\mbox{}G_{k=2}:\left(\begin{array}{ccc} +0 & 0 & 1\\ +0 & 0 & 0\\ +-1 & 0 & 0 +\end{array}\right)\mbox{ }G_{k=3}:\left(\begin{array}{ccc} +0 & -1 & 0\\ +1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right) +\] + +\end_inset + + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none +The matrices +\begin_inset Formula $\left(G_{k}^{i}\right)_{j}$ +\end_inset + + are obtained by assembling the +\begin_inset Formula $j^{th}$ +\end_inset + + columns of the generators above, yielding +\begin_inset Formula $H(p)$ +\end_inset + + equal to: +\begin_inset Formula +\[ +\left(\begin{array}{ccc} +0 & 0 & 0\\ +0 & 0 & 1\\ +0 & -1 & 0 +\end{array}\right)p^{1}+\left(\begin{array}{ccc} +0 & 0 & -1\\ +0 & 0 & 0\\ +1 & 0 & 0 +\end{array}\right)p^{2}+\left(\begin{array}{ccc} +0 & 1 & 0\\ +-1 & 0 & 0\\ +0 & 0 & 0 +\end{array}\right)p^{3}=\left(\begin{array}{ccc} +0 & p^{3} & -p^{2}\\ +-p^{3} & 0 & p^{1}\\ +p^{2} & -p^{1} & 0 +\end{array}\right)=\Skew{-p} +\] + +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\noun default +\color inherit +Hence, the Jacobian matrix of +\begin_inset Formula $f(R,p)=Rp$ +\end_inset + + is given by +\begin_inset Formula +\[ +F_{(R,p)}=R\left(\begin{array}{cc} +\Skew{-p} & I_{3}\end{array}\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Derivative of an Inverse Action +\end_layout + +\begin_layout Standard +Applying the action by the inverse of +\begin_inset Formula $T\in G$ +\end_inset + + yields a function +\begin_inset Formula $g:G\times\Reals n\rightarrow\Reals n$ +\end_inset + + defined by +\begin_inset Formula +\[ +g(T,p)=T^{-1}p +\] + +\end_inset + + +\end_layout + +\begin_layout Theorem +\begin_inset CommandInset label +LatexCommand label +name "Th:InverseAction" + +\end_inset + +The Jacobian matrix of the inverse group action +\begin_inset Formula $g(T,p)=T^{-1}p$ +\end_inset + + is given by +\begin_inset Formula +\[ +G_{(T,p)}=\left[\begin{array}{cc} +-H(T^{-1}p) & T^{-1}\end{array}\right] +\] + +\end_inset + +where +\begin_inset Formula $H:\Reals n\rightarrow\Reals{n\times n}$ +\end_inset + + is the same mapping as before. +\end_layout + +\begin_layout Proof +Again, the derivative +\begin_inset Formula $D_{2}g$ +\end_inset + + with respect to in +\begin_inset Formula $p$ +\end_inset + + is easy, the matrix of which is simply +\begin_inset Formula $T^{-1}$ +\end_inset + +: +\begin_inset Formula +\[ +g(T,p+\delta p)=T^{-1}(p+\delta p)=T^{-1}p+T^{-1}\delta p=g(T,p)+D_{2}g(\delta p) +\] + +\end_inset + +Conversely, a change in +\begin_inset Formula $T$ +\end_inset + + yields +\begin_inset Formula +\[ +g(Te^{\xihat},p)=\left(Te^{\xihat}\right)^{-1}p=e^{-\xihat}T^{-1}p +\] + +\end_inset + +Similar to before, if we expand the matrix exponential we get +\begin_inset Formula +\[ +e^{-A}=I-A+\frac{A^{2}}{2!}-\frac{A^{3}}{3!}+\ldots +\] + +\end_inset + +so +\begin_inset Formula +\[ +e^{-\xihat}T^{-1}p\approx(I-\xihat)T^{-1}p=g(T,p)-\xihat\left(T^{-1}p\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Example +For 3D rotations +\begin_inset Formula $R\in\SOthree$ +\end_inset + + we have +\begin_inset Formula $R^{-1}=R^{T}$ +\end_inset + +, +\begin_inset Formula $H(p)=-\Skew p$ +\end_inset + +, and hence the Jacobian matrix of +\begin_inset Formula $g(R,p)=R^{T}p$ +\end_inset + + is given by +\begin_inset Formula +\[ +G_{(R,p)}=\left(\begin{array}{cc} +\Skew{R^{T}p} & R^{T}\end{array}\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +My earlier attempt: because the wedge operator is linear, we have +\end_layout + +\begin_layout Plain Layout +\begin_inset Formula +\begin{eqnarray*} +f(\xi+x) & = & \exp\widehat{\left(\xi+x\right)}\\ + & = & \exp\left(\xihat+\hat{x}\right) +\end{eqnarray*} + +\end_inset + +However, except for commutative Lie groups, it is not true that +\begin_inset Formula $\exp\left(\xihat+\hat{x}\right)=\exp\xihat\exp\hat{x}$ +\end_inset + +. + However, if we expand the matrix exponential to second order and assume + +\begin_inset Formula $x\rightarrow0$ +\end_inset + + we do have +\begin_inset Formula +\[ +\exp\left(\xihat+\hat{x}\right)\approx I+\xihat+\hat{x}+\frac{1}{2}\xihat^{2}+\xhat\xihat +\] + +\end_inset + +Now, if we ask what +\begin_inset Formula $\hat{y}$ +\end_inset + + would effect the same change: +\begin_inset Formula +\begin{eqnarray*} +\exp\xihat\exp\yhat & = & I+\xihat+\hat{x}+\frac{1}{2}\xihat^{2}+\xhat\xihat\\ +\exp\xihat(I+\yhat) & = & I+\xihat+\hat{x}+\frac{1}{2}\xihat^{2}+\xhat\xihat\\ +\left(\exp\xihat\right)\yhat & = & \xhat+\xhat\xihat +\end{eqnarray*} + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Section +Instantaneous Velocity +\end_layout + +\begin_layout Standard +For matrix Lie groups, if we have a matrix +\begin_inset Formula $T_{b}^{n}(t)$ +\end_inset + + that depends on a parameter +\begin_inset Formula $t$ +\end_inset + +, i.e., +\begin_inset Formula $T_{b}^{n}(t)$ +\end_inset + + follows a curve on the manifold, then it would be of interest to find the + velocity of a point +\begin_inset Formula $q^{n}(t)=T_{b}^{n}(t)p^{b}$ +\end_inset + + acted upon by +\begin_inset Formula $T_{b}^{n}(t)$ +\end_inset + +. + We can express the velocity of +\begin_inset Formula $q(t)$ +\end_inset + + in both the n-frame and b-frame: +\begin_inset Formula +\[ +\dot{q}^{n}=\dot{T}_{b}^{n}p^{b}=\dot{T}_{b}^{n}\left(T_{b}^{n}\right)^{-1}p^{n}\mbox{\,\,\,\,\ and\,\,\,\,}\dot{q}^{b}=\left(T_{b}^{n}\right)^{-1}\dot{q}^{n}=\left(T_{b}^{n}\right)^{-1}\dot{T}_{b}^{n}p^{b} +\] + +\end_inset + +Both the matrices +\begin_inset Formula $\xihat_{nb}^{n}\define\dot{T}_{b}^{n}\left(T_{b}^{n}\right)^{-1}$ +\end_inset + + and +\begin_inset Formula $\xihat_{nb}^{b}\define\left(T_{b}^{n}\right)^{-1}\dot{T}_{b}^{n}$ +\end_inset + + are skew-symmetric Lie algebra elements that describe the +\series bold +instantaneous velocity +\series default + +\begin_inset CommandInset citation +LatexCommand cite +after "page 51 for rotations, page 419 for SE(3)" +key "Murray94book" + +\end_inset + +. + We will revisit this for both rotations and rigid 3D transformations. +\end_layout + +\begin_layout Section +Differentials: Smooth Mapping between Lie Groups +\end_layout + +\begin_layout Subsection +Motivation and Definition +\end_layout + +\begin_layout Standard +The above shows how to compute the derivative of a function +\begin_inset Formula $f:G\rightarrow\Reals m$ +\end_inset + +. + However, what if the argument to +\begin_inset Formula $f$ +\end_inset + + is itself the result of a mapping between Lie groups? In other words, +\begin_inset Formula $f=g\circ\varphi$ +\end_inset + +, with +\begin_inset Formula $g:G\rightarrow\Reals m$ +\end_inset + + and where +\begin_inset Formula $\varphi:H\rightarrow G$ +\end_inset + + is a smooth mapping from the +\begin_inset Formula $n$ +\end_inset + +-dimensional Lie group +\begin_inset Formula $H$ +\end_inset + + to the +\begin_inset Formula $p$ +\end_inset + +-dimensional Lie group +\begin_inset Formula $G$ +\end_inset + +. + In this case, one would expect that we can arrive at +\begin_inset Formula $Df_{a}$ +\end_inset + + by composing linear maps, as follows: +\begin_inset Formula +\[ +f'(a)=(g\circ\varphi)'(a)=G_{\varphi(a)}\varphi'(a) +\] + +\end_inset + +where +\begin_inset Formula $\varphi'(a)$ +\end_inset + + is an +\begin_inset Formula $n\times p$ +\end_inset + + matrix that is the best linear approximation to the map +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula $\varphi:H\rightarrow G$ +\end_inset + +. + The corresponding linear map +\begin_inset Formula $D\varphi_{a}$ +\end_inset + + is called the +\family default +\series bold +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit +differential +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit +or +\series bold +pushforward +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + of +\begin_inset Formula $ $ +\end_inset + +the mapping +\begin_inset Formula $\varphi$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. + +\end_layout + +\begin_layout Standard + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none +Because a rigorous definition will lead us too far astray, here we only + informally define the pushforward of +\begin_inset Formula $\varphi$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + + as the linear map +\begin_inset Formula $D\varphi_{a}:\Multi np$ +\end_inset + + such that +\begin_inset Formula $D\varphi_{a}\left(\xi\right)\define\varphi'(a)\xi$ +\end_inset + + and +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit + +\begin_inset Formula +\begin{equation} +\varphi\left(ae^{\xihat}\right)\approx\varphi\left(a\right)\exp\left(\widehat{\varphi'(a)\xi}\right)\label{eq:pushforward} +\end{equation} + +\end_inset + +with equality for +\begin_inset Formula $\xi\rightarrow0$ +\end_inset + +. + We call +\begin_inset Formula $\varphi'(a)$ +\end_inset + + the +\series bold +Jacobian matrix +\series default + of the map +\begin_inset Formula $\varphi$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. + Below we show that even with this informal definition we can deduce the + pushforward in a number of useful cases. +\end_layout + +\begin_layout Subsection +Left Multiplication with a Constant +\end_layout + +\begin_layout Theorem +Suppose +\begin_inset Formula $G$ +\end_inset + + is an +\begin_inset Formula $n$ +\end_inset + +-dimensional Lie group, and +\begin_inset Formula $\varphi:G\rightarrow G$ +\end_inset + + is defined as +\begin_inset Formula $\varphi(g)=hg$ +\end_inset + +, with +\begin_inset Formula $h\in G$ +\end_inset + + a constant. + Then +\begin_inset Formula $D\varphi_{a}$ +\end_inset + + is the identity mapping and +\begin_inset Formula +\[ +\varphi'(a)=I_{n} +\] + +\end_inset + + +\end_layout + +\begin_layout Proof +Defining +\begin_inset Formula $y=D\varphi_{a}x$ +\end_inset + + as in +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:pushforward" + +\end_inset + +, we have +\begin_inset Formula +\begin{eqnarray*} +\varphi(a)e^{\yhat} & = & \varphi(ae^{\xhat})\\ +hae^{\yhat} & = & hae^{\xhat}\\ +y & = & x +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Subsection +Pushforward of the Inverse Mapping +\end_layout + +\begin_layout Standard +A well known property of Lie groups is the the fact that applying an incremental + change +\begin_inset Formula $\xihat$ +\end_inset + + in a different frame +\begin_inset Formula $g$ +\end_inset + + can be applied in a single step by applying the change +\begin_inset Formula $Ad_{g}\xihat$ +\end_inset + + in the original frame, +\begin_inset Formula +\begin{equation} +ge^{\xihat}g^{-1}=\exp\left(Ad_{g}\xihat\right)\label{eq:Adjoint2} +\end{equation} + +\end_inset + +where +\begin_inset Formula $Ad_{g}:\mathfrak{g}\rightarrow\mathfrak{g}$ +\end_inset + + is the +\series bold +adjoint representation +\series default +. + This comes in handy in the following: +\end_layout + +\begin_layout Theorem +Suppose that +\begin_inset Formula $\varphi:G\rightarrow G$ +\end_inset + + is defined as the mapping from an element +\begin_inset Formula $g$ +\end_inset + + to its +\series bold +inverse +\series default + +\begin_inset Formula $g^{-1}$ +\end_inset + +, i.e., +\begin_inset Formula $\varphi(g)=g^{-1}$ +\end_inset + +, then the pushforward +\begin_inset Formula $D\varphi_{a}$ +\end_inset + + satisfies +\begin_inset Formula +\begin{align} +\left(D\varphi_{a}x\right)\hat{} & =-Ad_{a}\xhat\label{eq:Dinverse} +\end{align} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset ERT +status open + +\begin_layout Plain Layout + + +\backslash +noindent +\end_layout + +\end_inset + + In other words, and this is intuitive in hindsight, approximating the inverse + is accomplished by negation of +\begin_inset Formula $\xihat$ +\end_inset + +, along with an adjoint to make sure it is applied in the right frame. + +\begin_inset ERT +status open + +\begin_layout Plain Layout + + +\backslash +noindent +\end_layout + +\end_inset + + Note, however, that +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:Dinverse" + +\end_inset + + does not immediately yield a useful expression for the Jacobian matrix + +\begin_inset Formula $\varphi'(a)$ +\end_inset + +, but in many important cases this will turn out to be easy. + +\end_layout + +\begin_layout Proof +Defining +\begin_inset Formula $y=D\varphi_{a}x$ +\end_inset + + as in +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:pushforward" + +\end_inset + +, we have +\begin_inset Formula +\begin{eqnarray*} +\varphi(a)e^{\yhat} & = & \varphi(ae^{\xhat})\\ +a^{-1}e^{\yhat} & = & \left(ae^{\xhat}\right)^{-1}\\ +e^{\yhat} & = & -ae^{\xhat}a^{-1}\\ +\yhat & = & -\Ad a\xhat +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Example +For 3D rotations +\begin_inset Formula $R\in\SOthree$ +\end_inset + + we have +\begin_inset Formula +\[ +Ad_{g}(\hat{\omega})=R\hat{\omega}R^{T}=\Skew{R\omega} +\] + +\end_inset + +and hence the pushforward for the inverse mapping +\begin_inset Formula $\varphi(R)=R^{T}$ +\end_inset + + has the matrix +\begin_inset Formula $\varphi'(R)=-R$ +\end_inset + +. +\end_layout + +\begin_layout Subsection +Right Multiplication with a Constant +\end_layout + +\begin_layout Theorem +Suppose +\begin_inset Formula $\varphi:G\rightarrow G$ +\end_inset + + is defined as +\begin_inset Formula $\varphi(g)=gh$ +\end_inset + +, with +\begin_inset Formula $h\in G$ +\end_inset + + a constant. + Then +\begin_inset Formula $D\varphi_{a}$ +\end_inset + + satisfies +\begin_inset Formula +\[ +\left(D\varphi_{a}x\right)\hat{}=\Ad{h^{-1}}\xhat +\] + +\end_inset + + +\end_layout + +\begin_layout Proof +Defining +\begin_inset Formula $y=D\varphi_{a}x$ +\end_inset + + as in +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:pushforward" + +\end_inset + +, we have +\begin_inset Formula +\begin{align*} +\varphi(a)e^{\yhat} & =\varphi(ae^{\xhat})\\ +ahe & =ae^{\xhat}h\\ +e^{\yhat} & =h^{-1}e^{\xhat}h=\exp\left(\Ad{h^{-1}}\xhat\right)\\ +\yhat & =\Ad{h^{-1}}\xhat +\end{align*} + +\end_inset + + +\end_layout + +\begin_layout Example +In the case of 3D rotations, right multiplication with a constant rotation + +\begin_inset Formula $R$ +\end_inset + + is done through the mapping +\begin_inset Formula $\varphi(A)=AR$ +\end_inset + +, and satisfies +\begin_inset Formula +\[ +\Skew{D\varphi_{A}x}=\Ad{R^{T}}\Skew x +\] + +\end_inset + +For 3D rotations +\begin_inset Formula $R\in\SOthree$ +\end_inset + + we have +\begin_inset Formula +\[ +Ad_{R^{T}}(\hat{\omega})=R^{T}\hat{\omega}R=\Skew{R^{T}\omega} +\] + +\end_inset + +and hence the Jacobian matrix of +\begin_inset Formula $\varphi$ +\end_inset + + at +\begin_inset Formula $A$ +\end_inset + + is +\begin_inset Formula $\varphi'(A)=R^{T}$ +\end_inset + +. +\end_layout + +\begin_layout Subsection +Pushforward of Compose +\end_layout + +\begin_layout Theorem +If we define the mapping +\begin_inset Formula $\varphi:G\times G\rightarrow G$ +\end_inset + + as the product of two group elements +\begin_inset Formula $g,h\in G$ +\end_inset + +, i.e., +\begin_inset Formula $\varphi(g,h)=gh$ +\end_inset + +, then the pushforward will satisfy +\begin_inset Formula +\[ +D\varphi_{(a,b)}(x,y)=D_{1}\varphi_{(a,b)}x+D_{2}\varphi_{(a,b)}y +\] + +\end_inset + +with +\begin_inset Formula +\[ +\left(D_{1}\varphi_{(a,b)}x\right)\hat{}=\Ad{b^{-1}}\xhat\mbox{\;\ and\;}D_{2}\varphi_{(a,b)}y=y +\] + +\end_inset + + +\end_layout + +\begin_layout Proof +Looking at the first argument, the proof is very similar to right multiplication + with a constant +\begin_inset Formula $b$ +\end_inset + +. + Indeed, defining +\begin_inset Formula $y=D\varphi_{a}x$ +\end_inset + + as in +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:pushforward" + +\end_inset + +, we have +\begin_inset Formula +\begin{align} +\varphi(a,b)e^{\yhat} & =\varphi(ae^{\xhat},b)\nonumber \\ +abe^{\yhat} & =ae^{\xhat}b\nonumber \\ +e^{\yhat} & =b^{-1}e^{\xhat}b=\exp\left(\Ad{b^{-1}}\xhat\right)\nonumber \\ +\yhat & =\Ad{b^{-1}}\xhat\label{eq:Dcompose1} +\end{align} + +\end_inset + +In other words, to apply an incremental change +\begin_inset Formula $\xhat$ +\end_inset + + to +\begin_inset Formula $a$ +\end_inset + + we first need to undo +\begin_inset Formula $b$ +\end_inset + +, then apply +\begin_inset Formula $\xhat$ +\end_inset + +, and then apply +\begin_inset Formula $b$ +\end_inset + + again. + Using +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:Adjoint2" + +\end_inset + + this can be done in one step by simply applying +\begin_inset Formula $\Ad{b^{-1}}\xhat$ +\end_inset + +. + +\end_layout + +\begin_layout Proof +The second argument is quite a bit easier and simply yields the identity + mapping: +\begin_inset Formula +\begin{align} +\varphi(a,b)e^{\yhat} & =\varphi(a,be^{\xhat})\nonumber \\ +abe^{\yhat} & =abe^{\xhat}\nonumber \\ +y & =x\label{eq:Dcompose2} +\end{align} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status open + +\begin_layout Plain Layout +In summary, the Jacobian matrix of +\begin_inset Formula $\varphi(g,h)=gh$ +\end_inset + + at +\begin_inset Formula $(a,b)\in G\times G$ +\end_inset + + is given by +\begin_inset Formula +\[ +\varphi'(a,b)=? +\] + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Example +For 3D rotations +\begin_inset Formula $A,B\in\SOthree$ +\end_inset + + we have +\begin_inset Formula $\varphi(A,B)=AB$ +\end_inset + +, and +\begin_inset Formula $\Ad{B^{T}}\Skew{\omega}=\Skew{B^{T}\omega}$ +\end_inset + +, hence the Jacobian matrix +\begin_inset Formula $\varphi'(A,B)$ +\end_inset + + of composing two rotations is given by +\begin_inset Formula +\[ +\varphi'(A,B)=\left[\begin{array}{cc} +B^{T} & I_{3}\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Pushforward of Between +\end_layout + +\begin_layout Standard +Finally, let us find the pushforward of +\series bold +between +\series default +, defined as +\begin_inset Formula $\varphi(g,h)=g^{-1}h$ +\end_inset + +. + For the first argument we reason as: +\begin_inset Formula +\begin{align} +\varphi(g,h)e^{\yhat} & =\varphi(ge^{\xhat},h)\nonumber \\ +g^{-1}he^{\yhat} & =\left(ge^{\xhat}\right)^{-1}h=-e^{\xhat}g^{-1}h\nonumber \\ +e^{\yhat} & =-\left(h^{-1}g\right)e^{\xhat}\left(h^{-1}g\right)^{-1}=-\exp\Ad{\left(h^{-1}g\right)}\xhat\nonumber \\ +\yhat & =-\Ad{\left(h^{-1}g\right)}\xhat=-\Ad{\varphi\left(h,g\right)}\xhat\label{eq:Dbetween1} +\end{align} + +\end_inset + +The second argument yields the identity mapping. +\end_layout + +\begin_layout Example +For 3D rotations +\begin_inset Formula $A,B\in\SOthree$ +\end_inset + + we have +\begin_inset Formula $\varphi(A,B)=A^{T}B$ +\end_inset + +, and +\begin_inset Formula $\Ad{B^{T}A}\Skew{-\omega}=\Skew{-B^{T}A\omega}$ +\end_inset + +, hence the Jacobian matrix +\begin_inset Formula $\varphi'(A,B)$ +\end_inset + + of between is given by +\begin_inset Formula +\[ +\varphi'(A,B)=\left[\begin{array}{cc} +\left(-B^{T}A\right) & I_{3}\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Numerical PushForward +\end_layout + +\begin_layout Standard +Let's examine +\begin_inset Formula +\[ +f\left(g\right)e^{\yhat}=f\left(ge^{\xhat}\right) +\] + +\end_inset + +and multiply with +\begin_inset Formula $f(g)^{-1}$ +\end_inset + + on both sides: +\begin_inset Formula +\[ +e^{\yhat}=f\left(g\right)^{-1}f\left(ge^{\xhat}\right) +\] + +\end_inset + +We then take the log (which in our case returns +\begin_inset Formula $y$ +\end_inset + +, not +\begin_inset Formula $\yhat$ +\end_inset + +): +\begin_inset Formula +\[ +y(x)=\log\left[f\left(g\right)^{-1}f\left(ge^{\xhat}\right)\right] +\] + +\end_inset + +Let us look at +\begin_inset Formula $x=0$ +\end_inset + +, and perturb in direction +\begin_inset Formula $i$ +\end_inset + +, +\begin_inset Formula $e_{i}=[0,0,1,0,0]$ +\end_inset + +. + Then take derivative, +\begin_inset Formula +\[ +\deriv{y(d)}d\define\lim_{d\rightarrow0}\frac{y(d)-y(0)}{d}=\lim_{d\rightarrow0}\frac{1}{d}\log\left[f\left(g\right)^{-1}f\left(ge^{\widehat{de_{i}}}\right)\right] +\] + +\end_inset + +which is the basis for a numerical derivative scheme. +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +Not understood yet: Let us also look at a chain rule. + If we know the behavior at the origin +\begin_inset Formula $I$ +\end_inset + +, we can extrapolate +\begin_inset Formula +\[ +f(ge^{\xhat})=f(ge^{\xhat}g^{-1}g)=f(e^{\Ad g\xhat}g) +\] + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Subsection +Derivative of the Exponential and Logarithm Map +\end_layout + +\begin_layout Theorem +\begin_inset CommandInset label +LatexCommand label +name "D-exp" + +\end_inset + +The derivative of the function +\begin_inset Formula $f:\Reals n\rightarrow G$ +\end_inset + + that applies the wedge operator followed by the exponential map, i.e., +\begin_inset Formula $f(\xi)=\exp\xihat$ +\end_inset + +, is the identity map for +\begin_inset Formula $\xi=0$ +\end_inset + +. +\end_layout + +\begin_layout Proof +For +\begin_inset Formula $\xi=0$ +\end_inset + +, we have +\begin_inset Formula +\begin{eqnarray*} +f(\xi)e^{\yhat} & = & f(\xi+x)\\ +f(0)e^{\yhat} & = & f(0+x)\\ +e^{\yhat} & = & e^{\xhat} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Corollary +The derivative of the inverse +\begin_inset Formula $f^{-1}$ +\end_inset + + is the identity as well, i.e., for +\begin_inset Formula $T=e$ +\end_inset + +, the identity element in +\begin_inset Formula $G$ +\end_inset + +. +\end_layout + +\begin_layout Standard +For +\begin_inset Formula $\xi\neq0$ +\end_inset + +, things are not simple, see . + +\begin_inset Flex URL +status collapsed + +\begin_layout Plain Layout + +http://deltaepsilons.wordpress.com/2009/11/06/helgasons-formula-for-the-differenti +al-of-the-exponential/ +\end_layout + +\end_inset + +. +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +General Manifolds +\end_layout + +\begin_layout Subsection +Retractions +\end_layout + +\begin_layout Standard +\begin_inset FormulaMacro +\newcommand{\retract}{\mathcal{R}} +{\mathcal{R}} +\end_inset + + +\end_layout + +\begin_layout Standard +General manifolds that are not Lie groups do not have an exponential map, + but can still be handled by defining a +\series bold +retraction +\series default + +\begin_inset Formula $\retract:\Man\times\Reals n\rightarrow\Man$ +\end_inset + +, such that +\begin_inset Formula +\[ +a\oplus\xi\define\retract_{a}\left(\xi\right) +\] + +\end_inset + +A retraction +\begin_inset CommandInset citation +LatexCommand cite +key "Absil07book" + +\end_inset + + is required to be tangent to geodesics on the manifold +\begin_inset Formula $\Man$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. + We can define many retractions for a manifold +\begin_inset Formula $\Man$ +\end_inset + +, even for those with more structure. + For the vector space +\begin_inset Formula $\Reals n$ +\end_inset + + the retraction is just vector addition, and for Lie groups the obvious + retraction is simply the exponential map, i.e., +\begin_inset Formula $\retract_{a}(\xi)=a\cdot\exp\xihat$ +\end_inset + +. + However, one can choose other, possibly computationally attractive retractions, + as long as around a they agree with the geodesic induced by the exponential + map, i.e., +\begin_inset Formula +\[ +\lim_{\xi\rightarrow0}\frac{\left|a\cdot\exp\xihat-\retract_{a}\left(\xi\right)\right|}{\left|\xi\right|}=0 +\] + +\end_inset + + +\end_layout + +\begin_layout Example +For +\begin_inset Formula $\SEthree$ +\end_inset + +, instead of using the true exponential map it is computationally more efficient + to define the retraction, which uses a first order approximation of the + translation update +\begin_inset Formula +\[ +\retract_{T}\left(\left[\begin{array}{c} +\omega\\ +v +\end{array}\right]\right)=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +e^{\Skew{\omega}} & v\\ +0 & 1 +\end{array}\right]=\left[\begin{array}{cc} +Re^{\Skew{\omega}} & t+Rv\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Derivatives +\end_layout + +\begin_layout Standard +Equipped with a retraction, then, we can generalize the notion of a derivative + for functions +\begin_inset Formula $f$ +\end_inset + + from general a manifold +\begin_inset Formula $\Man$ +\end_inset + + to +\begin_inset Formula $\Reals m$ +\end_inset + +: +\end_layout + +\begin_layout Definition +We define a function +\begin_inset Formula $f:\Man\rightarrow\Reals m$ +\end_inset + + to be +\series bold +differentiable +\series default + at +\begin_inset Formula $a\in\Man$ +\end_inset + + if there exists a matrix +\begin_inset Formula $f'(a)$ +\end_inset + + such that +\begin_inset Formula +\[ +\lim_{\xi\rightarrow0}\frac{\left|f(a)+f'(a)\xi-f\left(\retract_{a}(\xi)\right)\right|}{\left|\xi\right|}=0 +\] + +\end_inset + +with +\begin_inset Formula $\xi\in\Reals n$ +\end_inset + + for an +\begin_inset Formula $n$ +\end_inset + +-dimensional manifold, and +\begin_inset Formula $\retract_{a}:\Reals n\rightarrow\Man$ +\end_inset + + a retraction +\begin_inset Formula $\retract$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. + If +\begin_inset Formula $f$ +\end_inset + + is differentiable, then +\begin_inset Formula $f'(a)$ +\end_inset + + is called the +\series bold +Jacobian matrix +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +, and the linear transformation +\begin_inset Formula $Df_{a}:\xi\mapsto f'(a)\xi$ +\end_inset + + is called the +\series bold +derivative +\series default + of +\begin_inset Formula $f$ +\end_inset + + at +\begin_inset Formula $a$ +\end_inset + +. +\end_layout + +\begin_layout Definition +For manifolds that are also Lie groups, the derivative of any function +\begin_inset Formula $f:G\rightarrow\Reals m$ +\end_inset + + will agree no matter what retraction +\begin_inset Formula $\retract$ +\end_inset + + is used. +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Part +Practice +\end_layout + +\begin_layout Standard +Below we apply the results derived in the theory part to the geometric objects + we use in GTSAM. + Above we preferred the modern notation +\begin_inset Formula $D_{1}f$ +\end_inset + + for the partial derivative. + Below (because this was written earlier) we use the more classical notation + +\begin_inset Formula +\[ +\deriv{f(x,y)}x +\] + +\end_inset + +In addition, for Lie groups we will abuse the notation and take +\begin_inset Formula +\[ +\at{\deriv{\varphi(g)}{\xi}}a +\] + +\end_inset + +to be the Jacobian matrix +\begin_inset Formula $\varphi'($ +\end_inset + +a) of the mapping +\begin_inset Formula $\varphi$ +\end_inset + + at +\begin_inset Formula $a\in G$ +\end_inset + +, associated with the pushforward +\begin_inset Formula $D\varphi_{a}$ +\end_inset + +. +\end_layout + +\begin_layout Section +SLAM Example +\end_layout + +\begin_layout Standard +Let us examine a visual SLAM example. + We have 2D measurements +\begin_inset Formula $z_{ij}$ +\end_inset + +, where each measurement is predicted by +\begin_inset Formula +\[ +z_{ij}=h(T_{i},p_{j})=\pi(T_{i}^{-1}p_{j}) +\] + +\end_inset + +where +\begin_inset Formula $T_{i}$ +\end_inset + + is the 3D pose of the +\begin_inset Formula $i^{th}$ +\end_inset + + camera, +\begin_inset Formula $p_{j}$ +\end_inset + + is the location of the +\begin_inset Formula $j^{th}$ +\end_inset + + point, and +\begin_inset Formula $\pi:(x,y,z)\mapsto(x/z,y/z)$ +\end_inset + + is the camera projection function from Example +\begin_inset CommandInset ref +LatexCommand ref +reference "ex:projection" + +\end_inset + +. +\end_layout + +\begin_layout Section +BetweenFactor +\end_layout + +\begin_layout Standard +BetweenFactor is often used to summarize +\end_layout + +\begin_layout Standard +Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "D-exp" + +\end_inset + + about the derivative of the exponential map +\begin_inset Formula $f:\xi\mapsto\exp\xihat$ +\end_inset + + being identity only at +\begin_inset Formula $\xi=0$ +\end_inset + + has implications for GTSAM. + Given two elements +\begin_inset Formula $T_{1}$ +\end_inset + + and +\begin_inset Formula $T_{2}$ +\end_inset + +, BetweenFactor evaluates +\begin_inset Formula +\[ +g(T_{1},T_{2};Z)=f^{-1}\left(\mathop{between}(Z,\mathop{between}(T_{1},T_{2})\right)=f^{-1}\left(Z^{-1}\left(T_{1}^{-1}T_{2}\right)\right) +\] + +\end_inset + +but because it is assumed that +\begin_inset Formula $Z\approx T_{1}^{-1}T_{2}$ +\end_inset + +, and hence we have +\begin_inset Formula $Z^{-1}T_{1}^{-1}T_{2}\approx e$ +\end_inset + + and the derivative should be good there. + Note that the derivative of +\emph on +between +\emph default + is identity in its second argument. +\end_layout + +\begin_layout Section +Point3 +\end_layout + +\begin_layout Standard +A cross product +\begin_inset Formula $a\times b$ +\end_inset + + can be written as a matrix multiplication +\begin_inset Formula +\[ +a\times b=\Skew ab +\] + +\end_inset + +where +\begin_inset Formula $\Skew a$ +\end_inset + + is a skew-symmetric matrix defined as +\begin_inset Formula +\[ +\Skew{x,y,z}=\left[\begin{array}{ccc} +0 & -z & y\\ +z & 0 & -x\\ +-y & x & 0 +\end{array}\right] +\] + +\end_inset + +We also have +\begin_inset Formula +\[ +a^{T}\Skew b=-(\Skew ba)^{T}=-(a\times b)^{T} +\] + +\end_inset + +The derivative of a cross product +\begin_inset Formula +\begin{equation} +\frac{\partial(a\times b)}{\partial a}=\Skew{-b}\label{eq:Dcross1} +\end{equation} + +\end_inset + + +\begin_inset Formula +\begin{equation} +\frac{\partial(a\times b)}{\partial b}=\Skew a\label{eq:Dcross2} +\end{equation} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +2D Rotations +\end_layout + +\begin_layout Subsection +Rot2 in GTSAM +\end_layout + +\begin_layout Standard +A rotation is stored as +\begin_inset Formula $(\cos\theta,\sin\theta)$ +\end_inset + +. + An incremental rotation is applied using the trigonometric sum rule: +\begin_inset Formula +\[ +\cos\theta'=\cos\theta\cos\delta-\sin\theta\sin\delta +\] + +\end_inset + + +\begin_inset Formula +\[ +\sin\theta'=\sin\theta\cos\delta+\cos\theta\sin\delta +\] + +\end_inset + +where +\begin_inset Formula $\delta$ +\end_inset + + is an incremental rotation angle. +\end_layout + +\begin_layout Subsection +Derivatives of Actions +\end_layout + +\begin_layout Standard +In the case of +\begin_inset Formula $\SOtwo$ +\end_inset + + the vector space is +\begin_inset Formula $\Rtwo$ +\end_inset + +, and the group action +\begin_inset Formula $f(R,p)$ +\end_inset + + corresponds to rotating the 2D point +\begin_inset Formula $p$ +\end_inset + + +\begin_inset Formula +\[ +f(R,p)=Rp +\] + +\end_inset + +According to Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "th:Action" + +\end_inset + +, the Jacobian matrix of +\begin_inset Formula $f$ +\end_inset + + is given by +\begin_inset Formula +\[ +f'(R,p)=\left[\begin{array}{cc} +RH(p) & R\end{array}\right] +\] + +\end_inset + +with +\begin_inset Formula $H:\Reals 2\rightarrow\Reals{2\times2}$ +\end_inset + + a linear mapping that depends on +\begin_inset Formula $p$ +\end_inset + +. + In the case of +\begin_inset Formula $\SOtwo$ +\end_inset + +, we can find +\begin_inset Formula $H(p)$ +\end_inset + + by equating (as in Equation +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:Hp" + +\end_inset + +): +\begin_inset Formula +\[ +\skew wp=\left[\begin{array}{cc} +0 & -\omega\\ +\omega & 0 +\end{array}\right]\left[\begin{array}{c} +x\\ +y +\end{array}\right]=\left[\begin{array}{c} +-y\\ +x +\end{array}\right]\omega=H(p)\omega +\] + +\end_inset + +Note that +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\strikeout off +\uuline off +\uwave off +\noun off +\color none + +\begin_inset Formula +\[ +H(p)=\left[\begin{array}{c} +-y\\ +x +\end{array}\right]=\left[\begin{array}{cc} +0 & -1\\ +1 & 0 +\end{array}\right]\left[\begin{array}{c} +x\\ +y +\end{array}\right]=R_{\pi/2}p +\] + +\end_inset + +and since 2D rotations commute, we also have, with +\begin_inset Formula $q=Rp$ +\end_inset + + +\family default +\series default +\shape default +\size default +\emph default +\bar default +\strikeout default +\uuline default +\uwave default +\noun default +\color inherit +: +\begin_inset Formula +\[ +f'(R,p)=\left[\begin{array}{cc} +R\left(R_{\pi/2}p\right) & R\end{array}\right]=\left[\begin{array}{cc} +R_{\pi/2}q & R\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Pushforwards of Mappings +\end_layout + +\begin_layout Standard +Since +\begin_inset Formula $\Ad R\skew{\omega}=\skew{\omega}$ +\end_inset + +, we have the derivative of +\series bold +inverse +\series default +, +\begin_inset Formula +\[ +\frac{\partial R^{T}}{\partial\omega}=-\Ad R=-1\mbox{ } +\] + +\end_inset + + +\series bold +compose, +\series default + +\begin_inset Formula +\[ +\frac{\partial\left(R_{1}R_{2}\right)}{\partial\omega_{1}}=\Ad{R_{2}^{T}}=1\mbox{ and }\frac{\partial\left(R_{1}R_{2}\right)}{\partial\omega_{2}}=1 +\] + +\end_inset + +and +\series bold +between: +\series default + +\begin_inset Formula +\[ +\frac{\partial\left(R_{1}^{T}R_{2}\right)}{\partial\omega_{1}}=-\Ad{R_{2}^{T}R_{1}}=-1\mbox{ and }\frac{\partial\left(R_{1}^{T}R_{2}\right)}{\partial\omega_{2}}=1 +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +2D Rigid Transformations +\end_layout + +\begin_layout Subsection +The derivatives of Actions +\end_layout + +\begin_layout Standard +The action of +\begin_inset Formula $\SEtwo$ +\end_inset + + on 2D points is done by embedding the points in +\begin_inset Formula $\mathbb{R}^{3}$ +\end_inset + + by using homogeneous coordinates +\begin_inset Formula +\[ +f(T,p)=\hat{q}=\left[\begin{array}{c} +q\\ +1 +\end{array}\right]=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=T\hat{p} +\] + +\end_inset + +To find the derivative, we write the quantity +\begin_inset Formula $\xihat\hat{p}$ +\end_inset + + as the product of the +\begin_inset Formula $3\times3$ +\end_inset + + matrix +\begin_inset Formula $H(p)$ +\end_inset + + with +\begin_inset Formula $\xi$ +\end_inset + +: +\begin_inset Formula +\begin{equation} +\xihat\hat{p}=\left[\begin{array}{cc} +\skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=\left[\begin{array}{c} +\skew{\omega}p+v\\ +0 +\end{array}\right]=\left[\begin{array}{cc} +I_{2} & R_{\pi/2}p\\ +0 & 0 +\end{array}\right]\left[\begin{array}{c} +v\\ +\omega +\end{array}\right]=H(p)\xi\label{eq:HpSE2} +\end{equation} + +\end_inset + +Hence, by Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "th:Action" + +\end_inset + + we have +\begin_inset Formula +\begin{equation} +\deriv{\left(T\hat{p}\right)}{\xi}=TH(p)=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +I_{2} & R_{\pi/2}p\\ +0 & 0 +\end{array}\right]=\left[\begin{array}{cc} +R & RR_{\pi/2}p\\ +0 & 0 +\end{array}\right]=\left[\begin{array}{cc} +R & R_{\pi/2}q\\ +0 & 0 +\end{array}\right]\label{eq:SE2Action} +\end{equation} + +\end_inset + +Note that, looking only at the top rows of +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:HpSE2" + +\end_inset + + and +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:SE2Action" + +\end_inset + +, we can recognize the quantity +\begin_inset Formula $\skew{\omega}p+v=v+\omega\left(R_{\pi/2}p\right)$ +\end_inset + + as the velocity of +\begin_inset Formula $p$ +\end_inset + + in +\begin_inset Formula $\Rtwo$ +\end_inset + +, and +\begin_inset Formula $\left[\begin{array}{cc} +R & R_{\pi/2}q\end{array}\right]$ +\end_inset + + is the derivative of the action on +\begin_inset Formula $\Rtwo$ +\end_inset + +. + +\end_layout + +\begin_layout Standard +The derivative of the inverse action +\begin_inset Formula $g(T,p)=T^{-1}\hat{p}$ +\end_inset + + is given by Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "Th:InverseAction" + +\end_inset + + specialized to +\begin_inset Formula $\SEtwo$ +\end_inset + +: +\end_layout + +\begin_layout Standard +\begin_inset Formula +\[ +\deriv{\left(T^{-1}\hat{p}\right)}{\xi}=-H(T^{-1}p)=\left[\begin{array}{cc} +-I_{2} & -R_{\pi/2}\left(T^{-1}p\right)\\ +0 & 0 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Pushforwards of Mappings +\end_layout + +\begin_layout Standard +We can just define all derivatives in terms of the adjoint map, which in + the case of +\begin_inset Formula $\SEtwo$ +\end_inset + +, in twist coordinates, is the linear mapping +\begin_inset Formula +\[ +\Ad T\xi=\left[\begin{array}{cc} +R & -R_{\pi/2}t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +v\\ +\omega +\end{array}\right] +\] + +\end_inset + +and we have +\begin_inset Formula +\begin{eqnarray*} +\frac{\partial T^{^{-1}}}{\partial\xi} & = & -\Ad T +\end{eqnarray*} + +\end_inset + + +\begin_inset Formula +\begin{eqnarray*} +\frac{\partial\left(T_{1}T_{2}\right)}{\partial\xi_{1}} & = & \Ad{T_{2}^{^{-1}}}\mbox{ and }\frac{\partial\left(T_{1}T_{2}\right)}{\partial\xi_{2}}=I_{3} +\end{eqnarray*} + +\end_inset + + +\begin_inset Formula +\begin{eqnarray*} +\frac{\partial\left(T_{1}^{-1}T_{2}\right)}{\partial\xi_{1}} & = & -\Ad{T_{2}^{^{-1}}T_{1}}=-\Ad{between(T_{2},T_{1})}\mbox{ and }\frac{\partial\left(T_{1}^{-1}T_{2}\right)}{\partial\xi_{2}}=I_{3} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +3D Rotations +\end_layout + +\begin_layout Subsection +Derivatives of Actions +\end_layout + +\begin_layout Standard +In the case of +\begin_inset Formula $\SOthree$ +\end_inset + + the vector space is +\begin_inset Formula $\Rthree$ +\end_inset + +, and the group action +\begin_inset Formula $f(R,p)$ +\end_inset + + corresponds to rotating a point +\begin_inset Formula +\[ +q=f(R,p)=Rp +\] + +\end_inset + +To calculate +\begin_inset Formula $H(p)$ +\end_inset + + for use in Theorem +\begin_inset CommandInset ref +LatexCommand eqref +reference "th:Action" + +\end_inset + + we make use of +\begin_inset Formula +\[ +\Skew{\omega}p=\omega\times p=-p\times\omega=\Skew{-p}\omega +\] + +\end_inset + +so +\begin_inset Formula $H(p)\define\Skew{-p}$ +\end_inset + +. + Hence, the final derivative of an action in its first argument is +\begin_inset Formula +\[ +\deriv{\left(Rp\right)}{\omega}=RH(p)=-R\Skew p +\] + +\end_inset + +Likewise, according to Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "Th:InverseAction" + +\end_inset + +, the derivative of the inverse action is given by +\end_layout + +\begin_layout Standard +\begin_inset Formula +\[ +\deriv{\left(R^{T}p\right)}{\omega}=-H(R^{T}p)=\Skew{R^{T}p} +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +\begin_inset CommandInset label +LatexCommand label +name "sub:3DAngularVelocities" + +\end_inset + +Instantaneous Velocity +\end_layout + +\begin_layout Standard +For 3D rotations +\begin_inset Formula $R_{b}^{n}$ +\end_inset + + from a body frame +\begin_inset Formula $b$ +\end_inset + + to a navigation frame +\begin_inset Formula $n$ +\end_inset + + we have the spatial angular velocity +\begin_inset Formula $\omega_{nb}^{n}$ +\end_inset + + measured in the navigation frame, +\begin_inset Formula +\[ +\Skew{\omega_{nb}^{n}}\define\dot{R}_{b}^{n}\left(R_{b}^{n}\right)^{T}=\dot{R}_{b}^{n}R_{n}^{b} +\] + +\end_inset + +and the body angular velocity +\begin_inset Formula $\omega_{nb}^{b}$ +\end_inset + + measured in the body frame: +\begin_inset Formula +\[ +\Skew{\omega_{nb}^{b}}\define\left(R_{b}^{n}\right)^{T}\dot{R}_{b}^{n}=R_{n}^{b}\dot{R}_{b}^{n} +\] + +\end_inset + +These quantities can be used to derive the velocity of a point +\begin_inset Formula $p$ +\end_inset + +, and we choose between spatial or body angular velocity depending on the + frame in which we choose to represent +\begin_inset Formula $p$ +\end_inset + +: +\begin_inset Formula +\[ +v^{n}=\Skew{\omega_{nb}^{n}}p^{n}=\omega_{nb}^{n}\times p^{n} +\] + +\end_inset + + +\begin_inset Formula +\[ +v^{b}=\Skew{\omega_{nb}^{b}}p^{b}=\omega_{nb}^{b}\times p^{b} +\] + +\end_inset + +We can transform these skew-symmetric matrices from navigation to body frame + by conjugating, +\begin_inset Formula +\[ +\Skew{\omega_{nb}^{b}}=R_{n}^{b}\Skew{\omega_{nb}^{n}}R_{b}^{n} +\] + +\end_inset + +but because the adjoint representation satisfies +\begin_inset Formula +\[ +Ad_{R}\Skew{\omega}\define R\Skew{\omega}R^{T}=\Skew{R\omega} +\] + +\end_inset + +we can even more easily transform between spatial and body angular velocities + as 3-vectors: +\begin_inset Formula +\[ +\omega_{nb}^{b}=R_{n}^{b}\omega_{nb}^{n} +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Pushforwards of Mappings +\end_layout + +\begin_layout Standard +For +\begin_inset Formula $\SOthree$ +\end_inset + + we have +\begin_inset Formula $\Ad R\Skew{\omega}=\Skew{R\omega}$ +\end_inset + + and, in terms of angular velocities: +\begin_inset Formula $\Ad R\omega=R\omega$ +\end_inset + +. + Hence, the Jacobian matrix of the +\series bold +inverse +\series default + mapping is (see Equation +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:Dinverse" + +\end_inset + +) +\begin_inset Formula +\[ +\frac{\partial R^{T}}{\partial\omega}=-\Ad R=-R +\] + +\end_inset + +for +\series bold +compose +\series default + we have (Equations +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:Dcompose1" + +\end_inset + + and +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:Dcompose2" + +\end_inset + +): +\begin_inset Formula +\[ +\frac{\partial\left(R_{1}R_{2}\right)}{\partial\omega_{1}}=R_{2}^{T}\mbox{ and }\frac{\partial\left(R_{1}R_{2}\right)}{\partial\omega_{2}}=I_{3} +\] + +\end_inset + +and +\series bold +between +\series default + (Equation +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:Dbetween1" + +\end_inset + +): +\begin_inset Formula +\[ +\frac{\partial\left(R_{1}^{T}R_{2}\right)}{\partial\omega_{1}}=-R_{2}^{T}R_{1}=-between(R_{2},R_{1})\mbox{ and }\frac{\partial\left(R_{1}R_{2}\right)}{\partial\omega_{2}}=I_{3} +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Retractions +\end_layout + +\begin_layout Standard +Absil +\begin_inset CommandInset citation +LatexCommand cite +after "page 58" +key "Absil07book" + +\end_inset + + discusses two possible retractions for +\begin_inset Formula $\SOthree$ +\end_inset + + based on the QR decomposition or the polar decomposition of the matrix + +\begin_inset Formula $R\Skew{\omega}$ +\end_inset + +, but they are expensive. + Another retraction is based on the Cayley transform +\begin_inset Formula $\mathcal{C}:\sothree\rightarrow\SOthree$ +\end_inset + +, a mapping from the skew-symmetric matrices to rotation matrices: +\begin_inset Formula +\[ +Q=\mathcal{C}(\Omega)=(I-\Omega)(I+\Omega)^{-1} +\] + +\end_inset + +Interestingly, the inverse Cayley transform +\begin_inset Formula $\mathcal{C}^{-1}:\SOthree\rightarrow\sothree$ +\end_inset + + has the same form: +\begin_inset Formula +\[ +\Omega=\mathcal{C}^{-1}(Q)=(I-Q)(I+Q)^{-1} +\] + +\end_inset + +The retraction needs a factor +\begin_inset Formula $-\frac{1}{2}$ +\end_inset + + however, to make it locally align with a geodesic: +\begin_inset Formula +\[ +R'=\retract_{R}(\omega)=R\mathcal{C}(-\frac{1}{2}\Skew{\omega}) +\] + +\end_inset + +Note that given +\begin_inset Formula $\omega=(x,y,z)$ +\end_inset + + this has the closed-form expression below +\begin_inset Formula +\[ +\frac{1}{4+x^{2}+y^{2}+z^{2}}\left[\begin{array}{ccc} +4+x^{2}-y^{2}-z^{2} & 2xy-4z & 2xz+4y\\ +2xy+4z & 4-x^{2}+y^{2}-z^{2} & 2yz-4x\\ +2xz-4y & 2yz+4x & 4-x^{2}-y^{2}+z^{2} +\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +=\frac{1}{4+x^{2}+y^{2}+z^{2}}\left\{ 4(I+\Skew{\omega})+\left[\begin{array}{ccc} +x^{2}-y^{2}-z^{2} & 2xy & 2xz\\ +2xy & -x^{2}+y^{2}-z^{2} & 2yz\\ +2xz & 2yz & -x^{2}-y^{2}+z^{2} +\end{array}\right]\right\} +\] + +\end_inset + +so it can be seen to be a second-order correction on +\begin_inset Formula $(I+\Skew{\omega})$ +\end_inset + +. + The corresponding approximation to the logarithmic map is: +\begin_inset Formula +\[ +\Skew{\omega}=\retract_{R}^{-1}(R')=-2\mathcal{C}^{-1}\left(R^{T}R'\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Section +3D Rigid Transformations +\end_layout + +\begin_layout Subsection +The derivatives of Actions +\end_layout + +\begin_layout Standard +The action of +\begin_inset Formula $\SEthree$ +\end_inset + + on 3D points is done by embedding the points in +\begin_inset Formula $\mathbb{R}^{4}$ +\end_inset + + by using homogeneous coordinates +\begin_inset Formula +\[ +\hat{q}=\left[\begin{array}{c} +q\\ +1 +\end{array}\right]=f(T,p)=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=T\hat{p} +\] + +\end_inset + +The quantity +\begin_inset Formula $\xihat\hat{p}$ +\end_inset + + corresponds to a velocity in +\begin_inset Formula $\mathbb{R}^{4}$ +\end_inset + + (in the local +\begin_inset Formula $T$ +\end_inset + + frame), and equating it to +\begin_inset Formula $H(p)\xi$ +\end_inset + + as in Equation +\begin_inset CommandInset ref +LatexCommand ref +reference "eq:Hp" + +\end_inset + + yields the +\begin_inset Formula $4\times6$ +\end_inset + + matrix +\begin_inset Formula $H(p)$ +\end_inset + + +\begin_inset Foot +status collapsed + +\begin_layout Plain Layout +\begin_inset Formula $H(p)$ +\end_inset + + can also be obtained by taking the +\begin_inset Formula $j^{th}$ +\end_inset + + column of each of the 6 generators to multiply with components of +\begin_inset Formula $\hat{p}$ +\end_inset + + +\end_layout + +\end_inset + +: +\begin_inset Formula +\[ +\xihat\hat{p}=\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{c} +p\\ +1 +\end{array}\right]=\left[\begin{array}{c} +\omega\times p+v\\ +0 +\end{array}\right]=\left[\begin{array}{cc} +\Skew{-p} & I_{3}\\ +0 & 0 +\end{array}\right]\left[\begin{array}{c} +\omega\\ +v +\end{array}\right]=H(p)\xi +\] + +\end_inset + +Note how velocities are analogous to points at infinity in projective geometry: + they correspond to free vectors indicating a direction and magnitude of + change. + According to Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "th:Action" + +\end_inset + +, the derivative of the group action is then +\begin_inset Formula +\[ +\deriv{\left(T\hat{p}\right)}{\xi}=TH(p)=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +\Skew{-p} & I_{3}\\ +0 & 0 +\end{array}\right]=\left[\begin{array}{cc} +R\Skew{-p} & R\\ +0 & 0 +\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +\deriv{\left(T\hat{p}\right)}{\hat{p}}=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +in homogenous coordinates. + In +\begin_inset Formula $\Rthree$ +\end_inset + + this becomes +\begin_inset Formula $R\left[\begin{array}{cc} +-\Skew p & I_{3}\end{array}\right]$ +\end_inset + +. +\end_layout + +\begin_layout Standard +The derivative of the inverse action +\begin_inset Formula $T^{-1}p$ +\end_inset + + is given by Theorem +\begin_inset CommandInset ref +LatexCommand ref +reference "Th:InverseAction" + +\end_inset + +: +\end_layout + +\begin_layout Standard + +\family roman +\series medium +\shape up +\size normal +\emph off +\bar no +\noun off +\color none +\begin_inset Formula +\[ +\deriv{\left(T^{-1}\hat{p}\right)}{\xi}=-H\left(T^{-1}\hat{p}\right)=\left[\begin{array}{cc} +\Skew{T^{-1}\hat{p}} & -I_{3}\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +\deriv{\left(T^{-1}\hat{p}\right)}{\hat{p}}=\left[\begin{array}{cc} +R^{T} & -R^{T}t\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Example +Let us examine a visual SLAM example. + We have 2D measurements +\begin_inset Formula $z_{ij}$ +\end_inset + +, where each measurement is predicted by +\begin_inset Formula +\[ +z_{ij}=h(T_{i},p_{j})=\pi(T_{i}^{-1}p_{j})=\pi(q) +\] + +\end_inset + +where +\begin_inset Formula $T_{i}$ +\end_inset + + is the 3D pose of the +\begin_inset Formula $i^{th}$ +\end_inset + + camera, +\begin_inset Formula $p_{j}$ +\end_inset + + is the location of the +\begin_inset Formula $j^{th}$ +\end_inset + + point, +\begin_inset Formula $q=(x',y',z')=T^{-1}p$ +\end_inset + + is the point in camera coordinates, and +\begin_inset Formula $\pi:(x,y,z)\mapsto(x/z,y/z)$ +\end_inset + + is the camera projection function from Example +\begin_inset CommandInset ref +LatexCommand ref +reference "ex:projection" + +\end_inset + +. + By the chain rule, we then have +\begin_inset Formula +\[ +\deriv{h(T,p)}{\xi}=\deriv{\pi(q)}q\deriv{(T^{-1}p)}{\xi}=\frac{1}{z'}\left[\begin{array}{ccc} +1 & 0 & -x'/z'\\ +0 & 1 & -y'/z' +\end{array}\right]\left[\begin{array}{cc} +\Skew q & -I_{3}\end{array}\right]=\left[\begin{array}{cc} +\pi'(q)\Skew q & -\pi'(q)\end{array}\right] +\] + +\end_inset + + +\begin_inset Formula +\[ +\deriv{h(T,p)}p=\pi'(q)R^{T} +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Instantaneous Velocity +\end_layout + +\begin_layout Standard +For rigid 3D transformations +\begin_inset Formula $T_{b}^{n}$ +\end_inset + + from a body frame +\begin_inset Formula $b$ +\end_inset + + to a navigation frame +\begin_inset Formula $n$ +\end_inset + + we have the instantaneous spatial twist +\begin_inset Formula $\xi_{nb}^{n}$ +\end_inset + + measured in the navigation frame, +\begin_inset Formula +\[ +\hat{\xi}_{nb}^{n}\define\dot{T}_{b}^{n}\left(T_{b}^{n}\right)^{-1} +\] + +\end_inset + +and the instantaneous body twist +\begin_inset Formula $\xi_{nb}^{b}$ +\end_inset + + measured in the body frame: +\begin_inset Formula +\[ +\hat{\xi}_{nb}^{b}\define\left(T_{b}^{n}\right)^{T}\dot{T}_{b}^{n} +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection +Pushforwards of Mappings +\end_layout + +\begin_layout Standard +As we can express the Adjoint representation in terms of twist coordinates, + we have +\begin_inset Formula +\[ +\left[\begin{array}{c} +\omega'\\ +v' +\end{array}\right]=\left[\begin{array}{cc} +R & 0\\ +\Skew tR & R +\end{array}\right]\left[\begin{array}{c} +\omega\\ +v +\end{array}\right] +\] + +\end_inset + +Hence, as with +\begin_inset Formula $\SOthree$ +\end_inset + +, we are now in a position to simply posit the derivative of +\series bold +inverse +\series default +, +\begin_inset Formula +\[ +\frac{\partial T^{-1}}{\partial\xi}=\Ad T=-\left[\begin{array}{cc} +R & 0\\ +\Skew tR & R +\end{array}\right] +\] + +\end_inset + + +\series bold +compose +\series default + in its first argument, +\begin_inset Formula +\[ +\frac{\partial\left(T_{1}T_{2}\right)}{\partial\xi_{1}}=\Ad{T_{2}^{-1}} +\] + +\end_inset + + in its second argument, +\begin_inset Formula +\[ +\frac{\partial\left(T_{1}T_{2}\right)}{\partial\xi_{2}}=I_{6} +\] + +\end_inset + + +\series bold +between +\series default + in its first argument, +\begin_inset Formula +\[ +\frac{\partial\left(T_{1}^{^{-1}}T_{2}\right)}{\partial\xi_{1}}=\Ad{T_{2}^{^{-1}}T_{1}} +\] + +\end_inset + +and in its second argument, +\begin_inset Formula +\begin{eqnarray*} +\frac{\partial\left(T_{1}^{^{-1}}T_{2}\right)}{\partial\xi_{1}} & = & I_{6} +\end{eqnarray*} + +\end_inset + + +\end_layout + +\begin_layout Subsection +Retractions +\end_layout + +\begin_layout Standard +For +\begin_inset Formula $\SEthree$ +\end_inset + +, instead of using the true exponential map it is computationally more efficient + to design other retractions. + A first-order approximation to the exponential map does not quite cut it, + as it yields a +\begin_inset Formula $4\times4$ +\end_inset + + matrix which is not in +\begin_inset Formula $\SEthree$ +\end_inset + +: +\begin_inset Formula +\begin{eqnarray*} +T\exp\xihat & \approx & T(I+\xihat)\\ + & = & T\left(I_{4}+\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]\right)\\ + & = & \left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +I_{3}+\Skew{\omega} & v\\ +0 & 1 +\end{array}\right]\\ + & = & \left[\begin{array}{cc} +R\left(I_{3}+\Skew{\omega}\right) & t+Rv\\ +0 & 1 +\end{array}\right] +\end{eqnarray*} + +\end_inset + +However, we can make it into a retraction by using any retraction defined + for +\begin_inset Formula $\SOthree$ +\end_inset + +, including, as below, using the exponential map +\begin_inset Formula $Re^{\Skew{\omega}}$ +\end_inset + +: +\begin_inset Formula +\[ +\retract_{T}\left(\left[\begin{array}{c} +\omega\\ +v +\end{array}\right]\right)=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +e^{\Skew{\omega}} & v\\ +0 & 1 +\end{array}\right]=\left[\begin{array}{cc} +Re^{\Skew{\omega}} & t+Rv\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + +Similarly, for a second order approximation we have +\begin_inset Formula +\begin{eqnarray*} +T\exp\xihat & \approx & T(I+\xihat+\frac{\xihat^{2}}{2})\\ + & = & T\left(I_{4}+\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]+\frac{1}{2}\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]\left[\begin{array}{cc} +\Skew{\omega} & v\\ +0 & 0 +\end{array}\right]\right)\\ + & = & \left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left(\left[\begin{array}{cc} +I_{3}+\Skew{\omega}+\frac{1}{2}\Skew{\omega}^{2} & v+\frac{1}{2}\Skew{\omega}v\\ +0 & 1 +\end{array}\right]\right)\\ + & = & \left[\begin{array}{cc} +R\left(I_{3}+\Skew{\omega}+\frac{1}{2}\Skew{\omega}^{2}\right) & t+R\left[v+\left(\omega\times v\right)/2\right]\\ +0 & 1 +\end{array}\right] +\end{eqnarray*} + +\end_inset + +inspiring the retraction +\begin_inset Formula +\[ +\retract_{T}\left(\left[\begin{array}{c} +\omega\\ +v +\end{array}\right]\right)=\left[\begin{array}{cc} +R & t\\ +0 & 1 +\end{array}\right]\left[\begin{array}{cc} +e^{\Skew{\omega}} & v+\left(\omega\times v\right)/2\\ +0 & 1 +\end{array}\right]=\left[\begin{array}{cc} +Re^{\Skew{\omega}} & t+R\left[v+\left(\omega\times v\right)/2\right]\\ +0 & 1 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Newpage pagebreak +\end_inset + + +\end_layout + +\begin_layout Section +2D Line Segments (Ocaml) +\end_layout + +\begin_layout Standard +The error between an infinite line +\begin_inset Formula $(a,b,c)$ +\end_inset + + and a 2D line segment +\begin_inset Formula $((x1,y1),(x2,y2))$ +\end_inset + + is defined in Line3.ml. +\end_layout + +\begin_layout Section +Line3vd (Ocaml) +\end_layout + +\begin_layout Standard +One representation of a line is through 2 vectors +\begin_inset Formula $(v,d)$ +\end_inset + +, where +\begin_inset Formula $v$ +\end_inset + + is the direction and the vector +\begin_inset Formula $d$ +\end_inset + + points from the orgin to the closest point on the line. +\end_layout + +\begin_layout Standard +In this representation, transforming a 3D line from a world coordinate frame + to a camera at +\begin_inset Formula $(R_{w}^{c},t^{w})$ +\end_inset + + is done by +\begin_inset Formula +\[ +v^{c}=R_{w}^{c}v^{w} +\] + +\end_inset + + +\begin_inset Formula +\[ +d^{c}=R_{w}^{c}\left(d^{w}+(t^{w}v^{w})v^{w}-t^{w}\right) +\] + +\end_inset + + +\end_layout + +\begin_layout Section +Line3 (Ocaml) +\end_layout + +\begin_layout Standard +For 3D lines, we use a parameterization due to C.J. + Taylor, using a rotation matrix +\begin_inset Formula $R$ +\end_inset + + and 2 scalars +\begin_inset Formula $a$ +\end_inset + + and +\begin_inset Formula $b$ +\end_inset + +. + The line direction +\begin_inset Formula $v$ +\end_inset + + is simply the Z-axis of the rotated frame, i.e., +\begin_inset Formula $v=R_{3}$ +\end_inset + +, while the vector +\begin_inset Formula $d$ +\end_inset + + is given by +\begin_inset Formula $d=aR_{1}+bR_{2}$ +\end_inset + +. +\end_layout + +\begin_layout Standard +Now, we will +\emph on +not +\emph default + use the incremental rotation scheme we used for rotations: because the + matrix R translates from the line coordinate frame to the world frame, + we need to apply the incremental rotation on the right-side: +\begin_inset Formula +\[ +R'=R(I+\Omega) +\] + +\end_inset + +Projecting a line to 2D can be done easily, as both +\begin_inset Formula $v$ +\end_inset + + and +\begin_inset Formula $d$ +\end_inset + + are also the 2D homogenous coordinates of two points on the projected line, + and hence we have +\begin_inset Formula +\begin{eqnarray*} +l & = & v\times d\\ + & = & R_{3}\times\left(aR_{1}+bR_{2}\right)\\ + & = & a\left(R_{3}\times R_{1}\right)+b\left(R_{3}\times R_{2}\right)\\ + & = & aR_{2}-bR_{1} +\end{eqnarray*} + +\end_inset + +This can be written as a rotation of a point, +\begin_inset Formula +\[ +l=R\left(\begin{array}{c} +-b\\ +a\\ +0 +\end{array}\right) +\] + +\end_inset + +but because the incremental rotation is now done on the right, we need to + figure out the derivatives again: +\begin_inset Formula +\begin{equation} +\frac{\partial(R(I+\Omega)x)}{\partial\omega}=\frac{\partial(R\Omega x)}{\partial\omega}=R\frac{\partial(\Omega x)}{\partial\omega}=R\Skew{-x}\label{eq:rotateRight} +\end{equation} + +\end_inset + +and hence the derivative of the projection +\begin_inset Formula $l$ +\end_inset + + with respect to the rotation matrix +\begin_inset Formula $R$ +\end_inset + +of the 3D line is +\begin_inset Formula +\begin{equation} +\frac{\partial(l)}{\partial\omega}=R\Skew{\left(\begin{array}{c} +b\\ +-a\\ +0 +\end{array}\right)}=\left[\begin{array}{ccc} +aR_{3} & bR_{3} & -(aR_{1}+bR_{2})\end{array}\right] +\end{equation} + +\end_inset + +or the +\begin_inset Formula $a,b$ +\end_inset + + scalars: +\begin_inset Formula +\[ +\frac{\partial(l)}{\partial a}=R_{2} +\] + +\end_inset + + +\begin_inset Formula +\[ +\frac{\partial(l)}{\partial b}=-R_{1} +\] + +\end_inset + + +\end_layout + +\begin_layout Standard +Transforming a 3D line +\begin_inset Formula $(R,(a,b))$ +\end_inset + + from a world coordinate frame to a camera frame +\begin_inset Formula $(R_{w}^{c},t^{w})$ +\end_inset + + is done by +\end_layout + +\begin_layout Standard +\begin_inset Formula +\[ +R'=R_{w}^{c}R +\] + +\end_inset + + +\begin_inset Formula +\[ +a'=a-R_{1}^{T}t^{w} +\] + +\end_inset + + +\begin_inset Formula +\[ +b'=b-R_{2}^{T}t^{w} +\] + +\end_inset + +Again, we need to redo the derivatives, as R is incremented from the right. + The first argument is incremented from the left, but the result is incremented + on the right: +\begin_inset Formula +\begin{eqnarray*} +R'(I+\Omega')=(AB)(I+\Omega') & = & (I+\Skew{S\omega})AB\\ +I+\Omega' & = & (AB)^{T}(I+\Skew{S\omega})(AB)\\ +\Omega' & = & R'^{T}\Skew{S\omega}R'\\ +\Omega' & = & \Skew{R'^{T}S\omega}\\ +\omega' & = & R'^{T}S\omega +\end{eqnarray*} + +\end_inset + +For the second argument +\begin_inset Formula $R$ +\end_inset + + we now simply have: +\begin_inset Formula +\begin{eqnarray*} +AB(I+\Omega') & = & AB(I+\Omega)\\ +\Omega' & = & \Omega\\ +\omega' & = & \omega +\end{eqnarray*} + +\end_inset + +The scalar derivatives can be found by realizing that +\begin_inset Formula +\[ +\left(\begin{array}{c} +a'\\ +b'\\ +... +\end{array}\right)=\left(\begin{array}{c} +a\\ +b\\ +0 +\end{array}\right)-R^{T}t^{w} +\] + +\end_inset + +where we don't care about the third row. + Hence +\begin_inset Formula +\[ +\frac{\partial(\left(R(I+\Omega_{2})\right)^{T}t^{w})}{\partial\omega}=-\frac{\partial(\Omega_{2}R^{T}t^{w})}{\partial\omega}=-\Skew{R^{T}t^{w}}=\left[\begin{array}{ccc} +0 & R_{3}^{T}t^{w} & -R_{2}^{T}t^{w}\\ +-R_{3}^{T}t^{w} & 0 & R_{1}^{T}t^{w}\\ +... & ... & 0 +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Section + +\series bold +Aligning 3D Scans +\end_layout + +\begin_layout Standard +Below is the explanaition underlying Pose3.align, i.e. + aligning two point clouds using SVD. + Inspired but modified from CVOnline... +\end_layout + +\begin_layout Standard + +\emph on +Our +\emph default + model is +\begin_inset Formula +\[ +p^{c}=R\left(p^{w}-t\right) +\] + +\end_inset + +i.e., +\begin_inset Formula $R$ +\end_inset + + is from camera to world, and +\begin_inset Formula $t$ +\end_inset + + is the camera location in world coordinates. + The objective function is +\begin_inset Formula +\begin{equation} +\frac{1}{2}\sum\left(p^{c}-R(p^{w}-t)\right)^{2}=\frac{1}{2}\sum\left(p^{c}-Rp^{w}+Rt\right)^{2}=\frac{1}{2}\sum\left(p^{c}-Rp^{w}-t'\right)^{2}\label{eq:J} +\end{equation} + +\end_inset + +where +\begin_inset Formula $t'=-Rt$ +\end_inset + + is the location of the origin in the camera frame. + Taking the derivative with respect to +\begin_inset Formula $t'$ +\end_inset + + and setting to zero we have +\begin_inset Formula +\[ +\sum\left(p^{c}-Rp^{w}-t'\right)=0 +\] + +\end_inset + +or +\begin_inset Formula +\begin{equation} +t'=\frac{1}{n}\sum\left(p^{c}-Rp^{w}\right)=\bar{p}^{c}-R\bar{p}^{w}\label{eq:t} +\end{equation} + +\end_inset + +here +\begin_inset Formula $\bar{p}^{c}$ +\end_inset + + and +\begin_inset Formula $\bar{p}^{w}$ +\end_inset + + are the point cloud centroids. + Substituting back into +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:J" + +\end_inset + +, we get +\begin_inset Formula +\[ +\frac{1}{2}\sum\left(p^{c}-R(p^{w}-t)\right)^{2}=\frac{1}{2}\sum\left(\left(p^{c}-\bar{p}^{c}\right)-R\left(p^{w}-\bar{p}^{w}\right)\right)^{2}=\frac{1}{2}\sum\left(\hat{p}^{c}-R\hat{p}^{w}\right)^{2} +\] + +\end_inset + +Now, to minimize the above it suffices to maximize (see CVOnline) +\begin_inset Formula +\[ +\mathop{trace}\left(R^{T}C\right) +\] + +\end_inset + +where +\begin_inset Formula $C=\sum\hat{p}^{c}\left(\hat{p}^{w}\right)^{T}$ +\end_inset + + is the correlation matrix. + Intuitively, the cloud of points is rotated to align with the principal + axes. + This can be achieved by SVD decomposition on +\begin_inset Formula $C$ +\end_inset + + +\begin_inset Formula +\[ +C=USV^{T} +\] + +\end_inset + +and setting +\begin_inset Formula +\[ +R=UV^{T} +\] + +\end_inset + +Clearly, from +\begin_inset CommandInset ref +LatexCommand eqref +reference "eq:t" + +\end_inset + + we then also recover the optimal +\begin_inset Formula $t$ +\end_inset + + as +\begin_inset Formula +\[ +t=\bar{p}^{w}-R^{T}\bar{p}^{c} +\] + +\end_inset + + +\end_layout + +\begin_layout Section* +Appendix +\end_layout + +\begin_layout Subsection* +Differentiation Rules +\end_layout + +\begin_layout Standard +Spivak +\begin_inset CommandInset citation +LatexCommand cite +key "Spivak65book" + +\end_inset + + also notes some multivariate derivative rules defined component-wise, but + they are not that useful in practice: +\end_layout + +\begin_layout Itemize +Since +\begin_inset Formula $f:\Multi nm$ +\end_inset + + is defined in terms of +\begin_inset Formula $m$ +\end_inset + + component functions +\begin_inset Formula $f^{i}$ +\end_inset + +, then +\begin_inset Formula $f$ +\end_inset + + is differentiable at +\begin_inset Formula $a$ +\end_inset + + iff each +\begin_inset Formula $f^{i}$ +\end_inset + + is, and the Jacobian matrix +\begin_inset Formula $F_{a}$ +\end_inset + + is the +\begin_inset Formula $m\times n$ +\end_inset + + matrix whose +\begin_inset Formula $i^{th}$ +\end_inset + + row is +\begin_inset Formula $\left(f^{i}\right)'(a)$ +\end_inset + +: +\begin_inset Formula +\[ +F_{a}\define f'(a)=\left[\begin{array}{c} +\left(f^{1}\right)'(a)\\ +\vdots\\ +\left(f^{m}\right)'(a) +\end{array}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Itemize +Scalar differentiation rules: if +\begin_inset Formula $f,g:\OneD n$ +\end_inset + + are differentiable at +\begin_inset Formula $a$ +\end_inset + +, then +\begin_inset Formula +\[ +(f+g)'(a)=F_{a}+G_{a} +\] + +\end_inset + + +\begin_inset Formula +\[ +(f\cdot g)'(a)=g(a)F_{a}+f(a)G_{a} +\] + +\end_inset + + +\begin_inset Formula +\[ +(f/g)'(a)=\frac{1}{g(a)^{2}}\left[g(a)F_{a}-f(a)G_{a}\right] +\] + +\end_inset + + +\end_layout + +\begin_layout Subsection* +Tangent Spaces and the Tangent Bundle +\end_layout + +\begin_layout Standard +The following is adapted from Appendix A in +\begin_inset CommandInset citation +LatexCommand cite +key "Murray94book" + +\end_inset + +. +\end_layout + +\begin_layout Standard +The +\series bold +tangent space +\series default + +\begin_inset Formula $T_{p}M$ +\end_inset + + of a manifold +\begin_inset Formula $M$ +\end_inset + + at a point +\begin_inset Formula $p\in M$ +\end_inset + + is the vector space of +\series bold +tangent vectors +\series default + at +\begin_inset Formula $p$ +\end_inset + +. + The +\series bold +tangent bundle +\series default + +\begin_inset Formula $TM$ +\end_inset + + is the set of all tangent vectors +\begin_inset Formula +\[ +TM\define\bigcup_{p\in M}T_{p}M +\] + +\end_inset + +A +\series bold +vector field +\series default + +\begin_inset Formula $X:M\rightarrow TM$ +\end_inset + + assigns a single tangent vector +\begin_inset Formula $x\in T_{p}M$ +\end_inset + + to each point +\begin_inset Formula $p$ +\end_inset + +. +\end_layout + +\begin_layout Standard +If +\begin_inset Formula $F:M\rightarrow N$ +\end_inset + + is a smooth map from a manifold +\begin_inset Formula $M$ +\end_inset + + to a manifold +\begin_inset Formula $N$ +\end_inset + +, then we can define the +\series bold + tangent map +\series default + of +\begin_inset Formula $F$ +\end_inset + + at +\begin_inset Formula $p$ +\end_inset + + as the linear map +\begin_inset Formula $F_{*p}:T_{p}M\rightarrow T_{F(p)}N$ +\end_inset + + that maps tangent vectors in +\begin_inset Formula $T_{p}M$ +\end_inset + + at +\begin_inset Formula $p$ +\end_inset + + to tangent vectors in +\begin_inset Formula $T_{F(p)}N$ +\end_inset + + at the image +\begin_inset Formula $F(p)$ +\end_inset + +. +\end_layout + +\begin_layout Subsection* +Homomorphisms +\end_layout + +\begin_layout Standard +The following +\emph on +might be +\emph default + relevant +\begin_inset CommandInset citation +LatexCommand cite +after "page 45" +key "Hall00book" + +\end_inset + +: suppose that +\begin_inset Formula $\Phi:G\rightarrow H$ +\end_inset + + is a mapping (Lie group homomorphism). + Then there exists a unique linear map +\begin_inset Formula $\phi:\gg\rightarrow\mathfrak{h}$ +\end_inset + + +\begin_inset Formula +\[ +\phi(\xhat)\define\lim_{t\rightarrow0}\frac{d}{dt}\Phi\left(e^{t\xhat}\right) +\] + +\end_inset + +such that +\end_layout + +\begin_layout Enumerate +\begin_inset Formula $\Phi\left(e^{\xhat}\right)=e^{\phi\left(\xhat\right)}$ +\end_inset + + +\end_layout + +\begin_layout Enumerate +\begin_inset Formula $\phi\left(T\xhat T^{-1}\right)=\Phi(T)\phi(\xhat)\Phi(T^{-1})$ +\end_inset + + +\end_layout + +\begin_layout Enumerate +\begin_inset Formula $\phi\left([\xhat,\yhat]\right)=\left[\phi(\xhat),\phi(\yhat)\right]$ +\end_inset + + +\end_layout + +\begin_layout Standard +In other words, the map +\begin_inset Formula $\phi$ +\end_inset + + is the derivative of +\begin_inset Formula $\Phi$ +\end_inset + + at the identity. + As an example, suppose +\begin_inset Formula $\Phi(g)=g^{-1}$ +\end_inset + +, then the corresponding derivative +\emph on +at the identity +\emph default +is +\begin_inset Formula +\[ +\phi(\xhat)\define\lim_{t\rightarrow0}\frac{d}{dt}\left(e^{t\xhat}\right)^{-1}=\lim_{t\rightarrow0}\frac{d}{dt}e^{-t\xhat}=-\xhat\lim_{t\rightarrow0}e^{-t\xhat}=-\xhat +\] + +\end_inset + +In general it suffices to compute +\begin_inset Formula $\phi$ +\end_inset + + for a basis of +\begin_inset Formula $\gg$ +\end_inset + +. +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +Undercooked: What if we want the derivative of +\begin_inset Formula $\Phi$ +\end_inset + + at some other element +\begin_inset Formula $g$ +\end_inset + +? In other words, if we apply +\begin_inset Formula $\Phi$ +\end_inset + + at +\begin_inset Formula $g$ +\end_inset + + incremented by some Lie algebra element +\begin_inset Formula $e^{\xhat}$ +\end_inset + +, then we are looking for a +\begin_inset Formula $\yhat\in\gg$ +\end_inset + + will yield the same result: +\begin_inset Formula +\[ +\Phi\left(g\right)\lim_{t\rightarrow0}\frac{d}{dt}e^{t\yhat}=\lim_{t\rightarrow0}\frac{d}{dt}\Phi\left(ge^{t\xhat}\right) +\] + +\end_inset + + +\begin_inset Formula +\[ +\lim_{t\rightarrow0}\frac{d}{dt}e^{t\yhat}=\Phi\left(g\right)^{-1}\lim_{t\rightarrow0}\frac{d}{dt}\Phi\left(ge^{t\xhat}\right) +\] + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset Note Note +status collapsed + +\begin_layout Plain Layout +Let us define two mappings +\begin_inset Formula +\[ +\Phi_{1}(A)=AB\mbox{ and }\Phi_{2}(B)=AB +\] + +\end_inset + +Then +\begin_inset Formula +\[ +\phi_{1}(\xhat)=\lim_{t\rightarrow0}\frac{d}{dt}\Phi_{1}\left(e^{t\xhat}B\right)= +\] + +\end_inset + + +\end_layout + +\end_inset + + +\end_layout + +\begin_layout Standard +\begin_inset CommandInset bibtex +LatexCommand bibtex +bibfiles "/Users/dellaert/papers/refs" +options "plain" + +\end_inset + + +\end_layout + +\end_body +\end_document diff --git a/doc/math.pdf b/doc/math.pdf new file mode 100644 index 0000000000000000000000000000000000000000..ee50857ce92a23fe32b13454bd579266748e6c90 GIT binary patch literal 118509 zcmbrlW0WOZ+oqegot2rDwryLLwr$(CZL89@Gb?S|wym!B^t<=2@0|C1-J|=*8u6?- zV?@jmKi0agc|SocDJyor{SvZP>PXpw* z(8Y$uxl(6=tfAyRyzfWIPiRamFDaj$_VI8z*emGIRKH2o2rdo*faT@+;l%ioI87A5 z%OnT$X*}`@AhXrq9kRcsbbEAV+Q$%o#HD71EJ3X27JrB-N1 z{DT`6dX8FwBwSd{W__aFJc8F++Tyf};%Vb{tNf{kSMn#G=6*}JeBdn6LA+`6hl`b( z&;8kiw@!Lf^O*dPa02l(5;bemF4{AN6`uCe+o<-sNQN)8Y*}H9r03*BbLo~J@-1Y| z@3@k&D348JpO;IafspyK@zg&FjX-CDvN~7Oz&4#)8OL`6#2nMmglnH|&&vfLFdgUS 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z#8-d29T?&>yiMa`y*8uW=nu@r%6aSA0{{?k=$-z!*f=0M`;BV>Y@FBM_YE4D3jpyQ z-=qP6ke0V;kQ+l3;9J*Tqt0gTQ6EZohLj$P2!8Ei0G{%yIiUvvC0Kyh|V}8^@h@$;ElSH@Y!C zAY}h=`yN05$90Xk8|}bckd<|d282AU+wFjmQf;^U&xfXoqy+La4-C4WrY;1Sd8V4)KowdsjS@yTr0XvBE z8c}y+d>jxh;!Znu);nvB9n8*gXUq@|bNiXHgE{Zajhzc3>F?YZVqU*RW9I_0-5v`V z@~Pgv7I^2Gf&pB2uLS|_J}Us|8gq2x8Gu1R;O)6V-UjF0XT^SpKZ7|SNXOg#af0ux zKM2dYEk7XNH0aK^0AXPe^X;wiaY5<}-lB0pUfb>U2j=2{pi6FE3;71GO}{th3;B$$ ztt+=^?AK)&ZqYceZ38!H5LSHW9smf(y3>yR_O}W#xInn}?RIQ;WgZ6``yF1w3E@|_ z$HK{acfOnuNppL?5LMthqr{DQa6;hix7QUXC*Y25!O6*fhj(&8s=?fzFBfELx9)HqflxSa^FIJ9M5x^94|rX3_Evw8&*;ur*a3I1Wd~jtQ@S}8cJOT-1Y+XixUIiH zbS?-Zx_#~cH!}<1wIXQdVb&>z2Ijz&kFL(#0=@nPPHkY6LqIVz47UK6n4#wnppY>} z_yM;7qt|6Xbr$GlB2cR#MqC;Kvp#xQ83KbIJq!$il?qZAloTaq=A;&Jfd)^5Gpka; xjcWa%{QMFHV61`qm7aNN`3k^T1+sxXq~emqq7rcX8< Date: Mon, 4 Jun 2012 23:01:30 +0000 Subject: [PATCH 155/914] add exists in visualSLAMValues --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index 5a6e58687..3c08931be 100644 --- a/gtsam.h +++ b/gtsam.h @@ -852,6 +852,7 @@ class Values { void print(string s) const; gtsam::Pose3 pose(size_t i); gtsam::Point3 point(size_t j); + bool exists(size_t key); }; class Graph { From f34ae951fca8056c3e29ba8ef8861bc03ad156d9 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 4 Jun 2012 23:04:25 +0000 Subject: [PATCH 156/914] oops, missed a file: add exists in visualSLAMValues --- gtsam/slam/visualSLAM.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index f71d0c4ca..7674ed1e3 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -72,6 +72,9 @@ namespace visualSLAM { /// get a point Point3 point(Key j) const { return at(j); } + /// check if value with specified key exists + bool exists(Key i) const { return gtsam::Values::exists(i); } + }; /** From 647b38c7584428ad82c152e53f324f1c120abd76 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 5 Jun 2012 00:02:55 +0000 Subject: [PATCH 157/914] small improvements to plotting coordinate frames --- examples/matlab/Pose3SLAMExample_circle.m | 4 ++-- examples/matlab/plot3DTrajectory.m | 10 ++++++---- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/examples/matlab/Pose3SLAMExample_circle.m b/examples/matlab/Pose3SLAMExample_circle.m index d1676626c..1c8e481ee 100644 --- a/examples/matlab/Pose3SLAMExample_circle.m +++ b/examples/matlab/Pose3SLAMExample_circle.m @@ -39,11 +39,11 @@ initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); %% Plot Initial Estimate figure(1);clf -plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); axis equal +plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); %% optimize result = fg.optimize(initial); %% Show Result -hold on; plot3(result.xs(),result.ys(),result.zs(),'b-*') +hold on; plot3DTrajectory(result,'b-*', true, 0.3); axis equal; result.print(sprintf('\nFinal result:\n')); diff --git a/examples/matlab/plot3DTrajectory.m b/examples/matlab/plot3DTrajectory.m index f2c1d8f2f..524b41d33 100644 --- a/examples/matlab/plot3DTrajectory.m +++ b/examples/matlab/plot3DTrajectory.m @@ -1,15 +1,17 @@ -function plot3DTrajectory(values,style,frames) +function plot3DTrajectory(values,style,frames,scale) % plot3DTrajectory if nargin<3,frames=false;end +if nargin<4,scale=0;end plot3(values.xs(),values.ys(),values.zs(),style); hold on if frames + N=values.size; for i=0:N-1 pose = values.pose(i); t = pose.translation; R = pose.rotation.matrix; - quiver3(t.x,t.y,t.z,R(1,1),R(2,1),R(3,1),'r'); - quiver3(t.x,t.y,t.z,R(1,2),R(2,2),R(3,2),'g'); - quiver3(t.x,t.y,t.z,R(1,3),R(2,3),R(3,3),'b'); + quiver3(t.x,t.y,t.z,R(1,1),R(2,1),R(3,1),scale,'r'); + quiver3(t.x,t.y,t.z,R(1,2),R(2,2),R(3,2),scale,'g'); + quiver3(t.x,t.y,t.z,R(1,3),R(2,3),R(3,3),scale,'b'); end end \ No newline at end of file From 9a8e083697a35a452803763e87dc4d257caf35ac Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 00:17:37 +0000 Subject: [PATCH 158/914] Rotate covariance ellipses correctly (plotPose2 stolen from ASPN) --- examples/matlab/Pose2SLAMExample_graph.m | 2 +- examples/matlab/plotPose2.m | 11 +++++++++++ 2 files changed, 12 insertions(+), 1 deletion(-) create mode 100644 examples/matlab/plotPose2.m diff --git a/examples/matlab/Pose2SLAMExample_graph.m b/examples/matlab/Pose2SLAMExample_graph.m index 142c9b36d..5564ef30e 100644 --- a/examples/matlab/Pose2SLAMExample_graph.m +++ b/examples/matlab/Pose2SLAMExample_graph.m @@ -34,6 +34,6 @@ marginals = graph.marginals(result); for i=1:result.size()-1 pose_i = result.pose(i); P{i}=marginals.marginalCovariance(i); - covarianceEllipse([pose_i.x;pose_i.y],P{i},'b') + plotPose2(pose_i,'b',P{i}) end fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file diff --git a/examples/matlab/plotPose2.m b/examples/matlab/plotPose2.m new file mode 100644 index 000000000..7dbdebf5a --- /dev/null +++ b/examples/matlab/plotPose2.m @@ -0,0 +1,11 @@ +function plotPose2(p,color,P) +% plotPose2: show a Pose2, possibly with covariance matrix +plot(p.x,p.y,[color '.']); +c = cos(p.theta); +s = sin(p.theta); +quiver(p.x,p.y,c,s,0.1,color); +if nargin>2 + pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame + gRp = [c -s;s c]; % rotation from pose to global + covarianceEllipse([p.x;p.y],gRp*pPp*gRp',color); +end \ No newline at end of file From 9560997bc73f3fbf31fdc2dc4141427a0da14d16 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 03:51:21 +0000 Subject: [PATCH 159/914] Plotting --- examples/matlab/LocalizationExample.m | 29 +++++++---------------- examples/matlab/Pose2SLAMExample.m | 13 ++++++++++ examples/matlab/covarianceEllipse.m | 34 +++++++++++++-------------- 3 files changed, 38 insertions(+), 38 deletions(-) diff --git a/examples/matlab/LocalizationExample.m b/examples/matlab/LocalizationExample.m index ae66a131c..dacd6d972 100644 --- a/examples/matlab/LocalizationExample.m +++ b/examples/matlab/LocalizationExample.m @@ -43,26 +43,13 @@ initialEstimate.print(sprintf('\nInitial estimate:\n ')); result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n ')); -%% Query the marginals -marginals = graph.marginals(result); -P{1}=marginals.marginalCovariance(1); -P{2}=marginals.marginalCovariance(2); -P{3}=marginals.marginalCovariance(3); - -%% Plot Trajectory -figure(1) -clf -X=[];Y=[]; -for i=1:3 - pose_i = result.pose(i); - X=[X;pose_i.x]; - Y=[Y;pose_i.y]; -end -plot(X,Y,'b*-'); - %% Plot Covariance Ellipses -hold on -for i=1:3 - pose_i = result.pose(i); - covarianceEllipse([pose_i.x;pose_i.y],P{i},'g') +figure(1);clf; +plot(result.xs(),result.ys(),'k*-'); hold on +marginals = graph.marginals(result); +for i=1:result.size() + pose_i = result.pose(i); + P{i}=marginals.marginalCovariance(i); + plotPose2(pose_i,'g',P{i}) end +axis equal diff --git a/examples/matlab/Pose2SLAMExample.m b/examples/matlab/Pose2SLAMExample.m index 5641d2ac3..a63c2fd80 100644 --- a/examples/matlab/Pose2SLAMExample.m +++ b/examples/matlab/Pose2SLAMExample.m @@ -54,3 +54,16 @@ initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n')); + +%% Plot Covariance Ellipses +figure(1);clf; +plot(result.xs(),result.ys(),'k*-'); hold on +plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); +marginals = graph.marginals(result); +for i=1:result.size() + pose_i = result.pose(i); + P{i}=marginals.marginalCovariance(i); + fprintf(1,'%.5f %.5f %.5f\n',P{i}) + plotPose2(pose_i,'g',P{i}) +end +axis equal diff --git a/examples/matlab/covarianceEllipse.m b/examples/matlab/covarianceEllipse.m index 106a10d6e..491e099c3 100644 --- a/examples/matlab/covarianceEllipse.m +++ b/examples/matlab/covarianceEllipse.m @@ -2,7 +2,7 @@ function covarianceEllipse(x,P,color) % covarianceEllipse: plot a Gaussian as an uncertainty ellipse % Based on Maybeck Vol 1, page 366 % k=2.296 corresponds to 1 std, 68.26% of all probability -% k=11.82 corresponds to 3 std, 99.74% of all probability +% k=11.82 corresponds to 3 std, 99.74% of all probability % % covarianceEllipse(x,P,color) % it is assumed x and y are the first two components of state x @@ -14,21 +14,21 @@ k = 2.296; [ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) ); line(ex,ey,'color',color); -function [x,y] = ellipse(a,b,c); -% ellipse: return the x and y coordinates for an ellipse -% [x,y] = ellipse(a,b,c); -% a, and b are the axes. c is the center - -global ellipse_x ellipse_y -if ~exist('elipse_x') - q =0:2*pi/25:2*pi; - ellipse_x = cos(q); - ellipse_y = sin(q); -end - -points = a*ellipse_x + b*ellipse_y; -x = c(1) + points(1,:); -y = c(2) + points(2,:); -end + function [x,y] = ellipse(a,b,c); + % ellipse: return the x and y coordinates for an ellipse + % [x,y] = ellipse(a,b,c); + % a, and b are the axes. c is the center + + global ellipse_x ellipse_y + if ~exist('elipse_x') + q =0:2*pi/25:2*pi; + ellipse_x = cos(q); + ellipse_y = sin(q); + end + + points = a*ellipse_x + b*ellipse_y; + x = c(1) + points(1,:); + y = c(2) + points(2,:); + end end \ No newline at end of file From fe1a9997cf37a574766d7d9822b2b664720f96ec Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 04:01:37 +0000 Subject: [PATCH 160/914] simplified, sync with manual --- examples/matlab/Pose3SLAMExample_graph.m | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/examples/matlab/Pose3SLAMExample_graph.m b/examples/matlab/Pose3SLAMExample_graph.m index b1f0afb1a..115e4341c 100644 --- a/examples/matlab/Pose3SLAMExample_graph.m +++ b/examples/matlab/Pose3SLAMExample_graph.m @@ -16,18 +16,17 @@ N = 2500; filename = '../Data/sphere2500.txt'; %% Initialize graph, initial estimate, and odometry noise -model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); [graph,initial]=load3D(filename,model,true,N); -first = initial.pose(0); -graph.addHardConstraint(0, first); +model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); %% Plot Initial Estimate figure(1);clf +first = initial.pose(0); plot3(first.x(),first.y(),first.z(),'r*'); hold on plot3DTrajectory(initial,'g-',false); -%% Read again, now all constraints -[graph,discard]=load3D(filename,model,false,N); +%% Read again, now with all constraints, and optimize +graph = load3D(filename,model,false,N); graph.addHardConstraint(0, first); -result = graph.optimize(initial); % start from old result +result = graph.optimize(initial); plot3DTrajectory(result,'r-',false); axis equal; From 1312badda4105f31e99466b84220cc73d5af9e44 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 04:02:00 +0000 Subject: [PATCH 161/914] commented out shadowing functions --- gtsam.h | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index 3c08931be..b84b53c26 100644 --- a/gtsam.h +++ b/gtsam.h @@ -252,7 +252,6 @@ class Rot3 { double pitch() const; double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly - Matrix matrix() const; }; class Pose2 { @@ -306,7 +305,7 @@ class Pose3 { Pose3(); Pose3(const gtsam::Pose3& pose); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); - Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) + // Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) Pose3(Matrix t); // Testable @@ -344,9 +343,9 @@ class Pose3 { double y() const; double z() const; Matrix matrix() const; - gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() + // gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() double range(const gtsam::Point3& point); - // double range(const gtsam::Pose3& pose); + // double range(const gtsam::Pose3& pose); // FIXME: shadows other range }; class Cal3_S2 { From c1d35ac48625e04bf956423e064f71a2ef29f832 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 5 Jun 2012 04:08:51 +0000 Subject: [PATCH 162/914] remove "const" for arguments with type double --- gtsam/geometry/PinholeCamera.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 943409b4b..587312062 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -256,13 +256,13 @@ namespace gtsam { * backproject a 2-dimensional point to a 3-dimension point */ - inline Point3 backproject(const Point2& pi, const double scale) const { + inline Point3 backproject(const Point2& pi, double scale) const { const Point2 pn = k_.calibrate(pi); const Point3 pc(pn.x()*scale, pn.y()*scale, scale); return pose_.transform_from(pc); } - inline Point3 backproject_from_camera(const Point2& pi, const double scale) const { + inline Point3 backproject_from_camera(const Point2& pi, double scale) const { return backproject(pi, scale); } From 76a9e651cbaea567bd9d22aebb16c5f4d240643f Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 5 Jun 2012 04:10:13 +0000 Subject: [PATCH 163/914] minor variable renaming --- examples/VisualISAMExample.cpp | 4 ++-- examples/VisualSLAMData.h | 27 +++++++++++++-------------- examples/VisualSLAMExample.cpp | 9 +++++---- 3 files changed, 20 insertions(+), 20 deletions(-) diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 682ca1743..dca24dba5 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -72,8 +72,8 @@ int main(int argc, char* argv[]) { initials.insert(X(1), pose0Init*odoMeasurement); // Initial values for the landmarks, simulated with Gaussian noise - for (size_t j=0; jsample())); + for (size_t j=0; jsample())); // Update ISAM the first time and obtain the current estimate isam.update(newFactors, initials); diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h index 1aa79324e..155a137d8 100644 --- a/examples/VisualSLAMData.h +++ b/examples/VisualSLAMData.h @@ -40,7 +40,7 @@ struct VisualSLAMExampleData { gtsam::shared_ptrK sK; // camera calibration parameters std::vector poses; // ground-truth camera poses gtsam::Pose3 odometry; // ground-truth odometry between 2 consecutive poses (simulated data for iSAM) - std::vector landmarks; // ground-truth landmarks + std::vector points; // ground-truth landmarks std::map > z; // 2D measurements of landmarks in each camera frame gtsam::SharedDiagonal noiseZ; // measurement noise (noiseModel::Isotropic::Sigma(2, 5.0f)); gtsam::SharedDiagonal noiseX; // noise for camera poses @@ -49,14 +49,14 @@ struct VisualSLAMExampleData { static const VisualSLAMExampleData generate() { VisualSLAMExampleData data; // Landmarks (ground truth) - data.landmarks.push_back(gtsam::Point3(10.0,10.0,10.0)); - data.landmarks.push_back(gtsam::Point3(-10.0,10.0,10.0)); - data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,10.0)); - data.landmarks.push_back(gtsam::Point3(10.0,-10.0,10.0)); - data.landmarks.push_back(gtsam::Point3(10.0,10.0,-10.0)); - data.landmarks.push_back(gtsam::Point3(-10.0,10.0,-10.0)); - data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); - data.landmarks.push_back(gtsam::Point3(10.0,-10.0,-10.0)); + data.points.push_back(gtsam::Point3(10.0,10.0,10.0)); + data.points.push_back(gtsam::Point3(-10.0,10.0,10.0)); + data.points.push_back(gtsam::Point3(-10.0,-10.0,10.0)); + data.points.push_back(gtsam::Point3(10.0,-10.0,10.0)); + data.points.push_back(gtsam::Point3(10.0,10.0,-10.0)); + data.points.push_back(gtsam::Point3(-10.0,10.0,-10.0)); + data.points.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); + data.points.push_back(gtsam::Point3(10.0,-10.0,-10.0)); // Camera calibration parameters data.sK = gtsam::shared_ptrK(new gtsam::Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); @@ -65,8 +65,7 @@ struct VisualSLAMExampleData { int n = 8; double theta = 0.0; double r = 30.0; - for (int i=0; isample())); + data.z[i].push_back(camera.project(data.points[j]) + gtsam::Point2(data.noiseZ->sample())); } } - data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.01, 0.01, 0.01, 0.1, 0.1, 0.1)); + data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.001, 0.001, 0.001, 0.1, 0.1, 0.1)); data.noiseL = gtsam::sharedSigma(3, 0.1); return data; diff --git a/examples/VisualSLAMExample.cpp b/examples/VisualSLAMExample.cpp index 0dcd970e4..90391bf90 100644 --- a/examples/VisualSLAMExample.cpp +++ b/examples/VisualSLAMExample.cpp @@ -39,18 +39,19 @@ int main(int argc, char* argv[]) { /* 2. Add factors to the graph */ // 2a. Measurement factors for (size_t i=0; isample())); - for (size_t j=0; jsample())); + for (size_t j=0; jsample())); initial.print("Intial Estimates: "); /* 4. Optimize the graph and print results */ From 22e71e4374bdf417f8fee32feda73c4f686d9fbf Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 05:08:56 +0000 Subject: [PATCH 164/914] Doxygen comments --- gtsam/nonlinear/NonlinearFactor.h | 2 +- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 73c150695..a5a838881 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -118,7 +118,7 @@ public: /** * Calculate the error of the factor - * This is typically equal to log-likelihood, e.g. 0.5(h(x)-z)^2/sigma^2 in case of Gaussian. + * This is typically equal to log-likelihood, e.g. \f$ 0.5(h(x)-z)^2/sigma^2 \f$ in case of Gaussian. * You can override this for systems with unusual noise models. */ virtual double error(const Values& c) const = 0; diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 82b364ddf..429bf0102 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -49,7 +49,7 @@ namespace gtsam { /** return keys in some random order */ std::set keys() const; - /** unnormalized error */ + /** 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& c) const; /** Unnormalized probability. O(n) */ From 715d663e4f1da1f9060cda0d1c48f52e2e8e7bc3 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 5 Jun 2012 05:15:26 +0000 Subject: [PATCH 165/914] VisualSLAM matlab example --- examples/matlab/VisualSLAMExample.m | 119 ++++++++++++++++++++++++++ examples/matlab/covarianceEllipse3D.m | 25 ++++++ examples/matlab/plotCamera.m | 18 ++++ 3 files changed, 162 insertions(+) create mode 100644 examples/matlab/VisualSLAMExample.m create mode 100644 examples/matlab/covarianceEllipse3D.m create mode 100644 examples/matlab/plotCamera.m diff --git a/examples/matlab/VisualSLAMExample.m b/examples/matlab/VisualSLAMExample.m new file mode 100644 index 000000000..c5b0f7969 --- /dev/null +++ b/examples/matlab/VisualSLAMExample.m @@ -0,0 +1,119 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief A simple visual SLAM example for structure from motion +% @author Duy-Nguyen Ta +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - Landmarks as 8 vertices of a cube: (10,10,10) (-10,10,10) etc... +% - Cameras are on a circle around the cube, pointing at the world origin +% - Each camera sees all landmarks. +% - Visual measurements as 2D points are given, corrupted by Gaussian noise. + +%% Generate simulated data +% 3D landmarks as vertices of a cube +points = {gtsamPoint3([10 10 10]'),... + gtsamPoint3([-10 10 10]'),... + gtsamPoint3([-10 -10 10]'),... + gtsamPoint3([10 -10 10]'),... + gtsamPoint3([10 10 -10]'),... + gtsamPoint3([-10 10 -10]'),... + gtsamPoint3([-10 -10 -10]'),... + gtsamPoint3([10 -10 -10]')}; + +% Camera poses on a circle around the cube, pointing at the world origin +nCameras = 8; +r = 30; +poses = {}; +for i=1:nCameras + theta = i*2*pi/nCameras; + posei = gtsamPose3(... + gtsamRot3([-sin(theta) 0 -cos(theta); + cos(theta) 0 -sin(theta); + 0 -1 0]),... + gtsamPoint3([r*cos(theta), r*sin(theta), 0]')); + poses = [poses {posei}]; +end + +% 2D visual measurements, simulated with Gaussian noise +z = {}; +measurementNoiseSigmas = [0.5,0.5]'; +measurementNoiseSampler = gtsamSharedDiagonal(measurementNoiseSigmas); +K = gtsamCal3_S2(50,50,0,50,50); +for i=1:size(poses,2) + zi = {}; + camera = gtsamSimpleCamera(K,poses{i}); + for j=1:size(points,2) + zi = [zi {camera.project(points{j}).compose(gtsamPoint2(measurementNoiseSampler.sample()))}]; + end + z = [z; zi]; +end + +pointNoiseSigmas = [0.1,0.1,0.1]'; +pointNoiseSampler = gtsamSharedDiagonal(pointNoiseSigmas); + +poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; +poseNoiseSampler = gtsamSharedDiagonal(poseNoiseSigmas); + +hold off; + +%% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) +graph = visualSLAMGraph; + +%% Add factors for all measurements +measurementNoise = gtsamSharedNoiseModel_Sigmas(measurementNoiseSigmas); +for i=1:size(z,1) + for j=1:size(z,2) + graph.addMeasurement(z{i,j}, measurementNoise, symbol('x',i), symbol('l',j), K); + end +end + +%% Add Gaussian priors for a pose and a landmark to constraint the system +posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); +graph.addPosePrior(symbol('x',1), poses{1}, posePriorNoise); +pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); +graph.addPointPrior(symbol('l',1), points{1}, pointPriorNoise); + +%% Print the graph +graph.print(sprintf('\nFactor graph:\n')); + +%% Initialize to noisy poses and points +initialEstimate = visualSLAMValues; +for i=1:size(poses,2) + initialEstimate.insertPose(symbol('x',i), poses{i}.compose(gtsamPose3_Expmap(poseNoiseSampler.sample()))); +end +for j=1:size(points,2) + initialEstimate.insertPoint(symbol('l',j), points{j}.compose(gtsamPoint3(pointNoiseSampler.sample()))); +end +initialEstimate.print(sprintf('\nInitial estimate:\n ')); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +result.print(sprintf('\nFinal result:\n ')); + +%% Query the marginals +marginals = graph.marginals(result); + +%% Plot results with covariance ellipses +hold on; +for j=1:size(points,2) + P = marginals.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); +end + +for i=1:size(poses,2) + P = marginals.marginalCovariance(symbol('x',i)); + posei = result.pose(symbol('x',i)) + plotCamera(posei,10); + posei_t = posei.translation() + covarianceEllipse3D([posei_t.x;posei_t.y;posei_t.z],P(4:6,4:6)); +end + diff --git a/examples/matlab/covarianceEllipse3D.m b/examples/matlab/covarianceEllipse3D.m new file mode 100644 index 000000000..0ff34c8c8 --- /dev/null +++ b/examples/matlab/covarianceEllipse3D.m @@ -0,0 +1,25 @@ +function covarianceEllipse3D(c,P) +% covarianceEllipse3D: plot a Gaussian as an uncertainty ellipse +% Based on Maybeck Vol 1, page 366 +% k=2.296 corresponds to 1 std, 68.26% of all probability +% k=11.82 corresponds to 3 std, 99.74% of all probability +% +% Modified from http://www.mathworks.com/matlabcentral/newsreader/view_thread/42966 + +[e,s] = eig(P); +k = 11.82; +radii = k*sqrt(diag(s)); + +% generate data for "unrotated" ellipsoid +[xc,yc,zc] = ellipsoid(0,0,0,radii(1),radii(2),radii(3)); + +% rotate data with orientation matrix U and center M +data = kron(e(:,1),xc) + kron(e(:,2),yc) + kron(e(:,3),zc); +n = size(data,2); +x = data(1:n,:)+c(1); y = data(n+1:2*n,:)+c(2); z = data(2*n+1:end,:)+c(3); + +% now plot the rotated ellipse +sc = mesh(x,y,z); +shading interp +alpha(0.5) +axis equal \ No newline at end of file diff --git a/examples/matlab/plotCamera.m b/examples/matlab/plotCamera.m new file mode 100644 index 000000000..ba352b757 --- /dev/null +++ b/examples/matlab/plotCamera.m @@ -0,0 +1,18 @@ +function plotCamera(pose, axisLength) + C = pose.translation().vector(); + R = pose.rotation().matrix(); + + xAxis = C+R(:,1)*axisLength; + L = [C xAxis]'; + line(L(:,1),L(:,2),L(:,3),'Color','r'); + + yAxis = C+R(:,2)*axisLength; + L = [C yAxis]'; + line(L(:,1),L(:,2),L(:,3),'Color','g'); + + zAxis = C+R(:,3)*axisLength; + L = [C zAxis]'; + line(L(:,1),L(:,2),L(:,3),'Color','b'); + + axis equal +end \ No newline at end of file From d9100aadb7c9a0f02a2c20785063d27df9866bc5 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 5 Jun 2012 05:15:56 +0000 Subject: [PATCH 166/914] wrap SimpleCamera, and support Point2 constructor from Vector --- gtsam.h | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/gtsam.h b/gtsam.h index b84b53c26..7ad901ae9 100644 --- a/gtsam.h +++ b/gtsam.h @@ -71,6 +71,7 @@ class Point2 { // Standard Constructors Point2(); Point2(double x, double y); + Point2(Vector v); // Testable void print(string s) const; @@ -428,6 +429,29 @@ class CalibratedCamera { double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods }; + +class SimpleCamera { + // Standard Constructors and Named Constructors + SimpleCamera(); + SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& k); + SimpleCamera(const gtsam::Cal3_S2& k, const gtsam::Pose3& pose); + + // Testable + void print(string s) const; + bool equals(const gtsam::SimpleCamera& camera, double tol) const; + + // Action on Point3 + gtsam::Point2 project(const gtsam::Point3& point); + static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); + + // Backprojection + gtsam::Point3 backproject(const gtsam::Point2& pi, double scale) const; + gtsam::Point3 backproject_from_camera(const gtsam::Point2& pi, double scale) const; + + // Standard Interface + gtsam::Pose3 pose() const; +}; + //************************************************************************* // inference //************************************************************************* From 0d2873fd209682f5bed3b3281ef9d3155eee8b06 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 13:27:43 +0000 Subject: [PATCH 167/914] update --- gtsam.h | 6 ++++++ gtsam/slam/planarSLAM.h | 8 +++++++- gtsam/slam/pose2SLAM.h | 3 +++ gtsam/slam/pose3SLAM.h | 3 +++ gtsam/slam/visualSLAM.h | 6 ++++++ 5 files changed, 25 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 7ad901ae9..e1e3e0e93 100644 --- a/gtsam.h +++ b/gtsam.h @@ -674,6 +674,7 @@ class Values { void print(string s) const; static pose2SLAM::Values Circle(size_t n, double R); void insertPose(size_t key, const gtsam::Pose2& pose); + void updatePose(size_t key, const gtsam::Pose2& pose); gtsam::Pose2 pose(size_t i); Vector xs() const; Vector ys() const; @@ -723,6 +724,7 @@ class Values { void print(string s) const; static pose3SLAM::Values Circle(size_t n, double R); void insertPose(size_t key, const gtsam::Pose3& pose); + void updatePose(size_t key, const gtsam::Pose3& pose); gtsam::Pose3 pose(size_t i); Vector xs() const; Vector ys() const; @@ -770,6 +772,8 @@ class Values { void print(string s) const; void insertPose(size_t key, const gtsam::Pose2& pose); void insertPoint(size_t key, const gtsam::Point2& point); + void updatePose(size_t key, const gtsam::Pose2& pose); + void updatePoint(size_t key, const gtsam::Point2& point); gtsam::Pose2 pose(size_t key) const; gtsam::Point2 point(size_t key) const; }; @@ -871,6 +875,8 @@ class Values { Values(); void insertPose(size_t key, const gtsam::Pose3& pose); void insertPoint(size_t key, const gtsam::Point3& pose); + void updatePose(size_t key, const gtsam::Pose3& pose); + void updatePoint(size_t key, const gtsam::Point3& pose); size_t size() const; void print(string s) const; gtsam::Pose3 pose(size_t i); diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index 5d03cd646..01a9df763 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -78,7 +78,13 @@ namespace planarSLAM { /// insert a point void insertPoint(Key j, const Point2& point) { insert(j, point); } - }; + + /// update a pose + void updatePose(Key i, const Pose2& pose) { update(i, pose); } + + /// update a point + void updatePoint(Key j, const Point2& point) { update(j, point); } +}; /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 71710f823..778d844f2 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -58,6 +58,9 @@ namespace pose2SLAM { /// insert a pose void insertPose(Key i, const Pose2& pose) { insert(i, pose); } + /// update a pose + void updatePose(Key i, const Pose2& pose) { update(i, pose); } + /// get a pose Pose2 pose(Key i) const { return at(i); } diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index 448914f0d..9be699fd8 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -57,6 +57,9 @@ namespace pose3SLAM { /// insert a pose void insertPose(Key i, const Pose3& pose) { insert(i, pose); } + /// update a pose + void updatePose(Key i, const Pose3& pose) { update(i, pose); } + /// get a pose Pose3 pose(Key i) const { return at(i); } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 7674ed1e3..96a1e037c 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -66,6 +66,12 @@ namespace visualSLAM { /// insert a point void insertPoint(Key j, const Point3& point) { insert(j, point); } + /// update a pose + void updatePose(Key i, const Pose3& pose) { update(i, pose); } + + /// update a point + void updatePoint(Key j, const Point3& point) { update(j, point); } + /// get a pose Pose3 pose(Key i) const { return at(i); } From 10d6157d1d924f61a8dd0abd41c1cc7a79037501 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 13:29:04 +0000 Subject: [PATCH 168/914] formatting/naming only --- examples/PlanarSLAMExample_selfcontained.cpp | 8 ++++---- examples/matlab/Pose2SLAMExample.m | 1 - examples/matlab/Pose2SLAMExample_advanced.m | 2 +- tests/testMarginals.cpp | 8 ++++---- 4 files changed, 9 insertions(+), 10 deletions(-) diff --git a/examples/PlanarSLAMExample_selfcontained.cpp b/examples/PlanarSLAMExample_selfcontained.cpp index 7e17c2a0e..6b1a5b772 100644 --- a/examples/PlanarSLAMExample_selfcontained.cpp +++ b/examples/PlanarSLAMExample_selfcontained.cpp @@ -77,7 +77,7 @@ int main(int argc, char** argv) { /* add measurements */ // general noisemodel for measurements - SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); + SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // create the measurement values - indices are (pose id, landmark id) Rot2 bearing11 = Rot2::fromDegrees(45), @@ -88,9 +88,9 @@ int main(int argc, char** argv) { range32 = 2.0; // create bearing/range factors - BearingRangeFactor meas11(i1, j1, bearing11, range11, meas_model); - BearingRangeFactor meas21(i2, j1, bearing21, range21, meas_model); - BearingRangeFactor meas32(i3, j2, bearing32, range32, meas_model); + BearingRangeFactor meas11(i1, j1, bearing11, range11, measurementNoise); + BearingRangeFactor meas21(i2, j1, bearing21, range21, measurementNoise); + BearingRangeFactor meas32(i3, j2, bearing32, range32, measurementNoise); // add the factors graph.add(meas11); diff --git a/examples/matlab/Pose2SLAMExample.m b/examples/matlab/Pose2SLAMExample.m index a63c2fd80..1f63ffd60 100644 --- a/examples/matlab/Pose2SLAMExample.m +++ b/examples/matlab/Pose2SLAMExample.m @@ -63,7 +63,6 @@ marginals = graph.marginals(result); for i=1:result.size() pose_i = result.pose(i); P{i}=marginals.marginalCovariance(i); - fprintf(1,'%.5f %.5f %.5f\n',P{i}) plotPose2(pose_i,'g',P{i}) end axis equal diff --git a/examples/matlab/Pose2SLAMExample_advanced.m b/examples/matlab/Pose2SLAMExample_advanced.m index f2739803e..827cf5661 100644 --- a/examples/matlab/Pose2SLAMExample_advanced.m +++ b/examples/matlab/Pose2SLAMExample_advanced.m @@ -38,7 +38,7 @@ graph.addOdometry(2, 3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements -meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +measurementNoise = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); % print graph.print('full graph'); diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index 76b1f7c82..9d97f6f69 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -65,7 +65,7 @@ TEST(Marginals, planarSLAMmarginals) { /* add measurements */ // general noisemodel for measurements - SharedDiagonal meas_model = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); + SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // create the measurement values - indices are (pose id, landmark id) Rot2 bearing11 = Rot2::fromDegrees(45), @@ -76,9 +76,9 @@ TEST(Marginals, planarSLAMmarginals) { range32 = 2.0; // create bearing/range factors - graph.add(BearingRangeFactor(x1, l1, bearing11, range11, meas_model)); - graph.add(BearingRangeFactor(x2, l1, bearing21, range21, meas_model)); - graph.add(BearingRangeFactor(x3, l2, bearing32, range32, meas_model)); + graph.add(BearingRangeFactor(x1, l1, bearing11, range11, measurementNoise)); + graph.add(BearingRangeFactor(x2, l1, bearing21, range21, measurementNoise)); + graph.add(BearingRangeFactor(x3, l2, bearing32, range32, measurementNoise)); // linearization point for marginals Values soln; From 7b48e56d568dc8c305861b066e373c142e43b4c1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 5 Jun 2012 13:29:26 +0000 Subject: [PATCH 169/914] Plot marginals, sample --- examples/matlab/PlanarSLAMExample.m | 89 ++++++++++++-------- examples/matlab/PlanarSLAMExample_sampling.m | 79 +++++++++++++++++ examples/matlab/plotPoint2.m | 11 +++ examples/matlab/plotPose2.m | 2 +- 4 files changed, 145 insertions(+), 36 deletions(-) create mode 100644 examples/matlab/PlanarSLAMExample_sampling.m create mode 100644 examples/matlab/plotPoint2.m diff --git a/examples/matlab/PlanarSLAMExample.m b/examples/matlab/PlanarSLAMExample.m index 88a988755..4addd23dc 100644 --- a/examples/matlab/PlanarSLAMExample.m +++ b/examples/matlab/PlanarSLAMExample.m @@ -1,9 +1,9 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% GTSAM Copyright 2010, Georgia Tech Research Corporation, +% 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 % % @brief Simple robotics example using the pre-built planar SLAM domain @@ -20,56 +20,75 @@ % - Landmarks are 2 meters away from the robot trajectory %% Create keys for variables -x1 = symbol('x',1); x2 = symbol('x',2); x3 = symbol('x',3); -l1 = symbol('l',1); l2 = symbol('l',2); +i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); +j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it graph = planarSLAMGraph; %% Add prior -% gaussian for prior -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -graph.addPrior(x1, priorMean, priorNoise); % add directly to graph +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +graph.addPrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry -% general noisemodel for odometry +odometry = gtsamPose2(2.0, 0.0, 0.0); odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addOdometry(x1, x2, odometry, odometryNoise); -graph.addOdometry(x2, x3, odometry, odometryNoise); +graph.addOdometry(i1, i2, odometry, odometryNoise); +graph.addOdometry(i2, i3, odometry, odometryNoise); -%% Add measurements -% general noisemodel for measurements -meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); - -% create the measurement values - indices are (pose id, landmark id) +%% Add bearing/range measurement factors degrees = pi/180; -bearing11 = gtsamRot2(45*degrees); -bearing21 = gtsamRot2(90*degrees); -bearing32 = gtsamRot2(90*degrees); -range11 = sqrt(4+4); -range21 = 2.0; -range32 = 2.0; - -% % create bearing/range factors and add them -graph.addBearingRange(x1, l1, bearing11, range11, meas_model); -graph.addBearingRange(x2, l1, bearing21, range21, meas_model); -graph.addBearingRange(x3, l2, bearing32, range32, meas_model); +noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +if 1 + graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); + graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); +else + bearingModel = gtsamSharedNoiseModel_Sigmas(0.1); + graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); + graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); +end +graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); % print -graph.print('full graph'); +graph.print(sprintf('\nFull graph:\n')); %% Initialize to noisy points initialEstimate = planarSLAMValues; -initialEstimate.insertPose(x1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(x2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(x3, gtsamPose2(4.1, 0.1, 0.1)); -initialEstimate.insertPoint(l1, gtsamPoint2(1.8, 2.1)); -initialEstimate.insertPoint(l2, gtsamPoint2(4.1, 1.8)); +initialEstimate.insertPose(i1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(i2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(i3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate.insertPoint(j1, gtsamPoint2(1.8, 2.1)); +initialEstimate.insertPoint(j2, gtsamPoint2(4.1, 1.8)); -initialEstimate.print('initial estimate'); +initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate); -result.print('final result'); +result.print(sprintf('\nFinal result:\n')); + +%% Plot Covariance Ellipses +figure(1);clf;hold on +marginals = graph.marginals(result); +for i=1:3 + key = symbol('x',i); + pose{i} = result.pose(key); + P{i}=marginals.marginalCovariance(key); + if i>1 + plot([pose{i-1}.x;pose{i}.x],[pose{i-1}.y;pose{i}.y],'r-'); + end +end +for i=1:3 + plotPose2(pose{i},'g',P{i}) +end +for j=1:2 + key = symbol('l',j); + point{j} = result.point(key); + Q{j}=marginals.marginalCovariance(key); + plotPoint2(point{j},'b',Q{j}) +end +plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-'); +plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-'); +plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-'); +axis equal + diff --git a/examples/matlab/PlanarSLAMExample_sampling.m b/examples/matlab/PlanarSLAMExample_sampling.m new file mode 100644 index 000000000..178e48a42 --- /dev/null +++ b/examples/matlab/PlanarSLAMExample_sampling.m @@ -0,0 +1,79 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Simple robotics example using the pre-built planar SLAM domain +% @author Alex Cunningham +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create the same factor graph as in PlanarSLAMExample +i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); +graph = planarSLAMGraph; +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +graph.addPrior(i1, priorMean, priorNoise); % add directly to graph +odometry = gtsamPose2(2.0, 0.0, 0.0); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +graph.addOdometry(i1, i2, odometry, odometryNoise); +graph.addOdometry(i2, i3, odometry, odometryNoise); + +%% Except, for measurements we offer a choice +j1 = symbol('l',1); j2 = symbol('l',2); +degrees = pi/180; +noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +if 1 + graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); + graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); +else + bearingModel = gtsamSharedNoiseModel_Sigmas(0.1); + graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); + graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); +end +graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); + +%% Initialize MCMC sampler with ground truth +sample = planarSLAMValues; +sample.insertPose(i1, gtsamPose2(0,0,0)); +sample.insertPose(i2, gtsamPose2(2,0,0)); +sample.insertPose(i3, gtsamPose2(4,0,0)); +sample.insertPoint(j1, gtsamPoint2(2,2)); +sample.insertPoint(j2, gtsamPoint2(4,2)); + +%% Calculate and plot Covariance Ellipses +figure(1);clf;hold on +marginals = graph.marginals(sample); +for i=1:3 + key = symbol('x',i); + pose{i} = sample.pose(key); + P{i}=marginals.marginalCovariance(key); + if i>1 + plot([pose{i-1}.x;pose{i}.x],[pose{i-1}.y;pose{i}.y],'r-'); + end +end +for i=1:3 + plotPose2(pose{i},'g',P{i}) +end +for j=1:2 + key = symbol('l',j); + point{j} = sample.point(key); + Q{j}=marginals.marginalCovariance(key); + S{j}=chol(Q{j}); % for sampling + plotPoint2(point{j},'b',Q{j}) +end +plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-'); +plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-'); +plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-'); +axis equal + +%% Do Sampling on point 2 +N=1000; +for s=1:N + delta = S{2}*randn(2,1); + proposedPoint = gtsamPoint2(point{2}.x+delta(1),point{2}.y+delta(2)); + plotPoint2(proposedPoint,'k.') +end \ No newline at end of file diff --git a/examples/matlab/plotPoint2.m b/examples/matlab/plotPoint2.m new file mode 100644 index 000000000..ae45455f6 --- /dev/null +++ b/examples/matlab/plotPoint2.m @@ -0,0 +1,11 @@ +function plotPoint2(p,color,P) +% plotPose2: show a Pose2, possibly with covariance matrix +if size(color,2)==1 + plot(p.x,p.y,[color '*']); +else + plot(p.x,p.y,color); +end +if nargin>2 + pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame + covarianceEllipse([p.x;p.y],pPp,color(1)); +end \ No newline at end of file diff --git a/examples/matlab/plotPose2.m b/examples/matlab/plotPose2.m index 7dbdebf5a..17959ea59 100644 --- a/examples/matlab/plotPose2.m +++ b/examples/matlab/plotPose2.m @@ -1,6 +1,6 @@ function plotPose2(p,color,P) % plotPose2: show a Pose2, possibly with covariance matrix -plot(p.x,p.y,[color '.']); +plot(p.x,p.y,[color '*']); c = cos(p.theta); s = sin(p.theta); quiver(p.x,p.y,c,s,0.1,color); From fd592dd6893fd543433952b41a1704565aa64d51 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 15:18:44 +0000 Subject: [PATCH 170/914] Reverted using boost chrono because chrono is not available on boost <1.47 --- CMakeLists.txt | 2 +- gtsam/base/timing.cpp | 15 ++++++++------- gtsam/base/timing.h | 6 +----- 3 files changed, 10 insertions(+), 13 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3eb4983b5..46e4a6f33 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -100,7 +100,7 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.40 COMPONENTS serialization system chrono filesystem thread REQUIRED) +find_package(Boost 1.40 COMPONENTS serialization system filesystem thread REQUIRED) # General build settings include_directories( diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 305f86a74..1388c2f18 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include #include @@ -152,13 +153,15 @@ const boost::shared_ptr& TimingOutline::child(size_t child, const void TimingOutline::tic() { assert(!timerActive_); timerActive_ = true; - t0_ = clock_t::now(); + gettimeofday(&t0_, NULL); } /* ************************************************************************* */ void TimingOutline::toc() { + struct timeval t; + gettimeofday(&t, NULL); assert(timerActive_); - add(boost::chrono::duration_cast(clock_t::now() - t0_).count()); + add(t.tv_sec*1000000 + t.tv_usec - (t0_.tv_sec*1000000 + t0_.tv_usec)); timerActive_ = false; } @@ -241,11 +244,9 @@ void Timing::print() { /* ************************************************************************* */ double _tic_() { - typedef boost::chrono::high_resolution_clock clock_t; - typedef boost::chrono::duration duration_t; - - clock_t::time_point t = clock_t::now(); - return boost::chrono::duration_cast< duration_t >(t.time_since_epoch()).count(); + struct timeval t; + gettimeofday(&t, NULL); + return ((double)t.tv_sec + ((double)t.tv_usec)/1000000.); } /* ************************************************************************* */ diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 56ac1a762..94498c3b3 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -22,7 +22,6 @@ #include #include #include -#include class TimingOutline; extern boost::shared_ptr timingRoot; @@ -30,9 +29,6 @@ extern boost::weak_ptr timingCurrent; class TimingOutline { protected: - typedef boost::chrono::high_resolution_clock clock_t; - typedef boost::chrono::microseconds duration_t; - size_t t_; double t2_ ; /* cache the \sum t_i^2 */ size_t tIt_; @@ -43,7 +39,7 @@ protected: boost::weak_ptr parent_; std::vector > children_; - clock_t::time_point t0_; + struct timeval t0_; bool timerActive_; void add(size_t usecs); From f13b3049a84fef401cfd58e6cd18ee0548724d86 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 5 Jun 2012 15:49:15 +0000 Subject: [PATCH 171/914] added Matlab convenience functions --- gtsam/slam/visualSLAM.cpp | 30 ++++++++++++++++++++++++++++++ gtsam/slam/visualSLAM.h | 4 ++++ 2 files changed, 34 insertions(+) diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index f4cdb0af3..be5a1c1ca 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -20,6 +20,36 @@ namespace visualSLAM { + /* ************************************************************************* */ + Vector Values::xs() const { + size_t j=0; + ConstFiltered poses = filter(); + Vector result(poses.size()); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.x(); + return result; + } + + /* ************************************************************************* */ + Vector Values::ys() const { + size_t j=0; + ConstFiltered poses = filter(); + Vector result(poses.size()); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.y(); + return result; + } + + /* ************************************************************************* */ + Vector Values::zs() const { + size_t j=0; + ConstFiltered poses = filter(); + Vector result(poses.size()); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result(j++) = keyValue.value.z(); + return result; + } + /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrK K) { diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 96a1e037c..9f9224c9d 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -81,6 +81,10 @@ namespace visualSLAM { /// check if value with specified key exists bool exists(Key i) const { return gtsam::Values::exists(i); } + Vector xs() const; ///< get all x coordinates in a matrix + Vector ys() const; ///< get all y coordinates in a matrix + Vector zs() const; ///< get all z coordinates in a matrix + }; /** From e01a320efae44cd07b99821975e8af2d35382512 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 5 Jun 2012 16:24:04 +0000 Subject: [PATCH 172/914] Matlab convenience function for plotting points --- gtsam/slam/visualSLAM.cpp | 9 +++++++++ gtsam/slam/visualSLAM.h | 8 +++++--- 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index be5a1c1ca..b8721b875 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -50,6 +50,15 @@ namespace visualSLAM { return result; } + Matrix Values::points() const { + size_t j=0; + ConstFiltered points = filter(); + Matrix result(points.size(),3); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, points) + result.row(j++) = keyValue.value.vector(); + return result; + } + /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrK K) { diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 9f9224c9d..b0e034653 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -81,9 +81,11 @@ namespace visualSLAM { /// check if value with specified key exists bool exists(Key i) const { return gtsam::Values::exists(i); } - Vector xs() const; ///< get all x coordinates in a matrix - Vector ys() const; ///< get all y coordinates in a matrix - Vector zs() const; ///< get all z coordinates in a matrix + Vector xs() const; ///< get all pose x coordinates in a matrix + Vector ys() const; ///< get all pose y coordinates in a matrix + Vector zs() const; ///< get all pose z coordinates in a matrix + + Matrix points() const; ///< get all point coordinates in a matrix }; From cc79d3d5243fe57b3c830d1292b3483db17a914b Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 5 Jun 2012 17:20:18 +0000 Subject: [PATCH 173/914] Updated documentation for PartialPriorFactor - needs to have implementation switched to only requiring manifold/group operations, rather than Lie --- gtsam/slam/PartialPriorFactor.h | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/gtsam/slam/PartialPriorFactor.h b/gtsam/slam/PartialPriorFactor.h index 479fd3fa6..fb8e673cb 100644 --- a/gtsam/slam/PartialPriorFactor.h +++ b/gtsam/slam/PartialPriorFactor.h @@ -28,15 +28,12 @@ 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 T::Logmap(). The mask will determine which components to extract + * the same order as VALUE::Logmap(). The mask will determine which components to extract * in the error function. * - * It takes two template parameters: - * Key (typically TypedSymbol) is used to look up T's in a Values - * Values where the T's are stored, typically Values or a TupleValues<...> - * * 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 class PartialPriorFactor: public NoiseModelFactor1 { @@ -46,12 +43,15 @@ namespace gtsam { 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 logmap parameters, in compressed form + 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 + Matrix H_; ///< Constant Jacobian - computed at creation /** default constructor - only use for serialization */ PartialPriorFactor() {} @@ -111,6 +111,7 @@ namespace gtsam { 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 = zero(this->dim()); for (size_t i=0; i Date: Tue, 5 Jun 2012 17:20:19 +0000 Subject: [PATCH 174/914] Changed names of cmake flags to be more intuitive, fixed include/library path issues for building the mex binaries --- CMakeLists.txt | 39 ++++++++++++++++------------------- examples/CMakeLists.txt | 2 +- gtsam_unstable/CMakeLists.txt | 21 +++++++++++++++---- wrap/CMakeLists.txt | 21 ++++++++++++------- 4 files changed, 50 insertions(+), 33 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 46e4a6f33..1ba6a05c2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,6 +12,10 @@ set (GTSAM_VERSION_PATCH 0) set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") +# Record the root dir for gtsam - needed during external builds, e.g., ROS +set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}) +message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") + # Load build type flags and default to Debug mode include(GtsamBuildTypes) @@ -56,11 +60,13 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) +set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") + # TODO: Check for matlab mex binary before handling building of binaries # Flags for building/installing mex files -option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF) -option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF) +option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF) +option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF) set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") @@ -79,15 +85,10 @@ if (GTSAM_USE_QUATERNIONS) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTSAM_DEFAULT_QUATERNIONS") endif(GTSAM_USE_QUATERNIONS) -# Avoid building non-installed exes and unit tests when installing -# FIXME: breaks generation and install of matlab toolbox -# FIXME: can't add install dependencies, so libraries never get built -#set(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE) - -# Alternative version to keep tests from building during make install -# Use the EXCLUDE_FROM_ALL property on test executables -option(GTSAM_ENABLE_INSTALL_TEST_FIX "Enable/Disable fix to remove dependency of tests on 'all' target" ON) -option(GTSAM_ENABLE_INSTALL_EXAMPLE_FIX "Enable/Disable fix to remove dependency of examples on 'all' target" OFF) +# Flags to determine whether tests and examples are build during 'make install' +# Note that these remove the targets from the 'all' +option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON) +option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables buildint examples during install" OFF) # Pull in infrastructure if (GTSAM_BUILD_TESTS) @@ -100,7 +101,7 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.40 COMPONENTS serialization system filesystem thread REQUIRED) +find_package(Boost 1.42 COMPONENTS serialization system filesystem thread REQUIRED) # General build settings include_directories( @@ -155,10 +156,6 @@ set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$;/gtsam_unstable/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs -# Record the root dir for gtsam - needed during external builds, e.g., ROS -set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}) -message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") - # print configuration variables message(STATUS "===============================================================") message(STATUS "================ Configuration Options ======================") @@ -171,10 +168,10 @@ print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Libra print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ") if(GTSAM_UNSTABLE_AVAILABLE) - print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") + print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") endif() -print_config_flag(${GTSAM_ENABLE_INSTALL_TEST_FIX} "Tests excluded from all target ") -print_config_flag(${GTSAM_ENABLE_INSTALL_EXAMPLE_FIX} "Examples excluded from all target ") +print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "Tests excluded from all/install target ") +print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "Examples excluded from all/install target ") string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper) message(STATUS " Build type : ${CMAKE_BUILD_TYPE}") message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}") @@ -192,8 +189,8 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ") print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ") print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ") -print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES} "Build MEX binaries ") -print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL} "Build MEX binaries on ALL target ") +print_config_flag(${GTSAM_BUILD_MEX_BIN} "Build MEX binaries ") +print_config_flag(${GTSAM_INSTALL_MEX_BIN} "Install MEX binaries ") message(STATUS "===============================================================") # Include CPack *after* all flags diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index a54c8366c..9f799d294 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -14,7 +14,7 @@ foreach(example_src ${example_srcs} ) add_executable(${example_bin} ${example_src}) # Disable building during make all/install - if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX) + if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL) set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON) endif() diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 54e95a599..179ffc6e6 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -80,7 +80,20 @@ if (GTSAM_BUILD_WRAP) # [mexFlags] : extra flags for the mex command # TODO: generate these includes programmatically - set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam_unstable") + # Choose include flags depending on build process + if (GTSAM_BUILD_MEX_BIN) + set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) + set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) + else() + set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) + set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) + endif() + + set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${MEX_LIB_ROOT}/gtsam_unstable -L${MEX_LIB_ROOT}/gtsam -lgtsam -lgtsam_unstable") + if(MSVC OR CYGWIN OR WINGW) + set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'") + endif() + set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable) set(moduleName gtsam_unstable) @@ -98,9 +111,9 @@ if (GTSAM_BUILD_WRAP) DEPENDS wrap) # Build command - if (GTSAM_ENABLE_BUILD_MEX_BINARIES) + if (GTSAM_BUILD_MEX_BIN) # Actually compile the mex files when building the library - if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL) + if (GTSAM_INSTALL_MEX_BIN) add_custom_target(wrap_gtsam_unstable_build ALL COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} WORKING_DIRECTORY ${toolbox_path} @@ -111,7 +124,7 @@ if (GTSAM_BUILD_WRAP) WORKING_DIRECTORY ${toolbox_path} DEPENDS wrap_gtsam_unstable) endif() - endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) + endif () if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Primary toolbox files diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 8f44e24cf..9c0501af6 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -16,7 +16,7 @@ endif(GTSAM_INSTALL_WRAP) install(FILES matlab.h DESTINATION include/wrap) # Build tests -if (GTSAM_BUILD_TESTS) +if (GTSAM_BUILD_TESTS) add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}") set(wrap_local_libs wrap_lib) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") @@ -31,7 +31,16 @@ endif(GTSAM_BUILD_TESTS) # toolboxPath : the directory in which to generate the wrappers # [mexFlags] : extra flags for the mex command -set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/discrete -I${CMAKE_INSTALL_PREFIX}/include/gtsam/inference -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam") +# Choose include flags depending on build process +if (GTSAM_BUILD_MEX_BIN) + set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) + set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) +else() + set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) + set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) +endif() + +set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam") if(MSVC OR CYGWIN OR WINGW) set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'") endif() @@ -59,11 +68,11 @@ add_custom_target(wrap_gtsam ALL COMMAND DEPENDS wrap) # Build command -if (GTSAM_ENABLE_BUILD_MEX_BINARIES) +if (GTSAM_BUILD_MEX_BIN) # Actually compile the mex files when building the library # TODO: pass correct make flags from parent process message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}") - if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL) + if (GTSAM_INSTALL_MEX_BIN) add_custom_target(wrap_gtsam_build ALL COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} WORKING_DIRECTORY ${toolbox_path} @@ -74,9 +83,7 @@ if (GTSAM_ENABLE_BUILD_MEX_BINARIES) WORKING_DIRECTORY ${toolbox_path} DEPENDS wrap_gtsam) endif() -endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) - -set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") +endif () if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Primary toolbox files From 7fdf3ef1bbafc505f1e5c56bcac1232ad32e608d Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 5 Jun 2012 17:27:40 +0000 Subject: [PATCH 175/914] wrapped visualSLAM helper functions --- gtsam.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam.h b/gtsam.h index 926467722..9ea7a863c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -883,6 +883,10 @@ class Values { gtsam::Pose3 pose(size_t i); gtsam::Point3 point(size_t j); bool exists(size_t key); + Vector xs() const; + Vector ys() const; + Vector zs() const; + Matrix points() const; }; class Graph { From 1241bf383af5add4e188ee425427b7629753a95d Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 5 Jun 2012 17:54:29 +0000 Subject: [PATCH 176/914] stereo VO Matlab example and data --- examples/Data/VO_calibration.txt | 1 + examples/Data/VO_camera_poses.txt | 26 + examples/Data/VO_stereo_factors.txt | 8189 +++++++++++++++++++++++++++ examples/matlab/VO_Example.m | 77 + 4 files changed, 8293 insertions(+) create mode 100644 examples/Data/VO_calibration.txt create mode 100644 examples/Data/VO_camera_poses.txt create mode 100644 examples/Data/VO_stereo_factors.txt create mode 100644 examples/matlab/VO_Example.m diff --git a/examples/Data/VO_calibration.txt b/examples/Data/VO_calibration.txt new file mode 100644 index 000000000..138eb3646 --- /dev/null +++ b/examples/Data/VO_calibration.txt @@ -0,0 +1 @@ +721.5377 721.5377 0.0 609.5593 172.854 0.537150588 \ No newline at end of file diff --git a/examples/Data/VO_camera_poses.txt b/examples/Data/VO_camera_poses.txt new file mode 100644 index 000000000..879d091b6 --- /dev/null +++ b/examples/Data/VO_camera_poses.txt @@ -0,0 +1,26 @@ +1 1 0 0 0 0 1 0 0 -0 0 1 0 0 0 0 1 +2 0.999997 -0.00240146 0.00061075 0.00314304 0.0024019 0.999997 -0.00071977 0.00414596 -0.00060902 0.000721235 1 0.95998 0 0 0 1 +3 0.999993 -0.00371801 0.000595621 0.00280572 0.00371612 0.999988 0.00314729 0.00981461 -0.000607315 -0.00314506 0.999995 1.91967 0 0 0 1 +4 0.999981 -0.00619252 -0.000161076 0.00419847 0.00619374 0.999939 0.00918605 0.0120306 0.000104181 -0.00918687 0.999958 2.87292 0 0 0 1 +5 0.999948 -0.0100179 -0.00177824 0.00741887 0.010034 0.999907 0.00925915 0.0175144 0.00168532 -0.00927651 0.999956 3.8158 0 0 0 1 +6 0.999913 -0.0128105 -0.00298253 0.00649213 0.0128298 0.999896 0.00655406 0.0221085 0.00289826 -0.00659176 0.999974 4.75923 0 0 0 1 +7 0.999901 -0.0135442 -0.00393541 0.00202365 0.0135567 0.999903 0.00315259 0.0274932 0.00389233 -0.00320563 0.999987 5.69454 0 0 0 1 +8 0.999901 -0.0131232 -0.00504356 -0.00337588 0.0131365 0.99991 0.00261558 0.0312754 0.00500879 -0.00268157 0.999984 6.62905 0 0 0 1 +9 0.999898 -0.0127525 -0.00649016 -0.00834529 0.0127815 0.999908 0.00443934 0.0363095 0.00643296 -0.00452184 0.999969 7.56509 0 0 0 1 +10 0.999891 -0.0126057 -0.0076649 -0.0140367 0.012663 0.999892 0.00747804 0.0406566 0.00756981 -0.00757428 0.999943 8.50119 0 0 0 1 +11 0.99988 -0.012916 -0.00853732 -0.0314704 0.0129905 0.999878 0.00872879 0.0502508 0.00842353 -0.00883865 0.999925 9.44031 0 0 0 1 +12 0.999851 -0.0144077 -0.00947329 -0.0383227 0.0144958 0.999852 0.00930193 0.0627772 0.00933787 -0.00943787 0.999912 10.3736 0 0 0 1 +13 0.999838 -0.0146038 -0.0105024 -0.0473225 0.0147016 0.999849 0.00930217 0.0696137 0.010365 -0.00945507 0.999902 11.2945 0 0 0 1 +14 0.999827 -0.0148804 -0.0111878 -0.0611688 0.0149688 0.999857 0.00785918 0.0760175 0.0110692 -0.00802528 0.999907 12.2087 0 0 0 1 +15 0.999804 -0.015194 -0.0126986 -0.0750261 0.0152691 0.999866 0.0058357 0.0827557 0.0126082 -0.00602846 0.999902 13.1154 0 0 0 1 +16 0.999759 -0.0166787 -0.0142956 -0.0893963 0.0167446 0.99985 0.00450347 0.0886196 0.0142183 -0.00474176 0.999888 14.0218 0 0 0 1 +17 0.999738 -0.0164046 -0.0159548 -0.110797 0.0164665 0.999857 0.00375294 0.0939735 0.0158909 -0.00401468 0.999866 14.9288 0 0 0 1 +18 0.999731 -0.0152362 -0.0175058 -0.134602 0.0152899 0.999879 0.00293826 0.0949048 0.0174589 -0.00320513 0.999842 15.8347 0 0 0 1 +19 0.999721 -0.013717 -0.0192196 -0.158411 0.0137759 0.999901 0.00293494 0.0977547 0.0191774 -0.00319889 0.999811 16.7344 0 0 0 1 +20 0.999683 -0.0142193 -0.0207555 -0.182009 0.0142987 0.999891 0.00368405 0.101695 0.0207008 -0.00397966 0.999778 17.6352 0 0 0 1 +21 0.999659 -0.0137778 -0.0221853 -0.207494 0.01389 0.999891 0.00491306 0.105966 0.0221152 -0.00521954 0.999742 18.5239 0 0 0 1 +22 0.999637 -0.013439 -0.0233607 -0.237562 0.0135682 0.999893 0.0053802 0.112022 0.023286 -0.00569521 0.999713 19.408 0 0 0 1 +23 0.999585 -0.0146657 -0.0247774 -0.266515 0.0147976 0.999877 0.00515018 0.116865 0.0246988 -0.00551469 0.99968 20.2912 0 0 0 1 +24 0.999541 -0.0147341 -0.0264658 -0.293414 0.0148605 0.999879 0.00458559 0.12245 0.0263951 -0.00497678 0.999639 21.1689 0 0 0 1 +25 0.999508 -0.0146117 -0.0277547 -0.320586 0.0147561 0.999879 0.00500356 0.126076 0.0276782 -0.00541065 0.999602 22.0409 0 0 0 1 +26 0.999474 -0.0145772 -0.0289811 -0.347714 0.0147851 0.999866 0.00697181 0.131533 0.0288756 -0.00739663 0.999556 22.9037 0 0 0 1 diff --git a/examples/Data/VO_stereo_factors.txt b/examples/Data/VO_stereo_factors.txt new file mode 100644 index 000000000..a2451cf75 --- /dev/null +++ b/examples/Data/VO_stereo_factors.txt @@ -0,0 +1,8189 @@ +1 3 209.979 185.87 61.5418 -8.90263 -2.48003 16.0758 +2 3 183.871 158.526 58.5288 -9.02175 -2.42293 15.2918 +3 3 154.533 127.498 45.2523 -9.04073 -2.53526 14.3359 +1 7 402.088 390.052 9.90739 -9.25908 -7.27203 32.201 +2 7 394.391 382.151 5.65911 -9.4424 -7.33715 31.6638 +1 8 363.621 350.3 19.013 -9.91743 -6.20361 29.0959 +2 8 354.573 340.708 15.0627 -9.87834 -6.11295 27.9529 +1 11 328.245 314.688 36.8183 -11.1456 -5.38969 28.5871 +2 11 317.629 303.492 33.1041 -11.0929 -5.31025 27.4172 +1 13 354.416 341.486 73.4162 -10.5993 -4.13089 29.9745 +2 13 345.335 332.443 71.2318 -11.0089 -4.23409 30.0629 +1 14 368.212 355.083 79.6458 -9.87405 -3.81336 29.5197 +2 14 359.443 346.409 77.3278 -10.308 -3.9369 29.7366 +1 19 408.795 393 106.946 -6.82736 -2.24133 24.5372 +2 19 401.89 386.918 105.831 -7.45048 -2.40457 25.8863 +3 19 393.846 380.541 101.098 -8.70882 -2.89695 29.1301 +4 19 386.237 372.998 94.8054 -9.06118 -3.16678 29.276 +5 19 379.773 365.851 93.1127 -8.86588 -3.07667 27.8392 +6 19 372.598 357.905 93.1789 -8.66334 -2.91293 26.3795 +7 19 364.788 347.748 92.7894 -7.716 -2.5239 22.7453 +8 19 354.593 338.217 89.9263 -8.36348 -2.72022 23.6681 +1 22 301.371 288.22 123.147 -12.5881 -2.0303 29.4716 +2 22 290.134 277.334 122.566 -13.4053 -2.1104 30.2806 +3 22 279.457 266.441 118.448 -13.6226 -2.24522 29.7763 +1 24 286.858 267.821 24.4042 -9.10534 -4.18865 20.3589 +2 24 270.266 249.809 17.1811 -8.90883 -4.08751 18.9454 +1 25 309.828 295.159 40.0603 -10.9759 -4.86279 26.4221 +2 25 297.643 283.051 37.0473 -11.4821 -4.99925 26.5609 +3 25 284.476 269.313 30.9841 -11.5164 -5.0259 25.5613 +4 25 271.874 255.971 22.6085 -11.4056 -5.07468 24.3706 +5 25 259.223 243.056 18.2877 -11.6401 -5.13554 23.9734 +6 25 245.695 229.056 15.8812 -11.7463 -5.0674 23.2927 +1 26 363.837 351.125 88.2117 -10.3829 -3.57654 30.4884 +2 26 355.143 341.918 86.1881 -10.3332 -3.51996 29.3055 +1 27 370.625 357.942 91.0858 -10.1195 -3.46309 30.5589 +2 27 362.093 348.932 89.118 -10.0997 -3.41747 29.4477 +3 27 353.648 339.913 83.786 -10.0087 -3.48344 28.2193 +4 27 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773.088 283.537 2.69429 1.46004 9.51797 +6 1950 837.336 791.955 297.303 2.69606 1.47303 8.54042 +7 1950 866.492 815.279 315.245 2.69485 1.49348 7.5679 +8 1950 903.775 844.908 336.006 2.68466 1.48873 6.58389 +5 1951 771.425 724.374 311.055 1.8479 1.57774 8.23728 +6 1951 793.363 740.116 330.44 1.85419 1.58971 7.27879 +7 1951 821.602 760.245 356.09 1.85632 1.60414 6.3167 +6 1976 390.034 373.181 65.5509 -6.99669 -3.41996 22.9968 +7 1976 382.648 365.711 64.0793 -7.19667 -3.44987 22.8841 +8 1976 374.081 357.683 60.1814 -7.71353 -3.6908 23.6353 +9 1976 365.916 349.681 54.0038 -8.06107 -3.93222 23.8724 +10 1976 356.878 340.791 46.7583 -8.43726 -4.21045 24.0928 +6 1979 478.15 463.917 144.577 -4.95958 -1.06721 27.2319 +7 1979 474.288 459.541 146.173 -4.9271 -0.971818 26.2812 +6 1980 692.421 688.3 158.603 10.8009 -1.85756 94.0521 +7 1980 693.932 689.688 160.892 10.6784 -1.51397 91.3199 +8 1980 695.417 691.19 161.269 10.9091 -1.47203 91.6785 +9 1980 697.198 692.849 159.834 10.8251 -1.60828 89.1243 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+25 9866 602.745 552.242 330.347 -0.0724834 1.67512 7.67441 +26 9866 603.558 546.102 348.864 -0.0561072 1.64551 6.74563 +25 9883 840.323 782.748 280.133 2.15291 1.00086 6.73158 +26 9883 875.803 809.235 294.44 2.14837 0.981103 5.82224 +25 9884 840.323 782.748 280.133 2.15291 1.00086 6.73158 +26 9884 875.803 809.235 294.44 2.14837 0.981103 5.82224 +25 9889 910.731 841.986 281.457 2.35324 0.848585 5.63782 +26 9889 966.193 884.935 299.069 2.35749 0.834331 4.76965 +25 9897 1027.81 957.746 273.305 3.20645 0.770086 5.53152 +26 9897 1105.84 1022.96 289.994 3.21647 0.759204 4.67639 diff --git a/examples/matlab/VO_Example.m b/examples/matlab/VO_Example.m new file mode 100644 index 000000000..e95893898 --- /dev/null +++ b/examples/matlab/VO_Example.m @@ -0,0 +1,77 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read Stereo Visual Odometry from file and optimize +% @author Chris Beall +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Load calibration +% format: fx fy skew cx cy baseline +calib = dlmread('../Data/VO_calibration.txt'); +K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); +stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); + +%% create empty graph and values +graph = visualSLAMGraph; +initial = visualSLAMValues; + + +%% load the initial poses from VO +% row format: camera_id 4x4 pose (row, major) +c = dlmread('../Data/VO_camera_poses.txt'); + +for i=1:size(c,1) + pose = gtsamPose3(reshape(c(i,2:17),4,4)'); + initial.insertPose(symbol('x',c(i,1)),pose); +end + +%% load stereo measurements and initialize landmarks +% camera_id landmark_id uL uR v X Y Z +m = dlmread('../Data/VO_stereo_factors.txt'); + +for i=1:size(m,1) + sf = m(i,:); + graph.addStereoMeasurement(gtsamStereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... + symbol('x', sf(1)), symbol('l', sf(2)), K); + + if ~initial.exists(symbol('l',sf(2))) + % 3D landmarks are stored in camera coordinates: transform + % to world coordinates using the respective initial pose + pose = initial.pose(symbol('x', sf(1))); + world_point = pose.transform_from(gtsamPoint3(sf(6),sf(7),sf(8))); + initial.insertPoint(symbol('l',sf(2)), world_point); + end +end + +%% add a constraint on the starting pose +key = symbol('x',1); +first_pose = initial.pose(key); +graph.addPoseConstraint(symbol('x',1), first_pose); + +%% optimize +result = graph.optimize(initial); + +%% visualize initial trajectory, final trajectory, and final points +figure(1); clf; + +% initial trajectory in red +plot3(initial.xs(),initial.ys(),initial.zs(), '-*r','LineWidth',2); +hold on; + +% final trajectory in green +plot3(result.xs(),result.ys(),result.zs(), '-*g','LineWidth',2); +xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); + +% switch to XZ view +view([0 0]); + +% optimized 3D points +points = result.points(); +plot3(points(:,1),points(:,2),points(:,3),'.'); + +axis([-30 30 -30 30 0 60]); From ad3b431c4d60b078e411219c2973766ddd457e4e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 5 Jun 2012 18:05:00 +0000 Subject: [PATCH 177/914] Moved building of wrap libraries to a cmake macro and moved install for matlab components to the appropriate folder --- CMakeLists.txt | 10 ++-- examples/CMakeLists.txt | 18 +++++++ gtsam/CMakeLists.txt | 21 ++++++++ gtsam_unstable/CMakeLists.txt | 55 ++------------------- tests/CMakeLists.txt | 12 +++++ wrap/CMakeLists.txt | 92 ----------------------------------- 6 files changed, 60 insertions(+), 148 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 1ba6a05c2..c72a6f295 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -115,17 +115,17 @@ link_directories(${Boost_LIBRARY_DIRS}) # Build CppUnitLite add_subdirectory(CppUnitLite) +# Build wrap +if (GTSAM_BUILD_WRAP) + add_subdirectory(wrap) +endif(GTSAM_BUILD_WRAP) + # Build GTSAM library add_subdirectory(gtsam) # Build Tests add_subdirectory(tests) -# Build wrap -if (GTSAM_BUILD_WRAP) - add_subdirectory(wrap) -endif(GTSAM_BUILD_WRAP) - # Build examples if (GTSAM_BUILD_EXAMPLES) add_subdirectory(examples) diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 9f799d294..c9b3e4d8b 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -30,3 +30,21 @@ foreach(example_src ${example_srcs} ) endforeach(example_src) +# Install matlab components +if (GTSAM_BUILD_WRAP) + if (GTSAM_INSTALL_MATLAB_TOOLBOX) + # Examples + if (GTSAM_INSTALL_MATLAB_EXAMPLES) + message(STATUS "Installing Matlab Toolbox Examples") + file(GLOB matlab_examples "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.m") + install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) + + message(STATUS "Installing Matlab Toolbox Examples (Data)") + # Data files: *.graph and *.txt + file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") + file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") + set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) + install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) + endif (GTSAM_INSTALL_MATLAB_EXAMPLES) + endif (GTSAM_INSTALL_MATLAB_TOOLBOX) +endif () \ No newline at end of file diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 80c57c15c..45d14263d 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -114,3 +114,24 @@ if (GTSAM_BUILD_SHARED_LIBRARY) install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) endif(GTSAM_BUILD_SHARED_LIBRARY) +# Create the matlab toolbox for the gtsam library +if (GTSAM_BUILD_WRAP) + # Set up codegen + include(GtsamMatlabWrap) + + # TODO: generate these includes programmatically + # Choose include flags depending on build process + if (GTSAM_BUILD_MEX_BIN) + set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) + set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) + else() + set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) + set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) + endif() + + # Generate, build and install toolbox + set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam") + + # Macro to handle details of setting up targets + wrap_library(gtsam "${mexFlags}" "../") +endif () diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 179ffc6e6..8c3b220c6 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -70,15 +70,6 @@ if (GTSAM_BUILD_WRAP) # Set up codegen include(GtsamMatlabWrap) - # Wrap codegen - #usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags] - # mexExecutable : command to execute mex if on path, use 'mex' - # mexExtension : OS/CPU-dependent extension for MEX binaries - # 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 - # [mexFlags] : extra flags for the mex command - # TODO: generate these includes programmatically # Choose include flags depending on build process if (GTSAM_BUILD_MEX_BIN) @@ -89,48 +80,10 @@ if (GTSAM_BUILD_WRAP) set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) endif() + # Generate, build and install toolbox set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${MEX_LIB_ROOT}/gtsam_unstable -L${MEX_LIB_ROOT}/gtsam -lgtsam -lgtsam_unstable") - if(MSVC OR CYGWIN OR WINGW) - set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'") - endif() - set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable) - set(moduleName gtsam_unstable) - - find_mexextension() - - # Code generation command - add_custom_target(wrap_gtsam_unstable ALL COMMAND - ${CMAKE_BINARY_DIR}/wrap/wrap - ${MEX_COMMAND} - ${GTSAM_MEX_BIN_EXTENSION} - ${CMAKE_CURRENT_SOURCE_DIR} - ${moduleName} - ${toolbox_path} - "${mexFlags}" - DEPENDS wrap) - - # Build command - if (GTSAM_BUILD_MEX_BIN) - # Actually compile the mex files when building the library - if (GTSAM_INSTALL_MEX_BIN) - add_custom_target(wrap_gtsam_unstable_build ALL - COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} - WORKING_DIRECTORY ${toolbox_path} - DEPENDS wrap_gtsam_unstable) - else() - add_custom_target(wrap_gtsam_unstable_build - COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} - WORKING_DIRECTORY ${toolbox_path} - DEPENDS wrap_gtsam_unstable) - endif() - endif () - - if (GTSAM_INSTALL_MATLAB_TOOLBOX) - # Primary toolbox files - message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}") - install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder - # exploit need for trailing slash to specify a full folder, rather than just its contents to copy - install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) - endif (GTSAM_INSTALL_MATLAB_TOOLBOX) + # Macro to handle details of setting up targets + wrap_library(gtsam_unstable "${mexFlags}" "./") + endif(GTSAM_BUILD_WRAP) diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 4d29dd557..ef9660c90 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -40,3 +40,15 @@ if (GTSAM_BUILD_TIMING) "${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists ${is_test}) endif (GTSAM_BUILD_TIMING) + +# Install matlab components +if (GTSAM_BUILD_WRAP) + if (GTSAM_INSTALL_MATLAB_TOOLBOX) + # Tests + if (GTSAM_INSTALL_MATLAB_TESTS) + message(STATUS "Installing Matlab Toolbox Tests") + file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/tests/matlab/*.m") + install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) + endif () + endif () +endif () \ No newline at end of file diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 9c0501af6..4972e1ee2 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -22,96 +22,4 @@ if (GTSAM_BUILD_TESTS) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") endif(GTSAM_BUILD_TESTS) -# Wrap codegen -#usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags] -# mexExecutable : command to execute mex if on path, use 'mex' -# mexExtension : OS/CPU-dependent extension for MEX binaries -# 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 -# [mexFlags] : extra flags for the mex command -# Choose include flags depending on build process -if (GTSAM_BUILD_MEX_BIN) - set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) - set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) -else() - set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) - set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) -endif() - -set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam") -if(MSVC OR CYGWIN OR WINGW) - set(mexFlags "${mexFlags} LINKFLAGS='$LINKFLAGS /LIBPATH:${Boost_LIBRARY_DIRS}'") -endif() -set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam) -set(moduleName gtsam) - -include(GtsamMatlabWrap) -find_mexextension() - -# get binary path for wrap executable to allow for different build configurations (e.g., ROS) -if (NOT EXECUTABLE_OUTPUT_PATH) - set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}) -endif() - -# Code generation command -get_property(WRAP_EXE TARGET wrap PROPERTY LOCATION) -add_custom_target(wrap_gtsam ALL COMMAND - ${WRAP_EXE} - ${MEX_COMMAND} - ${GTSAM_MEX_BIN_EXTENSION} - ${CMAKE_CURRENT_SOURCE_DIR}/../ - ${moduleName} - ${toolbox_path} - "${mexFlags}" - DEPENDS wrap) - -# Build command -if (GTSAM_BUILD_MEX_BIN) - # Actually compile the mex files when building the library - # TODO: pass correct make flags from parent process - message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}") - if (GTSAM_INSTALL_MEX_BIN) - add_custom_target(wrap_gtsam_build ALL - COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} - WORKING_DIRECTORY ${toolbox_path} - DEPENDS wrap_gtsam) - else() - add_custom_target(wrap_gtsam_build - COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS} - WORKING_DIRECTORY ${toolbox_path} - DEPENDS wrap_gtsam) - endif() -endif () - -if (GTSAM_INSTALL_MATLAB_TOOLBOX) - # Primary toolbox files - # Note that we copy the entire contents of the folder blindly - this is because - # the generated files won't exist at configuration time - message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}") - install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder - # exploit need for trailing slash to specify a full folder, rather than just its contents to copy - install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) - - # Examples - if (GTSAM_INSTALL_MATLAB_EXAMPLES) - message(STATUS "Installing Matlab Toolbox Examples") - file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m") - install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) - - message(STATUS "Installing Matlab Toolbox Examples (Data)") - # Data files: *.graph and *.txt - file(GLOB matlab_examples_data_graph "${CMAKE_SOURCE_DIR}/examples/Data/*.graph") - file(GLOB matlab_examples_data_txt "${CMAKE_SOURCE_DIR}/examples/Data/*.txt") - set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) - install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) - endif (GTSAM_INSTALL_MATLAB_EXAMPLES) - - # Tests - if (GTSAM_INSTALL_MATLAB_TESTS) - message(STATUS "Installing Matlab Toolbox Tests") - file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m") - install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) - endif (GTSAM_INSTALL_MATLAB_TESTS) -endif (GTSAM_INSTALL_MATLAB_TOOLBOX) From 575fcb999b6381f595c3195bc3528b5b802f884b Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 5 Jun 2012 18:15:53 +0000 Subject: [PATCH 178/914] Fixed missing include --- gtsam/slam/PartialPriorFactor.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/slam/PartialPriorFactor.h b/gtsam/slam/PartialPriorFactor.h index fb8e673cb..215f87ef7 100644 --- a/gtsam/slam/PartialPriorFactor.h +++ b/gtsam/slam/PartialPriorFactor.h @@ -18,6 +18,7 @@ #pragma once #include +#include namespace gtsam { From 00b6f177d226aa4e91cc7c535f1051dd26fda713 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 5 Jun 2012 19:25:31 +0000 Subject: [PATCH 179/914] Removing unnecessary boost dependencies - may need more fixing --- CMakeLists.txt | 2 +- wrap/CMakeLists.txt | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c72a6f295..25ca8d9e2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -101,7 +101,7 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.42 COMPONENTS serialization system filesystem thread REQUIRED) +find_package(Boost 1.42 COMPONENTS serialization REQUIRED) # General build settings include_directories( diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 4972e1ee2..16dfbb8e5 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -1,5 +1,7 @@ # Build/install Wrap +find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED) + # Build the executable itself file(GLOB wrap_srcs "*.cpp") list(REMOVE_ITEM wrap_srcs wrap.cpp) @@ -18,7 +20,7 @@ install(FILES matlab.h DESTINATION include/wrap) # Build tests if (GTSAM_BUILD_TESTS) add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}") - set(wrap_local_libs wrap_lib) + set(wrap_local_libs wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") endif(GTSAM_BUILD_TESTS) From 5bcb0de5888651d1a085e42ae5b4e2c80ad7123e Mon Sep 17 00:00:00 2001 From: Summit Patel Date: Tue, 5 Jun 2012 19:54:14 +0000 Subject: [PATCH 180/914] Fixed doxygen warnings. --- gtsam/inference/ClusterTree.h | 4 ++-- gtsam/linear/NoiseModel.h | 7 +++---- gtsam/mainpage.dox | 4 ++-- gtsam/nonlinear/NonlinearFactor.h | 7 +++---- gtsam/nonlinear/Values.h | 8 ++++---- gtsam/nonlinear/WhiteNoiseFactor.h | 2 +- 6 files changed, 15 insertions(+), 17 deletions(-) diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index c5301f030..92919b936 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -32,8 +32,8 @@ namespace gtsam { /** * A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: - * each node k represents a subset C_k \sub X, and the tree is family preserving, in that - * each factor f_i is associated with a single cluster and scope(f_i) \sub C_k. + * each node k represents a subset \f$ C_k \sub X \f$, and the tree is family preserving, in that + * each factor \f$ f_i \f$ is associated with a single cluster and \f$ scope(f_i) \sub C_k \f$. * \nosubgrouping */ template diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 87391be0a..f7a1c351a 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -146,7 +146,6 @@ namespace gtsam { /** * A Gaussian noise model created by specifying a square root information matrix. - * @param smart, check if can be simplified to derived class */ static shared_ptr SqrtInformation(const Matrix& R) { return shared_ptr(new Gaussian(R.rows(),R)); @@ -154,7 +153,7 @@ namespace gtsam { /** * A Gaussian noise model created by specifying a covariance matrix. - * @param smart, check if can be simplified to derived class + * @param smart check if can be simplified to derived class */ static shared_ptr Covariance(const Matrix& covariance, bool smart=false); @@ -267,7 +266,7 @@ namespace gtsam { /** * A diagonal noise model created by specifying a Vector of variances, i.e. * i.e. the diagonal of the covariance matrix. - * @param smart, check if can be simplified to derived class + * @param smart check if can be simplified to derived class */ static shared_ptr Variances(const Vector& variances, bool smart = false); @@ -503,7 +502,7 @@ namespace gtsam { /** * An isotropic noise model created by specifying a variance = sigma^2. - * @param smart, check if can be simplified to derived class + * @param smart check if can be simplified to derived class */ static shared_ptr Variance(size_t dim, double variance, bool smart = false); diff --git a/gtsam/mainpage.dox b/gtsam/mainpage.dox index e81fc1f65..db42b1277 100644 --- a/gtsam/mainpage.dox +++ b/gtsam/mainpage.dox @@ -9,9 +9,9 @@ namespace gtsam { \section new_factor_variable_types Creating new factor and variable types GTSAM comes with a set of variable and factor types typically used in SFM and -SLAM. Geometry variables such as points and poses are in the \ref geometry +SLAM. Geometry variables such as points and poses are in the geometry subdirectory and module. Factors such as BetweenFactor and BearingFactor are in -the \ref gtsam/slam directory. +the gtsam/slam directory. To use GTSAM to solve your own problems, you will often have to create new factor types, which derive either from NonlinearFactor or NoiseModelFactor, or one of their derived types. Here is an outline of the options: diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index a5a838881..1d4d580b9 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -228,7 +228,6 @@ public: /** * Constructor - * @param keys The variables involved in this factor */ template NoiseModelFactor(const SharedNoiseModel& noiseModel, ITERATOR beginKeys, ITERATOR endKeys) @@ -379,14 +378,14 @@ public: /** * Constructor - * @param z measurement - * @param key by which to look up X value in Values + * @param key1 by which to look up X value in Values */ NoiseModelFactor1(const SharedNoiseModel& noiseModel, Key key1) : Base(noiseModel, key1) {} /** Calls the 1-key specific version of evaluateError, which is pure virtual - * so must be implemented in the derived class. */ + * so must be implemented in the derived class. + */ virtual Vector unwhitenedError(const Values& x, boost::optional&> H = boost::none) const { if(this->active(x)) { const X& x1 = x.at(keys_[0]); diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4a03ab05e..37708d9d9 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -402,7 +402,7 @@ namespace gtsam { * When iterating over the filtered view, only the key-value pairs * with a key causing \c filterFcn to return \c true are visited. Because * the object Filtered returned from filter() is only a - * view the original Values object must not be deallocated or + * view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @param filterFcn The function that determines which key-value pairs are * included in the filtered view, for which this function returns \c true @@ -421,7 +421,7 @@ namespace gtsam { * template argument \c ValueType and whose key causes the function argument * \c filterFcn to return true are visited when iterating over the filtered * view. Because the object Filtered returned from filter() is only - * a view the original Values object must not be deallocated or + * a view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @tparam ValueType The type that the value in a key-value pair must match * to be included in the filtered view. Currently, base classes are not @@ -445,7 +445,7 @@ namespace gtsam { * When iterating over the filtered view, only the key-value pairs * with a key causing \c filterFcn to return \c true are visited. Because * the object Filtered returned from filter() is only a - * view the original Values object must not be deallocated or + * view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @param filterFcn The function that determines which key-value pairs are * included in the filtered view, for which this function returns \c true @@ -464,7 +464,7 @@ namespace gtsam { * template argument \c ValueType and whose key causes the function argument * \c filterFcn to return true are visited when iterating over the filtered * view. Because the object Filtered returned from filter() is only - * a view the original Values object must not be deallocated or + * a view the original Values object must not be deallocated or * go out of scope as long as the view is needed. * @tparam ValueType The type that the value in a key-value pair must match * to be included in the filtered view. Currently, base classes are not diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h index 354a1bcbc..f37debd54 100644 --- a/gtsam/nonlinear/WhiteNoiseFactor.h +++ b/gtsam/nonlinear/WhiteNoiseFactor.h @@ -51,7 +51,7 @@ namespace gtsam { public: - /** @brief negative log likelihood as a function of mean \mu and precision \tau + /** @brief negative log likelihood as a function of mean \f$ \mu \f$ and precision \f$ \tau \f$ * @f[ * f(z, \tau, \mu) * = -\log \left( \frac{\sqrt{\tau}}{\sqrt{2\pi}} \exp(-0.5\tau(z-\mu)^2) \right) From 1b5b4d494e3890c8a375394a2f87aad8b44596fb Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 20:03:27 +0000 Subject: [PATCH 181/914] Simplified Values code by moving internal implementation to inline header file --- gtsam/nonlinear/Values-inl.h | 164 +++++++++++++++++++++++++++++++++ gtsam/nonlinear/Values.h | 172 ++++------------------------------- 2 files changed, 180 insertions(+), 156 deletions(-) diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index 40e95188e..4cab86714 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -40,6 +40,170 @@ namespace gtsam { ValueCloneAllocator() {} }; + /* ************************************************************************* */ + template + struct _ValuesKeyValuePair { + const Key key; ///< The key + ValueType& value; ///< The value + + _ValuesKeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value) {} + }; + + /* ************************************************************************* */ + template + struct _ValuesConstKeyValuePair { + const Key key; ///< The key + const ValueType& value; ///< The value + + _ValuesConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {} + _ValuesConstKeyValuePair(const _ValuesKeyValuePair& rhs) : key(rhs.key), value(rhs.value) {} + }; + + /* ************************************************************************* */ + template + class Values::Filtered { + public: + /** A key-value pair, with the value a specific derived Value type. */ + typedef _ValuesKeyValuePair KeyValuePair; + typedef _ValuesConstKeyValuePair ConstKeyValuePair; + typedef KeyValuePair value_type; + + typedef + boost::transform_iterator< + KeyValuePair(*)(Values::KeyValuePair), + boost::filter_iterator< + boost::function, + Values::iterator> > + iterator; + + typedef iterator const_iterator; + + typedef + boost::transform_iterator< + ConstKeyValuePair(*)(Values::ConstKeyValuePair), + boost::filter_iterator< + boost::function, + Values::const_iterator> > + const_const_iterator; + + iterator begin() { return begin_; } + iterator end() { return end_; } + const_iterator begin() const { return begin_; } + const_iterator end() const { return end_; } + const_const_iterator beginConst() const { return constBegin_; } + const_const_iterator endConst() const { return constEnd_; } + + /** Returns the number of values in this view */ + size_t size() const { + size_t i = 0; + for (const_const_iterator it = beginConst(); it != endConst(); ++it) + ++i; + return i; + } + + private: + Filtered(const boost::function& filter, Values& values) : + begin_(boost::make_transform_iterator( + boost::make_filter_iterator( + filter, values.begin(), values.end()), + &castHelper)), + end_(boost::make_transform_iterator( + boost::make_filter_iterator( + filter, values.end(), values.end()), + &castHelper)), + constBegin_(boost::make_transform_iterator( + boost::make_filter_iterator( + filter, ((const Values&)values).begin(), ((const Values&)values).end()), + &castHelper)), + constEnd_(boost::make_transform_iterator( + boost::make_filter_iterator( + filter, ((const Values&)values).end(), ((const Values&)values).end()), + &castHelper)) {} + + friend class Values; + iterator begin_; + iterator end_; + const_const_iterator constBegin_; + const_const_iterator constEnd_; + }; + + /* ************************************************************************* */ + template + class Values::ConstFiltered { + public: + /** A const key-value pair, with the value a specific derived Value type. */ + typedef _ValuesConstKeyValuePair KeyValuePair; + typedef KeyValuePair value_type; + + typedef typename Filtered::const_const_iterator iterator; + typedef typename Filtered::const_const_iterator const_iterator; + + /** Conversion from Filtered to ConstFiltered */ + ConstFiltered(const Filtered& rhs) : + begin_(rhs.beginConst()), + end_(rhs.endConst()) {} + + iterator begin() { return begin_; } + iterator end() { return end_; } + const_iterator begin() const { return begin_; } + const_iterator end() const { return end_; } + + /** Returns the number of values in this view */ + size_t size() const { + size_t i = 0; + for (const_iterator it = begin(); it != end(); ++it) + ++i; + return i; + } + + private: + friend class Values; + const_iterator begin_; + const_iterator end_; + ConstFiltered(const boost::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. + const Filtered filtered(filter, const_cast(values)); + begin_ = filtered.beginConst(); + end_ = filtered.endConst(); + } + }; + + /* ************************************************************************* */ + template + Values::Values(const Values::ConstFiltered& view) { + BOOST_FOREACH(const typename ConstFiltered::KeyValuePair& key_value, view) { + Key key = key_value.key; + insert(key, key_value.value); + } + } + + /* ************************************************************************* */ + Values::Filtered + inline Values::filter(const boost::function& filterFcn) { + return filter(filterFcn); + } + + /* ************************************************************************* */ + template + Values::Filtered + Values::filter(const boost::function& filterFcn) { + return Filtered(boost::bind(&filterHelper, filterFcn, _1), *this); + } + + /* ************************************************************************* */ + Values::ConstFiltered + inline Values::filter(const boost::function& filterFcn) const { + return filter(filterFcn); + } + + /* ************************************************************************* */ + template + Values::ConstFiltered + Values::filter(const boost::function& filterFcn) const { + return ConstFiltered(boost::bind(&filterHelper, filterFcn, _1), *this); + } + /* ************************************************************************* */ template const ValueType& Values::at(Key j) const { diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 37708d9d9..d9778bb0f 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -122,133 +122,15 @@ namespace gtsam { typedef KeyValuePair value_type; - private: - template - struct _KeyValuePair { - const Key key; ///< The key - ValueType& value; ///< The value - - _KeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value) {} - }; - - template - struct _ConstKeyValuePair { - const Key key; ///< The key - const ValueType& value; ///< The value - - _ConstKeyValuePair(Key _key, const ValueType& _value) : key(_key), value(_value) {} - _ConstKeyValuePair(const _KeyValuePair& rhs) : key(rhs.key), value(rhs.value) {} - }; - public: + /** A filtered view of a Values, returned from Values::filter. */ template - class Filtered { - public: - /** A key-value pair, with the value a specific derived Value type. */ - typedef _KeyValuePair KeyValuePair; - typedef _ConstKeyValuePair ConstKeyValuePair; - typedef KeyValuePair value_type; - - typedef - boost::transform_iterator< - KeyValuePair(*)(Values::KeyValuePair), - boost::filter_iterator< - boost::function, - Values::iterator> > - iterator; - - typedef iterator const_iterator; - - typedef - boost::transform_iterator< - ConstKeyValuePair(*)(Values::ConstKeyValuePair), - boost::filter_iterator< - boost::function, - Values::const_iterator> > - const_const_iterator; - - iterator begin() { return begin_; } - iterator end() { return end_; } - const_iterator begin() const { return begin_; } - const_iterator end() const { return end_; } - const_const_iterator beginConst() const { return constBegin_; } - const_const_iterator endConst() const { return constEnd_; } - - /** Returns the number of values in this view */ - size_t size() const { - size_t i = 0; - for (const_const_iterator it = beginConst(); it != endConst(); ++it) - ++i; - return i; - } - - private: - Filtered(const boost::function& filter, Values& values) : - begin_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, values.begin(), values.end()), - &castHelper)), - end_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, values.end(), values.end()), - &castHelper)), - constBegin_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, ((const Values&)values).begin(), ((const Values&)values).end()), - &castHelper)), - constEnd_(boost::make_transform_iterator( - boost::make_filter_iterator( - filter, ((const Values&)values).end(), ((const Values&)values).end()), - &castHelper)) {} - - friend class Values; - iterator begin_; - iterator end_; - const_const_iterator constBegin_; - const_const_iterator constEnd_; - }; + class Filtered; + /** A filtered view of a const Values, returned from Values::filter. */ template - class ConstFiltered { - public: - /** A const key-value pair, with the value a specific derived Value type. */ - typedef _ConstKeyValuePair KeyValuePair; - typedef KeyValuePair value_type; - - typedef typename Filtered::const_const_iterator iterator; - typedef typename Filtered::const_const_iterator const_iterator; - - /** Conversion from Filtered to ConstFiltered */ - ConstFiltered(const Filtered& rhs) : - begin_(rhs.beginConst()), - end_(rhs.endConst()) {} - - iterator begin() { return begin_; } - iterator end() { return end_; } - const_iterator begin() const { return begin_; } - const_iterator end() const { return end_; } - - /** Returns the number of values in this view */ - size_t size() const { - size_t i = 0; - for (const_iterator it = begin(); it != end(); ++it) - ++i; - return i; - } - - private: - friend class Values; - const_iterator begin_; - const_iterator end_; - ConstFiltered(const boost::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. - const Filtered filtered(filter, const_cast(values)); - begin_ = filtered.beginConst(); - end_ = filtered.endConst(); - } - }; + class ConstFiltered; /** Default constructor creates an empty Values class */ Values() {} @@ -256,23 +138,9 @@ namespace gtsam { /** Copy constructor duplicates all keys and values */ Values(const Values& other); - /** Constructor from a Filtered view copies out all values */ + /** Constructor from a Filtered or ConstFiltered view */ template - Values(const Filtered& view) { - BOOST_FOREACH(const typename Filtered::KeyValuePair& key_value, view) { - Key key = key_value.key; - insert(key, key_value.value); - } - } - - /** Constructor from Const Filtered view */ - template - Values(const ConstFiltered& view) { - BOOST_FOREACH(const typename ConstFiltered::KeyValuePair& key_value, view) { - Key key = key_value.key; - insert(key, key_value.value); - } - } + Values(const ConstFiltered& view); /// @name Testable /// @{ @@ -323,12 +191,6 @@ namespace gtsam { /** Get a zero VectorValues of the correct structure */ VectorValues zeroVectors(const Ordering& ordering) const; - private: - static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) { - return ConstKeyValuePair(key_value.first, *key_value.second); } - static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) { - return KeyValuePair(key_value.first, *key_value.second); } - public: const_iterator begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); } const_iterator end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); } @@ -411,9 +273,7 @@ namespace gtsam { * the original Values class. */ Filtered - filter(const boost::function& filterFcn) { - return filter(filterFcn); - } + filter(const boost::function& filterFcn); /** * Return a filtered view of this Values class, without copying any data. @@ -436,9 +296,7 @@ namespace gtsam { */ template Filtered - filter(const boost::function& filterFcn = (boost::lambda::_1, true)) { - return Filtered(boost::bind(&filterHelper, filterFcn, _1), *this); - } + filter(const boost::function& filterFcn = (boost::lambda::_1, true)); /** * Return a filtered view of this Values class, without copying any data. @@ -454,9 +312,7 @@ namespace gtsam { * the original Values class. */ ConstFiltered - filter(const boost::function& filterFcn) const { - return filter(filterFcn); - } + filter(const boost::function& filterFcn) const; /** * Return a filtered view of this Values class, without copying any data. @@ -478,9 +334,7 @@ namespace gtsam { */ template ConstFiltered - filter(const boost::function& filterFcn = (boost::lambda::_1, true)) const { - return ConstFiltered(boost::bind(&filterHelper, filterFcn, _1), *this); - } + filter(const boost::function& filterFcn = (boost::lambda::_1, true)) const; private: // Filters based on ValueType (if not Value) and also based on the user- @@ -505,6 +359,12 @@ namespace gtsam { ar & BOOST_SERIALIZATION_NVP(values_); } + static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) { + return ConstKeyValuePair(key_value.first, *key_value.second); } + + static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) { + return KeyValuePair(key_value.first, *key_value.second); } + }; /* ************************************************************************* */ From dacff98f9f614272118aa631f6dda8e63fda029b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 20:03:31 +0000 Subject: [PATCH 182/914] Using boost timer instead of chrono to support older boost versions --- gtsam/base/timing.cpp | 20 +- gtsam/base/timing.h | 406 ++++++++++++++++++------------------ gtsam/linear/NoiseModel.cpp | 6 - 3 files changed, 214 insertions(+), 218 deletions(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index 1388c2f18..f5b5319d0 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -20,7 +20,6 @@ #include #include #include -#include #include #include #include @@ -48,7 +47,7 @@ void TimingOutline::add(size_t usecs) { /* ************************************************************************* */ TimingOutline::TimingOutline(const std::string& label) : - t_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label), timerActive_(false) {} + t_(0), t2_(0.0), tIt_(0), tMax_(0), tMin_(0), n_(0), label_(label) {} /* ************************************************************************* */ size_t TimingOutline::time() const { @@ -151,18 +150,15 @@ const boost::shared_ptr& TimingOutline::child(size_t child, const /* ************************************************************************* */ void TimingOutline::tic() { - assert(!timerActive_); - timerActive_ = true; - gettimeofday(&t0_, NULL); + assert(timer_.is_stopped()); + timer_.start(); } /* ************************************************************************* */ void TimingOutline::toc() { - struct timeval t; - gettimeofday(&t, NULL); - assert(timerActive_); - add(t.tv_sec*1000000 + t.tv_usec - (t0_.tv_sec*1000000 + t0_.tv_usec)); - timerActive_ = false; + assert(!timer_.is_stopped()); + timer_.stop(); + add((timer_.elapsed().user + timer_.elapsed().system) / 1000); } /* ************************************************************************* */ @@ -231,6 +227,8 @@ void toc_(size_t id, const std::string& label) { toc_(id); } +#ifdef ENABLE_OLD_TIMING + /* ************************************************************************* */ // Timing class implementation void Timing::print() { @@ -260,3 +258,5 @@ void ticPop_(const std::string& prefix, const std::string& id) { else timingPrefix.resize(timingPrefix.size() - prefix.size() - 1); } + +#endif \ No newline at end of file diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 94498c3b3..e09e3bb14 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -1,202 +1,204 @@ -/* ---------------------------------------------------------------------------- - - * 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 timing.h - * @brief Timing utilities - * @author Richard Roberts, Michael Kaess - * @date Oct 5, 2010 - */ -#pragma once - -#include -#include -#include -#include -#include - -class TimingOutline; -extern boost::shared_ptr timingRoot; -extern boost::weak_ptr timingCurrent; - -class TimingOutline { -protected: - size_t t_; - double t2_ ; /* cache the \sum t_i^2 */ - size_t tIt_; - size_t tMax_; - size_t tMin_; - size_t n_; - std::string label_; - - boost::weak_ptr parent_; - std::vector > children_; - struct timeval t0_; - bool timerActive_; - - void add(size_t usecs); - -public: - - TimingOutline(const std::string& label); - - size_t time() const; - - void print(const std::string& outline = "") const; - - void print2(const std::string& outline = "", const double parentTotal = -1.0) const; - - const boost::shared_ptr& child(size_t child, const std::string& label, const boost::weak_ptr& thisPtr); - - void tic(); - - void toc(); - - void finishedIteration(); - - friend class AutoTimer; - friend void toc_(size_t id); - friend void toc_(size_t id, const std::string& label); -}; // \TimingOutline - -void tic_(size_t id, const std::string& label); - -void toc_(size_t id); - -void toc_(size_t id, const std::string& label); - -inline void tictoc_finishedIteration_() { - timingRoot->finishedIteration(); -} - -#ifdef ENABLE_TIMING -inline void tic(size_t id, const std::string& label) { tic_(id, label); } -inline void toc(size_t id) { toc_(id); } -inline void toc(size_t id, const std::string& label) { toc_(id, label); } -inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); } -#else -inline void tic(size_t, const char*) {} -inline void toc(size_t) {} -inline void toc(size_t, const char*) {} -inline void tictoc_finishedIteration() {} -#endif - -// simple class for accumulating execution timing information by name -class Timing; -extern Timing timing; -extern std::string timingPrefix; - -double _tic(); -double _toc(double t); -double tic(const std::string& id); -double toc(const std::string& id); -void ticPush(const std::string& id); -void ticPop(const std::string& id); -void tictoc_print(); -void tictoc_finishedIteration(); - -/** These underscore versions work evening when ENABLE_TIMING is not defined */ -double _tic_(); -double _toc_(double t); -double tic_(const std::string& id); -double toc_(const std::string& id); -void ticPush_(const std::string& id); -void ticPop_(const std::string& id); -void tictoc_print_(); -void tictoc_finishedIteration_(); - - - -// simple class for accumulating execution timing information by name -class Timing { - class Stats { - public: - std::string label; - double t0; - double t; - double t_max; - double t_min; - int n; - }; - std::map stats; -public: - void add_t0(const std::string& id, double t0) { - stats[id].t0 = t0; - } - double get_t0(const std::string& id) { - return stats[id].t0; - } - void add_dt(const std::string& id, double dt) { - Stats& s = stats[id]; - s.t += dt; - s.n++; - if (s.n==1 || s.t_max < dt) s.t_max = dt; - if (s.n==1 || s.t_min > dt) s.t_min = dt; - } - void print(); - - double time(const std::string& id) { - Stats& s = stats[id]; - return s.t; - } -}; - -double _tic_(); -inline double _toc_(double t) { - double s = _tic_(); - return (std::max(0., s-t)); -} -inline double tic_(const std::string& id) { - double t0 = _tic_(); - timing.add_t0(timingPrefix + " " + id, t0); - return t0; -} -inline double toc_(const std::string& id) { - std::string comb(timingPrefix + " " + id); - double dt = _toc_(timing.get_t0(comb)); - timing.add_dt(comb, dt); - return dt; -} -inline void ticPush_(const std::string& prefix, const std::string& id) { - if(timingPrefix.size() > 0) - timingPrefix += "."; - timingPrefix += prefix; - tic_(id); -} -void ticPop_(const std::string& prefix, const std::string& id); - -inline void tictoc_print_() { - timing.print(); - timingRoot->print(); -} - -/* print mean and standard deviation */ -inline void tictoc_print2_() { - timingRoot->print2(); -} - -#ifdef ENABLE_TIMING -inline double _tic() { return _tic_(); } -inline double _toc(double t) { return _toc_(t); } -inline double tic(const std::string& id) { return tic_(id); } -inline double toc(const std::string& id) { return toc_(id); } -inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); } -inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); } -inline void tictoc_print() { tictoc_print_(); } -#else -inline double _tic() {return 0.;} -inline double _toc(double) {return 0.;} -inline double tic(const std::string&) {return 0.;} -inline double toc(const std::string&) {return 0.;} -inline void ticPush(const std::string&, const std::string&) {} -inline void ticPop(const std::string&, const std::string&) {} -inline void tictoc_print() {} -#endif +/* ---------------------------------------------------------------------------- + + * 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 timing.h + * @brief Timing utilities + * @author Richard Roberts, Michael Kaess + * @date Oct 5, 2010 + */ +#pragma once + +#include +#include +#include +#include +#include +#include + +class TimingOutline; +extern boost::shared_ptr timingRoot; +extern boost::weak_ptr timingCurrent; + +class TimingOutline { +protected: + size_t t_; + double t2_ ; /* cache the \sum t_i^2 */ + size_t tIt_; + size_t tMax_; + size_t tMin_; + size_t n_; + std::string label_; + + boost::weak_ptr parent_; + std::vector > children_; + boost::timer::cpu_timer timer_; + + void add(size_t usecs); + +public: + + TimingOutline(const std::string& label); + + size_t time() const; + + void print(const std::string& outline = "") const; + + void print2(const std::string& outline = "", const double parentTotal = -1.0) const; + + const boost::shared_ptr& child(size_t child, const std::string& label, const boost::weak_ptr& thisPtr); + + void tic(); + + void toc(); + + void finishedIteration(); + + friend class AutoTimer; + friend void toc_(size_t id); + friend void toc_(size_t id, const std::string& label); +}; // \TimingOutline + +void tic_(size_t id, const std::string& label); + +void toc_(size_t id); + +void toc_(size_t id, const std::string& label); + +inline void tictoc_finishedIteration_() { + timingRoot->finishedIteration(); +} + +#ifdef ENABLE_TIMING +inline void tic(size_t id, const std::string& label) { tic_(id, label); } +inline void toc(size_t id) { toc_(id); } +inline void toc(size_t id, const std::string& label) { toc_(id, label); } +inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); } +#else +inline void tic(size_t, const char*) {} +inline void toc(size_t) {} +inline void toc(size_t, const char*) {} +inline void tictoc_finishedIteration() {} +#endif + + +inline void tictoc_print_() { + timingRoot->print(); +} + +/* print mean and standard deviation */ +inline void tictoc_print2_() { + timingRoot->print2(); +} + +#ifdef ENABLE_OLD_TIMING + +// simple class for accumulating execution timing information by name +class Timing; +extern Timing timing; +extern std::string timingPrefix; + +double _tic(); +double _toc(double t); +double tic(const std::string& id); +double toc(const std::string& id); +void ticPush(const std::string& id); +void ticPop(const std::string& id); +void tictoc_finishedIteration(); + +/** These underscore versions work evening when ENABLE_TIMING is not defined */ +double _tic_(); +double _toc_(double t); +double tic_(const std::string& id); +double toc_(const std::string& id); +void ticPush_(const std::string& id); +void ticPop_(const std::string& id); +void tictoc_finishedIteration_(); + + + +// simple class for accumulating execution timing information by name +class Timing { + class Stats { + public: + std::string label; + double t0; + double t; + double t_max; + double t_min; + int n; + }; + std::map stats; +public: + void add_t0(const std::string& id, double t0) { + stats[id].t0 = t0; + } + double get_t0(const std::string& id) { + return stats[id].t0; + } + void add_dt(const std::string& id, double dt) { + Stats& s = stats[id]; + s.t += dt; + s.n++; + if (s.n==1 || s.t_max < dt) s.t_max = dt; + if (s.n==1 || s.t_min > dt) s.t_min = dt; + } + void print(); + + double time(const std::string& id) { + Stats& s = stats[id]; + return s.t; + } +}; + +double _tic_(); +inline double _toc_(double t) { + double s = _tic_(); + return (std::max(0., s-t)); +} +inline double tic_(const std::string& id) { + double t0 = _tic_(); + timing.add_t0(timingPrefix + " " + id, t0); + return t0; +} +inline double toc_(const std::string& id) { + std::string comb(timingPrefix + " " + id); + double dt = _toc_(timing.get_t0(comb)); + timing.add_dt(comb, dt); + return dt; +} +inline void ticPush_(const std::string& prefix, const std::string& id) { + if(timingPrefix.size() > 0) + timingPrefix += "."; + timingPrefix += prefix; + tic_(id); +} +void ticPop_(const std::string& prefix, const std::string& id); + +#ifdef ENABLE_TIMING +inline double _tic() { return _tic_(); } +inline double _toc(double t) { return _toc_(t); } +inline double tic(const std::string& id) { return tic_(id); } +inline double toc(const std::string& id) { return toc_(id); } +inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); } +inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); } +inline void tictoc_print() { tictoc_print_(); } +#else +inline double _tic() {return 0.;} +inline double _toc(double) {return 0.;} +inline double tic(const std::string&) {return 0.;} +inline double toc(const std::string&) {return 0.;} +inline void ticPush(const std::string&, const std::string&) {} +inline void ticPop(const std::string&, const std::string&) {} +inline void tictoc_print() {} +#endif + +#endif \ No newline at end of file diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 073097ee2..a0901c58b 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -140,19 +140,13 @@ SharedDiagonal Gaussian::Cholesky(Matrix& Ab, size_t nFrontals) const { // TODO: really no rank problems ? // pre-whiten everything (cheaply if possible) - tic("Cholesky: 1 whiten"); WhitenInPlace(Ab); - toc("Cholesky: 1 whiten"); // Form A'*A (todo: this is probably less efficient than possible) - tic("Cholesky: 2 A' * A"); Ab = Ab.transpose() * Ab; - toc("Cholesky: 2 A' * A"); // Use Cholesky to factor Ab - tic("Cholesky: 3 careful"); size_t maxrank = choleskyCareful(Ab).first; - toc("Cholesky: 3 careful"); // Due to numerical error the rank could appear to be more than the number // of variables. The important part is that it does not includes the From 3cc739cc07083257fa1f73804df59dcaa18490c9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 20:03:33 +0000 Subject: [PATCH 183/914] Fixed link path in make_gtsam --- gtsam/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 45d14263d..32cc7a766 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -130,7 +130,7 @@ if (GTSAM_BUILD_WRAP) endif() # Generate, build and install toolbox - set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT}/gtsam -lgtsam") + set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT} -lgtsam") # Macro to handle details of setting up targets wrap_library(gtsam "${mexFlags}" "../") From c5a406578aeede7c85bdedf72746c84c1bdad8ba Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 20:04:41 +0000 Subject: [PATCH 184/914] Typo --- gtsam/base/timing.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index f5b5319d0..edb436822 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -30,7 +30,7 @@ boost::shared_ptr timingRoot(new TimingOutline("Total")); boost::weak_ptr timingCurrent(timingRoot); -Timing timing; +//Timing timing; std::string timingPrefix; /* ************************************************************************* */ @@ -259,4 +259,4 @@ void ticPop_(const std::string& prefix, const std::string& id) { timingPrefix.resize(timingPrefix.size() - prefix.size() - 1); } -#endif \ No newline at end of file +#endif From ecbe2ee12e01b048c430154b5e8e63d3d5f1bcee Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 20:05:44 +0000 Subject: [PATCH 185/914] Fixed gtsam linking with unnecessary boost libraries that caused undefined symbol in matlab --- gtsam/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 32cc7a766..ec0d7847d 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -85,7 +85,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") if (GTSAM_BUILD_STATIC_LIBRARY) message(STATUS "Building GTSAM - static") add_library(gtsam-static STATIC ${gtsam_srcs}) - target_link_libraries(gtsam-static ${Boost_LIBRARIES}) + target_link_libraries(gtsam-static ${Boost_SERIALIZATION_LIBRARY}) set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 @@ -101,7 +101,7 @@ endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) message(STATUS "Building GTSAM - shared") add_library(gtsam-shared SHARED ${gtsam_srcs}) - target_link_libraries(gtsam-shared ${Boost_LIBRARIES}) + target_link_libraries(gtsam-shared ${Boost_SERIALIZATION_LIBRARY}) set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 From 8d2c99b2cf3952aa1fbf6640ba383a1d319a5fce Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 20:11:21 +0000 Subject: [PATCH 186/914] Fixed gtsam linking with unnecessary boost libraries that caused undefined symbol in matlab (reverse-merged from commit b8cea352c107b3528e7a9313690c4fe006128a4b) --- gtsam/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index ec0d7847d..32cc7a766 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -85,7 +85,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") if (GTSAM_BUILD_STATIC_LIBRARY) message(STATUS "Building GTSAM - static") add_library(gtsam-static STATIC ${gtsam_srcs}) - target_link_libraries(gtsam-static ${Boost_SERIALIZATION_LIBRARY}) + target_link_libraries(gtsam-static ${Boost_LIBRARIES}) set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 @@ -101,7 +101,7 @@ endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) message(STATUS "Building GTSAM - shared") add_library(gtsam-shared SHARED ${gtsam_srcs}) - target_link_libraries(gtsam-shared ${Boost_SERIALIZATION_LIBRARY}) + target_link_libraries(gtsam-shared ${Boost_LIBRARIES}) set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 From 5fc823c3af2a8fe7580b6f2e81b57040ef3bb0f3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 21:30:38 +0000 Subject: [PATCH 187/914] Fixed gtsam linking with unnecessary boost libraries that caused undefined symbol in matlab --- gtsam/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 32cc7a766..ec0d7847d 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -85,7 +85,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") if (GTSAM_BUILD_STATIC_LIBRARY) message(STATUS "Building GTSAM - static") add_library(gtsam-static STATIC ${gtsam_srcs}) - target_link_libraries(gtsam-static ${Boost_LIBRARIES}) + target_link_libraries(gtsam-static ${Boost_SERIALIZATION_LIBRARY}) set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 @@ -101,7 +101,7 @@ endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) message(STATUS "Building GTSAM - shared") add_library(gtsam-shared SHARED ${gtsam_srcs}) - target_link_libraries(gtsam-shared ${Boost_LIBRARIES}) + target_link_libraries(gtsam-shared ${Boost_SERIALIZATION_LIBRARY}) set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 From c2fe87fdc493d62924946bee5144f703158a7d98 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 21:30:42 +0000 Subject: [PATCH 188/914] Fallback on old boost timers --- gtsam/base/timing.cpp | 16 +++++++++++++++- gtsam/base/timing.h | 15 +++++++++++++++ 2 files changed, 30 insertions(+), 1 deletion(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index edb436822..ba784ffab 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -30,7 +30,9 @@ boost::shared_ptr timingRoot(new TimingOutline("Total")); boost::weak_ptr timingCurrent(timingRoot); -//Timing timing; +#ifdef ENABLE_OLD_TIMING +Timing timing; +#endif std::string timingPrefix; /* ************************************************************************* */ @@ -150,15 +152,27 @@ const boost::shared_ptr& TimingOutline::child(size_t child, const /* ************************************************************************* */ void TimingOutline::tic() { +#ifdef GTSAM_USING_NEW_BOOST_TIMERS assert(timer_.is_stopped()); timer_.start(); +#else + assert(!timerActive_); + timer_.restart(); + *timerActive_ = true; +#endif } /* ************************************************************************* */ void TimingOutline::toc() { +#ifdef GTSAM_USING_NEW_BOOST_TIMERS assert(!timer_.is_stopped()); timer_.stop(); add((timer_.elapsed().user + timer_.elapsed().system) / 1000); +#else + assert(timerActive_); + double elapsed = timer_.elapsed(); + add(size_t(elapsed * 1000000.0)); +#endif } /* ************************************************************************* */ diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index e09e3bb14..09d0a0da0 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -22,7 +22,17 @@ #include #include #include +#include + +#if BOOST_VERSION >= 104800 +#define GTSAM_USING_NEW_BOOST_TIMERS +#endif + +#ifdef GTSAM_USING_NEW_BOOST_TIMERS #include +#else +#include +#endif class TimingOutline; extern boost::shared_ptr timingRoot; @@ -40,7 +50,12 @@ protected: boost::weak_ptr parent_; std::vector > children_; +#ifdef GTSAM_USING_NEW_BOOST_TIMERS boost::timer::cpu_timer timer_; +#else + boost::timer timer_; + gtsam::ValueWithDefault timerActive_; +#endif void add(size_t usecs); From d83c4c390cb91576983e62652aaeafb4cd0d558f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 21:31:27 +0000 Subject: [PATCH 189/914] Added non-const constructor from filtered --- gtsam/nonlinear/Values-inl.h | 10 ++++++++++ gtsam/nonlinear/Values.h | 4 ++++ 2 files changed, 14 insertions(+) diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h index 4cab86714..c38f14177 100644 --- a/gtsam/nonlinear/Values-inl.h +++ b/gtsam/nonlinear/Values-inl.h @@ -169,6 +169,16 @@ namespace gtsam { } }; + /* ************************************************************************* */ + /** Constructor from a Filtered view copies out all values */ + template + Values::Values(const Values::Filtered& view) { + BOOST_FOREACH(const typename Filtered::KeyValuePair& key_value, view) { + Key key = key_value.key; + insert(key, key_value.value); + } + } + /* ************************************************************************* */ template Values::Values(const Values::ConstFiltered& view) { diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index d9778bb0f..4bc5f0f7e 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -138,6 +138,10 @@ namespace gtsam { /** Copy constructor duplicates all keys and values */ Values(const Values& other); + /** Constructor from a Filtered view copies out all values */ + template + Values(const Filtered& view); + /** Constructor from a Filtered or ConstFiltered view */ template Values(const ConstFiltered& view); From 82e3d2323029efee6a02ee5d3ab498726d4a3808 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 21:50:49 +0000 Subject: [PATCH 190/914] Always using old boost timers to avoid boost system dependency --- gtsam/base/timing.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 09d0a0da0..4dc3411ce 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -24,9 +24,11 @@ #include #include +#if 0 #if BOOST_VERSION >= 104800 #define GTSAM_USING_NEW_BOOST_TIMERS #endif +#endif #ifdef GTSAM_USING_NEW_BOOST_TIMERS #include @@ -216,4 +218,4 @@ inline void ticPop(const std::string&, const std::string&) {} inline void tictoc_print() {} #endif -#endif \ No newline at end of file +#endif From 5d8f287e6ef31364d2dc0bc0f7ab2404dfaa703c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 5 Jun 2012 21:56:19 +0000 Subject: [PATCH 191/914] Added comment explaining disabled new boost timers --- gtsam/base/timing.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 4dc3411ce..66823effc 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -24,6 +24,9 @@ #include #include +// Enabling the new Boost timers introduces dependencies on other Boost +// libraries so this is disabled for now until we modify the build scripts +// to link each component or MATLAB wrapper with only the libraries it needs. #if 0 #if BOOST_VERSION >= 104800 #define GTSAM_USING_NEW_BOOST_TIMERS From e6a0663540e28ec3f92b3d1d7783ea7a200d1019 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 5 Jun 2012 23:51:12 +0000 Subject: [PATCH 192/914] rotate and color 3D covariance ellipses for visual SLAM example with Frank --- examples/matlab/VisualSLAMExample.m | 32 +++++++++++++++------------ examples/matlab/covarianceEllipse3D.m | 8 ++++--- examples/matlab/plotPose3.m | 29 ++++++++++++++++++++++++ 3 files changed, 52 insertions(+), 17 deletions(-) create mode 100644 examples/matlab/plotPose3.m diff --git a/examples/matlab/VisualSLAMExample.m b/examples/matlab/VisualSLAMExample.m index c5b0f7969..93ede149a 100644 --- a/examples/matlab/VisualSLAMExample.m +++ b/examples/matlab/VisualSLAMExample.m @@ -28,17 +28,17 @@ points = {gtsamPoint3([10 10 10]'),... gtsamPoint3([10 -10 -10]')}; % Camera poses on a circle around the cube, pointing at the world origin -nCameras = 8; +nCameras = 4; r = 30; poses = {}; for i=1:nCameras - theta = i*2*pi/nCameras; - posei = gtsamPose3(... + theta = (i-1)*2*pi/nCameras; + pose_i = gtsamPose3(... gtsamRot3([-sin(theta) 0 -cos(theta); cos(theta) 0 -sin(theta); 0 -1 0]),... gtsamPoint3([r*cos(theta), r*sin(theta), 0]')); - poses = [poses {posei}]; + poses = [poses {pose_i}]; end % 2D visual measurements, simulated with Gaussian noise @@ -61,8 +61,6 @@ pointNoiseSampler = gtsamSharedDiagonal(pointNoiseSigmas); poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; poseNoiseSampler = gtsamSharedDiagonal(poseNoiseSigmas); -hold off; - %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) graph = visualSLAMGraph; @@ -74,11 +72,17 @@ for i=1:size(z,1) end end -%% Add Gaussian priors for a pose and a landmark to constraint the system -posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); -graph.addPosePrior(symbol('x',1), poses{1}, posePriorNoise); +%% Add Gaussian priors for a pose and a landmark to constrain the system +% posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); +% graph.addPosePrior(symbol('x',1), poses{1}, posePriorNoise); pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); graph.addPointPrior(symbol('l',1), points{1}, pointPriorNoise); +pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); +graph.addPointPrior(symbol('l',8), points{8}, pointPriorNoise); +pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); +graph.addPointPrior(symbol('l',5), points{5}, pointPriorNoise); +pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); +graph.addPointPrior(symbol('l',4), points{4}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); @@ -101,6 +105,7 @@ result.print(sprintf('\nFinal result:\n ')); marginals = graph.marginals(result); %% Plot results with covariance ellipses +figure(1);clf hold on; for j=1:size(points,2) P = marginals.marginalCovariance(symbol('l',j)); @@ -110,10 +115,9 @@ for j=1:size(points,2) end for i=1:size(poses,2) - P = marginals.marginalCovariance(symbol('x',i)); - posei = result.pose(symbol('x',i)) - plotCamera(posei,10); - posei_t = posei.translation() - covarianceEllipse3D([posei_t.x;posei_t.y;posei_t.z],P(4:6,4:6)); + P = marginals.marginalCovariance(symbol('x',i)) + pose_i = result.pose(symbol('x',i)) + plotPose3(pose_i,P,10); end +axis equal diff --git a/examples/matlab/covarianceEllipse3D.m b/examples/matlab/covarianceEllipse3D.m index 0ff34c8c8..8799415a6 100644 --- a/examples/matlab/covarianceEllipse3D.m +++ b/examples/matlab/covarianceEllipse3D.m @@ -6,7 +6,7 @@ function covarianceEllipse3D(c,P) % % Modified from http://www.mathworks.com/matlabcentral/newsreader/view_thread/42966 -[e,s] = eig(P); +[e,s] = svd(P); k = 11.82; radii = k*sqrt(diag(s)); @@ -16,10 +16,12 @@ radii = k*sqrt(diag(s)); % rotate data with orientation matrix U and center M data = kron(e(:,1),xc) + kron(e(:,2),yc) + kron(e(:,3),zc); n = size(data,2); -x = data(1:n,:)+c(1); y = data(n+1:2*n,:)+c(2); z = data(2*n+1:end,:)+c(3); +x = data(1:n,:)+c(1); +y = data(n+1:2*n,:)+c(2); +z = data(2*n+1:end,:)+c(3); % now plot the rotated ellipse -sc = mesh(x,y,z); +sc = mesh(x,y,z,abs(xc)); shading interp alpha(0.5) axis equal \ No newline at end of file diff --git a/examples/matlab/plotPose3.m b/examples/matlab/plotPose3.m new file mode 100644 index 000000000..d55b7323a --- /dev/null +++ b/examples/matlab/plotPose3.m @@ -0,0 +1,29 @@ +function plotPose3(pose, P, axisLength) +% plotPose3: show a Pose, possibly with covariance matrix +if nargin<3,axisLength=0.1;end + +% get rotation and translation (center) +gRp = pose.rotation().matrix(); % rotation from pose to global +C = pose.translation().vector(); + +% draw the camera axes +xAxis = C+gRp(:,1)*axisLength; +L = [C xAxis]'; +line(L(:,1),L(:,2),L(:,3),'Color','r'); + +yAxis = C+gRp(:,2)*axisLength; +L = [C yAxis]'; +line(L(:,1),L(:,2),L(:,3),'Color','g'); + +zAxis = C+gRp(:,3)*axisLength; +L = [C zAxis]'; +line(L(:,1),L(:,2),L(:,3),'Color','b'); + +% plot the covariance +if nargin>2 + pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame + gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame + covarianceEllipse3D(C,gPp); +end + +end From c31ef559f8f5871bf72949c24647032a3d1f43ef Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Wed, 6 Jun 2012 03:10:13 +0000 Subject: [PATCH 193/914] Merging all Discrete changes --- gtsam/discrete/DecisionTreeFactor.h | 5 + gtsam/discrete/DiscreteConditional.cpp | 49 +++++++-- gtsam/discrete/DiscreteFactor.h | 8 ++ gtsam/discrete/DiscreteFactorGraph.cpp | 108 ++++++++++---------- gtsam/discrete/DiscreteFactorGraph.h | 1 - gtsam/discrete/DiscreteMarginals.h | 54 ++++++---- gtsam/discrete/DiscreteSequentialSolver.cpp | 18 ++++ gtsam/discrete/DiscreteSequentialSolver.h | 9 +- gtsam/discrete/Potentials.cpp | 23 +++++ gtsam/discrete/Potentials.h | 8 ++ 10 files changed, 203 insertions(+), 80 deletions(-) diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index 537bb3e60..a29a5683a 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -127,6 +127,11 @@ namespace gtsam { */ shared_ptr combine(size_t nrFrontals, ADT::Binary op) const; + void permuteWithInverse(const Permutation& inversePermutation){ + DiscreteFactor::permuteWithInverse(inversePermutation); + Potentials::permute(inversePermutation); + } + /// @} }; // DecisionTreeFactor diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index 73649dce6..ca8f13ca3 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -46,9 +46,9 @@ namespace gtsam { const DecisionTreeFactor& marginal) : IndexConditional(joint.keys(), joint.size() - marginal.size()), Potentials( ISDEBUG("DiscreteConditional::COUNT") ? joint : joint / marginal) { - assert(nrFrontals() == 1); +// assert(nrFrontals() == 1); if (ISDEBUG("DiscreteConditional::DiscreteConditional")) cout - << (firstFrontalKey()) << endl; + << (firstFrontalKey()) << endl; //TODO Print all keys } /* ******************************************************************************** */ @@ -75,10 +75,47 @@ namespace gtsam { /* ******************************************************************************** */ void DiscreteConditional::solveInPlace(Values& values) const { - assert(nrFrontals() == 1); - Index j = (firstFrontalKey()); - size_t mpe = solve(values); // Solve for variable - values[j] = mpe; // store result in partial solution +// assert(nrFrontals() == 1); +// Index j = (firstFrontalKey()); +// size_t mpe = solve(values); // Solve for variable +// values[j] = mpe; // store result in partial solution + + // TODO: is this really the fastest way? I think it is. + ADT pFS = choose(values); // P(F|S=parentsValues) + + // Initialize + Values mpe; + Values frontalVals; + BOOST_FOREACH(Index j, frontals()) { + frontalVals[j] = 0; + } + double maxP = 0; + + while (1) { + double pValueS = pFS(frontalVals); // P(F=value|S=parentsValues) + // Update MPE solution if better + if (pValueS > maxP) { + maxP = pValueS; + mpe = frontalVals; + } + + size_t j = 0; + for (j = 0; j < nrFrontals(); j++) { + Index idx = frontals()[j]; + frontalVals[idx]++; + if (frontalVals[idx] < cardinality(idx)) + break; + //Wrap condition + frontalVals[idx] = 0; + } + if (j == nrFrontals()) + break; + } + + //set values (inPlace) to mpe + BOOST_FOREACH(Index j, frontals()) { + values[j] = mpe[j]; + } } /* ******************************************************************************** */ diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index 3789389e4..32e79568c 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -98,6 +98,14 @@ namespace gtsam { virtual operator DecisionTreeFactor() const = 0; + /** + * Permutes the factor, but for efficiency requires the permutation + * to already be inverted. + */ + virtual void permuteWithInverse(const Permutation& inversePermutation){ + IndexFactor::permuteWithInverse(inversePermutation); + } + /// @} }; // DiscreteFactor diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index f5fc7533d..0d5e01c29 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -24,69 +24,71 @@ namespace gtsam { -// Explicitly instantiate so we don't have to include everywhere -template class FactorGraph ; -template class EliminationTree ; + // Explicitly instantiate so we don't have to include everywhere + template class FactorGraph ; + template class EliminationTree ; -/* ************************************************************************* */ -DiscreteFactorGraph::DiscreteFactorGraph() { -} + /* ************************************************************************* */ + DiscreteFactorGraph::DiscreteFactorGraph() { + } -/* ************************************************************************* */ -DiscreteFactorGraph::DiscreteFactorGraph( - const BayesNet& bayesNet) : - FactorGraph(bayesNet) { -} + /* ************************************************************************* */ + DiscreteFactorGraph::DiscreteFactorGraph( + const BayesNet& bayesNet) : + FactorGraph(bayesNet) { + } -/* ************************************************************************* */ -FastSet DiscreteFactorGraph::keys() const { - FastSet keys; - BOOST_FOREACH(const sharedFactor& factor, *this) - if (factor) keys.insert(factor->begin(), factor->end()); - return keys; -} + /* ************************************************************************* */ + FastSet DiscreteFactorGraph::keys() const { + FastSet keys; + BOOST_FOREACH(const sharedFactor& factor, *this) + if (factor) keys.insert(factor->begin(), factor->end()); + return keys; + } -/* ************************************************************************* */ -DecisionTreeFactor DiscreteFactorGraph::product() const { - DecisionTreeFactor result; - BOOST_FOREACH(const sharedFactor& factor, *this) - if (factor) result = (*factor) * result; - return result; -} + /* ************************************************************************* */ + DecisionTreeFactor DiscreteFactorGraph::product() const { + DecisionTreeFactor result; + BOOST_FOREACH(const sharedFactor& factor, *this) + if (factor) result = (*factor) * result; + return result; + } -/* ************************************************************************* */ -double DiscreteFactorGraph::operator()( - const DiscreteFactor::Values &values) const { - double product = 1.0; - BOOST_FOREACH( const sharedFactor& factor, factors_ ) - product *= (*factor)(values); - return product; -} + /* ************************************************************************* */ + double DiscreteFactorGraph::operator()( + const DiscreteFactor::Values &values) const { + double product = 1.0; + BOOST_FOREACH( const sharedFactor& factor, factors_ ) + product *= (*factor)(values); + return product; + } -/* ************************************************************************* */ -pair // -EliminateDiscrete(const FactorGraph& factors, size_t num) { + /* ************************************************************************* */ + pair // + EliminateDiscrete(const FactorGraph& factors, size_t num) { - // PRODUCT: multiply all factors - tic(1, "product"); - DecisionTreeFactor product; - BOOST_FOREACH(const DiscreteFactor::shared_ptr& factor, factors) - product = (*factor) * product; - toc(1, "product"); + // PRODUCT: multiply all factors + tic(1, "product"); + DecisionTreeFactor product; + BOOST_FOREACH(const DiscreteFactor::shared_ptr& factor, factors){ + product = (*factor) * product; + } - // sum out frontals, this is the factor on the separator - tic(2, "sum"); - DecisionTreeFactor::shared_ptr sum = product.sum(num); - toc(2, "sum"); + toc(1, "product"); - // now divide product/sum to get conditional - tic(3, "divide"); - DiscreteConditional::shared_ptr cond(new DiscreteConditional(product, *sum)); - toc(3, "divide"); - tictoc_finishedIteration(); + // sum out frontals, this is the factor on the separator + tic(2, "sum"); + DecisionTreeFactor::shared_ptr sum = product.sum(num); + toc(2, "sum"); - return make_pair(cond, sum); -} + // now divide product/sum to get conditional + tic(3, "divide"); + DiscreteConditional::shared_ptr cond(new DiscreteConditional(product, *sum)); + toc(3, "divide"); + tictoc_finishedIteration(); + + return make_pair(cond, sum); + } /* ************************************************************************* */ } // namespace diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index eefdfaf1d..d96a3049a 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -86,7 +86,6 @@ public: if (factors_[i] != NULL) factors_[i]->print(ss.str()); } } - }; // DiscreteFactorGraph diff --git a/gtsam/discrete/DiscreteMarginals.h b/gtsam/discrete/DiscreteMarginals.h index f877a0128..99176e58c 100644 --- a/gtsam/discrete/DiscreteMarginals.h +++ b/gtsam/discrete/DiscreteMarginals.h @@ -21,6 +21,8 @@ #pragma once #include +#include +#include namespace gtsam { @@ -35,27 +37,43 @@ namespace gtsam { public: - /** Construct a marginals class. - * @param graph The factor graph defining the full joint density on all variables. - */ - DiscreteMarginals(const DiscreteFactorGraph& graph) { - } + /** Construct a marginals class. + * @param graph The factor graph defining the full joint density on all variables. + */ + DiscreteMarginals(const DiscreteFactorGraph& graph) { + typedef JunctionTree DiscreteJT; + GenericMultifrontalSolver solver(graph); + bayesTree_ = *solver.eliminate(&EliminateDiscrete); + //bayesTree_.print(); + cout << "Discrete Marginal Constructor Finished" << endl; + } - /** print */ - void print(const std::string& str = "DiscreteMarginals: ") const { - } + /** Compute the marginal of a single variable */ + DiscreteFactor::shared_ptr operator()(Index variable) const { + // Compute marginal + DiscreteFactor::shared_ptr marginalFactor; + marginalFactor = bayesTree_.marginalFactor(variable, &EliminateDiscrete); + return marginalFactor; + } - /** Compute the marginal of a single variable */ - DiscreteFactor::shared_ptr operator()(Index variable) const { - DiscreteFactor::shared_ptr p; - return p; - } + /** Compute the marginal of a single variable + * @param KEY DiscreteKey of the Variable + * @return Vector of marginal probabilities + */ + Vector marginalProbabilities(const DiscreteKey& key) const { + // Compute marginal + DiscreteFactor::shared_ptr marginalFactor; + marginalFactor = bayesTree_.marginalFactor(key.first, &EliminateDiscrete); - /** Compute the marginal of a single variable */ - Vector marginalProbabilities(Index variable) const { - Vector v; - return v; - } + //Create result + Vector vResult(key.second); + for (size_t state = 0; state < key.second ; ++ state) { + DiscreteFactor::Values values; + values[key.first] = state; + vResult(state) = (*marginalFactor)(values); + } + return vResult; + } }; diff --git a/gtsam/discrete/DiscreteSequentialSolver.cpp b/gtsam/discrete/DiscreteSequentialSolver.cpp index 1ca00875a..e4bc502c8 100644 --- a/gtsam/discrete/DiscreteSequentialSolver.cpp +++ b/gtsam/discrete/DiscreteSequentialSolver.cpp @@ -52,6 +52,24 @@ namespace gtsam { return solution; } + + /* ************************************************************************* */ + Vector DiscreteSequentialSolver::marginalProbabilities( + const DiscreteKey& key) const { + // Compute marginal + DiscreteFactor::shared_ptr marginalFactor; + marginalFactor = Base::marginalFactor(key.first, &EliminateDiscrete); + + //Create result + Vector vResult(key.second); + for (size_t state = 0; state < key.second; ++state) { + DiscreteFactor::Values values; + values[key.first] = state; + vResult(state) = (*marginalFactor)(values); + } + return vResult; + } + /* ************************************************************************* */ } diff --git a/gtsam/discrete/DiscreteSequentialSolver.h b/gtsam/discrete/DiscreteSequentialSolver.h index c453f5b96..6adb32ef6 100644 --- a/gtsam/discrete/DiscreteSequentialSolver.h +++ b/gtsam/discrete/DiscreteSequentialSolver.h @@ -74,7 +74,6 @@ namespace gtsam { return Base::eliminate(&EliminateDiscrete); } -#ifdef BROKEN /** * Compute the marginal joint over a set of variables, by integrating out * all of the other variables. This function returns the result as a factor @@ -94,7 +93,13 @@ namespace gtsam { DiscreteFactor::shared_ptr marginalFactor(Index j) const { return Base::marginalFactor(j, &EliminateDiscrete); } -#endif + + /** + * Compute the marginal density over a variable, by integrating out + * all of the other variables. This function returns the result as a + * Vector of the probability values. + */ + Vector marginalProbabilities(const DiscreteKey& key) const; /** * Compute the MPE solution of the DiscreteFactorGraph. This diff --git a/gtsam/discrete/Potentials.cpp b/gtsam/discrete/Potentials.cpp index ac6ecde10..e6f07ccac 100644 --- a/gtsam/discrete/Potentials.cpp +++ b/gtsam/discrete/Potentials.cpp @@ -60,5 +60,28 @@ namespace gtsam { } /* ************************************************************************* */ + void Potentials::permute(const Permutation& permutation) { + // Permute the _cardinalities (TODO: Inefficient Consider Improving) + DiscreteKeys keys; + map ordering; + + // Get the orginal keys from cardinalities_ + BOOST_FOREACH(const DiscreteKey& key, cardinalities_) + keys & key; + + // Perform Permutation + BOOST_FOREACH(DiscreteKey& key, keys) { + ordering[key.first] = permutation[key.first]; + //cout << key.first << " -> " << ordering[key.first] << endl; + key.first = ordering[key.first]; + } + + // Change *this + AlgebraicDecisionTree permuted((*this), ordering); + *this = permuted; + cardinalities_ = keys.cardinalities(); + } + + /* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h index 8a8c2e3bc..d8c5d9c3b 100644 --- a/gtsam/discrete/Potentials.h +++ b/gtsam/discrete/Potentials.h @@ -20,6 +20,7 @@ #include #include #include +#include #include #include @@ -68,6 +69,13 @@ namespace gtsam { size_t cardinality(Index j) const { return cardinalities_.at(j);} + /* + * @brief Permutes the keys in Potentials + * + * This permutes the Indices and performs necessary re-ordering of ADD. + */ + void permute(const Permutation& perm); + }; // Potentials } // namespace gtsam From 3768efd7d31e6d63a49bda81d2fa0108c8d4e311 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Wed, 6 Jun 2012 03:14:30 +0000 Subject: [PATCH 194/914] Adding DiscreteMarginals test --- gtsam/discrete/tests/testDiscreteMarginals.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp index 391a5f692..1b5963864 100644 --- a/gtsam/discrete/tests/testDiscreteMarginals.cpp +++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp @@ -25,7 +25,7 @@ using namespace gtsam; /* ************************************************************************* */ -TEST( DiscreteMarginals, UGM_small ) { +TEST_UNSAFE( DiscreteMarginals, UGM_small ) { size_t nrStates = 2; DiscreteKey Cathy(1, nrStates), Heather(2, nrStates), Mark(3, nrStates), Allison(4, nrStates); @@ -43,14 +43,14 @@ TEST( DiscreteMarginals, UGM_small ) { graph.add(Mark & Allison, "2 1 1 2"); DiscreteMarginals marginals(graph); - DiscreteFactor::shared_ptr actualC = marginals(Cathy.first); DiscreteFactor::Values values; - values[Cathy.first] = 0; - EXPECT_DOUBLES_EQUAL( 1.944, (*actualC)(values), 1e-9); - Vector actualCvector = marginals.marginalProbabilities(Cathy.first); - EXPECT(assert_equal(Vector_(2,0.7,0.3), actualCvector, 1e-9)); + values[Cathy.first] = 0; + EXPECT_DOUBLES_EQUAL( 0.359631, (*actualC)(values), 1e-6); + + Vector actualCvector = marginals.marginalProbabilities(Cathy); + EXPECT(assert_equal(Vector_(2, 0.359631, 0.640369), actualCvector, 1e-6)); } /* ************************************************************************* */ From 59960a8d145bf6279313b14c263cfa0b713adba7 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Wed, 6 Jun 2012 03:25:56 +0000 Subject: [PATCH 195/914] Changes to Discrete Examples --- examples/DiscreteBayesNet_FG.cpp | 119 +++++++++++++++++++++++++++++++ examples/UGM_chain.cpp | 91 +++++++++++++++++++++++ examples/UGM_small.cpp | 16 +++++ 3 files changed, 226 insertions(+) create mode 100644 examples/DiscreteBayesNet_FG.cpp create mode 100644 examples/UGM_chain.cpp diff --git a/examples/DiscreteBayesNet_FG.cpp b/examples/DiscreteBayesNet_FG.cpp new file mode 100644 index 000000000..136346543 --- /dev/null +++ b/examples/DiscreteBayesNet_FG.cpp @@ -0,0 +1,119 @@ +/* ---------------------------------------------------------------------------- + + * 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 DiscreteBayesNet_FG.cpp + * @brief Discrete Bayes Net example using Factor Graphs + * @author Abhijit + * @date Jun 4, 2012 + * + * We use the famous Rain/Cloudy/Sprinkler Example of [Russell & Norvig, 2009, p529] + * You may be familiar with other graphical model packages like BNT (available + * at http://bnt.googlecode.com/svn/trunk/docs/usage.html) where this is used as an + * example. The following demo is same as that in the above link, except that + * everything is using GTSAM. + */ + +#include +#include +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char **argv) { + + // We assume binary state variables + // we have 0 == "False" and 1 == "True" + const size_t nrStates = 2; + + // define variables + DiscreteKey Cloudy(1, nrStates), Sprinkler(2, nrStates), Rain(3, nrStates), + WetGrass(4, nrStates); + + // create Factor Graph of the bayes net + DiscreteFactorGraph graph; + + // add factors + graph.add(Cloudy, "0.5 0.5"); //P(Cloudy) + graph.add(Cloudy & Sprinkler, "0.5 0.5 0.9 0.1"); //P(Sprinkler | Cloudy) + graph.add(Cloudy & Rain, "0.8 0.2 0.2 0.8"); //P(Rain | Cloudy) + graph.add(Sprinkler & Rain & WetGrass, + "1 0 0.1 0.9 0.1 0.9 0.001 0.99"); //P(WetGrass | Sprinkler, Rain) + + // Alternatively we can also create a DiscreteBayesNet, add DiscreteConditional + // factors and create a FactorGraph from it. (See testDiscreteBayesNet.cpp) + + // Since this is a relatively small distribution, we can as well print + // the whole distribution.. + cout << "Distribution of Example: " << endl; + cout << setw(11) << "Cloudy(C)" << setw(14) << "Sprinkler(S)" << setw(10) + << "Rain(R)" << setw(14) << "WetGrass(W)" << setw(15) << "P(C,S,R,W)" + << endl; + for (size_t a = 0; a < nrStates; a++) + for (size_t m = 0; m < nrStates; m++) + for (size_t h = 0; h < nrStates; h++) + for (size_t c = 0; c < nrStates; c++) { + DiscreteFactor::Values values; + values[Cloudy.first] = c; + values[Sprinkler.first] = h; + values[Rain.first] = m; + values[WetGrass.first] = a; + double prodPot = graph(values); + cout << boolalpha << setw(8) << (bool) c << setw(14) + << (bool) h << setw(12) << (bool) m << setw(13) + << (bool) a << setw(16) << prodPot << endl; + } + + + // "Most Probable Explanation", i.e., configuration with largest value + DiscreteSequentialSolver solver(graph); + DiscreteFactor::sharedValues optimalDecoding = solver.optimize(); + cout <<"\nMost Probable Explanation (MPE):" << endl; + cout << boolalpha << "Cloudy = " << (bool)(*optimalDecoding)[Cloudy.first] + << " Sprinkler = " << (bool)(*optimalDecoding)[Sprinkler.first] + << " Rain = " << boolalpha << (bool)(*optimalDecoding)[Rain.first] + << " WetGrass = " << (bool)(*optimalDecoding)[WetGrass.first]<< endl; + + + // "Inference" We show an inference query like: probability that the Sprinkler was on; + // given that the grass is wet i.e. P( S | W=1) =? + cout << "\nInference Query: Probability of Sprinkler being on given Grass is Wet" << endl; + + // Method 1: we can compute the joint marginal P(S,W) and from that we can compute + // P(S | W=1) = P(S,W=1)/P(W=1) We do this in following three steps.. + + //Step1: Compute P(S,W) + DiscreteFactorGraph jointFG; + jointFG = *solver.jointFactorGraph(DiscreteKeys(Sprinkler & WetGrass).indices()); + DecisionTreeFactor probSW = jointFG.product(); + + //Step2: Compute P(W) + DecisionTreeFactor probW = *solver.marginalFactor(WetGrass.first); + + //Step3: Computer P(S | W=1) = P(S,W=1)/P(W=1) + DiscreteFactor::Values values; + values[WetGrass.first] = 1; + + //print P(S=0|W=1) + values[Sprinkler.first] = 0; + cout << "P(S=0|W=1) = " << probSW(values)/probW(values) << endl; + + //print P(S=1|W=1) + values[Sprinkler.first] = 1; + cout << "P(S=1|W=1) = " << probSW(values)/probW(values) << endl; + + // TODO: Method 2 : One way is to modify the factor graph to + // incorporate the evidence node and compute the marginal + // TODO: graph.addEvidence(Cloudy,0); + + return 0; +} diff --git a/examples/UGM_chain.cpp b/examples/UGM_chain.cpp new file mode 100644 index 000000000..61eb0d3a0 --- /dev/null +++ b/examples/UGM_chain.cpp @@ -0,0 +1,91 @@ +/* ---------------------------------------------------------------------------- + + * 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 small.cpp + * @brief UGM (undirected graphical model) examples: chain + * @author Frank Dellaert + * @author Abhijit + * + * See http://www.di.ens.fr/~mschmidt/Software/UGM/chain.html + * for more explanation. This code demos the same example using GTSAM. + */ + +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +int main(int argc, char** argv) { + + // Set Number of Nodes in the Graph + const int nrNodes = 50; + + // Each node takes 1 of 7 possible states denoted by 0-6 in following order: + // ["VideoGames" "Industry" "GradSchool" "VideoGames(with PhD)" + // "Industry(with PhD)" "Academia" "Deceased"] + const size_t nrStates = 7; + + // define variables + vector nodes; + for (int i = 0; i < nrNodes; i++){ + DiscreteKey dk(i, nrStates); + nodes.push_back(dk); + } + + // create graph + DiscreteFactorGraph graph; + + // add node potentials + graph.add(nodes[0], ".3 .6 .1 0 0 0 0"); + for (int i = 1; i < nrNodes; i++) + graph.add(nodes[i], "1 1 1 1 1 1 1"); + + const std::string edgePotential = ".08 .9 .01 0 0 0 .01 " + ".03 .95 .01 0 0 0 .01 " + ".06 .06 .75 .05 .05 .02 .01 " + "0 0 0 .3 .6 .09 .01 " + "0 0 0 .02 .95 .02 .01 " + "0 0 0 .01 .01 .97 .01 " + "0 0 0 0 0 0 1"; + + // add edge potentials + for (int i = 0; i < nrNodes - 1; i++) + graph.add(nodes[i] & nodes[i + 1], edgePotential); + + cout << "Created Factor Graph with " << nrNodes << " variable nodes and " + << graph.size() << " factors (Unary+Edge)."; + + // "Decoding", i.e., configuration with largest value + // We use sequential variable elimination + DiscreteSequentialSolver solver(graph); + DiscreteFactor::sharedValues optimalDecoding = solver.optimize(); + optimalDecoding->print("\nMost Probable Explanation (optimalDecoding)\n"); + + // "Inference" Computing marginals for each node + cout << "\nComputing Node Marginals .." << endl; + for (vector::iterator itr = nodes.begin(); itr != nodes.end(); + ++itr) { + //Compute the marginal + Vector margProbs = solver.marginalProbabilities(*itr); + + //Print the marginals + cout << "Node#" << setw(4) << itr->first << " : "; + print(margProbs); + cout << endl; + } + + return 0; +} + diff --git a/examples/UGM_small.cpp b/examples/UGM_small.cpp index a4655d2ad..3c0e77e67 100644 --- a/examples/UGM_small.cpp +++ b/examples/UGM_small.cpp @@ -69,6 +69,22 @@ int main(int argc, char** argv) { DiscreteFactor::sharedValues optimalDecoding = solver.optimize(); optimalDecoding->print("\noptimalDecoding"); + // "Inference" Computing marginals + cout << "\nComputing Node Marginals .." << endl; + Vector margProbs; + + margProbs = solver.marginalProbabilities(Cathy); + print(margProbs, "Cathy's Node Marginal:"); + + margProbs = solver.marginalProbabilities(Heather); + print(margProbs, "Heather's Node Marginal"); + + margProbs = solver.marginalProbabilities(Mark); + print(margProbs, "Mark's Node Marginal"); + + margProbs = solver.marginalProbabilities(Allison); + print(margProbs, "Allison's Node Marginal"); + return 0; } From cdd5ba251740107fc5be320e61b6d8e1f359fba9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 6 Jun 2012 04:28:13 +0000 Subject: [PATCH 196/914] removed duplicate method --- gtsam.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 9ea7a863c..df55b1c2a 100644 --- a/gtsam.h +++ b/gtsam.h @@ -253,7 +253,6 @@ class Rot3 { double pitch() const; double yaw() const; // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly - Matrix matrix() const; }; class Pose2 { From 76a1ae0102bd53c3eb9278e7d5f59dfc439d2ac5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 6 Jun 2012 04:28:50 +0000 Subject: [PATCH 197/914] Fixed emit of comment string --- wrap/FileWriter.h | 2 +- wrap/Method.cpp | 2 +- wrap/StaticMethod.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/wrap/FileWriter.h b/wrap/FileWriter.h index f081b86ed..ecafc0c35 100644 --- a/wrap/FileWriter.h +++ b/wrap/FileWriter.h @@ -25,7 +25,7 @@ public: std::ostringstream oss; ///< Primary stream for operating on the file /** Create a writer with a filename and delimiter for the header comment */ - FileWriter(const std::string& filename, bool verbose, const std::string& comment_str=""); + FileWriter(const std::string& filename, bool verbose, const std::string& comment_str); /** Writes the contents of the stringstream to the file, checking if actually new */ void emit(bool add_header, bool force=false) const; diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 7261c88a0..aeddca2e1 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -30,7 +30,7 @@ void Method::matlab_mfile(const string& classPath) const { // open destination m-file string wrapperFile = classPath + "/" + name + ".m"; - FileWriter file(wrapperFile, verbose_); + FileWriter file(wrapperFile, verbose_, "%"); // generate code string returnType = returnVal.matlab_returnType(); diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 3dd9e7c8b..7bdba650b 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -31,7 +31,7 @@ void StaticMethod::matlab_mfile(const string& toolboxPath, const string& classNa // open destination m-file string full_name = className + "_" + name; string wrapperFile = toolboxPath + "/" + full_name + ".m"; - FileWriter file(wrapperFile, verbose); + FileWriter file(wrapperFile, verbose, "%"); // generate code string returnType = returnVal.matlab_returnType(); From 0f079b70f28df9e2c6ff995464716c742d138d6f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 6 Jun 2012 04:29:14 +0000 Subject: [PATCH 198/914] Disabled two examples until timing fixed --- gtsam_unstable/discrete/CMakeLists.txt | 4 ++-- gtsam_unstable/discrete/examples/schedulingExample.cpp | 1 + gtsam_unstable/discrete/examples/schedulingQuals12.cpp | 1 + 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index edec85416..d40d4e48f 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -27,8 +27,8 @@ add_dependencies(check.unstable check.discrete_unstable) # List examples to build - comment out here to exclude from compilation set(discrete_unstable_examples -schedulingExample -schedulingQuals12 +#schedulingExample +#schedulingQuals12 ) if (GTSAM_BUILD_EXAMPLES) diff --git a/gtsam_unstable/discrete/examples/schedulingExample.cpp b/gtsam_unstable/discrete/examples/schedulingExample.cpp index 485f0ea1c..14e4367f5 100644 --- a/gtsam_unstable/discrete/examples/schedulingExample.cpp +++ b/gtsam_unstable/discrete/examples/schedulingExample.cpp @@ -8,6 +8,7 @@ //#define ENABLE_TIMING #define ADD_NO_CACHING #define ADD_NO_PRUNING +#define ENABLE_OLD_TIMING #include #include #include diff --git a/gtsam_unstable/discrete/examples/schedulingQuals12.cpp b/gtsam_unstable/discrete/examples/schedulingQuals12.cpp index d0fa041c9..19357fdcf 100644 --- a/gtsam_unstable/discrete/examples/schedulingQuals12.cpp +++ b/gtsam_unstable/discrete/examples/schedulingQuals12.cpp @@ -8,6 +8,7 @@ #define ENABLE_TIMING #define ADD_NO_CACHING #define ADD_NO_PRUNING +#define ENABLE_OLD_TIMING #include #include #include From 0e4f2b414c6784a37d896bffe7b917a656dcf38d Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 6 Jun 2012 05:17:39 +0000 Subject: [PATCH 199/914] fix iterative parameters --- .../linear/IterativeOptimizationParameters.h | 156 +++--------------- gtsam/linear/IterativeSolver.h | 16 +- gtsam/linear/SimpleSPCGSolver.cpp | 2 +- gtsam/linear/SimpleSPCGSolver.h | 4 +- 4 files changed, 31 insertions(+), 147 deletions(-) diff --git a/gtsam/linear/IterativeOptimizationParameters.h b/gtsam/linear/IterativeOptimizationParameters.h index 88303fa40..b4599ecfd 100644 --- a/gtsam/linear/IterativeOptimizationParameters.h +++ b/gtsam/linear/IterativeOptimizationParameters.h @@ -17,125 +17,29 @@ #pragma once -#include -#include #include +#include +#include namespace gtsam { -/* parameters for combinatorial preconditioner */ -struct CombinatorialParameters { - - enum Group { /* group of variables */ - BLOCK = 0, /* utilize the inherent block structure */ - SCALAR /* break the block variables into scalars */ - } group_; - - enum Type { /* subgraph specification */ - JACOBI = 0, /* block diagonal */ - SPTREE, /* spanning tree */ - GSP, /* gspn, n = 0: all factors, n = 1: all unary factors, n = 2: spanning tree, etc .. */ - KOUTIS, /* implement Koutis2011Focs */ - } type_; - - enum Weight { /* how to weigh the graph edges */ - EQUAL = 0, /* 0: every block edge has equal weight */ - RHS_2NORM, /* 1: use the 2-norm of the rhs */ - LHS_FNORM, /* 2: use the frobenius norm of the lhs */ - RAW, /* 3: use raw scalar weight for the scalar case */ - } weight_ ; - - int complexity_;/* a parameter for the subgraph complexity */ - int hessian_; /* 0: do nothing, 1: use whole block hessian */ - - CombinatorialParameters(): group_(BLOCK), type_(JACOBI), weight_(EQUAL), complexity_(0), hessian_(1) {} - CombinatorialParameters(Group group, Type type, Weight weight, int complexity, int hessian) - : group_(group), type_(type), weight_(weight), complexity_(complexity), hessian_(hessian) {} - - inline Group group() const { return group_; } - inline Type type() const { return type_; } - inline Weight weight() const { return weight_; } - inline int complexity() const { return complexity_; } - inline int hessian() const { return hessian_; } - - inline bool isScalar() const { return group_ == SCALAR; } - inline bool isBlock() const { return group_ == BLOCK; } - inline bool isStatic() const { return (type_ == JACOBI || weight_ == EQUAL) ? true : false;} - inline bool isDynamic() const { return !isStatic(); } - - inline void print() const { - - const std::string groupStr[2] = {"block", "scalar"}; - const std::string typeStr[4] = {"jacobi", "sptree", "gsp", "koutis"}; - const std::string weightStr[4] = {"equal", "rhs-2norm", "lhs-form", "raw"}; - - std::cout << "CombinatorialParameters: " - << "group = " << groupStr[group_] - << ", type = " << typeStr[type_] - << ", weight = " << weightStr[weight_] - << ", complexity = " << complexity_ - << ", hessian = " << hessian_ << std::endl; - } -}; - -/* parameters for the preconditioner */ -struct PreconditionerParameters { - - typedef boost::shared_ptr shared_ptr; - - enum Kernel { /* Preconditioner Kernel */ - GTSAM = 0, /* Jacobian Factor Graph of GTSAM */ - CHOLMOD /* Cholmod Sparse */ - } kernel_ ; - - enum Type { /* preconditioner type */ - Combinatorial = 0 /* combinatorial preconditioner */ - } type_; - - CombinatorialParameters combinatorial_; - - enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ - - PreconditionerParameters(): kernel_(GTSAM), type_(Combinatorial), verbosity_(SILENT) {} - PreconditionerParameters(Kernel kernel, const CombinatorialParameters &combinatorial, Verbosity verbosity) - : kernel_(kernel), type_(Combinatorial), combinatorial_(combinatorial), verbosity_(verbosity) {} - - /* general interface */ - inline Kernel kernel() const { return kernel_; } - inline Type type() const { return type_; } - inline const CombinatorialParameters & combinatorial() const { return combinatorial_; } - inline Verbosity verbosity() const { return verbosity_; } - - - void print() const { - const std::string kernelStr[2] = {"gtsam", "cholmod"}; - const std::string typeStr[1] = {"combinatorial"}; - - std::cout << "PreconditionerParameters: " - << "kernel = " << kernelStr[kernel_] - << ", type = " << typeStr[type_] - << ", verbosity = " << verbosity_ - << std::endl; - combinatorial_.print(); - } -}; - /* parameters for the conjugate gradient method */ struct ConjugateGradientParameters { - size_t minIterations_; /* minimum number of cg iterations */ - size_t maxIterations_; /* maximum number of cg iterations */ - size_t reset_; /* number of iterations before reset */ - double epsilon_rel_; /* threshold for relative error decrease */ - double epsilon_abs_; /* threshold for absolute error decrease */ + size_t minIterations_; ///< minimum number of cg iterations + size_t maxIterations_; ///< maximum number of cg iterations + size_t reset_; ///< number of iterations before reset + double epsilon_rel_; ///< threshold for relative error decrease + double epsilon_abs_; ///< threshold for absolute error decrease - enum BLASKernel { /* Matrix Operation Kernel */ - GTSAM = 0, /* Jacobian Factor Graph of GTSAM */ - SBM, /* Sparse Block Matrix */ - SBM_MT /* Sparse Block Matrix Multithreaded */ + /* Matrix Operation Kernel */ + enum BLASKernel { + GTSAM = 0, ///< Jacobian Factor Graph of GTSAM + SBM, ///< Sparse Block Matrix + SBM_MT ///< Sparse Block Matrix Multithreaded } blas_kernel_; - size_t degree_; /* the maximum degree of the vertices to be eliminated before doing cg */ + size_t degree_; ///< the maximum degree of the vertices to be eliminated before doing cg enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ @@ -160,7 +64,7 @@ struct ConjugateGradientParameters { inline Verbosity verbosity() const { return verbosity_; } void print() const { - const std::string blasStr[4] = {"gtsam", "sbm", "sbm-mt"}; + const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"}; std::cout << "ConjugateGradientParameters: " << "blas = " << blasStr[blas_kernel_] << ", minIter = " << minIterations_ @@ -175,42 +79,34 @@ struct ConjugateGradientParameters { }; /* parameters for iterative linear solvers */ -struct IterativeOptimizationParameters { +class IterativeOptimizationParameters { public: typedef boost::shared_ptr shared_ptr; - PreconditionerParameters preconditioner_; - ConjugateGradientParameters cg_; + ConjugateGradientParameters cg_; ///< Parameters for the Conjugate Gradient Method enum Kernel { PCG = 0, LSPCG = 1 } kernel_ ; ///< Iterative Method Kernel enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; ///< Verbosity public: - IterativeOptimizationParameters() - : preconditioner_(), cg_(), kernel_(LSPCG), verbosity_(SILENT) {} + IterativeOptimizationParameters() : cg_(), kernel_(LSPCG), verbosity_(SILENT) {} - IterativeOptimizationParameters(const IterativeOptimizationParameters &p) : - preconditioner_(p.preconditioner_), cg_(p.cg_), kernel_(p.kernel_), verbosity_(p.verbosity_) {} + IterativeOptimizationParameters(const IterativeOptimizationParameters &p) + : cg_(p.cg_), kernel_(p.kernel_), verbosity_(p.verbosity_) {} - IterativeOptimizationParameters( - const PreconditionerParameters &p, const ConjugateGradientParameters &c, Kernel kernel = PCG, Verbosity verbosity = SILENT) - : preconditioner_(p), cg_(c), kernel_(kernel), verbosity_(verbosity) {} + IterativeOptimizationParameters(const ConjugateGradientParameters &c, Kernel kernel = LSPCG, Verbosity verbosity = SILENT) + : cg_(c), kernel_(kernel), verbosity_(verbosity) {} + + virtual ~IterativeOptimizationParameters() {} /* general interface */ inline Kernel kernel() const { return kernel_; } inline Verbosity verbosity() const { return verbosity_; } - /* utility */ - inline const PreconditionerParameters& preconditioner() const { return preconditioner_; } - inline const ConjugateGradientParameters& cg() const { return cg_; } - - /* interface to preconditioner parameters */ - inline PreconditionerParameters::Kernel preconditioner_kernel() const { return preconditioner_.kernel(); } - inline PreconditionerParameters::Type type() const { return preconditioner_.type(); } - /* interface to cg parameters */ + inline const ConjugateGradientParameters& cg() const { return cg_; } inline size_t minIterations() const { return cg_.minIterations(); } inline size_t maxIterations() const { return cg_.maxIterations(); } inline size_t reset() const { return cg_.reset(); } @@ -220,15 +116,13 @@ public: inline size_t degree() const { return cg_.degree(); } inline ConjugateGradientParameters::BLASKernel blas_kernel() const { return cg_.blas_kernel(); } - void print(const std::string &s="") const { + virtual void print(const std::string &s="") const { const std::string kernelStr[2] = {"pcg", "lspcg"}; std::cout << s << std::endl << "IterativeOptimizationParameters: " << "kernel = " << kernelStr[kernel_] << ", verbosity = " << verbosity_ << std::endl; cg_.print(); - preconditioner_.print(); - } }; diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 58e83d595..edaa09943 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -20,23 +20,11 @@ class IterativeSolver { public: - typedef IterativeOptimizationParameters Parameters; - -protected: - - Parameters parameters_ ; - -public: - - IterativeSolver(): parameters_() {} - IterativeSolver(const IterativeSolver &solver) : parameters_(solver.parameters_) {} - IterativeSolver(const Parameters ¶meters) : parameters_(parameters) {} - + IterativeSolver(){} virtual ~IterativeSolver() {} virtual VectorValues::shared_ptr optimize () = 0; - - inline const Parameters& parameters() const { return parameters_ ; } + virtual const IterativeOptimizationParameters& _params() const = 0; }; } diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index ae7c9581c..86cf3d1ca 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -43,7 +43,7 @@ std::vector extractColSpec_(const FactorGraph& gfg, cons } SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters) - : Base(parameters) + : Base(), parameters_(parameters) { std::vector colSpec = extractColSpec_(gfg, VariableIndex(gfg)); diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index 570169e7b..d2768f581 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -39,6 +39,7 @@ class SimpleSPCGSolver : public IterativeSolver { public: typedef IterativeSolver Base; + typedef IterativeOptimizationParameters Parameters; typedef boost::shared_ptr shared_ptr; protected: @@ -52,12 +53,14 @@ protected: VectorValues::shared_ptr by_; ///< \f$ [\bar{b_y} ; 0 ] \f$ VectorValues::shared_ptr tmpY_; ///< buffer for the column vectors VectorValues::shared_ptr tmpB_; ///< buffer for the row vectors + Parameters parameters_; ///< Parameters for iterative method public: SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); virtual ~SimpleSPCGSolver() {} virtual VectorValues::shared_ptr optimize () {return optimize(*y0_);} + virtual const IterativeOptimizationParameters& _params() const { return parameters_; } protected: @@ -85,7 +88,6 @@ protected: * Note: This function has to be refined for your graph/application */ boost::tuple::shared_ptr> splitGraph(const GaussianFactorGraph &gfg); - }; } From 5256130afde3cfa8b1bd142e1af43ae4ff0854eb Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:31:18 +0000 Subject: [PATCH 200/914] support adding odometry factor to visualSLAM graph and add NonlinearISAM to visualSLAM namespace for uses in MATLAB --- gtsam/slam/visualSLAM.cpp | 6 +++++- gtsam/slam/visualSLAM.h | 16 +++++++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index b8721b875..1331ef20f 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -16,7 +16,7 @@ */ #include -#include +#include namespace visualSLAM { @@ -103,5 +103,9 @@ namespace visualSLAM { } /* ************************************************************************* */ + void Graph::addOdometry(Key x1, Key x2, const Pose3& odometry, const SharedNoiseModel& model) { + push_back(boost::shared_ptr >(new BetweenFactor(x1, x2, odometry, model))); + } + /* ************************************************************************* */ } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index b0e034653..22e56b8a0 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -27,9 +27,9 @@ #include #include #include +#include #include - namespace visualSLAM { using namespace gtsam; @@ -173,6 +173,15 @@ namespace visualSLAM { */ void addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model = noiseModel::Unit::Create(1)); + /** + * Add an odometry between two poses + * @param x1 variable key of the first camera pose + * @param x2 variable key of the second camera pose + * @param odometry measurement from x1 to x2 (x1.between(x2)) + * @param model uncertainty model of this measurement + */ + void addOdometry(Key x1, Key x2, const Pose3& odometry, const SharedNoiseModel& model); + /** * Optimize the graph * @param initialEstimate initial estimate of all variables in the graph @@ -191,4 +200,9 @@ namespace visualSLAM { }; // Graph + /** + * Non-linear ISAM for vanilla incremental visual SLAM inference + */ + typedef gtsam::NonlinearISAM ISAM; + } // namespaces From 092093444c8f687b82d05d6f14d594b3190d1ae5 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:33:03 +0000 Subject: [PATCH 201/914] lookat: a convenient function to set up camera pose --- gtsam/geometry/PinholeCamera.h | 32 ++++++++++++++++++----- gtsam/geometry/tests/testSimpleCamera.cpp | 13 +++++++++ 2 files changed, 38 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 587312062..acc27ae1c 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -149,16 +149,34 @@ namespace gtsam { * (theta 0 = looking in direction of positive X axis) */ static PinholeCamera level(const Pose2& pose2, double height) { - return PinholeCamera::level(Calibration(), pose2, height); + return PinholeCamera::level(Calibration(), pose2, height); } static PinholeCamera level(const Calibration &K, const Pose2& pose2, double height) { - const double st = sin(pose2.theta()), ct = cos(pose2.theta()); - const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); - const Rot3 wRc(x, y, z); - const Point3 t(pose2.x(), pose2.y(), height); - const Pose3 pose3(wRc, t); - return PinholeCamera(pose3, K); + const double st = sin(pose2.theta()), ct = cos(pose2.theta()); + const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); + const Rot3 wRc(x, y, z); + const Point3 t(pose2.x(), pose2.y(), height); + const Pose3 pose3(wRc, t); + return PinholeCamera(pose3, K); + } + + /** + * Create a camera at the given eye position looking at a target point in the scene + * with the specified up direction vector. + * @param eye specifies the camera position + * @param target the point to look at + * @param upVector specifies the camera up direction vector, + * doesn't need to be on the image plane nor orthogonal to the viewing axis + * @param K optional calibration parameter + */ + static PinholeCamera lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) { + Point3 zc = target-eye; + zc = zc/zc.norm(); + Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down + Point3 yc = zc.cross(xc); + Pose3 pose3(Rot3(xc,yc,zc), eye); + return PinholeCamera(pose3, K); } /// @} diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index 1990ad00a..e918606a1 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -63,6 +63,19 @@ TEST( SimpleCamera, level2) CHECK(assert_equal( camera.pose(), expected)); } +/* ************************************************************************* */ +TEST( SimpleCamera, lookat) +{ + // Create a level camera, looking in Y-direction + Point3 C(10.0,0.0,0.0); + SimpleCamera camera = SimpleCamera::lookat(C, Point3(), Point3(0.0,0.0,1.0)); + + // expected + Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0); + Pose3 expected(Rot3(xc,yc,zc),C); + CHECK(assert_equal( camera.pose(), expected)); +} + /* ************************************************************************* */ TEST( SimpleCamera, project) { From 8037c44b173189d32f7b500e24c20ecfa52af59c Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:35:19 +0000 Subject: [PATCH 202/914] fix CMakeLists to generate correct paths to gtsam lib for MEX, both in command line and make_gtsam.m --- gtsam/CMakeLists.txt | 4 +++- gtsam_unstable/CMakeLists.txt | 6 +++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index ec0d7847d..5ab49b632 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -124,13 +124,15 @@ if (GTSAM_BUILD_WRAP) if (GTSAM_BUILD_MEX_BIN) set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) + set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) else() set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) + set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}) endif() # Generate, build and install toolbox - set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${MEX_LIB_ROOT} -lgtsam") + set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") # Macro to handle details of setting up targets wrap_library(gtsam "${mexFlags}" "../") diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 8c3b220c6..7637f6ea8 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -75,13 +75,17 @@ if (GTSAM_BUILD_WRAP) if (GTSAM_BUILD_MEX_BIN) set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) + set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) + set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) else() set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) + set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}) + set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}) endif() # Generate, build and install toolbox - set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${MEX_LIB_ROOT}/gtsam_unstable -L${MEX_LIB_ROOT}/gtsam -lgtsam -lgtsam_unstable") + set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${GTSAM_UNSTABLE_LIB_DIR} -L${GTSAM_LIB_DIR} -lgtsam -lgtsam_unstable") # Macro to handle details of setting up targets wrap_library(gtsam_unstable "${mexFlags}" "./") From a8ffa407ae508250de07d9f57f2b7ec6376ce0f5 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:36:10 +0000 Subject: [PATCH 203/914] remove noise sampler in visualSLAM examples --- examples/VisualISAMExample.cpp | 22 +++++++++------------- examples/VisualSLAMData.h | 13 ++++++------- examples/VisualSLAMExample.cpp | 4 ++-- 3 files changed, 17 insertions(+), 22 deletions(-) diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index dca24dba5..38fe1dd35 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -53,10 +53,8 @@ int main(int argc, char* argv[]) { // First pose with prior factor newFactors.addPosePrior(X(0), data.poses[0], data.noiseX); - // Second pose with odometry measurement, simulated by adding Gaussian noise to the ground-truth. - Pose3 odoMeasurement = data.odometry*Pose3::Expmap(data.noiseX->sample()); - newFactors.push_back( boost::shared_ptr >( - new BetweenFactor(X(0), X(1), odoMeasurement, data.noiseX))); + // Second pose with odometry measurement + newFactors.addOdometry(X(0), X(1), data.odometry, data.noiseX); // Visual measurements at both poses for (size_t i=0; i<2; ++i) { @@ -67,13 +65,12 @@ int main(int argc, char* argv[]) { // Initial values for the first two poses, simulated with Gaussian noise Values initials; - Pose3 pose0Init = data.poses[0]*Pose3::Expmap(data.noiseX->sample()); - initials.insert(X(0), pose0Init); - initials.insert(X(1), pose0Init*odoMeasurement); + initials.insert(X(0), data.poses[0]); + initials.insert(X(1), data.poses[0]*data.odometry); - // Initial values for the landmarks, simulated with Gaussian noise + // Initial values for the landmarks for (size_t j=0; jsample())); + initials.insert(L(j), data.points[j]); // Update ISAM the first time and obtain the current estimate isam.update(newFactors, initials); @@ -87,9 +84,8 @@ int main(int argc, char* argv[]) { for (size_t i=2; isample()); - newFactors.push_back( boost::shared_ptr >( - new BetweenFactor(X(i-1), X(i), odoMeasurement, data.noiseX))); + Pose3 odoMeasurement = data.odometry; + newFactors.addOdometry(X(i-1), X(i), data.odometry, data.noiseX); // Factors for visual measurements for (size_t j=0; j(X(i-1))*odoMeasurement); + initials.insert(X(i), currentEstimate.at(X(i-1))*data.odometry); // update ISAM isam.update(newFactors, initials); diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h index 155a137d8..88fb576fe 100644 --- a/examples/VisualSLAMData.h +++ b/examples/VisualSLAMData.h @@ -66,20 +66,19 @@ struct VisualSLAMExampleData { double theta = 0.0; double r = 30.0; for (int i=0; isample())); + data.z[i].push_back(camera.project(data.points[j]) + /*+ gtsam::Point2(data.noiseZ->sample()))*/); // you can add noise as desired } } data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.001, 0.001, 0.001, 0.1, 0.1, 0.1)); diff --git a/examples/VisualSLAMExample.cpp b/examples/VisualSLAMExample.cpp index 90391bf90..1fc343203 100644 --- a/examples/VisualSLAMExample.cpp +++ b/examples/VisualSLAMExample.cpp @@ -49,9 +49,9 @@ int main(int argc, char* argv[]) { /* 3. Initial estimates for variable nodes, simulated by Gaussian noises */ Values initial; for (size_t i=0; isample())); + initial.insert(X(i), data.poses[i]/* *Pose3::Expmap(data.noiseX->sample())*/); // you can add noise if you want for (size_t j=0; jsample())); + initial.insert(L(j), data.points[j] /*+ Point3(data.noiseL->sample())*/); // you can add noise if you want initial.print("Intial Estimates: "); /* 4. Optimize the graph and print results */ From 3a28baf3c81cb82dcca6b7bf83984fddeffee01d Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:39:55 +0000 Subject: [PATCH 204/914] simplify VisualSLAMExample code in MATLAB --- examples/matlab/VisualSLAMExample.m | 63 +++++--------- examples/matlab/VisualSLAMExample_triangle.m | 88 ++++++++++++++++++++ 2 files changed, 108 insertions(+), 43 deletions(-) create mode 100644 examples/matlab/VisualSLAMExample_triangle.m diff --git a/examples/matlab/VisualSLAMExample.m b/examples/matlab/VisualSLAMExample.m index 93ede149a..99d1a39a7 100644 --- a/examples/matlab/VisualSLAMExample.m +++ b/examples/matlab/VisualSLAMExample.m @@ -28,61 +28,40 @@ points = {gtsamPoint3([10 10 10]'),... gtsamPoint3([10 -10 -10]')}; % Camera poses on a circle around the cube, pointing at the world origin -nCameras = 4; +nCameras = 6; +height = 0; r = 30; poses = {}; for i=1:nCameras theta = (i-1)*2*pi/nCameras; - pose_i = gtsamPose3(... - gtsamRot3([-sin(theta) 0 -cos(theta); - cos(theta) 0 -sin(theta); - 0 -1 0]),... - gtsamPoint3([r*cos(theta), r*sin(theta), 0]')); - poses = [poses {pose_i}]; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) + poses{i} = camera.pose(); end -% 2D visual measurements, simulated with Gaussian noise -z = {}; -measurementNoiseSigmas = [0.5,0.5]'; -measurementNoiseSampler = gtsamSharedDiagonal(measurementNoiseSigmas); -K = gtsamCal3_S2(50,50,0,50,50); -for i=1:size(poses,2) - zi = {}; - camera = gtsamSimpleCamera(K,poses{i}); - for j=1:size(points,2) - zi = [zi {camera.project(points{j}).compose(gtsamPoint2(measurementNoiseSampler.sample()))}]; - end - z = [z; zi]; -end - -pointNoiseSigmas = [0.1,0.1,0.1]'; -pointNoiseSampler = gtsamSharedDiagonal(pointNoiseSigmas); - +measurementNoiseSigma = 1.0; +pointNoiseSigma = 0.1; poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; -poseNoiseSampler = gtsamSharedDiagonal(poseNoiseSigmas); %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) graph = visualSLAMGraph; %% Add factors for all measurements -measurementNoise = gtsamSharedNoiseModel_Sigmas(measurementNoiseSigmas); -for i=1:size(z,1) - for j=1:size(z,2) - graph.addMeasurement(z{i,j}, measurementNoise, symbol('x',i), symbol('l',j), K); +measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); +K = gtsamCal3_S2(500,500,0,640/2,480/2); +for i=1:nCameras + camera = gtsamSimpleCamera(K,poses{i}); + for j=1:size(points,2) + zij = camera.project(points{j}); % you can add noise here if desired + graph.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); end end %% Add Gaussian priors for a pose and a landmark to constrain the system -% posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); -% graph.addPosePrior(symbol('x',1), poses{1}, posePriorNoise); -pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); +posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); +graph.addPosePrior(symbol('x',1), poses{1}, posePriorNoise); +pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('l',1), points{1}, pointPriorNoise); -pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); -graph.addPointPrior(symbol('l',8), points{8}, pointPriorNoise); -pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); -graph.addPointPrior(symbol('l',5), points{5}, pointPriorNoise); -pointPriorNoise = gtsamSharedNoiseModel_Sigmas(pointNoiseSigmas); -graph.addPointPrior(symbol('l',4), points{4}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); @@ -90,10 +69,10 @@ graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy poses and points initialEstimate = visualSLAMValues; for i=1:size(poses,2) - initialEstimate.insertPose(symbol('x',i), poses{i}.compose(gtsamPose3_Expmap(poseNoiseSampler.sample()))); + initialEstimate.insertPose(symbol('x',i), poses{i}); end for j=1:size(points,2) - initialEstimate.insertPoint(symbol('l',j), points{j}.compose(gtsamPoint3(pointNoiseSampler.sample()))); + initialEstimate.insertPoint(symbol('l',j), points{j}); end initialEstimate.print(sprintf('\nInitial estimate:\n ')); @@ -101,10 +80,8 @@ initialEstimate.print(sprintf('\nInitial estimate:\n ')); result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n ')); -%% Query the marginals -marginals = graph.marginals(result); - %% Plot results with covariance ellipses +marginals = graph.marginals(result); figure(1);clf hold on; for j=1:size(points,2) diff --git a/examples/matlab/VisualSLAMExample_triangle.m b/examples/matlab/VisualSLAMExample_triangle.m new file mode 100644 index 000000000..4fc1db320 --- /dev/null +++ b/examples/matlab/VisualSLAMExample_triangle.m @@ -0,0 +1,88 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief A simple visual SLAM example for structure from motion +% @author Duy-Nguyen Ta +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create a triangle target, just 3 points on a plane +r = 10; +points = {}; +for j=1:3 + theta = (j-1)*2*pi/3; + points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); +end + +%% Create camera poses on a circle around the triangle +nCameras = 6; +height = 10; +r = 30; +poses = {}; +for i=1:nCameras + theta = (i-1)*2*pi/nCameras; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) + poses{i} = camera.pose(); +end + +%% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) +graph = visualSLAMGraph; + +%% Add factors for all measurements +K = gtsamCal3_S2(500,500,0,640/2,480/2); +measurementNoiseSigma=1; % in pixels +measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); +for i=1:nCameras + camera = gtsamSimpleCamera(K,poses{i}); + for j=1:3 + zij = camera.project(points{j}); % you can add noise here if desired + graph.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); + end +end + +%% Add Gaussian priors for 3 points to constrain the system +pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,0.1); +for j=1:3 + graph.addPointPrior(symbol('l',j), points{j}, pointPriorNoise); +end + +%% Print the graph +graph.print(sprintf('\nFactor graph:\n')); + +%% Initialize to noisy poses and points +initialEstimate = visualSLAMValues; +for i=1:size(poses,2) + initialEstimate.insertPose(symbol('x',i), poses{i}); +end +for j=1:size(points,2) + initialEstimate.insertPoint(symbol('l',j), points{j}); +end +initialEstimate.print(sprintf('\nInitial estimate:\n ')); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +result.print(sprintf('\nFinal result:\n ')); + +%% Plot results with covariance ellipses +marginals = graph.marginals(result); +figure(1);clf +hold on; +for j=1:size(points,2) + P = marginals.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); +end + +for i=1:size(poses,2) + P = marginals.marginalCovariance(symbol('x',i)) + pose_i = result.pose(symbol('x',i)) + plotPose3(pose_i,P,10); +end +axis equal + From bb89cdda76a056e3dc86143a3c91c89da8cb58ff Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:40:24 +0000 Subject: [PATCH 205/914] axisLength for plotting Pose2 in MATLAB --- examples/matlab/plotPose2.m | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/examples/matlab/plotPose2.m b/examples/matlab/plotPose2.m index 17959ea59..54b1e68f0 100644 --- a/examples/matlab/plotPose2.m +++ b/examples/matlab/plotPose2.m @@ -1,11 +1,13 @@ -function plotPose2(p,color,P) +function plotPose2(pose,color,P,axisLength) % plotPose2: show a Pose2, possibly with covariance matrix -plot(p.x,p.y,[color '*']); -c = cos(p.theta); -s = sin(p.theta); -quiver(p.x,p.y,c,s,0.1,color); +if nargin<4,axisLength=0.1;end + +plot(pose.x,pose.y,[color '*']); +c = cos(pose.theta); +s = sin(pose.theta); +quiver(pose.x,pose.y,c,s,axisLength,color); if nargin>2 pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame gRp = [c -s;s c]; % rotation from pose to global - covarianceEllipse([p.x;p.y],gRp*pPp*gRp',color); + covarianceEllipse([pose.x;pose.y],gRp*pPp*gRp',color); end \ No newline at end of file From 3e36890fd1f16c0b261773bf18e9b224d5fabe6b Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:41:06 +0000 Subject: [PATCH 206/914] VisualISAMExample in MATLAB. Doesn't look quite right... --- examples/matlab/VisualISAMExample.m | 106 ++++++++++++++++++++++++++++ 1 file changed, 106 insertions(+) create mode 100644 examples/matlab/VisualISAMExample.m diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m new file mode 100644 index 000000000..86465690f --- /dev/null +++ b/examples/matlab/VisualISAMExample.m @@ -0,0 +1,106 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief A simple visual SLAM example for structure from motion +% @author Duy-Nguyen Ta +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create a triangle target, just 3 points on a plane +nPoints = 3; +r = 10; +points = {}; +for j=1:nPoints + theta = (j-1)*2*pi/nPoints; + points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); +end + +%% Create camera poses on a circle around the triangle +nCameras = 30; +height = 10; +r = 30; +poses = {}; +for i=1:nCameras + theta = (i-1)*2*pi/nCameras; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) + poses{i} = camera.pose(); +end +odometry = poses{1}.between(poses{2}); + +poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); +measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); +K = gtsamCal3_S2(50,50,0,50,50); + +%% Create an ISAM object for inference +isam = visualSLAMISAM; + +%% Update ISAM +newFactors = visualSLAMGraph; +initialEstimates = visualSLAMValues; +for i=1:nCameras + + % Prior for the first pose or odometry for subsequent poses + if (i==1) + newFactors.addPosePrior(symbol('x',1), poses{1}, poseNoise); + else + newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); + end + + % Visual measurement factors + for j=1:nPoints + camera = gtsamSimpleCamera(K,poses{i}); + zij = camera.project(points{j}); + newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); + end + + % Initial estimates for the new pose. Also initialize points while in + % the first frame. + if (i==1) + initialEstimates.insertPose(symbol('x',i), poses{i}); + for j=1:size(points,2) + initialEstimates.insertPoint(symbol('l',j), points{j}); + end + else + %TODO: this might not be suboptimal since "result" is not the fully + %optimized result + prevPose = result.pose(symbol('x',i-1)); + initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); + end + + % Update ISAM, only update for the second frame onward + % Update the first frame will cause error, since it's under constrained + if (i>=2) + isam.update(newFactors, initialEstimates); + emptyFactors = visualSLAMGraph; + emptyEstimates = visualSLAMValues; + result = isam.estimate(); + + % Plot first result + figure(1);clf + hold on; + for j=1:size(points,2) + P = isam.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + end + + for ii=1:i + P = isam.marginalCovariance(symbol('x',ii)); + pose_ii = result.pose(symbol('x',ii)); + plotPose3(pose_ii,P,10); + end + axis([-50 50 -50 50 -50 50]) + + % Reset newFactors and initialEstimates to prepare for the next + % update + newFactors = visualSLAMGraph; + initialEstimates = visualSLAMValues; + end +end \ No newline at end of file From 64beba42e42e40ff4298040452dcd1c38dd41b77 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 09:42:27 +0000 Subject: [PATCH 207/914] wrapping SimpleCamera::lookat and visualSLAM's ISAM to MATLAB --- gtsam.h | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index df55b1c2a..a5a072bca 100644 --- a/gtsam.h +++ b/gtsam.h @@ -450,6 +450,11 @@ class SimpleCamera { // Standard Interface gtsam::Pose3 pose() const; + + // Convenient generators + static gtsam::SimpleCamera lookat(const gtsam::Point3& eye, + const gtsam::Point3& target, const gtsam::Point3& upVector, + const gtsam::Cal3_S2& k); }; //************************************************************************* @@ -457,7 +462,6 @@ class SimpleCamera { //************************************************************************* - //************************************************************************* // linear //************************************************************************* @@ -912,9 +916,19 @@ class Graph { void addPosePrior(size_t poseKey, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model); void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::SharedNoiseModel& model); void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& model); + void addOdometry(size_t poseKey1, size_t poseKey2, const gtsam::Pose3& odometry, const gtsam::SharedNoiseModel& model); visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate) const; gtsam::Marginals marginals(const visualSLAM::Values& solution) const; }; +class ISAM { + ISAM(); + ISAM(int reorderInterval); + void print(string s) const; + visualSLAM::Values estimate() const; + Matrix marginalCovariance(size_t key) const; + void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues); +}; + }///\namespace visualSLAM From 3a9b647b8fcc23273d8a265a66c1d3326ec53204 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 6 Jun 2012 12:03:49 +0000 Subject: [PATCH 208/914] Updated expected wrap values --- .cproject | 328 +++++++++--------- wrap/tests/expected/@Point2/argChar.m | 2 +- wrap/tests/expected/@Point2/argUChar.m | 2 +- wrap/tests/expected/@Point2/dim.m | 2 +- wrap/tests/expected/@Point2/returnChar.m | 2 +- wrap/tests/expected/@Point2/vectorConfusion.m | 2 +- wrap/tests/expected/@Point2/x.m | 2 +- wrap/tests/expected/@Point2/y.m | 2 +- wrap/tests/expected/@Point3/norm.m | 2 +- wrap/tests/expected/@Test/arg_EigenConstRef.m | 2 +- wrap/tests/expected/@Test/create_MixedPtrs.m | 2 +- wrap/tests/expected/@Test/create_ptrs.m | 2 +- wrap/tests/expected/@Test/print.m | 2 +- wrap/tests/expected/@Test/return_Point2Ptr.m | 2 +- wrap/tests/expected/@Test/return_Test.m | 2 +- wrap/tests/expected/@Test/return_TestPtr.m | 2 +- wrap/tests/expected/@Test/return_bool.m | 2 +- wrap/tests/expected/@Test/return_double.m | 2 +- wrap/tests/expected/@Test/return_field.m | 2 +- wrap/tests/expected/@Test/return_int.m | 2 +- wrap/tests/expected/@Test/return_matrix1.m | 2 +- wrap/tests/expected/@Test/return_matrix2.m | 2 +- wrap/tests/expected/@Test/return_pair.m | 2 +- wrap/tests/expected/@Test/return_ptrs.m | 2 +- wrap/tests/expected/@Test/return_size_t.m | 2 +- wrap/tests/expected/@Test/return_string.m | 2 +- wrap/tests/expected/@Test/return_vector1.m | 2 +- wrap/tests/expected/@Test/return_vector2.m | 2 +- .../tests/expected/Point3_StaticFunctionRet.m | 2 +- wrap/tests/expected/Point3_staticFunction.m | 2 +- .../@ns2ClassA/memberFunction.m | 2 +- .../expected_namespaces/@ns2ClassA/nsArg.m | 2 +- .../expected_namespaces/@ns2ClassA/nsReturn.m | 2 +- .../expected_namespaces/ns2ClassA_afunction.m | 2 +- 34 files changed, 202 insertions(+), 192 deletions(-) diff --git a/.cproject b/.cproject index c53d6aaaf..ad66abfa1 100644 --- a/.cproject +++ b/.cproject @@ -311,14 +311,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -345,6 +337,7 @@ make + tests/testBayesTree.run true false @@ -352,6 +345,7 @@ make + testBinaryBayesNet.run true false @@ -399,6 +393,7 @@ make + testSymbolicBayesNet.run true false @@ -406,6 +401,7 @@ make + tests/testSymbolicFactor.run true false @@ -413,6 +409,7 @@ make + testSymbolicFactorGraph.run true false @@ -428,11 +425,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -505,22 +511,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -537,6 +527,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -561,18 +567,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -657,26 +671,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -923,6 +929,7 @@ make + testGraph.run true false @@ -930,6 +937,7 @@ make + testJunctionTree.run true false @@ -937,6 +945,7 @@ make + testSymbolicBayesNetB.run true false @@ -1048,6 +1057,7 @@ make + testErrors.run true false @@ -1503,7 +1513,6 @@ make - testSimulated2DOriented.run true false @@ -1543,7 +1552,6 @@ make - testSimulated2D.run true false @@ -1551,7 +1559,6 @@ make - testSimulated3D.run true false @@ -1767,7 +1774,6 @@ make - tests/testGaussianISAM2 true false @@ -1789,102 +1795,6 @@ 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 -j2 @@ -2086,6 +1996,7 @@ cpack + -G DEB true false @@ -2093,6 +2004,7 @@ cpack + -G RPM true false @@ -2100,6 +2012,7 @@ cpack + -G TGZ true false @@ -2107,6 +2020,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2192,42 +2106,98 @@ true true - + make - -j5 - wrap.testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - wrap.testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap_gtsam + -j2 + timeRot3.run true true true - + make - -j5 - wrap + -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 @@ -2271,6 +2241,46 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/wrap/tests/expected/@Point2/argChar.m b/wrap/tests/expected/@Point2/argChar.m index 3eccf4b76..93880c5b1 100644 --- a/wrap/tests/expected/@Point2/argChar.m +++ b/wrap/tests/expected/@Point2/argChar.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = argChar(obj,a) % usage: obj.argChar(a) error('need to compile argChar.cpp'); diff --git a/wrap/tests/expected/@Point2/argUChar.m b/wrap/tests/expected/@Point2/argUChar.m index eedb50df0..bb524b3f0 100644 --- a/wrap/tests/expected/@Point2/argUChar.m +++ b/wrap/tests/expected/@Point2/argUChar.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = argUChar(obj,a) % usage: obj.argUChar(a) error('need to compile argUChar.cpp'); diff --git a/wrap/tests/expected/@Point2/dim.m b/wrap/tests/expected/@Point2/dim.m index 011eb28a7..84c368193 100644 --- a/wrap/tests/expected/@Point2/dim.m +++ b/wrap/tests/expected/@Point2/dim.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = dim(obj) % usage: obj.dim() error('need to compile dim.cpp'); diff --git a/wrap/tests/expected/@Point2/returnChar.m b/wrap/tests/expected/@Point2/returnChar.m index c9334a503..a33718047 100644 --- a/wrap/tests/expected/@Point2/returnChar.m +++ b/wrap/tests/expected/@Point2/returnChar.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = returnChar(obj) % usage: obj.returnChar() error('need to compile returnChar.cpp'); diff --git a/wrap/tests/expected/@Point2/vectorConfusion.m b/wrap/tests/expected/@Point2/vectorConfusion.m index 0db1db291..cc47b0dc7 100644 --- a/wrap/tests/expected/@Point2/vectorConfusion.m +++ b/wrap/tests/expected/@Point2/vectorConfusion.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = vectorConfusion(obj) % usage: obj.vectorConfusion() error('need to compile vectorConfusion.cpp'); diff --git a/wrap/tests/expected/@Point2/x.m b/wrap/tests/expected/@Point2/x.m index 0a6e99d16..e1ebbd450 100644 --- a/wrap/tests/expected/@Point2/x.m +++ b/wrap/tests/expected/@Point2/x.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = x(obj) % usage: obj.x() error('need to compile x.cpp'); diff --git a/wrap/tests/expected/@Point2/y.m b/wrap/tests/expected/@Point2/y.m index ee5a55e1d..d27fc8bf2 100644 --- a/wrap/tests/expected/@Point2/y.m +++ b/wrap/tests/expected/@Point2/y.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = y(obj) % usage: obj.y() error('need to compile y.cpp'); diff --git a/wrap/tests/expected/@Point3/norm.m b/wrap/tests/expected/@Point3/norm.m index bb6482df4..4269347e8 100644 --- a/wrap/tests/expected/@Point3/norm.m +++ b/wrap/tests/expected/@Point3/norm.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = norm(obj) % usage: obj.norm() error('need to compile norm.cpp'); diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.m b/wrap/tests/expected/@Test/arg_EigenConstRef.m index 76f190d99..9e6c04c5a 100644 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.m +++ b/wrap/tests/expected/@Test/arg_EigenConstRef.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = arg_EigenConstRef(obj,value) % usage: obj.arg_EigenConstRef(value) error('need to compile arg_EigenConstRef.cpp'); diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.m b/wrap/tests/expected/@Test/create_MixedPtrs.m index 764ce822c..bd1927fba 100644 --- a/wrap/tests/expected/@Test/create_MixedPtrs.m +++ b/wrap/tests/expected/@Test/create_MixedPtrs.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function [first,second] = create_MixedPtrs(obj) % usage: obj.create_MixedPtrs() error('need to compile create_MixedPtrs.cpp'); diff --git a/wrap/tests/expected/@Test/create_ptrs.m b/wrap/tests/expected/@Test/create_ptrs.m index b1623b5bc..e380f1829 100644 --- a/wrap/tests/expected/@Test/create_ptrs.m +++ b/wrap/tests/expected/@Test/create_ptrs.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function [first,second] = create_ptrs(obj) % usage: obj.create_ptrs() error('need to compile create_ptrs.cpp'); diff --git a/wrap/tests/expected/@Test/print.m b/wrap/tests/expected/@Test/print.m index 2adca017d..a39033a1e 100644 --- a/wrap/tests/expected/@Test/print.m +++ b/wrap/tests/expected/@Test/print.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = print(obj) % usage: obj.print() error('need to compile print.cpp'); diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.m b/wrap/tests/expected/@Test/return_Point2Ptr.m index 410081dcb..26fd146a2 100644 --- a/wrap/tests/expected/@Test/return_Point2Ptr.m +++ b/wrap/tests/expected/@Test/return_Point2Ptr.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_Point2Ptr(obj,value) % usage: obj.return_Point2Ptr(value) error('need to compile return_Point2Ptr.cpp'); diff --git a/wrap/tests/expected/@Test/return_Test.m b/wrap/tests/expected/@Test/return_Test.m index 2faa73be3..f31dc3192 100644 --- a/wrap/tests/expected/@Test/return_Test.m +++ b/wrap/tests/expected/@Test/return_Test.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_Test(obj,value) % usage: obj.return_Test(value) error('need to compile return_Test.cpp'); diff --git a/wrap/tests/expected/@Test/return_TestPtr.m b/wrap/tests/expected/@Test/return_TestPtr.m index 7c40e76c6..e69149551 100644 --- a/wrap/tests/expected/@Test/return_TestPtr.m +++ b/wrap/tests/expected/@Test/return_TestPtr.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_TestPtr(obj,value) % usage: obj.return_TestPtr(value) error('need to compile return_TestPtr.cpp'); diff --git a/wrap/tests/expected/@Test/return_bool.m b/wrap/tests/expected/@Test/return_bool.m index 76fc4363b..a0c5a0b17 100644 --- a/wrap/tests/expected/@Test/return_bool.m +++ b/wrap/tests/expected/@Test/return_bool.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_bool(obj,value) % usage: obj.return_bool(value) error('need to compile return_bool.cpp'); diff --git a/wrap/tests/expected/@Test/return_double.m b/wrap/tests/expected/@Test/return_double.m index daed1d34b..dd181ff0b 100644 --- a/wrap/tests/expected/@Test/return_double.m +++ b/wrap/tests/expected/@Test/return_double.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_double(obj,value) % usage: obj.return_double(value) error('need to compile return_double.cpp'); diff --git a/wrap/tests/expected/@Test/return_field.m b/wrap/tests/expected/@Test/return_field.m index 11b5ebe07..bc4223671 100644 --- a/wrap/tests/expected/@Test/return_field.m +++ b/wrap/tests/expected/@Test/return_field.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_field(obj,t) % usage: obj.return_field(t) error('need to compile return_field.cpp'); diff --git a/wrap/tests/expected/@Test/return_int.m b/wrap/tests/expected/@Test/return_int.m index a6783acdf..4984557e6 100644 --- a/wrap/tests/expected/@Test/return_int.m +++ b/wrap/tests/expected/@Test/return_int.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_int(obj,value) % usage: obj.return_int(value) error('need to compile return_int.cpp'); diff --git a/wrap/tests/expected/@Test/return_matrix1.m b/wrap/tests/expected/@Test/return_matrix1.m index 302f15372..66dd1886f 100644 --- a/wrap/tests/expected/@Test/return_matrix1.m +++ b/wrap/tests/expected/@Test/return_matrix1.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_matrix1(obj,value) % usage: obj.return_matrix1(value) error('need to compile return_matrix1.cpp'); diff --git a/wrap/tests/expected/@Test/return_matrix2.m b/wrap/tests/expected/@Test/return_matrix2.m index 3ed4d0ec7..5a0359862 100644 --- a/wrap/tests/expected/@Test/return_matrix2.m +++ b/wrap/tests/expected/@Test/return_matrix2.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_matrix2(obj,value) % usage: obj.return_matrix2(value) error('need to compile return_matrix2.cpp'); diff --git a/wrap/tests/expected/@Test/return_pair.m b/wrap/tests/expected/@Test/return_pair.m index abb97336c..611dd3434 100644 --- a/wrap/tests/expected/@Test/return_pair.m +++ b/wrap/tests/expected/@Test/return_pair.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function [first,second] = return_pair(obj,v,A) % usage: obj.return_pair(v,A) error('need to compile return_pair.cpp'); diff --git a/wrap/tests/expected/@Test/return_ptrs.m b/wrap/tests/expected/@Test/return_ptrs.m index bed198563..18d69ac92 100644 --- a/wrap/tests/expected/@Test/return_ptrs.m +++ b/wrap/tests/expected/@Test/return_ptrs.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function [first,second] = return_ptrs(obj,p1,p2) % usage: obj.return_ptrs(p1,p2) error('need to compile return_ptrs.cpp'); diff --git a/wrap/tests/expected/@Test/return_size_t.m b/wrap/tests/expected/@Test/return_size_t.m index 7cb2c6f0f..143f04d24 100644 --- a/wrap/tests/expected/@Test/return_size_t.m +++ b/wrap/tests/expected/@Test/return_size_t.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_size_t(obj,value) % usage: obj.return_size_t(value) error('need to compile return_size_t.cpp'); diff --git a/wrap/tests/expected/@Test/return_string.m b/wrap/tests/expected/@Test/return_string.m index 5661df443..f1eab8661 100644 --- a/wrap/tests/expected/@Test/return_string.m +++ b/wrap/tests/expected/@Test/return_string.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_string(obj,value) % usage: obj.return_string(value) error('need to compile return_string.cpp'); diff --git a/wrap/tests/expected/@Test/return_vector1.m b/wrap/tests/expected/@Test/return_vector1.m index 3746c4c20..316ca4cf2 100644 --- a/wrap/tests/expected/@Test/return_vector1.m +++ b/wrap/tests/expected/@Test/return_vector1.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_vector1(obj,value) % usage: obj.return_vector1(value) error('need to compile return_vector1.cpp'); diff --git a/wrap/tests/expected/@Test/return_vector2.m b/wrap/tests/expected/@Test/return_vector2.m index 426c63457..6426e0ce9 100644 --- a/wrap/tests/expected/@Test/return_vector2.m +++ b/wrap/tests/expected/@Test/return_vector2.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = return_vector2(obj,value) % usage: obj.return_vector2(value) error('need to compile return_vector2.cpp'); diff --git a/wrap/tests/expected/Point3_StaticFunctionRet.m b/wrap/tests/expected/Point3_StaticFunctionRet.m index 433d3c00d..bdfd32b4b 100644 --- a/wrap/tests/expected/Point3_StaticFunctionRet.m +++ b/wrap/tests/expected/Point3_StaticFunctionRet.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = Point3_StaticFunctionRet(z) % usage: x = Point3_StaticFunctionRet(z) error('need to compile Point3_StaticFunctionRet.cpp'); diff --git a/wrap/tests/expected/Point3_staticFunction.m b/wrap/tests/expected/Point3_staticFunction.m index ccf9b85bd..23885f71e 100644 --- a/wrap/tests/expected/Point3_staticFunction.m +++ b/wrap/tests/expected/Point3_staticFunction.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = Point3_staticFunction() % usage: x = Point3_staticFunction() error('need to compile Point3_staticFunction.cpp'); diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m index 4523cba56..90a9ed918 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m +++ b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = memberFunction(obj) % usage: obj.memberFunction() error('need to compile memberFunction.cpp'); diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m index 4893ece7f..e57701feb 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = nsArg(obj,arg) % usage: obj.nsArg(arg) error('need to compile nsArg.cpp'); diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m index 2c900bc30..c16b1c33f 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = nsReturn(obj,q) % usage: obj.nsReturn(q) error('need to compile nsReturn.cpp'); diff --git a/wrap/tests/expected_namespaces/ns2ClassA_afunction.m b/wrap/tests/expected_namespaces/ns2ClassA_afunction.m index 3a1101918..f41203ba1 100644 --- a/wrap/tests/expected_namespaces/ns2ClassA_afunction.m +++ b/wrap/tests/expected_namespaces/ns2ClassA_afunction.m @@ -1,4 +1,4 @@ - automatically generated by wrap +% automatically generated by wrap function result = ns2ClassA_afunction() % usage: x = ns2ClassA_afunction() error('need to compile ns2ClassA_afunction.cpp'); From 3729b322fdd31a2e181008fdc339b944de009504 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 6 Jun 2012 12:30:30 +0000 Subject: [PATCH 209/914] retractCayley not on quaternion branch --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index a5a072bca..0ca70d389 100644 --- a/gtsam.h +++ b/gtsam.h @@ -232,7 +232,7 @@ class Rot3 { // Manifold static size_t Dim(); size_t dim() const; - gtsam::Rot3 retractCayley(Vector v) const; + // gtsam::Rot3 retractCayley(Vector v) const; // not in Quaternion branch gtsam::Rot3 retract(Vector v) const; Vector localCoordinates(const gtsam::Rot3& p) const; From 74138787e843aa7fcf169aee9e2072114b34b3f5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 6 Jun 2012 12:44:06 +0000 Subject: [PATCH 210/914] testPoseRTV no longer fails when using quaternions - still should add full analytical derivatives, however. --- .cproject | 8 ++++++++ gtsam_unstable/dynamics/PoseRTV.cpp | 2 +- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 8 ++++---- 3 files changed, 13 insertions(+), 5 deletions(-) diff --git a/.cproject b/.cproject index ad66abfa1..abe692394 100644 --- a/.cproject +++ b/.cproject @@ -439,6 +439,14 @@ true true + + make + -j5 + testPoseRTV.run + true + true + true + make -j5 diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp index 4ab4bcf1d..e78f5a62d 100644 --- a/gtsam_unstable/dynamics/PoseRTV.cpp +++ b/gtsam_unstable/dynamics/PoseRTV.cpp @@ -258,7 +258,7 @@ PoseRTV PoseRTV::transformed_from(const Pose3& trans, } if (Dtrans) { - *Dtrans = numericalDerivative22(transformed_from_, *this, trans, 1e-6); + *Dtrans = numericalDerivative22(transformed_from_, *this, trans, 1e-8); // // *Dtrans = zeros(9,6); // // directly affecting the pose diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index 381971502..c833ea116 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -232,8 +232,8 @@ TEST( testPoseRTV, transformed_from_1 ) { PoseRTV expected(transform.compose(start.pose()), transform.rotation().rotate(V)); EXPECT(assert_equal(expected, actual, tol)); - Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-8); - Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); + Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails + Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size EXPECT(assert_equal(numDGlobal, actDGlobal, tol)); EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative } @@ -251,8 +251,8 @@ TEST( testPoseRTV, transformed_from_2 ) { PoseRTV expected(transform.compose(start.pose()), transform.rotation().rotate(V)); EXPECT(assert_equal(expected, actual, tol)); - Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-8); - Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); + Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails + Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size EXPECT(assert_equal(numDGlobal, actDGlobal, tol)); EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative } From 19796465bfde502fb8fdae8dd22da954c19c93d0 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 6 Jun 2012 12:51:21 +0000 Subject: [PATCH 211/914] Moved back missing tictoc_print --- gtsam/base/timing.h | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index 66823effc..8eb99f577 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -97,19 +97,6 @@ inline void tictoc_finishedIteration_() { timingRoot->finishedIteration(); } -#ifdef ENABLE_TIMING -inline void tic(size_t id, const std::string& label) { tic_(id, label); } -inline void toc(size_t id) { toc_(id); } -inline void toc(size_t id, const std::string& label) { toc_(id, label); } -inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); } -#else -inline void tic(size_t, const char*) {} -inline void toc(size_t) {} -inline void toc(size_t, const char*) {} -inline void tictoc_finishedIteration() {} -#endif - - inline void tictoc_print_() { timingRoot->print(); } @@ -119,6 +106,21 @@ inline void tictoc_print2_() { timingRoot->print2(); } +#ifdef ENABLE_TIMING +inline void tic(size_t id, const std::string& label) { tic_(id, label); } +inline void toc(size_t id) { toc_(id); } +inline void toc(size_t id, const std::string& label) { toc_(id, label); } +inline void tictoc_finishedIteration() { tictoc_finishedIteration_(); } +inline void tictoc_print() { tictoc_print_(); } +#else +inline void tic(size_t, const char*) {} +inline void toc(size_t) {} +inline void toc(size_t, const char*) {} +inline void tictoc_finishedIteration() {} +inline void tictoc_print() {} +#endif + + #ifdef ENABLE_OLD_TIMING // simple class for accumulating execution timing information by name @@ -210,7 +212,6 @@ inline double tic(const std::string& id) { return tic_(id); } inline double toc(const std::string& id) { return toc_(id); } inline void ticPush(const std::string& prefix, const std::string& id) { ticPush_(prefix, id); } inline void ticPop(const std::string& prefix, const std::string& id) { ticPop_(prefix, id); } -inline void tictoc_print() { tictoc_print_(); } #else inline double _tic() {return 0.;} inline double _toc(double) {return 0.;} @@ -218,7 +219,6 @@ inline double tic(const std::string&) {return 0.;} inline double toc(const std::string&) {return 0.;} inline void ticPush(const std::string&, const std::string&) {} inline void ticPop(const std::string&, const std::string&) {} -inline void tictoc_print() {} #endif #endif From 55ff10a1c2d7cc302fd5b09e9a89f91920eee8fe Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 6 Jun 2012 12:51:44 +0000 Subject: [PATCH 212/914] Updated old timing statements in discrete examples and reenabled the examples --- gtsam_unstable/discrete/CMakeLists.txt | 4 ++-- gtsam_unstable/discrete/examples/schedulingExample.cpp | 5 ++--- gtsam_unstable/discrete/examples/schedulingQuals12.cpp | 5 ++--- 3 files changed, 6 insertions(+), 8 deletions(-) diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index d40d4e48f..edec85416 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -27,8 +27,8 @@ add_dependencies(check.unstable check.discrete_unstable) # List examples to build - comment out here to exclude from compilation set(discrete_unstable_examples -#schedulingExample -#schedulingQuals12 +schedulingExample +schedulingQuals12 ) if (GTSAM_BUILD_EXAMPLES) diff --git a/gtsam_unstable/discrete/examples/schedulingExample.cpp b/gtsam_unstable/discrete/examples/schedulingExample.cpp index 14e4367f5..0f9854007 100644 --- a/gtsam_unstable/discrete/examples/schedulingExample.cpp +++ b/gtsam_unstable/discrete/examples/schedulingExample.cpp @@ -8,7 +8,6 @@ //#define ENABLE_TIMING #define ADD_NO_CACHING #define ADD_NO_PRUNING -#define ENABLE_OLD_TIMING #include #include #include @@ -152,9 +151,9 @@ void solveStaged(size_t addMutex = 2) { scheduler.buildGraph(addMutex); // Do EXACT INFERENCE - tic_("eliminate"); + tic_(3,"eliminate"); DiscreteBayesNet::shared_ptr chordal = scheduler.eliminate(); - toc_("eliminate"); + toc_(3,"eliminate"); // find root node DiscreteConditional::shared_ptr root = *(chordal->rbegin()); diff --git a/gtsam_unstable/discrete/examples/schedulingQuals12.cpp b/gtsam_unstable/discrete/examples/schedulingQuals12.cpp index 19357fdcf..4221eb755 100644 --- a/gtsam_unstable/discrete/examples/schedulingQuals12.cpp +++ b/gtsam_unstable/discrete/examples/schedulingQuals12.cpp @@ -8,7 +8,6 @@ #define ENABLE_TIMING #define ADD_NO_CACHING #define ADD_NO_PRUNING -#define ENABLE_OLD_TIMING #include #include #include @@ -179,9 +178,9 @@ void solveStaged(size_t addMutex = 2) { scheduler.buildGraph(addMutex); // Do EXACT INFERENCE - tic_("eliminate"); + tic_(3,"eliminate"); DiscreteBayesNet::shared_ptr chordal = scheduler.eliminate(); - toc_("eliminate"); + toc_(3,"eliminate"); // find root node DiscreteConditional::shared_ptr root = *(chordal->rbegin()); From 87a705468d19b29eb4cfbeb8da774a24c9dc79d8 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 6 Jun 2012 13:04:47 +0000 Subject: [PATCH 213/914] Removed unnecessary tests/examples, consolidated utility functions --- gtsam_unstable/dynamics/PoseRTV.cpp | 38 ++- gtsam_unstable/dynamics/PoseRTV.h | 14 + gtsam_unstable/dynamics/imu_examples.h | 273 ------------------ gtsam_unstable/dynamics/inertialUtils.cpp | 51 ---- gtsam_unstable/dynamics/inertialUtils.h | 32 -- .../dynamics/tests/testIMUSystem.cpp | 34 --- .../dynamics/tests/testInertialUtils.cpp | 34 --- gtsam_unstable/dynamics/tests/testPoseRTV.cpp | 215 +------------- 8 files changed, 61 insertions(+), 630 deletions(-) delete mode 100644 gtsam_unstable/dynamics/imu_examples.h delete mode 100644 gtsam_unstable/dynamics/inertialUtils.cpp delete mode 100644 gtsam_unstable/dynamics/inertialUtils.h delete mode 100644 gtsam_unstable/dynamics/tests/testInertialUtils.cpp diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp index e78f5a62d..c10885fc0 100644 --- a/gtsam_unstable/dynamics/PoseRTV.cpp +++ b/gtsam_unstable/dynamics/PoseRTV.cpp @@ -10,7 +10,6 @@ #include #include -#include #include namespace gtsam { @@ -201,7 +200,7 @@ Vector PoseRTV::imuPrediction(const PoseRTV& x2, double dt) const { // rotation rates // just using euler angles based on matlab code // FIXME: this is silly - we shouldn't use differences in Euler angles - Matrix Enb = dynamics::RRTMnb(r1); + Matrix Enb = RRTMnb(r1); Vector euler1 = r1.xyz(), euler2 = r2.xyz(); Vector dR = euler2 - euler1; @@ -276,4 +275,39 @@ PoseRTV PoseRTV::transformed_from(const Pose3& trans, return PoseRTV(newpose, newvel); } +/* ************************************************************************* */ +Matrix PoseRTV::RRTMbn(const Vector& euler) { + assert(euler.size() == 3); + const double s1 = sin(euler(1-1)), c1 = cos(euler(1-1)); + const double t2 = tan(euler(2-1)), c2 = cos(euler(2-1)); + Matrix Ebn(3,3); + Ebn << 1.0, s1 * t2, c1 * t2, + 0.0, c1, -s1, + 0.0, s1 / c2, c1 / c2; + return Ebn; +} + +/* ************************************************************************* */ +Matrix PoseRTV::RRTMbn(const Rot3& att) { + return PoseRTV::RRTMbn(att.rpy()); +} + +/* ************************************************************************* */ +Matrix PoseRTV::RRTMnb(const Vector& euler) { + assert(euler.size() == 3); + Matrix Enb(3,3); + const double s1 = sin(euler(1-1)), c1 = cos(euler(1-1)); + const double s2 = sin(euler(2-1)), c2 = cos(euler(2-1)); + Enb << 1.0, 0.0, -s2, + 0.0, c1, s1*c2, + 0.0, -s1, c1*c2; + return Enb; +} + +/* ************************************************************************* */ +Matrix PoseRTV::RRTMnb(const Rot3& att) { + return PoseRTV::RRTMnb(att.rpy()); +} + +/* ************************************************************************* */ } // \namespace gtsam diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h index b2e325f53..077756f56 100644 --- a/gtsam_unstable/dynamics/PoseRTV.h +++ b/gtsam_unstable/dynamics/PoseRTV.h @@ -153,6 +153,20 @@ public: boost::optional Dglobal=boost::none, boost::optional Dtrans=boost::none) const; + // Utility functions + + /// RRTMbn - Function computes the rotation rate transformation matrix from + /// body axis rates to euler angle (global) rates + static Matrix RRTMbn(const Vector& euler); + + static Matrix RRTMbn(const Rot3& att); + + /// RRTMnb - Function computes the rotation rate transformation matrix from + /// euler angle rates to body axis rates + static Matrix RRTMnb(const Vector& euler); + + static Matrix RRTMnb(const Rot3& att); + private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam_unstable/dynamics/imu_examples.h b/gtsam_unstable/dynamics/imu_examples.h deleted file mode 100644 index 90bbc9d8b..000000000 --- a/gtsam_unstable/dynamics/imu_examples.h +++ /dev/null @@ -1,273 +0,0 @@ -/** - * @file imu_examples.h - * @brief Example measurements from ACFR matlab simulation - * @author Alex Cunningham - */ - -#pragma once - -#include -#include - -namespace gtsam { -namespace examples { - -// examples pulled from simulated dataset - -// case pulled from dataset (frame 5000, no noise, flying robot) -namespace frame5000 { -double dt=0.010000; - -// previous frame -gtsam::Point3 posInit( - -34.959663877411039, - -36.312388041359441, - -9.929634578582256); -gtsam::Vector velInit = gtsam::Vector_(3, - -2.325950469365050, - -5.545469040035986, - 0.026939998635121); -gtsam::Vector attInit = gtsam::Vector_(3, - -0.005702574137157, - -0.029956547314287, - 1.625011216344428); - -// IMU measurement (accel (0-2), gyro (3-5)) - from current frame -gtsam::Vector accel = gtsam::Vector_(3, - 1.188806676070333, - -0.183885870345845, - -9.870747316422888); -gtsam::Vector gyro = gtsam::Vector_(3, - 0.0, - 0.026142019158168, - -2.617993877991494); - -// resulting frame -gtsam::Point3 posFinal( - -34.982904302954310, - -36.367693859767584, - -9.929367164045985); -gtsam::Vector velFinal = gtsam::Vector_(3, - -2.324042554327658, - -5.530581840815272, - 0.026741453627181); -gtsam::Vector attFinal = gtsam::Vector_(3, - -0.004918046965288, - -0.029844423605949, - 1.598818460739227); - -PoseRTV init (posInit, gtsam::Rot3::RzRyRx(attInit), velInit); -PoseRTV final(posFinal, gtsam::Rot3::RzRyRx(attFinal), velFinal); -} - -// case pulled from dataset (frame 10000, no noise, flying robot) -namespace frame10000 { -double dt=0.010000; - -// previous frame -gtsam::Point3 posInit( - -30.320731549352189, - -1.988742283760434, - -9.946212692656349); -gtsam::Vector velInit = gtsam::Vector_(3, - -0.094887047280235, - -5.200243574047883, - -0.006106911050672); -gtsam::Vector attInit = gtsam::Vector_(3, - -0.049884854704728, - -0.004630595995732, - -1.952691683647753); - -// IMU measurement (accel (0-2), gyro (3-5)) - from current frame -gtsam::Vector accel = gtsam::Vector_(3, - 0.127512027192321, - 0.508566822495083, - -9.987963604829643); -gtsam::Vector gyro = gtsam::Vector_(3, - 0.0, - 0.004040957322961, - 2.617993877991494); - -// resulting frame -gtsam::Point3 posFinal( - -30.321685191305157, - -2.040760054006146, - -9.946292804391417); -gtsam::Vector velFinal = gtsam::Vector_(3, - -0.095364195297074, - -5.201777024575911, - -0.008011173506779); -gtsam::Vector attFinal = gtsam::Vector_(3, - -0.050005924151669, - -0.003284795837998, - -1.926546047162884); - -PoseRTV init (posInit, gtsam::Rot3::RzRyRx(attInit), velInit); -PoseRTV final(posFinal, gtsam::Rot3::RzRyRx(attFinal), velFinal); -} - -// case pulled from dataset (frame at time 4.00, no noise, flying robot, poses from 3.99 to 4.0) -namespace flying400 { -double dt=0.010000; - -// start pose -// time 3.9900000e+00 -// pos (x,y,z) 1.8226188e+01 -6.7168156e+01 -9.8236334e+00 -// vel (dx,dy,dz) -5.2887267e+00 1.6117880e-01 -2.2665072e-02 -// att (r, p, y) 1.0928413e-02 -2.0811771e-02 2.7206011e+00 - -// previous frame -gtsam::Point3 posInit( - 1.8226188e+01, -6.7168156e+01, -9.8236334e+00); -gtsam::Vector velInit = gtsam::Vector_(3,-5.2887267e+00, 1.6117880e-01, -2.2665072e-02); -gtsam::Vector attInit = gtsam::Vector_(3, 1.0928413e-02, -2.0811771e-02, 2.7206011e+00); - -// time 4.0000000e+00 -// accel 3.4021509e-01 -3.4413998e-01 -9.8822495e+00 -// gyro 0.0000000e+00 1.8161697e-02 -2.6179939e+00 - -// IMU measurement (accel (0-2), gyro (3-5)) - ax, ay, az, r, p, y -gtsam::Vector accel = gtsam::Vector_(3, - 3.4021509e-01, -3.4413998e-01, -9.8822495e+00); -gtsam::Vector gyro = gtsam::Vector_(3, - 0.0000000e+00, 1.8161697e-02, -2.6179939e+00); // original version (possibly r, p, y) - -// final pose -// time 4.0000000e+00 -// pos (x,y,z) 1.8173262e+01 -6.7166500e+01 -9.8238667e+00 -// vel (vx,vy,vz) -5.2926092e+00 1.6559974e-01 -2.3330881e-02 -// att (r, p, y) 1.1473269e-02 -2.0344066e-02 2.6944191e+00 - -// resulting frame -gtsam::Point3 posFinal(1.8173262e+01, -6.7166500e+01, -9.8238667e+00); -gtsam::Vector velFinal = gtsam::Vector_(3,-5.2926092e+00, 1.6559974e-01, -2.3330881e-02); -gtsam::Vector attFinal = gtsam::Vector_(3, 1.1473269e-02, -2.0344066e-02, 2.6944191e+00); - -// full states -PoseRTV init (posInit, gtsam::Rot3::ypr( attInit(2), attInit(1), attInit(0)), velInit); -PoseRTV final(posFinal, gtsam::Rot3::ypr(attFinal(2), attFinal(1), attFinal(0)), velFinal); - -} // \namespace flying400 - -namespace flying650 { -double dt=0.010000; - -// from time 6.49 to 6.50 in robot F2 - - -// frame (6.49) -// 6.4900000e+00 -3.8065039e+01 -6.4788024e+01 -9.8947445e+00 -5.0099274e+00 1.5999675e-01 -1.7762191e-02 -5.7708025e-03 -1.0109000e-02 -3.0465662e+00 -gtsam::Point3 posInit( - -3.8065039e+01, -6.4788024e+01, -9.8947445e+00); -gtsam::Vector velInit = gtsam::Vector_(3,-5.0099274e+00, 1.5999675e-01, -1.7762191e-02); -gtsam::Vector attInit = gtsam::Vector_(3,-5.7708025e-03, -1.0109000e-02, -3.0465662e+00); - -// IMU measurement (accel (0-2), gyro (3-5)) - ax, ay, az, r, p, y -// 6.5000000e+00 -9.2017256e-02 8.6770069e-02 -9.8213017e+00 0.0000000e+00 1.0728860e-02 -2.6179939e+00 -gtsam::Vector accel = gtsam::Vector_(3, - -9.2017256e-02, 8.6770069e-02, -9.8213017e+00); -gtsam::Vector gyro = gtsam::Vector_(3, - 0.0000000e+00, 1.0728860e-02, -2.6179939e+00); // in r,p,y - -// resulting frame (6.50) -// 6.5000000e+00 -3.8115139e+01 -6.4786428e+01 -9.8949233e+00 -5.0099817e+00 1.5966531e-01 -1.7882777e-02 -5.5061386e-03 -1.0152792e-02 -3.0727477e+00 -gtsam::Point3 posFinal(-3.8115139e+01, -6.4786428e+01, -9.8949233e+00); -gtsam::Vector velFinal = gtsam::Vector_(3,-5.0099817e+00, 1.5966531e-01, -1.7882777e-02); -gtsam::Vector attFinal = gtsam::Vector_(3,-5.5061386e-03, -1.0152792e-02, -3.0727477e+00); - -// full states -PoseRTV init (posInit, gtsam::Rot3::ypr( attInit(2), attInit(1), attInit(0)), velInit); -PoseRTV final(posFinal, gtsam::Rot3::ypr(attFinal(2), attFinal(1), attFinal(0)), velFinal); - -} // \namespace flying650 - - -namespace flying39 { -double dt=0.010000; - -// from time 0.38 to 0.39 in robot F1 - -// frame (0.38) -// 3.8000000e-01 3.4204706e+01 -6.7413834e+01 -9.9996055e+00 -2.2484370e-02 -1.3603911e-03 1.5267496e-02 7.9033358e-04 -1.4946656e-02 -3.1174147e+00 -gtsam::Point3 posInit( 3.4204706e+01, -6.7413834e+01, -9.9996055e+00); -gtsam::Vector velInit = gtsam::Vector_(3,-2.2484370e-02, -1.3603911e-03, 1.5267496e-02); -gtsam::Vector attInit = gtsam::Vector_(3, 7.9033358e-04, -1.4946656e-02, -3.1174147e+00); - -// IMU measurement (accel (0-2), gyro (3-5)) - ax, ay, az, r, p, y -// 3.9000000e-01 7.2229967e-01 -9.5790214e-03 -9.3943087e+00 0.0000000e+00 -2.9157400e-01 -2.6179939e+00 -gtsam::Vector accel = gtsam::Vector_(3, 7.2229967e-01, -9.5790214e-03, -9.3943087e+00); -gtsam::Vector gyro = gtsam::Vector_(3, 0.0000000e+00, -2.9157400e-01, -2.6179939e+00); // in r,p,y - -// resulting frame (0.39) -// 3.9000000e-01 3.4204392e+01 -6.7413848e+01 -9.9994098e+00 -3.1382246e-02 -1.3577532e-03 1.9568177e-02 1.1816996e-03 -1.7841704e-02 3.1395854e+00 -gtsam::Point3 posFinal(3.4204392e+01, -6.7413848e+01, -9.9994098e+00); -gtsam::Vector velFinal = gtsam::Vector_(3,-3.1382246e-02, -1.3577532e-03, 1.9568177e-02); -gtsam::Vector attFinal = gtsam::Vector_(3, 1.1816996e-03, -1.7841704e-02, 3.1395854e+00); - -// full states -PoseRTV init (posInit, gtsam::Rot3::ypr( attInit(2), attInit(1), attInit(0)), velInit); -PoseRTV final(posFinal, gtsam::Rot3::ypr(attFinal(2), attFinal(1), attFinal(0)), velFinal); - -} // \namespace flying39 - -namespace ground200 { -double dt=0.010000; - -// from time 2.00 to 2.01 in robot G1 - -// frame (2.00) -// 2.0000000e+00 3.6863524e+01 -8.4874053e+01 0.0000000e+00 -7.9650687e-01 1.8345508e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 1.9804083e+00 -gtsam::Point3 posInit(3.6863524e+01, -8.4874053e+01, 0.0000000e+00); -gtsam::Vector velInit = gtsam::Vector_(3,-7.9650687e-01, 1.8345508e+00, 0.0000000e+00); -gtsam::Vector attInit = gtsam::Vector_(3, 0.0000000e+00, 0.0000000e+00, 1.9804083e+00); - -// IMU measurement (accel (0-2), gyro (3-5)) - ax, ay, az, r, p, y -// 2.0100000e+00 1.0000000e+00 8.2156504e-15 -9.8100000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 -gtsam::Vector accel = gtsam::Vector_(3, - 1.0000000e+00, 8.2156504e-15, -9.8100000e+00); -gtsam::Vector gyro = gtsam::Vector_(3, - 0.0000000e+00, 0.0000000e+00, 0.0000000e+00); // in r,p,y - -// resulting frame (2.01) -// 2.0100000e+00 3.6855519e+01 -8.4855615e+01 0.0000000e+00 -8.0048940e-01 1.8437236e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 1.9804083e+00 -gtsam::Point3 posFinal(3.6855519e+01, -8.4855615e+01, 0.0000000e+00); -gtsam::Vector velFinal = gtsam::Vector_(3,-8.0048940e-01, 1.8437236e+00, 0.0000000e+00); -gtsam::Vector attFinal = gtsam::Vector_(3, 0.0000000e+00, 0.0000000e+00, 1.9804083e+00); - -// full states -PoseRTV init (posInit, gtsam::Rot3::ypr( attInit(2), attInit(1), attInit(0)), velInit); -PoseRTV final(posFinal, gtsam::Rot3::ypr(attFinal(2), attFinal(1), attFinal(0)), velFinal); - -} // \namespace ground200 - -namespace ground600 { -double dt=0.010000; - -// from time 6.00 to 6.01 in robot G1 - -// frame (6.00) -// 6.0000000e+00 3.0320057e+01 -7.0883904e+01 0.0000000e+00 -4.0020377e+00 2.9972811e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 2.4987711e+00 -gtsam::Point3 posInit(3.0320057e+01, -7.0883904e+01, 0.0000000e+00); -gtsam::Vector velInit = gtsam::Vector_(3,-4.0020377e+00, 2.9972811e+00, 0.0000000e+00); -gtsam::Vector attInit = gtsam::Vector_(3, 0.0000000e+00, 0.0000000e+00, 2.4987711e+00); - -// IMU measurement (accel (0-2), gyro (3-5)) - ax, ay, az, r, p, y -// 6.0100000e+00 6.1683759e-02 7.8536587e+00 -9.8100000e+00 0.0000000e+00 0.0000000e+00 1.5707963e+00 -gtsam::Vector accel = gtsam::Vector_(3, - 6.1683759e-02, 7.8536587e+00, -9.8100000e+00); -gtsam::Vector gyro = gtsam::Vector_(3, - 0.0000000e+00, 0.0000000e+00, 1.5707963e+00); // in r,p,y - -// resulting frame (6.01) -// 6.0100000e+00 3.0279571e+01 -7.0854564e+01 0.0000000e+00 -4.0486232e+00 2.9340501e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 2.5144791e+00 -gtsam::Point3 posFinal(3.0279571e+01, -7.0854564e+01, 0.0000000e+00); -gtsam::Vector velFinal = gtsam::Vector_(3,-4.0486232e+00, 2.9340501e+00, 0.0000000e+00); -gtsam::Vector attFinal = gtsam::Vector_(3, 0.0000000e+00, 0.0000000e+00, 2.5144791e+00); - -// full states -PoseRTV init (posInit, gtsam::Rot3::ypr( attInit(2), attInit(1), attInit(0)), velInit); -PoseRTV final(posFinal, gtsam::Rot3::ypr(attFinal(2), attFinal(1), attFinal(0)), velFinal); - -} // \namespace ground600 - -} // \namespace examples -} // \namespace gtsam diff --git a/gtsam_unstable/dynamics/inertialUtils.cpp b/gtsam_unstable/dynamics/inertialUtils.cpp deleted file mode 100644 index 94d99f690..000000000 --- a/gtsam_unstable/dynamics/inertialUtils.cpp +++ /dev/null @@ -1,51 +0,0 @@ -/** - * @file inertialUtils.cpp - * - * @date Nov 28, 2011 - * @author Alex Cunningham - */ - -#include - -namespace gtsam { -namespace dynamics { - -/* ************************************************************************* */ -Matrix RRTMbn(const Vector& euler) { - assert(euler.size() == 3); - const double s1 = sin(euler(1-1)), c1 = cos(euler(1-1)); - const double t2 = tan(euler(2-1)), c2 = cos(euler(2-1)); - Matrix Ebn(3,3); - Ebn << 1.0, s1 * t2, c1 * t2, - 0.0, c1, -s1, - 0.0, s1 / c2, c1 / c2; - return Ebn; -} - -/* ************************************************************************* */ -Matrix RRTMbn(const Rot3& att) { - return RRTMbn(att.rpy()); -} - -/* ************************************************************************* */ -Matrix RRTMnb(const Vector& euler) { - assert(euler.size() == 3); - Matrix Enb(3,3); - const double s1 = sin(euler(1-1)), c1 = cos(euler(1-1)); - const double s2 = sin(euler(2-1)), c2 = cos(euler(2-1)); - Enb << 1.0, 0.0, -s2, - 0.0, c1, s1*c2, - 0.0, -s1, c1*c2; - return Enb; -} - -/* ************************************************************************* */ -Matrix RRTMnb(const Rot3& att) { - return RRTMnb(att.rpy()); -} - -} // \namespace dynamics -} // \namespace gtsam - - - diff --git a/gtsam_unstable/dynamics/inertialUtils.h b/gtsam_unstable/dynamics/inertialUtils.h deleted file mode 100644 index 250ed3abe..000000000 --- a/gtsam_unstable/dynamics/inertialUtils.h +++ /dev/null @@ -1,32 +0,0 @@ -/** - * @file inertialUtils.h - * - * @brief Utility functions for working with dynamic systems - derived from Mitch's matlab code - * This is mostly just syntactic sugar for working with dynamic systems that use - * Euler angles to specify the orientation of a robot. - * - * @date Nov 28, 2011 - * @author Alex Cunningham - */ - -#pragma once - -#include - -namespace gtsam { -namespace dynamics { - -/// RRTMbn - Function computes the rotation rate transformation matrix from -/// body axis rates to euler angle (global) rates -Matrix RRTMbn(const Vector& euler); - -Matrix RRTMbn(const Rot3& att); - -/// RRTMnb - Function computes the rotation rate transformation matrix from -/// euler angle rates to body axis rates -Matrix RRTMnb(const Vector& euler); - -Matrix RRTMnb(const Rot3& att); - -} // \namespace dynamics -} // \namespace gtsam diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index ad66b2b60..1749ded1a 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -6,7 +6,6 @@ #include #include -#include using namespace gtsam; using namespace imu; @@ -135,38 +134,6 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { // EXPECT(assert_equal(true_values, actual, tol)); // FAIL } -///* ************************************************************************* */ -//TEST( testIMUSystem, imu_factor_basics ) { -// using namespace examples; -// PoseKey x1(1), x2(2); -// SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6)); -// IMUMeasurement factor(frame5000::accel, frame5000::gyro, frame5000::dt, x1, x2, model); -// -// EXPECT(assert_equal(x1, factor.key1())); -// EXPECT(assert_equal(x2, factor.key2())); -// EXPECT(assert_equal(frame5000::accel, factor.accel(), tol)); -// EXPECT(assert_equal(frame5000::gyro, factor.gyro(), tol)); -// Vector full_meas = concatVectors(2, &frame5000::accel, &frame5000::gyro); -// EXPECT(assert_equal(full_meas, factor.z(), tol)); -//} -// -///* ************************************************************************* */ -//TEST( testIMUSystem, imu_factor_predict_function ) { -// using namespace examples; -// PoseKey x1(1), x2(2); -// SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6)); -// IMUMeasurement factor(frame5000::accel, frame5000::gyro, frame5000::dt, x1, x2, model); -// -// // verify zero error -// Vector actZeroError = factor.evaluateError(frame5000::init, frame5000::final); -// EXPECT(assert_equal(zero(6), actZeroError, tol)); -// -// // verify nonzero error - z-h(x) -// Vector actError = factor.evaluateError(frame10000::init, frame10000::final); -// Vector meas10k = concatVectors(2, &frame10000::accel, &frame10000::gyro); -// EXPECT(assert_equal(factor.z() - meas10k, actError, tol)); -//} - /* ************************************************************************* */ TEST( testIMUSystem, linear_trajectory) { // create a linear trajectory of poses @@ -195,7 +162,6 @@ TEST( testIMUSystem, linear_trajectory) { init_traj.insert(xB, PoseRTV()); } // EXPECT_DOUBLES_EQUAL(0, graph.error(true_traj), 1e-5); // FAIL - } /* ************************************************************************* */ diff --git a/gtsam_unstable/dynamics/tests/testInertialUtils.cpp b/gtsam_unstable/dynamics/tests/testInertialUtils.cpp deleted file mode 100644 index 5360aaae8..000000000 --- a/gtsam_unstable/dynamics/tests/testInertialUtils.cpp +++ /dev/null @@ -1,34 +0,0 @@ -/** - * @file testInertialUtils.cpp - * - * @brief Conversions for the utility functions from the matlab implementation - * - * @date Nov 28, 2011 - * @author Alex Cunningham - */ - -#include - -#include - -using namespace gtsam; - -static const double tol = 1e-5; - -/* ************************************************************************* */ -TEST(testInertialUtils, RRTMbn) { - EXPECT(assert_equal(Matrix::Identity(3,3), dynamics::RRTMbn(zero(3)), tol)); - EXPECT(assert_equal(Matrix::Identity(3,3), dynamics::RRTMbn(Rot3()), tol)); - EXPECT(assert_equal(dynamics::RRTMbn(Vector_(3, 0.3, 0.2, 0.1)), dynamics::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3)), tol)); -} - -/* ************************************************************************* */ -TEST(testInertialUtils, RRTMnb) { - EXPECT(assert_equal(Matrix::Identity(3,3), dynamics::RRTMnb(zero(3)), tol)); - EXPECT(assert_equal(Matrix::Identity(3,3), dynamics::RRTMnb(Rot3()), tol)); - EXPECT(assert_equal(dynamics::RRTMnb(Vector_(3, 0.3, 0.2, 0.1)), dynamics::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3)), tol)); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp index c833ea116..1444f69fc 100644 --- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp +++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp @@ -9,7 +9,6 @@ #include #include -#include using namespace gtsam; @@ -119,85 +118,6 @@ TEST( testPoseRTV, dynamics_identities ) { // EXPECT(assert_equal(x4.translation(), x3.imuPrediction(x4, dt).second, tol)); } -///* ************************************************************************* */ -//TEST( testPoseRTV, constant_velocity ) { -// double dt = 1.0; -// PoseRTV init(Rot3(), Point3(1.0, 2.0, 3.0), Vector_(3, 0.5, 0.0, 0.0)); -// PoseRTV final(Rot3(), Point3(1.5, 2.0, 3.0), Vector_(3, 0.5, 0.0, 0.0)); -// -// // constant velocity, so gyro is zero, but accel includes gravity -// Vector accel = delta(3, 2, -9.81), gyro = zero(3); -// -// // perform integration -// PoseRTV actFinal = init.integrate(accel, gyro, dt); -// EXPECT(assert_equal(final, actFinal, tol)); -// -// // perform prediction -// Vector actAccel, actGyro; -// boost::tie(actAccel, actGyro) = init.predict(final, dt); -// EXPECT(assert_equal(accel, actAccel, tol)); -// EXPECT(assert_equal(gyro, actGyro, tol)); -//} -// -///* ************************************************************************* */ -//TEST( testPoseRTV, frame10000_imu ) { -// using namespace examples; -// -// // perform integration -// PoseRTV actFinal = frame10000::init.integrate(frame10000::accel, frame10000::gyro, frame10000::dt); -// EXPECT(assert_equal(frame10000::final, actFinal, tol)); -// -// // perform prediction -// Vector actAccel, actGyro; -// boost::tie(actAccel, actGyro) = frame10000::init.predict(frame10000::final, frame10000::dt); -// EXPECT(assert_equal(frame10000::accel, actAccel, tol)); -// EXPECT(assert_equal(frame10000::gyro, actGyro, tol)); -//} -// -///* ************************************************************************* */ -//TEST( testPoseRTV, frame5000_imu ) { -// using namespace examples; -// -// // perform integration -// PoseRTV actFinal = frame5000::init.integrate(frame5000::accel, frame5000::gyro, frame5000::dt); -// EXPECT(assert_equal(frame5000::final, actFinal, tol)); -// -// // perform prediction -// Vector actAccel, actGyro; -// boost::tie(actAccel, actGyro) = frame5000::init.predict(frame5000::final, frame5000::dt); -// EXPECT(assert_equal(frame5000::accel, actAccel, tol)); -// EXPECT(assert_equal(frame5000::gyro, actGyro, tol)); -//} -// -///* ************************************************************************* */ -//TEST( testPoseRTV, time4_imu ) { -// using namespace examples::flying400; -// -// // perform integration -// PoseRTV actFinal = init.integrate(accel, gyro, dt); -// EXPECT(assert_equal(final, actFinal, tol)); -// -// // perform prediction -// Vector actAccel, actGyro; -// boost::tie(actAccel, actGyro) = init.predict(final, dt); -// EXPECT(assert_equal(accel, actAccel, tol)); -// EXPECT(assert_equal(gyro, actGyro, tol)); -//} -// -///* ************************************************************************* */ -//TEST( testPoseRTV, time65_imu ) { -// using namespace examples::flying650; -// -// // perform integration -// PoseRTV actFinal = init.integrate(accel, gyro, dt); -// EXPECT(assert_equal(final, actFinal, tol)); -// -// // perform prediction -// Vector actAccel, actGyro; -// boost::tie(actAccel, actGyro) = init.predict(final, dt); -// EXPECT(assert_equal(accel, actAccel, tol)); -// EXPECT(assert_equal(gyro, actGyro, tol)); -//} /* ************************************************************************* */ double range_proxy(const PoseRTV& A, const PoseRTV& B) { return A.range(B); } @@ -258,131 +178,18 @@ TEST( testPoseRTV, transformed_from_2 ) { } /* ************************************************************************* */ -// ground robot maximums -//const static double ground_max_accel = 1.0; // m/s^2 -//const static double ground_mag_vel = 5.0; // m/s - fixed in simulator +TEST(testPoseRTV, RRTMbn) { + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(zero(3)), tol)); + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3()), tol)); + EXPECT(assert_equal(PoseRTV::RRTMbn(Vector_(3, 0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3)), tol)); +} -///* ************************************************************************* */ -//TEST(testPoseRTV, flying_integration650) { -// using namespace examples; -// const PoseRTV &x1 = flying650::init, &x2 = flying650::final; -// Vector accel = flying650::accel, gyro = flying650::gyro; -// double dt = flying650::dt; -// -// // control inputs -// double pitch_rate = gyro(1), -// heading_rate = gyro(2), -// lift_control = 0.0; /// FIXME: need to find this value -// -// PoseRTV actual_x2; -// actual_x2 = x1.flyingDynamics(pitch_rate, heading_rate, lift_control, dt); -// -// // FIXME: enable remaining components when there the lift control value is known -// EXPECT(assert_equal(x2.R(), actual_x2.R(), tol)); -//// EXPECT(assert_equal(x2.t(), actual_x2.t(), tol)); -//// EXPECT(assert_equal(x2.v(), actual_x2.v(), tol)); -//} - -///* ************************************************************************* */ -//TEST(testPoseRTV, imu_prediction650) { -// using namespace examples; -// const PoseRTV &x1 = flying650::init, &x2 = flying650::final; -// Vector accel = flying650::accel, gyro = flying650::gyro; -// double dt = flying650::dt; -// -// // given states, predict the imu measurement and t2 (velocity constraint) -// Vector actual_imu; -// Point3 actual_t2; -// boost::tie(actual_imu, actual_t2) = x1.imuPrediction(x2, dt); -// -// EXPECT(assert_equal(x2.t(), actual_t2, tol)); -// EXPECT(assert_equal(accel, actual_imu.head(3), tol)); -// EXPECT(assert_equal(gyro, actual_imu.tail(3), tol)); -//} -// -///* ************************************************************************* */ -//TEST(testPoseRTV, imu_prediction39) { -// // This case was a known failure case for gyro prediction, returning [9.39091; 0.204952; 625.63] using -// // the general approach for reverse-engineering the gyro updates -// using namespace examples; -// const PoseRTV &x1 = flying39::init, &x2 = flying39::final; -// Vector accel = flying39::accel, gyro = flying39::gyro; -// double dt = flying39::dt; -// -// // given states, predict the imu measurement and t2 (velocity constraint) -// Vector actual_imu; -// Point3 actual_t2; -// boost::tie(actual_imu, actual_t2) = x1.imuPrediction(x2, dt); -// -// EXPECT(assert_equal(x2.t(), actual_t2, tol)); -// EXPECT(assert_equal(accel, actual_imu.head(3), tol)); -// EXPECT(assert_equal(gyro, actual_imu.tail(3), tol)); -//} -// -///* ************************************************************************* */ -//TEST(testPoseRTV, ground_integration200) { -// using namespace examples; -// const PoseRTV &x1 = ground200::init, &x2 = ground200::final; -// Vector accel = ground200::accel, gyro = ground200::gyro; -// double dt = ground200::dt; -// -// // integrates from one pose to the next with known measurements -// // No heading change in this example -// // Hits maximum accel bound in this example -// -// PoseRTV actual_x2; -// actual_x2 = x1.planarDynamics(ground_mag_vel, gyro(2), ground_max_accel, dt); -// -// EXPECT(assert_equal(x2, actual_x2, tol)); -//} -// -///* ************************************************************************* */ -//TEST(testPoseRTV, ground_prediction200) { -// using namespace examples; -// const PoseRTV &x1 = ground200::init, &x2 = ground200::final; -// Vector accel = ground200::accel, gyro = ground200::gyro; -// double dt = ground200::dt; -// -// // given states, predict the imu measurement and t2 (velocity constraint) -// Vector actual_imu; -// Point3 actual_t2; -// boost::tie(actual_imu, actual_t2) = x1.imuPrediction(x2, dt); -// -// EXPECT(assert_equal(x2.t(), actual_t2, tol)); -// EXPECT(assert_equal(accel, actual_imu.head(3), tol)); -// EXPECT(assert_equal(gyro, actual_imu.tail(3), tol)); -//} -// -///* ************************************************************************* */ -//TEST(testPoseRTV, ground_integration600) { -// using namespace examples; -// const PoseRTV &x1 = ground600::init, &x2 = ground600::final; -// Vector accel = ground600::accel, gyro = ground600::gyro; -// double dt = ground600::dt; -// -// // integrates from one pose to the next with known measurements -// PoseRTV actual_x2; -// actual_x2 = x1.planarDynamics(ground_mag_vel, gyro(2), ground_max_accel, dt); -// -// EXPECT(assert_equal(x2, actual_x2, tol)); -//} -// -///* ************************************************************************* */ -//TEST(testPoseRTV, ground_prediction600) { -// using namespace examples; -// const PoseRTV &x1 = ground600::init, &x2 = ground600::final; -// Vector accel = ground600::accel, gyro = ground600::gyro; -// double dt = ground600::dt; -// -// // given states, predict the imu measurement and t2 (velocity constraint) -// Vector actual_imu; -// Point3 actual_t2; -// boost::tie(actual_imu, actual_t2) = x1.imuPrediction(x2, dt); -// -// EXPECT(assert_equal(x2.t(), actual_t2, tol)); -// EXPECT(assert_equal(accel, actual_imu.head(3), tol)); -// EXPECT(assert_equal(gyro, actual_imu.tail(3), tol)); -//} +/* ************************************************************************* */ +TEST(testPoseRTV, RRTMnb) { + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(zero(3)), tol)); + EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3()), tol)); + EXPECT(assert_equal(PoseRTV::RRTMnb(Vector_(3, 0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3)), tol)); +} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } From 31d88649f7ed2a7f3dbdf824f875f348af41ffeb Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 18:08:30 +0000 Subject: [PATCH 214/914] fix bug in VisualISAM matlab example --- examples/matlab/VisualISAMExample.m | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index 86465690f..d7f347cc3 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -20,7 +20,7 @@ for j=1:nPoints end %% Create camera poses on a circle around the triangle -nCameras = 30; +nCameras = 10; height = 10; r = 30; poses = {}; @@ -48,6 +48,9 @@ for i=1:nCameras % Prior for the first pose or odometry for subsequent poses if (i==1) newFactors.addPosePrior(symbol('x',1), poses{1}, poseNoise); +% for j=1:nPoints +% newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); +% end else newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); end @@ -67,9 +70,10 @@ for i=1:nCameras initialEstimates.insertPoint(symbol('l',j), points{j}); end else - %TODO: this might not be suboptimal since "result" is not the fully + %TODO: this might be suboptimal since "result" is not the fully %optimized result - prevPose = result.pose(symbol('x',i-1)); + if (i==2), prevPose = poses{1}; + else, prevPose = result.pose(symbol('x',i-1)); end initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); end @@ -82,7 +86,7 @@ for i=1:nCameras result = isam.estimate(); % Plot first result - figure(1);clf + h=figure(1);clf hold on; for j=1:size(points,2) P = isam.marginalCovariance(symbol('l',j)); @@ -97,6 +101,8 @@ for i=1:nCameras plotPose3(pose_ii,P,10); end axis([-50 50 -50 50 -50 50]) + colormap('hot') + print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); % Reset newFactors and initialEstimates to prepare for the next % update From c5183813730590405f038e67c0519a5a0431a2c9 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Wed, 6 Jun 2012 21:21:49 +0000 Subject: [PATCH 215/914] VisualISAMExample in MATLAB: try to enable point priors. Disable logging images. --- examples/matlab/VisualISAMExample.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index d7f347cc3..e16ffee6a 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -48,9 +48,9 @@ for i=1:nCameras % Prior for the first pose or odometry for subsequent poses if (i==1) newFactors.addPosePrior(symbol('x',1), poses{1}, poseNoise); -% for j=1:nPoints -% newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); -% end + for j=1:nPoints + newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); + end else newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); end @@ -102,7 +102,7 @@ for i=1:nCameras end axis([-50 50 -50 50 -50 50]) colormap('hot') - print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); + %print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); % Reset newFactors and initialEstimates to prepare for the next % update From a9c36fc172ecdd9e7254e584cb905c86567a6e4a Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Thu, 7 Jun 2012 01:24:19 +0000 Subject: [PATCH 216/914] move linear algebra functions for jacobian factor graph to a new file --- gtsam/linear/GaussianBayesNet.cpp | 2 +- gtsam/linear/GaussianBayesTree.cpp | 2 +- gtsam/linear/JacobianFactor.cpp | 94 ----------------------- gtsam/linear/JacobianFactor.h | 40 ---------- gtsam/linear/JacobianFactorGraph.cpp | 108 +++++++++++++++++++++++++++ gtsam/linear/JacobianFactorGraph.h | 70 +++++++++++++++++ gtsam/linear/SimpleSPCGSolver.cpp | 2 +- gtsam/nonlinear/ISAM2.cpp | 1 + tests/testGaussianFactorGraphB.cpp | 1 + tests/testGaussianISAM2.cpp | 1 + 10 files changed, 184 insertions(+), 137 deletions(-) create mode 100644 gtsam/linear/JacobianFactorGraph.cpp create mode 100644 gtsam/linear/JacobianFactorGraph.h diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index 5721a4760..056bda67e 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -19,7 +19,7 @@ #include #include -#include +#include #include #include diff --git a/gtsam/linear/GaussianBayesTree.cpp b/gtsam/linear/GaussianBayesTree.cpp index ae76d958e..4a0e4b355 100644 --- a/gtsam/linear/GaussianBayesTree.cpp +++ b/gtsam/linear/GaussianBayesTree.cpp @@ -18,7 +18,7 @@ */ #include -#include +#include namespace gtsam { diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 2b884e1bd..b4d7016aa 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -536,98 +536,4 @@ namespace gtsam { model_ = noiseModel::Diagonal::Sigmas(sigmas); } - /* ************************************************************************* */ - Errors operator*(const FactorGraph& fg, const VectorValues& x) { - Errors e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { - e.push_back((*Ai)*x); - } - return e; - } - - /* ************************************************************************* */ - void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, Errors& e) { - multiplyInPlace(fg,x,e.begin()); - } - - /* ************************************************************************* */ - void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { - Errors::iterator ei = e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { - *ei = (*Ai)*x; - ei++; - } - } - - - /* ************************************************************************* */ - // x += alpha*A'*e - void transposeMultiplyAdd(const FactorGraph& fg, double alpha, const Errors& e, VectorValues& x) { - // For each factor add the gradient contribution - Errors::const_iterator ei = e.begin(); - BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { - Ai->transposeMultiplyAdd(alpha,*(ei++),x); - } - } - - /* ************************************************************************* */ - VectorValues gradient(const FactorGraph& fg, const VectorValues& x0) { - // It is crucial for performance to make a zero-valued clone of x - VectorValues g = VectorValues::Zero(x0); - Errors e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - e.push_back(factor->error_vector(x0)); - } - transposeMultiplyAdd(fg, 1.0, e, g); - return g; - } - - /* ************************************************************************* */ - void gradientAtZero(const FactorGraph& fg, VectorValues& g) { - // Zero-out the gradient - g.setZero(); - Errors e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - e.push_back(-factor->getb()); - } - transposeMultiplyAdd(fg, 1.0, e, g); - } - - /* ************************************************************************* */ - void residual(const FactorGraph& fg, const VectorValues &x, VectorValues &r) { - Index i = 0 ; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - r[i] = factor->getb(); - i++; - } - VectorValues Ax = VectorValues::SameStructure(r); - multiply(fg,x,Ax); - axpy(-1.0,Ax,r); - } - - /* ************************************************************************* */ - void multiply(const FactorGraph& fg, const VectorValues &x, VectorValues &r) { - r.vector() = Vector::Zero(r.dim()); - Index i = 0; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - SubVector &y = r[i]; - for(JacobianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) { - y += factor->getA(j) * x[*j]; - } - ++i; - } - } - - /* ************************************************************************* */ - void transposeMultiply(const FactorGraph& fg, const VectorValues &r, VectorValues &x) { - x.vector() = Vector::Zero(x.dim()); - Index i = 0; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - for(JacobianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) { - x[*j] += factor->getA(j).transpose() * r[i]; - } - ++i; - } - } - } diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 30e8e19bb..d45873c3b 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -318,45 +318,5 @@ namespace gtsam { } }; // JacobianFactor - - /** return A*x */ - Errors operator*(const FactorGraph& fg, const VectorValues& x); - - /* In-place version e <- A*x that overwrites e. */ - void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, Errors& e); - - /* In-place version e <- A*x that takes an iterator. */ - void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, const Errors::iterator& e); - - /** x += alpha*A'*e */ - void transposeMultiplyAdd(const FactorGraph& fg, double alpha, const Errors& e, VectorValues& x); - - /** - * Compute the gradient of the energy function, - * \f$ \nabla_{x=x_0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, - * centered around \f$ x = x_0 \f$. - * The gradient is \f$ A^T(Ax-b) \f$. - * @param fg The Jacobian factor graph $(A,b)$ - * @param x0 The center about which to compute the gradient - * @return The gradient as a VectorValues - */ - VectorValues gradient(const FactorGraph& fg, const VectorValues& x0); - - /** - * Compute the gradient of the energy function, - * \f$ \nabla_{x=0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, - * centered around zero. - * The gradient is \f$ A^T(Ax-b) \f$. - * @param fg The Jacobian factor graph $(A,b)$ - * @param [output] g A VectorValues to store the gradient, which must be preallocated, see allocateVectorValues - * @return The gradient as a VectorValues - */ - void gradientAtZero(const FactorGraph& fg, VectorValues& g); - - // matrix-vector operations - void residual(const FactorGraph& fg, const VectorValues &x, VectorValues &r); - void multiply(const FactorGraph& fg, const VectorValues &x, VectorValues &r); - void transposeMultiply(const FactorGraph& fg, const VectorValues &r, VectorValues &x); - } // gtsam diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp new file mode 100644 index 000000000..4a77c17c4 --- /dev/null +++ b/gtsam/linear/JacobianFactorGraph.cpp @@ -0,0 +1,108 @@ +/* + * JacobianFactorGraph.cpp + * + * Created on: Jun 6, 2012 + * Author: ydjian + */ + +#include +#include + +namespace gtsam { + +/* ************************************************************************* */ +Errors operator*(const FactorGraph& fg, const VectorValues& x) { + Errors e; + BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { + e.push_back((*Ai)*x); + } + return e; +} + +/* ************************************************************************* */ +void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, Errors& e) { + multiplyInPlace(fg,x,e.begin()); +} + +/* ************************************************************************* */ +void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { + Errors::iterator ei = e; + BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { + *ei = (*Ai)*x; + ei++; + } +} + + +/* ************************************************************************* */ +// x += alpha*A'*e +void transposeMultiplyAdd(const FactorGraph& fg, double alpha, const Errors& e, VectorValues& x) { + // For each factor add the gradient contribution + Errors::const_iterator ei = e.begin(); + BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { + Ai->transposeMultiplyAdd(alpha,*(ei++),x); + } +} + +/* ************************************************************************* */ +VectorValues gradient(const FactorGraph& fg, const VectorValues& x0) { + // It is crucial for performance to make a zero-valued clone of x + VectorValues g = VectorValues::Zero(x0); + Errors e; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { + e.push_back(factor->error_vector(x0)); + } + transposeMultiplyAdd(fg, 1.0, e, g); + return g; +} + +/* ************************************************************************* */ +void gradientAtZero(const FactorGraph& fg, VectorValues& g) { + // Zero-out the gradient + g.setZero(); + Errors e; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { + e.push_back(-factor->getb()); + } + transposeMultiplyAdd(fg, 1.0, e, g); +} + +/* ************************************************************************* */ +void residual(const FactorGraph& fg, const VectorValues &x, VectorValues &r) { + Index i = 0 ; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { + r[i] = factor->getb(); + i++; + } + VectorValues Ax = VectorValues::SameStructure(r); + multiply(fg,x,Ax); + axpy(-1.0,Ax,r); +} + +/* ************************************************************************* */ +void multiply(const FactorGraph& fg, const VectorValues &x, VectorValues &r) { + r.vector() = Vector::Zero(r.dim()); + Index i = 0; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { + SubVector &y = r[i]; + for(JacobianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) { + y += factor->getA(j) * x[*j]; + } + ++i; + } +} + +/* ************************************************************************* */ +void transposeMultiply(const FactorGraph& fg, const VectorValues &r, VectorValues &x) { + x.vector() = Vector::Zero(x.dim()); + Index i = 0; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { + for(JacobianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) { + x[*j] += factor->getA(j).transpose() * r[i]; + } + ++i; + } +} +} + + diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h new file mode 100644 index 000000000..e91dee311 --- /dev/null +++ b/gtsam/linear/JacobianFactorGraph.h @@ -0,0 +1,70 @@ +/* ---------------------------------------------------------------------------- + + * 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 + + * -------------------------------------------------------------------------- */ + +/* + * JacobianFactorGraph.cpp + * + * Created on: Jun 6, 2012 + * Author: ydjian + */ +#pragma once + +#include +#include +#include +#include + +namespace gtsam { + + /** + * Linear Algebra Operations for the JacobianFactorGraph + */ + + /** return A*x */ + Errors operator*(const FactorGraph& fg, const VectorValues& x); + + /** In-place version e <- A*x that overwrites e. */ + void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, Errors& e); + + /** In-place version e <- A*x that takes an iterator. */ + void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, const Errors::iterator& e); + + /** x += alpha*A'*e */ + void transposeMultiplyAdd(const FactorGraph& fg, double alpha, const Errors& e, VectorValues& x); + + /** + * Compute the gradient of the energy function, + * \f$ \nabla_{x=x_0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, + * centered around \f$ x = x_0 \f$. + * The gradient is \f$ A^T(Ax-b) \f$. + * @param fg The Jacobian factor graph $(A,b)$ + * @param x0 The center about which to compute the gradient + * @return The gradient as a VectorValues + */ + VectorValues gradient(const FactorGraph& fg, const VectorValues& x0); + + /** + * Compute the gradient of the energy function, + * \f$ \nabla_{x=0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, + * centered around zero. + * The gradient is \f$ A^T(Ax-b) \f$. + * @param fg The Jacobian factor graph $(A,b)$ + * @param [output] g A VectorValues to store the gradient, which must be preallocated, see allocateVectorValues + * @return The gradient as a VectorValues + */ + void gradientAtZero(const FactorGraph& fg, VectorValues& g); + + /* matrix-vector operations */ + void residual(const FactorGraph& fg, const VectorValues &x, VectorValues &r); + void multiply(const FactorGraph& fg, const VectorValues &x, VectorValues &r); + void transposeMultiply(const FactorGraph& fg, const VectorValues &r, VectorValues &x); + +} diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index 86cf3d1ca..8f59b9058 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -13,7 +13,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index d785657a3..e2ab825b3 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -26,6 +26,7 @@ using namespace boost::assign; #include #include #include +#include #include #include diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 58709328d..0f76af4f6 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index cf2842af9..c74dbe276 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -10,6 +10,7 @@ #include #include #include +#include #include #include #include From cd54e80c8c8fe91fb03906f54a255a2bd9c58229 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:10:58 +0000 Subject: [PATCH 217/914] Doxygen comments --- gtsam/linear/JacobianFactorGraph.cpp | 9 ++++----- gtsam/linear/JacobianFactorGraph.h | 14 +++++--------- 2 files changed, 9 insertions(+), 14 deletions(-) diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp index 4a77c17c4..835783d4a 100644 --- a/gtsam/linear/JacobianFactorGraph.cpp +++ b/gtsam/linear/JacobianFactorGraph.cpp @@ -1,8 +1,7 @@ -/* - * JacobianFactorGraph.cpp - * - * Created on: Jun 6, 2012 - * Author: ydjian +/** + * @file JacobianFactorGraph.h + * @date Jun 6, 2012 + * @Author Yong Dian Jian */ #include diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h index e91dee311..f5e78810a 100644 --- a/gtsam/linear/JacobianFactorGraph.h +++ b/gtsam/linear/JacobianFactorGraph.h @@ -9,11 +9,11 @@ * -------------------------------------------------------------------------- */ -/* - * JacobianFactorGraph.cpp - * - * Created on: Jun 6, 2012 - * Author: ydjian +/** + * @file JacobianFactorGraph.cpp + * @date Jun 6, 2012 + * @brief Linear Algebra Operations for a JacobianFactorGraph + * @Author Yong Dian Jian */ #pragma once @@ -24,10 +24,6 @@ namespace gtsam { - /** - * Linear Algebra Operations for the JacobianFactorGraph - */ - /** return A*x */ Errors operator*(const FactorGraph& fg, const VectorValues& x); From 81b577eb596a876e34387ca9c741e7a5632a30f9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:11:16 +0000 Subject: [PATCH 218/914] Fixed compile error in gtsam_unstable --- gtsam_unstable/linear/iterative.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/linear/iterative.cpp b/gtsam_unstable/linear/iterative.cpp index 35b11f16d..c7b670843 100644 --- a/gtsam_unstable/linear/iterative.cpp +++ b/gtsam_unstable/linear/iterative.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include From 78bbcde7cd2fc2ddb367d42307e313a870aaa620 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:16:58 +0000 Subject: [PATCH 219/914] printing --- gtsam/nonlinear/Ordering.cpp | 10 +++------- gtsam/nonlinear/Ordering.h | 2 +- 2 files changed, 4 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/Ordering.cpp b/gtsam/nonlinear/Ordering.cpp index 14be537d3..2c20d82dd 100644 --- a/gtsam/nonlinear/Ordering.cpp +++ b/gtsam/nonlinear/Ordering.cpp @@ -41,13 +41,9 @@ void Ordering::permuteWithInverse(const Permutation& inversePermutation) { /* ************************************************************************* */ void Ordering::print(const string& str, const KeyFormatter& keyFormatter) const { - cout << str << " "; - BOOST_FOREACH(const Ordering::value_type& key_order, *this) { - if(key_order != *begin()) - cout << ", "; - cout << keyFormatter(key_order.first) << ":" << key_order.second; - } - cout << endl; + cout << str; + BOOST_FOREACH(const Ordering::value_type& key_order, *this) + cout << keyFormatter(key_order.first) << ":" << key_order.second << endl; } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index f775f168b..1f2b8646e 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -217,7 +217,7 @@ public: /// @{ /** print (from Testable) for testing and debugging */ - void print(const std::string& str = "Ordering:", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + void print(const std::string& str = "Ordering:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /** equals (from Testable) for testing and debugging */ bool equals(const Ordering& rhs, double tol = 0.0) const; From 89a24e240b75f4cc6363816d234263a338a6457e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:17:55 +0000 Subject: [PATCH 220/914] doxygen --- gtsam/linear/IterativeOptimizationParameters.h | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/IterativeOptimizationParameters.h b/gtsam/linear/IterativeOptimizationParameters.h index b4599ecfd..459f07b3e 100644 --- a/gtsam/linear/IterativeOptimizationParameters.h +++ b/gtsam/linear/IterativeOptimizationParameters.h @@ -23,7 +23,9 @@ namespace gtsam { -/* parameters for the conjugate gradient method */ +/** + * parameters for the conjugate gradient method + */ struct ConjugateGradientParameters { size_t minIterations_; ///< minimum number of cg iterations @@ -78,7 +80,9 @@ struct ConjugateGradientParameters { } }; -/* parameters for iterative linear solvers */ +/** + * parameters for iterative linear solvers + */ class IterativeOptimizationParameters { public: From e986311566e9a96896eaadbb526571a8b46ed21c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:18:24 +0000 Subject: [PATCH 221/914] small details --- examples/matlab/PlanarSLAMExample.m | 10 ++-------- examples/matlab/PlanarSLAMExample_sampling.m | 2 +- 2 files changed, 3 insertions(+), 9 deletions(-) diff --git a/examples/matlab/PlanarSLAMExample.m b/examples/matlab/PlanarSLAMExample.m index 4addd23dc..c5cc2d5d3 100644 --- a/examples/matlab/PlanarSLAMExample.m +++ b/examples/matlab/PlanarSLAMExample.m @@ -40,14 +40,8 @@ graph.addOdometry(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors degrees = pi/180; noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); -if 1 - graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); - graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); -else - bearingModel = gtsamSharedNoiseModel_Sigmas(0.1); - graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); - graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); -end +graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); +graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); % print diff --git a/examples/matlab/PlanarSLAMExample_sampling.m b/examples/matlab/PlanarSLAMExample_sampling.m index 178e48a42..f4124e003 100644 --- a/examples/matlab/PlanarSLAMExample_sampling.m +++ b/examples/matlab/PlanarSLAMExample_sampling.m @@ -34,7 +34,7 @@ else graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); end -graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); +graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); %% Initialize MCMC sampler with ground truth sample = planarSLAMValues; From 9211a314a8fb78cf5c3e2107718a6f0c0c9d466a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:19:12 +0000 Subject: [PATCH 222/914] comment --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 0ca70d389..71a14703e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -232,7 +232,7 @@ class Rot3 { // Manifold static size_t Dim(); size_t dim() const; - // gtsam::Rot3 retractCayley(Vector v) const; // not in Quaternion branch + // gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options gtsam::Rot3 retract(Vector v) const; Vector localCoordinates(const gtsam::Rot3& p) const; From fd3b1d1cb5cd07b4a0e279b982367ddd99b114a2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 02:19:26 +0000 Subject: [PATCH 223/914] comments --- gtsam_unstable/linear/iterative-inl.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam_unstable/linear/iterative-inl.h b/gtsam_unstable/linear/iterative-inl.h index 73b1e9497..ee43abc77 100644 --- a/gtsam_unstable/linear/iterative-inl.h +++ b/gtsam_unstable/linear/iterative-inl.h @@ -34,10 +34,10 @@ namespace gtsam { typedef IterativeOptimizationParameters Parameters; const Parameters ¶meters_; - int k; - bool steepest; - V g, d; - double gamma, threshold; + int k; ///< iteration + bool steepest; ///< flag to indicate we are doing steepest descent + V g, d; ///< gradient g and search direction d for CG + double gamma, threshold; ///< gamma (squared L2 norm of g) and convergence threshold E Ad; /* ************************************************************************* */ From 2414bfc3c9bbf209ebe19bd3c0876b1a7b105bf5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 03:35:06 +0000 Subject: [PATCH 224/914] Use correct calibration matrix K in camera creation --- examples/matlab/VisualISAMExample.m | 4 ++-- examples/matlab/VisualSLAMExample.m | 4 ++-- examples/matlab/VisualSLAMExample_triangle.m | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index e16ffee6a..bbe67bd6b 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -24,10 +24,11 @@ nCameras = 10; height = 10; r = 30; poses = {}; +K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras theta = (i-1)*2*pi/nCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) + camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) poses{i} = camera.pose(); end odometry = poses{1}.between(poses{2}); @@ -35,7 +36,6 @@ odometry = poses{1}.between(poses{2}); poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); -K = gtsamCal3_S2(50,50,0,50,50); %% Create an ISAM object for inference isam = visualSLAMISAM; diff --git a/examples/matlab/VisualSLAMExample.m b/examples/matlab/VisualSLAMExample.m index 99d1a39a7..54ccd2b14 100644 --- a/examples/matlab/VisualSLAMExample.m +++ b/examples/matlab/VisualSLAMExample.m @@ -32,10 +32,11 @@ nCameras = 6; height = 0; r = 30; poses = {}; +K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras theta = (i-1)*2*pi/nCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) + camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) poses{i} = camera.pose(); end @@ -48,7 +49,6 @@ graph = visualSLAMGraph; %% Add factors for all measurements measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); -K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras camera = gtsamSimpleCamera(K,poses{i}); for j=1:size(points,2) diff --git a/examples/matlab/VisualSLAMExample_triangle.m b/examples/matlab/VisualSLAMExample_triangle.m index 4fc1db320..dc9d8364c 100644 --- a/examples/matlab/VisualSLAMExample_triangle.m +++ b/examples/matlab/VisualSLAMExample_triangle.m @@ -23,10 +23,11 @@ nCameras = 6; height = 10; r = 30; poses = {}; +K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras theta = (i-1)*2*pi/nCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) + camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) poses{i} = camera.pose(); end @@ -34,7 +35,6 @@ end graph = visualSLAMGraph; %% Add factors for all measurements -K = gtsamCal3_S2(500,500,0,640/2,480/2); measurementNoiseSigma=1; % in pixels measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); for i=1:nCameras From 903580abb4d07df3af6d362a4f07fb1f089567c8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 03:54:48 +0000 Subject: [PATCH 225/914] Rotated display so Z is up, made axis square --- examples/matlab/VO_Example.m | 47 ++++++++++++++++++++---------------- 1 file changed, 26 insertions(+), 21 deletions(-) diff --git a/examples/matlab/VO_Example.m b/examples/matlab/VO_Example.m index e95893898..fa1512e00 100644 --- a/examples/matlab/VO_Example.m +++ b/examples/matlab/VO_Example.m @@ -23,55 +23,60 @@ initial = visualSLAMValues; %% load the initial poses from VO % row format: camera_id 4x4 pose (row, major) -c = dlmread('../Data/VO_camera_poses.txt'); - -for i=1:size(c,1) - pose = gtsamPose3(reshape(c(i,2:17),4,4)'); - initial.insertPose(symbol('x',c(i,1)),pose); +fprintf(1,'Reading data\n'); +cameras = dlmread('../Data/VO_camera_poses.txt'); +for i=1:size(cameras,1) + pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); + initial.insertPose(symbol('x',cameras(i,1)),pose); end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z -m = dlmread('../Data/VO_stereo_factors.txt'); +measurements = dlmread('../Data/VO_stereo_factors.txt'); -for i=1:size(m,1) - sf = m(i,:); +fprintf(1,'Creating Graph\n'); tic +for i=1:size(measurements,1) + sf = measurements(i,:); graph.addStereoMeasurement(gtsamStereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... - symbol('x', sf(1)), symbol('l', sf(2)), K); - + symbol('x', sf(1)), symbol('l', sf(2)), K); + if ~initial.exists(symbol('l',sf(2))) - % 3D landmarks are stored in camera coordinates: transform + % 3D landmarks are stored in camera coordinates: transform % to world coordinates using the respective initial pose pose = initial.pose(symbol('x', sf(1))); world_point = pose.transform_from(gtsamPoint3(sf(6),sf(7),sf(8))); initial.insertPoint(symbol('l',sf(2)), world_point); end end +toc %% add a constraint on the starting pose key = symbol('x',1); first_pose = initial.pose(key); -graph.addPoseConstraint(symbol('x',1), first_pose); +graph.addPoseConstraint(key, first_pose); %% optimize +fprintf(1,'Optimizing\n'); tic result = graph.optimize(initial); +toc %% visualize initial trajectory, final trajectory, and final points -figure(1); clf; +figure(1); clf; hold on; -% initial trajectory in red -plot3(initial.xs(),initial.ys(),initial.zs(), '-*r','LineWidth',2); -hold on; +% initial trajectory in red (rotated so Z is up) +plot3(initial.zs(),-initial.xs(),-initial.ys(), '-*r','LineWidth',2); -% final trajectory in green -plot3(result.xs(),result.ys(),result.zs(), '-*g','LineWidth',2); +% final trajectory in green (rotated so Z is up) +plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2); xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); % switch to XZ view view([0 0]); -% optimized 3D points +% optimized 3D points (rotated so Z is up) points = result.points(); -plot3(points(:,1),points(:,2),points(:,3),'.'); +plot3(points(:,3),-points(:,1),-points(:,2),'.'); -axis([-30 30 -30 30 0 60]); +axis([0 100 -20 20 -5 20]); +axis equal +view(3) From c78e649042935e46bb3882cb03d2b30299f6201e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 04:09:22 +0000 Subject: [PATCH 226/914] create and use cameras, not poses --- examples/matlab/VisualISAMExample.m | 20 ++++++++--------- examples/matlab/VisualSLAMExample.m | 23 ++++++++++---------- examples/matlab/VisualSLAMExample_triangle.m | 21 +++++++++--------- 3 files changed, 30 insertions(+), 34 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index bbe67bd6b..c1c4aefeb 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -19,19 +19,18 @@ for j=1:nPoints points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); end -%% Create camera poses on a circle around the triangle +%% Create camera cameras on a circle around the triangle nCameras = 10; height = 10; r = 30; -poses = {}; +cameras = {}; K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras theta = (i-1)*2*pi/nCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) - poses{i} = camera.pose(); + cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); end -odometry = poses{1}.between(poses{2}); +odometry = cameras{1}.pose.between(cameras{2}.pose); poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); @@ -45,9 +44,9 @@ newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; for i=1:nCameras - % Prior for the first pose or odometry for subsequent poses + % Prior for the first pose or odometry for subsequent cameras if (i==1) - newFactors.addPosePrior(symbol('x',1), poses{1}, poseNoise); + newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, poseNoise); for j=1:nPoints newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); end @@ -57,22 +56,21 @@ for i=1:nCameras % Visual measurement factors for j=1:nPoints - camera = gtsamSimpleCamera(K,poses{i}); - zij = camera.project(points{j}); + zij = cameras{i}.project(points{j}); newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); end % Initial estimates for the new pose. Also initialize points while in % the first frame. if (i==1) - initialEstimates.insertPose(symbol('x',i), poses{i}); + initialEstimates.insertPose(symbol('x',i), cameras{i}.pose); for j=1:size(points,2) initialEstimates.insertPoint(symbol('l',j), points{j}); end else %TODO: this might be suboptimal since "result" is not the fully %optimized result - if (i==2), prevPose = poses{1}; + if (i==2), prevPose = cameras{1}.pose; else, prevPose = result.pose(symbol('x',i-1)); end initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); end diff --git a/examples/matlab/VisualSLAMExample.m b/examples/matlab/VisualSLAMExample.m index 54ccd2b14..f6ef2063b 100644 --- a/examples/matlab/VisualSLAMExample.m +++ b/examples/matlab/VisualSLAMExample.m @@ -27,17 +27,16 @@ points = {gtsamPoint3([10 10 10]'),... gtsamPoint3([-10 -10 -10]'),... gtsamPoint3([10 -10 -10]')}; -% Camera poses on a circle around the cube, pointing at the world origin +% Camera cameras on a circle around the cube, pointing at the world origin nCameras = 6; height = 0; r = 30; -poses = {}; +cameras = {}; K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras theta = (i-1)*2*pi/nCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) - poses{i} = camera.pose(); + cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); end measurementNoiseSigma = 1.0; @@ -50,26 +49,25 @@ graph = visualSLAMGraph; %% Add factors for all measurements measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); for i=1:nCameras - camera = gtsamSimpleCamera(K,poses{i}); for j=1:size(points,2) - zij = camera.project(points{j}); % you can add noise here if desired + zij = cameras{i}.project(points{j}); % you can add noise here if desired graph.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); end end %% Add Gaussian priors for a pose and a landmark to constrain the system posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); -graph.addPosePrior(symbol('x',1), poses{1}, posePriorNoise); +graph.addPosePrior(symbol('x',1), cameras{1}.pose, posePriorNoise); pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('l',1), points{1}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); -%% Initialize to noisy poses and points +%% Initialize to noisy cameras and points initialEstimate = visualSLAMValues; -for i=1:size(poses,2) - initialEstimate.insertPose(symbol('x',i), poses{i}); +for i=1:size(cameras,2) + initialEstimate.insertPose(symbol('x',i), cameras{i}.pose); end for j=1:size(points,2) initialEstimate.insertPoint(symbol('l',j), points{j}); @@ -91,10 +89,11 @@ for j=1:size(points,2) covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end -for i=1:size(poses,2) +for i=1:size(cameras,2) P = marginals.marginalCovariance(symbol('x',i)) pose_i = result.pose(symbol('x',i)) plotPose3(pose_i,P,10); end +axis([-35 35 -35 35 -15 15]); axis equal - +view(-37,40) diff --git a/examples/matlab/VisualSLAMExample_triangle.m b/examples/matlab/VisualSLAMExample_triangle.m index dc9d8364c..92d885a86 100644 --- a/examples/matlab/VisualSLAMExample_triangle.m +++ b/examples/matlab/VisualSLAMExample_triangle.m @@ -18,17 +18,16 @@ for j=1:3 points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); end -%% Create camera poses on a circle around the triangle +%% Create camera cameras on a circle around the triangle nCameras = 6; height = 10; r = 30; -poses = {}; +cameras = {}; K = gtsamCal3_S2(500,500,0,640/2,480/2); for i=1:nCameras theta = (i-1)*2*pi/nCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) - poses{i} = camera.pose(); + cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) end %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) @@ -38,9 +37,8 @@ graph = visualSLAMGraph; measurementNoiseSigma=1; % in pixels measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); for i=1:nCameras - camera = gtsamSimpleCamera(K,poses{i}); for j=1:3 - zij = camera.project(points{j}); % you can add noise here if desired + zij = cameras{i}.project(points{j}); % you can add noise here if desired graph.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); end end @@ -54,10 +52,10 @@ end %% Print the graph graph.print(sprintf('\nFactor graph:\n')); -%% Initialize to noisy poses and points +%% Initialize to noisy cameras and points initialEstimate = visualSLAMValues; -for i=1:size(poses,2) - initialEstimate.insertPose(symbol('x',i), poses{i}); +for i=1:size(cameras,2) + initialEstimate.insertPose(symbol('x',i), cameras{i}.pose); end for j=1:size(points,2) initialEstimate.insertPoint(symbol('l',j), points{j}); @@ -79,10 +77,11 @@ for j=1:size(points,2) covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end -for i=1:size(poses,2) +for i=1:size(cameras,2) P = marginals.marginalCovariance(symbol('x',i)) pose_i = result.pose(symbol('x',i)) plotPose3(pose_i,P,10); end +axis([-20 20 -20 20 -1 15]); axis equal - +view(-37,40) From 19542c27d590a9136e00f2e52f191abfb381b5c7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 04:53:52 +0000 Subject: [PATCH 227/914] gtsam_unstable build script tweaks for windows --- gtsam_unstable/CMakeLists.txt | 2 +- gtsam_unstable/discrete/CMakeLists.txt | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 7637f6ea8..f5cbf9ac6 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -62,7 +62,7 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) VERSION ${gtsam_unstable_version} SOVERSION ${gtsam_unstable_soversion}) target_link_libraries(gtsam_unstable-shared gtsam-shared) - install(TARGETS gtsam_unstable-shared LIBRARY DESTINATION lib ) + install(TARGETS gtsam_unstable-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) # Wrap version for gtsam_unstable diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt index edec85416..ae84426a8 100644 --- a/gtsam_unstable/discrete/CMakeLists.txt +++ b/gtsam_unstable/discrete/CMakeLists.txt @@ -40,10 +40,12 @@ if (GTSAM_BUILD_EXAMPLES) set_target_properties(${example} PROPERTIES EXCLUDE_FROM_ALL ON) endif() - add_dependencies(examples ${example}) + if(NOT MSVC) + add_dependencies(examples ${example}) + add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN}) + endif() add_dependencies(${example} gtsam-static gtsam_unstable-static) target_link_libraries(${example} gtsam-static gtsam_unstable-static) - add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN}) endforeach(example) endif (GTSAM_BUILD_EXAMPLES) From ecd5862a903b903b7c1ca7c2a0daef28b6185203 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 04:54:06 +0000 Subject: [PATCH 228/914] Fixed build problems on windows --- gtsam_unstable/discrete/CSP.cpp | 4 ++-- gtsam_unstable/discrete/tests/testSudoku.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/discrete/CSP.cpp b/gtsam_unstable/discrete/CSP.cpp index 10c27d2bb..bfbdf28cf 100644 --- a/gtsam_unstable/discrete/CSP.cpp +++ b/gtsam_unstable/discrete/CSP.cpp @@ -60,8 +60,8 @@ namespace gtsam { // TODO: Sudoku specific hack if (print) { if (cardinality == 9 && n == 81) { - for (size_t i = 0, v = 0; i < sqrt(n); i++) { - for (size_t j = 0; j < sqrt(n); j++, v++) { + for (size_t i = 0, v = 0; i < (size_t)sqrt(double(n)); i++) { + for (size_t j = 0; j < (size_t)sqrt(double(n)); j++, v++) { if (changed[v]) cout << "*"; domains[v].print(); cout << "\t"; diff --git a/gtsam_unstable/discrete/tests/testSudoku.cpp b/gtsam_unstable/discrete/tests/testSudoku.cpp index 583364ade..a32ca2645 100644 --- a/gtsam_unstable/discrete/tests/testSudoku.cpp +++ b/gtsam_unstable/discrete/tests/testSudoku.cpp @@ -75,7 +75,7 @@ public: } // add box constraints - size_t N = sqrt(n), i0 = 0; + size_t N = (size_t)sqrt(double(n)), i0 = 0; for (size_t I = 0; I < N; I++) { size_t j0 = 0; for (size_t J = 0; J < N; J++) { From 8e39e6b6561b4279d4ac43b52c0f891a66df90dc Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 04:54:40 +0000 Subject: [PATCH 229/914] Fixed doxygen warnings --- gtsam/base/FastList.h | 2 +- gtsam/base/FastMap.h | 2 +- gtsam/base/FastSet.h | 2 +- gtsam/base/FastVector.h | 2 +- gtsam/base/Testable.h | 2 +- gtsam/base/blockMatrices.h | 4 ++-- gtsam/base/types.h | 2 +- gtsam/geometry/Cal3Bundler.h | 2 +- gtsam/geometry/Cal3DS2.h | 2 +- gtsam/geometry/Cal3_S2.h | 4 ++-- gtsam/geometry/Cal3_S2Stereo.h | 2 +- gtsam/geometry/CalibratedCamera.h | 2 +- gtsam/geometry/PinholeCamera.h | 2 +- gtsam/geometry/Point2.h | 2 +- gtsam/geometry/Point3.h | 2 +- gtsam/geometry/Pose2.h | 2 +- gtsam/geometry/Pose3.h | 2 +- gtsam/geometry/Rot2.h | 2 +- gtsam/geometry/Rot3.h | 2 +- gtsam/geometry/StereoCamera.h | 2 +- gtsam/geometry/StereoPoint2.h | 2 +- gtsam/geometry/Tensor1.h | 2 +- gtsam/geometry/Tensor1Expression.h | 2 +- gtsam/geometry/Tensor2.h | 2 +- gtsam/geometry/Tensor2Expression.h | 2 +- gtsam/geometry/Tensor3.h | 2 +- gtsam/geometry/Tensor3Expression.h | 2 +- gtsam/geometry/Tensor4.h | 2 +- gtsam/geometry/Tensor5.h | 2 +- gtsam/geometry/Tensor5Expression.h | 2 +- gtsam/geometry/projectiveGeometry.h | 20 +++++++++---------- gtsam/geometry/tensors.h | 2 +- gtsam/inference/BayesTree-inl.h | 10 ++++------ gtsam/inference/BayesTree.h | 2 +- .../inference/GenericMultifrontalSolver-inl.h | 5 ++--- gtsam/inference/GenericSequentialSolver-inl.h | 2 +- gtsam/inference/JunctionTree-inl.h | 2 +- gtsam/inference/JunctionTree.h | 2 +- gtsam/linear/GaussianBayesTree.cpp | 12 +++++------ gtsam/linear/GaussianBayesTree.h | 7 ++++--- gtsam/linear/GaussianFactorGraph.h | 10 +++++----- gtsam/linear/GaussianJunctionTree.h | 2 +- gtsam/nonlinear/ISAM2.h | 14 +++++-------- gtsam/slam/planarSLAM.h | 8 ++------ gtsam/slam/pose2SLAM.h | 4 ++-- gtsam/slam/pose3SLAM.h | 4 ++-- gtsam_unstable/base/BTree.h | 2 +- gtsam_unstable/base/DSF.h | 2 +- gtsam_unstable/base/DSFVector.h | 2 +- 49 files changed, 83 insertions(+), 93 deletions(-) diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h index 60452357f..1b84adfed 100644 --- a/gtsam/base/FastList.h +++ b/gtsam/base/FastList.h @@ -31,7 +31,7 @@ namespace gtsam { * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the fast_pool_allocator can lead to speedups of several * percent. - * @ingroup base + * @addtogroup base */ template class FastList: public std::list > { diff --git a/gtsam/base/FastMap.h b/gtsam/base/FastMap.h index c9fe30646..ab448de07 100644 --- a/gtsam/base/FastMap.h +++ b/gtsam/base/FastMap.h @@ -31,7 +31,7 @@ namespace gtsam { * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the fast_pool_allocator can lead to speedups of several * percent. - * @ingroup base + * @addtogroup base */ template class FastMap : public std::map, boost::fast_pool_allocator > > { diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h index 6abd7efb8..4c6e31d4e 100644 --- a/gtsam/base/FastSet.h +++ b/gtsam/base/FastSet.h @@ -42,7 +42,7 @@ struct FastSetTestableHelper; * fast_pool_allocator instead of the default STL allocator. This is just a * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the fast_pool_allocator can lead to speedups of several %. - * @ingroup base + * @addtogroup base */ template class FastSet: public std::set, boost::fast_pool_allocator > { diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index 18af63006..ee7258ba8 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -30,7 +30,7 @@ namespace gtsam { * pool_allocator instead of the default STL allocator. This is just a * convenience to avoid having lengthy types in the code. Through timing, * we've seen that the pool_allocator can lead to speedups of several % - * @ingroup base + * @addtogroup base */ template class FastVector: public std::vector > { diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h index bcc6c8957..009d286db 100644 --- a/gtsam/base/Testable.h +++ b/gtsam/base/Testable.h @@ -46,7 +46,7 @@ namespace gtsam { * tests and in generic algorithms. * * See macros for details on using this structure - * @ingroup base + * @addtogroup base * @tparam T is the type this constrains to be testable - assumes print() and equals() */ template diff --git a/gtsam/base/blockMatrices.h b/gtsam/base/blockMatrices.h index a1baecd76..c0bc95a50 100644 --- a/gtsam/base/blockMatrices.h +++ b/gtsam/base/blockMatrices.h @@ -40,7 +40,7 @@ template class SymmetricBlockView; * all rows, rowEnd() should be set to the number of rows in the matrix (i.e. * one after the last true row index). * - * @ingroup base + * @addtogroup base */ template class VerticalBlockView { @@ -330,7 +330,7 @@ private: * change the apparent matrix view. firstBlock() determines the block that * appears to have index 0 for all operations (except re-setting firstBlock()). * - * @ingroup base + * @addtogroup base */ template class SymmetricBlockView { diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 2490a0cde..7973e3d34 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -14,7 +14,7 @@ * @brief Typedefs for easier changing of types * @author Richard Roberts * @date Aug 21, 2010 - * @defgroup base + * @addtogroup base */ #pragma once diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h index 259a07c9b..7825e677e 100644 --- a/gtsam/geometry/Cal3Bundler.h +++ b/gtsam/geometry/Cal3Bundler.h @@ -25,7 +25,7 @@ namespace gtsam { /** * @brief Calibration used by Bundler - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3Bundler : public DerivedValue { diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index 9b94eccb5..fc6bce9db 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -25,7 +25,7 @@ namespace gtsam { /** * @brief Calibration of a camera with radial distortion - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3DS2 : public DerivedValue { diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 021b1e366..12838b667 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -16,7 +16,7 @@ */ /** - * @defgroup geometry + * @addtogroup geometry */ #pragma once @@ -28,7 +28,7 @@ namespace gtsam { /** * @brief The most common 5DOF 3D->2D calibration - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3_S2 : public DerivedValue { diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index 8282800c1..f32b2a922 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -23,7 +23,7 @@ namespace gtsam { /** * @brief The most common 5DOF 3D->2D calibration, stereo version - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Cal3_S2Stereo { diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 04296eba1..c767a7e15 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -33,7 +33,7 @@ namespace gtsam { * A Calibrated camera class [R|-R't], calibration K=I. * If calibration is known, it is more computationally efficient * to calibrate the measurements rather than try to predict in pixels. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class CalibratedCamera : public DerivedValue { diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index acc27ae1c..f3b14f3c4 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -33,7 +33,7 @@ namespace gtsam { /** * A pinhole camera class that has a Pose3 and a Calibration. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ template diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h index fe7792733..a99da460b 100644 --- a/gtsam/geometry/Point2.h +++ b/gtsam/geometry/Point2.h @@ -29,7 +29,7 @@ namespace gtsam { * A 2D point * Complies with the Testable Concept * Functional, so no set functions: once created, a point is constant. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Point2 : public DerivedValue { diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index 7f7845dfb..4d15b65f5 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -32,7 +32,7 @@ namespace gtsam { /** * A 3D point - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Point3 : public DerivedValue { diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 55fe0a9d4..d15ba045c 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -30,7 +30,7 @@ namespace gtsam { /** * A 2D pose (Point2,Rot2) - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Pose2 : public DerivedValue { diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 9cfe7ba37..4d32a5608 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -32,7 +32,7 @@ namespace gtsam { /** * A 3D pose (R,t) : (Rot3,Point3) - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Pose3 : public DerivedValue { diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h index 8e33794e4..9528934a0 100644 --- a/gtsam/geometry/Rot2.h +++ b/gtsam/geometry/Rot2.h @@ -28,7 +28,7 @@ namespace gtsam { /** * Rotation matrix * NOTE: the angle theta is in radians unless explicitly stated - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Rot2 : public DerivedValue { diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 93e276de7..0c6b31a81 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -48,7 +48,7 @@ namespace gtsam { * @brief A 3D rotation represented as a rotation matrix if the preprocessor * symbol GTSAM_DEFAULT_QUATERNIONS is not defined, or as a quaternion if it * is defined. - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class Rot3 : public DerivedValue { diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index 4c278fab9..aa22c18c6 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -28,7 +28,7 @@ namespace gtsam { /** * A stereo camera class, parameterize by left camera pose and stereo calibration - * @ingroup geometry + * @addtogroup geometry */ class StereoCamera { diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h index 022296c21..6bfdefe26 100644 --- a/gtsam/geometry/StereoPoint2.h +++ b/gtsam/geometry/StereoPoint2.h @@ -25,7 +25,7 @@ namespace gtsam { /** * A 2D stereo point, v will be same for rectified images - * @ingroup geometry + * @addtogroup geometry * \nosubgrouping */ class StereoPoint2 : public DerivedValue { diff --git a/gtsam/geometry/Tensor1.h b/gtsam/geometry/Tensor1.h index 685166b53..e7dc6bfb3 100644 --- a/gtsam/geometry/Tensor1.h +++ b/gtsam/geometry/Tensor1.h @@ -23,7 +23,7 @@ namespace tensors { /** * A rank 1 tensor. Actually stores data. - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor1Expression.h b/gtsam/geometry/Tensor1Expression.h index 4e43fff58..37b5809c8 100644 --- a/gtsam/geometry/Tensor1Expression.h +++ b/gtsam/geometry/Tensor1Expression.h @@ -29,7 +29,7 @@ namespace tensors { * Templated class to provide a rank 1 tensor interface to a class. * This class does not store any data but the result of an expression. * It is associated with an index. - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor1Expression { diff --git a/gtsam/geometry/Tensor2.h b/gtsam/geometry/Tensor2.h index 12fd1509f..825b57b3e 100644 --- a/gtsam/geometry/Tensor2.h +++ b/gtsam/geometry/Tensor2.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 2 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor2Expression.h b/gtsam/geometry/Tensor2Expression.h index 6c953a5aa..f9e56054f 100644 --- a/gtsam/geometry/Tensor2Expression.h +++ b/gtsam/geometry/Tensor2Expression.h @@ -26,7 +26,7 @@ namespace tensors { /** * Templated class to hold a rank 2 tensor expression. - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor2Expression { diff --git a/gtsam/geometry/Tensor3.h b/gtsam/geometry/Tensor3.h index 78cdcb9f2..cfd96f7f6 100644 --- a/gtsam/geometry/Tensor3.h +++ b/gtsam/geometry/Tensor3.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 3 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor3Expression.h b/gtsam/geometry/Tensor3Expression.h index 0356caa6f..b7474bdfb 100644 --- a/gtsam/geometry/Tensor3Expression.h +++ b/gtsam/geometry/Tensor3Expression.h @@ -25,7 +25,7 @@ namespace tensors { /** * templated class to interface to an object A as a rank 3 tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor3Expression { diff --git a/gtsam/geometry/Tensor4.h b/gtsam/geometry/Tensor4.h index 26a52750c..e8bfb0186 100644 --- a/gtsam/geometry/Tensor4.h +++ b/gtsam/geometry/Tensor4.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 4 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor5.h b/gtsam/geometry/Tensor5.h index e12f7d2fb..a19784d84 100644 --- a/gtsam/geometry/Tensor5.h +++ b/gtsam/geometry/Tensor5.h @@ -23,7 +23,7 @@ namespace tensors { /** * Rank 5 Tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template diff --git a/gtsam/geometry/Tensor5Expression.h b/gtsam/geometry/Tensor5Expression.h index e9f0e852a..6a6018e22 100644 --- a/gtsam/geometry/Tensor5Expression.h +++ b/gtsam/geometry/Tensor5Expression.h @@ -25,7 +25,7 @@ namespace tensors { /** * templated class to interface to an object A as a rank 5 tensor - * @ingroup tensors + * @addtogroup tensors * \nosubgrouping */ template class Tensor5Expression { diff --git a/gtsam/geometry/projectiveGeometry.h b/gtsam/geometry/projectiveGeometry.h index cfad515ac..2be02a349 100644 --- a/gtsam/geometry/projectiveGeometry.h +++ b/gtsam/geometry/projectiveGeometry.h @@ -25,21 +25,21 @@ namespace gtsam { /** * 2D Point in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<3> Point2h; Point2h point2h(double x, double y, double w); ///< create Point2h /** * 2D Line in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<3> Line2h; Line2h line2h(double a, double b, double c); ///< create Line2h /** * 2D (homegeneous) Point correspondence - * @ingroup geometry + * @addtogroup geometry */ struct Correspondence { Point2h first; ///< First point @@ -63,19 +63,19 @@ namespace gtsam { /** * 2D-2D Homography - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor2<3, 3> Homography2; /** * Fundamental Matrix - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor2<3, 3> FundamentalMatrix; /** * Triplet of (homogeneous) 2D points - * @ingroup geometry + * @addtogroup geometry */ struct Triplet { Point2h first; ///< First point @@ -97,27 +97,27 @@ namespace gtsam { /** * Trifocal Tensor - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor3<3, 3, 3> TrifocalTensor; /** * 3D Point in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<4> Point3h; Point3h point3h(double X, double Y, double Z, double W); ///< create Point3h /** * 3D Plane in homogeneous coordinates - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor1<4> Plane3h; Plane3h plane3h(double a, double b, double c, double d); ///< create Plane3h /** * 3D to 2D projective camera - * @ingroup geometry + * @addtogroup geometry */ typedef tensors::Tensor2<3, 4> ProjectiveCamera; diff --git a/gtsam/geometry/tensors.h b/gtsam/geometry/tensors.h index 1441a7823..a7125775a 100644 --- a/gtsam/geometry/tensors.h +++ b/gtsam/geometry/tensors.h @@ -14,7 +14,7 @@ * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf * @date Feb 10, 2010 * @author Frank Dellaert - * @defgroup tensors + * @addtogroup tensors */ #pragma once diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 2c3ce4035..9a6b1478e 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -51,9 +51,9 @@ namespace gtsam { return data; } + /* ************************************************************************* */ template - void BayesTree::getCliqueData(CliqueData& data, - typename BayesTree::sharedClique clique) const { + void BayesTree::getCliqueData(CliqueData& data, sharedClique clique) const { data.conditionalSizes.push_back((*clique)->nrFrontals()); data.separatorSizes.push_back((*clique)->nrParents()); BOOST_FOREACH(sharedClique c, clique->children_) { @@ -64,7 +64,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesTree::saveGraph(const std::string &s) const { - if (!root_.get()) throw invalid_argument("the root of bayes tree has not been initialized!"); + if (!root_.get()) throw invalid_argument("the root of Bayes tree has not been initialized!"); ofstream of(s.c_str()); of<< "digraph G{\n"; saveGraph(of, root_); @@ -73,9 +73,7 @@ namespace gtsam { } template - void BayesTree::saveGraph(ostream &s, - typename BayesTree::sharedClique clique, - int parentnum) const { + void BayesTree::saveGraph(ostream &s, sharedClique clique, int parentnum) const { static int num = 0; bool first = true; std::stringstream out; diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index a4cdbaafe..de9a84640 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -46,7 +46,7 @@ namespace gtsam { * @tparam CLIQUE The type of the clique data structure, defaults to BayesTreeClique, normally do not change this * as it is only used when developing special versions of BayesTree, e.g. for ISAM2. * - * \ingroup Multifrontal + * \addtogroup Multifrontal * \nosubgrouping */ template > diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index b24db8484..84ca937fa 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -36,15 +36,14 @@ namespace gtsam { /* ************************************************************************* */ template GenericMultifrontalSolver::GenericMultifrontalSolver( - const typename FactorGraph::shared_ptr& graph, + const sharedGraph& graph, const VariableIndex::shared_ptr& variableIndex) : structure_(variableIndex), junctionTree_(new JT(*graph, *structure_)) { } /* ************************************************************************* */ template - void GenericMultifrontalSolver::replaceFactors( - const typename FactorGraph::shared_ptr& graph) { + void GenericMultifrontalSolver::replaceFactors(const sharedGraph& graph) { junctionTree_.reset(new JT(*graph, *structure_)); } diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h index b2629566b..5b3e0dd28 100644 --- a/gtsam/inference/GenericSequentialSolver-inl.h +++ b/gtsam/inference/GenericSequentialSolver-inl.h @@ -41,7 +41,7 @@ namespace gtsam { template GenericSequentialSolver::GenericSequentialSolver( const sharedFactorGraph& factorGraph, - const VariableIndex::shared_ptr& variableIndex) : + const boost::shared_ptr& variableIndex) : factors_(factorGraph), structure_(variableIndex), eliminationTree_(EliminationTree::Create(*factors_, *structure_)) { } diff --git a/gtsam/inference/JunctionTree-inl.h b/gtsam/inference/JunctionTree-inl.h index ad8b389ab..bf1c17890 100644 --- a/gtsam/inference/JunctionTree-inl.h +++ b/gtsam/inference/JunctionTree-inl.h @@ -72,7 +72,7 @@ namespace gtsam { /* ************************************************************************* */ template typename JunctionTree::sharedClique JunctionTree::distributeFactors( - const FG& fg, const typename SymbolicBayesTree::sharedClique& bayesClique) { + const FG& fg, const SymbolicBayesTree::sharedClique& bayesClique) { // Build "target" index. This is an index for each variable of the factors // that involve this variable as their *lowest-ordered* variable. For each diff --git a/gtsam/inference/JunctionTree.h b/gtsam/inference/JunctionTree.h index 33a9aa5e4..e8aceafe9 100644 --- a/gtsam/inference/JunctionTree.h +++ b/gtsam/inference/JunctionTree.h @@ -47,7 +47,7 @@ namespace gtsam { * except that in the JunctionTree, at each node multiple variables are eliminated at a time. * * - * \ingroup Multifrontal + * \addtogroup Multifrontal * \nosubgrouping */ template::Clique> diff --git a/gtsam/linear/GaussianBayesTree.cpp b/gtsam/linear/GaussianBayesTree.cpp index 4a0e4b355..f9ea3fdc8 100644 --- a/gtsam/linear/GaussianBayesTree.cpp +++ b/gtsam/linear/GaussianBayesTree.cpp @@ -35,27 +35,27 @@ void optimizeInPlace(const GaussianBayesTree& bayesTree, VectorValues& result) { } /* ************************************************************************* */ -VectorValues optimizeGradientSearch(const GaussianBayesTree& Rd) { +VectorValues optimizeGradientSearch(const GaussianBayesTree& bayesTree) { tic(0, "Allocate VectorValues"); - VectorValues grad = *allocateVectorValues(Rd); + VectorValues grad = *allocateVectorValues(bayesTree); toc(0, "Allocate VectorValues"); - optimizeGradientSearchInPlace(Rd, grad); + optimizeGradientSearchInPlace(bayesTree, grad); return grad; } /* ************************************************************************* */ -void optimizeGradientSearchInPlace(const GaussianBayesTree& Rd, VectorValues& grad) { +void optimizeGradientSearchInPlace(const GaussianBayesTree& bayesTree, VectorValues& grad) { tic(1, "Compute Gradient"); // Compute gradient (call gradientAtZero function, which is defined for various linear systems) - gradientAtZero(Rd, grad); + gradientAtZero(bayesTree, grad); double gradientSqNorm = grad.dot(grad); toc(1, "Compute Gradient"); tic(2, "Compute R*g"); // Compute R * g - FactorGraph Rd_jfg(Rd); + FactorGraph Rd_jfg(bayesTree); Errors Rg = Rd_jfg * grad; toc(2, "Compute R*g"); diff --git a/gtsam/linear/GaussianBayesTree.h b/gtsam/linear/GaussianBayesTree.h index 8b581351c..91480d43a 100644 --- a/gtsam/linear/GaussianBayesTree.h +++ b/gtsam/linear/GaussianBayesTree.h @@ -25,13 +25,14 @@ namespace gtsam { +/// A Bayes Tree representing a Gaussian density typedef BayesTree GaussianBayesTree; /// optimize the BayesTree, starting from the root VectorValues optimize(const GaussianBayesTree& bayesTree); /// recursively optimize this conditional and all subtrees -void optimizeInPlace(const GaussianBayesTree& clique, VectorValues& result); +void optimizeInPlace(const GaussianBayesTree& bayesTree, VectorValues& result); namespace internal { template @@ -63,10 +64,10 @@ void optimizeInPlace(const typename BAYESTREE::sharedClique& clique, VectorValue * * \f[ \delta x = \hat\alpha g = \frac{-g^T g}{(R g)^T(R g)} \f] */ -VectorValues optimizeGradientSearch(const GaussianBayesTree& bn); +VectorValues optimizeGradientSearch(const GaussianBayesTree& bayesTree); /** In-place version of optimizeGradientSearch requiring pre-allocated VectorValues \c x */ -void optimizeGradientSearchInPlace(const GaussianBayesTree& bn, VectorValues& grad); +void optimizeGradientSearchInPlace(const GaussianBayesTree& bayesTree, VectorValues& grad); /** * Compute the gradient of the energy function, diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 1f66b5b4c..8a5fe47e7 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -202,7 +202,7 @@ namespace gtsam { /** * Combine and eliminate several factors. - * \ingroup LinearSolving + * \addtogroup LinearSolving */ JacobianFactor::shared_ptr CombineJacobians( const FactorGraph& factors, @@ -223,7 +223,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminateJacobians(const FactorGraph< JacobianFactor>& factors, size_t nrFrontals = 1); @@ -238,7 +238,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminateQR(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); @@ -260,7 +260,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminatePreferCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); @@ -281,7 +281,7 @@ namespace gtsam { * @param nrFrontals Number of frontal variables to eliminate. * @return The conditional and remaining factor - * \ingroup LinearSolving + * \addtogroup LinearSolving */ GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); diff --git a/gtsam/linear/GaussianJunctionTree.h b/gtsam/linear/GaussianJunctionTree.h index 3d4227b93..b97998a12 100644 --- a/gtsam/linear/GaussianJunctionTree.h +++ b/gtsam/linear/GaussianJunctionTree.h @@ -35,7 +35,7 @@ namespace gtsam { * create a BayesTree. In both cases, you need to provide a basic * GaussianFactorGraph::Eliminate function that will be used to * - * \ingroup Multifrontal + * \addtogroup Multifrontal */ class GaussianJunctionTree: public JunctionTree { diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 0d5724865..2211122d8 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -28,11 +28,7 @@ namespace gtsam { /** - * @defgroup ISAM2 - */ - -/** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Parameters for ISAM2 using Gauss-Newton optimization. Either this class or * ISAM2DoglegParams should be specified as the optimizationParams in * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&). @@ -47,7 +43,7 @@ struct ISAM2GaussNewtonParams { }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Parameters for ISAM2 using Dogleg optimization. Either this class or * ISAM2GaussNewtonParams should be specified as the optimizationParams in * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&). @@ -69,7 +65,7 @@ struct ISAM2DoglegParams { }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Parameters for the ISAM2 algorithm. Default parameter values are listed below. */ struct ISAM2Params { @@ -147,7 +143,7 @@ struct ISAM2Params { }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * This struct is returned from ISAM2::update() and contains information about * the update that is useful for determining whether the solution is * converging, and about how much work was required for the update. See member @@ -315,7 +311,7 @@ private: }; /** - * @ingroup ISAM2 + * @addtogroup ISAM2 * Implementation of the full ISAM2 algorithm for incremental nonlinear optimization. * * The typical cycle of using this class to create an instance by providing ISAM2Params diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index 01a9df763..aecd22b75 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -27,10 +27,6 @@ #include #include -/** - * @defgroup SLAM - */ - // Use planarSLAM namespace for specific SLAM instance namespace planarSLAM { @@ -55,7 +51,7 @@ namespace planarSLAM { /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Values: public gtsam::Values { @@ -88,7 +84,7 @@ namespace planarSLAM { /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Graph: public NonlinearFactorGraph { diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 778d844f2..062893a9c 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -32,7 +32,7 @@ namespace pose2SLAM { /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Values: public gtsam::Values { @@ -82,7 +82,7 @@ namespace pose2SLAM { /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Graph: public NonlinearFactorGraph { diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index 9be699fd8..41d301e08 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -32,7 +32,7 @@ namespace pose3SLAM { /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Values: public gtsam::Values { @@ -77,7 +77,7 @@ namespace pose3SLAM { /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @ingroup SLAM + * @addtogroup SLAM */ struct Graph: public NonlinearFactorGraph { diff --git a/gtsam_unstable/base/BTree.h b/gtsam_unstable/base/BTree.h index 2a40465a3..379725a7a 100644 --- a/gtsam_unstable/base/BTree.h +++ b/gtsam_unstable/base/BTree.h @@ -26,7 +26,7 @@ namespace gtsam { /** * @brief Binary tree - * @ingroup base + * @addtogroup base */ template class BTree { diff --git a/gtsam_unstable/base/DSF.h b/gtsam_unstable/base/DSF.h index 5276779b0..0c7cc7399 100644 --- a/gtsam_unstable/base/DSF.h +++ b/gtsam_unstable/base/DSF.h @@ -34,7 +34,7 @@ namespace gtsam { * S = {S_1,S_2,...} of disjoint dynamic sets. Each set is identified by * a representative, which is some member of the set. * - * @ingroup base + * @addtogroup base */ template class DSF : protected BTree { diff --git a/gtsam_unstable/base/DSFVector.h b/gtsam_unstable/base/DSFVector.h index 17e897032..3940723c4 100644 --- a/gtsam_unstable/base/DSFVector.h +++ b/gtsam_unstable/base/DSFVector.h @@ -27,7 +27,7 @@ namespace gtsam { /** * A fast implementation of disjoint set forests that uses vector as underly data structure. - * @ingroup base + * @addtogroup base */ class DSFVector { From 9ef891198b99aabd7a11ab7fffd9595a84629e32 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 05:19:43 +0000 Subject: [PATCH 230/914] Re-factored iSAM MATLAB example and wrapped more ISAM functions --- examples/matlab/VisualISAMExample.m | 156 +++++++++++++++------------- gtsam.h | 19 +++- 2 files changed, 102 insertions(+), 73 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index c1c4aefeb..7eacbf04a 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -1,27 +1,41 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% GTSAM Copyright 2010, Georgia Tech Research Corporation, +% 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 % % @brief A simple visual SLAM example for structure from motion % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create a triangle target, just 3 points on a plane -nPoints = 3; -r = 10; -points = {}; -for j=1:nPoints - theta = (j-1)*2*pi/nPoints; - points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); +if 0 + %% Create a triangle target, just 3 points on a plane + nPoints = 3; + r = 10; + points = {}; + for j=1:nPoints + theta = (j-1)*2*pi/nPoints; + points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); + end +else + %% Generate simulated data + % 3D landmarks as vertices of a cube + nPoints = 8; + points = {gtsamPoint3([10 10 10]'),... + gtsamPoint3([-10 10 10]'),... + gtsamPoint3([-10 -10 10]'),... + gtsamPoint3([10 -10 10]'),... + gtsamPoint3([10 10 -10]'),... + gtsamPoint3([-10 10 -10]'),... + gtsamPoint3([-10 -10 -10]'),... + gtsamPoint3([10 -10 -10]')}; end %% Create camera cameras on a circle around the triangle nCameras = 10; -height = 10; +height = 0; r = 30; cameras = {}; K = gtsamCal3_S2(500,500,0,640/2,480/2); @@ -33,78 +47,80 @@ end odometry = cameras{1}.pose.between(cameras{2}.pose); poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); -%% Create an ISAM object for inference -isam = visualSLAMISAM; - -%% Update ISAM +%% Initialize iSAM +isam = visualSLAMISAM(2); newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; -for i=1:nCameras - - % Prior for the first pose or odometry for subsequent cameras - if (i==1) - newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, poseNoise); - for j=1:nPoints - newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); - end - else - newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); +if 1 % add hard constraint + newFactors.addPoseConstraint(symbol('x',1),cameras{1}.pose); +else + newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, poseNoise); +end +initialEstimates.insertPose(symbol('x',1), cameras{1}.pose); +% Add visual measurement factors from first pose +for j=1:nPoints + if 0 % add point priors + newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); end + zij = cameras{i}.project(points{j}); + newFactors.addMeasurement(zij, measurementNoise, symbol('x',1), symbol('l',j), K); + initialEstimates.insertPoint(symbol('l',j), points{j}); +end - % Visual measurement factors +%% Run iSAM Loop +for i=2:nCameras + + %% Add odometry + newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, odometryNoise); + + %% Add visual measurement factors for j=1:nPoints zij = cameras{i}.project(points{j}); newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); end - % Initial estimates for the new pose. Also initialize points while in - % the first frame. - if (i==1) - initialEstimates.insertPose(symbol('x',i), cameras{i}.pose); - for j=1:size(points,2) - initialEstimates.insertPoint(symbol('l',j), points{j}); - end - else - %TODO: this might be suboptimal since "result" is not the fully - %optimized result - if (i==2), prevPose = cameras{1}.pose; - else, prevPose = result.pose(symbol('x',i-1)); end - initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); + %% Initial estimates for the new pose. Also initialize points while in the first frame. + %TODO: this might be suboptimal since "result" is not the fully optimized result + if (i==2), prevPose = cameras{1}.pose; + else, prevPose = result.pose(symbol('x',i-1)); end + initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); + + %% Update ISAM + isam.update(newFactors, initialEstimates); + result = isam.estimate(); + if 0 % re-linearize + isam.reorder_relinearize(); end - - % Update ISAM, only update for the second frame onward - % Update the first frame will cause error, since it's under constrained - if (i>=2) - isam.update(newFactors, initialEstimates); - emptyFactors = visualSLAMGraph; - emptyEstimates = visualSLAMValues; - result = isam.estimate(); - - % Plot first result - h=figure(1);clf - hold on; - for j=1:size(points,2) - P = isam.marginalCovariance(symbol('l',j)); - point_j = result.point(symbol('l',j)); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); - end - - for ii=1:i - P = isam.marginalCovariance(symbol('x',ii)); - pose_ii = result.pose(symbol('x',ii)); - plotPose3(pose_ii,P,10); - end - axis([-50 50 -50 50 -50 50]) - colormap('hot') - %print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); - - % Reset newFactors and initialEstimates to prepare for the next - % update - newFactors = visualSLAMGraph; - initialEstimates = visualSLAMValues; + + %% Plot results + P1 = isam.marginalCovariance(symbol('x',1)); + sqrt(diag(P1)) + h=figure(1);clf + hold on; + for j=1:size(points,2) + P = isam.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end + for ii=1:i + P = isam.marginalCovariance(symbol('x',ii)); + pose_ii = result.pose(symbol('x',ii)); + plotPose3(pose_ii,P,10); + if 1 % show ground truth + plotPose3(cameras{ii}.pose,0.001*eye(6),10); + end + end + axis([-40 40 -40 40 -10 20]);axis equal + view(2) + colormap('hot') + %print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); + + %% Reset newFactors and initialEstimates to prepare for the next update + newFactors = visualSLAMGraph; + initialEstimates = visualSLAMValues; end \ No newline at end of file diff --git a/gtsam.h b/gtsam.h index 71a14703e..9cfdab742 100644 --- a/gtsam.h +++ b/gtsam.h @@ -600,6 +600,14 @@ class GaussianFactorGraph { Matrix denseHessian() const; }; +class GaussianISAM { + GaussianISAM(); + gtsam::GaussianFactor* marginalFactor(size_t j) const; + gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const; + Matrix marginalCovariance(size_t key) const; + gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const; +}; + class GaussianSequentialSolver { GaussianSequentialSolver(const gtsam::GaussianFactorGraph& graph, bool useQR); @@ -925,10 +933,15 @@ class Graph { class ISAM { ISAM(); ISAM(int reorderInterval); - void print(string s) const; visualSLAM::Values estimate() const; - Matrix marginalCovariance(size_t key) const; - void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues); + Matrix marginalCovariance(size_t key) const; + int reorderInterval() const; + int reorderCounter() const; + void print(string s) const; + void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues); + void reorder_relinearize(); + void addKey(size_t key); + void setOrdering(const gtsam::Ordering& new_ordering); }; }///\namespace visualSLAM From b10f4d09e3743c21599ec1da2daf0871a3a15c96 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 06:14:47 +0000 Subject: [PATCH 231/914] iSAM with options --- examples/matlab/VisualISAMExample.m | 79 +++++++++++++++++++---------- 1 file changed, 51 insertions(+), 28 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index 7eacbf04a..89947cd40 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -10,18 +10,27 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -if 0 - %% Create a triangle target, just 3 points on a plane +clear + +%% Set Options here +TRIANGLE = false; +NCAMERAS = 10; +SHOW_IMAGES = false; +HARD_CONSTRAINT = false; +POINT_PRIORS = false; +BATCH_INIT = true; +ALWAYS_RELINEARIZE = false; +DRAW_TRUE_POSES = true; + +%% Generate simulated data +if TRIANGLE % Create a triangle target, just 3 points on a plane nPoints = 3; r = 10; - points = {}; for j=1:nPoints theta = (j-1)*2*pi/nPoints; points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); end -else - %% Generate simulated data - % 3D landmarks as vertices of a cube +else % 3D landmarks as vertices of a cube nPoints = 8; points = {gtsamPoint3([10 10 10]'),... gtsamPoint3([-10 10 10]'),... @@ -34,45 +43,56 @@ else end %% Create camera cameras on a circle around the triangle -nCameras = 10; -height = 0; -r = 30; -cameras = {}; +height = 10; r = 40; K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; +for i=1:NCAMERAS + theta = (i-1)*2*pi/NCAMERAS; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); + if SHOW_IMAGES % show images + figure(i);clf;hold on + for j=1:nPoints + zij = cameras{i}.project(points{j}); + plot(zij.x,zij.y,'*'); + axis([1 640 1 480]); + end + end end odometry = cameras{1}.pose.between(cameras{2}.pose); + +%% Set Noise parameters poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); %% Initialize iSAM -isam = visualSLAMISAM(2); +isam = visualSLAMISAM; newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; -if 1 % add hard constraint - newFactors.addPoseConstraint(symbol('x',1),cameras{1}.pose); +i1 = symbol('x',1); +camera1 = cameras{1}; +pose1 = camera1.pose; +if HARD_CONSTRAINT % add hard constraint + newFactors.addPoseConstraint(i1,pose1); else - newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, poseNoise); + newFactors.addPosePrior(i1,pose1, poseNoise); end -initialEstimates.insertPose(symbol('x',1), cameras{1}.pose); +initialEstimates.insertPose(i1,pose1); % Add visual measurement factors from first pose for j=1:nPoints - if 0 % add point priors - newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); + jj = symbol('l',j); + if POINT_PRIORS % add point priors + newFactors.addPointPrior(jj, points{j}, pointNoise); end - zij = cameras{i}.project(points{j}); - newFactors.addMeasurement(zij, measurementNoise, symbol('x',1), symbol('l',j), K); - initialEstimates.insertPoint(symbol('l',j), points{j}); + zij = camera1.project(points{j}); + newFactors.addMeasurement(zij, measurementNoise, i1, jj, K); + initialEstimates.insertPoint(jj, points{j}); end %% Run iSAM Loop -for i=2:nCameras +for i=2:NCAMERAS %% Add odometry newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, odometryNoise); @@ -90,16 +110,19 @@ for i=2:nCameras initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); %% Update ISAM + if BATCH_INIT & (i==2) % Do a full optimize for first two poses + initialEstimates + fullyOptimized = newFactors.optimize(initialEstimates) + initialEstimates = fullyOptimized; + end isam.update(newFactors, initialEstimates); result = isam.estimate(); - if 0 % re-linearize + if ALWAYS_RELINEARIZE % re-linearize isam.reorder_relinearize(); end %% Plot results - P1 = isam.marginalCovariance(symbol('x',1)); - sqrt(diag(P1)) - h=figure(1);clf + figure(NCAMERAS+1);clf hold on; for j=1:size(points,2) P = isam.marginalCovariance(symbol('l',j)); @@ -111,7 +134,7 @@ for i=2:nCameras P = isam.marginalCovariance(symbol('x',ii)); pose_ii = result.pose(symbol('x',ii)); plotPose3(pose_ii,P,10); - if 1 % show ground truth + if DRAW_TRUE_POSES % show ground truth plotPose3(cameras{ii}.pose,0.001*eye(6),10); end end From 43fb6b76e98728fbdd0fb125a8c4dd9e52197093 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 7 Jun 2012 06:53:03 +0000 Subject: [PATCH 232/914] fix a bad bug in PinholeCamera::lookat: normalize the result vector of cross product!!! --- gtsam/geometry/PinholeCamera.h | 1 + gtsam/geometry/tests/testSimpleCamera.cpp | 10 ++++++++++ 2 files changed, 11 insertions(+) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index f3b14f3c4..7dec508e0 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -174,6 +174,7 @@ namespace gtsam { Point3 zc = target-eye; zc = zc/zc.norm(); Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down + xc = xc/xc.norm(); Point3 yc = zc.cross(xc); Pose3 pose3(Rot3(xc,yc,zc), eye); return PinholeCamera(pose3, K); diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index e918606a1..d0f961bfa 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -74,6 +74,16 @@ TEST( SimpleCamera, lookat) Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0); Pose3 expected(Rot3(xc,yc,zc),C); CHECK(assert_equal( camera.pose(), expected)); + + + Point3 C2(30.0,0.0,10.0); + SimpleCamera camera2 = SimpleCamera::lookat(C2, Point3(), Point3(0.0,0.0,1.0)); + + Matrix R = camera2.pose().rotation().matrix(); + Matrix I = trans(R)*R; + gtsam::print(I,"I="); + CHECK(assert_equal(I, eye(3))); + } /* ************************************************************************* */ From 61e95f4acef180997ae25fcff1034f690b5fedc2 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 7 Jun 2012 07:06:54 +0000 Subject: [PATCH 233/914] temporarily revive the old VisualISAMExample --- examples/matlab/VisualISAMExample_Duy.m | 110 ++++++++++++++++++++++++ 1 file changed, 110 insertions(+) create mode 100644 examples/matlab/VisualISAMExample_Duy.m diff --git a/examples/matlab/VisualISAMExample_Duy.m b/examples/matlab/VisualISAMExample_Duy.m new file mode 100644 index 000000000..bb3a97979 --- /dev/null +++ b/examples/matlab/VisualISAMExample_Duy.m @@ -0,0 +1,110 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% GTSAM Copyright 3510, 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 +% +% @brief A simple visual SLAM example for structure from motion +% @author Duy-Nguyen Ta +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create a triangle target, just 3 points on a plane +nPoints = 3; +r = 10; +points = {}; +for j=1:nPoints + theta = (j-1)*2*pi/nPoints; + points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); +end + +%% Create camera cameras on a circle around the triangle +nCameras = 30; +height = 10; +r = 30; +cameras = {}; +K = gtsamCal3_S2(500,500,0,640/2,480/2); +for i=1:nCameras + theta = (i-1)*2*pi/nCameras; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); +end +odometry = cameras{1}.pose.between(cameras{2}.pose); + +poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.5 0.5 0.5]'); +pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); +measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); + +%% Create an ISAM object for inference +isam = visualSLAMISAM(5); + +%% Update ISAM +newFactors = visualSLAMGraph; +initialEstimates = visualSLAMValues; +figure(1); clf; +for i=1:nCameras + + % Prior for the first pose or odometry for subsequent cameras + if (i==1) + newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, poseNoise); + for j=1:nPoints + newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); + end + else + newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); + end + + % Visual measurement factors + for j=1:nPoints + zij = cameras{i}.project(points{j}); + newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); + end + + % Initial estimates for the new pose. Also initialize points while in + % the first frame. + if (i==1) + initialEstimates.insertPose(symbol('x',i), cameras{i}.pose); + for j=1:size(points,2) + initialEstimates.insertPoint(symbol('l',j), points{j}); + end + else + %TODO: this might be suboptimal since "result" is not the fully + %optimized result + if (i==2), prevPose = cameras{1}.pose; + else, prevPose = result.pose(symbol('x',i-1)); end + initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); + end + + % Update ISAM, only update for the second frame onward + % Update the first frame will cause error, since it's under constrained + if (i>=2) + isam.update(newFactors, initialEstimates); + result = isam.estimate(); + + % Plot results + h=figure(1); + hold on; + for j=1:size(points,2) + P = isam.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + end + + for ii=i-1:i + P = isam.marginalCovariance(symbol('x',ii)); + pose_ii = result.pose(symbol('x',ii)); + plotPose3(pose_ii,P,10); + end + axis([-35 35 -35 35 -35 35]) + view([36 34]) + colormap('hot') +% print(h,'-dpng',sprintf('vISAM_%03d.png',i)); + + % Reset newFactors and initialEstimates to prepare for the next + % update + newFactors = visualSLAMGraph; + initialEstimates = visualSLAMValues; + end +end \ No newline at end of file From 2a633b75c83369347b5f66afaadf109faffcb457 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 7 Jun 2012 07:43:22 +0000 Subject: [PATCH 234/914] use surf instead of mesh for covarianceEllipse3D --- examples/matlab/covarianceEllipse3D.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/matlab/covarianceEllipse3D.m b/examples/matlab/covarianceEllipse3D.m index 8799415a6..6d6ed9127 100644 --- a/examples/matlab/covarianceEllipse3D.m +++ b/examples/matlab/covarianceEllipse3D.m @@ -21,7 +21,7 @@ y = data(n+1:2*n,:)+c(2); z = data(2*n+1:end,:)+c(3); % now plot the rotated ellipse -sc = mesh(x,y,z,abs(xc)); +sc = surf(x,y,z,abs(xc)); shading interp alpha(0.5) axis equal \ No newline at end of file From ce71979c8c933581d1a642c8ff795eaea071c6ae Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 7 Jun 2012 07:43:56 +0000 Subject: [PATCH 235/914] VisualISAMExample_triangle --- ...ple_Duy.m => VisualISAMExample_triangle.m} | 27 +++++++++---------- 1 file changed, 13 insertions(+), 14 deletions(-) rename examples/matlab/{VisualISAMExample_Duy.m => VisualISAMExample_triangle.m} (87%) diff --git a/examples/matlab/VisualISAMExample_Duy.m b/examples/matlab/VisualISAMExample_triangle.m similarity index 87% rename from examples/matlab/VisualISAMExample_Duy.m rename to examples/matlab/VisualISAMExample_triangle.m index bb3a97979..c0dabec72 100644 --- a/examples/matlab/VisualISAMExample_Duy.m +++ b/examples/matlab/VisualISAMExample_triangle.m @@ -20,7 +20,7 @@ for j=1:nPoints end %% Create camera cameras on a circle around the triangle -nCameras = 30; +nCameras = 10; height = 10; r = 30; cameras = {}; @@ -32,12 +32,13 @@ for i=1:nCameras end odometry = cameras{1}.pose.between(cameras{2}.pose); -poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.5 0.5 0.5]'); +posepriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); %% Create an ISAM object for inference -isam = visualSLAMISAM(5); +isam = visualSLAMISAM(2); %% Update ISAM newFactors = visualSLAMGraph; @@ -47,12 +48,10 @@ for i=1:nCameras % Prior for the first pose or odometry for subsequent cameras if (i==1) - newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, poseNoise); - for j=1:nPoints - newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); - end + newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, posepriorNoise); + newFactors.addPointPrior(symbol('l',1), points{1}, pointNoise); else - newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); + newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, odometryNoise); end % Visual measurement factors @@ -65,14 +64,14 @@ for i=1:nCameras % the first frame. if (i==1) initialEstimates.insertPose(symbol('x',i), cameras{i}.pose); - for j=1:size(points,2) + for j=1:nPoints initialEstimates.insertPoint(symbol('l',j), points{j}); end else %TODO: this might be suboptimal since "result" is not the fully %optimized result if (i==2), prevPose = cameras{1}.pose; - else, prevPose = result.pose(symbol('x',i-1)); end + else prevPose = result.pose(symbol('x',i-1)); end initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); end @@ -83,16 +82,16 @@ for i=1:nCameras result = isam.estimate(); % Plot results - h=figure(1); - hold on; - for j=1:size(points,2) + h=figure(1); clf; + hold on; + for j=1:nPoints P = isam.marginalCovariance(symbol('l',j)); point_j = result.point(symbol('l',j)); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end - for ii=i-1:i + for ii=1:i P = isam.marginalCovariance(symbol('x',ii)); pose_ii = result.pose(symbol('x',ii)); plotPose3(pose_ii,P,10); From 8644f81dc8cb4ce7175bde27a1b69f628f4cf797 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 13:16:28 +0000 Subject: [PATCH 236/914] VisualiSAM, going crazy. MATLAB is amazing! --- examples/matlab/VisualISAMExample.m | 77 +++++++++---- examples/matlab/iSAMgui.fig | Bin 0 -> 5766 bytes examples/matlab/iSAMgui.m | 171 ++++++++++++++++++++++++++++ 3 files changed, 225 insertions(+), 23 deletions(-) create mode 100644 examples/matlab/iSAMgui.fig create mode 100644 examples/matlab/iSAMgui.m diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index 89947cd40..e1116552d 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -12,15 +12,25 @@ clear -%% Set Options here +%% Data Options TRIANGLE = false; -NCAMERAS = 10; +NCAMERAS = 20; SHOW_IMAGES = false; + +%% iSAM Options HARD_CONSTRAINT = false; POINT_PRIORS = false; BATCH_INIT = true; +REORDER_INTERVAL=10; ALWAYS_RELINEARIZE = false; -DRAW_TRUE_POSES = true; + +%% Display Options +SAVE_GRAPH = false; +DRAW_INTERVAL = 20; +CAMERA_INTERVAL = 1; +DRAW_TRUE_POSES = false; +SAVE_FIGURES = false; +SAVE_GRAPHS = false; %% Generate simulated data if TRIANGLE % Create a triangle target, just 3 points on a plane @@ -50,7 +60,8 @@ for i=1:NCAMERAS t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); if SHOW_IMAGES % show images - figure(i);clf;hold on + figure(2+i);clf;hold on + set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i)); for j=1:nPoints zij = cameras{i}.project(points{j}); plot(zij.x,zij.y,'*'); @@ -68,7 +79,7 @@ pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); %% Initialize iSAM -isam = visualSLAMISAM; +isam = visualSLAMISAM(REORDER_INTERVAL); newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; i1 = symbol('x',1); @@ -92,6 +103,8 @@ for j=1:nPoints end %% Run iSAM Loop +figure(1);clf;hold on; +set(1,'NumberTitle','off','Name','iSAM timing'); for i=2:NCAMERAS %% Add odometry @@ -115,33 +128,51 @@ for i=2:NCAMERAS fullyOptimized = newFactors.optimize(initialEstimates) initialEstimates = fullyOptimized; end + figure(1);tic; isam.update(newFactors, initialEstimates); + t=toc; plot(i,t,'r.'); tic result = isam.estimate(); + t=toc; plot(i,t,'g.'); if ALWAYS_RELINEARIZE % re-linearize isam.reorder_relinearize(); end - %% Plot results - figure(NCAMERAS+1);clf - hold on; - for j=1:size(points,2) - P = isam.marginalCovariance(symbol('l',j)); - point_j = result.point(symbol('l',j)); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + if SAVE_GRAPH + isam.saveGraph(sprintf('VisualiSAM.dot',i)); end - for ii=1:i - P = isam.marginalCovariance(symbol('x',ii)); - pose_ii = result.pose(symbol('x',ii)); - plotPose3(pose_ii,P,10); - if DRAW_TRUE_POSES % show ground truth - plotPose3(cameras{ii}.pose,0.001*eye(6),10); + if mod(i,DRAW_INTERVAL)==0 + %% Plot results + tic + h=figure(2);clf + set(1,'NumberTitle','off','Name','Visual iSAM'); + hold on; + for j=1:size(points,2) + P = isam.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + end + for ii=1:CAMERA_INTERVAL:i + P = isam.marginalCovariance(symbol('x',ii)); + pose_ii = result.pose(symbol('x',ii)); + plotPose3(pose_ii,P,10); + if DRAW_TRUE_POSES % show ground truth + plotPose3(cameras{ii}.pose,0.001*eye(6),10); + end + end + axis([-40 40 -40 40 -10 20]);axis equal + view(3) + colormap('hot') + figure(2); + t=toc; + if DRAW_INTERVAL~=NCAMERAS, plot(i,t,'b.'); end + if SAVE_FIGURES + print(h,'-dpng',sprintf('VisualiSAM%03d.png',i)); + end + if SAVE_GRAPHS + isam.saveGraph(sprintf('VisualiSAM%03d.dot',i)); end end - axis([-40 40 -40 40 -10 20]);axis equal - view(2) - colormap('hot') - %print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); %% Reset newFactors and initialEstimates to prepare for the next update newFactors = visualSLAMGraph; diff --git 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file mode 100644 index 000000000..71cd53855 --- /dev/null +++ b/examples/matlab/iSAMgui.m @@ -0,0 +1,171 @@ +function varargout = iSAMgui(varargin) +% ISAMGUI MATLAB code for iSAMgui.fig +% ISAMGUI, by itself, creates a new ISAMGUI or raises the existing +% singleton*. +% +% H = ISAMGUI returns the handle to a new ISAMGUI or the handle to +% the existing singleton*. +% +% ISAMGUI('CALLBACK',hObject,eventData,handles,...) calls the local +% function named CALLBACK in ISAMGUI.M with the given input arguments. +% +% ISAMGUI('Property','Value',...) creates a new ISAMGUI or raises the +% existing singleton*. Starting from the left, property value pairs are +% applied to the GUI before iSAMgui_OpeningFcn gets called. An +% unrecognized property name or invalid value makes property application +% stop. All inputs are passed to iSAMgui_OpeningFcn via varargin. +% +% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one +% instance to run (singleton)". +% +% See also: GUIDE, GUIDATA, GUIHANDLES + +% Edit the above text to modify the response to help iSAMgui + +% Last Modified by GUIDE v2.5 07-Jun-2012 01:55:37 + +% Begin initialization code - DO NOT EDIT +gui_Singleton = 1; +gui_State = struct('gui_Name', mfilename, ... + 'gui_Singleton', gui_Singleton, ... + 'gui_OpeningFcn', @iSAMgui_OpeningFcn, ... + 'gui_OutputFcn', @iSAMgui_OutputFcn, ... + 'gui_LayoutFcn', [] , ... + 'gui_Callback', []); +if nargin && ischar(varargin{1}) + gui_State.gui_Callback = str2func(varargin{1}); +end + +if nargout + [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); +else + gui_mainfcn(gui_State, varargin{:}); +end +% End initialization code - DO NOT EDIT + +% --- Executes just before iSAMgui is made visible. +function iSAMgui_OpeningFcn(hObject, eventdata, handles, varargin) +% This function has no output args, see OutputFcn. +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +% varargin command line arguments to iSAMgui (see VARARGIN) + +% Choose default command line output for iSAMgui +handles.output = hObject; + +% Update handles structure +guidata(hObject, handles); + +% This sets up the initial plot - only do when we are invisible +% so window can get raised using iSAMgui. +if strcmp(get(hObject,'Visible'),'off') + plot(rand(5)); +end + +% UIWAIT makes iSAMgui wait for user response (see UIRESUME) +% uiwait(handles.figure1); + + +% --- Outputs from this function are returned to the command line. +function varargout = iSAMgui_OutputFcn(hObject, eventdata, handles) +% varargout cell array for returning output args (see VARARGOUT); +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Get default command line output from handles structure +varargout{1} = handles.output; + +% --- Executes on button press in pushbutton1. +function pushbutton1_Callback(hObject, eventdata, handles) +% hObject handle to pushbutton1 (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +axes(handles.axes1); +cla; + +popup_sel_index = get(handles.popupmenu1, 'Value'); +switch popup_sel_index + case 1 + plot(rand(5)); + case 2 + plot(sin(1:0.01:25.99)); + case 3 + bar(1:.5:10); + case 4 + plot(membrane); + case 5 + surf(peaks); +end + + +% -------------------------------------------------------------------- +function FileMenu_Callback(hObject, eventdata, handles) +% hObject handle to FileMenu (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + + +% -------------------------------------------------------------------- +function OpenMenuItem_Callback(hObject, eventdata, handles) +% hObject handle to OpenMenuItem (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +file = uigetfile('*.fig'); +if ~isequal(file, 0) + open(file); +end + +% -------------------------------------------------------------------- +function PrintMenuItem_Callback(hObject, eventdata, handles) +% hObject handle to PrintMenuItem (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +printdlg(handles.figure1) + +% -------------------------------------------------------------------- +function CloseMenuItem_Callback(hObject, eventdata, handles) +% hObject handle to CloseMenuItem (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +selection = questdlg(['Close ' get(handles.figure1,'Name') '?'],... + ['Close ' get(handles.figure1,'Name') '...'],... + 'Yes','No','Yes'); +if strcmp(selection,'No') + return; +end + +delete(handles.figure1) + + +% --- Executes on selection change in popupmenu1. +function popupmenu1_Callback(hObject, eventdata, handles) +% hObject handle to popupmenu1 (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: contents = get(hObject,'String') returns popupmenu1 contents as cell array +% contents{get(hObject,'Value')} returns selected item from popupmenu1 + + +% --- Executes during object creation, after setting all properties. +function popupmenu1_CreateFcn(hObject, eventdata, handles) +% hObject handle to popupmenu1 (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: popupmenu controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + +set(hObject, 'String', {'plot(rand(5))', 'plot(sin(1:0.01:25))', 'bar(1:.5:10)', 'plot(membrane)', 'surf(peaks)'}); + + +% --- Executes on button press in pushbutton4. +function pushbutton4_Callback(hObject, eventdata, handles) +% hObject handle to pushbutton4 (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) From b01ab6e64271172f31b5039d19ea3b46277f3993 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 13:16:49 +0000 Subject: [PATCH 237/914] Fixed compile error in saveGraph --- gtsam/inference/BayesTree-inl.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 9a6b1478e..0aefeaa19 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -81,9 +81,9 @@ namespace gtsam { string parent = out.str(); parent += "[label=\""; - BOOST_FOREACH(boost::shared_ptr c, clique->conditionals_) { + BOOST_FOREACH(Index index, clique->conditional_->frontals()) { if(!first) parent += ","; first = false; - parent += (string(c->key())).c_str(); + parent += (boost::format("%1%")%index).str();; } if( clique != root_){ @@ -92,7 +92,7 @@ namespace gtsam { } first = true; - BOOST_FOREACH(Index sep, clique->separator_) { + BOOST_FOREACH(Index sep, clique->conditional_->parents()) { if(!first) parent += ","; first = false; parent += (boost::format("%1%")%sep).str(); } From f8ce3a9c110a3d4be2d38fe9f40c1ee1fc45ee60 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 13:17:46 +0000 Subject: [PATCH 238/914] saveGraph --- gtsam.h | 4 +++- gtsam/nonlinear/NonlinearISAM-inl.h | 6 ++++++ gtsam/nonlinear/NonlinearISAM.h | 3 +++ 3 files changed, 12 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 9cfdab742..447b9f7ca 100644 --- a/gtsam.h +++ b/gtsam.h @@ -602,6 +602,7 @@ class GaussianFactorGraph { class GaussianISAM { GaussianISAM(); + void saveGraph(string s) const; gtsam::GaussianFactor* marginalFactor(size_t j) const; gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const; Matrix marginalCovariance(size_t key) const; @@ -933,11 +934,12 @@ class Graph { class ISAM { ISAM(); ISAM(int reorderInterval); + void print(string s) const; + void saveGraph(string s) const; visualSLAM::Values estimate() const; Matrix marginalCovariance(size_t key) const; int reorderInterval() const; int reorderCounter() const; - void print(string s) const; void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues); void reorder_relinearize(); void addKey(size_t key); diff --git a/gtsam/nonlinear/NonlinearISAM-inl.h b/gtsam/nonlinear/NonlinearISAM-inl.h index e054ecacb..55181731c 100644 --- a/gtsam/nonlinear/NonlinearISAM-inl.h +++ b/gtsam/nonlinear/NonlinearISAM-inl.h @@ -28,6 +28,12 @@ using namespace std; using namespace gtsam; +/* ************************************************************************* */ +template +void NonlinearISAM::saveGraph(const std::string& s) const { + isam_.saveGraph(s); +} + /* ************************************************************************* */ template void NonlinearISAM::update(const Factors& newFactors, diff --git a/gtsam/nonlinear/NonlinearISAM.h b/gtsam/nonlinear/NonlinearISAM.h index 16547770b..54dc92a23 100644 --- a/gtsam/nonlinear/NonlinearISAM.h +++ b/gtsam/nonlinear/NonlinearISAM.h @@ -93,6 +93,9 @@ public: /** prints out all contents of the system */ void print(const std::string& s="") const; + /** saves the Tree to a text file in GraphViz format */ + void saveGraph(const std::string& s) const; + /// @} /// @name Advanced Interface /// @{ From 39aec060aefe087818dcea73f6da63972d98c600 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 13:18:17 +0000 Subject: [PATCH 239/914] removed bind.h include --- gtsam/base/cholesky.cpp | 6 ++---- gtsam/linear/Errors.cpp | 2 -- gtsam/nonlinear/ISAM2-inl.h | 2 -- 3 files changed, 2 insertions(+), 8 deletions(-) diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 84c03f78b..2f93fc0fa 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -16,10 +16,6 @@ * @date Nov 5, 2010 */ -#include -#include -#include - #include #include #include @@ -27,6 +23,8 @@ #include #include +#include + using namespace std; namespace gtsam { diff --git a/gtsam/linear/Errors.cpp b/gtsam/linear/Errors.cpp index 71d0cc003..d3007350f 100644 --- a/gtsam/linear/Errors.cpp +++ b/gtsam/linear/Errors.cpp @@ -17,7 +17,6 @@ * @author Christian Potthast */ -#include #include #include @@ -56,7 +55,6 @@ struct equalsVector : public std::binary_function #include -#include - namespace gtsam { using namespace std; From bf21239e414e305a4f63c5dc25c5bf333f0f6194 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 14:29:18 +0000 Subject: [PATCH 240/914] printStats --- examples/matlab/VisualISAMExample.m | 4 ++++ gtsam.h | 1 + gtsam/nonlinear/NonlinearISAM-inl.h | 33 +++++++++++++++++++++-------- gtsam/nonlinear/NonlinearISAM.h | 3 +++ 4 files changed, 32 insertions(+), 9 deletions(-) diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m index e1116552d..0e338340c 100644 --- a/examples/matlab/VisualISAMExample.m +++ b/examples/matlab/VisualISAMExample.m @@ -26,6 +26,7 @@ ALWAYS_RELINEARIZE = false; %% Display Options SAVE_GRAPH = false; +PRINT_STATS = true; DRAW_INTERVAL = 20; CAMERA_INTERVAL = 1; DRAW_TRUE_POSES = false; @@ -140,6 +141,9 @@ for i=2:NCAMERAS if SAVE_GRAPH isam.saveGraph(sprintf('VisualiSAM.dot',i)); end + if PRINT_STATS + isam.printStats(); + end if mod(i,DRAW_INTERVAL)==0 %% Plot results tic diff --git a/gtsam.h b/gtsam.h index 447b9f7ca..0e2367cc6 100644 --- a/gtsam.h +++ b/gtsam.h @@ -935,6 +935,7 @@ class ISAM { ISAM(); ISAM(int reorderInterval); void print(string s) const; + void printStats() const; void saveGraph(string s) const; visualSLAM::Values estimate() const; Matrix marginalCovariance(size_t key) const; diff --git a/gtsam/nonlinear/NonlinearISAM-inl.h b/gtsam/nonlinear/NonlinearISAM-inl.h index 55181731c..ea62f1713 100644 --- a/gtsam/nonlinear/NonlinearISAM-inl.h +++ b/gtsam/nonlinear/NonlinearISAM-inl.h @@ -17,16 +17,15 @@ #pragma once -#include - -#include - #include #include #include -using namespace std; -using namespace gtsam; +#include + +#include + +namespace gtsam { /* ************************************************************************* */ template @@ -71,7 +70,7 @@ void NonlinearISAM::update(const Factors& newFactors, template void NonlinearISAM::reorder_relinearize() { -// cout << "Reordering, relinearizing..." << endl; +// std::cout << "Reordering, relinearizing..." << std::endl; if(factors_.size() > 0) { // Obtain the new linearization point @@ -112,10 +111,26 @@ Matrix NonlinearISAM::marginalCovariance(Key key) const { /* ************************************************************************* */ template void NonlinearISAM::print(const std::string& s) const { - cout << "ISAM - " << s << ":" << endl; - cout << " ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl; + std::cout << "ISAM - " << s << ":" << std::endl; + std::cout << " ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << std::endl; isam_.print("GaussianISAM"); linPoint_.print("Linearization Point"); ordering_.print("System Ordering"); factors_.print("Nonlinear Graph"); } + +/* ************************************************************************* */ +template +void NonlinearISAM::printStats() const { + gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData(); + gtsam::GaussianISAM::CliqueStats stats = data.getStats(); + std::cout << "\navg Conditional Size: " << stats.avgConditionalSize; + std::cout << "\nmax Conditional Size: " << stats.maxConditionalSize; + std::cout << "\navg Separator Size: " << stats.avgSeparatorSize; + std::cout << "\nmax Separator Size: " << stats.maxSeparatorSize; + std::cout << std::endl; +} + +/* ************************************************************************* */ + +}///\ namespace gtsam diff --git a/gtsam/nonlinear/NonlinearISAM.h b/gtsam/nonlinear/NonlinearISAM.h index 54dc92a23..145af7c17 100644 --- a/gtsam/nonlinear/NonlinearISAM.h +++ b/gtsam/nonlinear/NonlinearISAM.h @@ -93,6 +93,9 @@ public: /** prints out all contents of the system */ void print(const std::string& s="") const; + /** prints out clique statistics */ + void printStats() const; + /** saves the Tree to a text file in GraphViz format */ void saveGraph(const std::string& s) const; From e0686484b68e112b6b8cde0fa7e03b5642e49850 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 7 Jun 2012 14:53:39 +0000 Subject: [PATCH 241/914] fixed compile errors --- examples/VisualSLAMData.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h index 88fb576fe..1a55e1a26 100644 --- a/examples/VisualSLAMData.h +++ b/examples/VisualSLAMData.h @@ -66,8 +66,8 @@ struct VisualSLAMExampleData { double theta = 0.0; double r = 30.0; for (int i=0; i Date: Thu, 7 Jun 2012 15:45:29 +0000 Subject: [PATCH 242/914] Now installs matlab *.fig files with examples --- examples/CMakeLists.txt | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index c9b3e4d8b..9dada79bc 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -36,7 +36,10 @@ if (GTSAM_BUILD_WRAP) # Examples if (GTSAM_INSTALL_MATLAB_EXAMPLES) message(STATUS "Installing Matlab Toolbox Examples") - file(GLOB matlab_examples "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.m") + # Matlab files: *.m and *.fig + file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.m") + file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.fig") + set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) message(STATUS "Installing Matlab Toolbox Examples (Data)") From 674d8d51b3db1b62f731444b12c63e6c00222af2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 15:46:23 +0000 Subject: [PATCH 243/914] prototype to get Kyel started on Active Matching a la Chli --- gtsam/slam/tests/testVisualSLAM.cpp | 54 +++++++++++++++++------------ 1 file changed, 32 insertions(+), 22 deletions(-) diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index f09d5117a..d01d402ee 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -81,7 +81,7 @@ visualSLAM::Graph testGraph() { } /* ************************************************************************* */ -TEST( Graph, optimizeLM) +TEST( VisualSLAM, optimizeLM) { // build a graph visualSLAM::Graph graph(testGraph()); @@ -119,7 +119,7 @@ TEST( Graph, optimizeLM) /* ************************************************************************* */ -TEST( Graph, optimizeLM2) +TEST( VisualSLAM, optimizeLM2) { // build a graph visualSLAM::Graph graph(testGraph()); @@ -156,7 +156,7 @@ TEST( Graph, optimizeLM2) /* ************************************************************************* */ -TEST( Graph, CHECK_ORDERING) +TEST( VisualSLAM, CHECK_ORDERING) { // build a graph visualSLAM::Graph graph = testGraph(); @@ -188,28 +188,38 @@ TEST( Graph, CHECK_ORDERING) } /* ************************************************************************* */ -TEST( Values, update_with_large_delta) { - // this test ensures that if the update for delta is larger than - // the size of the config, it only updates existing variables - Values init; - init.insert(X(1), Pose3()); - init.insert(L(1), Point3(1.0, 2.0, 3.0)); +TEST( VisualSLAM, update_with_large_delta) { + // this test ensures that if the update for delta is larger than + // the size of the config, it only updates existing variables + Values init; + init.insert(X(1), Pose3()); + init.insert(L(1), Point3(1.0, 2.0, 3.0)); - Values expected; - expected.insert(X(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); - expected.insert(L(1), Point3(1.1, 2.1, 3.1)); + Values expected; + expected.insert(X(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); + expected.insert(L(1), Point3(1.1, 2.1, 3.1)); - Ordering largeOrdering; - Values largeValues = init; - largeValues.insert(X(2), Pose3()); - largeOrdering += X(1),L(1),X(2); - VectorValues delta(largeValues.dims(largeOrdering)); - delta[largeOrdering[X(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); - delta[largeOrdering[L(1)]] = Vector_(3, 0.1, 0.1, 0.1); - delta[largeOrdering[X(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); - Values actual = init.retract(delta, largeOrdering); + Ordering largeOrdering; + Values largeValues = init; + largeValues.insert(X(2), Pose3()); + largeOrdering += X(1),L(1),X(2); + VectorValues delta(largeValues.dims(largeOrdering)); + delta[largeOrdering[X(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); + delta[largeOrdering[L(1)]] = Vector_(3, 0.1, 0.1, 0.1); + delta[largeOrdering[X(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); + Values actual = init.retract(delta, largeOrdering); - CHECK(assert_equal(expected,actual)); + CHECK(assert_equal(expected,actual)); +} + +/* ************************************************************************* */ +TEST( VisualSLAM, dataAssociation) { + visualSLAM::ISAM isam; + // add two landmarks + // add two cameras and constraint and odometry +// std::pair actualJoint = isam.jointPrediction(); // 4*4 + // std::pair actualMarginals = isam.individualPredictions(); // 2 times 2*2 + // std::pair actualChowLiu = isam.chowLiuPredictions(); // 2 times 2*2 } /* ************************************************************************* */ From 288858d5f2dd37050bf3a93f439040737a09d86a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 16:12:41 +0000 Subject: [PATCH 244/914] Removed unnecessary extra compile flags --- gtsam/CMakeLists.txt | 8 -------- 1 file changed, 8 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 5ab49b632..eaf00d8d2 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -91,10 +91,6 @@ if (GTSAM_BUILD_STATIC_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) - if(MSVC) - set_target_properties(gtsam-static PROPERTIES - COMPILE_FLAGS "/MP") - endif() install(TARGETS gtsam-static ARCHIVE DESTINATION lib) endif (GTSAM_BUILD_STATIC_LIBRARY) @@ -107,10 +103,6 @@ if (GTSAM_BUILD_SHARED_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) - if(MSVC) - set_target_properties(gtsam-shared PROPERTIES - COMPILE_FLAGS "/MP") - endif() install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) endif(GTSAM_BUILD_SHARED_LIBRARY) From 97f52c564311c6a933ec73341c3fe11f6791273d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 16:12:55 +0000 Subject: [PATCH 245/914] Cleaned up boost bind dependency --- gtsam/inference/FactorGraph-inl.h | 12 +++++++----- gtsam/linear/JacobianFactor.cpp | 12 ++++++------ 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index ea92cb791..3451b6ed4 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -27,14 +27,12 @@ #include #include #include -#include #include #include #include #include #include -#include using namespace std; @@ -103,11 +101,15 @@ namespace gtsam { /* ************************************************************************* */ template typename DERIVED::shared_ptr Combine(const FactorGraph& factors, - const FastMap >& variableSlots) { + const FastMap >& variableSlots) { + typedef const pair > KeySlotPair; + // Local functional for getting keys out of key-value pairs + struct Local { static KEY FirstOf(const KeySlotPair& pr) { return pr.first; } }; + return typename DERIVED::shared_ptr(new DERIVED( - boost::make_transform_iterator(variableSlots.begin(), boost::bind(&KeySlotPair::first, _1)), - boost::make_transform_iterator(variableSlots.end(), boost::bind(&KeySlotPair::first, _1)))); + boost::make_transform_iterator(variableSlots.begin(), &Local::FirstOf), + boost::make_transform_iterator(variableSlots.end(), &Local::FirstOf))); } /* ************************************************************************* */ diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index b4d7016aa..677900b01 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -29,15 +29,16 @@ #include #include #include -#include -#include +#include +//#include +//#include #include #include #include using namespace std; -using namespace boost::lambda; +//using namespace boost::lambda; namespace gtsam { @@ -163,7 +164,7 @@ namespace gtsam { size_t maxrank; try { maxrank = choleskyCareful(matrix_).first; - } catch(const CarefulCholeskyNegativeMatrixException& e) { + } catch(const CarefulCholeskyNegativeMatrixException&) { cout << "Attempting to convert a HessianFactor to a JacobianFactor, but for this\n" "HessianFactor it is not possible because either the Hessian is negative or\n" @@ -494,8 +495,7 @@ namespace gtsam { size_t>& varDims, size_t m) { keys_.resize(variableSlots.size()); std::transform(variableSlots.begin(), variableSlots.end(), begin(), - boost::bind(&VariableSlots::const_iterator::value_type::first, - boost::lambda::_1)); + boost::bind(&VariableSlots::const_iterator::value_type::first, _1)); varDims.push_back(1); Ab_.copyStructureFrom(BlockAb(matrix_, varDims.begin(), varDims.end(), m)); firstNonzeroBlocks_.resize(m); From 8ba08135b2a853659781fd83e0c984401ed4f091 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 7 Jun 2012 16:12:57 +0000 Subject: [PATCH 246/914] Disambiguated sqrt function --- gtsam_unstable/discrete/CSP.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/discrete/CSP.cpp b/gtsam_unstable/discrete/CSP.cpp index bfbdf28cf..4a041c9b2 100644 --- a/gtsam_unstable/discrete/CSP.cpp +++ b/gtsam_unstable/discrete/CSP.cpp @@ -60,8 +60,8 @@ namespace gtsam { // TODO: Sudoku specific hack if (print) { if (cardinality == 9 && n == 81) { - for (size_t i = 0, v = 0; i < (size_t)sqrt(double(n)); i++) { - for (size_t j = 0; j < (size_t)sqrt(double(n)); j++, v++) { + for (size_t i = 0, v = 0; i < (size_t)std::sqrt((double)n); i++) { + for (size_t j = 0; j < (size_t)std::sqrt((double)n); j++, v++) { if (changed[v]) cout << "*"; domains[v].print(); cout << "\t"; From 8bfe8571bcd00d62c20cd5fc6d9a918c513e90dd Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 17:45:05 +0000 Subject: [PATCH 247/914] Removed template argument from NonlinearISAM, now just uses NonlinearFactorGraph --- ...{NonlinearISAM-inl.h => NonlinearISAM.cpp} | 29 +++++++------------ gtsam/nonlinear/NonlinearISAM.h | 12 ++------ gtsam/slam/visualSLAM.h | 2 +- tests/testNonlinearISAM.cpp | 2 +- 4 files changed, 16 insertions(+), 29 deletions(-) rename gtsam/nonlinear/{NonlinearISAM-inl.h => NonlinearISAM.cpp} (80%) diff --git a/gtsam/nonlinear/NonlinearISAM-inl.h b/gtsam/nonlinear/NonlinearISAM.cpp similarity index 80% rename from gtsam/nonlinear/NonlinearISAM-inl.h rename to gtsam/nonlinear/NonlinearISAM.cpp index ea62f1713..8c4424f05 100644 --- a/gtsam/nonlinear/NonlinearISAM-inl.h +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -15,7 +15,7 @@ * @author Viorela Ila and Richard Roberts */ -#pragma once +#include #include #include @@ -28,14 +28,12 @@ namespace gtsam { /* ************************************************************************* */ -template -void NonlinearISAM::saveGraph(const std::string& s) const { +void NonlinearISAM::saveGraph(const std::string& s) const { isam_.saveGraph(s); } /* ************************************************************************* */ -template -void NonlinearISAM::update(const Factors& newFactors, +void NonlinearISAM::update(const NonlinearFactorGraph& newFactors, const Values& initialValues) { if(newFactors.size() > 0) { @@ -54,12 +52,12 @@ void NonlinearISAM::update(const Factors& newFactors, // Augment ordering // FIXME: should just loop over new values - BOOST_FOREACH(const typename Factors::sharedFactor& factor, newFactors) + BOOST_FOREACH(const NonlinearFactorGraph::sharedFactor& factor, newFactors) BOOST_FOREACH(Key key, factor->keys()) ordering_.tryInsert(key, ordering_.nVars()); // will do nothing if already present boost::shared_ptr linearizedNewFactors( - newFactors.linearize(linPoint_, ordering_)->template dynamicCastFactors()); + newFactors.linearize(linPoint_, ordering_)->dynamicCastFactors()); // Update ISAM isam_.update(*linearizedNewFactors); @@ -67,8 +65,7 @@ void NonlinearISAM::update(const Factors& newFactors, } /* ************************************************************************* */ -template -void NonlinearISAM::reorder_relinearize() { +void NonlinearISAM::reorder_relinearize() { // std::cout << "Reordering, relinearizing..." << std::endl; @@ -83,7 +80,7 @@ void NonlinearISAM::reorder_relinearize() { // Create a linear factor graph at the new linearization point boost::shared_ptr gfg( - factors_.linearize(newLinPoint, ordering_)->template dynamicCastFactors()); + factors_.linearize(newLinPoint, ordering_)->dynamicCastFactors()); // Just recreate the whole BayesTree isam_.update(*gfg); @@ -94,8 +91,7 @@ void NonlinearISAM::reorder_relinearize() { } /* ************************************************************************* */ -template -Values NonlinearISAM::estimate() const { +Values NonlinearISAM::estimate() const { if(isam_.size() > 0) return linPoint_.retract(optimize(isam_), ordering_); else @@ -103,14 +99,12 @@ Values NonlinearISAM::estimate() const { } /* ************************************************************************* */ -template -Matrix NonlinearISAM::marginalCovariance(Key key) const { +Matrix NonlinearISAM::marginalCovariance(Key key) const { return isam_.marginalCovariance(ordering_[key]); } /* ************************************************************************* */ -template -void NonlinearISAM::print(const std::string& s) const { +void NonlinearISAM::print(const std::string& s) const { std::cout << "ISAM - " << s << ":" << std::endl; std::cout << " ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << std::endl; isam_.print("GaussianISAM"); @@ -120,8 +114,7 @@ void NonlinearISAM::print(const std::string& s) const { } /* ************************************************************************* */ -template -void NonlinearISAM::printStats() const { +void NonlinearISAM::printStats() const { gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData(); gtsam::GaussianISAM::CliqueStats stats = data.getStats(); std::cout << "\navg Conditional Size: " << stats.avgConditionalSize; diff --git a/gtsam/nonlinear/NonlinearISAM.h b/gtsam/nonlinear/NonlinearISAM.h index 145af7c17..d2ca75c42 100644 --- a/gtsam/nonlinear/NonlinearISAM.h +++ b/gtsam/nonlinear/NonlinearISAM.h @@ -24,12 +24,7 @@ namespace gtsam { /** * Wrapper class to manage ISAM in a nonlinear context */ -template class NonlinearISAM { -public: - - typedef GRAPH Factors; - protected: /** The internal iSAM object */ @@ -42,7 +37,7 @@ protected: gtsam::Ordering ordering_; /** The original factors, used when relinearizing */ - Factors factors_; + NonlinearFactorGraph factors_; /** The reordering interval and counter */ int reorderInterval_; @@ -84,7 +79,7 @@ public: const gtsam::Ordering& getOrdering() const { return ordering_; } /** get underlying nonlinear graph */ - const Factors& getFactorsUnsafe() const { return factors_; } + const NonlinearFactorGraph& getFactorsUnsafe() const { return factors_; } /** get counters */ int reorderInterval() const { return reorderInterval_; } /// diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 22e56b8a0..f1f5c3850 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -203,6 +203,6 @@ namespace visualSLAM { /** * Non-linear ISAM for vanilla incremental visual SLAM inference */ - typedef gtsam::NonlinearISAM ISAM; + typedef gtsam::NonlinearISAM ISAM; } // namespaces diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index 28926ff5d..f063f9c7d 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -13,7 +13,7 @@ using namespace gtsam; using namespace planarSLAM; -typedef NonlinearISAM<> PlanarISAM; +typedef NonlinearISAM PlanarISAM; const double tol=1e-5; From 2288a6bc1ff4a6d0eefc4f316b39c9a40fe1ba7e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 17:47:19 +0000 Subject: [PATCH 248/914] fixed compile error due to NonlinearISAM change --- examples/VisualISAMExample.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 38fe1dd35..c2f6f5d5b 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -35,7 +35,7 @@ int main(int argc, char* argv[]) { /* 1. Create a NonlinearISAM which will be relinearized and reordered after every "relinearizeInterval" updates */ int relinearizeInterval = 3; - NonlinearISAM<> isam(relinearizeInterval); + NonlinearISAM isam(relinearizeInterval); /* 2. At each frame (poseId) with new camera pose and set of associated measurements, * create a graph of new factors and update ISAM */ From 111ef8a0f001787f55292b8011da912dd061bff3 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 18:16:37 +0000 Subject: [PATCH 249/914] Moved LinearizedFactor from MastSLAM, started on a test for LinearContainerFactor --- .cproject | 8 + gtsam_unstable/CMakeLists.txt | 1 + gtsam_unstable/nonlinear/CMakeLists.txt | 25 +++ gtsam_unstable/nonlinear/LinearizedFactor.cpp | 147 ++++++++++++++++++ gtsam_unstable/nonlinear/LinearizedFactor.h | 122 +++++++++++++++ .../tests/testLinearContainerFactors.cpp | 22 +++ .../nonlinear/tests/testLinearizedFactor.cpp | 68 ++++++++ 7 files changed, 393 insertions(+) create mode 100644 gtsam_unstable/nonlinear/CMakeLists.txt create mode 100644 gtsam_unstable/nonlinear/LinearizedFactor.cpp create mode 100644 gtsam_unstable/nonlinear/LinearizedFactor.h create mode 100644 gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp create mode 100644 gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp diff --git a/.cproject b/.cproject index abe692394..36e736354 100644 --- a/.cproject +++ b/.cproject @@ -2114,6 +2114,14 @@ true true + + make + -j5 + check.nonlinear_unstable + true + true + true + make -j2 diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index f5cbf9ac6..679551dbe 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -5,6 +5,7 @@ set (gtsam_unstable_subdirs discrete dynamics linear + nonlinear slam ) diff --git a/gtsam_unstable/nonlinear/CMakeLists.txt b/gtsam_unstable/nonlinear/CMakeLists.txt new file mode 100644 index 000000000..a815e956d --- /dev/null +++ b/gtsam_unstable/nonlinear/CMakeLists.txt @@ -0,0 +1,25 @@ +# Install headers +file(GLOB nonlinear_headers "*.h") +install(FILES ${nonlinear_headers} DESTINATION include/gtsam_unstable/nonlinear) + +# Components to link tests in this subfolder against +set(nonlinear_local_libs + nonlinear_unstable + nonlinear + linear + inference + geometry + base + ccolamd +) + +set (nonlinear_full_libs + gtsam-static + gtsam_unstable-static) + +# Exclude tests that don't work +set (nonlinear_excluded_tests "") + +# Add all tests +gtsam_add_subdir_tests(nonlinear_unstable "${nonlinear_local_libs}" "${nonlinear_full_libs}" "${nonlinear_excluded_tests}") +add_dependencies(check.unstable check.nonlinear_unstable) diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.cpp b/gtsam_unstable/nonlinear/LinearizedFactor.cpp new file mode 100644 index 000000000..82e5c9eef --- /dev/null +++ b/gtsam_unstable/nonlinear/LinearizedFactor.cpp @@ -0,0 +1,147 @@ +/* ---------------------------------------------------------------------------- + + * 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 LinearizedFactor.cpp + * @brief A dummy factor that allows a linear factor to act as a nonlinear factor + * @author Alex Cunningham + */ + +#include +#include + +#include + +namespace gtsam { + +using namespace std; + +/* ************************************************************************* */ +LinearizedFactor::LinearizedFactor(JacobianFactor::shared_ptr lin_factor, + const KeyLookup& decoder, const Values& lin_points) +: Base(lin_factor->get_model()), b_(lin_factor->getb()), model_(lin_factor->get_model()) { + BOOST_FOREACH(const Index& idx, *lin_factor) { + // find full symbol + KeyLookup::const_iterator decode_it = decoder.find(idx); + if (decode_it == decoder.end()) + throw runtime_error("LinearizedFactor: could not find index in decoder!"); + Key key(decode_it->second); + + // extract linearization point + assert(lin_points.exists(key)); + this->lin_points_.insert(key, lin_points.at(key)); // NOTE: will not overwrite + + // extract Jacobian + Matrix A = lin_factor->getA(lin_factor->find(idx)); + this->matrices_.insert(std::make_pair(key, A)); + + // store keys + this->keys_.push_back(key); + } +} + +/* ************************************************************************* */ +LinearizedFactor::LinearizedFactor(JacobianFactor::shared_ptr lin_factor, + const Ordering& ordering, const Values& lin_points) +: Base(lin_factor->get_model()), b_(lin_factor->getb()), model_(lin_factor->get_model()) { + const KeyLookup decoder = ordering.invert(); + BOOST_FOREACH(const Index& idx, *lin_factor) { + // find full symbol + KeyLookup::const_iterator decode_it = decoder.find(idx); + if (decode_it == decoder.end()) + throw runtime_error("LinearizedFactor: could not find index in decoder!"); + Key key(decode_it->second); + + // extract linearization point + assert(lin_points.exists(key)); + this->lin_points_.insert(key, lin_points.at(key)); // NOTE: will not overwrite + + // extract Jacobian + Matrix A = lin_factor->getA(lin_factor->find(idx)); + this->matrices_.insert(std::make_pair(key, A)); + + // store keys + this->keys_.push_back(key); + } +} + +/* ************************************************************************* */ +Vector LinearizedFactor::unwhitenedError(const Values& c, + boost::optional&> H) const { + // extract the points in the new values + Vector ret = - b_; + + if (H) H->resize(this->size()); + size_t i=0; + BOOST_FOREACH(Key key, this->keys()) { + const Value& newPt = c.at(key); + const Value& linPt = lin_points_.at(key); + Vector d = linPt.localCoordinates_(newPt); + const Matrix& A = matrices_.at(key); + ret += A * d; + if (H) (*H)[i++] = A; + } + + return ret; +} + +/* ************************************************************************* */ +boost::shared_ptr +LinearizedFactor::linearize(const Values& c, const Ordering& ordering) const { + + // sort by varid - only known at linearization time + typedef std::map VarMatrixMap; + VarMatrixMap sorting_terms; + BOOST_FOREACH(const KeyMatrixMap::value_type& p, matrices_) + sorting_terms.insert(std::make_pair(ordering[p.first], p.second)); + + // move into terms + std::vector > terms; + BOOST_FOREACH(const VarMatrixMap::value_type& p, sorting_terms) + terms.push_back(p); + + // compute rhs: adjust current by whitened update + Vector b = unwhitenedError(c) + b_; // remove original b + this->noiseModel_->whitenInPlace(b); + + return boost::shared_ptr(new JacobianFactor(terms, b - b_, model_)); +} + +/* ************************************************************************* */ +void LinearizedFactor::print(const std::string& s, const KeyFormatter& keyFormatter) const { + this->noiseModel_->print(s + std::string(" model")); + BOOST_FOREACH(const KeyMatrixMap::value_type& p, matrices_) { + gtsam::print(p.second, keyFormatter(p.first)); + } + gtsam::print(b_, std::string("b")); + std::cout << " nonlinear keys: "; + BOOST_FOREACH(const Key& key, this->keys()) + cout << keyFormatter(key) << " "; + lin_points_.print("Linearization Point"); +} + +/* ************************************************************************* */ +bool LinearizedFactor::equals(const LinearizedFactor& other, double tol) const { + if (!Base::equals(other, tol) + || !lin_points_.equals(other.lin_points_, tol) + || !equal_with_abs_tol(b_, other.b_, tol) + || !model_->equals(*other.model_, tol) + || matrices_.size() != other.matrices_.size()) + return false; + + KeyMatrixMap::const_iterator map1 = matrices_.begin(), map2 = other.matrices_.begin(); + for (; map1 != matrices_.end(), map2 != other.matrices_.end(); ++map1, ++map2) + if ((map1->first != map2->first) || !equal_with_abs_tol(map1->second, map2->second, tol)) + return false; + return true; +} + +} // \namespace gtsam diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h new file mode 100644 index 000000000..3fa46701d --- /dev/null +++ b/gtsam_unstable/nonlinear/LinearizedFactor.h @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------------- + + * 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 LinearizedFactor.h + * @brief A dummy factor that allows a linear factor to act as a nonlinear factor + * @author Alex Cunningham + */ + +#pragma once + +#include +#include +#include + +namespace gtsam { + +/** + * A dummy factor that takes a linearized factor and inserts it into + * a nonlinear graph. + */ +class LinearizedFactor : public gtsam::NoiseModelFactor { + +public: + /** base type */ + typedef gtsam::NoiseModelFactor Base; + typedef LinearizedFactor This; + + /** shared pointer for convenience */ + typedef boost::shared_ptr shared_ptr; + + + /** decoder for keys - avoids the use of a full ordering */ + typedef gtsam::Ordering::InvertedMap KeyLookup; + +protected: + /** hold onto the factor itself */ + // store components of a jacobian factor + typedef std::map KeyMatrixMap; + KeyMatrixMap matrices_; + gtsam::Vector b_; + gtsam::SharedDiagonal model_; /// separate from the noisemodel in NonlinearFactor due to Diagonal/Gaussian + + /** linearization points for error calculation */ + gtsam::Values lin_points_; + + /** default constructor for serialization */ + LinearizedFactor() {} + +public: + + virtual ~LinearizedFactor() {} + + ADD_CLONE_NONLINEAR_FACTOR(This); + + /** + * Use this constructor with pre-constructed decoders + * @param lin_factor is a gaussian factor with linear keys (no labels baked in) + * @param decoder is a structure to look up the correct keys + * @param values is assumed to have the correct key structure with labels + */ + LinearizedFactor(gtsam::JacobianFactor::shared_ptr lin_factor, + const KeyLookup& decoder, const gtsam::Values& lin_points); + + /** + * Use this constructor with the ordering used to linearize the graph + * @param lin_factor is a gaussian factor with linear keys (no labels baked in) + * @param ordering is the full ordering used to linearize the graph + * @param values is assumed to have the correct key structure with labels + */ + LinearizedFactor(gtsam::JacobianFactor::shared_ptr lin_factor, + const gtsam::Ordering& ordering, const gtsam::Values& lin_points); + + /** Vector of errors, unwhitened, with optional derivatives (ordered by key) */ + virtual gtsam::Vector unwhitenedError(const gtsam::Values& c, + boost::optional&> H = boost::none) const; + + /** + * linearize to a GaussianFactor + * Reimplemented from NoiseModelFactor to directly copy out the + * matrices and only update the RHS b with an updated residual + */ + virtual boost::shared_ptr linearize( + const gtsam::Values& c, const gtsam::Ordering& ordering) const; + + // Testable + + /** print function */ + virtual void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + + /** equals function with optional tolerance */ + virtual bool equals(const LinearizedFactor& other, double tol = 1e-9) const; + + // access functions + + const gtsam::Vector& b() const { return b_; } + inline const gtsam::Values& linearizationPoint() const { return lin_points_; } + +private: + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(ARCHIVE & ar, const unsigned int version) { + ar & boost::serialization::make_nvp("NonlinearFactor", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(matrices_); + ar & BOOST_SERIALIZATION_NVP(b_); + ar & BOOST_SERIALIZATION_NVP(model_); + ar & BOOST_SERIALIZATION_NVP(lin_points_); + } +}; + +} // \namespace gtsam + diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp new file mode 100644 index 000000000..05fabc66a --- /dev/null +++ b/gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp @@ -0,0 +1,22 @@ +/** + * @file testLinearContainerFactors.cpp + * + * @brief Tests the use of nonlinear containers for simple integration of linear factors into nonlinear graphs + * + * @date Jun 7, 2012 + * @author Alex Cunningham + */ + +#include + + +/* ************************************************************************* */ +TEST( testLinearContainerFactors, jacobian_factor ) { + +// LinearContainerFactor actualLinFactor(); + +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ diff --git a/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp new file mode 100644 index 000000000..d15bcd150 --- /dev/null +++ b/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp @@ -0,0 +1,68 @@ +/** + * @file testLinearizedFactor + * @author Alex Cunningham + */ + +#include +#include +#include +#include + +#include + +using namespace std; +using namespace boost::assign; +using namespace gtsam; + +static const double tol = 1e-5; + +/* ************************************************************************* */ +TEST( testLinearizedFactor, creation ) { + // Create a set of local keys (No robot label) + Key l1 = 11, l2 = 12, + l3 = 13, l4 = 14, + l5 = 15, l6 = 16, + l7 = 17, l8 = 18; + + // creating an ordering to decode the linearized factor + Ordering ordering; + ordering += l1,l2,l3,l4,l5,l6,l7,l8; + + // create a decoder for only the relevant variables + LinearizedFactor::KeyLookup decoder; + decoder[2] = l3; + decoder[4] = l5; + + // create a linear factor + SharedDiagonal model = noiseModel::Unit::Create(2); + JacobianFactor::shared_ptr linear_factor(new JacobianFactor( + ordering[l3], eye(2,2), ordering[l5], 2.0 * eye(2,2), zero(2), model)); + + // create a set of values - build with full set of values + gtsam::Values full_values, exp_values; + full_values.insert(l3, Point2(1.0, 2.0)); + full_values.insert(l5, Point2(4.0, 3.0)); + exp_values = full_values; + full_values.insert(l1, Point2(3.0, 7.0)); + + // create the test LinearizedFactor + // This is called in the constructor of DDFSlot for each linear factor + LinearizedFactor actual1(linear_factor, decoder, full_values); + LinearizedFactor actual2(linear_factor, ordering, full_values); + + EXPECT(assert_equal(actual1, actual2, tol)); + + // Verify the keys + vector expKeys; + expKeys += l3, l5; + EXPECT(assert_container_equality(expKeys, actual1.keys())); + EXPECT(assert_container_equality(expKeys, actual2.keys())); + + // Verify subset of linearization points + EXPECT(assert_equal(exp_values, actual1.linearizationPoint(), tol)); + EXPECT(assert_equal(exp_values, actual2.linearizationPoint(), tol)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From 61c7e8760bc722d361fcbddfc7bda349e6dc86ee Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 18:48:40 +0000 Subject: [PATCH 250/914] Fixed linking problem with gtsam_unstable/nonlinear --- gtsam_unstable/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 679551dbe..70333099e 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -32,6 +32,7 @@ set(gtsam_unstable_srcs ${discrete_srcs} ${dynamics_srcs} ${linear_srcs} + ${nonlinear_srcs} ${slam_srcs} ) From d70622abe0e6849dc6a5bb110e0ae8bf2949b0a2 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 20:09:54 +0000 Subject: [PATCH 251/914] Rearranged matlab folders to avoid calling utility functions "examples" --- CMakeLists.txt | 3 ++ examples/CMakeLists.txt | 21 ---------- matlab/CMakeLists.txt | 37 ++++++++++++++++++ .../matlab => matlab}/covarianceEllipse.m | 0 .../matlab => matlab}/covarianceEllipse3D.m | 0 .../examples}/LocalizationExample.m | 0 .../examples}/PlanarSLAMExample.m | 0 .../examples}/PlanarSLAMExample_sampling.m | 0 .../examples}/Pose2SLAMExample.m | 0 .../examples}/Pose2SLAMExample_advanced.m | 0 .../examples}/Pose2SLAMExample_circle.m | 0 .../examples}/Pose2SLAMExample_graph.m | 0 .../examples}/Pose2SLAMwSPCG.m | 0 .../examples}/Pose3SLAMExample_circle.m | 0 .../examples}/Pose3SLAMExample_graph.m | 0 .../matlab => matlab/examples}/VO_Example.m | 0 .../examples}/VisualISAMExample.m | 0 .../examples}/VisualISAMExample_triangle.m | 0 .../examples}/VisualSLAMExample.m | 0 .../examples}/VisualSLAMExample_triangle.m | 0 {examples/matlab => matlab}/iSAMgui.fig | Bin {examples/matlab => matlab}/iSAMgui.m | 0 {examples/matlab => matlab}/load2D.m | 0 {examples/matlab => matlab}/load3D.m | 0 .../matlab => matlab}/plot3DTrajectory.m | 0 {examples/matlab => matlab}/plotCamera.m | 0 {examples/matlab => matlab}/plotPoint2.m | 0 {examples/matlab => matlab}/plotPose2.m | 0 {examples/matlab => matlab}/plotPose3.m | 0 {examples/matlab => matlab}/symbol.m | 0 {tests/matlab => matlab/tests}/CHECK.m | 0 {tests/matlab => matlab/tests}/EQUALITY.m | 0 .../tests}/testJacobianFactor.m | 0 .../tests}/testKalmanFilter.m | 0 {tests/matlab => matlab/tests}/test_gtsam.m | 0 tests/CMakeLists.txt | 12 ------ 36 files changed, 40 insertions(+), 33 deletions(-) create mode 100644 matlab/CMakeLists.txt rename {examples/matlab => matlab}/covarianceEllipse.m (100%) rename {examples/matlab => matlab}/covarianceEllipse3D.m (100%) rename {examples/matlab => matlab/examples}/LocalizationExample.m (100%) rename {examples/matlab => matlab/examples}/PlanarSLAMExample.m (100%) rename {examples/matlab => matlab/examples}/PlanarSLAMExample_sampling.m (100%) rename {examples/matlab => matlab/examples}/Pose2SLAMExample.m (100%) rename {examples/matlab => matlab/examples}/Pose2SLAMExample_advanced.m (100%) rename {examples/matlab => matlab/examples}/Pose2SLAMExample_circle.m (100%) rename {examples/matlab => matlab/examples}/Pose2SLAMExample_graph.m (100%) rename {examples/matlab => matlab/examples}/Pose2SLAMwSPCG.m (100%) rename {examples/matlab => matlab/examples}/Pose3SLAMExample_circle.m (100%) rename {examples/matlab => matlab/examples}/Pose3SLAMExample_graph.m (100%) rename {examples/matlab => matlab/examples}/VO_Example.m (100%) rename {examples/matlab => matlab/examples}/VisualISAMExample.m (100%) rename {examples/matlab => matlab/examples}/VisualISAMExample_triangle.m (100%) rename {examples/matlab => matlab/examples}/VisualSLAMExample.m (100%) rename {examples/matlab => matlab/examples}/VisualSLAMExample_triangle.m (100%) rename {examples/matlab => matlab}/iSAMgui.fig (100%) rename {examples/matlab => matlab}/iSAMgui.m (100%) rename {examples/matlab => matlab}/load2D.m (100%) rename {examples/matlab => matlab}/load3D.m (100%) rename {examples/matlab => matlab}/plot3DTrajectory.m (100%) rename {examples/matlab => matlab}/plotCamera.m (100%) rename {examples/matlab => matlab}/plotPoint2.m (100%) rename {examples/matlab => matlab}/plotPose2.m (100%) rename {examples/matlab => matlab}/plotPose3.m (100%) rename {examples/matlab => matlab}/symbol.m (100%) rename {tests/matlab => matlab/tests}/CHECK.m (100%) rename {tests/matlab => matlab/tests}/EQUALITY.m (100%) rename {tests/matlab => matlab/tests}/testJacobianFactor.m (100%) rename {tests/matlab => matlab/tests}/testKalmanFilter.m (100%) rename {tests/matlab => matlab/tests}/test_gtsam.m (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 25ca8d9e2..72270c712 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -131,6 +131,9 @@ if (GTSAM_BUILD_EXAMPLES) add_subdirectory(examples) endif(GTSAM_BUILD_EXAMPLES) +# Matlab toolbox +add_subdirectory(matlab) + # Build gtsam_unstable if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 9dada79bc..9f799d294 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -30,24 +30,3 @@ foreach(example_src ${example_srcs} ) endforeach(example_src) -# Install matlab components -if (GTSAM_BUILD_WRAP) - if (GTSAM_INSTALL_MATLAB_TOOLBOX) - # Examples - if (GTSAM_INSTALL_MATLAB_EXAMPLES) - message(STATUS "Installing Matlab Toolbox Examples") - # Matlab files: *.m and *.fig - file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.m") - file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/examples/matlab/*.fig") - set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) - install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) - - message(STATUS "Installing Matlab Toolbox Examples (Data)") - # Data files: *.graph and *.txt - file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") - file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") - set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) - install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) - endif (GTSAM_INSTALL_MATLAB_EXAMPLES) - endif (GTSAM_INSTALL_MATLAB_TOOLBOX) -endif () \ No newline at end of file diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt new file mode 100644 index 000000000..9d48a949f --- /dev/null +++ b/matlab/CMakeLists.txt @@ -0,0 +1,37 @@ +# Install matlab components +if (GTSAM_BUILD_WRAP) + if (GTSAM_INSTALL_MATLAB_TOOLBOX) + # Utility functions + message(STATUS "Installing Matlab Utility Functions") + # Matlab files: *.m and *.fig + file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m") + file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig") + set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig}) + install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam) + + # Tests + if (GTSAM_INSTALL_MATLAB_TESTS) + message(STATUS "Installing Matlab Toolbox Tests") + file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m") + install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) + endif () + + # Examples + if (GTSAM_INSTALL_MATLAB_EXAMPLES) + message(STATUS "Installing Matlab Toolbox Examples") + # Matlab files: *.m and *.fig + file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m") + file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig") + set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) + install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) + + message(STATUS "Installing Matlab Toolbox Examples (Data)") + # Data files: *.graph and *.txt + file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") + file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") + set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) + install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) + endif () + endif () +endif () + diff --git a/examples/matlab/covarianceEllipse.m b/matlab/covarianceEllipse.m similarity index 100% rename from examples/matlab/covarianceEllipse.m rename to matlab/covarianceEllipse.m diff --git a/examples/matlab/covarianceEllipse3D.m b/matlab/covarianceEllipse3D.m similarity index 100% rename from examples/matlab/covarianceEllipse3D.m rename to matlab/covarianceEllipse3D.m diff --git a/examples/matlab/LocalizationExample.m b/matlab/examples/LocalizationExample.m similarity index 100% rename from examples/matlab/LocalizationExample.m rename to matlab/examples/LocalizationExample.m diff --git a/examples/matlab/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m similarity index 100% rename from examples/matlab/PlanarSLAMExample.m rename to matlab/examples/PlanarSLAMExample.m diff --git a/examples/matlab/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m similarity index 100% rename from examples/matlab/PlanarSLAMExample_sampling.m rename to matlab/examples/PlanarSLAMExample_sampling.m diff --git a/examples/matlab/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m similarity index 100% rename from examples/matlab/Pose2SLAMExample.m rename to matlab/examples/Pose2SLAMExample.m diff --git a/examples/matlab/Pose2SLAMExample_advanced.m b/matlab/examples/Pose2SLAMExample_advanced.m similarity index 100% rename from examples/matlab/Pose2SLAMExample_advanced.m rename to matlab/examples/Pose2SLAMExample_advanced.m diff --git a/examples/matlab/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m similarity index 100% rename from examples/matlab/Pose2SLAMExample_circle.m rename to matlab/examples/Pose2SLAMExample_circle.m diff --git a/examples/matlab/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m similarity index 100% rename from examples/matlab/Pose2SLAMExample_graph.m rename to matlab/examples/Pose2SLAMExample_graph.m diff --git a/examples/matlab/Pose2SLAMwSPCG.m b/matlab/examples/Pose2SLAMwSPCG.m similarity index 100% rename from examples/matlab/Pose2SLAMwSPCG.m rename to matlab/examples/Pose2SLAMwSPCG.m diff --git a/examples/matlab/Pose3SLAMExample_circle.m b/matlab/examples/Pose3SLAMExample_circle.m similarity index 100% rename from examples/matlab/Pose3SLAMExample_circle.m rename to matlab/examples/Pose3SLAMExample_circle.m diff --git a/examples/matlab/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m similarity index 100% rename from examples/matlab/Pose3SLAMExample_graph.m rename to matlab/examples/Pose3SLAMExample_graph.m diff --git a/examples/matlab/VO_Example.m b/matlab/examples/VO_Example.m similarity index 100% rename from examples/matlab/VO_Example.m rename to matlab/examples/VO_Example.m diff --git a/examples/matlab/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m similarity index 100% rename from examples/matlab/VisualISAMExample.m rename to matlab/examples/VisualISAMExample.m diff --git a/examples/matlab/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m similarity index 100% rename from examples/matlab/VisualISAMExample_triangle.m rename to matlab/examples/VisualISAMExample_triangle.m diff --git a/examples/matlab/VisualSLAMExample.m b/matlab/examples/VisualSLAMExample.m similarity index 100% rename from examples/matlab/VisualSLAMExample.m rename to matlab/examples/VisualSLAMExample.m diff --git a/examples/matlab/VisualSLAMExample_triangle.m b/matlab/examples/VisualSLAMExample_triangle.m similarity index 100% rename from examples/matlab/VisualSLAMExample_triangle.m rename to matlab/examples/VisualSLAMExample_triangle.m diff --git a/examples/matlab/iSAMgui.fig b/matlab/iSAMgui.fig similarity index 100% rename from examples/matlab/iSAMgui.fig rename to matlab/iSAMgui.fig diff --git a/examples/matlab/iSAMgui.m b/matlab/iSAMgui.m similarity index 100% rename from examples/matlab/iSAMgui.m rename to matlab/iSAMgui.m diff --git a/examples/matlab/load2D.m b/matlab/load2D.m similarity index 100% rename from examples/matlab/load2D.m rename to matlab/load2D.m diff --git a/examples/matlab/load3D.m b/matlab/load3D.m similarity index 100% rename from examples/matlab/load3D.m rename to matlab/load3D.m diff --git a/examples/matlab/plot3DTrajectory.m b/matlab/plot3DTrajectory.m similarity index 100% rename from examples/matlab/plot3DTrajectory.m rename to matlab/plot3DTrajectory.m diff --git a/examples/matlab/plotCamera.m b/matlab/plotCamera.m similarity index 100% rename from examples/matlab/plotCamera.m rename to matlab/plotCamera.m diff --git a/examples/matlab/plotPoint2.m b/matlab/plotPoint2.m similarity index 100% rename from examples/matlab/plotPoint2.m rename to matlab/plotPoint2.m diff --git a/examples/matlab/plotPose2.m b/matlab/plotPose2.m similarity index 100% rename from examples/matlab/plotPose2.m rename to matlab/plotPose2.m diff --git a/examples/matlab/plotPose3.m b/matlab/plotPose3.m similarity index 100% rename from examples/matlab/plotPose3.m rename to matlab/plotPose3.m diff --git a/examples/matlab/symbol.m b/matlab/symbol.m similarity index 100% rename from examples/matlab/symbol.m rename to matlab/symbol.m diff --git a/tests/matlab/CHECK.m b/matlab/tests/CHECK.m similarity index 100% rename from tests/matlab/CHECK.m rename to matlab/tests/CHECK.m diff --git a/tests/matlab/EQUALITY.m b/matlab/tests/EQUALITY.m similarity index 100% rename from tests/matlab/EQUALITY.m rename to matlab/tests/EQUALITY.m diff --git a/tests/matlab/testJacobianFactor.m b/matlab/tests/testJacobianFactor.m similarity index 100% rename from tests/matlab/testJacobianFactor.m rename to matlab/tests/testJacobianFactor.m diff --git a/tests/matlab/testKalmanFilter.m b/matlab/tests/testKalmanFilter.m similarity index 100% rename from tests/matlab/testKalmanFilter.m rename to matlab/tests/testKalmanFilter.m diff --git a/tests/matlab/test_gtsam.m b/matlab/tests/test_gtsam.m similarity index 100% rename from tests/matlab/test_gtsam.m rename to matlab/tests/test_gtsam.m diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index ef9660c90..4d29dd557 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -40,15 +40,3 @@ if (GTSAM_BUILD_TIMING) "${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists ${is_test}) endif (GTSAM_BUILD_TIMING) - -# Install matlab components -if (GTSAM_BUILD_WRAP) - if (GTSAM_INSTALL_MATLAB_TOOLBOX) - # Tests - if (GTSAM_INSTALL_MATLAB_TESTS) - message(STATUS "Installing Matlab Toolbox Tests") - file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/tests/matlab/*.m") - install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) - endif () - endif () -endif () \ No newline at end of file From 1a2be371fe33589effba1c173167fc3ad651fb73 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 20:30:19 +0000 Subject: [PATCH 252/914] Removed empty folders From 14c38918c05835035dff2321211ecb3d4d45fa0c Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 7 Jun 2012 20:42:13 +0000 Subject: [PATCH 253/914] Store flags for the library targets --- gtsam/CMakeLists.txt | 4 ++++ gtsam_unstable/CMakeLists.txt | 1 + 2 files changed, 5 insertions(+) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index eaf00d8d2..ac4cd8fe2 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -92,6 +92,7 @@ if (GTSAM_BUILD_STATIC_LIBRARY) VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) install(TARGETS gtsam-static ARCHIVE DESTINATION lib) + set(gtsam-lib "gtsam-static") endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) @@ -104,6 +105,9 @@ if (GTSAM_BUILD_SHARED_LIBRARY) VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) + if (NOT GTSAM_BUILD_STATIC_LIBRARY) + set(gtsam-lib "gtsam-shared") + endif() endif(GTSAM_BUILD_SHARED_LIBRARY) # Create the matlab toolbox for the gtsam library diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 70333099e..7a7af3232 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -53,6 +53,7 @@ set_target_properties(gtsam_unstable-static PROPERTIES VERSION ${gtsam_unstable_version} SOVERSION ${gtsam_unstable_soversion}) target_link_libraries(gtsam_unstable-static gtsam-static) +set(gtsam_unstable-lib "gtsam_unstable-static") install(TARGETS gtsam_unstable-static ARCHIVE DESTINATION lib) if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) From 922822d0b97525ec92b8faf99194692ca3a4f315 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 21:52:15 +0000 Subject: [PATCH 254/914] updated paths --- matlab/examples/Pose2SLAMExample_graph.m | 2 +- matlab/examples/Pose3SLAMExample_graph.m | 8 ++++---- matlab/examples/VO_Example.m | 6 +++--- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index 5564ef30e..7a8644432 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -12,7 +12,7 @@ %% Initialize graph, initial estimate, and odometry noise model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); -[graph,initial]=load2D('../Data/w100-odom.graph',model); +[graph,initial]=load2D('../../examples/Data/w100-odom.graph',model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m index 115e4341c..acaf2c920 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/examples/Pose3SLAMExample_graph.m @@ -11,13 +11,13 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% N = 2500; -% filename = '../Data/sphere_smallnoise.graph'; -% filename = '../Data/sphere2500_groundtruth.txt'; -filename = '../Data/sphere2500.txt'; +% filename = '../../examples/Data/sphere_smallnoise.graph'; +% filename = '../../examples/Data/sphere2500_groundtruth.txt'; +filename = '../../examples/Data/sphere2500.txt'; %% Initialize graph, initial estimate, and odometry noise -[graph,initial]=load3D(filename,model,true,N); model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +[graph,initial]=load3D(filename,model,true,N); %% Plot Initial Estimate figure(1);clf diff --git a/matlab/examples/VO_Example.m b/matlab/examples/VO_Example.m index fa1512e00..1b2db3bf3 100644 --- a/matlab/examples/VO_Example.m +++ b/matlab/examples/VO_Example.m @@ -12,7 +12,7 @@ %% Load calibration % format: fx fy skew cx cy baseline -calib = dlmread('../Data/VO_calibration.txt'); +calib = dlmread('../../examples/Data/VO_calibration.txt'); K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); @@ -24,7 +24,7 @@ initial = visualSLAMValues; %% load the initial poses from VO % row format: camera_id 4x4 pose (row, major) fprintf(1,'Reading data\n'); -cameras = dlmread('../Data/VO_camera_poses.txt'); +cameras = dlmread('../../examples/Data/VO_camera_poses.txt'); for i=1:size(cameras,1) pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); initial.insertPose(symbol('x',cameras(i,1)),pose); @@ -32,7 +32,7 @@ end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z -measurements = dlmread('../Data/VO_stereo_factors.txt'); +measurements = dlmread('../../examples/Data/VO_stereo_factors.txt'); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) From b55e2919c32294dd28edec53f6672909153480bb Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 7 Jun 2012 21:52:37 +0000 Subject: [PATCH 255/914] formatting/comments only --- gtsam/geometry/Cal3_S2.cpp | 8 ++++-- gtsam/geometry/Cal3_S2.h | 4 +-- gtsam/geometry/PinholeCamera.h | 52 +++++++++++++++++----------------- 3 files changed, 33 insertions(+), 31 deletions(-) diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp index 709e03493..88115929a 100644 --- a/gtsam/geometry/Cal3_S2.cpp +++ b/gtsam/geometry/Cal3_S2.cpp @@ -15,12 +15,12 @@ * @author Frank Dellaert */ +#include + #include #include #include -#include - namespace gtsam { using namespace std; @@ -51,7 +51,11 @@ namespace gtsam { } /* ************************************************************************* */ + void Cal3_S2::print(const std::string& s) const { + gtsam::print(matrix(), s); + } + /* ************************************************************************* */ bool Cal3_S2::equals(const Cal3_S2& K, double tol) const { if (fabs(fx_ - K.fx_) > tol) return false; if (fabs(fy_ - K.fy_) > tol) return false; diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 12838b667..9d6cb4fbf 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -75,9 +75,7 @@ namespace gtsam { /// @{ /// print with optional string - void print(const std::string& s = "") const { - gtsam::print(matrix(), s); - } + void print(const std::string& s = "Cal3_S2") const; /// Check if equal up to specified tolerance bool equals(const Cal3_S2& K, double tol = 10e-9) const; diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 7dec508e0..a267a20b0 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -40,7 +40,7 @@ namespace gtsam { class PinholeCamera : public DerivedValue > { private: Pose3 pose_; - Calibration k_; + Calibration K_; public: @@ -54,10 +54,10 @@ namespace gtsam { explicit PinholeCamera(const Pose3& pose):pose_(pose){} /** constructor with pose and calibration */ - PinholeCamera(const Pose3& pose, const Calibration& k):pose_(pose),k_(k) {} + PinholeCamera(const Pose3& pose, const Calibration& k):pose_(pose),K_(k) {} /** alternative constructor with pose and calibration */ - PinholeCamera(const Calibration& k, const Pose3& pose):pose_(pose),k_(k) {} + PinholeCamera(const Calibration& k, const Pose3& pose):pose_(pose),K_(k) {} /// @} /// @name Advanced Constructors @@ -66,11 +66,11 @@ namespace gtsam { explicit PinholeCamera(const Vector &v){ pose_ = Pose3::Expmap(v.head(Pose3::Dim())); if ( v.size() > Pose3::Dim()) { - k_ = Calibration(v.tail(Calibration::Dim())); + K_ = Calibration(v.tail(Calibration::Dim())); } } - PinholeCamera(const Vector &v, const Vector &k) : pose_(Pose3::Expmap(v)),k_(k){} + PinholeCamera(const Vector &v, const Vector &k) : pose_(Pose3::Expmap(v)),K_(k){} /// @} /// @name Standard Interface @@ -85,19 +85,19 @@ namespace gtsam { inline const Pose3& pose() const { return pose_; } /// return calibration - inline Calibration& calibration() { return k_; } + inline Calibration& calibration() { return K_; } /// return calibration - inline const Calibration& calibration() const { return k_; } + inline const Calibration& calibration() const { return K_; } /// compose two cameras inline const PinholeCamera compose(const Pose3 &c) const { - return PinholeCamera( pose_ * c, k_ ) ; + return PinholeCamera( pose_ * c, K_ ) ; } /// inverse inline const PinholeCamera inverse() const { - return PinholeCamera( pose_.inverse(), k_ ) ; + return PinholeCamera( pose_.inverse(), K_ ) ; } /// @} @@ -107,13 +107,13 @@ namespace gtsam { /// assert equality up to a tolerance bool equals (const PinholeCamera &camera, double tol = 1e-9) const { return pose_.equals(camera.pose(), tol) && - k_.equals(camera.calibration(), tol) ; + K_.equals(camera.calibration(), tol) ; } /// print - void print(const std::string& s = "") const { - pose_.print("pose3"); - k_.print("calibration"); + void print(const std::string& s = "PinholeCamera") const { + pose_.print(s+".pose"); + K_.print(s+".calibration"); } /// @} @@ -138,7 +138,7 @@ namespace gtsam { } /// Lie group dimensionality - inline size_t dim() const { return pose_.dim() + k_.dim(); } + inline size_t dim() const { return pose_.dim() + K_.dim(); } /// Lie group dimensionality inline static size_t Dim() { return Pose3::Dim() + Calibration::Dim(); } @@ -202,7 +202,7 @@ namespace gtsam { inline std::pair projectSafe(const Point3& pw) const { const Point3 pc = pose_.transform_to(pw) ; const Point2 pn = project_to_camera(pc) ; - return std::make_pair(k_.uncalibrate(pn), pc.z()>0); + return std::make_pair(K_.uncalibrate(pn), pc.z()>0); } /** project a point from world coordinate to the image @@ -220,7 +220,7 @@ namespace gtsam { const Point3 pc = pose_.transform_to(pw) ; if ( pc.z() <= 0 ) throw CheiralityException(); const Point2 pn = project_to_camera(pc) ; - return k_.uncalibrate(pn); + return K_.uncalibrate(pn); } // world to camera coordinate @@ -234,7 +234,7 @@ namespace gtsam { // uncalibration Matrix Hk, Hi; // 2*2 - const Point2 pi = k_.uncalibrate(pn, Hk, Hi); + const Point2 pi = K_.uncalibrate(pn, Hk, Hi); // chain the jacobian matrices const Matrix tmp = Hi*Hn ; @@ -257,7 +257,7 @@ namespace gtsam { const Point3 pc = pose_.transform_to(pw) ; if ( pc.z() <= 0 ) throw CheiralityException(); const Point2 pn = project_to_camera(pc) ; - return k_.uncalibrate(pn); + return K_.uncalibrate(pn); } Matrix Htmp1, Htmp2, Htmp3; @@ -276,7 +276,7 @@ namespace gtsam { */ inline Point3 backproject(const Point2& pi, double scale) const { - const Point2 pn = k_.calibrate(pi); + const Point2 pn = K_.calibrate(pi); const Point3 pc(pn.x()*scale, pn.y()*scale, scale); return pose_.transform_from(pc); } @@ -297,8 +297,8 @@ namespace gtsam { if(H1) { // Add columns of zeros to Jacobian for calibration Matrix& H1r(*H1); - H1r.conservativeResize(Eigen::NoChange, pose_.dim() + k_.dim()); - H1r.block(0, pose_.dim(), 1, k_.dim()) = Matrix::Zero(1, k_.dim()); + H1r.conservativeResize(Eigen::NoChange, pose_.dim() + K_.dim()); + H1r.block(0, pose_.dim(), 1, K_.dim()) = Matrix::Zero(1, K_.dim()); } return result; } @@ -315,8 +315,8 @@ namespace gtsam { if(H1) { // Add columns of zeros to Jacobian for calibration Matrix& H1r(*H1); - H1r.conservativeResize(Eigen::NoChange, pose_.dim() + k_.dim()); - H1r.block(0, pose_.dim(), 1, k_.dim()) = Matrix::Zero(1, k_.dim()); + H1r.conservativeResize(Eigen::NoChange, pose_.dim() + K_.dim()); + H1r.block(0, pose_.dim(), 1, K_.dim()) = Matrix::Zero(1, K_.dim()); } return result; } @@ -334,8 +334,8 @@ namespace gtsam { if(H1) { // Add columns of zeros to Jacobian for calibration Matrix& H1r(*H1); - H1r.conservativeResize(Eigen::NoChange, pose_.dim() + k_.dim()); - H1r.block(0, pose_.dim(), 1, k_.dim()) = Matrix::Zero(1, k_.dim()); + H1r.conservativeResize(Eigen::NoChange, pose_.dim() + K_.dim()); + H1r.block(0, pose_.dim(), 1, K_.dim()) = Matrix::Zero(1, K_.dim()); } if(H2) { // Add columns of zeros to Jacobian for calibration @@ -368,7 +368,7 @@ private: void serialize(Archive & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Value); ar & BOOST_SERIALIZATION_NVP(pose_); - ar & BOOST_SERIALIZATION_NVP(k_); + ar & BOOST_SERIALIZATION_NVP(K_); } /// @} }; From 9771f0ccc9c2402d00c66dc109a526e55807a7a9 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Thu, 7 Jun 2012 22:10:52 +0000 Subject: [PATCH 256/914] Minor Documentation Fix --- gtsam/discrete/Potentials.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h index d8c5d9c3b..fe22288f4 100644 --- a/gtsam/discrete/Potentials.h +++ b/gtsam/discrete/Potentials.h @@ -69,7 +69,7 @@ namespace gtsam { size_t cardinality(Index j) const { return cardinalities_.at(j);} - /* + /** * @brief Permutes the keys in Potentials * * This permutes the Indices and performs necessary re-ordering of ADD. From b2f2db4fdd992cb4f510d6c10ee0c6f9bc712a90 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Thu, 7 Jun 2012 22:13:51 +0000 Subject: [PATCH 257/914] j2 not supported by mex in GTSAM_BUILD_MEX_BINARY_FLAGS --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 72270c712..8daa00fce 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -67,7 +67,7 @@ set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTR # Flags for building/installing mex files option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF) option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF) -set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") +set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running make on toolbox MEX files") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") # Flags for choosing default packaging tools From 22b1002703d928f110b7c07a70bc1d444ea771d9 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Thu, 7 Jun 2012 22:14:03 +0000 Subject: [PATCH 258/914] New test for DiscreteMarginals --- gtsam/discrete/Assignment.h | 4 +- gtsam/discrete/DiscreteMarginals.h | 2 - .../discrete/tests/testDiscreteMarginals.cpp | 43 +++++++++++++++++++ 3 files changed, 45 insertions(+), 4 deletions(-) diff --git a/gtsam/discrete/Assignment.h b/gtsam/discrete/Assignment.h index 06e2ac137..2e84485dd 100644 --- a/gtsam/discrete/Assignment.h +++ b/gtsam/discrete/Assignment.h @@ -29,7 +29,7 @@ namespace gtsam { * Assigns to each label a value. Implemented as a simple map. * A discrete factor takes an Assignment and returns a value. */ - template + template class Assignment: public std::map { public: void print(const std::string& s = "Assignment: ") const { @@ -42,6 +42,6 @@ namespace gtsam { bool equals(const Assignment& other, double tol = 1e-9) const { return (*this == other); } - }; + }; //Assignment } // namespace gtsam diff --git a/gtsam/discrete/DiscreteMarginals.h b/gtsam/discrete/DiscreteMarginals.h index 99176e58c..fdc3398da 100644 --- a/gtsam/discrete/DiscreteMarginals.h +++ b/gtsam/discrete/DiscreteMarginals.h @@ -44,8 +44,6 @@ namespace gtsam { typedef JunctionTree DiscreteJT; GenericMultifrontalSolver solver(graph); bayesTree_ = *solver.eliminate(&EliminateDiscrete); - //bayesTree_.print(); - cout << "Discrete Marginal Constructor Finished" << endl; } /** Compute the marginal of a single variable */ diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp index 1b5963864..ad35e131e 100644 --- a/gtsam/discrete/tests/testDiscreteMarginals.cpp +++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp @@ -51,6 +51,49 @@ TEST_UNSAFE( DiscreteMarginals, UGM_small ) { Vector actualCvector = marginals.marginalProbabilities(Cathy); EXPECT(assert_equal(Vector_(2, 0.359631, 0.640369), actualCvector, 1e-6)); + + actualCvector = marginals.marginalProbabilities(Mark); + EXPECT(assert_equal(Vector_(2, 0.48628, 0.51372), actualCvector, 1e-6)); +} + +TEST_UNSAFE( DiscreteMarginals, UGM_chain ) { + + const int nrNodes = 10; + const size_t nrStates = 7; + + // define variables + vector nodes; + for (int i = 0; i < nrNodes; i++) { + DiscreteKey dk(i, nrStates); + nodes.push_back(dk); + } + + // create graph + DiscreteFactorGraph graph; + + // add node potentials + graph.add(nodes[0], ".3 .6 .1 0 0 0 0"); + for (int i = 1; i < nrNodes; i++) + graph.add(nodes[i], "1 1 1 1 1 1 1"); + + const std::string edgePotential = ".08 .9 .01 0 0 0 .01 " + ".03 .95 .01 0 0 0 .01 " + ".06 .06 .75 .05 .05 .02 .01 " + "0 0 0 .3 .6 .09 .01 " + "0 0 0 .02 .95 .02 .01 " + "0 0 0 .01 .01 .97 .01 " + "0 0 0 0 0 0 1"; + + // add edge potentials + for (int i = 0; i < nrNodes - 1; i++) + graph.add(nodes[i] & nodes[i + 1], edgePotential); + + DiscreteMarginals marginals(graph); + DiscreteFactor::shared_ptr actualC = marginals(nodes[2].first); + DiscreteFactor::Values values; + + values[nodes[2].first] = 0; + EXPECT_DOUBLES_EQUAL( 0.03426, (*actualC)(values), 1e-4); } /* ************************************************************************* */ From 4213c5d4fd8098a2c1117b030f5a1258d1d5f8d4 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Thu, 7 Jun 2012 22:15:13 +0000 Subject: [PATCH 259/914] GTSAM_BUILD_MEX_BINARY_FLAGS now included in mexFlags for wrap. useful for debug flags --- gtsam/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index ac4cd8fe2..d81cee87d 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -128,7 +128,7 @@ if (GTSAM_BUILD_WRAP) endif() # Generate, build and install toolbox - set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") + set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") # Macro to handle details of setting up targets wrap_library(gtsam "${mexFlags}" "../") From b5ea7e1ba04f979b041ad7ffe9df4d142b38b4c2 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Thu, 7 Jun 2012 22:54:47 +0000 Subject: [PATCH 260/914] Fixes to DiscreteConditional --- gtsam/discrete/DiscreteConditional.cpp | 9 ++++++++- gtsam/discrete/DiscreteConditional.h | 5 +++++ 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index ca8f13ca3..f9d3823d6 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -192,7 +192,14 @@ namespace gtsam { return sampled; return 0; - } + } + + /* ******************************************************************************** */ + void DiscreteConditional::permuteWithInverse(const Permutation& inversePermutation){ + IndexConditional::permuteWithInverse(inversePermutation); + Potentials::permute(inversePermutation); + } + /* ******************************************************************************** */ diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index f6603c195..6c724bf7f 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -111,6 +111,11 @@ namespace gtsam { /// sample in place, stores result in partial solution void sampleInPlace(Values& parentsValues) const; + /** + * Permutes both IndexConditional and Potentials. + */ + void permuteWithInverse(const Permutation& inversePermutation); + /// @} }; From b9927a1b7ee99fa25e048cb5d99db5246478e76e Mon Sep 17 00:00:00 2001 From: Summit Patel Date: Thu, 7 Jun 2012 23:08:43 +0000 Subject: [PATCH 261/914] Fixed Doxygen warnings. --- gtsam/base/LieScalar.h | 2 +- gtsam/base/LieVector.h | 2 +- gtsam/base/Matrix.h | 10 +++--- gtsam/base/TestableAssertions.h | 2 +- gtsam/base/Vector.h | 32 +++++++++---------- gtsam/discrete/DiscreteConditional.h | 4 +-- gtsam/discrete/DiscreteMarginals.h | 2 +- gtsam/geometry/Rot2.h | 2 +- gtsam/geometry/Rot3.h | 2 +- gtsam/inference/EliminationTree.h | 2 +- gtsam/inference/Factor.h | 2 +- gtsam/inference/FactorGraph.h | 4 +-- gtsam/linear/GaussianFactorGraph.h | 6 ++-- gtsam/linear/GaussianMultifrontalSolver.h | 2 +- gtsam/linear/GaussianSequentialSolver.h | 2 +- gtsam/linear/HessianFactor.h | 4 +-- gtsam/linear/JacobianFactorGraph.cpp | 2 +- gtsam/linear/JacobianFactorGraph.h | 2 +- gtsam/linear/VectorValues.h | 6 ++-- gtsam/nonlinear/DoglegOptimizer.cpp | 2 +- gtsam/nonlinear/DoglegOptimizer.h | 2 +- gtsam/nonlinear/DoglegOptimizerImpl.h | 12 +++---- gtsam/nonlinear/GaussNewtonOptimizer.cpp | 2 +- gtsam/nonlinear/GaussNewtonOptimizer.h | 2 +- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 2 +- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 2 +- gtsam/nonlinear/NonlinearOptimizer.h | 2 +- 27 files changed, 58 insertions(+), 58 deletions(-) diff --git a/gtsam/base/LieScalar.h b/gtsam/base/LieScalar.h index 505f06921..3b9c7037a 100644 --- a/gtsam/base/LieScalar.h +++ b/gtsam/base/LieScalar.h @@ -36,7 +36,7 @@ namespace gtsam { /** access the underlying value */ double value() const { return d_; } - /** print @param s optional string naming the object */ + /** print @param name optional string naming the object */ inline void print(const std::string& name="") const { std::cout << name << ": " << d_ << std::endl; } diff --git a/gtsam/base/LieVector.h b/gtsam/base/LieVector.h index 82455e173..ef31e93cc 100644 --- a/gtsam/base/LieVector.h +++ b/gtsam/base/LieVector.h @@ -52,7 +52,7 @@ struct LieVector : public Vector, public DerivedValue { return static_cast(*this); } - /** print @param s optional string naming the object */ + /** print @param name optional string naming the object */ inline void print(const std::string& name="") const { gtsam::print(vector(), name); } diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 553fb5b89..adb4ee36b 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -217,8 +217,8 @@ void insertSub(Matrix& fullMatrix, const Matrix& subMatrix, size_t i, size_t j); /** * Extracts a column view from a matrix that avoids a copy - * @param matrix to extract column from - * @param index of the column + * @param A matrix to extract column from + * @param j index of the column * @return a const view of the matrix */ template @@ -228,8 +228,8 @@ const typename MATRIX::ConstColXpr column(const MATRIX& A, size_t j) { /** * Extracts a row view from a matrix that avoids a copy - * @param matrix to extract row from - * @param index of the row + * @param A matrix to extract row from + * @param j index of the row * @return a const view of the matrix */ template @@ -362,7 +362,7 @@ Vector backSubstituteUpper(const Vector& b, const Matrix& U, bool unit=false); * @param unit, set true if unit triangular * @return the solution x of L*x=b */ -Vector backSubstituteLower(const Matrix& L, const Vector& d, bool unit=false); +Vector backSubstituteLower(const Matrix& L, const Vector& b, bool unit=false); /** * create a matrix by stacking other matrices diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index dad1c6d20..10daafbb4 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -81,7 +81,7 @@ bool assert_equal(const V& expected, const boost::optional& actual, do /** * Version of assert_equals to work with vectors - * @DEPRECIATED: use container equals instead + * \deprecated: use container equals instead */ template bool assert_equal(const std::vector& expected, const std::vector& actual, double tol = 1e-9) { diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h index 6019bbd33..0de7f519a 100644 --- a/gtsam/base/Vector.h +++ b/gtsam/base/Vector.h @@ -73,8 +73,8 @@ Vector Vector_(const std::vector& data); /** * Create vector initialized to a constant value - * @param size - * @param constant value + * @param n is the size of the vector + * @param value is a constant value to insert into the vector */ Vector repeat(size_t n, double value); @@ -82,7 +82,7 @@ Vector repeat(size_t n, double value); * Create basis vector of dimension n, * with a constant in spot i * @param n is the size of the vector - * @param index of the one + * @param i index of the one * @param value is the value to insert into the vector * @return delta vector */ @@ -92,20 +92,20 @@ Vector delta(size_t n, size_t i, double value); * Create basis vector of dimension n, * with one in spot i * @param n is the size of the vector - * @param index of the one + * @param i index of the one * @return basis vector */ inline Vector basis(size_t n, size_t i) { return delta(n, i, 1.0); } /** * Create zero vector - * @param size + * @param n size */ inline Vector zero(size_t n) { return Vector::Zero(n);} /** * Create vector initialized to ones - * @param size + * @param n size */ inline Vector ones(size_t n) { return Vector::Ones(n); } @@ -249,35 +249,35 @@ double sum(const Vector &a); /** * Calculates L2 norm for a vector * modeled after boost.ublas for compatibility - * @param vector + * @param v vector * @return the L2 norm */ double norm_2(const Vector& v); /** - * elementwise reciprocal of vector elements + * Elementwise reciprocal of vector elements * @param a vector * @return [1/a(i)] */ Vector reciprocal(const Vector &a); /** - * elementwise sqrt of vector elements - * @param a vector + * Elementwise sqrt of vector elements + * @param v is a vector * @return [sqrt(a(i))] */ Vector esqrt(const Vector& v); /** - * absolut values of vector elements - * @param a vector + * Absolute values of vector elements + * @param v is a vector * @return [abs(a(i))] */ Vector abs(const Vector& v); /** - * return the max element of a vector - * @param a vector + * Return the max element of a vector + * @param a is a vector * @return max(a) */ double max(const Vector &a); @@ -300,13 +300,13 @@ inline double inner_prod(const V1 &a, const V2& b) { /** * BLAS Level 1 scal: x <- alpha*x - * @DEPRECIATED: use operators instead + * \deprecated: use operators instead */ inline void scal(double alpha, Vector& x) { x *= alpha; } /** * BLAS Level 1 axpy: y <- alpha*x + y - * @DEPRECIATED: use operators instead + * \deprecated: use operators instead */ template inline void axpy(double alpha, const V1& x, V2& y) { diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 6c724bf7f..c95cc36d6 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -89,14 +89,14 @@ namespace gtsam { /** * solve a conditional - * @param parentsAssignment Known values of the parents + * @param parentsValues Known values of the parents * @return MPE value of the child (1 frontal variable). */ size_t solve(const Values& parentsValues) const; /** * sample - * @param parentsAssignment Known values of the parents + * @param parentsValues Known values of the parents * @return sample from conditional */ size_t sample(const Values& parentsValues) const; diff --git a/gtsam/discrete/DiscreteMarginals.h b/gtsam/discrete/DiscreteMarginals.h index fdc3398da..1e89286a8 100644 --- a/gtsam/discrete/DiscreteMarginals.h +++ b/gtsam/discrete/DiscreteMarginals.h @@ -55,7 +55,7 @@ namespace gtsam { } /** Compute the marginal of a single variable - * @param KEY DiscreteKey of the Variable + * @param key DiscreteKey of the Variable * @return Vector of marginal probabilities */ Vector marginalProbabilities(const DiscreteKey& key) const { diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h index 9528934a0..d0f3e4c14 100644 --- a/gtsam/geometry/Rot2.h +++ b/gtsam/geometry/Rot2.h @@ -83,7 +83,7 @@ namespace gtsam { /** * Named constructor with derivative * Calculate relative bearing to a landmark in local coordinate frame - * @param point 2D location of landmark + * @param d 2D location of landmark * @param H optional reference for Jacobian * @return 2D rotation \in SO(2) */ diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index 0c6b31a81..c0fbfc999 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -394,7 +394,7 @@ namespace gtsam { * such that A = R*Q = R*Qz'*Qy'*Qx'. When A is a rotation matrix, R will * be the identity and Q is a yaw-pitch-roll decomposition of A. * The implementation uses Givens rotations and is based on Hartley-Zisserman. - * @param a 3 by 3 matrix A=RQ + * @param A 3 by 3 matrix A=RQ * @return an upper triangular matrix R * @return a vector [thetax, thetay, thetaz] in radians. */ diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 0b01f0586..eb45deaf0 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -157,7 +157,7 @@ public: * disconnected graphs, a workaround is to create zero-information factors to * bridge the disconnects. To do this, create any factor type (e.g. * BetweenFactor or RangeFactor) with the noise model - * \ref sharedPrecision(dim, 0.0), where \c dim is the appropriate + * sharedPrecision(dim, 0.0), where \c dim is the appropriate * dimensionality for that factor. */ struct DisconnectedGraphException : public std::exception { diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 87c1f3860..b73eff9d0 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -45,7 +45,7 @@ template class Conditional; * typedefs to refer to the associated conditional and shared_ptr types of the * derived class. See IndexFactor, JacobianFactor, etc. for examples. * - * This class is \bold{not} virtual for performance reasons - derived symbolic classes, + * This class is \b not virtual for performance reasons - derived symbolic classes, * IndexFactor and IndexConditional, need to be created and destroyed quickly * during symbolic elimination. GaussianFactor and NonlinearFactor are virtual. * \nosubgrouping diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 33cdd02a1..90e9e8a1f 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -245,8 +245,8 @@ template class BayesTree; /** * static function that combines two factor graphs - * @param const &fg1 Linear factor graph - * @param const &fg2 Linear factor graph + * @param fg1 Linear factor graph + * @param fg2 Linear factor graph * @return a new combined factor graph */ template diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 8a5fe47e7..07c2e94ad 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -151,9 +151,9 @@ namespace gtsam { } /** - * static function that combines two factor graphs - * @param const &lfg1 Linear factor graph - * @param const &lfg2 Linear factor graph + * Static function that combines two factor graphs. + * @param lfg1 Linear factor graph + * @param lfg2 Linear factor graph * @return a new combined factor graph */ static GaussianFactorGraph combine2(const GaussianFactorGraph& lfg1, diff --git a/gtsam/linear/GaussianMultifrontalSolver.h b/gtsam/linear/GaussianMultifrontalSolver.h index 6adde1aa5..a38bb3161 100644 --- a/gtsam/linear/GaussianMultifrontalSolver.h +++ b/gtsam/linear/GaussianMultifrontalSolver.h @@ -116,7 +116,7 @@ public: * all of the other variables. This function returns the result as a mean * vector and covariance matrix. Compared to marginalCanonical, which * returns a GaussianConditional, this function back-substitutes the R factor - * to obtain the mean, then computes \Sigma = (R^T * R)^-1. + * to obtain the mean, then computes \f$ \Sigma = (R^T * R)^{-1} \f$. */ Matrix marginalCovariance(Index j) const; diff --git a/gtsam/linear/GaussianSequentialSolver.h b/gtsam/linear/GaussianSequentialSolver.h index 36e93bcf4..8fd8e2dbb 100644 --- a/gtsam/linear/GaussianSequentialSolver.h +++ b/gtsam/linear/GaussianSequentialSolver.h @@ -115,7 +115,7 @@ public: * all of the other variables. This function returns the result as a mean * vector and covariance matrix. Compared to marginalCanonical, which * returns a GaussianConditional, this function back-substitutes the R factor - * to obtain the mean, then computes \Sigma = (R^T * R)^-1. + * to obtain the mean, then computes \f$ \Sigma = (R^T * R)^{-1} \f$. */ Matrix marginalCovariance(Index j) const; diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index d9da6e472..5bbee3708 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -237,7 +237,7 @@ namespace gtsam { /** Return the number of columns and rows of the Hessian matrix */ size_t rows() const { return info_.rows(); } - /** Return a view of the block at (j1,j2) of the upper-triangular part of the + /** Return a view of the block at (j1,j2) of the upper-triangular part of the * information matrix \f$ H \f$, no data is copied. See HessianFactor class documentation * above to explain that only the upper-triangular part of the information matrix is stored * and returned by this function. @@ -249,7 +249,7 @@ namespace gtsam { */ constBlock info(const_iterator j1, const_iterator j2) const { return info_(j1-begin(), j2-begin()); } - /** Return the upper-triangular part of the full *augmented* information matrix, + /** Return the upper-triangular part of the full *augmented* information matrix, * as described above. See HessianFactor class documentation above to explain that only the * upper-triangular part of the information matrix is stored and returned by this function. */ diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp index 835783d4a..b02375a79 100644 --- a/gtsam/linear/JacobianFactorGraph.cpp +++ b/gtsam/linear/JacobianFactorGraph.cpp @@ -1,7 +1,7 @@ /** * @file JacobianFactorGraph.h * @date Jun 6, 2012 - * @Author Yong Dian Jian + * @author Yong Dian Jian */ #include diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h index f5e78810a..8d240c00e 100644 --- a/gtsam/linear/JacobianFactorGraph.h +++ b/gtsam/linear/JacobianFactorGraph.h @@ -13,7 +13,7 @@ * @file JacobianFactorGraph.cpp * @date Jun 6, 2012 * @brief Linear Algebra Operations for a JacobianFactorGraph - * @Author Yong Dian Jian + * @author Yong Dian Jian */ #pragma once diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 7939b486d..f3ef57418 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -147,7 +147,7 @@ namespace gtsam { /** Insert a vector \c value with index \c j. * Causes reallocation. Can be used to insert values in any order, but - * throws an invalid_argument exception if the index \j is already used. + * throws an invalid_argument exception if the index \c j is already used. * @param value The vector to be inserted. * @param j The index with which the value will be associated. */ @@ -171,10 +171,10 @@ namespace gtsam { /** equals required by Testable for unit testing */ bool equals(const VectorValues& x, double tol = 1e-9) const; - /// @} + /// @{ /// \anchor AdvancedConstructors /// @name Advanced Constructors - /// @{ + /// @} /** Construct from a container of variable dimensions (in variable order), without initializing any values. */ template diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp index 3edb35a76..b0ee9f460 100644 --- a/gtsam/nonlinear/DoglegOptimizer.cpp +++ b/gtsam/nonlinear/DoglegOptimizer.cpp @@ -13,7 +13,7 @@ * @file DoglegOptimizer.cpp * @brief * @author Richard Roberts - * @created Feb 26, 2012 + * @date Feb 26, 2012 */ #include diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index 7edb43ca9..c8ac636cf 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -13,7 +13,7 @@ * @file DoglegOptimizer.h * @brief * @author Richard Roberts - * @created Feb 26, 2012 + * @date Feb 26, 2012 */ #pragma once diff --git a/gtsam/nonlinear/DoglegOptimizerImpl.h b/gtsam/nonlinear/DoglegOptimizerImpl.h index 03951babf..737aa2f66 100644 --- a/gtsam/nonlinear/DoglegOptimizerImpl.h +++ b/gtsam/nonlinear/DoglegOptimizerImpl.h @@ -72,7 +72,7 @@ struct DoglegOptimizerImpl { * * The update is computed using a quadratic approximation \f$ M(\delta x) \f$ * of an original nonlinear error function (a NonlinearFactorGraph) \f$ f(x) \f$. - * The quadratic approximation is represented as a GaussianBayesNet \bayesNet, which is + * The quadratic approximation is represented as a GaussianBayesNet \f$ \bayesNet \f$, which is * obtained by eliminating a GaussianFactorGraph resulting from linearizing * the nonlinear factor graph \f$ f(x) \f$. Thus, \f$ M(\delta x) \f$ is * \f[ @@ -93,8 +93,8 @@ struct DoglegOptimizerImpl { * @param Rd The Bayes' net or tree as described above. * @param f The original nonlinear factor graph with which to evaluate the * accuracy of \f$ M(\delta x) \f$ to adjust \f$ \Delta \f$. - * @param x0 The linearization point about which \bayesNet was created - * @param ordering The variable ordering used to create \bayesNet + * @param x0 The linearization point about which \f$ \bayesNet \f$ was created + * @param ordering The variable ordering used to create\f$ \bayesNet \f$ * @param f_error The result of f.error(x0). * @return A DoglegIterationResult containing the new \c Delta, the linear * update \c dx_d, and the resulting nonlinear error \c f_error. @@ -111,7 +111,7 @@ struct DoglegOptimizerImpl { * * The update is computed using a quadratic approximation \f$ M(\delta x) \f$ * of an original nonlinear error function (a NonlinearFactorGraph) \f$ f(x) \f$. - * The quadratic approximation is represented as a GaussianBayesNet \bayesNet, which is + * The quadratic approximation is represented as a GaussianBayesNet \f$ \bayesNet \f$, which is * obtained by eliminating a GaussianFactorGraph resulting from linearizing * the nonlinear factor graph \f$ f(x) \f$. Thus, \f$ M(\delta x) \f$ is * \f[ @@ -134,8 +134,8 @@ struct DoglegOptimizerImpl { * \f$ \| (1-\tau)\delta x_u + \tau\delta x_n \| = \Delta \f$, where \f$ \Delta \f$ * is the trust region radius. * @param Delta Trust region radius - * @param xu Steepest descent minimizer - * @param xn Newton's method minimizer + * @param x_u Steepest descent minimizer + * @param x_n Newton's method minimizer */ static VectorValues ComputeBlend(double Delta, const VectorValues& x_u, const VectorValues& x_n, const bool verbose=false); }; diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp index c81369299..c447a39e3 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp +++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp @@ -13,7 +13,7 @@ * @file GaussNewtonOptimizer.cpp * @brief * @author Richard Roberts - * @created Feb 26, 2012 + * @date Feb 26, 2012 */ #include diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h index 39b64b667..217b6e618 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.h +++ b/gtsam/nonlinear/GaussNewtonOptimizer.h @@ -13,7 +13,7 @@ * @file GaussNewtonOptimizer.h * @brief * @author Richard Roberts - * @created Feb 26, 2012 + * @date Feb 26, 2012 */ #pragma once diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index af44eee93..9a5897b41 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -13,7 +13,7 @@ * @file LevenbergMarquardtOptimizer.cpp * @brief * @author Richard Roberts - * @created Feb 26, 2012 + * @date Feb 26, 2012 */ #include diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index c1fe55c26..aae8e45cc 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -13,7 +13,7 @@ * @file LevenbergMarquardtOptimizer.h * @brief * @author Richard Roberts - * @created Feb 26, 2012 + * @date Feb 26, 2012 */ #pragma once diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h index 388058ac0..2483aa800 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.h +++ b/gtsam/nonlinear/NonlinearOptimizer.h @@ -229,7 +229,7 @@ protected: }; /** Check whether the relative error decrease is less than relativeErrorTreshold, - * the absolute error decrease is less than absoluteErrorTreshold, or + * the absolute error decrease is less than absoluteErrorTreshold, or * the error itself is less than errorThreshold. */ bool checkConvergence(double relativeErrorTreshold, From bd8a3b8e9a82ce5dd8c93e8042aa31a8b7f70740 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Thu, 7 Jun 2012 23:20:40 +0000 Subject: [PATCH 262/914] UGM_chain now uses DiscreteMarginals instead of DiscreteSequentialSolver --- examples/UGM_chain.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/examples/UGM_chain.cpp b/examples/UGM_chain.cpp index 61eb0d3a0..5d8e5a841 100644 --- a/examples/UGM_chain.cpp +++ b/examples/UGM_chain.cpp @@ -21,6 +21,7 @@ #include #include +#include #include @@ -74,11 +75,15 @@ int main(int argc, char** argv) { optimalDecoding->print("\nMost Probable Explanation (optimalDecoding)\n"); // "Inference" Computing marginals for each node + // Here we'll make use of DiscreteMarginals class, which makes use of + // bayes-tree based shortcut evaluation of marginals + DiscreteMarginals marginals(graph); + cout << "\nComputing Node Marginals .." << endl; for (vector::iterator itr = nodes.begin(); itr != nodes.end(); ++itr) { //Compute the marginal - Vector margProbs = solver.marginalProbabilities(*itr); + Vector margProbs = marginals.marginalProbabilities(*itr); //Print the marginals cout << "Node#" << setw(4) << itr->first << " : "; From 6fe2b77a25b3358bba657c70bb0e102a9d8f8a84 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Fri, 8 Jun 2012 00:18:32 +0000 Subject: [PATCH 263/914] In the middle of evaluating performance of DiscreteSequentialSolver vs DiscreteMarginals --- examples/UGM_chain.cpp | 24 +++++++++++++++++++++--- 1 file changed, 21 insertions(+), 3 deletions(-) diff --git a/examples/UGM_chain.cpp b/examples/UGM_chain.cpp index 5d8e5a841..e7f408cb0 100644 --- a/examples/UGM_chain.cpp +++ b/examples/UGM_chain.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include @@ -31,7 +32,7 @@ using namespace gtsam; int main(int argc, char** argv) { // Set Number of Nodes in the Graph - const int nrNodes = 50; + const int nrNodes = 60; // Each node takes 1 of 7 possible states denoted by 0-6 in following order: // ["VideoGames" "Industry" "GradSchool" "VideoGames(with PhD)" @@ -75,11 +76,27 @@ int main(int argc, char** argv) { optimalDecoding->print("\nMost Probable Explanation (optimalDecoding)\n"); // "Inference" Computing marginals for each node + + + cout << "\nComputing Node Marginals ..(Sequential Elimination)" << endl; + tic_(1, "Sequential"); + for (vector::iterator itr = nodes.begin(); itr != nodes.end(); + ++itr) { + //Compute the marginal + Vector margProbs = solver.marginalProbabilities(*itr); + + //Print the marginals + cout << "Node#" << setw(4) << itr->first << " : "; + print(margProbs); + } + toc_(1, "Sequential"); + // Here we'll make use of DiscreteMarginals class, which makes use of // bayes-tree based shortcut evaluation of marginals DiscreteMarginals marginals(graph); - cout << "\nComputing Node Marginals .." << endl; + cout << "\nComputing Node Marginals ..(BayesTree based)" << endl; + tic_(2, "Multifrontal"); for (vector::iterator itr = nodes.begin(); itr != nodes.end(); ++itr) { //Compute the marginal @@ -88,9 +105,10 @@ int main(int argc, char** argv) { //Print the marginals cout << "Node#" << setw(4) << itr->first << " : "; print(margProbs); - cout << endl; } + toc_(2, "Multifrontal"); + tictoc_print_(); return 0; } From be0346ab87ea8ea0bb59950641c0657592986c3d Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Fri, 8 Jun 2012 03:02:04 +0000 Subject: [PATCH 264/914] resurrect deleted spcg files --- gtsam/linear/SubgraphPreconditioner.cpp | 150 ++++++++++++++++++++++++ gtsam/linear/SubgraphPreconditioner.h | 116 ++++++++++++++++++ gtsam/linear/SubgraphSolver-inl.h | 82 +++++++++++++ gtsam/linear/SubgraphSolver.cpp | 50 ++++++++ gtsam/linear/SubgraphSolver.h | 100 ++++++++++++++++ 5 files changed, 498 insertions(+) create mode 100644 gtsam/linear/SubgraphPreconditioner.cpp create mode 100644 gtsam/linear/SubgraphPreconditioner.h create mode 100644 gtsam/linear/SubgraphSolver-inl.h create mode 100644 gtsam/linear/SubgraphSolver.cpp create mode 100644 gtsam/linear/SubgraphSolver.h diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp new file mode 100644 index 000000000..cce8eea9d --- /dev/null +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -0,0 +1,150 @@ +///* ---------------------------------------------------------------------------- +// +// * 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 SubgraphPreconditioner.cpp +// * @date Dec 31, 2009 +// * @author: Frank Dellaert +// */ +// +//#include +//#include +//#include +//#include +// +//using namespace std; +// +//namespace gtsam { +// +// /* ************************************************************************* */ +// SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, +// const sharedBayesNet& Rc1, const sharedValues& xbar) : +// Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(gaussianErrors_(*Ab2_,*xbar)) { +// } +// +// /* ************************************************************************* */ +// // x = xbar + inv(R1)*y +// VectorValues SubgraphPreconditioner::x(const VectorValues& y) const { +//#ifdef VECTORBTREE +// if (!y.cloned(*xbar_)) throw +// invalid_argument("SubgraphPreconditioner::x: y needs to be cloned from xbar"); +//#endif +// VectorValues x = y; +// backSubstituteInPlace(*Rc1_,x); +// x += *xbar_; +// return x; +// } +// +//// SubgraphPreconditioner SubgraphPreconditioner::add_priors(double sigma) const { +//// SubgraphPreconditioner result = *this ; +//// result.Ab2_ = sharedFG(new GaussianFactorGraph(Ab2_->add_priors(sigma))) ; +//// return result ; +//// } +// +// /* ************************************************************************* */ +// double error(const SubgraphPreconditioner& sp, const VectorValues& y) { +// +// Errors e(y); +// VectorValues x = sp.x(y); +// Errors e2 = gaussianErrors(*sp.Ab2(),x); +// return 0.5 * (dot(e, e) + dot(e2,e2)); +// } +// +// /* ************************************************************************* */ +// // gradient is y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar), +// VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y) { +// VectorValues x = sp.x(y); // x = inv(R1)*y +// Errors e2 = gaussianErrors(*sp.Ab2(),x); +// VectorValues gx2 = VectorValues::Zero(y); +// gtsam::transposeMultiplyAdd(*sp.Ab2(),1.0,e2,gx2); // A2'*e2; +// VectorValues gy2 = gtsam::backSubstituteTranspose(*sp.Rc1(), gx2); // inv(R1')*gx2 +// return y + gy2; +// } +// +// /* ************************************************************************* */ +// // Apply operator A, A*y = [I;A2*inv(R1)]*y = [y; A2*inv(R1)*y] +// Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y) { +// +// Errors e(y); +// +// // Add A2 contribution +// VectorValues x = y; // TODO avoid ? +// gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y +// Errors e2 = *sp.Ab2() * x; // A2*x +// e.splice(e.end(), e2); +// +// return e; +// } +// +// /* ************************************************************************* */ +// // In-place version that overwrites e +// void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e) { +// +// +// Errors::iterator ei = e.begin(); +// for ( Index i = 0 ; i < y.size() ; ++i, ++ei ) { +// *ei = y[i]; +// } +// +// // Add A2 contribution +// VectorValues x = y; // TODO avoid ? +// gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y +// gtsam::multiplyInPlace(*sp.Ab2(),x,ei); // use iterator version +// } +// +// /* ************************************************************************* */ +// // Apply operator A', A'*e = [I inv(R1')*A2']*e = e1 + inv(R1')*A2'*e2 +// VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e) { +// +// Errors::const_iterator it = e.begin(); +// VectorValues y = sp.zero(); +// for ( Index i = 0 ; i < y.size() ; ++i, ++it ) +// y[i] = *it ; +// sp.transposeMultiplyAdd2(1.0,it,e.end(),y); +// return y; +// } +// +// /* ************************************************************************* */ +// // y += alpha*A'*e +// void transposeMultiplyAdd +// (const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y) { +// +// +// Errors::const_iterator it = e.begin(); +// for ( Index i = 0 ; i < y.size() ; ++i, ++it ) { +// const Vector& ei = *it; +// axpy(alpha,ei,y[i]); +// } +// sp.transposeMultiplyAdd2(alpha,it,e.end(),y); +// } +// +// /* ************************************************************************* */ +// // y += alpha*inv(R1')*A2'*e2 +// void SubgraphPreconditioner::transposeMultiplyAdd2 (double alpha, +// Errors::const_iterator it, Errors::const_iterator end, VectorValues& y) const { +// +// // create e2 with what's left of e +// // TODO can we avoid creating e2 by passing iterator to transposeMultiplyAdd ? +// Errors e2; +// while (it != end) +// e2.push_back(*(it++)); +// +// VectorValues x = VectorValues::Zero(y); // x = 0 +// gtsam::transposeMultiplyAdd(*Ab2_,1.0,e2,x); // x += A2'*e2 +// axpy(alpha, gtsam::backSubstituteTranspose(*Rc1_, x), y); // y += alpha*inv(R1')*x +// } +// +// /* ************************************************************************* */ +// void SubgraphPreconditioner::print(const std::string& s) const { +// cout << s << endl; +// Ab2_->print(); +// } +//} // nsamespace gtsam diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h new file mode 100644 index 000000000..2cc760bfa --- /dev/null +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -0,0 +1,116 @@ +///* ---------------------------------------------------------------------------- +// +// * 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 SubgraphPreconditioner.h +// * @date Dec 31, 2009 +// * @author Frank Dellaert +// */ +// +//#pragma once +// +//#include +//#include +//#include // FIXME shouldn't have nonlinear things in linear +// +//namespace gtsam { +// +// /** +// * Subgraph conditioner class, as explained in the RSS 2010 submission. +// * Starting with a graph A*x=b, we split it in two systems A1*x=b1 and A2*x=b2 +// * We solve R1*x=c1, and make the substitution y=R1*x-c1. +// * To use the class, give the Bayes Net R1*x=c1 and Graph A2*x=b2. +// * Then solve for yhat using CG, and solve for xhat = system.x(yhat). +// */ +// class SubgraphPreconditioner { +// +// public: +// typedef boost::shared_ptr sharedBayesNet; +// typedef boost::shared_ptr > sharedFG; +// typedef boost::shared_ptr sharedValues; +// typedef boost::shared_ptr sharedErrors; +// +// private: +// sharedFG Ab1_, Ab2_; +// sharedBayesNet Rc1_; +// sharedValues xbar_; +// sharedErrors b2bar_; /** b2 - A2*xbar */ +// +// public: +// +// SubgraphPreconditioner(); +// /** +// * Constructor +// * @param Ab1: the Graph A1*x=b1 +// * @param Ab2: the Graph A2*x=b2 +// * @param Rc1: the Bayes Net R1*x=c1 +// * @param xbar: the solution to R1*x=c1 +// */ +// SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar); +// +// /** Access Ab1 */ +// const sharedFG& Ab1() const { return Ab1_; } +// +// /** Access Ab2 */ +// const sharedFG& Ab2() const { return Ab2_; } +// +// /** Access Rc1 */ +// const sharedBayesNet& Rc1() const { return Rc1_; } +// +// /** +// * Add zero-mean i.i.d. Gaussian prior terms to each variable +// * @param sigma Standard deviation of Gaussian +// */ +//// SubgraphPreconditioner add_priors(double sigma) const; +// +// /* x = xbar + inv(R1)*y */ +// VectorValues x(const VectorValues& y) const; +// +// /* A zero VectorValues with the structure of xbar */ +// VectorValues zero() const { +// VectorValues V(VectorValues::Zero(*xbar_)) ; +// return V ; +// } +// +// /** +// * Add constraint part of the error only, used in both calls above +// * y += alpha*inv(R1')*A2'*e2 +// * Takes a range indicating e2 !!!! +// */ +// void transposeMultiplyAdd2(double alpha, Errors::const_iterator begin, +// Errors::const_iterator end, VectorValues& y) const; +// +// /** print the object */ +// void print(const std::string& s = "SubgraphPreconditioner") const; +// }; +// +// /* error, given y */ +// double error(const SubgraphPreconditioner& sp, const VectorValues& y); +// +// /** gradient = y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar) */ +// VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y); +// +// /** Apply operator A */ +// Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y); +// +// /** Apply operator A in place: needs e allocated already */ +// void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e); +// +// /** Apply operator A' */ +// VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e); +// +// /** +// * Add A'*e to y +// * y += alpha*A'*[e1;e2] = [alpha*e1; alpha*inv(R1')*A2'*e2] +// */ +// void transposeMultiplyAdd(const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y); +// +//} // namespace gtsam diff --git a/gtsam/linear/SubgraphSolver-inl.h b/gtsam/linear/SubgraphSolver-inl.h new file mode 100644 index 000000000..d2dc7cee2 --- /dev/null +++ b/gtsam/linear/SubgraphSolver-inl.h @@ -0,0 +1,82 @@ +/* ---------------------------------------------------------------------------- + + * 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 +#include +#include + +using namespace std; + +namespace gtsam { + +template +void SubgraphSolver::replaceFactors(const typename LINEAR::shared_ptr &graph) { + + GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(); + GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared(); + + if (parameters_->verbosity()) cout << "split the graph ..."; + split(pairs_, *graph, *Ab1, *Ab2) ; + if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; + + // // Add a HardConstraint to the root, otherwise the root will be singular + // Key root = keys.back(); + // T_.addHardConstraint(root, theta0[root]); + // + // // compose the approximate solution + // theta_bar_ = composePoses (T_, tree, theta0[root]); + + LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!! + SubgraphPreconditioner::sharedBayesNet Rc1 = + EliminationTree::Create(sacrificialAb1)->eliminate(&EliminateQR); + SubgraphPreconditioner::sharedValues xbar = gtsam::optimize_(*Rc1); + + pc_ = boost::make_shared( + Ab1->dynamicCastFactors >(), Ab2->dynamicCastFactors >(),Rc1,xbar); +} + +template +VectorValues::shared_ptr SubgraphSolver::optimize() const { + + // preconditioned conjugate gradient + VectorValues zeros = pc_->zero(); + VectorValues ybar = conjugateGradients + (*pc_, zeros, *parameters_); + + boost::shared_ptr xbar = boost::make_shared() ; + *xbar = pc_->x(ybar); + return xbar; +} + +template +void SubgraphSolver::initialize(const GRAPH& G, const Values& theta0) { + // generate spanning tree + PredecessorMap tree_ = gtsam::findMinimumSpanningTree(G); + + // make the ordering + list keys = predecessorMap2Keys(tree_); + ordering_ = boost::make_shared(list(keys.begin(), keys.end())); + + // build factor pairs + pairs_.clear(); + typedef pair EG ; + BOOST_FOREACH( const EG &eg, tree_ ) { + Key key1 = Key(eg.first), + key2 = Key(eg.second) ; + pairs_.insert(pair((*ordering_)[key1], (*ordering_)[key2])) ; + } +} + +} // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp new file mode 100644 index 000000000..609b427f2 --- /dev/null +++ b/gtsam/linear/SubgraphSolver.cpp @@ -0,0 +1,50 @@ +///* ---------------------------------------------------------------------------- +// +// * 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 +// +//using namespace std; +// +//namespace gtsam { +// +///* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */ +//bool split(const std::map &M, +// const GaussianFactorGraph &Ab, +// GaussianFactorGraph &Ab1, +// GaussianFactorGraph &Ab2) { +// +// Ab1 = GaussianFactorGraph(); +// Ab2 = GaussianFactorGraph(); +// +// for ( size_t i = 0 ; i < Ab.size() ; ++i ) { +// +// boost::shared_ptr factor = Ab[i] ; +// +// if (factor->keys().size() > 2) +// throw(invalid_argument("split: only support factors with at most two keys")); +// if (factor->keys().size() == 1) { +// Ab1.push_back(factor); +// Ab2.push_back(factor); +// continue; +// } +// Index key1 = factor->keys()[0]; +// Index key2 = factor->keys()[1]; +// +// if ((M.find(key1) != M.end() && M.find(key1)->second == key2) || +// (M.find(key2) != M.end() && M.find(key2)->second == key1)) +// Ab1.push_back(factor); +// else +// Ab2.push_back(factor); +// } +// return true ; +//} +// +//} // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h new file mode 100644 index 000000000..f4fa34427 --- /dev/null +++ b/gtsam/linear/SubgraphSolver.h @@ -0,0 +1,100 @@ +///* ---------------------------------------------------------------------------- +// +// * 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 +//#include +//#include +// +//namespace gtsam { +// +///* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */ +//bool split(const std::map &M, +// const GaussianFactorGraph &Ab, +// GaussianFactorGraph &Ab1, +// GaussianFactorGraph &Ab2); +// +///** +// * A nonlinear system solver using subgraph preconditioning conjugate gradient +// * Concept NonLinearSolver implements +// * linearize: G * T -> L +// * solve : L -> VectorValues +// */ +//template +//class SubgraphSolver : public IterativeSolver { +// +//private: +// typedef typename VALUES::Key Key; +// typedef typename GRAPH::Pose Pose; +// typedef typename GRAPH::Constraint Constraint; +// +// typedef boost::shared_ptr shared_ptr ; +// typedef boost::shared_ptr shared_ordering ; +// typedef boost::shared_ptr shared_graph ; +// typedef boost::shared_ptr shared_linear ; +// typedef boost::shared_ptr shared_values ; +// typedef boost::shared_ptr shared_preconditioner ; +// typedef std::map mapPairIndex ; +// +// /* the ordering derived from the spanning tree */ +// shared_ordering ordering_; +// +// /* the indice of two vertices in the gaussian factor graph */ +// mapPairIndex pairs_; +// +// /* preconditioner */ +// shared_preconditioner pc_; +// +// /* flag for direct solver - either QR or LDL */ +// bool useQR_; +// +//public: +// +// SubgraphSolver(const GRAPH& G, const VALUES& theta0, const Parameters ¶meters = Parameters(), bool useQR = false): +// IterativeSolver(parameters), useQR_(useQR) { initialize(G,theta0); } +// +// SubgraphSolver(const LINEAR& GFG) { +// std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl; +// throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported"); +// } +// +// SubgraphSolver(const shared_linear& GFG, const boost::shared_ptr& structure, bool useQR = false) { +// std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl; +// throw std::runtime_error("SubgraphSolver: gaussian factor graph and variable index initialization not supported"); +// } +// +// SubgraphSolver(const SubgraphSolver& solver) : +// IterativeSolver(solver), ordering_(solver.ordering_), pairs_(solver.pairs_), pc_(solver.pc_), useQR_(solver.useQR_) {} +// +// SubgraphSolver(shared_ordering ordering, +// mapPairIndex pairs, +// shared_preconditioner pc, +// sharedParameters parameters = boost::make_shared(), +// bool useQR = true) : +// IterativeSolver(parameters), ordering_(ordering), pairs_(pairs), pc_(pc), useQR_(useQR) {} +// +// void replaceFactors(const typename LINEAR::shared_ptr &graph); +// VectorValues::shared_ptr optimize() ; +// shared_ordering ordering() const { return ordering_; } +// +//protected: +// void initialize(const GRAPH& G, const VALUES& theta0); +// +//private: +// SubgraphSolver():IterativeSolver(){} +//}; +// +//} // namespace gtsam +// +//#include From 70974bd55e6a36f0cc14a4fe08c0e6661aee6ea5 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 03:53:32 +0000 Subject: [PATCH 265/914] remove printing in unittest --- gtsam/geometry/tests/testSimpleCamera.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index d0f961bfa..71f36998c 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -75,15 +75,12 @@ TEST( SimpleCamera, lookat) Pose3 expected(Rot3(xc,yc,zc),C); CHECK(assert_equal( camera.pose(), expected)); - Point3 C2(30.0,0.0,10.0); SimpleCamera camera2 = SimpleCamera::lookat(C2, Point3(), Point3(0.0,0.0,1.0)); Matrix R = camera2.pose().rotation().matrix(); Matrix I = trans(R)*R; - gtsam::print(I,"I="); CHECK(assert_equal(I, eye(3))); - } /* ************************************************************************* */ From 2ebd7a8974205794849724f87e06cc164ccf6e80 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 03:54:27 +0000 Subject: [PATCH 266/914] early prototype for visualISAM_gui. No drawing yet. --- matlab/examples/VisualISAMData_triangle.m | 32 ++++ matlab/examples/VisualISAMExample_triangle2.m | 16 ++ matlab/examples/VisualISAMInitialize.m | 33 ++++ matlab/examples/VisualISAMStep.m | 24 +++ matlab/examples/VisualISAM_gui.fig | Bin 0 -> 6094 bytes matlab/examples/VisualISAM_gui.m | 176 ++++++++++++++++++ 6 files changed, 281 insertions(+) create mode 100644 matlab/examples/VisualISAMData_triangle.m create mode 100644 matlab/examples/VisualISAMExample_triangle2.m create mode 100644 matlab/examples/VisualISAMInitialize.m create mode 100644 matlab/examples/VisualISAMStep.m create mode 100644 matlab/examples/VisualISAM_gui.fig create mode 100644 matlab/examples/VisualISAM_gui.m diff --git a/matlab/examples/VisualISAMData_triangle.m b/matlab/examples/VisualISAMData_triangle.m new file mode 100644 index 000000000..b5c4c0e11 --- /dev/null +++ b/matlab/examples/VisualISAMData_triangle.m @@ -0,0 +1,32 @@ +function [ data ] = VisualISAMData_triangle() +%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example. +% Landmarks include 3 points around the world's origin on the z=0 plane. +% Cameras are on a circle at a certain height, looking at the origin. +%% Create a triangle target, just 3 points on a plane +nPoints = 3; +r = 10; +data.points = {}; +for j=1:nPoints + theta = (j-1)*2*pi/nPoints; + data.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); +end + +%% Create camera cameras on a circle around the triangle +nCameras = 10; +height = 10; +r = 30; +data.cameras = {}; +data.K = gtsamCal3_S2(500,500,0,640/2,480/2); +for i=1:nCameras + theta = (i-1)*2*pi/nCameras; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); +end + +data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); +data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); +data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); +data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); + +end + diff --git a/matlab/examples/VisualISAMExample_triangle2.m b/matlab/examples/VisualISAMExample_triangle2.m new file mode 100644 index 000000000..b636ba542 --- /dev/null +++ b/matlab/examples/VisualISAMExample_triangle2.m @@ -0,0 +1,16 @@ +%% data +data = VisualISAMData_triangle(); + +%% init +[isam results] = VisualISAMInitialize(data); +sprintf('Frame 1,2:') +results + +%% Next frame index +frame_i=3; +%% All steps +while (frame_i=GI&2OsxRKnfM$L#_CV;|>WcfY{b zD*rfL!-w(@_;mx_oP*t5`TcxV_@8=)@Ee8r^7AY5%gU+9%c;o9^2&_ThTOR<8Zfb#vnUfX&-c$MBVR|}%<+Vd|!jo#YtoN}fhz08XRkWe} zI&G5d^iRj%pLLk8NNJRX=$9Cd=5@B;Io@Kb-!G zgpqf;{pj0m41VUtt*HaKr&JQtKMcD(DMco}qE>h;nvD8+#@Nq2x#)J=qV$!~-JyW( zcGEDLvLcc1wFwkKjqW45W4zFAq#BpH_Z#!;o`jqS} z0J$p`?znco(e(*pX-q8$3C4q97NG9RM>v9Naj#!4_X+z*YO6=c4-O_34C=S(D4!^y zY&(seXox6cCq6=Kuo0glG})p{FN@x5TH&RJibM(c=;5L}U=4+R#9(%1A*LbtP4sd- z7_p$_=^$^$shCnWY_(Gx!1qP+Zx+7xucm5jgbN=}bkUmrA&!2R%%PKTrb6a<0={riUp4P>jKsi0D5*X?9WNiFxpcDjJRkR}2^&{hx9S{F@N=!}iR4 zap<@fG166?0tAb4gS!aX&r2imVjI(WN2OUGT%7ThSi<(YsLI_*=pOL{g}~#T zfP?X*kt%>gimUp$PZEo`n5s15_#sr$0^}6qV4#;@+tA*H>^nEwJL?=88aiU&rpUP% zH5fai7Ay9_jn6h^t_Rm?a);!rX8jb((VnYf+}D5Qqs{Pqc)iNY|(h1gEfIqg=6kQyYNd|@BU*@H+pGaytg~{ z50Y$YxXym)qVAn>Tad7_Q#Vmd3bMM}HwNfw@8bK0k6qQbq*Tqnz&VsGa zY*j=|Stg>INt>D$&rh2>m^|n*$T^oZU?Rx*BIKXop$hIez3AYZdl0d^f(q4C{OV9g zoaCX0ncCjuyY&hVd=Fl^&+W0geDS&-M>lwTY(~SzG#U*gG#=f}l&H5=@TUY`c74sk zURM^_pqFj3QZR38w<}qv0Z!aen)epWE{Ys@){nNr+LR~f z5Q!(Yras&XY!|+bcNq++OFzdBn(J8!ebUL`*So1R=JQa3%fMjtt0;f@tm^SeN62v5 z9j4R$Svt#9^@~NWByw1xQo!bIUuv2vf1Ry<21fn{j}xA>u=Hyy5WhJmaD%JYZ(VH# z-VL;W$s1Z-tPNZcT1=pS;z21(-C7))F{9M`0L*~!&USihS(p)-;3OExCVv;$c|+Y( zZWk*vIq>GThXAEW*;W!(;WfB*2+!T-qjTQBuKtVqK}2TbK~I{4FLN31Htf8-_s+id{h@fN)crM(p59-Z`hAklNy|H@*zZGxY;uy~=IZlAkN%+grtkP#^ z5e}Y0(?L&`Ch_0qgY=PfB(-M(hvFu?^_{bwJDpRhcyvR2)UUr;o7Zc`bn_;!%Obg! 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Starting from the left, property value pairs are +% applied to the GUI before VisualISAM_gui_OpeningFcn gets called. An +% unrecognized property name or invalid value makes property application +% stop. All inputs are passed to VisualISAM_gui_OpeningFcn via varargin. +% +% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one +% instance to run (singleton)". +% +% See also: GUIDE, GUIDATA, GUIHANDLES + +% Edit the above text to modify the response to help VisualISAM_gui + +% Last Modified by GUIDE v2.5 07-Jun-2012 23:43:22 + +% Begin initialization code - DO NOT EDIT +gui_Singleton = 1; +gui_State = struct('gui_Name', mfilename, ... + 'gui_Singleton', gui_Singleton, ... + 'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ... + 'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ... + 'gui_LayoutFcn', [] , ... + 'gui_Callback', []); +if nargin && ischar(varargin{1}) + gui_State.gui_Callback = str2func(varargin{1}); +end + +if nargout + [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); +else + gui_mainfcn(gui_State, varargin{:}); +end +% End initialization code - DO NOT EDIT + + +% --- Executes just before VisualISAM_gui is made visible. +function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin) +% This function has no output args, see OutputFcn. +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +% varargin command line arguments to VisualISAM_gui (see VARARGIN) + +% handles.data = VisualISAMData_triangle(); +% handles.frame_i = 3; +% handles.isam = visualSLAMISAM; +% handles.results = visualSLAMValues; + +% Choose default command line output for VisualISAM_gui +handles.output = hObject; + +% Update handles structure +guidata(hObject, handles); + +% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME) +% uiwait(handles.figure1); + + +% --- Outputs from this function are returned to the command line. +function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles) +% varargout cell array for returning output args (see VARARGOUT); +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Get default command line output from handles structure +varargout{1} = handles.output; + + +% --- Executes on button press in generateButton. +function generateButton_Callback(hObject, eventdata, handles) +% hObject handle to generateButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + handles.data = VisualISAMData_triangle(); + guidata(hObject,handles) + + +% --- Executes on button press in intializeButton. +function intializeButton_Callback(hObject, eventdata, handles) +% hObject handle to intializeButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + [handles.isam handles.results] = VisualISAMInitialize(handles.data); + handles.frame_i=3; + sprintf('Frame 1,2:') + handles.results + guidata(hObject,handles) + + +% --- Executes on button press in stepButton. +function stepButton_Callback(hObject, eventdata, handles) +% hObject handle to stepButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + handles.frame_i + handles.results + if (handles.frame_i Date: Fri, 8 Jun 2012 04:52:38 +0000 Subject: [PATCH 267/914] Frank says: NEVER use "using namespace xxx" in a header file. Got rid of lambda.h header where not needed. --- gtsam/inference/BayesNet-inl.h | 147 ++++++++++++++------------ gtsam/inference/BayesTree-inl.h | 46 ++++---- gtsam/inference/EliminationTree-inl.h | 24 ++--- gtsam/inference/JunctionTree-inl.h | 6 +- 4 files changed, 109 insertions(+), 114 deletions(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 53e0ec18d..88b386b72 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -19,57 +19,61 @@ #include -#include -#include #include #include #include -#include -#include #include // for += using namespace boost::assign; -using namespace std; +#include +#include namespace gtsam { - /* ************************************************************************* */ - template - void BayesNet::print(const string& s) const { - cout << s; - BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_) - conditional->print(); - } - - /* ************************************************************************* */ - template - bool BayesNet::equals(const BayesNet& cbn, double tol) const { - if(size() != cbn.size()) return false; - return equal(conditionals_.begin(),conditionals_.end(),cbn.conditionals_.begin(),equals_star(tol)); - } - /* ************************************************************************* */ - template - typename BayesNet::const_iterator BayesNet::find(Index key) const { - for(const_iterator it = begin(); it != end(); ++it) - if(std::find((*it)->beginFrontals(), (*it)->endFrontals(), key) != (*it)->endFrontals()) - return it; - return end(); - } + template + void BayesNet::print(const std::string& s) const { + std::cout << s; + BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_) + conditional->print(); + } /* ************************************************************************* */ template - typename BayesNet::iterator BayesNet::find(Index key) { - for(iterator it = begin(); it != end(); ++it) - if(std::find((*it)->beginFrontals(), (*it)->endFrontals(), key) != (*it)->endFrontals()) + bool BayesNet::equals(const BayesNet& cbn, double tol) const { + if (size() != cbn.size()) + return false; + return equal(conditionals_.begin(), conditionals_.end(), + cbn.conditionals_.begin(), equals_star(tol)); + } + + /* ************************************************************************* */ + template + typename BayesNet::const_iterator BayesNet::find( + Index key) const { + for (const_iterator it = begin(); it != end(); ++it) + if (std::find((*it)->beginFrontals(), (*it)->endFrontals(), key) + != (*it)->endFrontals()) return it; return end(); } /* ************************************************************************* */ template - void BayesNet::permuteWithInverse(const Permutation& inversePermutation) { + typename BayesNet::iterator BayesNet::find( + Index key) { + for (iterator it = begin(); it != end(); ++it) + if (std::find((*it)->beginFrontals(), (*it)->endFrontals(), key) + != (*it)->endFrontals()) + return it; + return end(); + } + + /* ************************************************************************* */ + template + void BayesNet::permuteWithInverse( + const Permutation& inversePermutation) { BOOST_FOREACH(sharedConditional conditional, conditionals_) { conditional->permuteWithInverse(inversePermutation); } @@ -77,52 +81,54 @@ namespace gtsam { /* ************************************************************************* */ template - bool BayesNet::permuteSeparatorWithInverse(const Permutation& inversePermutation) { + bool BayesNet::permuteSeparatorWithInverse( + const Permutation& inversePermutation) { bool separatorChanged = false; BOOST_FOREACH(sharedConditional conditional, conditionals_) { - if(conditional->permuteSeparatorWithInverse(inversePermutation)) + if (conditional->permuteSeparatorWithInverse(inversePermutation)) separatorChanged = true; } return separatorChanged; } - /* ************************************************************************* */ - template - void BayesNet::push_back(const BayesNet bn) { - BOOST_FOREACH(sharedConditional conditional,bn.conditionals_) - push_back(conditional); - } - - /* ************************************************************************* */ - template - void BayesNet::push_front(const BayesNet bn) { - BOOST_FOREACH(sharedConditional conditional,bn.conditionals_) - push_front(conditional); - } + /* ************************************************************************* */ + template + void BayesNet::push_back(const BayesNet bn) { + BOOST_FOREACH(sharedConditional conditional,bn.conditionals_) + push_back(conditional); + } /* ************************************************************************* */ template - void BayesNet::popLeaf(iterator conditional) { + void BayesNet::push_front(const BayesNet bn) { + BOOST_FOREACH(sharedConditional conditional,bn.conditionals_) + push_front(conditional); + } + + /* ************************************************************************* */ + template + void BayesNet::popLeaf(iterator conditional) { #ifndef NDEBUG BOOST_FOREACH(typename CONDITIONAL::shared_ptr checkConditional, conditionals_) { BOOST_FOREACH(Index key, (*conditional)->frontals()) { if(std::find(checkConditional->beginParents(), checkConditional->endParents(), key) != checkConditional->endParents()) - throw std::invalid_argument( - "Debug mode exception: in BayesNet::popLeaf, the requested conditional is not a leaf."); + throw std::invalid_argument( + "Debug mode exception: in BayesNet::popLeaf, the requested conditional is not a leaf."); } } #endif conditionals_.erase(conditional); - } + } - /* ************************************************************************* */ - template - FastList BayesNet::ordering() const { - FastList ord; - BOOST_FOREACH(sharedConditional conditional,conditionals_) - ord.insert(ord.begin(), conditional->beginFrontals(), conditional->endFrontals()); - return ord; - } + /* ************************************************************************* */ + template + FastList BayesNet::ordering() const { + FastList ord; + BOOST_FOREACH(sharedConditional conditional,conditionals_) + ord.insert(ord.begin(), conditional->beginFrontals(), + conditional->endFrontals()); + return ord; + } // /* ************************************************************************* */ // template @@ -139,21 +145,22 @@ namespace gtsam { // of.close(); // } // - /* ************************************************************************* */ + /* ************************************************************************* */ - template - typename BayesNet::sharedConditional - BayesNet::operator[](Index key) const { - BOOST_FOREACH(typename CONDITIONAL::shared_ptr conditional, conditionals_) { - typename CONDITIONAL::const_iterator it = std::find(conditional->beginFrontals(), conditional->endFrontals(), key); - if (it!=conditional->endFrontals()) { + template + typename BayesNet::sharedConditional BayesNet::operator[]( + Index key) const { + BOOST_FOREACH(typename CONDITIONAL::shared_ptr conditional, conditionals_) { + typename CONDITIONAL::const_iterator it = std::find( + conditional->beginFrontals(), conditional->endFrontals(), key); + if (it != conditional->endFrontals()) { return conditional; } - } - throw(invalid_argument((boost::format( - "BayesNet::operator['%1%']: not found") % key).str())); - } + } + throw(std::invalid_argument( + (boost::format("BayesNet::operator['%1%']: not found") % key).str())); + } - /* ************************************************************************* */ +/* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 0aefeaa19..0100bdd73 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -26,22 +26,16 @@ #include #include -#include -#include - #include #include // for operator += #include -#include -#include + #include -using namespace boost::assign; -namespace lam = boost::lambda; +#include +#include namespace gtsam { - using namespace std; - /* ************************************************************************* */ template typename BayesTree::CliqueData @@ -64,8 +58,8 @@ namespace gtsam { /* ************************************************************************* */ template void BayesTree::saveGraph(const std::string &s) const { - if (!root_.get()) throw invalid_argument("the root of Bayes tree has not been initialized!"); - ofstream of(s.c_str()); + if (!root_.get()) throw std::invalid_argument("the root of Bayes tree has not been initialized!"); + std::ofstream of(s.c_str()); of<< "digraph G{\n"; saveGraph(of, root_); of<<"}"; @@ -73,12 +67,12 @@ namespace gtsam { } template - void BayesTree::saveGraph(ostream &s, sharedClique clique, int parentnum) const { + void BayesTree::saveGraph(std::ostream &s, sharedClique clique, int parentnum) const { static int num = 0; bool first = true; std::stringstream out; out << num; - string parent = out.str(); + std::string parent = out.str(); parent += "[label=\""; BOOST_FOREACH(Index index, clique->conditional_->frontals()) { @@ -136,7 +130,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesTree::Cliques::print(const std::string& s) const { - cout << s << ":\n"; + std::cout << s << ":\n"; BOOST_FOREACH(sharedClique clique, *this) clique->printTree(); } @@ -175,7 +169,7 @@ namespace gtsam { /* ************************************************************************* */ template typename BayesTree::sharedClique BayesTree::addClique( - const sharedConditional& conditional, list& child_cliques) { + const sharedConditional& conditional, std::list& child_cliques) { sharedClique new_clique(new Clique(conditional)); nodes_.resize(std::max(conditional->lastFrontalKey()+1, nodes_.size())); BOOST_FOREACH(Index key, conditional->frontals()) @@ -290,10 +284,10 @@ namespace gtsam { template BayesTree::BayesTree(const BayesNet& bayesNet, std::list > subtrees) { if (bayesNet.size() == 0) - throw invalid_argument("BayesTree::insert: empty bayes net!"); + throw std::invalid_argument("BayesTree::insert: empty bayes net!"); // get the roots of child subtrees and merge their nodes_ - list childRoots; + std::list childRoots; typedef BayesTree Tree; BOOST_FOREACH(const Tree& subtree, subtrees) { nodes_.insert(subtree.nodes_.begin(), subtree.nodes_.end()); @@ -329,12 +323,12 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesTree::print(const string& s) const { + void BayesTree::print(const std::string& s) const { if (root_.use_count() == 0) { printf("WARNING: BayesTree.print encountered a forest...\n"); return; } - cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << endl; + std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl; if (nodes_.empty()) return; root_->printTree(""); } @@ -379,7 +373,7 @@ namespace gtsam { // if no parents, start a new root clique if (parents.empty()) { - if(debug) cout << "No parents so making root" << endl; + if(debug) std::cout << "No parents so making root" << std::endl; bayesTree.root_ = bayesTree.addClique(conditional); return; } @@ -387,13 +381,13 @@ namespace gtsam { // otherwise, find the parent clique by using the index data structure // to find the lowest-ordered parent Index parentRepresentative = bayesTree.findParentClique(parents); - if(debug) cout << "First-eliminated parent is " << parentRepresentative << ", have " << bayesTree.nodes_.size() << " nodes." << endl; + if(debug) std::cout << "First-eliminated parent is " << parentRepresentative << ", have " << bayesTree.nodes_.size() << " nodes." << std::endl; sharedClique parent_clique = bayesTree[parentRepresentative]; if(debug) parent_clique->print("Parent clique is "); // if the parents and parent clique have the same size, add to parent clique if ((*parent_clique)->size() == size_t(parents.size())) { - if(debug) cout << "Adding to parent clique" << endl; + if(debug) std::cout << "Adding to parent clique" << std::endl; #ifndef NDEBUG // Debug check that the parent keys of the new conditional match the keys // currently in the clique. @@ -408,7 +402,7 @@ namespace gtsam { #endif addToCliqueFront(bayesTree, conditional, parent_clique); } else { - if(debug) cout << "Starting new clique" << endl; + if(debug) std::cout << "Starting new clique" << std::endl; // otherwise, start a new clique and add it to the tree bayesTree.addClique(conditional,parent_clique); } @@ -418,10 +412,10 @@ namespace gtsam { //TODO: remove this function after removing TSAM.cpp template typename BayesTree::sharedClique BayesTree::insert( - const sharedConditional& clique, list& children, bool isRootClique) { + const sharedConditional& clique, std::list& children, bool isRootClique) { if (clique->nrFrontals() == 0) - throw invalid_argument("BayesTree::insert: empty clique!"); + throw std::invalid_argument("BayesTree::insert: empty clique!"); // create a new clique and add all the conditionals to the clique sharedClique new_clique = addClique(clique, children); @@ -512,7 +506,7 @@ namespace gtsam { FactorGraph p_C1C2(C1->joint(C2, root_, function)); // eliminate remaining factor graph to get requested joint - vector key12(2); key12[0] = key1; key12[1] = key2; + std::vector key12(2); key12[0] = key1; key12[1] = key2; GenericSequentialSolver solver(p_C1C2); return solver.jointFactorGraph(key12,function); } diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index e5f50a867..2f62f79af 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -24,14 +24,12 @@ #include #include -#include #include + #include #include #include -using namespace std; - namespace gtsam { /* ************************************************************************* */ @@ -41,7 +39,7 @@ typename EliminationTree::sharedFactor EliminationTree::eliminat static const bool debug = false; - if(debug) cout << "ETree: eliminating " << this->key_ << endl; + if(debug) std::cout << "ETree: eliminating " << this->key_ << std::endl; // Create the list of factors to be eliminated, initially empty, and reserve space FactorGraph factors; @@ -60,7 +58,7 @@ typename EliminationTree::sharedFactor EliminationTree::eliminat eliminated(function(factors, 1)); conditionals[this->key_] = eliminated.first; - if(debug) cout << "Eliminated " << this->key_ << " to get:\n"; + if(debug) std::cout << "Eliminated " << this->key_ << " to get:\n"; if(debug) eliminated.first->print("Conditional: "); if(debug) eliminated.second->print("Factor: "); @@ -69,17 +67,17 @@ typename EliminationTree::sharedFactor EliminationTree::eliminat /* ************************************************************************* */ template -vector EliminationTree::ComputeParents(const VariableIndex& structure) { +std::vector EliminationTree::ComputeParents(const VariableIndex& structure) { // Number of factors and variables const size_t m = structure.nFactors(); const size_t n = structure.size(); - static const Index none = numeric_limits::max(); + static const Index none = std::numeric_limits::max(); // Allocate result parent vector and vector of last factor columns - vector parents(n, none); - vector prevCol(m, none); + std::vector parents(n, none); + std::vector prevCol(m, none); // for column j \in 1 to n do for (Index j = 0; j < n; j++) { @@ -111,17 +109,17 @@ typename EliminationTree::shared_ptr EliminationTree::Create( tic(1, "ET ComputeParents"); // Compute the tree structure - vector parents(ComputeParents(structure)); + std::vector parents(ComputeParents(structure)); toc(1, "ET ComputeParents"); // Number of variables const size_t n = structure.size(); - static const Index none = numeric_limits::max(); + static const Index none = std::numeric_limits::max(); // Create tree structure tic(2, "assemble tree"); - vector trees(n); + std::vector trees(n); for (Index k = 1; k <= n; k++) { Index j = n - k; // Start at the last variable and loop down to 0 trees[j].reset(new EliminationTree(j)); // Create a new node on this variable @@ -169,7 +167,7 @@ EliminationTree::Create(const FactorGraph& factorGraph) { /* ************************************************************************* */ template void EliminationTree::print(const std::string& name) const { - cout << name << " (" << key_ << ")" << endl; + std::cout << name << " (" << key_ << ")" << std::endl; BOOST_FOREACH(const sharedFactor& factor, factors_) { factor->print(name + " "); } BOOST_FOREACH(const shared_ptr& child, subTrees_) { diff --git a/gtsam/inference/JunctionTree-inl.h b/gtsam/inference/JunctionTree-inl.h index bf1c17890..c1add38bf 100644 --- a/gtsam/inference/JunctionTree-inl.h +++ b/gtsam/inference/JunctionTree-inl.h @@ -19,19 +19,15 @@ #pragma once -#include #include #include #include +#include #include -#include -#include namespace gtsam { - using namespace std; - /* ************************************************************************* */ template void JunctionTree::construct(const FG& fg, const VariableIndex& variableIndex) { From 050cab36d4bba3012182f316428c011e7a608e48 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 08:30:55 +0000 Subject: [PATCH 268/914] remove obsolete iSAMgui --- matlab/iSAMgui.fig | Bin 5766 -> 0 bytes matlab/iSAMgui.m | 171 --------------------------------------------- 2 files changed, 171 deletions(-) delete mode 100644 matlab/iSAMgui.fig delete mode 100644 matlab/iSAMgui.m diff --git a/matlab/iSAMgui.fig b/matlab/iSAMgui.fig deleted file mode 100644 index 5f6154b49e54aa88b51c014d3ee2c3fa8d17f47f..0000000000000000000000000000000000000000 GIT binary patch literal 0 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-function varargout = iSAMgui(varargin) -% ISAMGUI MATLAB code for iSAMgui.fig -% ISAMGUI, by itself, creates a new ISAMGUI or raises the existing -% singleton*. -% -% H = ISAMGUI returns the handle to a new ISAMGUI or the handle to -% the existing singleton*. -% -% ISAMGUI('CALLBACK',hObject,eventData,handles,...) calls the local -% function named CALLBACK in ISAMGUI.M with the given input arguments. -% -% ISAMGUI('Property','Value',...) creates a new ISAMGUI or raises the -% existing singleton*. Starting from the left, property value pairs are -% applied to the GUI before iSAMgui_OpeningFcn gets called. An -% unrecognized property name or invalid value makes property application -% stop. All inputs are passed to iSAMgui_OpeningFcn via varargin. -% -% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one -% instance to run (singleton)". -% -% See also: GUIDE, GUIDATA, GUIHANDLES - -% Edit the above text to modify the response to help iSAMgui - -% Last Modified by GUIDE v2.5 07-Jun-2012 01:55:37 - -% Begin initialization code - DO NOT EDIT -gui_Singleton = 1; -gui_State = struct('gui_Name', mfilename, ... - 'gui_Singleton', gui_Singleton, ... - 'gui_OpeningFcn', @iSAMgui_OpeningFcn, ... - 'gui_OutputFcn', @iSAMgui_OutputFcn, ... - 'gui_LayoutFcn', [] , ... - 'gui_Callback', []); -if nargin && ischar(varargin{1}) - gui_State.gui_Callback = str2func(varargin{1}); -end - -if nargout - [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); -else - gui_mainfcn(gui_State, varargin{:}); -end -% End initialization code - DO NOT EDIT - -% --- Executes just before iSAMgui is made visible. -function iSAMgui_OpeningFcn(hObject, eventdata, handles, varargin) -% This function has no output args, see OutputFcn. -% hObject handle to figure -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) -% varargin command line arguments to iSAMgui (see VARARGIN) - -% Choose default command line output for iSAMgui -handles.output = hObject; - -% Update handles structure -guidata(hObject, handles); - -% This sets up the initial plot - only do when we are invisible -% so window can get raised using iSAMgui. -if strcmp(get(hObject,'Visible'),'off') - plot(rand(5)); -end - -% UIWAIT makes iSAMgui wait for user response (see UIRESUME) -% uiwait(handles.figure1); - - -% --- Outputs from this function are returned to the command line. -function varargout = iSAMgui_OutputFcn(hObject, eventdata, handles) -% varargout cell array for returning output args (see VARARGOUT); -% hObject handle to figure -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Get default command line output from handles structure -varargout{1} = handles.output; - -% --- Executes on button press in pushbutton1. -function pushbutton1_Callback(hObject, eventdata, handles) -% hObject handle to pushbutton1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) -axes(handles.axes1); -cla; - -popup_sel_index = get(handles.popupmenu1, 'Value'); -switch popup_sel_index - case 1 - plot(rand(5)); - case 2 - plot(sin(1:0.01:25.99)); - case 3 - bar(1:.5:10); - case 4 - plot(membrane); - case 5 - surf(peaks); -end - - -% -------------------------------------------------------------------- -function FileMenu_Callback(hObject, eventdata, handles) -% hObject handle to FileMenu (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - - -% -------------------------------------------------------------------- -function OpenMenuItem_Callback(hObject, eventdata, handles) -% hObject handle to OpenMenuItem (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) -file = uigetfile('*.fig'); -if ~isequal(file, 0) - open(file); -end - -% -------------------------------------------------------------------- -function PrintMenuItem_Callback(hObject, eventdata, handles) -% hObject handle to PrintMenuItem (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) -printdlg(handles.figure1) - -% -------------------------------------------------------------------- -function CloseMenuItem_Callback(hObject, eventdata, handles) -% hObject handle to CloseMenuItem (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) -selection = questdlg(['Close ' get(handles.figure1,'Name') '?'],... - ['Close ' get(handles.figure1,'Name') '...'],... - 'Yes','No','Yes'); -if strcmp(selection,'No') - return; -end - -delete(handles.figure1) - - -% --- Executes on selection change in popupmenu1. -function popupmenu1_Callback(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: contents = get(hObject,'String') returns popupmenu1 contents as cell array -% contents{get(hObject,'Value')} returns selected item from popupmenu1 - - -% --- Executes during object creation, after setting all properties. -function popupmenu1_CreateFcn(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: popupmenu controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - -set(hObject, 'String', {'plot(rand(5))', 'plot(sin(1:0.01:25))', 'bar(1:.5:10)', 'plot(membrane)', 'surf(peaks)'}); - - -% --- Executes on button press in pushbutton4. -function pushbutton4_Callback(hObject, eventdata, handles) -% hObject handle to pushbutton4 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) From cafac0b7a1b5a73c7b2cd95288a3b3362e1fbb09 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 08:32:07 +0000 Subject: [PATCH 269/914] VisualISAMgui with figure for 2 datasets. --- matlab/examples/VisualISAMData_cube.m | 34 ++++ matlab/examples/VisualISAMInitialize.m | 10 +- matlab/examples/VisualISAMPlot.m | 22 +++ matlab/examples/VisualISAMStep.m | 13 +- matlab/examples/VisualISAM_gui.fig | Bin 6094 -> 8272 bytes matlab/examples/VisualISAM_gui.m | 264 +++++++++++++++++++++++-- 6 files changed, 318 insertions(+), 25 deletions(-) create mode 100644 matlab/examples/VisualISAMData_cube.m create mode 100644 matlab/examples/VisualISAMPlot.m diff --git a/matlab/examples/VisualISAMData_cube.m b/matlab/examples/VisualISAMData_cube.m new file mode 100644 index 000000000..3f4f015cf --- /dev/null +++ b/matlab/examples/VisualISAMData_cube.m @@ -0,0 +1,34 @@ +function [ data ] = VisualISAMData_cube() +%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example. +% Landmarks include 3 points around the world's origin on the z=0 plane. +% Cameras are on a circle at a certain height, looking at the origin. +%% Create a triangle target, just 3 points on a plane +nPoints = 8; +data.points = {gtsamPoint3([10 10 10]'),... + gtsamPoint3([-10 10 10]'),... + gtsamPoint3([-10 -10 10]'),... + gtsamPoint3([10 -10 10]'),... + gtsamPoint3([10 10 -10]'),... + gtsamPoint3([-10 10 -10]'),... + gtsamPoint3([-10 -10 -10]'),... + gtsamPoint3([10 -10 -10]')}; + +%% Create camera cameras on a circle around the triangle +nCameras = 10; +height = 0; +r = 30; +data.cameras = {}; +data.K = gtsamCal3_S2(500,500,0,640/2,480/2); +for i=1:nCameras + theta = (i-1)*2*pi/nCameras; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); +end + +data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); +data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); +data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); +data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); + +end + diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index 4ccab5f5c..da0bb735f 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -28,6 +28,14 @@ function [ isam, results ] = VisualISAMInitialize( data, reorderInterval ) %% Update ISAM isam.update(newFactors, initials); - results = isam.estimate(); + results.frame_i = 2; + results.estimates = isam.estimate(); + for i=1:2 + results.Pposes{i} = isam.marginalCovariance(symbol('x',i)); + end + + for j=1:size(data.points,2) + results.Ppoints{j} = isam.marginalCovariance(symbol('l',j)); + end end diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m new file mode 100644 index 000000000..0459ee201 --- /dev/null +++ b/matlab/examples/VisualISAMPlot.m @@ -0,0 +1,22 @@ +function VisualISAMPlot( results, data ) +%VISUALISAMPLOT Plot results of a step in visual ISAM + hold on; + + for i=1:results.frame_i + pose_ii = results.estimates.pose(symbol('x',i)); + plotPose3(pose_ii,results.Pposes{i},10); + end + + for j=1:size(data.points,2) + point_j = results.estimates.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],results.Ppoints{j}); + end + + axis([-35 35 -35 35 -35 35]) + view([36 34]) + colormap('hot') + + hold off; +end + diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index 3a0aafb0b..fefc795dd 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -14,11 +14,18 @@ function [ isam, results ] = VisualISAMStep( frame_i, isam, data, prevResults ) %% Initial estimates for new variables initials = visualSLAMValues; - prevPose = prevResults.pose(symbol('x',frame_i-1)); + prevPose = prevResults.estimates.pose(symbol('x',frame_i-1)); initials.insertPose(symbol('x',frame_i), prevPose.compose(odometry)); isam.update(newFactors, initials); - results = isam.estimate(); - + results.frame_i = frame_i; + results.estimates = isam.estimate(); + for i=1:frame_i + results.Pposes{i} = isam.marginalCovariance(symbol('x',i)); + end + + for j=1:size(data.points,2) + results.Ppoints{j} = 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zi~8ZQf6B)NHJ5DA`1=!ES~A{YJYYOzJYu}dc-)fP<>G6>bP0%h2N3lD5cLoc^#~C4 zE+FbLAnHAa|4|9xJGK9A@jG??6#N6`kC size(handles.results,2)) + [handles.isam handles.results{handles.frame_i}] = ... + VisualISAMStep(handles.frame_i, handles.isam, ... + handles.data, handles.results{handles.frame_i-1}); + end + handles.results{handles.frame_i}.estimates + cla(handles.resultAxes); + VisualISAMPlot(handles.results{handles.frame_i}, handles.data) guidata(hObject,handles) else + sprintf('Frame %d:', handles.frame_i) sprintf('No more frame!') end -% --- Executes on button press in clearButton. -function clearButton_Callback(hObject, eventdata, handles) -% hObject handle to clearButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - clear; - - function edit1_Callback(hObject, eventdata, handles) % hObject handle to edit1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB @@ -154,7 +168,11 @@ function popupmenu1_Callback(hObject, eventdata, handles) % Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array % contents{get(hObject,'Value')} returns selected item from popupmenu1 - + str = cellstr(get(hObject,'String')); + sel = get(hObject,'Value'); + handles.selectedDataset = str{sel} + handles=initialize(handles) + guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function popupmenu1_CreateFcn(hObject, eventdata, handles) @@ -170,7 +188,211 @@ end % --- Executes during object creation, after setting all properties. -function figure1_CreateFcn(hObject, eventdata, handles) -% hObject handle to figure1 (see GCBO) +function Dataset_CreateFcn(hObject, eventdata, handles) +% hObject handle to Dataset (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called + + +% --- Executes on button press in backButton. +function backButton_Callback(hObject, eventdata, handles) +% hObject handle to backButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + if (handles.frame_i>2) + handles.frame_i = handles.frame_i-1; + sprintf('Frame %d:', handles.frame_i) + handles.results{handles.frame_i}.estimates + cla(handles.resultAxes); + VisualISAMPlot(handles.results{handles.frame_i}, handles.data) + guidata(hObject,handles) + else + sprintf('No more frame!'); + end + +% --- Executes on button press in runButton. +function runButton_Callback(hObject, eventdata, handles) +% hObject handle to runButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + for i=handles.frame_i+1:size(handles.data.cameras,2) + if (i > size(handles.results,2)) + [handles.isam handles.results{i}] = ... + VisualISAMStep(i, handles.isam, ... + handles.data, handles.results{i-1}); + end + handles.results{i}.estimates + cla(handles.resultAxes); + VisualISAMPlot(handles.results{i}, handles.data) + end + handles.frame_i = size(handles.data.cameras,2); + sprintf('Frame %d:', handles.frame_i) + guidata(hObject,handles) + + +% --- Executes on button press in stopButton. +function stopButton_Callback(hObject, eventdata, handles) +% hObject handle to stopButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + sprintf('Not yet implemented') + + +function edit8_Callback(hObject, eventdata, handles) +% hObject handle to edit8 (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of edit8 as text +% str2double(get(hObject,'String')) returns contents of edit8 as a double + + +% --- Executes during object creation, after setting all properties. +function edit8_CreateFcn(hObject, eventdata, handles) +% hObject handle to edit8 (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + + + +function odoTrans_Callback(hObject, eventdata, handles) +% hObject handle to odoTrans (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of odoTrans as text +% str2double(get(hObject,'String')) returns contents of odoTrans as a double + + +% --- Executes during object creation, after setting all properties. +function odoTrans_CreateFcn(hObject, eventdata, handles) +% hObject handle to odoTrans (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + + + +function measNoise_Callback(hObject, eventdata, handles) +% hObject handle to measNoise (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of measNoise as text +% str2double(get(hObject,'String')) returns contents of measNoise as a double + + +% --- Executes during object creation, after setting all properties. +function measNoise_CreateFcn(hObject, eventdata, handles) +% hObject handle to measNoise (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + + + +function posePriorRot_Callback(hObject, eventdata, handles) +% hObject handle to posePriorRot (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of posePriorRot as text +% str2double(get(hObject,'String')) returns contents of posePriorRot as a double + + +% --- Executes during object creation, after setting all properties. +function posePriorRot_CreateFcn(hObject, eventdata, handles) +% hObject handle to posePriorRot (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + + + +function posePriorTrans_Callback(hObject, eventdata, handles) +% hObject handle to posePriorTrans (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of posePriorTrans as text +% str2double(get(hObject,'String')) returns contents of posePriorTrans as a double + + +% --- Executes during object creation, after setting all properties. +function posePriorTrans_CreateFcn(hObject, eventdata, handles) +% hObject handle to posePriorTrans (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + + + +function pointPrior_Callback(hObject, eventdata, handles) +% hObject handle to pointPrior (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of pointPrior as text +% str2double(get(hObject,'String')) returns contents of pointPrior as a double + + +% --- Executes during object creation, after setting all properties. +function pointPrior_CreateFcn(hObject, eventdata, handles) +% hObject handle to pointPrior (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end + + + +function odoRot_Callback(hObject, eventdata, handles) +% hObject handle to odoRot (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hints: get(hObject,'String') returns contents of odoRot as text +% str2double(get(hObject,'String')) returns contents of odoRot as a double + + +% --- Executes during object creation, after setting all properties. +function odoRot_CreateFcn(hObject, eventdata, handles) +% hObject handle to odoRot (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles empty - handles not created until after all CreateFcns called + +% Hint: edit controls usually have a white background on Windows. +% See ISPC and COMPUTER. +if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) + set(hObject,'BackgroundColor','white'); +end From 8740da8fb779a184f7b2d74f153eb77f8a886068 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 8 Jun 2012 11:02:15 +0000 Subject: [PATCH 270/914] Small gui change --- matlab/examples/VisualISAMPlot.m | 4 +--- matlab/examples/VisualISAM_gui.m | 3 +++ 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index 0459ee201..c68ce5519 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -13,9 +13,7 @@ function VisualISAMPlot( results, data ) covarianceEllipse3D([point_j.x;point_j.y;point_j.z],results.Ppoints{j}); end - axis([-35 35 -35 35 -35 35]) - view([36 34]) - colormap('hot') + axis([-35 35 -35 35 -15 15]) hold off; end diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index e7f44c920..d2127fa70 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -105,6 +105,9 @@ function handles=initialize(handles) handles.results{2}.estimates cla(handles.resultAxes); VisualISAMPlot(handles.results{handles.frame_i}, handles.data) + view([36 34]) + colormap('hot') + % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, eventdata, handles) From 4f7b29dbfdedc76f4bffee56423c99b455c3ae4b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 13:30:49 +0000 Subject: [PATCH 271/914] Correct BOOST version in CMakeLists.txt (2nd attempt) --- CMakeLists.txt | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8daa00fce..649622911 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -101,7 +101,7 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.42 COMPONENTS serialization REQUIRED) +find_package(Boost 1.43 COMPONENTS serialization REQUIRED) # General build settings include_directories( @@ -155,7 +155,8 @@ set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory -set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$;/gtsam_unstable/") +set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$") +set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs From 30fd9d2a955a9edea9db622d775be47a8ba2552f Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 8 Jun 2012 14:28:00 +0000 Subject: [PATCH 272/914] Added back a flag for toolbox make commands --- CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 649622911..50c1d12c7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -67,7 +67,8 @@ set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTR # Flags for building/installing mex files option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF) option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF) -set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running make on toolbox MEX files") +set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running Matlab MEX compilation") +set(GTSAM_BUILD_MEX_MAKE_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") # Flags for choosing default packaging tools From a23127a315da6e9885d22a0068b36718809687b4 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 14:33:36 +0000 Subject: [PATCH 273/914] Removed using namespace in header files --- gtsam/discrete/DecisionTree-inl.h | 3 +-- gtsam/discrete/DiscreteConditional.cpp | 2 +- gtsam/discrete/DiscreteFactorGraph.cpp | 4 ++-- gtsam/inference/BayesNet-inl.h | 16 +++++++-------- gtsam/inference/BayesTree-inl.h | 13 +++++++----- gtsam/inference/ClusterTree-inl.h | 20 +++++++++---------- gtsam/inference/FactorGraph-inl.h | 14 ++++++------- .../inference/GenericMultifrontalSolver-inl.h | 4 +--- gtsam/inference/ISAM-inl.h | 3 --- gtsam/inference/JunctionTree-inl.h | 18 ++++++++--------- gtsam/inference/graph-inl.h | 6 ++---- gtsam/nonlinear/ISAM2-impl.cpp | 2 ++ gtsam/nonlinear/ISAM2-impl.h | 6 ++---- gtsam/nonlinear/ISAM2-inl.h | 10 ++++------ gtsam/nonlinear/ISAM2.h | 6 +++--- gtsam/nonlinear/NonlinearFactor.h | 2 +- .../SuccessiveLinearizationOptimizer.h | 2 +- gtsam/slam/ProjectionFactor.h | 4 ++-- gtsam_unstable/linear/iterative-inl.h | 2 -- 19 files changed, 62 insertions(+), 75 deletions(-) diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h index a9953d506..057f014bf 100644 --- a/gtsam/discrete/DecisionTree-inl.h +++ b/gtsam/discrete/DecisionTree-inl.h @@ -27,6 +27,7 @@ #include #include #include +using boost::assign::operator+=; #include #include @@ -37,8 +38,6 @@ namespace gtsam { - using namespace boost::assign; - /*********************************************************************************/ // Node /*********************************************************************************/ diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index f9d3823d6..34cf016ec 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -66,7 +66,7 @@ namespace gtsam { Index j = (key); size_t value = parentsValues.at(j); pFS = pFS.choose(j, value); - } catch (exception& e) { + } catch (exception&) { throw runtime_error( "DiscreteConditional::choose: parent value missing"); }; diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index 0d5e01c29..4726c752f 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -64,7 +64,7 @@ namespace gtsam { } /* ************************************************************************* */ - pair // + std::pair // EliminateDiscrete(const FactorGraph& factors, size_t num) { // PRODUCT: multiply all factors @@ -87,7 +87,7 @@ namespace gtsam { toc(3, "divide"); tictoc_finishedIteration(); - return make_pair(cond, sum); + return std::make_pair(cond, sum); } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 88b386b72..b668a7741 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -24,20 +24,20 @@ #include #include // for += -using namespace boost::assign; +using boost::assign::operator+=; #include #include namespace gtsam { - /* ************************************************************************* */ - template - void BayesNet::print(const std::string& s) const { - std::cout << s; - BOOST_REVERSE_FOREACH(sharedConditional conditional,conditionals_) - conditional->print(); - } + /* ************************************************************************* */ + template + void BayesNet::print(const std::string& s) const { + std::cout << s; + BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) + conditional->print(); + } /* ************************************************************************* */ template diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 0100bdd73..28f5e10cc 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -26,14 +26,17 @@ #include #include -#include -#include // for operator += -#include - #include #include #include +#include +#include // for operator += +using boost::assign::operator+=; +#include + +namespace lam = boost::lambda; + namespace gtsam { /* ************************************************************************* */ @@ -328,7 +331,7 @@ namespace gtsam { printf("WARNING: BayesTree.print encountered a forest...\n"); return; } - std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl; + std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl; if (nodes_.empty()) return; root_->printTree(""); } diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index 0a0b9e64e..267602eea 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -26,8 +26,6 @@ namespace gtsam { - using namespace std; - /* ************************************************************************* * * Cluster * ************************************************************************* */ @@ -73,19 +71,19 @@ namespace gtsam { /* ************************************************************************* */ template - void ClusterTree::Cluster::print(const string& indent) const { - cout << indent; + void ClusterTree::Cluster::print(const std::string& indent) const { + std::cout << indent; BOOST_FOREACH(const Index key, frontal) - cout << key << " "; - cout << ": "; + std::cout << key << " "; + std::cout << ": "; BOOST_FOREACH(const Index key, separator) - cout << key << " "; - cout << endl; + std::cout << key << " "; + std::cout << std::endl; } /* ************************************************************************* */ template - void ClusterTree::Cluster::printTree(const string& indent) const { + void ClusterTree::Cluster::printTree(const std::string& indent) const { print(indent); BOOST_FOREACH(const shared_ptr& child, children_) child->printTree(indent + " "); @@ -95,8 +93,8 @@ namespace gtsam { * ClusterTree * ************************************************************************* */ template - void ClusterTree::print(const string& str) const { - cout << str << endl; + void ClusterTree::print(const std::string& str) const { + std::cout << str << std::endl; if (root_) root_->printTree(""); } diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 3451b6ed4..b7c3f81a5 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -34,17 +34,15 @@ #include #include -using namespace std; - namespace gtsam { /* ************************************************************************* */ template - void FactorGraph::print(const string& s) const { - cout << s << endl; - cout << "size: " << size() << endl; + void FactorGraph::print(const std::string& s) const { + std::cout << s << std::endl; + std::cout << "size: " << size() << std::endl; for (size_t i = 0; i < factors_.size(); i++) { - stringstream ss; + std::stringstream ss; ss << "factor " << i << ": "; if (factors_[i] != NULL) factors_[i]->print(ss.str()); } @@ -79,7 +77,7 @@ namespace gtsam { /* ************************************************************************* */ template void FactorGraph::replace(size_t index, sharedFactor factor) { - if (index >= factors_.size()) throw invalid_argument(boost::str( + if (index >= factors_.size()) throw std::invalid_argument(boost::str( boost::format("Factor graph does not contain a factor with index %d.") % index)); // Replace the factor @@ -115,7 +113,7 @@ namespace gtsam { /* ************************************************************************* */ template void _FactorGraph_BayesTree_adder( - vector::sharedFactor>& factors, + std::vector::sharedFactor>& factors, const typename BayesTree::sharedClique& clique) { if(clique) { diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index 84ca937fa..40a70bfd7 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -21,8 +21,6 @@ #include #include -using namespace std; - namespace gtsam { /* ************************************************************************* */ @@ -69,7 +67,7 @@ namespace gtsam { // We currently have code written only for computing the - if (js.size() != 2) throw domain_error( + if (js.size() != 2) throw std::domain_error( "*MultifrontalSolver::joint(js) currently can only compute joint marginals\n" "for exactly two variables. You can call marginal to compute the\n" "marginal for one variable. *SequentialSolver::joint(js) can compute the\n" diff --git a/gtsam/inference/ISAM-inl.h b/gtsam/inference/ISAM-inl.h index 5d72f396c..c1252f1b0 100644 --- a/gtsam/inference/ISAM-inl.h +++ b/gtsam/inference/ISAM-inl.h @@ -19,7 +19,6 @@ #include #include // for operator += -using namespace boost::assign; #include #include @@ -27,8 +26,6 @@ using namespace boost::assign; namespace gtsam { - using namespace std; - /* ************************************************************************* */ template ISAM::ISAM() : BayesTree() {} diff --git a/gtsam/inference/JunctionTree-inl.h b/gtsam/inference/JunctionTree-inl.h index c1add38bf..1d647ef88 100644 --- a/gtsam/inference/JunctionTree-inl.h +++ b/gtsam/inference/JunctionTree-inl.h @@ -79,7 +79,7 @@ namespace gtsam { // Two stages - first build an array of the lowest-ordered variable in each // factor and find the last variable to be eliminated. - vector lowestOrdered(fg.size(), numeric_limits::max()); + std::vector lowestOrdered(fg.size(), std::numeric_limits::max()); Index maxVar = 0; for(size_t i=0; i > targets(maxVar+1); + std::vector > targets(maxVar+1); for(size_t i=0; i::max()) + if(lowestOrdered[i] != std::numeric_limits::max()) targets[lowestOrdered[i]].push_back(i); // Now call the recursive distributeFactors @@ -141,7 +141,7 @@ namespace gtsam { /* ************************************************************************* */ template - pair::BTClique::shared_ptr, + std::pair::BTClique::shared_ptr, typename FG::sharedFactor> JunctionTree::eliminateOneClique( typename FG::Eliminate function, const boost::shared_ptr& current) const { @@ -151,9 +151,9 @@ namespace gtsam { fg.push_back(*current); // add the local factors // receive the factors from the child and its clique point - list children; + std::list children; BOOST_FOREACH(const boost::shared_ptr& child, current->children()) { - pair tree_factor( + std::pair tree_factor( eliminateOneClique(function, child)); children.push_back(tree_factor.first); fg.push_back(tree_factor.second); @@ -181,7 +181,7 @@ namespace gtsam { } toc(3, "Update tree"); - return make_pair(new_clique, eliminated.second); + return std::make_pair(new_clique, eliminated.second); } /* ************************************************************************* */ @@ -190,9 +190,9 @@ namespace gtsam { typename FG::Eliminate function) const { if (this->root()) { tic(2, "JT eliminate"); - pair ret = + std::pair ret = this->eliminateOneClique(function, this->root()); - if (ret.second->size() != 0) throw runtime_error( + if (ret.second->size() != 0) throw std::runtime_error( "JuntionTree::eliminate: elimination failed because of factors left over!"); toc(2, "JT eliminate"); return ret.first; diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h index c4485cf5c..b086fd2fb 100644 --- a/gtsam/inference/graph-inl.h +++ b/gtsam/inference/graph-inl.h @@ -24,8 +24,6 @@ #include -using namespace std; - #define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL) namespace gtsam { @@ -66,7 +64,7 @@ SDGraph toBoostGraph(const G& graph) { // convert the factor graph to boost graph SDGraph g; typedef typename boost::graph_traits >::vertex_descriptor BoostVertex; - map key2vertex; + std::map key2vertex; BoostVertex v1, v2; typename G::const_iterator itFactor; @@ -108,7 +106,7 @@ boost::tuple > predecessorMap2Graph(const PredecessorMap& p_map) { G g; - map key2vertex; + std::map key2vertex; V v1, v2, root; KEY child, parent; bool foundRoot = false; diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 05f42ad78..509143b0b 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -23,6 +23,8 @@ #include #include +using namespace std; + namespace gtsam { /* ************************************************************************* */ diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index 34573f0c5..51b613b86 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -22,8 +22,6 @@ namespace gtsam { -using namespace std; - struct ISAM2::Impl { struct PartialSolveResult { @@ -49,7 +47,7 @@ struct ISAM2::Impl { * @param keyFormatter Formatter for printing nonlinear keys during debugging */ static void AddVariables(const Values& newTheta, Values& theta, Permuted& delta, - Permuted& deltaNewton, Permuted& deltaGradSearch, vector& replacedKeys, + Permuted& deltaNewton, Permuted& deltaGradSearch, std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -88,7 +86,7 @@ struct ISAM2::Impl { * * Alternatively could we trace up towards the root for each variable here? */ - static void FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, const vector& markedMask); + static void FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, const std::vector& markedMask); /** * Apply expmap to the given values, but only for indices appearing in diff --git a/gtsam/nonlinear/ISAM2-inl.h b/gtsam/nonlinear/ISAM2-inl.h index 3ca82051d..3520ffb84 100644 --- a/gtsam/nonlinear/ISAM2-inl.h +++ b/gtsam/nonlinear/ISAM2-inl.h @@ -25,8 +25,6 @@ namespace gtsam { -using namespace std; - /* ************************************************************************* */ template VALUE ISAM2::calculateEstimate(Key key) const { @@ -39,7 +37,7 @@ VALUE ISAM2::calculateEstimate(Key key) const { namespace internal { template void optimizeWildfire(const boost::shared_ptr& clique, double threshold, - vector& changed, const vector& replaced, Permuted& delta, int& count) { + std::vector& changed, const std::vector& replaced, Permuted& delta, int& count) { // if none of the variables in this clique (frontal and separator!) changed // significantly, then by the running intersection property, none of the // cliques in the children need to be processed @@ -68,7 +66,7 @@ void optimizeWildfire(const boost::shared_ptr& clique, double threshold, if(recalculate) { // Temporary copy of the original values, to check how much they change - vector originalValues((*clique)->nrFrontals()); + std::vector originalValues((*clique)->nrFrontals()); GaussianConditional::const_iterator it; for(it = (*clique)->beginFrontals(); it!=(*clique)->endFrontals(); it++) { originalValues[it - (*clique)->beginFrontals()] = delta[*it]; @@ -116,8 +114,8 @@ void optimizeWildfire(const boost::shared_ptr& clique, double threshold, /* ************************************************************************* */ template -int optimizeWildfire(const boost::shared_ptr& root, double threshold, const vector& keys, Permuted& delta) { - vector changed(keys.size(), false); +int optimizeWildfire(const boost::shared_ptr& root, double threshold, const std::vector& keys, Permuted& delta) { + std::vector changed(keys.size(), false); int count = 0; // starting from the root, call optimize on each conditional if(root) diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 2211122d8..a2ef3793b 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -246,7 +246,7 @@ struct ISAM2Clique : public BayesTreeCliqueBase >& result) : @@ -260,7 +260,7 @@ struct ISAM2Clique : public BayesTreeCliqueBaseclone() : Base::FactorType::shared_ptr()))); copy->gradientContribution_ = gradientContribution_; @@ -283,7 +283,7 @@ struct ISAM2Clique : public BayesTreeCliqueBaseprint(s + "Cached: "); else - cout << s << "Cached empty" << endl; + std::cout << s << "Cached empty" << std::endl; if(gradientContribution_.rows() != 0) gtsam::print(gradientContribution_, "Gradient contribution: "); } diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 1d4d580b9..8251bff59 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -100,7 +100,7 @@ public: virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { std::cout << s << "keys = { "; BOOST_FOREACH(Key key, this->keys()) { std::cout << keyFormatter(key) << " "; } - std::cout << "}" << endl; + std::cout << "}" << std::endl; } /** Check if two factors are equal */ diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 156440f06..b4a7c3c21 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -104,7 +104,7 @@ public: return EliminateQR; default: - throw runtime_error("Nonlinear optimization parameter \"factorization\" is invalid"); + throw std::runtime_error("Nonlinear optimization parameter \"factorization\" is invalid"); break; } } diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 179362a42..c6529a34f 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -97,8 +97,8 @@ namespace gtsam { } catch( CheiralityException& e) { if (H1) *H1 = zeros(2,6); if (H2) *H2 = zeros(2,3); - cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << - " moved behind camera " << DefaultKeyFormatter(this->key1()) << endl; + std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << + " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; return ones(2) * 2.0 * K_->fx(); } } diff --git a/gtsam_unstable/linear/iterative-inl.h b/gtsam_unstable/linear/iterative-inl.h index ee43abc77..c91e6f68a 100644 --- a/gtsam_unstable/linear/iterative-inl.h +++ b/gtsam_unstable/linear/iterative-inl.h @@ -22,8 +22,6 @@ #include #include -using namespace std; - namespace gtsam { /* ************************************************************************* */ From dd79bacfabc5b090d9c367e77e7a1f033986e401 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 14:33:53 +0000 Subject: [PATCH 274/914] Removed using namespace in header files --- gtsam/inference/BayesNet-inl.h | 2 +- gtsam/inference/BayesTree-inl.h | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index b668a7741..57cef4634 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -44,7 +44,7 @@ namespace gtsam { bool BayesNet::equals(const BayesNet& cbn, double tol) const { if (size() != cbn.size()) return false; - return equal(conditionals_.begin(), conditionals_.end(), + return std::equal(conditionals_.begin(), conditionals_.end(), cbn.conditionals_.begin(), equals_star(tol)); } diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 28f5e10cc..9fb8080ce 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -35,8 +35,6 @@ using boost::assign::operator+=; #include -namespace lam = boost::lambda; - namespace gtsam { /* ************************************************************************* */ From d188ed2e1a78ccc8492d130ec8b82950aa897436 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 14:33:59 +0000 Subject: [PATCH 275/914] Removed using namespace in header files --- examples/VisualSLAMData.h | 2 +- gtsam/inference/ClusterTree-inl.h | 4 ++-- gtsam/inference/graph-inl.h | 4 ++-- gtsam/inference/tests/testBayesTree.cpp | 1 + gtsam/inference/tests/testVariableIndex.cpp | 1 + gtsam/linear/SimpleSPCGSolver.cpp | 8 ++++---- gtsam/nonlinear/DoglegOptimizerImpl.cpp | 2 ++ gtsam/nonlinear/Marginals.cpp | 2 ++ gtsam_unstable/discrete/CSP.cpp | 2 ++ gtsam_unstable/discrete/tests/testCSP.cpp | 2 ++ gtsam_unstable/discrete/tests/testSudoku.cpp | 2 ++ gtsam_unstable/dynamics/tests/testIMUSystem.cpp | 1 + 12 files changed, 22 insertions(+), 9 deletions(-) diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h index 1a55e1a26..b96c24295 100644 --- a/examples/VisualSLAMData.h +++ b/examples/VisualSLAMData.h @@ -41,7 +41,7 @@ struct VisualSLAMExampleData { std::vector poses; // ground-truth camera poses gtsam::Pose3 odometry; // ground-truth odometry between 2 consecutive poses (simulated data for iSAM) std::vector points; // ground-truth landmarks - std::map > z; // 2D measurements of landmarks in each camera frame + std::map > z; // 2D measurements of landmarks in each camera frame gtsam::SharedDiagonal noiseZ; // measurement noise (noiseModel::Isotropic::Sigma(2, 5.0f)); gtsam::SharedDiagonal noiseX; // noise for camera poses gtsam::SharedDiagonal noiseL; // noise for landmarks diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index 267602eea..548a55cf4 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -61,8 +61,8 @@ namespace gtsam { if (separator != other.separator) return false; if (children_.size() != other.children_.size()) return false; - typename list::const_iterator it1 = children_.begin(); - typename list::const_iterator it2 = other.children_.begin(); + typename std::list::const_iterator it1 = children_.begin(); + typename std::list::const_iterator it2 = other.children_.begin(); for (; it1 != children_.end(); it1++, it2++) if (!(*it1)->equals(**it2)) return false; diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h index b086fd2fb..195e18d73 100644 --- a/gtsam/inference/graph-inl.h +++ b/gtsam/inference/graph-inl.h @@ -42,7 +42,7 @@ public: /* ************************************************************************* */ template -list predecessorMap2Keys(const PredecessorMap& p_map) { +std::list predecessorMap2Keys(const PredecessorMap& p_map) { typedef typename SGraph::Vertex SVertex; @@ -102,7 +102,7 @@ SDGraph toBoostGraph(const G& graph) { /* ************************************************************************* */ template -boost::tuple > +boost::tuple > predecessorMap2Graph(const PredecessorMap& p_map) { G g; diff --git a/gtsam/inference/tests/testBayesTree.cpp b/gtsam/inference/tests/testBayesTree.cpp index 71021ef70..2f85e1454 100644 --- a/gtsam/inference/tests/testBayesTree.cpp +++ b/gtsam/inference/tests/testBayesTree.cpp @@ -30,6 +30,7 @@ using namespace boost::assign; #include #include +using namespace std; using namespace gtsam; typedef BayesTree SymbolicBayesTree; diff --git a/gtsam/inference/tests/testVariableIndex.cpp b/gtsam/inference/tests/testVariableIndex.cpp index a990a5a87..7c8e6fa9e 100644 --- a/gtsam/inference/tests/testVariableIndex.cpp +++ b/gtsam/inference/tests/testVariableIndex.cpp @@ -22,6 +22,7 @@ #include #include +using namespace std; using namespace gtsam; /* ************************************************************************* */ diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index 8f59b9058..b08cc0c36 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -97,13 +97,13 @@ VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial double gamma = s.vector().squaredNorm(), new_gamma = 0.0, alpha = 0.0, beta = 0.0 ; const double threshold = - ::max(parameters_.epsilon_abs(), + std::max(parameters_.epsilon_abs(), parameters_.epsilon() * parameters_.epsilon() * gamma); const size_t iMaxIterations = parameters_.maxIterations(); const ConjugateGradientParameters::Verbosity verbosity = parameters_.cg_.verbosity(); if ( verbosity >= ConjugateGradientParameters::ERROR ) - cout << "[SimpleSPCGSolver] epsilon = " << parameters_.epsilon() + std::cout << "[SimpleSPCGSolver] epsilon = " << parameters_.epsilon() << ", max = " << parameters_.maxIterations() << ", ||r0|| = " << std::sqrt(gamma) << ", threshold = " << threshold << std::endl; @@ -122,14 +122,14 @@ VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial gamma = new_gamma ; if ( verbosity >= ConjugateGradientParameters::ERROR) { - cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << endl; + std::cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << std::endl; } if ( gamma < threshold ) break ; } // k if ( verbosity >= ConjugateGradientParameters::ERROR ) - cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << endl; + std::cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << std::endl; /* transform y back to x */ return this->transform(*x); diff --git a/gtsam/nonlinear/DoglegOptimizerImpl.cpp b/gtsam/nonlinear/DoglegOptimizerImpl.cpp index ccfdf781a..b46fc6a3f 100644 --- a/gtsam/nonlinear/DoglegOptimizerImpl.cpp +++ b/gtsam/nonlinear/DoglegOptimizerImpl.cpp @@ -18,6 +18,8 @@ #include #include +using namespace std; + namespace gtsam { /* ************************************************************************* */ VectorValues DoglegOptimizerImpl::ComputeDoglegPoint( diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 936cfb806..da3632570 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -21,6 +21,8 @@ #include #include +using namespace std; + namespace gtsam { /* ************************************************************************* */ diff --git a/gtsam_unstable/discrete/CSP.cpp b/gtsam_unstable/discrete/CSP.cpp index 4a041c9b2..20c0e7617 100644 --- a/gtsam_unstable/discrete/CSP.cpp +++ b/gtsam_unstable/discrete/CSP.cpp @@ -11,6 +11,8 @@ #include #include +using namespace std; + namespace gtsam { /// Find the best total assignment - can be expensive diff --git a/gtsam_unstable/discrete/tests/testCSP.cpp b/gtsam_unstable/discrete/tests/testCSP.cpp index c92cbe1f9..4ab5cd361 100644 --- a/gtsam_unstable/discrete/tests/testCSP.cpp +++ b/gtsam_unstable/discrete/tests/testCSP.cpp @@ -7,6 +7,8 @@ #include #include +#include +using boost::assign::insert; #include #include #include diff --git a/gtsam_unstable/discrete/tests/testSudoku.cpp b/gtsam_unstable/discrete/tests/testSudoku.cpp index a32ca2645..1e4026e7f 100644 --- a/gtsam_unstable/discrete/tests/testSudoku.cpp +++ b/gtsam_unstable/discrete/tests/testSudoku.cpp @@ -7,6 +7,8 @@ #include #include +#include +using boost::assign::insert; #include #include #include diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 1749ded1a..916d07559 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -7,6 +7,7 @@ #include +using namespace std; using namespace gtsam; using namespace imu; From 1913640d2c92d9e0d2dabc2f06f3843f15643b0e Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 14:34:03 +0000 Subject: [PATCH 276/914] Qualified more namespaces after removing using namespace from headers --- gtsam/inference/FactorGraph-inl.h | 2 +- gtsam/inference/SymbolicFactorGraph.cpp | 3 +-- gtsam/inference/graph-inl.h | 16 ++++++++-------- gtsam/nonlinear/DoglegOptimizerImpl.h | 10 +++++----- gtsam_unstable/linear/iterative-inl.h | 16 ++++++++-------- 5 files changed, 23 insertions(+), 24 deletions(-) diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index b7c3f81a5..8da4465d5 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -101,7 +101,7 @@ namespace gtsam { typename DERIVED::shared_ptr Combine(const FactorGraph& factors, const FastMap >& variableSlots) { - typedef const pair > KeySlotPair; + typedef const std::pair > KeySlotPair; // Local functional for getting keys out of key-value pairs struct Local { static KEY FirstOf(const KeySlotPair& pr) { return pr.first; } }; diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index 2d5190f45..2ae0b483a 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -67,8 +67,7 @@ namespace gtsam { IndexFactor::shared_ptr CombineSymbolic( const FactorGraph& factors, const FastMap >& variableSlots) { - IndexFactor::shared_ptr combined(Combine (factors, - variableSlots)); + IndexFactor::shared_ptr combined(Combine (factors, variableSlots)); // combined->assertInvariants(); return combined; } diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h index 195e18d73..73980797a 100644 --- a/gtsam/inference/graph-inl.h +++ b/gtsam/inference/graph-inl.h @@ -70,7 +70,7 @@ SDGraph toBoostGraph(const G& graph) { for(itFactor=graph.begin(); itFactor!=graph.end(); itFactor++) { if ((*itFactor)->keys().size() > 2) - throw(invalid_argument("toBoostGraph: only support factors with at most two keys")); + throw(std::invalid_argument("toBoostGraph: only support factors with at most two keys")); if ((*itFactor)->keys().size() == 1) continue; @@ -131,7 +131,7 @@ predecessorMap2Graph(const PredecessorMap& p_map) { } if (!foundRoot) - throw invalid_argument("predecessorMap2Graph: invalid predecessor map!"); + throw std::invalid_argument("predecessorMap2Graph: invalid predecessor map!"); else return boost::tuple >(g, root, key2vertex); } @@ -171,7 +171,7 @@ boost::shared_ptr composePoses(const G& graph, const PredecessorMap PoseGraph g; PoseVertex root; - map key2vertex; + std::map key2vertex; boost::tie(g, root, key2vertex) = predecessorMap2Graph(tree); @@ -181,7 +181,7 @@ boost::shared_ptr composePoses(const G& graph, const PredecessorMap BOOST_FOREACH(typename G::sharedFactor nl_factor, graph) { if (nl_factor->keys().size() > 2) - throw invalid_argument("composePoses: only support factors with at most two keys"); + throw std::invalid_argument("composePoses: only support factors with at most two keys"); // e.g. in pose2graph, nonlinear factor needs to be converted to pose2factor boost::shared_ptr factor = boost::dynamic_pointer_cast(nl_factor); @@ -196,7 +196,7 @@ boost::shared_ptr composePoses(const G& graph, const PredecessorMap POSE l1Xl2 = factor->measured(); boost::tie(edge12, found1) = boost::edge(v1, v2, g); boost::tie(edge21, found2) = boost::edge(v2, v1, g); - if (found1 && found2) throw invalid_argument ("composePoses: invalid spanning tree"); + if (found1 && found2) throw std::invalid_argument ("composePoses: invalid spanning tree"); if (!found1 && !found2) continue; if (found1) boost::put(boost::edge_weight, g, edge12, l1Xl2); @@ -223,13 +223,13 @@ PredecessorMap findMinimumSpanningTree(const G& fg) { SDGraph g = gtsam::toBoostGraph(fg); // find minimum spanning tree - vector::Vertex> p_map(boost::num_vertices(g)); + std::vector::Vertex> p_map(boost::num_vertices(g)); prim_minimum_spanning_tree(g, &p_map[0]); // convert edge to string pairs PredecessorMap tree; typename SDGraph::vertex_iterator itVertex = boost::vertices(g).first; - typename vector::Vertex>::iterator vi; + typename std::vector::Vertex>::iterator vi; for (vi = p_map.begin(); vi != p_map.end(); itVertex++, vi++) { KEY key = boost::get(boost::vertex_name, g, *itVertex); KEY parent = boost::get(boost::vertex_name, g, *vi); @@ -248,7 +248,7 @@ void split(const G& g, const PredecessorMap& tree, G& Ab1, G& Ab2) { BOOST_FOREACH(const F& factor, g) { if (factor->keys().size() > 2) - throw(invalid_argument("split: only support factors with at most two keys")); + throw(std::invalid_argument("split: only support factors with at most two keys")); if (factor->keys().size() == 1) { Ab1.push_back(factor); diff --git a/gtsam/nonlinear/DoglegOptimizerImpl.h b/gtsam/nonlinear/DoglegOptimizerImpl.h index 737aa2f66..27a8d47ec 100644 --- a/gtsam/nonlinear/DoglegOptimizerImpl.h +++ b/gtsam/nonlinear/DoglegOptimizerImpl.h @@ -176,7 +176,7 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( result.dx_d = ComputeDoglegPoint(Delta, dx_u, dx_n, verbose); toc(3, "Dog leg point"); - if(verbose) cout << "Delta = " << Delta << ", dx_d_norm = " << result.dx_d.vector().norm() << endl; + if(verbose) std::cout << "Delta = " << Delta << ", dx_d_norm = " << result.dx_d.vector().norm() << std::endl; tic(4, "retract"); // Compute expmapped solution @@ -193,8 +193,8 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( const double new_M_error = jfg.error(result.dx_d); toc(6, "decrease in M"); - if(verbose) cout << setprecision(15) << "f error: " << f_error << " -> " << result.f_error << endl; - if(verbose) cout << setprecision(15) << "M error: " << M_error << " -> " << new_M_error << endl; + if(verbose) std::cout << std::setprecision(15) << "f error: " << f_error << " -> " << result.f_error << std::endl; + if(verbose) std::cout << std::setprecision(15) << "M error: " << M_error << " -> " << new_M_error << std::endl; tic(7, "adjust Delta"); // Compute gain ratio. Here we take advantage of the invariant that the @@ -203,7 +203,7 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( 0.5 : (f_error - result.f_error) / (M_error - new_M_error); - if(verbose) cout << setprecision(15) << "rho = " << rho << endl; + if(verbose) std::cout << std::setprecision(15) << "rho = " << rho << std::endl; if(rho >= 0.75) { // M agrees very well with f, so try to increase lambda @@ -253,7 +253,7 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( stay = true; lastAction = DECREASED_DELTA; } else { - if(verbose) cout << "Warning: Dog leg stopping because cannot decrease error with minimum Delta" << endl; + if(verbose) std::cout << "Warning: Dog leg stopping because cannot decrease error with minimum Delta" << std::endl; stay = false; } } diff --git a/gtsam_unstable/linear/iterative-inl.h b/gtsam_unstable/linear/iterative-inl.h index c91e6f68a..aa7eb076b 100644 --- a/gtsam_unstable/linear/iterative-inl.h +++ b/gtsam_unstable/linear/iterative-inl.h @@ -50,7 +50,7 @@ namespace gtsam { // init gamma and calculate threshold gamma = dot(g,g) ; - threshold = ::max(parameters_.epsilon_abs(), parameters_.epsilon() * parameters_.epsilon() * gamma); + threshold = std::max(parameters_.epsilon_abs(), parameters_.epsilon() * parameters_.epsilon() * gamma); // Allocate and calculate A*d for first iteration if (gamma > parameters_.epsilon_abs()) Ad = Ab * d; @@ -59,10 +59,10 @@ namespace gtsam { /* ************************************************************************* */ // print void print(const V& x) { - cout << "iteration = " << k << endl; + std::cout << "iteration = " << k << std::endl; gtsam::print(x,"x"); gtsam::print(g, "g"); - cout << "dotg = " << gamma << endl; + std::cout << "dotg = " << gamma << std::endl; gtsam::print(d, "d"); gtsam::print(Ad, "Ad"); } @@ -92,8 +92,8 @@ namespace gtsam { // check for convergence double new_gamma = dot(g, g); if (parameters_.verbosity() != IterativeOptimizationParameters::SILENT) - cout << "iteration " << k << ": alpha = " << alpha - << ", dotg = " << new_gamma << endl; + std::cout << "iteration " << k << ": alpha = " << alpha + << ", dotg = " << new_gamma << std::endl; if (new_gamma < threshold) return true; // calculate new search direction @@ -126,14 +126,14 @@ namespace gtsam { CGState state(Ab, x, parameters, steepest); if (parameters.verbosity() != IterativeOptimizationParameters::SILENT) - cout << "CG: epsilon = " << parameters.epsilon() + std::cout << "CG: epsilon = " << parameters.epsilon() << ", maxIterations = " << parameters.maxIterations() << ", ||g0||^2 = " << state.gamma - << ", threshold = " << state.threshold << endl; + << ", threshold = " << state.threshold << std::endl; if ( state.gamma < state.threshold ) { if (parameters.verbosity() != IterativeOptimizationParameters::SILENT) - cout << "||g0||^2 < threshold, exiting immediately !" << endl; + std::cout << "||g0||^2 < threshold, exiting immediately !" << std::endl; return x; } From 2f2f1875d994a40e54c7db95e127f38944b58a71 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 16:40:30 +0000 Subject: [PATCH 277/914] new prototype for VisualISAM_gui from Frank's example with many options --- .../VisualISAMData_cube.m | 0 .../VisualISAMData_triangle.m | 0 .../VisualISAMExample_triangle2.m | 12 +- .../VisualISAMInitialize.m | 0 .../{ => VisualISAM_gui}/VisualISAMPlot.m | 0 .../{ => VisualISAM_gui}/VisualISAMStep.m | 0 .../{ => VisualISAM_gui}/VisualISAM_gui.fig | Bin .../{ => VisualISAM_gui}/VisualISAM_gui.m | 0 .../VisualISAM_gui2/VisualISAM_gui.fig | Bin 0 -> 5442 bytes .../examples/VisualISAM_gui2/VisualISAM_gui.m | 175 ++++++++++++++++++ matlab/examples/VisualISAM_gui2/vData.m | 51 +++++ matlab/examples/VisualISAM_gui2/vInit.m | 31 ++++ matlab/examples/VisualISAM_gui2/vStep.m | 85 +++++++++ 13 files changed, 351 insertions(+), 3 deletions(-) rename matlab/examples/{ => VisualISAM_gui}/VisualISAMData_cube.m (100%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAMData_triangle.m (100%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAMExample_triangle2.m (54%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAMInitialize.m (100%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAMPlot.m (100%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAMStep.m (100%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAM_gui.fig (100%) rename matlab/examples/{ => VisualISAM_gui}/VisualISAM_gui.m (100%) create mode 100644 matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig create mode 100644 matlab/examples/VisualISAM_gui2/VisualISAM_gui.m create mode 100644 matlab/examples/VisualISAM_gui2/vData.m create mode 100644 matlab/examples/VisualISAM_gui2/vInit.m create mode 100644 matlab/examples/VisualISAM_gui2/vStep.m diff --git a/matlab/examples/VisualISAMData_cube.m b/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m similarity index 100% rename from matlab/examples/VisualISAMData_cube.m rename to matlab/examples/VisualISAM_gui/VisualISAMData_cube.m diff --git a/matlab/examples/VisualISAMData_triangle.m b/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m similarity index 100% rename from matlab/examples/VisualISAMData_triangle.m rename to matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m diff --git a/matlab/examples/VisualISAMExample_triangle2.m b/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m similarity index 54% rename from matlab/examples/VisualISAMExample_triangle2.m rename to matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m index b636ba542..4f9df958e 100644 --- a/matlab/examples/VisualISAMExample_triangle2.m +++ b/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m @@ -1,16 +1,22 @@ %% data -data = VisualISAMData_triangle(); +%data = VisualISAMData_triangle(); +data = VisualISAMData_cube(); %% init [isam results] = VisualISAMInitialize(data); sprintf('Frame 1,2:') results +figure(1); clf; +VisualISAMPlot(results, data); %% Next frame index -frame_i=3; +frame_i=2; %% All steps while (frame_i0tplW{Br!iWi#EKv_N^4VUN3GJ@q-N~BilX)k zf)cTJxc%<^2k!adJmiD<=fncDxgq)WvXU%vZAgQYr&X_jBjc0GB>M}Dlm zSVxFeMj=nmnm5=eNXT+Xo(P_~7zL>6-PYOFPL|9|Uck<7P8S2MD|i%2Q1Kr-N^Tij zC+BV?m{S$=00+eXZ4-0A8m>``(j>(4etb{cZY;;X_X{>jGZ_=NkdW7N5~h#i z-C`?Dm4X8-s)^aKvXw6zK?eN~u}(9cSs`Tl=Uqi~QFmxxM_K5NA}T{)M}_t#Mmx7e zShdeF7q9dBxGERl=~g)C&`#TYI;mtFo^mfwH%)l0os_u`bVdu?K_oudSI*Pu+VibW zoqoqM^p=`wsKhRvSB_4$bTW;KG}KM7>Ep5PsD3(QStNNz#Rgk~4dn40^m*K#W@N$Hsz8jg#Lm17Zoe(92<2CI#C(Ic#$ziyN9&!lq}NajDsre;Vvr;0>8d3wF2AMnBhSO}$w9 zs72OC@0XI1Rb{=!@bbOKc3ov~U}b2}hjkyUeZ;dVcA;956@%JrZ9TqOdwjPBB~+;i z<1b#|FG4mD#VKIB={Eg=Ep0!UCGt^);ODcVM54wQZNf&dFb=@dYUeXcs4h@8D;s$j z@Y1t4>S$@B%pC_ezY1h8@cdj&NBvk8(a9@}Q;jLeluVx!X6{^?U zF2%yEKBrlF|E}3@@o&9@?CoGX=roKPD}-@;={Q)a8~|1Qcyr-u3Md#h1MUQ-lPhN&cWvQ`|K}w zlkMY^S7Eq=M0D%$T_u9|T`0YFRUg0NKb3y(jYTqWqB&B}LOYhUZayWh8+g5m+=0DV}?h+(_KhbfaO4tXm#lLcoJ>3J3C zym3f=bLt;(`8>SWxVg)7X(&>h-l^1p(Dd(Y$-2vBLzTyfSj&X5!c3*I`fi<<0Y83| z#TWvCgbxz=@dnW88#eFX7wxRmS{8#v7eduZ!@9w*SDpE#r$T?6a*bK-vOhyOpqDl7c1W$AglG63#~m z{2E76=HnitX&32tBLF4iqK6tKP1bx9>vYi8k6AOOKU1f7u*n^&>qf{#drvX=4*K{} z94K|qsnPe7wU-Orn+cRphbCus;A*@{2EOJnJqAsk3jkG<`mL_L$~XFLmM% zzGj*7krkcx8tt@c$r83k4z|W`vVTys#(;YO+&Rc!y)04UQe=vEMUDA;^; 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Starting from the left, property value pairs are +% applied to the GUI before VisualISAM_gui_OpeningFcn gets called. An +% unrecognized property name or invalid value makes property application +% stop. All inputs are passed to VisualISAM_gui_OpeningFcn via varargin. +% +% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one +% instance to run (singleton)". +% +% See also: GUIDE, GUIDATA, GUIHANDLES + +% Edit the above text to modify the response to help VisualISAM_gui + +% Last Modified by GUIDE v2.5 08-Jun-2012 12:35:14 + +% Begin initialization code - DO NOT EDIT +gui_Singleton = 1; +gui_State = struct('gui_Name', mfilename, ... + 'gui_Singleton', gui_Singleton, ... + 'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ... + 'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ... + 'gui_LayoutFcn', [] , ... + 'gui_Callback', []); +if nargin && ischar(varargin{1}) + gui_State.gui_Callback = str2func(varargin{1}); +end + +if nargout + [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); +else + gui_mainfcn(gui_State, varargin{:}); +end +% End initialization code - DO NOT EDIT + + +% --- Executes just before VisualISAM_gui is made visible. +function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin) +% This function has no output args, see OutputFcn. +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +% varargin command line arguments to VisualISAM_gui (see VARARGIN) + +% Choose default command line output for VisualISAM_gui +%% Data Options +handles.TRIANGLE = true; +handles.NCAMERAS = 20; +handles.SHOW_IMAGES = false; + +%% iSAM Options +handles.HARD_CONSTRAINT = false; +handles.POINT_PRIORS = false; +handles.BATCH_INIT = true; +handles.REORDER_INTERVAL=10; +handles.ALWAYS_RELINEARIZE = false; + +%% Display Options +handles.SAVE_GRAPH = false; +handles.PRINT_STATS = true; +handles.DRAW_INTERVAL = 1; +handles.CAMERA_INTERVAL = 1; +handles.DRAW_TRUE_POSES = false; +handles.SAVE_FIGURES = false; +handles.SAVE_GRAPHS = false; + +handles = vData(handles); +handles = vInit(handles); +handles.output = hObject; + +% Update handles structure +guidata(hObject, handles); + +% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME) +% uiwait(handles.figure1); + + +% --- Outputs from this function are returned to the command line. +function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles) +% varargout cell array for returning output args (see VARARGOUT); +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Get default command line output from handles structure +varargout{1} = handles.output; + +function handles = initialize(handles) + handles=vData(handles); + handles=vInit(handles); + handles.result = {}; + cla; + handles + +% --- Executes on button press in intializeButton. +function intializeButton_Callback(hObject, eventdata, handles) +% hObject handle to intializeButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + handles=initialize(handles) + guidata(hObject,handles) + +% --- Executes on button press in stepButton. +function stepButton_Callback(hObject, eventdata, handles) +% hObject handle to stepButton (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + if (handles.frame_i Date: Fri, 8 Jun 2012 16:45:16 +0000 Subject: [PATCH 278/914] in the middle of resurrecting spcg --- examples/Pose2SLAMwSPCG.cpp | 1 - gtsam/linear/ConjugateGradientSolver.h | 89 ++++++ .../linear/IterativeOptimizationParameters.h | 134 -------- gtsam/linear/IterativeSolver.h | 45 ++- gtsam/linear/SimpleSPCGSolver.cpp | 6 +- gtsam/linear/SimpleSPCGSolver.h | 6 +- gtsam/linear/SubgraphPreconditioner.cpp | 296 +++++++++--------- gtsam/linear/SubgraphPreconditioner.h | 233 +++++++------- gtsam/linear/SubgraphSolver-inl.h | 162 +++++----- gtsam/linear/SubgraphSolver.cpp | 158 +++++++--- gtsam/linear/SubgraphSolver.h | 152 +++------ .../nonlinear/LevenbergMarquardtOptimizer.cpp | 10 +- .../SuccessiveLinearizationOptimizer.h | 2 +- gtsam_unstable/linear/iterative-inl.h | 12 +- gtsam_unstable/linear/iterative.cpp | 14 +- gtsam_unstable/linear/iterative.h | 14 +- 16 files changed, 665 insertions(+), 669 deletions(-) create mode 100644 gtsam/linear/ConjugateGradientSolver.h delete mode 100644 gtsam/linear/IterativeOptimizationParameters.h diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index cec4301dc..984701734 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -16,7 +16,6 @@ * @date June 2, 2012 */ -#include #include #include diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h new file mode 100644 index 000000000..2cfd1279f --- /dev/null +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -0,0 +1,89 @@ +/* ---------------------------------------------------------------------------- + + * 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 + +namespace gtsam { + +/** + * parameters for the conjugate gradient method + */ +struct ConjugateGradientParameters : public IterativeOptimizationParameters { + + typedef IterativeOptimizationParameters Base; + typedef boost::shared_ptr shared_ptr; + + size_t minIterations_; ///< minimum number of cg iterations + size_t maxIterations_; ///< maximum number of cg iterations + size_t reset_; ///< number of iterations before reset + double epsilon_rel_; ///< threshold for relative error decrease + double epsilon_abs_; ///< threshold for absolute error decrease + + /* Matrix Operation Kernel */ + enum BLASKernel { + GTSAM = 0, ///< Jacobian Factor Graph of GTSAM + SBM, ///< Sparse Block Matrix + SBM_MT ///< Sparse Block Matrix Multithreaded + } blas_kernel_; + + enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ + + ConjugateGradientParameters() + : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), + blas_kernel_(GTSAM), verbosity_(SILENT) {} + + ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, + double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM, Verbosity verbosity = SILENT) + : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), + epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas), verbosity_(verbosity) {} + + /* general interface */ + inline size_t minIterations() const { return minIterations_; } + inline size_t maxIterations() const { return maxIterations_; } + inline size_t reset() const { return reset_; } + inline double epsilon() const { return epsilon_rel_; } + inline double epsilon_rel() const { return epsilon_rel_; } + inline double epsilon_abs() const { return epsilon_abs_; } + inline BLASKernel blas_kernel() const { return blas_kernel_; } + inline Verbosity verbosity() const { return verbosity_; } + + void print() const { + const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"}; + Base::print(); + std::cout << "ConjugateGradientParameters: " + << "blas = " << blasStr[blas_kernel_] + << ", minIter = " << minIterations_ + << ", maxIter = " << maxIterations_ + << ", resetIter = " << reset_ + << ", eps_rel = " << epsilon_rel_ + << ", eps_abs = " << epsilon_abs_ + << ", verbosity = " << verbosity_ + << std::endl; + } +}; + +//class ConjugateGradientSolver : public IterativeSolver { +// +//public: +// +// typedef ConjugateGradientParameters Parameters; +// +// Parameters parameters_; +// +// ConjugateGradientSolver(const ConjugateGradientParameters ¶meters) : parameters_(parameters) {} +// virtual VectorValues::shared_ptr optimize () = 0; +// virtual const IterativeOptimizationParameters& _params() const = 0; +//}; + + +} diff --git a/gtsam/linear/IterativeOptimizationParameters.h b/gtsam/linear/IterativeOptimizationParameters.h deleted file mode 100644 index 459f07b3e..000000000 --- a/gtsam/linear/IterativeOptimizationParameters.h +++ /dev/null @@ -1,134 +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 IterativeOptimizationParameters.h - * @date Oct 22, 2010 - * @author Yong-Dian Jian - */ - -#pragma once - -#include -#include -#include - -namespace gtsam { - -/** - * parameters for the conjugate gradient method - */ -struct ConjugateGradientParameters { - - size_t minIterations_; ///< minimum number of cg iterations - size_t maxIterations_; ///< maximum number of cg iterations - size_t reset_; ///< number of iterations before reset - double epsilon_rel_; ///< threshold for relative error decrease - double epsilon_abs_; ///< threshold for absolute error decrease - - /* Matrix Operation Kernel */ - enum BLASKernel { - GTSAM = 0, ///< Jacobian Factor Graph of GTSAM - SBM, ///< Sparse Block Matrix - SBM_MT ///< Sparse Block Matrix Multithreaded - } blas_kernel_; - - size_t degree_; ///< the maximum degree of the vertices to be eliminated before doing cg - - enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ - - ConjugateGradientParameters() - : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), - blas_kernel_(GTSAM), degree_(0), verbosity_(SILENT) {} - - ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, - double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM, size_t degree = 0, Verbosity verbosity = SILENT) - : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), - epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas), degree_(degree), verbosity_(verbosity) {} - - /* general interface */ - inline size_t minIterations() const { return minIterations_; } - inline size_t maxIterations() const { return maxIterations_; } - inline size_t reset() const { return reset_; } - inline double epsilon() const { return epsilon_rel_; } - inline double epsilon_rel() const { return epsilon_rel_; } - inline double epsilon_abs() const { return epsilon_abs_; } - inline BLASKernel blas_kernel() const { return blas_kernel_; } - inline size_t degree() const { return degree_; } - inline Verbosity verbosity() const { return verbosity_; } - - void print() const { - const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"}; - std::cout << "ConjugateGradientParameters: " - << "blas = " << blasStr[blas_kernel_] - << ", minIter = " << minIterations_ - << ", maxIter = " << maxIterations_ - << ", resetIter = " << reset_ - << ", eps_rel = " << epsilon_rel_ - << ", eps_abs = " << epsilon_abs_ - << ", degree = " << degree_ - << ", verbosity = " << verbosity_ - << std::endl; - } -}; - -/** - * parameters for iterative linear solvers - */ -class IterativeOptimizationParameters { - -public: - - typedef boost::shared_ptr shared_ptr; - - ConjugateGradientParameters cg_; ///< Parameters for the Conjugate Gradient Method - enum Kernel { PCG = 0, LSPCG = 1 } kernel_ ; ///< Iterative Method Kernel - enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; ///< Verbosity - -public: - - IterativeOptimizationParameters() : cg_(), kernel_(LSPCG), verbosity_(SILENT) {} - - IterativeOptimizationParameters(const IterativeOptimizationParameters &p) - : cg_(p.cg_), kernel_(p.kernel_), verbosity_(p.verbosity_) {} - - IterativeOptimizationParameters(const ConjugateGradientParameters &c, Kernel kernel = LSPCG, Verbosity verbosity = SILENT) - : cg_(c), kernel_(kernel), verbosity_(verbosity) {} - - virtual ~IterativeOptimizationParameters() {} - - /* general interface */ - inline Kernel kernel() const { return kernel_; } - inline Verbosity verbosity() const { return verbosity_; } - - /* interface to cg parameters */ - inline const ConjugateGradientParameters& cg() const { return cg_; } - inline size_t minIterations() const { return cg_.minIterations(); } - inline size_t maxIterations() const { return cg_.maxIterations(); } - inline size_t reset() const { return cg_.reset(); } - inline double epsilon() const { return cg_.epsilon_rel(); } - inline double epsilon_rel() const { return cg_.epsilon_rel(); } - inline double epsilon_abs() const { return cg_.epsilon_abs(); } - inline size_t degree() const { return cg_.degree(); } - inline ConjugateGradientParameters::BLASKernel blas_kernel() const { return cg_.blas_kernel(); } - - virtual void print(const std::string &s="") const { - const std::string kernelStr[2] = {"pcg", "lspcg"}; - std::cout << s << std::endl - << "IterativeOptimizationParameters: " - << "kernel = " << kernelStr[kernel_] - << ", verbosity = " << verbosity_ << std::endl; - cg_.print(); - } - -}; - -} diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index edaa09943..de1c564ef 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -11,20 +11,49 @@ #pragma once -#include #include namespace gtsam { -class IterativeSolver { + /** + * parameters for iterative linear solvers + */ + class IterativeOptimizationParameters { -public: + public: - IterativeSolver(){} - virtual ~IterativeSolver() {} + typedef boost::shared_ptr shared_ptr; - virtual VectorValues::shared_ptr optimize () = 0; - virtual const IterativeOptimizationParameters& _params() const = 0; -}; + enum Kernel { PCG = 0, LSPCG = 1 } kernel_ ; ///< Iterative Method Kernel + enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; ///< Verbosity + + public: + + IterativeOptimizationParameters(const IterativeOptimizationParameters &p) + : kernel_(p.kernel_), verbosity_(p.verbosity_) {} + + IterativeOptimizationParameters(Kernel kernel = LSPCG, Verbosity verbosity = SILENT) + : kernel_(kernel), verbosity_(verbosity) {} + + virtual ~IterativeOptimizationParameters() {} + + /* general interface */ + inline Kernel kernel() const { return kernel_; } + inline Verbosity verbosity() const { return verbosity_; } + + void print() const { + const std::string kernelStr[2] = {"pcg", "lspcg"}; + std::cout << "IterativeOptimizationParameters: " + << "kernel = " << kernelStr[kernel_] + << ", verbosity = " << verbosity_ << std::endl; + } + }; + + class IterativeSolver { + public: + IterativeSolver(){} + virtual ~IterativeSolver() {} + virtual VectorValues::shared_ptr optimize () = 0; + }; } diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index b08cc0c36..03401cc7f 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -9,11 +9,11 @@ * -------------------------------------------------------------------------- */ -#include +#include #include #include -#include #include +#include #include #include #include @@ -100,7 +100,7 @@ VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial std::max(parameters_.epsilon_abs(), parameters_.epsilon() * parameters_.epsilon() * gamma); const size_t iMaxIterations = parameters_.maxIterations(); - const ConjugateGradientParameters::Verbosity verbosity = parameters_.cg_.verbosity(); + const Parameters::Verbosity verbosity = parameters_.verbosity(); if ( verbosity >= ConjugateGradientParameters::ERROR ) std::cout << "[SimpleSPCGSolver] epsilon = " << parameters_.epsilon() diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index d2768f581..406232d3c 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -11,9 +11,10 @@ #pragma once -#include +#include #include #include +#include #include namespace gtsam { @@ -39,7 +40,7 @@ class SimpleSPCGSolver : public IterativeSolver { public: typedef IterativeSolver Base; - typedef IterativeOptimizationParameters Parameters; + typedef ConjugateGradientParameters Parameters; typedef boost::shared_ptr shared_ptr; protected: @@ -60,7 +61,6 @@ public: SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); virtual ~SimpleSPCGSolver() {} virtual VectorValues::shared_ptr optimize () {return optimize(*y0_);} - virtual const IterativeOptimizationParameters& _params() const { return parameters_; } protected: diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index cce8eea9d..59a72dd8b 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -1,150 +1,146 @@ -///* ---------------------------------------------------------------------------- -// -// * 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 SubgraphPreconditioner.cpp -// * @date Dec 31, 2009 -// * @author: Frank Dellaert -// */ -// -//#include -//#include -//#include -//#include -// -//using namespace std; -// -//namespace gtsam { -// -// /* ************************************************************************* */ -// SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, -// const sharedBayesNet& Rc1, const sharedValues& xbar) : -// Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(gaussianErrors_(*Ab2_,*xbar)) { -// } -// -// /* ************************************************************************* */ -// // x = xbar + inv(R1)*y -// VectorValues SubgraphPreconditioner::x(const VectorValues& y) const { -//#ifdef VECTORBTREE -// if (!y.cloned(*xbar_)) throw -// invalid_argument("SubgraphPreconditioner::x: y needs to be cloned from xbar"); -//#endif -// VectorValues x = y; -// backSubstituteInPlace(*Rc1_,x); -// x += *xbar_; -// return x; -// } -// -//// SubgraphPreconditioner SubgraphPreconditioner::add_priors(double sigma) const { -//// SubgraphPreconditioner result = *this ; -//// result.Ab2_ = sharedFG(new GaussianFactorGraph(Ab2_->add_priors(sigma))) ; -//// return result ; -//// } -// -// /* ************************************************************************* */ -// double error(const SubgraphPreconditioner& sp, const VectorValues& y) { -// -// Errors e(y); -// VectorValues x = sp.x(y); -// Errors e2 = gaussianErrors(*sp.Ab2(),x); -// return 0.5 * (dot(e, e) + dot(e2,e2)); -// } -// -// /* ************************************************************************* */ -// // gradient is y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar), -// VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y) { -// VectorValues x = sp.x(y); // x = inv(R1)*y -// Errors e2 = gaussianErrors(*sp.Ab2(),x); -// VectorValues gx2 = VectorValues::Zero(y); -// gtsam::transposeMultiplyAdd(*sp.Ab2(),1.0,e2,gx2); // A2'*e2; -// VectorValues gy2 = gtsam::backSubstituteTranspose(*sp.Rc1(), gx2); // inv(R1')*gx2 -// return y + gy2; -// } -// -// /* ************************************************************************* */ -// // Apply operator A, A*y = [I;A2*inv(R1)]*y = [y; A2*inv(R1)*y] -// Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y) { -// -// Errors e(y); -// -// // Add A2 contribution -// VectorValues x = y; // TODO avoid ? -// gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y -// Errors e2 = *sp.Ab2() * x; // A2*x -// e.splice(e.end(), e2); -// -// return e; -// } -// -// /* ************************************************************************* */ -// // In-place version that overwrites e -// void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e) { -// -// -// Errors::iterator ei = e.begin(); -// for ( Index i = 0 ; i < y.size() ; ++i, ++ei ) { -// *ei = y[i]; -// } -// -// // Add A2 contribution -// VectorValues x = y; // TODO avoid ? -// gtsam::backSubstituteInPlace(*sp.Rc1(), x); // x=inv(R1)*y -// gtsam::multiplyInPlace(*sp.Ab2(),x,ei); // use iterator version -// } -// -// /* ************************************************************************* */ -// // Apply operator A', A'*e = [I inv(R1')*A2']*e = e1 + inv(R1')*A2'*e2 -// VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e) { -// -// Errors::const_iterator it = e.begin(); -// VectorValues y = sp.zero(); -// for ( Index i = 0 ; i < y.size() ; ++i, ++it ) -// y[i] = *it ; -// sp.transposeMultiplyAdd2(1.0,it,e.end(),y); -// return y; -// } -// -// /* ************************************************************************* */ -// // y += alpha*A'*e -// void transposeMultiplyAdd -// (const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y) { -// -// -// Errors::const_iterator it = e.begin(); -// for ( Index i = 0 ; i < y.size() ; ++i, ++it ) { -// const Vector& ei = *it; -// axpy(alpha,ei,y[i]); -// } -// sp.transposeMultiplyAdd2(alpha,it,e.end(),y); -// } -// -// /* ************************************************************************* */ -// // y += alpha*inv(R1')*A2'*e2 -// void SubgraphPreconditioner::transposeMultiplyAdd2 (double alpha, -// Errors::const_iterator it, Errors::const_iterator end, VectorValues& y) const { -// -// // create e2 with what's left of e -// // TODO can we avoid creating e2 by passing iterator to transposeMultiplyAdd ? -// Errors e2; -// while (it != end) -// e2.push_back(*(it++)); -// -// VectorValues x = VectorValues::Zero(y); // x = 0 -// gtsam::transposeMultiplyAdd(*Ab2_,1.0,e2,x); // x += A2'*e2 -// axpy(alpha, gtsam::backSubstituteTranspose(*Rc1_, x), y); // y += alpha*inv(R1')*x -// } -// -// /* ************************************************************************* */ -// void SubgraphPreconditioner::print(const std::string& s) const { -// cout << s << endl; -// Ab2_->print(); -// } -//} // nsamespace gtsam +/* ---------------------------------------------------------------------------- + + * 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 SubgraphPreconditioner.cpp + * @date Dec 31, 2009 + * @author: Frank Dellaert + */ + +#include +#include +#include + +#include + +using namespace std; + +namespace gtsam { + + /* ************************************************************************* */ + SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, + const sharedBayesNet& Rc1, const sharedValues& xbar) : + Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(gaussianErrors_(*Ab2_,*xbar)) { + } + + /* ************************************************************************* */ + // x = xbar + inv(R1)*y + VectorValues SubgraphPreconditioner::x(const VectorValues& y) const { + VectorValues x = y; + optimizeInPlace(*Rc1_,x); + x += *xbar_; + return x; + } + +// SubgraphPreconditioner SubgraphPreconditioner::add_priors(double sigma) const { +// SubgraphPreconditioner result = *this ; +// result.Ab2_ = sharedFG(new GaussianFactorGraph(Ab2_->add_priors(sigma))) ; +// return result ; +// } + + /* ************************************************************************* */ + double error(const SubgraphPreconditioner& sp, const VectorValues& y) { + + Errors e(y); + VectorValues x = sp.x(y); + Errors e2 = gaussianErrors(*sp.Ab2(),x); + return 0.5 * (dot(e, e) + dot(e2,e2)); + } + + /* ************************************************************************* */ + // gradient is y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar), + VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y) { + VectorValues x = sp.x(y); // x = inv(R1)*y + Errors e2 = gaussianErrors(*sp.Ab2(),x); + VectorValues gx2 = VectorValues::Zero(y); + gtsam::transposeMultiplyAdd(*sp.Ab2(),1.0,e2,gx2); // A2'*e2; + VectorValues gy2 = gtsam::backSubstituteTranspose(*sp.Rc1(), gx2); // inv(R1')*gx2 + return y + gy2; + } + + /* ************************************************************************* */ + // Apply operator A, A*y = [I;A2*inv(R1)]*y = [y; A2*inv(R1)*y] + Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y) { + + Errors e(y); + + // Add A2 contribution + VectorValues x = y; // TODO avoid ? + gtsam::optimizeInPlace(*sp.Rc1(), x); // x=inv(R1)*y + Errors e2 = *sp.Ab2() * x; // A2*x + e.splice(e.end(), e2); + + return e; + } + + /* ************************************************************************* */ + // In-place version that overwrites e + void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e) { + + + Errors::iterator ei = e.begin(); + for ( Index i = 0 ; i < y.size() ; ++i, ++ei ) { + *ei = y[i]; + } + + // Add A2 contribution + VectorValues x = y; // TODO avoid ? + gtsam::optimizeInPlace(*sp.Rc1(), x); // x=inv(R1)*y + gtsam::multiplyInPlace(*sp.Ab2(),x,ei); // use iterator version + } + + /* ************************************************************************* */ + // Apply operator A', A'*e = [I inv(R1')*A2']*e = e1 + inv(R1')*A2'*e2 + VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e) { + + Errors::const_iterator it = e.begin(); + VectorValues y = sp.zero(); + for ( Index i = 0 ; i < y.size() ; ++i, ++it ) + y[i] = *it ; + sp.transposeMultiplyAdd2(1.0,it,e.end(),y); + return y; + } + + /* ************************************************************************* */ + // y += alpha*A'*e + void transposeMultiplyAdd + (const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y) { + + + Errors::const_iterator it = e.begin(); + for ( Index i = 0 ; i < y.size() ; ++i, ++it ) { + const Vector& ei = *it; + axpy(alpha,ei,y[i]); + } + sp.transposeMultiplyAdd2(alpha,it,e.end(),y); + } + + /* ************************************************************************* */ + // y += alpha*inv(R1')*A2'*e2 + void SubgraphPreconditioner::transposeMultiplyAdd2 (double alpha, + Errors::const_iterator it, Errors::const_iterator end, VectorValues& y) const { + + // create e2 with what's left of e + // TODO can we avoid creating e2 by passing iterator to transposeMultiplyAdd ? + Errors e2; + while (it != end) e2.push_back(*(it++)); + + VectorValues x = VectorValues::Zero(y); // x = 0 + gtsam::transposeMultiplyAdd(*Ab2_,1.0,e2,x); // x += A2'*e2 + axpy(alpha, gtsam::backSubstituteTranspose(*Rc1_, x), y); // y += alpha*inv(R1')*x + } + + /* ************************************************************************* */ + void SubgraphPreconditioner::print(const std::string& s) const { + cout << s << endl; + Ab2_->print(); + } +} // nsamespace gtsam diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index 2cc760bfa..460f28e5a 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -1,116 +1,117 @@ -///* ---------------------------------------------------------------------------- -// -// * 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 SubgraphPreconditioner.h -// * @date Dec 31, 2009 -// * @author Frank Dellaert -// */ -// -//#pragma once -// -//#include -//#include -//#include // FIXME shouldn't have nonlinear things in linear -// -//namespace gtsam { -// -// /** -// * Subgraph conditioner class, as explained in the RSS 2010 submission. -// * Starting with a graph A*x=b, we split it in two systems A1*x=b1 and A2*x=b2 -// * We solve R1*x=c1, and make the substitution y=R1*x-c1. -// * To use the class, give the Bayes Net R1*x=c1 and Graph A2*x=b2. -// * Then solve for yhat using CG, and solve for xhat = system.x(yhat). -// */ -// class SubgraphPreconditioner { -// -// public: -// typedef boost::shared_ptr sharedBayesNet; -// typedef boost::shared_ptr > sharedFG; -// typedef boost::shared_ptr sharedValues; -// typedef boost::shared_ptr sharedErrors; -// -// private: -// sharedFG Ab1_, Ab2_; -// sharedBayesNet Rc1_; -// sharedValues xbar_; -// sharedErrors b2bar_; /** b2 - A2*xbar */ -// -// public: -// -// SubgraphPreconditioner(); -// /** -// * Constructor -// * @param Ab1: the Graph A1*x=b1 -// * @param Ab2: the Graph A2*x=b2 -// * @param Rc1: the Bayes Net R1*x=c1 -// * @param xbar: the solution to R1*x=c1 -// */ -// SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar); -// -// /** Access Ab1 */ -// const sharedFG& Ab1() const { return Ab1_; } -// -// /** Access Ab2 */ -// const sharedFG& Ab2() const { return Ab2_; } -// -// /** Access Rc1 */ -// const sharedBayesNet& Rc1() const { return Rc1_; } -// -// /** -// * Add zero-mean i.i.d. Gaussian prior terms to each variable -// * @param sigma Standard deviation of Gaussian -// */ -//// SubgraphPreconditioner add_priors(double sigma) const; -// -// /* x = xbar + inv(R1)*y */ -// VectorValues x(const VectorValues& y) const; -// -// /* A zero VectorValues with the structure of xbar */ -// VectorValues zero() const { -// VectorValues V(VectorValues::Zero(*xbar_)) ; -// return V ; -// } -// -// /** -// * Add constraint part of the error only, used in both calls above -// * y += alpha*inv(R1')*A2'*e2 -// * Takes a range indicating e2 !!!! -// */ -// void transposeMultiplyAdd2(double alpha, Errors::const_iterator begin, -// Errors::const_iterator end, VectorValues& y) const; -// -// /** print the object */ -// void print(const std::string& s = "SubgraphPreconditioner") const; -// }; -// -// /* error, given y */ -// double error(const SubgraphPreconditioner& sp, const VectorValues& y); -// -// /** gradient = y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar) */ -// VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y); -// -// /** Apply operator A */ -// Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y); -// -// /** Apply operator A in place: needs e allocated already */ -// void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e); -// -// /** Apply operator A' */ -// VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e); -// -// /** -// * Add A'*e to y -// * y += alpha*A'*[e1;e2] = [alpha*e1; alpha*inv(R1')*A2'*e2] -// */ -// void transposeMultiplyAdd(const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y); -// -//} // namespace gtsam +/* ---------------------------------------------------------------------------- + + * 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 SubgraphPreconditioner.h + * @date Dec 31, 2009 + * @author Frank Dellaert + */ + +#pragma once + +#include +#include + +namespace gtsam { + + /** + * Subgraph conditioner class, as explained in the RSS 2010 submission. + * Starting with a graph A*x=b, we split it in two systems A1*x=b1 and A2*x=b2 + * We solve R1*x=c1, and make the substitution y=R1*x-c1. + * To use the class, give the Bayes Net R1*x=c1 and Graph A2*x=b2. + * Then solve for yhat using CG, and solve for xhat = system.x(yhat). + */ + class SubgraphPreconditioner { + + public: + + typedef boost::shared_ptr shared_ptr; + typedef boost::shared_ptr sharedBayesNet; + typedef boost::shared_ptr > sharedFG; + typedef boost::shared_ptr sharedValues; + typedef boost::shared_ptr sharedErrors; + + private: + sharedFG Ab1_, Ab2_; + sharedBayesNet Rc1_; + sharedValues xbar_; + sharedErrors b2bar_; /** b2 - A2*xbar */ + + public: + + SubgraphPreconditioner(); + /** + * Constructor + * @param Ab1: the Graph A1*x=b1 + * @param Ab2: the Graph A2*x=b2 + * @param Rc1: the Bayes Net R1*x=c1 + * @param xbar: the solution to R1*x=c1 + */ + SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar); + + /** Access Ab1 */ + const sharedFG& Ab1() const { return Ab1_; } + + /** Access Ab2 */ + const sharedFG& Ab2() const { return Ab2_; } + + /** Access Rc1 */ + const sharedBayesNet& Rc1() const { return Rc1_; } + + /** + * Add zero-mean i.i.d. Gaussian prior terms to each variable + * @param sigma Standard deviation of Gaussian + */ +// SubgraphPreconditioner add_priors(double sigma) const; + + /* x = xbar + inv(R1)*y */ + VectorValues x(const VectorValues& y) const; + + /* A zero VectorValues with the structure of xbar */ + VectorValues zero() const { + VectorValues V(VectorValues::Zero(*xbar_)) ; + return V ; + } + + /** + * Add constraint part of the error only, used in both calls above + * y += alpha*inv(R1')*A2'*e2 + * Takes a range indicating e2 !!!! + */ + void transposeMultiplyAdd2(double alpha, Errors::const_iterator begin, + Errors::const_iterator end, VectorValues& y) const; + + /** print the object */ + void print(const std::string& s = "SubgraphPreconditioner") const; + }; + + /* error, given y */ + double error(const SubgraphPreconditioner& sp, const VectorValues& y); + + /** gradient = y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar) */ + VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y); + + /** Apply operator A */ + Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y); + + /** Apply operator A in place: needs e allocated already */ + void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e); + + /** Apply operator A' */ + VectorValues operator^(const SubgraphPreconditioner& sp, const Errors& e); + + /** + * Add A'*e to y + * y += alpha*A'*[e1;e2] = [alpha*e1; alpha*inv(R1')*A2'*e2] + */ + void transposeMultiplyAdd(const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y); + +} // namespace gtsam diff --git a/gtsam/linear/SubgraphSolver-inl.h b/gtsam/linear/SubgraphSolver-inl.h index d2dc7cee2..28b2caaac 100644 --- a/gtsam/linear/SubgraphSolver-inl.h +++ b/gtsam/linear/SubgraphSolver-inl.h @@ -1,82 +1,80 @@ -/* ---------------------------------------------------------------------------- - - * 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 -#include -#include - -using namespace std; - -namespace gtsam { - -template -void SubgraphSolver::replaceFactors(const typename LINEAR::shared_ptr &graph) { - - GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(); - GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared(); - - if (parameters_->verbosity()) cout << "split the graph ..."; - split(pairs_, *graph, *Ab1, *Ab2) ; - if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; - - // // Add a HardConstraint to the root, otherwise the root will be singular - // Key root = keys.back(); - // T_.addHardConstraint(root, theta0[root]); - // - // // compose the approximate solution - // theta_bar_ = composePoses (T_, tree, theta0[root]); - - LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!! - SubgraphPreconditioner::sharedBayesNet Rc1 = - EliminationTree::Create(sacrificialAb1)->eliminate(&EliminateQR); - SubgraphPreconditioner::sharedValues xbar = gtsam::optimize_(*Rc1); - - pc_ = boost::make_shared( - Ab1->dynamicCastFactors >(), Ab2->dynamicCastFactors >(),Rc1,xbar); -} - -template -VectorValues::shared_ptr SubgraphSolver::optimize() const { - - // preconditioned conjugate gradient - VectorValues zeros = pc_->zero(); - VectorValues ybar = conjugateGradients - (*pc_, zeros, *parameters_); - - boost::shared_ptr xbar = boost::make_shared() ; - *xbar = pc_->x(ybar); - return xbar; -} - -template -void SubgraphSolver::initialize(const GRAPH& G, const Values& theta0) { - // generate spanning tree - PredecessorMap tree_ = gtsam::findMinimumSpanningTree(G); - - // make the ordering - list keys = predecessorMap2Keys(tree_); - ordering_ = boost::make_shared(list(keys.begin(), keys.end())); - - // build factor pairs - pairs_.clear(); - typedef pair EG ; - BOOST_FOREACH( const EG &eg, tree_ ) { - Key key1 = Key(eg.first), - key2 = Key(eg.second) ; - pairs_.insert(pair((*ordering_)[key1], (*ordering_)[key2])) ; - } -} - -} // \namespace gtsam +///* ---------------------------------------------------------------------------- +// +// * 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 +//#include +//#include +// +//namespace gtsam { +// +//template +//void SubgraphSolver::replaceFactors(const typename LINEAR::shared_ptr &graph) { +// +// GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(); +// GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared(); +// +// if (parameters_->verbosity()) cout << "split the graph ..."; +// split(pairs_, *graph, *Ab1, *Ab2) ; +// if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; +// +// // // Add a HardConstraint to the root, otherwise the root will be singular +// // Key root = keys.back(); +// // T_.addHardConstraint(root, theta0[root]); +// // +// // // compose the approximate solution +// // theta_bar_ = composePoses (T_, tree, theta0[root]); +// +// LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!! +// SubgraphPreconditioner::sharedBayesNet Rc1 = +// EliminationTree::Create(sacrificialAb1)->eliminate(&EliminateQR); +// SubgraphPreconditioner::sharedValues xbar = gtsam::optimize_(*Rc1); +// +// pc_ = boost::make_shared( +// Ab1->dynamicCastFactors >(), Ab2->dynamicCastFactors >(),Rc1,xbar); +//} +// +//template +//VectorValues::shared_ptr SubgraphSolver::optimize() const { +// +// // preconditioned conjugate gradient +// VectorValues zeros = pc_->zero(); +// VectorValues ybar = conjugateGradients +// (*pc_, zeros, *parameters_); +// +// boost::shared_ptr xbar = boost::make_shared() ; +// *xbar = pc_->x(ybar); +// return xbar; +//} +// +//template +//void SubgraphSolver::initialize(const GRAPH& G, const Values& theta0) { +// // generate spanning tree +// PredecessorMap tree_ = gtsam::findMinimumSpanningTree(G); +// +// // make the ordering +// list keys = predecessorMap2Keys(tree_); +// ordering_ = boost::make_shared(list(keys.begin(), keys.end())); +// +// // build factor pairs +// pairs_.clear(); +// typedef pair EG ; +// BOOST_FOREACH( const EG &eg, tree_ ) { +// Key key1 = Key(eg.first), +// key2 = Key(eg.second) ; +// pairs_.insert(pair((*ordering_)[key1], (*ordering_)[key2])) ; +// } +//} +// +//} // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 609b427f2..5d6237d9c 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -1,50 +1,108 @@ -///* ---------------------------------------------------------------------------- -// -// * 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 -// -//using namespace std; -// -//namespace gtsam { -// -///* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */ -//bool split(const std::map &M, -// const GaussianFactorGraph &Ab, -// GaussianFactorGraph &Ab1, -// GaussianFactorGraph &Ab2) { -// -// Ab1 = GaussianFactorGraph(); -// Ab2 = GaussianFactorGraph(); -// -// for ( size_t i = 0 ; i < Ab.size() ; ++i ) { -// -// boost::shared_ptr factor = Ab[i] ; -// -// if (factor->keys().size() > 2) -// throw(invalid_argument("split: only support factors with at most two keys")); -// if (factor->keys().size() == 1) { -// Ab1.push_back(factor); -// Ab2.push_back(factor); -// continue; -// } -// Index key1 = factor->keys()[0]; -// Index key2 = factor->keys()[1]; -// -// if ((M.find(key1) != M.end() && M.find(key1)->second == key2) || -// (M.find(key2) != M.end() && M.find(key2)->second == key1)) -// Ab1.push_back(factor); -// else -// Ab2.push_back(factor); -// } -// return true ; -//} -// -//} // \namespace gtsam +/* ---------------------------------------------------------------------------- + + * 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 +#include +#include + +#include + +#include +#include + +#include + +using namespace std; + +namespace gtsam { + +SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters) + : parameters_(parameters) +{ + + + GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(); + GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared(); + + boost::tie(Ab1, Ab2) = splitGraph(gfg) ; + + if (parameters_.verbosity()) + cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; + + // // Add a HardConstraint to the root, otherwise the root will be singular + // Key root = keys.back(); + // T_.addHardConstraint(root, theta0[root]); + // + // // compose the approximate solution + // theta_bar_ = composePoses (T_, tree, theta0[root]); + + GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(*Ab1)->eliminate(&EliminateQR); + VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); + + pc_ = boost::make_shared( + Ab1->dynamicCastFactors >(), + Ab2->dynamicCastFactors >(), + Rc1, xbar); +} + +VectorValues::shared_ptr SubgraphSolver::optimize() { + + // preconditioned conjugate gradient + VectorValues zeros = pc_->zero(); + VectorValues ybar = conjugateGradients (*pc_, zeros, parameters_); + + boost::shared_ptr xbar = boost::make_shared() ; + *xbar = pc_->x(ybar); + return xbar; +} + +boost::tuple +SubgraphSolver::splitGraph(const GaussianFactorGraph &gfg) { + + VariableIndex index(gfg); + size_t n = index.size(); + std::vector connected(n, false); + + GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); + GaussianFactorGraph::shared_ptr Ac( new GaussianFactorGraph()); + + BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) { + + bool augment = false ; + + /* check whether this factor should be augmented to the "tree" graph */ + if ( gf->keys().size() == 1 ) augment = true; + else { + BOOST_FOREACH ( const Index key, *gf ) { + if ( connected[key] == false ) { + augment = true ; + connected[key] = true; + } + } + } + + if ( augment ) At->push_back(gf); + else Ac->push_back(gf); + } + + return boost::tie(At, Ac); +} + + + + +} // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index f4fa34427..111f85cad 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -1,100 +1,52 @@ -///* ---------------------------------------------------------------------------- -// -// * 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 -//#include -//#include -// -//namespace gtsam { -// -///* split the gaussian factor graph Ab into Ab1 and Ab2 according to the map */ -//bool split(const std::map &M, -// const GaussianFactorGraph &Ab, -// GaussianFactorGraph &Ab1, -// GaussianFactorGraph &Ab2); -// -///** -// * A nonlinear system solver using subgraph preconditioning conjugate gradient -// * Concept NonLinearSolver implements -// * linearize: G * T -> L -// * solve : L -> VectorValues -// */ -//template -//class SubgraphSolver : public IterativeSolver { -// -//private: -// typedef typename VALUES::Key Key; -// typedef typename GRAPH::Pose Pose; -// typedef typename GRAPH::Constraint Constraint; -// -// typedef boost::shared_ptr shared_ptr ; -// typedef boost::shared_ptr shared_ordering ; -// typedef boost::shared_ptr shared_graph ; -// typedef boost::shared_ptr shared_linear ; -// typedef boost::shared_ptr shared_values ; -// typedef boost::shared_ptr shared_preconditioner ; -// typedef std::map mapPairIndex ; -// -// /* the ordering derived from the spanning tree */ -// shared_ordering ordering_; -// -// /* the indice of two vertices in the gaussian factor graph */ -// mapPairIndex pairs_; -// -// /* preconditioner */ -// shared_preconditioner pc_; -// -// /* flag for direct solver - either QR or LDL */ -// bool useQR_; -// -//public: -// -// SubgraphSolver(const GRAPH& G, const VALUES& theta0, const Parameters ¶meters = Parameters(), bool useQR = false): -// IterativeSolver(parameters), useQR_(useQR) { initialize(G,theta0); } -// -// SubgraphSolver(const LINEAR& GFG) { -// std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl; -// throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported"); -// } -// -// SubgraphSolver(const shared_linear& GFG, const boost::shared_ptr& structure, bool useQR = false) { -// std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl; -// throw std::runtime_error("SubgraphSolver: gaussian factor graph and variable index initialization not supported"); -// } -// -// SubgraphSolver(const SubgraphSolver& solver) : -// IterativeSolver(solver), ordering_(solver.ordering_), pairs_(solver.pairs_), pc_(solver.pc_), useQR_(solver.useQR_) {} -// -// SubgraphSolver(shared_ordering ordering, -// mapPairIndex pairs, -// shared_preconditioner pc, -// sharedParameters parameters = boost::make_shared(), -// bool useQR = true) : -// IterativeSolver(parameters), ordering_(ordering), pairs_(pairs), pc_(pc), useQR_(useQR) {} -// -// void replaceFactors(const typename LINEAR::shared_ptr &graph); -// VectorValues::shared_ptr optimize() ; -// shared_ordering ordering() const { return ordering_; } -// -//protected: -// void initialize(const GRAPH& G, const VALUES& theta0); -// -//private: -// SubgraphSolver():IterativeSolver(){} -//}; -// -//} // namespace gtsam -// -//#include +/* ---------------------------------------------------------------------------- + + * 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 +#include + +#include + +namespace gtsam { + +/** + * A linear system solver using subgraph preconditioning conjugate gradient + */ + +class SubgraphSolver : public IterativeSolver { + +public: + + typedef ConjugateGradientParameters Parameters; + + Parameters parameters_; + + SubgraphPreconditioner::shared_ptr pc_; ///< preconditioner object + +public: + + SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); + + virtual ~SubgraphSolver() {} + + virtual VectorValues::shared_ptr optimize () ; + +protected: + + boost::tuple + splitGraph(const GaussianFactorGraph &gfg) ; +}; + +} // namespace gtsam + + diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 9a5897b41..8fbedc614 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -24,6 +24,7 @@ #include #include #include +#include using namespace std; @@ -74,8 +75,15 @@ void LevenbergMarquardtOptimizer::iterate() { delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); } else if ( params_.isCG() ) { - IterativeOptimizationParameters::shared_ptr params(!params_.iterativeParams ? boost::make_shared() : params_.iterativeParams); + + ConjugateGradientParameters::shared_ptr params (!params_.iterativeParams ? + boost::make_shared() : + boost::dynamic_pointer_cast(params_.iterativeParams)); + + if ( !params ) throw runtime_error("LMSolver: spcg parameter dynamic casting failed"); + SimpleSPCGSolver solver(dampedSystem, *params); + //SubgraphSolver solver(dampedSystem, *params); delta = *solver.optimize(); } else { diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index b4a7c3c21..393e4bacc 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -19,7 +19,7 @@ #pragma once #include -#include +#include namespace gtsam { diff --git a/gtsam_unstable/linear/iterative-inl.h b/gtsam_unstable/linear/iterative-inl.h index aa7eb076b..5641cb7ae 100644 --- a/gtsam_unstable/linear/iterative-inl.h +++ b/gtsam_unstable/linear/iterative-inl.h @@ -19,7 +19,7 @@ #pragma once #include -#include +#include #include namespace gtsam { @@ -29,7 +29,7 @@ namespace gtsam { template struct CGState { - typedef IterativeOptimizationParameters Parameters; + typedef ConjugateGradientParameters Parameters; const Parameters ¶meters_; int k; ///< iteration @@ -91,7 +91,7 @@ namespace gtsam { // check for convergence double new_gamma = dot(g, g); - if (parameters_.verbosity() != IterativeOptimizationParameters::SILENT) + if (parameters_.verbosity() != ConjugateGradientParameters::SILENT) std::cout << "iteration " << k << ": alpha = " << alpha << ", dotg = " << new_gamma << std::endl; if (new_gamma < threshold) return true; @@ -121,18 +121,18 @@ namespace gtsam { V conjugateGradients( const S& Ab, V x, - const IterativeOptimizationParameters ¶meters, + const ConjugateGradientParameters ¶meters, bool steepest = false) { CGState state(Ab, x, parameters, steepest); - if (parameters.verbosity() != IterativeOptimizationParameters::SILENT) + if (parameters.verbosity() != ConjugateGradientParameters::SILENT) std::cout << "CG: epsilon = " << parameters.epsilon() << ", maxIterations = " << parameters.maxIterations() << ", ||g0||^2 = " << state.gamma << ", threshold = " << state.threshold << std::endl; if ( state.gamma < state.threshold ) { - if (parameters.verbosity() != IterativeOptimizationParameters::SILENT) + if (parameters.verbosity() != ConjugateGradientParameters::SILENT) std::cout << "||g0||^2 < threshold, exiting immediately !" << std::endl; return x; diff --git a/gtsam_unstable/linear/iterative.cpp b/gtsam_unstable/linear/iterative.cpp index c7b670843..eb1d898dd 100644 --- a/gtsam_unstable/linear/iterative.cpp +++ b/gtsam_unstable/linear/iterative.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include @@ -38,31 +38,31 @@ namespace gtsam { /* ************************************************************************* */ - Vector steepestDescent(const System& Ab, const Vector& x, const IterativeOptimizationParameters & parameters) { + Vector steepestDescent(const System& Ab, const Vector& x, const ConjugateGradientParameters & parameters) { return conjugateGradients (Ab, x, parameters, true); } - Vector conjugateGradientDescent(const System& Ab, const Vector& x, const IterativeOptimizationParameters & parameters) { + Vector conjugateGradientDescent(const System& Ab, const Vector& x, const ConjugateGradientParameters & parameters) { return conjugateGradients (Ab, x, parameters); } /* ************************************************************************* */ - Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x, const IterativeOptimizationParameters & parameters) { + Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x, const ConjugateGradientParameters & parameters) { System Ab(A, b); return conjugateGradients (Ab, x, parameters, true); } - Vector conjugateGradientDescent(const Matrix& A, const Vector& b, const Vector& x, const IterativeOptimizationParameters & parameters) { + Vector conjugateGradientDescent(const Matrix& A, const Vector& b, const Vector& x, const ConjugateGradientParameters & parameters) { System Ab(A, b); return conjugateGradients (Ab, x, parameters); } /* ************************************************************************* */ - VectorValues steepestDescent(const FactorGraph& fg, const VectorValues& x, const IterativeOptimizationParameters & parameters) { + VectorValues steepestDescent(const FactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters) { return conjugateGradients, VectorValues, Errors> (fg, x, parameters, true); } - VectorValues conjugateGradientDescent(const FactorGraph& fg, const VectorValues& x, const IterativeOptimizationParameters & parameters) { + VectorValues conjugateGradientDescent(const FactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters) { return conjugateGradients, VectorValues, Errors> (fg, x, parameters); } diff --git a/gtsam_unstable/linear/iterative.h b/gtsam_unstable/linear/iterative.h index 2e6f77f10..f578391d0 100644 --- a/gtsam_unstable/linear/iterative.h +++ b/gtsam_unstable/linear/iterative.h @@ -1,6 +1,6 @@ /* ---------------------------------------------------------------------------- - * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * 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) @@ -20,7 +20,7 @@ #include #include -#include +#include namespace gtsam { @@ -105,7 +105,7 @@ namespace gtsam { Vector conjugateGradientDescent( const System& Ab, const Vector& x, - const IterativeOptimizationParameters & parameters); + const ConjugateGradientParameters & parameters); /** convenience calls using matrices, will create System class internally: */ @@ -116,7 +116,7 @@ namespace gtsam { const Matrix& A, const Vector& b, const Vector& x, - const IterativeOptimizationParameters & parameters); + const ConjugateGradientParameters & parameters); /** * Method of conjugate gradients (CG), Matrix version @@ -125,7 +125,7 @@ namespace gtsam { const Matrix& A, const Vector& b, const Vector& x, - const IterativeOptimizationParameters & parameters); + const ConjugateGradientParameters & parameters); class GaussianFactorGraph; @@ -135,7 +135,7 @@ namespace gtsam { VectorValues steepestDescent( const GaussianFactorGraph& fg, const VectorValues& x, - const IterativeOptimizationParameters & parameters); + const ConjugateGradientParameters & parameters); /** * Method of conjugate gradients (CG), Gaussian Factor Graph version @@ -143,7 +143,7 @@ namespace gtsam { VectorValues conjugateGradientDescent( const GaussianFactorGraph& fg, const VectorValues& x, - const IterativeOptimizationParameters & parameters); + const ConjugateGradientParameters & parameters); } // namespace gtsam From a5f3f75d1d6f17e282f72d0509a80830f37e7c90 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 8 Jun 2012 17:12:08 +0000 Subject: [PATCH 279/914] Removed mex make flag --- .cproject | 336 ++++++++++++++++++++++++------------------------- CMakeLists.txt | 1 - 2 files changed, 167 insertions(+), 170 deletions(-) diff --git a/.cproject b/.cproject index 36e736354..5689b0b48 100644 --- a/.cproject +++ b/.cproject @@ -311,6 +311,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -337,7 +345,6 @@ make - tests/testBayesTree.run true false @@ -345,7 +352,6 @@ make - testBinaryBayesNet.run true false @@ -393,7 +399,6 @@ make - testSymbolicBayesNet.run true false @@ -401,7 +406,6 @@ make - tests/testSymbolicFactor.run true false @@ -409,7 +413,6 @@ make - testSymbolicFactorGraph.run true false @@ -425,20 +428,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -519,22 +513,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -551,6 +529,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -575,26 +569,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -679,18 +665,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -937,7 +931,6 @@ make - testGraph.run true false @@ -945,7 +938,6 @@ make - testJunctionTree.run true false @@ -953,7 +945,6 @@ make - testSymbolicBayesNetB.run true false @@ -975,6 +966,14 @@ true true + + make + -j5 + clean + true + true + true + make -j2 @@ -1065,7 +1064,6 @@ make - testErrors.run true false @@ -1521,6 +1519,7 @@ make + testSimulated2DOriented.run true false @@ -1560,6 +1559,7 @@ make + testSimulated2D.run true false @@ -1567,6 +1567,7 @@ make + testSimulated3D.run true false @@ -1782,6 +1783,7 @@ make + tests/testGaussianISAM2 true false @@ -1803,6 +1805,102 @@ 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 -j2 @@ -2004,7 +2102,6 @@ cpack - -G DEB true false @@ -2012,7 +2109,6 @@ cpack - -G RPM true false @@ -2020,7 +2116,6 @@ cpack - -G TGZ true false @@ -2028,7 +2123,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2122,98 +2216,42 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run + -j5 + wrap_gtsam 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 + -j5 + wrap true true true @@ -2257,46 +2295,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/CMakeLists.txt b/CMakeLists.txt index 50c1d12c7..c843030e4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -68,7 +68,6 @@ set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTR option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF) option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF) set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running Matlab MEX compilation") -set(GTSAM_BUILD_MEX_MAKE_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") # Flags for choosing default packaging tools From a70a1bab588bd330aec2afc7fd63deca0d48f2cf Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 17:18:46 +0000 Subject: [PATCH 280/914] Removed use of lambda from Values --- gtsam/nonlinear/Values.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4bc5f0f7e..03bafaf3e 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -37,16 +37,16 @@ #include #include #include -#include #include #include namespace gtsam { - // Forward declarations + // Forward declarations / utilities class ValueCloneAllocator; class ValueAutomaticCasting; + template static bool _truePredicate(const T&) { return true; } /** * A non-templated config holding any types of Manifold-group elements. A @@ -300,7 +300,7 @@ namespace gtsam { */ template Filtered - filter(const boost::function& filterFcn = (boost::lambda::_1, true)); + filter(const boost::function& filterFcn = &_truePredicate); /** * Return a filtered view of this Values class, without copying any data. @@ -338,7 +338,7 @@ namespace gtsam { */ template ConstFiltered - filter(const boost::function& filterFcn = (boost::lambda::_1, true)) const; + filter(const boost::function& filterFcn = _truePredicate()) const; private: // Filters based on ValueType (if not Value) and also based on the user- @@ -380,13 +380,13 @@ namespace gtsam { mutable std::string message_; public: - /// Construct with the key-value pair attemped to be added + /// Construct with the key-value pair attempted to be added ValuesKeyAlreadyExists(Key key) throw() : key_(key) {} virtual ~ValuesKeyAlreadyExists() throw() {} - /// The duplicate key that was attemped to be added + /// The duplicate key that was attempted to be added Key key() const throw() { return key_; } /// The message to be displayed to the user From 498fb85360ab529f4212aa06513ffe8a5da248b7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 17:32:08 +0000 Subject: [PATCH 281/914] Fixed typo --- gtsam/nonlinear/Values.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 03bafaf3e..4a6ec092b 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -338,7 +338,7 @@ namespace gtsam { */ template ConstFiltered - filter(const boost::function& filterFcn = _truePredicate()) const; + filter(const boost::function& filterFcn = _truePredicate) const; private: // Filters based on ValueType (if not Value) and also based on the user- From 370be58adbb07f4fc8bb1af7425f29cb25fa538d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 8 Jun 2012 17:46:04 +0000 Subject: [PATCH 282/914] Fixed compile problem in Values --- gtsam/nonlinear/Values.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 4a6ec092b..8b8fbc71c 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -300,7 +300,7 @@ namespace gtsam { */ template Filtered - filter(const boost::function& filterFcn = &_truePredicate); + filter(const boost::function& filterFcn = &_truePredicate); /** * Return a filtered view of this Values class, without copying any data. @@ -338,7 +338,7 @@ namespace gtsam { */ template ConstFiltered - filter(const boost::function& filterFcn = _truePredicate) const; + filter(const boost::function& filterFcn = &_truePredicate) const; private: // Filters based on ValueType (if not Value) and also based on the user- From c2c27b08d8e82e3ba8faeb0dab7541564b413565 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 18:05:58 +0000 Subject: [PATCH 283/914] VisualISAM_gui2: add 2 options and take plot out of step --- .../VisualISAM_gui2/VisualISAM_gui.fig | Bin 5442 -> 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zA^|Q=f#9+JvHtJ>wCLA-{V{o##lK}0(o7Ek002M%004NL<6~f8n8C@wzy_o_fEdUG z16C-X5r{K5Av6duLHP`fp1vSH9}u75KrflFa9E7l$_M~^8BLg;)2BFR0iyT35ytd z_%Y(aOlW*&G(HO&pB0VIhQnPjd(qj9XyQyrcQmp%GZKv~&VocEi?brp$l`2BG_p85 z8chwrheYpSz@4s;!yKmG14%tEntC=g^&q|kgn1X;EJmn#77V22FLd{ex_{LDqwXJd v|3JBa1&Qt_WFG?qe)}lZ-+`nbTYD%1Nj(#kkK7(Y4u4A8Lm&VE6HYhAI!M}( diff --git a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m index e73d6f7cf..d00d1cdc7 100644 --- a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui2/VisualISAM_gui.m @@ -22,7 +22,7 @@ function varargout = VisualISAM_gui(varargin) % Edit the above text to modify the response to help VisualISAM_gui -% Last Modified by GUIDE v2.5 08-Jun-2012 12:35:14 +% Last Modified by GUIDE v2.5 08-Jun-2012 14:00:55 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; @@ -68,7 +68,7 @@ handles.ALWAYS_RELINEARIZE = false; %% Display Options handles.SAVE_GRAPH = false; handles.PRINT_STATS = true; -handles.DRAW_INTERVAL = 1; +handles.DRAW_INTERVAL = 4; handles.CAMERA_INTERVAL = 1; handles.DRAW_TRUE_POSES = false; handles.SAVE_FIGURES = false; @@ -107,7 +107,9 @@ function intializeButton_Callback(hObject, eventdata, handles) % hObject handle to intializeButton (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) - handles=initialize(handles) + handles.DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ; + handles.NCAMERAS = str2num(get(handles.numCamEdit,'String')) ; + handles = initialize(handles) guidata(hObject,handles) % --- Executes on button press in stepButton. @@ -116,6 +118,7 @@ function stepButton_Callback(hObject, eventdata, handles) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) if (handles.frame_i Date: Fri, 8 Jun 2012 19:05:13 +0000 Subject: [PATCH 284/914] Fixed Doxygen warnings. --- gtsam/geometry/Pose2.h | 4 ++-- gtsam/geometry/Rot2.h | 2 +- gtsam/inference/BayesTreeCliqueBase.h | 2 +- gtsam/inference/JunctionTree.h | 2 +- gtsam/nonlinear/ISAM2-impl.h | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index d15ba045c..60c74e7cb 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -226,7 +226,7 @@ public: /** * Calculate bearing to a landmark * @param point 2D location of landmark - * @return 2D rotation \in SO(2) + * @return 2D rotation \f$ \in SO(2) \f$ */ Rot2 bearing(const Point2& point, boost::optional H1=boost::none, @@ -235,7 +235,7 @@ public: /** * Calculate bearing to another pose * @param point SO(2) location of other pose - * @return 2D rotation \in SO(2) + * @return 2D rotation \f$ \in SO(2) \f$ */ Rot2 bearing(const Pose2& point, boost::optional H1=boost::none, diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h index d0f3e4c14..9e5e6fddc 100644 --- a/gtsam/geometry/Rot2.h +++ b/gtsam/geometry/Rot2.h @@ -85,7 +85,7 @@ namespace gtsam { * Calculate relative bearing to a landmark in local coordinate frame * @param d 2D location of landmark * @param H optional reference for Jacobian - * @return 2D rotation \in SO(2) + * @return 2D rotation \f$ \in SO(2) \f$ */ static Rot2 relativeBearing(const Point2& d, boost::optional H = boost::none); diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index 7ae2c15f9..e09454e86 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -130,7 +130,7 @@ namespace gtsam { /** Construct shared_ptr from a FactorGraph::EliminationResult. In this class * the conditional part is kept and the factor part is ignored, but in derived clique * types, such as ISAM2Clique, the factor part is kept as a cached factor. - * @param An elimination result, which is a pair + * @param result An elimination result, which is a pair */ static derived_ptr Create(const std::pair >& result) { return boost::make_shared(result); } diff --git a/gtsam/inference/JunctionTree.h b/gtsam/inference/JunctionTree.h index e8aceafe9..4ff55d19b 100644 --- a/gtsam/inference/JunctionTree.h +++ b/gtsam/inference/JunctionTree.h @@ -108,7 +108,7 @@ namespace gtsam { JunctionTree(const FG& factorGraph); /** Construct from a factor graph and pre-computed variable index. - * @param factorGraph The factor graph for which to build the junction tree + * @param fg The factor graph for which to build the junction tree * @param structure The set of factors involving each variable. If this is not * precomputed, you can call the JunctionTree(const FG&) * constructor instead. diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index 51b613b86..f2f03fb3a 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -91,7 +91,7 @@ struct ISAM2::Impl { /** * Apply expmap to the given values, but only for indices appearing in * \c markedRelinMask. Values are expmapped in-place. - * \param [in][out] values The value to expmap in-place + * \param [in, out] values The value to expmap in-place * \param delta The linear delta with which to expmap * \param ordering The ordering * \param mask Mask on linear indices, only \c true entries are expmapped From 9b710806255af6de343bb45ab888aaa1fc34eaec Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 20:08:53 +0000 Subject: [PATCH 285/914] Visual ISAM gui with global vars --- matlab/examples/VisualISAMGenerateData.m | 50 +++ matlab/examples/VisualISAMGlobalVars.m | 7 + matlab/examples/VisualISAMInitOptions.m | 22 ++ matlab/examples/VisualISAMInitialize.m | 28 ++ matlab/examples/VisualISAMPlot.m | 42 +++ matlab/examples/VisualISAMStep.m | 46 +++ matlab/examples/VisualISAM_gui.fig | Bin 0 -> 9609 bytes matlab/examples/VisualISAM_gui.m | 393 +++++++++++++++++++++++ 8 files changed, 588 insertions(+) create mode 100644 matlab/examples/VisualISAMGenerateData.m create mode 100644 matlab/examples/VisualISAMGlobalVars.m create mode 100644 matlab/examples/VisualISAMInitOptions.m create mode 100644 matlab/examples/VisualISAMInitialize.m create mode 100644 matlab/examples/VisualISAMPlot.m create mode 100644 matlab/examples/VisualISAMStep.m create mode 100644 matlab/examples/VisualISAM_gui.fig create mode 100644 matlab/examples/VisualISAM_gui.m diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m new file mode 100644 index 000000000..7ab135168 --- /dev/null +++ b/matlab/examples/VisualISAMGenerateData.m @@ -0,0 +1,50 @@ +VisualISAMGlobalVars +sprintf('vData...') + +%% Generate simulated data +points = {}; +if TRIANGLE % Create a triangle target, just 3 points on a plane + nPoints = 3; + r = 10; + for j=1:nPoints + theta = (j-1)*2*pi/nPoints; + points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); + end +else % 3D landmarks as vertices of a cube + nPoints = 8; + points = {gtsamPoint3([10 10 10]'),... + gtsamPoint3([-10 10 10]'),... + gtsamPoint3([-10 -10 10]'),... + gtsamPoint3([10 -10 10]'),... + gtsamPoint3([10 10 -10]'),... + gtsamPoint3([-10 10 -10]'),... + gtsamPoint3([-10 -10 -10]'),... + gtsamPoint3([10 -10 -10]')}; +end + +%% Create camera cameras on a circle around the triangle +height = 10; r = 40; +K = gtsamCal3_S2(500,500,0,640/2,480/2); +cameras = {}; +for i=1:NCAMERAS + theta = (i-1)*2*pi/NCAMERAS; + t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); + cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); + if SHOW_IMAGES % show images + figure(2+i);clf;hold on + set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i)); + for j=1:nPoints + zij = cameras{i}.project(points{j}); + plot(zij.x,zij.y,'*'); + axis([1 640 1 480]); + end + end +end +odometry = cameras{1}.pose.between(cameras{2}.pose); + + +%% Set Noise parameters +poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); +measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); \ No newline at end of file diff --git a/matlab/examples/VisualISAMGlobalVars.m b/matlab/examples/VisualISAMGlobalVars.m new file mode 100644 index 000000000..2438a9ea0 --- /dev/null +++ b/matlab/examples/VisualISAMGlobalVars.m @@ -0,0 +1,7 @@ +global TRIANGLE NCAMERAS SHOW_IMAGES +global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE +global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES +global SAVE_FIGURES SAVE_GRAPHS +global nPoints points K cameras odometry +global poseNoise pointNoise odometryNoise measurementNoise +global frame_i isam newFactors initialEstimates result diff --git a/matlab/examples/VisualISAMInitOptions.m b/matlab/examples/VisualISAMInitOptions.m new file mode 100644 index 000000000..a9ef09bb5 --- /dev/null +++ b/matlab/examples/VisualISAMInitOptions.m @@ -0,0 +1,22 @@ +VisualISAMGlobalVars + +%% Data Options +TRIANGLE = true; +NCAMERAS = 20; +SHOW_IMAGES = false; + +%% iSAM Options +HARD_CONSTRAINT = false; +POINT_PRIORS = false; +BATCH_INIT = true; +REORDER_INTERVAL=10; +ALWAYS_RELINEARIZE = false; + +%% Display Options +SAVE_GRAPH = false; +PRINT_STATS = true; +DRAW_INTERVAL = 4; +CAMERA_INTERVAL = 1; +DRAW_TRUE_POSES = false; +SAVE_FIGURES = false; +SAVE_GRAPHS = false; \ No newline at end of file diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m new file mode 100644 index 000000000..ae48f3531 --- /dev/null +++ b/matlab/examples/VisualISAMInitialize.m @@ -0,0 +1,28 @@ +VisualISAMGlobalVars + +%% Initialize iSAM +isam = visualSLAMISAM(REORDER_INTERVAL); +newFactors = visualSLAMGraph; +initialEstimates = visualSLAMValues; +i1 = symbol('x',1); +camera1 = cameras{1}; +pose1 = camera1.pose; +if HARD_CONSTRAINT % add hard constraint + newFactors.addPoseConstraint(i1,pose1); +else + newFactors.addPosePrior(i1,pose1, poseNoise); +end +initialEstimates.insertPose(i1,pose1); +% Add visual measurement factors from first pose +for j=1:nPoints + jj = symbol('l',j); + if POINT_PRIORS % add point priors + newFactors.addPointPrior(jj, points{j}, pointNoise); + end + zij = camera1.project(points{j}); + newFactors.addMeasurement(zij, measurementNoise, i1, jj, K); + initialEstimates.insertPoint(jj, points{j}); +end + +frame_i = 1 +cla; \ No newline at end of file diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m new file mode 100644 index 000000000..549c3ac37 --- /dev/null +++ b/matlab/examples/VisualISAMPlot.m @@ -0,0 +1,42 @@ +VisualISAMGlobalVars + +if (frame_i<2) + sprintf('Cannot plot the first frame') + return +end + +%% Plot results +tic +% h=figure(2);clf +% set(1,'NumberTitle','off','Name','Visual iSAM'); +cla; +hold on; +sprintf('Computing marginals and plotting. Please wait...') +for j=1:size(points,2) + P = isam.marginalCovariance(symbol('l',j)); + point_j = result.point(symbol('l',j)); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); +end +for ii=1:CAMERA_INTERVAL:frame_i + P = isam.marginalCovariance(symbol('x',ii)); + pose_ii = result.pose(symbol('x',ii)); + plotPose3(pose_ii,P,10); + if DRAW_TRUE_POSES % show ground truth + plotPose3(cameras{ii}.pose,0.001*eye(6),10); + end +end +axis([-40 40 -40 40 -10 20]);axis equal +view(3) +colormap('hot') +sprintf('Done!') + +% figure(2); +t=toc; +if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end +if SAVE_FIGURES + print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i)); +end +if SAVE_GRAPHS + isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i)); +end diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m new file mode 100644 index 000000000..7c86e3ce1 --- /dev/null +++ b/matlab/examples/VisualISAMStep.m @@ -0,0 +1,46 @@ +VisualISAMGlobalVars + +%% Add odometry +newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, odometryNoise); + +%% Add visual measurement factors +for j=1:nPoints + zij = cameras{frame_i}.project(points{j}); + newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), K); +end + +%% Initial estimates for the new pose. Also initialize points while in the first frame. +%TODO: this might be suboptimal since "result" is not the fully optimized result +if (frame_i==2), prevPose = cameras{1}.pose; +else, prevPose = result.pose(symbol('x',frame_i-1)); end +initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(odometry)); + +%% Update ISAM +if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses + initialEstimates + fullyOptimized = newFactors.optimize(initialEstimates) + initialEstimates = fullyOptimized; +end +% figure(1);tic; +isam.update(newFactors, initialEstimates); +% t=toc; plot(frame_i,t,'r.'); tic +result = isam.estimate(); +% t=toc; plot(frame_i,t,'g.'); +if ALWAYS_RELINEARIZE % re-linearize + isam.reorder_relinearize(); +end + + +if SAVE_GRAPH + isam.saveGraph(sprintf('VisualiSAM.dot',frame_i)); +end +if PRINT_STATS + isam.printStats(); +end +if mod(frame_i,DRAW_INTERVAL)==0 + VisualISAMPlot +end + +%% Reset newFactors and initialEstimates to prepare for the next update 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z#s+hcwv>W~lpkfi6AAnNysw=hPiL6IvVT<{7@R$>=)MuvT>m>DSMV4>iv?2daq7$X z-^a-+J|3qOCo%o(+GEml;kQFVM@&bOMlAi=yvMHRNsmE~SdVuPS&vo^e~)VqbID>e>YA3kMF;s@JBGb&=Oa< z>*1GRG8&8&51LH(A}fElS^kfEcp?0s;GbUNZiql2om}5h5X<%N;t*mC`ChYHmkowV zZm%&})`^w;wyVew2tpw4vh&VA29HmmB>z9m{RnEFXy@KlmhGy>_ux( Date: Fri, 8 Jun 2012 20:09:13 +0000 Subject: [PATCH 286/914] remove visualISAM_gui folders From 017b591f2cd08ee40e346a26a4445151a8e79fad Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 20:09:30 +0000 Subject: [PATCH 287/914] remove visualISAM_gui folders --- .../VisualISAM_gui/VisualISAMData_cube.m | 34 -- .../VisualISAM_gui/VisualISAMData_triangle.m | 32 -- .../VisualISAMExample_triangle2.m | 22 - .../VisualISAM_gui/VisualISAMInitialize.m | 41 -- .../examples/VisualISAM_gui/VisualISAMPlot.m | 20 - .../examples/VisualISAM_gui/VisualISAMStep.m | 31 -- .../VisualISAM_gui/VisualISAM_gui.fig | Bin 8272 -> 0 bytes .../examples/VisualISAM_gui/VisualISAM_gui.m | 401 ------------------ .../VisualISAM_gui2/VisualISAM_gui.fig | Bin 6507 -> 0 bytes .../examples/VisualISAM_gui2/VisualISAM_gui.m | 235 ---------- matlab/examples/VisualISAM_gui2/vData.m | 51 --- matlab/examples/VisualISAM_gui2/vInit.m | 31 -- matlab/examples/VisualISAM_gui2/vPlot.m | 45 -- matlab/examples/VisualISAM_gui2/vStep.m | 52 --- 14 files changed, 995 deletions(-) delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMData_cube.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMInitialize.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMPlot.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAMStep.m delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAM_gui.fig delete mode 100644 matlab/examples/VisualISAM_gui/VisualISAM_gui.m delete mode 100644 matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig delete mode 100644 matlab/examples/VisualISAM_gui2/VisualISAM_gui.m delete mode 100644 matlab/examples/VisualISAM_gui2/vData.m delete mode 100644 matlab/examples/VisualISAM_gui2/vInit.m delete mode 100644 matlab/examples/VisualISAM_gui2/vPlot.m delete mode 100644 matlab/examples/VisualISAM_gui2/vStep.m diff --git a/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m b/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m deleted file mode 100644 index 3f4f015cf..000000000 --- a/matlab/examples/VisualISAM_gui/VisualISAMData_cube.m +++ /dev/null @@ -1,34 +0,0 @@ -function [ data ] = VisualISAMData_cube() -%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example. -% Landmarks include 3 points around the world's origin on the z=0 plane. -% Cameras are on a circle at a certain height, looking at the origin. -%% Create a triangle target, just 3 points on a plane -nPoints = 8; -data.points = {gtsamPoint3([10 10 10]'),... - gtsamPoint3([-10 10 10]'),... - gtsamPoint3([-10 -10 10]'),... - gtsamPoint3([10 -10 10]'),... - gtsamPoint3([10 10 -10]'),... - gtsamPoint3([-10 10 -10]'),... - gtsamPoint3([-10 -10 -10]'),... - gtsamPoint3([10 -10 -10]')}; - -%% Create camera cameras on a circle around the triangle -nCameras = 10; -height = 0; -r = 30; -data.cameras = {}; -data.K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); -end - -data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); -data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); -data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); - -end - diff --git a/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m b/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m deleted file mode 100644 index b5c4c0e11..000000000 --- a/matlab/examples/VisualISAM_gui/VisualISAMData_triangle.m +++ /dev/null @@ -1,32 +0,0 @@ -function [ data ] = VisualISAMData_triangle() -%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example. -% Landmarks include 3 points around the world's origin on the z=0 plane. -% Cameras are on a circle at a certain height, looking at the origin. -%% Create a triangle target, just 3 points on a plane -nPoints = 3; -r = 10; -data.points = {}; -for j=1:nPoints - theta = (j-1)*2*pi/nPoints; - data.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); -end - -%% Create camera cameras on a circle around the triangle -nCameras = 10; -height = 10; -r = 30; -data.cameras = {}; -data.K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); -end - -data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); -data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); -data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); - -end - diff --git a/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m b/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m deleted file mode 100644 index 4f9df958e..000000000 --- a/matlab/examples/VisualISAM_gui/VisualISAMExample_triangle2.m +++ /dev/null @@ -1,22 +0,0 @@ -%% data -%data = VisualISAMData_triangle(); -data = VisualISAMData_cube(); - -%% init -[isam results] = VisualISAMInitialize(data); -sprintf('Frame 1,2:') -results -figure(1); clf; -VisualISAMPlot(results, data); - -%% Next frame index -frame_i=2; -%% All steps -while (frame_i5(ibmRsN~~f6LaaK9M*NP>ZVr5``fj#cjn z{}Vz@9h!e9&VPDP-hr8-Cxhyvg2jro<~JJeUJ%i-v!&lrZCcR+jB+|Fv(rA9)8r6n 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zRZ|kVh^Vc3D$rGcp3U4WjnqIpW~s5F;Tr5rKxoiH zXb?zX03;|rA}Y2fQ32nL3t_r{ahG*ZN8zuJ5|uvM7Sp_pA(o*Urt@pMb67^=!!lfG(~!;&SqKNgm^bKPbdC{68h) p6!Lls?};R size(handles.results,2)) - [handles.isam handles.results{handles.frame_i}] = ... - VisualISAMStep(handles.frame_i, handles.isam, ... - handles.data, handles.results{handles.frame_i-1}); - end - handles.results{handles.frame_i}.estimates - cla(handles.resultAxes); - VisualISAMPlot(handles.results{handles.frame_i}, handles.data) - guidata(hObject,handles) - else - sprintf('Frame %d:', handles.frame_i) - sprintf('No more frame!') - end - - -function edit1_Callback(hObject, eventdata, handles) -% hObject handle to edit1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of edit1 as text -% str2double(get(hObject,'String')) returns contents of edit1 as a double - - -% --- Executes during object creation, after setting all properties. -function edit1_CreateFcn(hObject, eventdata, handles) -% hObject handle to edit1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - -% --- Executes on selection change in popupmenu1. -function popupmenu1_Callback(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array -% contents{get(hObject,'Value')} returns selected item from popupmenu1 - str = cellstr(get(hObject,'String')); - sel = get(hObject,'Value'); - handles.selectedDataset = str{sel} - handles=initialize(handles) - guidata(hObject, handles); - -% --- Executes during object creation, after setting all properties. -function popupmenu1_CreateFcn(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: popupmenu controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - -% --- Executes during object creation, after setting all properties. -function Dataset_CreateFcn(hObject, eventdata, handles) -% hObject handle to Dataset (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - - -% --- Executes on button press in backButton. -function backButton_Callback(hObject, eventdata, handles) -% hObject handle to backButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - if (handles.frame_i>2) - handles.frame_i = handles.frame_i-1; - sprintf('Frame %d:', handles.frame_i) - handles.results{handles.frame_i}.estimates - cla(handles.resultAxes); - VisualISAMPlot(handles.results{handles.frame_i}, handles.data) - guidata(hObject,handles) - else - sprintf('No more frame!'); - end - -% --- Executes on button press in runButton. -function runButton_Callback(hObject, eventdata, handles) -% hObject handle to runButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - for i=handles.frame_i+1:size(handles.data.cameras,2) - if (i > size(handles.results,2)) - [handles.isam handles.results{i}] = ... - VisualISAMStep(i, handles.isam, ... - handles.data, handles.results{i-1}); - end - handles.results{i}.estimates - cla(handles.resultAxes); - VisualISAMPlot(handles.results{i}, handles.data) - end - handles.frame_i = size(handles.data.cameras,2); - sprintf('Frame %d:', handles.frame_i) - guidata(hObject,handles) - - -% --- Executes on button press in stopButton. -function stopButton_Callback(hObject, eventdata, handles) -% hObject handle to stopButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - sprintf('Not yet implemented') - - -function edit8_Callback(hObject, eventdata, handles) -% hObject handle to edit8 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of edit8 as text -% str2double(get(hObject,'String')) returns contents of edit8 as a double - - -% --- Executes during object creation, after setting all properties. -function edit8_CreateFcn(hObject, eventdata, handles) -% hObject handle to edit8 (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function odoTrans_Callback(hObject, eventdata, handles) -% hObject handle to odoTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of odoTrans as text -% str2double(get(hObject,'String')) returns contents of odoTrans as a double - - -% --- Executes during object creation, after setting all properties. -function odoTrans_CreateFcn(hObject, eventdata, handles) -% hObject handle to odoTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function measNoise_Callback(hObject, eventdata, handles) -% hObject handle to measNoise (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of measNoise as text -% str2double(get(hObject,'String')) returns contents of measNoise as a double - - -% --- Executes during object creation, after setting all properties. -function measNoise_CreateFcn(hObject, eventdata, handles) -% hObject handle to measNoise (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function posePriorRot_Callback(hObject, eventdata, handles) -% hObject handle to posePriorRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of posePriorRot as text -% str2double(get(hObject,'String')) returns contents of posePriorRot as a double - - -% --- Executes during object creation, after setting all properties. -function posePriorRot_CreateFcn(hObject, eventdata, handles) -% hObject handle to posePriorRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function posePriorTrans_Callback(hObject, eventdata, handles) -% hObject handle to posePriorTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of posePriorTrans as text -% str2double(get(hObject,'String')) returns contents of posePriorTrans as a double - - -% --- Executes during object creation, after setting all properties. -function posePriorTrans_CreateFcn(hObject, eventdata, handles) -% hObject handle to posePriorTrans (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function pointPrior_Callback(hObject, eventdata, handles) -% hObject handle to pointPrior (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of pointPrior as text -% str2double(get(hObject,'String')) returns contents of pointPrior as a double - - -% --- Executes during object creation, after setting all properties. -function pointPrior_CreateFcn(hObject, eventdata, handles) -% hObject handle to pointPrior (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end - - - -function odoRot_Callback(hObject, eventdata, handles) -% hObject handle to odoRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - -% Hints: get(hObject,'String') returns contents of odoRot as text -% str2double(get(hObject,'String')) returns contents of odoRot as a double - - -% --- Executes during object creation, after setting all properties. -function odoRot_CreateFcn(hObject, eventdata, handles) -% hObject handle to odoRot (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles empty - handles not created until after all CreateFcns called - -% Hint: edit controls usually have a white background on Windows. -% See ISPC and COMPUTER. -if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) - set(hObject,'BackgroundColor','white'); -end diff --git a/matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui2/VisualISAM_gui.fig deleted file mode 100644 index 24f5b2f01deaf3b175661bdc9819c1c7c559f70f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 6507 zcma)gXHXLWlQzAGpeRL(G(kj~^iDtwy(_&*FA5=aga86kl^`M=A|0fJCN(svf(gBM z0z~N@LIU}G?{2=C`*%A#yF2@1XLe_wot;Nd^_8ybb1o^7XIy%!uY_IP-#QC%8NRjm za{>8y%Kyu$X-P{8ajE$@+xs~?ae=(#xzv5!xwQSgxVU7w#3bdPNyv+dbBRCuXa283 z@_^{Sg;-1P&cEm#GZ9fx&aMR##4g1UsBERpb~L8;f$S+48S`waj%{Jw_qfgE>($RMs90#}?>_*qPCq+(aH}XScCatGSNQS98J!zeEDJr*yp@nQ=EI1i zSKB*Bw|!I_dua(T+qg`s>pZh|mCXPHDmK$MM|>j4DFw2MqwA!B4`cNDSae4zYm%}O zjJcAb=C$!w0?kj21fOrUNWRtVBe_+;lCdrA$SGLxj=YvnNb-1QhN&-e}l>I3$eb=d?Zat{`L!cXOuFy$UC5G|0I;m 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z?8LOV%9QC@iZT;EpPMs{Xqkt0-nCP9)=2@p^USc+Iv)rh>Hl@1xQazZMUi@o+(B>P z?w-X@fpV+-I0XSY{ly6cE+4XWw)>8^URCKp&Yb-5a#K^RQ**dU!hIdPJ_L;72$fhi?4hG(kvp`V%5woN|-$yo)=f#a2_|D4~eEPX}){Y%mRfBho@K*Z9a$PMi?kQpAR}#PM z4r`^i4xdhaS-8**94Oz<``y3xhAL+>@$y6#Hf)(Zs^#~f9HjU#jB;EFqc~!}^MvX^ zEwnDJJawJ8*%EX0CVzKx#OOTa(in9O#E;-P{{z826QtLDvAY3bK$@y?ny36ccRhH3 zytK?-bCUTa@uLY1?G&!)$6oE{9y2u2H0+<7y;av|CHQTLmZLRRX)o&oA5MeKc%$Q9 zYSg(59EGxk=fN0=y6z3X&*|zIctDwdIrxEN<2UL3Y#&{EqsOvzWk|8YcKRaH$gbAe z1!h6fX};RJZEO9xsdB19k;+um41HOxLL9YFmSD~5w2Ggm+Qty=kkz{x1 zR=sUI%(^8F#*6v#!cX+j1!)7tbE{-`FTW*6f*>x3HT0M`z%ym>`@X zyz{ll&zJ$(cgp-n8Dc@HSUmPiDxCJE=#>cQ2E4ECE6s_V3-pu%Rhas1TlFAZ@7b|Y z*o}uV$U-(4=fGnzbjPcR>nH9UzNd;g1MqI29UF{-KvE7^)P2}|Tj!XP`ii*~(UkNb z2Hu|dKMeeynT~$XGltLrWxXqEhZ)BjCusD~0*7vr0HaBY;sWhLA`-7IBUus+`<{og zBmwB;H35Nyr?tmlDvxxx=Fq2)0l@rc0`ZHpWJ5Qlu-UF=juzR%&eOpQKk@4))r9~5>bYWD1#Ci-T9}) zMx3Mt%ET`qLx%uClF-td75cCN*6`amEGM|%a4aG(?D$8t#X)M!HSADPx)TXHS-}5~ qQ# Date: Fri, 8 Jun 2012 22:20:26 +0000 Subject: [PATCH 288/914] Fixed extra CXXFLAGS not being passed to mex - caused matlab wrappers to not be compiled in quaternion mode, causing errors in quaternion mode. --- gtsam/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index d81cee87d..7e86e4bb8 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -128,7 +128,7 @@ if (GTSAM_BUILD_WRAP) endif() # Generate, build and install toolbox - set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") + set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} ${CMAKE_CXX_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") # Macro to handle details of setting up targets wrap_library(gtsam "${mexFlags}" "../") From 2dbbd9f989a599520c09f593b94782e786edbfe0 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 8 Jun 2012 22:20:28 +0000 Subject: [PATCH 289/914] Fixed mex flags once and for all for today :-) --- gtsam/CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 7e86e4bb8..495c3f39f 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -129,7 +129,9 @@ if (GTSAM_BUILD_WRAP) # Generate, build and install toolbox set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} ${CMAKE_CXX_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") - + string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper) + set(mexFlags "${mexFlags} -g COMPFLAGS='/c /DMATLAB_MEX_FILE ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}'") + # Macro to handle details of setting up targets wrap_library(gtsam "${mexFlags}" "../") endif () From 3bad1346d6ee276f8e89ea5ef06ad708c1d710b7 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 22:34:03 +0000 Subject: [PATCH 290/914] matlab plotPose3: don't draw covariance if it's empty --- matlab/plotPose3.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/plotPose3.m b/matlab/plotPose3.m index d55b7323a..262d1dfc1 100644 --- a/matlab/plotPose3.m +++ b/matlab/plotPose3.m @@ -20,7 +20,7 @@ L = [C zAxis]'; line(L(:,1),L(:,2),L(:,3),'Color','b'); % plot the covariance -if nargin>2 +if (nargin>2) && (~isempty(P)) pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame covarianceEllipse3D(C,gPp); From f3b9bccfd539f026a716021912409c325461f7d4 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 8 Jun 2012 22:36:34 +0000 Subject: [PATCH 291/914] -VisualISAMExample now uses only 5 scripts. -Generate data in Initialize callback -Plot points and first camera without covariance when initialize -Add VisualISAMDemo script, which calls global, and the gui --- matlab/examples/VisualISAMDemo.m | 2 + matlab/examples/VisualISAMExample.m | 178 ++----------------------- matlab/examples/VisualISAMInitialize.m | 1 + matlab/examples/VisualISAMPlot.m | 24 ++-- matlab/examples/VisualISAMStep.m | 3 - matlab/examples/VisualISAM_gui.fig | Bin 9609 -> 9614 bytes matlab/examples/VisualISAM_gui.m | 32 +++-- 7 files changed, 41 insertions(+), 199 deletions(-) create mode 100644 matlab/examples/VisualISAMDemo.m diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m new file mode 100644 index 000000000..a3a89404f --- /dev/null +++ b/matlab/examples/VisualISAMDemo.m @@ -0,0 +1,2 @@ +VisualISAMInitOptions +VisualISAM_gui \ No newline at end of file diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index 0e338340c..9bbe8b9f2 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -11,174 +11,14 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% clear - -%% Data Options -TRIANGLE = false; -NCAMERAS = 20; -SHOW_IMAGES = false; - -%% iSAM Options -HARD_CONSTRAINT = false; -POINT_PRIORS = false; -BATCH_INIT = true; -REORDER_INTERVAL=10; -ALWAYS_RELINEARIZE = false; - -%% Display Options -SAVE_GRAPH = false; -PRINT_STATS = true; -DRAW_INTERVAL = 20; -CAMERA_INTERVAL = 1; -DRAW_TRUE_POSES = false; -SAVE_FIGURES = false; -SAVE_GRAPHS = false; - -%% Generate simulated data -if TRIANGLE % Create a triangle target, just 3 points on a plane - nPoints = 3; - r = 10; - for j=1:nPoints - theta = (j-1)*2*pi/nPoints; - points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); +figure(1); +VisualISAMInitOptions +VisualISAMGenerateData +VisualISAMInitialize +VisualISAMPlot +for frame_i=2:NCAMERAS + VisualISAMStep + if mod(frame_i,DRAW_INTERVAL)==0 + VisualISAMPlot end -else % 3D landmarks as vertices of a cube - nPoints = 8; - points = {gtsamPoint3([10 10 10]'),... - gtsamPoint3([-10 10 10]'),... - gtsamPoint3([-10 -10 10]'),... - gtsamPoint3([10 -10 10]'),... - gtsamPoint3([10 10 -10]'),... - gtsamPoint3([-10 10 -10]'),... - gtsamPoint3([-10 -10 -10]'),... - gtsamPoint3([10 -10 -10]')}; -end - -%% Create camera cameras on a circle around the triangle -height = 10; r = 40; -K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:NCAMERAS - theta = (i-1)*2*pi/NCAMERAS; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); - if SHOW_IMAGES % show images - figure(2+i);clf;hold on - set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i)); - for j=1:nPoints - zij = cameras{i}.project(points{j}); - plot(zij.x,zij.y,'*'); - axis([1 640 1 480]); - end - end -end -odometry = cameras{1}.pose.between(cameras{2}.pose); - - -%% Set Noise parameters -poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); - -%% Initialize iSAM -isam = visualSLAMISAM(REORDER_INTERVAL); -newFactors = visualSLAMGraph; -initialEstimates = visualSLAMValues; -i1 = symbol('x',1); -camera1 = cameras{1}; -pose1 = camera1.pose; -if HARD_CONSTRAINT % add hard constraint - newFactors.addPoseConstraint(i1,pose1); -else - newFactors.addPosePrior(i1,pose1, poseNoise); -end -initialEstimates.insertPose(i1,pose1); -% Add visual measurement factors from first pose -for j=1:nPoints - jj = symbol('l',j); - if POINT_PRIORS % add point priors - newFactors.addPointPrior(jj, points{j}, pointNoise); - end - zij = camera1.project(points{j}); - newFactors.addMeasurement(zij, measurementNoise, i1, jj, K); - initialEstimates.insertPoint(jj, points{j}); -end - -%% Run iSAM Loop -figure(1);clf;hold on; -set(1,'NumberTitle','off','Name','iSAM timing'); -for i=2:NCAMERAS - - %% Add odometry - newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, odometryNoise); - - %% Add visual measurement factors - for j=1:nPoints - zij = cameras{i}.project(points{j}); - newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); - end - - %% Initial estimates for the new pose. Also initialize points while in the first frame. - %TODO: this might be suboptimal since "result" is not the fully optimized result - if (i==2), prevPose = cameras{1}.pose; - else, prevPose = result.pose(symbol('x',i-1)); end - initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); - - %% Update ISAM - if BATCH_INIT & (i==2) % Do a full optimize for first two poses - initialEstimates - fullyOptimized = newFactors.optimize(initialEstimates) - initialEstimates = fullyOptimized; - end - figure(1);tic; - isam.update(newFactors, initialEstimates); - t=toc; plot(i,t,'r.'); tic - result = isam.estimate(); - t=toc; plot(i,t,'g.'); - if ALWAYS_RELINEARIZE % re-linearize - isam.reorder_relinearize(); - end - - if SAVE_GRAPH - isam.saveGraph(sprintf('VisualiSAM.dot',i)); - end - if PRINT_STATS - isam.printStats(); - end - if mod(i,DRAW_INTERVAL)==0 - %% Plot results - tic - h=figure(2);clf - set(1,'NumberTitle','off','Name','Visual iSAM'); - hold on; - for j=1:size(points,2) - P = isam.marginalCovariance(symbol('l',j)); - point_j = result.point(symbol('l',j)); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); - end - for ii=1:CAMERA_INTERVAL:i - P = isam.marginalCovariance(symbol('x',ii)); - pose_ii = result.pose(symbol('x',ii)); - plotPose3(pose_ii,P,10); - if DRAW_TRUE_POSES % show ground truth - plotPose3(cameras{ii}.pose,0.001*eye(6),10); - end - end - axis([-40 40 -40 40 -10 20]);axis equal - view(3) - colormap('hot') - figure(2); - t=toc; - if DRAW_INTERVAL~=NCAMERAS, plot(i,t,'b.'); end - if SAVE_FIGURES - print(h,'-dpng',sprintf('VisualiSAM%03d.png',i)); - end - if SAVE_GRAPHS - isam.saveGraph(sprintf('VisualiSAM%03d.dot',i)); - end - end - - %% Reset newFactors and initialEstimates to prepare for the next update - newFactors = visualSLAMGraph; - initialEstimates = visualSLAMValues; end \ No newline at end of file diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index ae48f3531..c8f341096 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -25,4 +25,5 @@ for j=1:nPoints end frame_i = 1 +result = initialEstimates; cla; \ No newline at end of file diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index 549c3ac37..59d4014a3 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -1,26 +1,28 @@ VisualISAMGlobalVars -if (frame_i<2) - sprintf('Cannot plot the first frame') - return -end - %% Plot results tic % h=figure(2);clf % set(1,'NumberTitle','off','Name','Visual iSAM'); -cla; +h=gca; +cla(h); hold on; sprintf('Computing marginals and plotting. Please wait...') for j=1:size(points,2) - P = isam.marginalCovariance(symbol('l',j)); point_j = result.point(symbol('l',j)); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + if (frame_i>1) + P = isam.marginalCovariance(symbol('l',j)); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + end end for ii=1:CAMERA_INTERVAL:frame_i - P = isam.marginalCovariance(symbol('x',ii)); pose_ii = result.pose(symbol('x',ii)); + if (frame_i>1) + P = isam.marginalCovariance(symbol('x',ii)); + else + P = [] + end plotPose3(pose_ii,P,10); if DRAW_TRUE_POSES % show ground truth plotPose3(cameras{ii}.pose,0.001*eye(6),10); @@ -33,10 +35,12 @@ sprintf('Done!') % figure(2); t=toc; -if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end +% if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end if SAVE_FIGURES print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i)); end if SAVE_GRAPHS isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i)); end 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zAJ#Mq9_yoU-9;x1Kfi@1q7n7I9&)C$|D3gS&H#?q5l=dFxQmbeV(LorhCDTl0JX77E=E{w@n%b<{C=Cgye z2DtV>$I@_;(f@FtL!+^OjWA6Jzbm1OrpKaHnn4zq{43|b4W{~SY)J$1G%d8;Vy-IC zZ$NyXjTUwoGq+X>7dDTX`!wocM4Kr&GrE{lsCYJc8#~ounVSbsi`D(4hBNr*`JW%` zg=~xBT6k+7zam_eG#T++C})2^jrw)`^r4tW_8E!i zXu>Abgz^ENd;ml|*)(6UUd$>x4*|DDtC67NNzlS^ zkEVfhTJtd{X5Qr8(PspndbgS+$J;#9{;Tj;l_dlG`2~WTnyKDEk$h1(b7@T_r{Rhv%0gP0DfeT`L?xt8EJk7+U}hjpW|Q^q zGs5n3**B|ZVPecygK?@%$kXGABZXXBM5Apv$BCBs)7R7Qi2DI0oYA$xq^e5e)KYuLOQ9Elu>O%Lp#4zRlkoRU zMaRc|5s-Hj%5h<0V5`g;lx3cq8QMNO5s6?r65(Y5Yi)F*g0Ft0!6$Cx{*`(YkJh|S zw|oCA%s#7+X{WvU1< zsQd56R}R|qGG^0yMAGrwShpnXbtJ|lFyxB9+BfkoS+8^DOz@i+MebWv(3vm)SnDeF z!I(!1T4T{Soiu=RHcc-y%DN=>JN}{!nht{uQUF92fs@2043L%-6CRiUeV^(1SD_)< zhZ$qqJ@PaWWs0W3rr7(ljhS_WJ+&{on|CXsEpgTr~(<_{p2~rr=?cJ zjJ8KwTxIaRobdwJNM&=jzGA`8%#H$2{ixDP7NZC90TnNPn9w8G``tthI}ZahUV<2E z-QC6++8n(6!QaggkE``(F$2w+Sr+};qT{9Y>;8L!wB1wZ7k3Xw;nj5KBtr%0`MD!F z#s+hcwv>W~lpkfi6AAnNysw=hPiL6IvVT<{7@R$>=)MuvT>m>DSMV4>iv?2daq7$X z-^a-+J|3qOCo%o(+GEml;kQFVM@&bOMlAi=yvMHRNsmE~SdVuPS&vo^e~)VqbID>e>YA3kMF;s@JBGb&=Oa< z>*1GRG8&8&51LH(A}fElS^kfEcp?0s;GbUNZiql2om}5h5X<%N;t*mC`ChYHmkowV zZm%&})`^w;wyVew2tpw4vh&VA29HmmB>z9m{RnEFXy@KlmhGy>_ux( Date: Fri, 8 Jun 2012 23:28:22 +0000 Subject: [PATCH 292/914] Minor Improvements --- examples/UGM_chain.cpp | 2 +- examples/UGM_small.cpp | 24 +++++------ gtsam/discrete/Assignment.h | 42 ++++++++++++++++++- gtsam/discrete/DecisionTreeFactor.h | 9 +++- gtsam/discrete/DiscreteConditional.cpp | 33 +++++++-------- gtsam/discrete/Potentials.cpp | 3 +- gtsam/discrete/Potentials.h | 4 +- .../discrete/tests/testDiscreteMarginals.cpp | 4 +- 8 files changed, 81 insertions(+), 40 deletions(-) diff --git a/examples/UGM_chain.cpp b/examples/UGM_chain.cpp index e7f408cb0..56dbd4726 100644 --- a/examples/UGM_chain.cpp +++ b/examples/UGM_chain.cpp @@ -13,7 +13,7 @@ * @file small.cpp * @brief UGM (undirected graphical model) examples: chain * @author Frank Dellaert - * @author Abhijit + * @author Abhijit Kundu * * See http://www.di.ens.fr/~mschmidt/Software/UGM/chain.html * for more explanation. This code demos the same example using GTSAM. diff --git a/examples/UGM_small.cpp b/examples/UGM_small.cpp index 3c0e77e67..e9424d369 100644 --- a/examples/UGM_small.cpp +++ b/examples/UGM_small.cpp @@ -49,21 +49,17 @@ int main(int argc, char** argv) { // Print the UGM distribution cout << "\nUGM distribution:" << endl; - for (size_t a = 0; a < nrStates; a++) - for (size_t m = 0; m < nrStates; m++) - for (size_t h = 0; h < nrStates; h++) - for (size_t c = 0; c < nrStates; c++) { - DiscreteFactor::Values values; - values[1] = c; - values[2] = h; - values[3] = m; - values[4] = a; - double prodPot = graph(values); - cout << c << " " << h << " " << m << " " << a << " :\t" - << prodPot << "\t" << prodPot/3790 << endl; - } + vector allPosbValues = cartesianProduct( + Cathy & Heather & Mark & Allison); + for (size_t i = 0; i < allPosbValues.size(); ++i) { + DiscreteFactor::Values values = allPosbValues[i]; + double prodPot = graph(values); + cout << values[Cathy.first] << " " << values[Heather.first] << " " + << values[Mark.first] << " " << values[Allison.first] << " :\t" + << prodPot << "\t" << prodPot / 3790 << endl; + } - // "Decoding", i.e., configuration with largest value + // "Decoding", i.e., configuration with largest value (MPE) // We use sequential variable elimination DiscreteSequentialSolver solver(graph); DiscreteFactor::sharedValues optimalDecoding = solver.optimize(); diff --git a/gtsam/discrete/Assignment.h b/gtsam/discrete/Assignment.h index 2e84485dd..f6decc359 100644 --- a/gtsam/discrete/Assignment.h +++ b/gtsam/discrete/Assignment.h @@ -20,8 +20,10 @@ #include #include +#include #include + namespace gtsam { /** @@ -42,6 +44,44 @@ namespace gtsam { bool equals(const Assignment& other, double tol = 1e-9) const { return (*this == other); } - }; //Assignment + }; //Assignment + + + /** + * @brief Get Cartesian product consisting all possible configurations + * @param vector list of keys (label,cardinality) pairs. + * @return vector list of all possible value assignments + * + * This function returns a vector of Assignment values for all possible + * (Cartesian product) configurations of set of Keys which are nothing + * but (Label,cardinality) pairs. This function should NOT be called for + * more than a small number of variables and cardinalities. E.g. For 6 + * variables with each having cardinalities 4, we get 4096 possible + * configurations!! + */ + template + std::vector > cartesianProduct( + const std::vector >& keys) { + std::vector > allPossValues; + Assignment values; + typedef std::pair DiscreteKey; + BOOST_FOREACH(const DiscreteKey& key, keys) + values[key.first] = 0; //Initialize from 0 + while (1) { + allPossValues.push_back(values); + size_t j = 0; + for (j = 0; j < keys.size(); j++) { + L idx = keys[j].first; + values[idx]++; + if (values[idx] < keys[j].second) + break; + //Wrap condition + values[idx] = 0; + } + if (j == keys.size()) + break; + } + return allPossValues; + } } // namespace gtsam diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index a29a5683a..27c31fbb9 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -127,9 +127,16 @@ namespace gtsam { */ shared_ptr combine(size_t nrFrontals, ADT::Binary op) const; + /** + * @brief Permutes the keys in Potentials and DiscreteFactor + * + * This re-implements the permuteWithInverse() in both Potentials + * and DiscreteFactor by doing both of them together. + */ + void permuteWithInverse(const Permutation& inversePermutation){ DiscreteFactor::permuteWithInverse(inversePermutation); - Potentials::permute(inversePermutation); + Potentials::permuteWithInverse(inversePermutation); } /// @} diff --git a/gtsam/discrete/DiscreteConditional.cpp b/gtsam/discrete/DiscreteConditional.cpp index 34cf016ec..029873d2c 100644 --- a/gtsam/discrete/DiscreteConditional.cpp +++ b/gtsam/discrete/DiscreteConditional.cpp @@ -75,41 +75,38 @@ namespace gtsam { /* ******************************************************************************** */ void DiscreteConditional::solveInPlace(Values& values) const { +// OLD // assert(nrFrontals() == 1); // Index j = (firstFrontalKey()); // size_t mpe = solve(values); // Solve for variable // values[j] = mpe; // store result in partial solution +// OLD // TODO: is this really the fastest way? I think it is. + + //The following is to make make adjustment for nFrontals \neq 1 ADT pFS = choose(values); // P(F|S=parentsValues) // Initialize Values mpe; - Values frontalVals; - BOOST_FOREACH(Index j, frontals()) { - frontalVals[j] = 0; - } double maxP = 0; - while (1) { + DiscreteKeys keys; + BOOST_FOREACH(Index idx, frontals()) { + DiscreteKey dk(idx,cardinality(idx)); + keys & dk; + } + // Get all Possible Configurations + vector allPosbValues = cartesianProduct(keys); + + // Find the MPE + BOOST_FOREACH(Values& frontalVals, allPosbValues) { double pValueS = pFS(frontalVals); // P(F=value|S=parentsValues) // Update MPE solution if better if (pValueS > maxP) { maxP = pValueS; mpe = frontalVals; } - - size_t j = 0; - for (j = 0; j < nrFrontals(); j++) { - Index idx = frontals()[j]; - frontalVals[idx]++; - if (frontalVals[idx] < cardinality(idx)) - break; - //Wrap condition - frontalVals[idx] = 0; - } - if (j == nrFrontals()) - break; } //set values (inPlace) to mpe @@ -197,7 +194,7 @@ namespace gtsam { /* ******************************************************************************** */ void DiscreteConditional::permuteWithInverse(const Permutation& inversePermutation){ IndexConditional::permuteWithInverse(inversePermutation); - Potentials::permute(inversePermutation); + Potentials::permuteWithInverse(inversePermutation); } diff --git a/gtsam/discrete/Potentials.cpp b/gtsam/discrete/Potentials.cpp index e6f07ccac..b9a87dea9 100644 --- a/gtsam/discrete/Potentials.cpp +++ b/gtsam/discrete/Potentials.cpp @@ -60,7 +60,7 @@ namespace gtsam { } /* ************************************************************************* */ - void Potentials::permute(const Permutation& permutation) { + void Potentials::permuteWithInverse(const Permutation& permutation) { // Permute the _cardinalities (TODO: Inefficient Consider Improving) DiscreteKeys keys; map ordering; @@ -72,7 +72,6 @@ namespace gtsam { // Perform Permutation BOOST_FOREACH(DiscreteKey& key, keys) { ordering[key.first] = permutation[key.first]; - //cout << key.first << " -> " << ordering[key.first] << endl; key.first = ordering[key.first]; } diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h index fe22288f4..367a323c2 100644 --- a/gtsam/discrete/Potentials.h +++ b/gtsam/discrete/Potentials.h @@ -73,8 +73,10 @@ namespace gtsam { * @brief Permutes the keys in Potentials * * This permutes the Indices and performs necessary re-ordering of ADD. + * This is virtual so that derived types e.g. DecisionTreeFactor can + * re-implement it. */ - void permute(const Permutation& perm); + virtual void permuteWithInverse(const Permutation& inversePermutation); }; // Potentials diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp index ad35e131e..7f2b7b1b1 100644 --- a/gtsam/discrete/tests/testDiscreteMarginals.cpp +++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /* - * @ file testDiscreteMarginals.cpp - * @date Feb 14, 2011 + * @file testDiscreteMarginals.cpp + * @date Jun 7, 2012 * @author Abhijit Kundu * @author Richard Roberts * @author Frank Dellaert From 734a18b02e09ad4988953959f560c7ab3cadc4f6 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sat, 9 Jun 2012 02:42:45 +0000 Subject: [PATCH 293/914] old spcg solver fixed --- examples/Pose2SLAMwSPCG.cpp | 26 +++++++++-- gtsam/linear/ConjugateGradientSolver.h | 10 ++--- gtsam/linear/Errors.cpp | 10 +++++ gtsam/linear/Errors.h | 2 + gtsam/linear/GaussianBayesNet.cpp | 18 ++++++++ gtsam/linear/GaussianBayesNet.h | 6 +++ gtsam/linear/IterativeSolver.h | 7 ++- gtsam/linear/SimpleSPCGSolver.cpp | 8 +--- gtsam/linear/SimpleSPCGSolver.h | 7 ++- gtsam/linear/SubgraphPreconditioner.cpp | 44 ++++++------------- gtsam/linear/SubgraphPreconditioner.h | 7 ++- gtsam/linear/SubgraphSolver.cpp | 4 +- gtsam/linear/SubgraphSolver.h | 12 +++-- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 20 +++++---- gtsam_unstable/linear/iterative-inl.h | 7 +-- gtsam_unstable/linear/iterative.h | 1 + 16 files changed, 113 insertions(+), 76 deletions(-) diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 984701734..ddf0a7ad0 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -16,6 +16,8 @@ * @date June 2, 2012 */ +#include +#include #include #include @@ -61,10 +63,26 @@ int main(void) { cout << "initial error = " << graph.error(initialEstimate) << endl ; // 4. Single Step Optimization using Levenberg-Marquardt - // Note: Although there are many options in IterativeOptimizationParameters, - Values result = graph.optimizeSPCG(initialEstimate); - result.print("\nFinal result:\n"); - cout << "final error = " << graph.error(result) << endl; + LevenbergMarquardtParams param; + param.verbosity = NonlinearOptimizerParams::ERROR; + param.verbosityLM = LevenbergMarquardtParams::LAMBDA; + param.linearSolverType = SuccessiveLinearizationParams::CG; + + { + param.iterativeParams = boost::make_shared(); + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); + Values result = optimizer.optimize(); + result.print("\nFinal result:\n"); + cout << "simple spcg solver final error = " << graph.error(result) << endl; + } + + { + param.iterativeParams = boost::make_shared(); + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); + Values result = optimizer.optimize(); + result.print("\nFinal result:\n"); + cout << "subgraph solver final error = " << graph.error(result) << endl; + } return 0 ; } diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index 2cfd1279f..f7f1ad5dc 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -36,16 +36,14 @@ struct ConjugateGradientParameters : public IterativeOptimizationParameters { SBM_MT ///< Sparse Block Matrix Multithreaded } blas_kernel_; - enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; /* Verbosity */ - ConjugateGradientParameters() : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), - blas_kernel_(GTSAM), verbosity_(SILENT) {} + blas_kernel_(GTSAM) {} ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, - double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM, Verbosity verbosity = SILENT) + double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM) : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), - epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas), verbosity_(verbosity) {} + epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {} /* general interface */ inline size_t minIterations() const { return minIterations_; } @@ -55,7 +53,6 @@ struct ConjugateGradientParameters : public IterativeOptimizationParameters { inline double epsilon_rel() const { return epsilon_rel_; } inline double epsilon_abs() const { return epsilon_abs_; } inline BLASKernel blas_kernel() const { return blas_kernel_; } - inline Verbosity verbosity() const { return verbosity_; } void print() const { const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"}; @@ -67,7 +64,6 @@ struct ConjugateGradientParameters : public IterativeOptimizationParameters { << ", resetIter = " << reset_ << ", eps_rel = " << epsilon_rel_ << ", eps_abs = " << epsilon_abs_ - << ", verbosity = " << verbosity_ << std::endl; } }; diff --git a/gtsam/linear/Errors.cpp b/gtsam/linear/Errors.cpp index d3007350f..65a52cce1 100644 --- a/gtsam/linear/Errors.cpp +++ b/gtsam/linear/Errors.cpp @@ -86,6 +86,16 @@ Errors Errors::operator-(const Errors& b) const { return result; } +/* ************************************************************************* */ +Errors Errors::operator-() const { + Errors result; + BOOST_FOREACH(const Vector& ai, *this) + result.push_back(-ai); + return result; +} + + + /* ************************************************************************* */ double dot(const Errors& a, const Errors& b) { #ifndef NDEBUG diff --git a/gtsam/linear/Errors.h b/gtsam/linear/Errors.h index b51bf606d..8e39e40ff 100644 --- a/gtsam/linear/Errors.h +++ b/gtsam/linear/Errors.h @@ -45,6 +45,8 @@ namespace gtsam { /** subtraction */ Errors operator-(const Errors& b) const; + /** negation */ + Errors operator-() const ; }; // Errors diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index 056bda67e..62b63bb27 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -99,6 +99,24 @@ void optimizeInPlace(const GaussianBayesNet& bn, VectorValues& x) { } } +/* ************************************************************************* */ +VectorValues backSubstitute(const GaussianBayesNet& bn, const VectorValues& input) { + VectorValues output = input; + BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, bn) { + const Index key = *(cg->beginFrontals()); + Vector xS = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()); + xS = input[key] - cg->get_S() * xS; + output[key] = cg->get_R().triangularView().solve(xS); + } + + BOOST_FOREACH(const boost::shared_ptr cg, bn) { + cg->scaleFrontalsBySigma(output); + } + + return output; +} + + /* ************************************************************************* */ // gy=inv(L)*gx by solving L*gy=gx. // gy=inv(R'*inv(Sigma))*gx diff --git a/gtsam/linear/GaussianBayesNet.h b/gtsam/linear/GaussianBayesNet.h index 8c6e72357..fb179da92 100644 --- a/gtsam/linear/GaussianBayesNet.h +++ b/gtsam/linear/GaussianBayesNet.h @@ -106,6 +106,12 @@ namespace gtsam { * */ void optimizeGradientSearchInPlace(const GaussianBayesNet& bn, VectorValues& grad); + /** + * Backsubstitute + * gy=inv(R*inv(Sigma))*gx + */ + VectorValues backSubstitute(const GaussianBayesNet& bn, const VectorValues& gx); + /** * Transpose Backsubstitute * gy=inv(L)*gx by solving L*gy=gx. diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index de1c564ef..fb19e6d58 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -23,8 +23,7 @@ namespace gtsam { public: typedef boost::shared_ptr shared_ptr; - - enum Kernel { PCG = 0, LSPCG = 1 } kernel_ ; ///< Iterative Method Kernel + enum Kernel { CG = 0 } kernel_ ; ///< Iterative Method Kernel enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; ///< Verbosity public: @@ -32,7 +31,7 @@ namespace gtsam { IterativeOptimizationParameters(const IterativeOptimizationParameters &p) : kernel_(p.kernel_), verbosity_(p.verbosity_) {} - IterativeOptimizationParameters(Kernel kernel = LSPCG, Verbosity verbosity = SILENT) + IterativeOptimizationParameters(Kernel kernel = CG, Verbosity verbosity = SILENT) : kernel_(kernel), verbosity_(verbosity) {} virtual ~IterativeOptimizationParameters() {} @@ -42,7 +41,7 @@ namespace gtsam { inline Verbosity verbosity() const { return verbosity_; } void print() const { - const std::string kernelStr[2] = {"pcg", "lspcg"}; + const std::string kernelStr[1] = {"cg"}; std::cout << "IterativeOptimizationParameters: " << "kernel = " << kernelStr[kernel_] << ", verbosity = " << verbosity_ << std::endl; diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index 03401cc7f..addbc74dd 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -96,9 +96,7 @@ VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial double gamma = s.vector().squaredNorm(), new_gamma = 0.0, alpha = 0.0, beta = 0.0 ; - const double threshold = - std::max(parameters_.epsilon_abs(), - parameters_.epsilon() * parameters_.epsilon() * gamma); + const double threshold = std::max(parameters_.epsilon_abs(), parameters_.epsilon() * parameters_.epsilon() * gamma); const size_t iMaxIterations = parameters_.maxIterations(); const Parameters::Verbosity verbosity = parameters_.verbosity(); @@ -217,10 +215,6 @@ SimpleSPCGSolver::splitGraph(const GaussianFactorGraph &gfg) { else Ac->push_back(boost::dynamic_pointer_cast(gf)); } -// gfg.print("gfg"); -// At->print("At"); -// Ac->print("Ac"); - return boost::tie(At, Ac); } diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index 406232d3c..097022c22 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -19,6 +19,11 @@ namespace gtsam { +struct SimpleSPCGSolverParameters : public ConjugateGradientParameters { + typedef ConjugateGradientParameters Base; + SimpleSPCGSolverParameters() : Base() {} +}; + /** * This class gives a simple implementation to the SPCG solver presented in Dellaert et al in IROS'10. * @@ -40,7 +45,7 @@ class SimpleSPCGSolver : public IterativeSolver { public: typedef IterativeSolver Base; - typedef ConjugateGradientParameters Parameters; + typedef SimpleSPCGSolverParameters Parameters; typedef boost::shared_ptr shared_ptr; protected: diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index 59a72dd8b..91a98a263 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -28,27 +28,17 @@ namespace gtsam { /* ************************************************************************* */ SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar) : - Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(gaussianErrors_(*Ab2_,*xbar)) { + Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(new Errors(-gaussianErrors(*Ab2_,*xbar))) { } /* ************************************************************************* */ // x = xbar + inv(R1)*y VectorValues SubgraphPreconditioner::x(const VectorValues& y) const { - VectorValues x = y; - optimizeInPlace(*Rc1_,x); - x += *xbar_; - return x; + return *xbar_ + gtsam::backSubstitute(*Rc1_, y); } -// SubgraphPreconditioner SubgraphPreconditioner::add_priors(double sigma) const { -// SubgraphPreconditioner result = *this ; -// result.Ab2_ = sharedFG(new GaussianFactorGraph(Ab2_->add_priors(sigma))) ; -// return result ; -// } - /* ************************************************************************* */ double error(const SubgraphPreconditioner& sp, const VectorValues& y) { - Errors e(y); VectorValues x = sp.x(y); Errors e2 = gaussianErrors(*sp.Ab2(),x); @@ -58,12 +48,11 @@ namespace gtsam { /* ************************************************************************* */ // gradient is y + inv(R1')*A2'*(A2*inv(R1)*y-b2bar), VectorValues gradient(const SubgraphPreconditioner& sp, const VectorValues& y) { - VectorValues x = sp.x(y); // x = inv(R1)*y - Errors e2 = gaussianErrors(*sp.Ab2(),x); - VectorValues gx2 = VectorValues::Zero(y); - gtsam::transposeMultiplyAdd(*sp.Ab2(),1.0,e2,gx2); // A2'*e2; - VectorValues gy2 = gtsam::backSubstituteTranspose(*sp.Rc1(), gx2); // inv(R1')*gx2 - return y + gy2; + VectorValues x = gtsam::backSubstitute(*sp.Rc1(), y); /* inv(R1)*y */ + Errors e = (*sp.Ab2()*x - *sp.b2bar()); /* (A2*inv(R1)*y-b2bar) */ + VectorValues v = VectorValues::Zero(x); + transposeMultiplyAdd(*sp.Ab2(), 1.0, e, v); /* A2'*(A2*inv(R1)*y-b2bar) */ + return y + gtsam::backSubstituteTranspose(*sp.Rc1(), v); } /* ************************************************************************* */ @@ -71,13 +60,9 @@ namespace gtsam { Errors operator*(const SubgraphPreconditioner& sp, const VectorValues& y) { Errors e(y); - - // Add A2 contribution - VectorValues x = y; // TODO avoid ? - gtsam::optimizeInPlace(*sp.Rc1(), x); // x=inv(R1)*y - Errors e2 = *sp.Ab2() * x; // A2*x + VectorValues x = gtsam::backSubstitute(*sp.Rc1(), y); /* x=inv(R1)*y */ + Errors e2 = *sp.Ab2() * x; /* A2*x */ e.splice(e.end(), e2); - return e; } @@ -85,16 +70,14 @@ namespace gtsam { // In-place version that overwrites e void multiplyInPlace(const SubgraphPreconditioner& sp, const VectorValues& y, Errors& e) { - Errors::iterator ei = e.begin(); for ( Index i = 0 ; i < y.size() ; ++i, ++ei ) { *ei = y[i]; } // Add A2 contribution - VectorValues x = y; // TODO avoid ? - gtsam::optimizeInPlace(*sp.Rc1(), x); // x=inv(R1)*y - gtsam::multiplyInPlace(*sp.Ab2(),x,ei); // use iterator version + VectorValues x = gtsam::backSubstitute(*sp.Rc1(), y); // x=inv(R1)*y + gtsam::multiplyInPlace(*sp.Ab2(), x, ei); // use iterator version } /* ************************************************************************* */ @@ -114,13 +97,12 @@ namespace gtsam { void transposeMultiplyAdd (const SubgraphPreconditioner& sp, double alpha, const Errors& e, VectorValues& y) { - Errors::const_iterator it = e.begin(); for ( Index i = 0 ; i < y.size() ; ++i, ++it ) { const Vector& ei = *it; - axpy(alpha,ei,y[i]); + axpy(alpha, ei, y[i]); } - sp.transposeMultiplyAdd2(alpha,it,e.end(),y); + sp.transposeMultiplyAdd2(alpha, it, e.end(), y); } /* ************************************************************************* */ diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index 460f28e5a..7b59735d9 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -42,8 +42,8 @@ namespace gtsam { private: sharedFG Ab1_, Ab2_; sharedBayesNet Rc1_; - sharedValues xbar_; - sharedErrors b2bar_; /** b2 - A2*xbar */ + sharedValues xbar_; ///< A1 \ b1 + sharedErrors b2bar_; ///< A2*xbar - b2 public: @@ -66,6 +66,9 @@ namespace gtsam { /** Access Rc1 */ const sharedBayesNet& Rc1() const { return Rc1_; } + /** Access b2bar */ + const sharedErrors b2bar() const { return b2bar_; } + /** * Add zero-mean i.i.d. Gaussian prior terms to each variable * @param sigma Standard deviation of Gaussian diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 5d6237d9c..c91365f19 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -61,9 +61,7 @@ SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters VectorValues::shared_ptr SubgraphSolver::optimize() { - // preconditioned conjugate gradient - VectorValues zeros = pc_->zero(); - VectorValues ybar = conjugateGradients (*pc_, zeros, parameters_); + VectorValues ybar = conjugateGradients(*pc_, pc_->zero(), parameters_); boost::shared_ptr xbar = boost::make_shared() ; *xbar = pc_->x(ybar); diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index 111f85cad..ec9a5f19a 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -19,6 +19,11 @@ namespace gtsam { +struct SubgraphSolverParameters : public ConjugateGradientParameters { + typedef ConjugateGradientParameters Base; + SubgraphSolverParameters() : Base() {} +}; + /** * A linear system solver using subgraph preconditioning conjugate gradient */ @@ -27,18 +32,17 @@ class SubgraphSolver : public IterativeSolver { public: - typedef ConjugateGradientParameters Parameters; + typedef SubgraphSolverParameters Parameters; + +protected: Parameters parameters_; - SubgraphPreconditioner::shared_ptr pc_; ///< preconditioner object public: SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); - virtual ~SubgraphSolver() {} - virtual VectorValues::shared_ptr optimize () ; protected: diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 8fbedc614..ddebdb498 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -76,15 +76,19 @@ void LevenbergMarquardtOptimizer::iterate() { } else if ( params_.isCG() ) { - ConjugateGradientParameters::shared_ptr params (!params_.iterativeParams ? - boost::make_shared() : - boost::dynamic_pointer_cast(params_.iterativeParams)); + if ( !params_.iterativeParams ) throw runtime_error("LMSolver: cg parameter has to be assigned ..."); - if ( !params ) throw runtime_error("LMSolver: spcg parameter dynamic casting failed"); - - SimpleSPCGSolver solver(dampedSystem, *params); - //SubgraphSolver solver(dampedSystem, *params); - delta = *solver.optimize(); + if ( boost::dynamic_pointer_cast(params_.iterativeParams)) { + SimpleSPCGSolver solver (dampedSystem, *boost::dynamic_pointer_cast(params_.iterativeParams)); + delta = *solver.optimize(); + } + else if ( boost::dynamic_pointer_cast(params_.iterativeParams) ) { + SubgraphSolver solver (dampedSystem, *boost::dynamic_pointer_cast(params_.iterativeParams)); + delta = *solver.optimize(); + } + else { + throw runtime_error("LMSolver: special cg parameter type is not handled in LM solver ..."); + } } else { throw runtime_error("Optimization parameter is invalid: LevenbergMarquardtParams::elimination"); diff --git a/gtsam_unstable/linear/iterative-inl.h b/gtsam_unstable/linear/iterative-inl.h index 5641cb7ae..f384b7504 100644 --- a/gtsam_unstable/linear/iterative-inl.h +++ b/gtsam_unstable/linear/iterative-inl.h @@ -118,13 +118,10 @@ namespace gtsam { // conjugate gradient method. // S: linear system, V: step vector, E: errors template - V conjugateGradients( - const S& Ab, - V x, - const ConjugateGradientParameters ¶meters, - bool steepest = false) { + V conjugateGradients(const S& Ab, V x, const ConjugateGradientParameters ¶meters, bool steepest = false) { CGState state(Ab, x, parameters, steepest); + if (parameters.verbosity() != ConjugateGradientParameters::SILENT) std::cout << "CG: epsilon = " << parameters.epsilon() << ", maxIterations = " << parameters.maxIterations() diff --git a/gtsam_unstable/linear/iterative.h b/gtsam_unstable/linear/iterative.h index f578391d0..6765ac22a 100644 --- a/gtsam_unstable/linear/iterative.h +++ b/gtsam_unstable/linear/iterative.h @@ -44,6 +44,7 @@ namespace gtsam { * Needed to run Conjugate Gradients on matrices * */ class System { + private: const Matrix& A_; const Vector& b_; From 6c18af309e3d02fe55c257e5f36c32491b7c1719 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Sat, 9 Jun 2012 04:01:37 +0000 Subject: [PATCH 294/914] VisualISAMExample in MATLAB with all options enabled. --- matlab/examples/VisualISAMExample.m | 30 ++- matlab/examples/VisualISAMGenerateData.m | 1 - matlab/examples/VisualISAMInitOptions.m | 22 --- matlab/examples/VisualISAMPlot.m | 8 +- matlab/examples/VisualISAM_gui.fig | Bin 9614 -> 9781 bytes matlab/examples/VisualISAM_gui.m | 224 +++++++++++------------ 6 files changed, 141 insertions(+), 144 deletions(-) delete mode 100644 matlab/examples/VisualISAMInitOptions.m diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index 9bbe8b9f2..633c20cb5 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -11,11 +11,37 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% clear -figure(1); -VisualISAMInitOptions +%% Global variables used in VisualISAMExample +VisualISAMGlobalVars + +%% Setting data options +TRIANGLE = true; +NCAMERAS = 20; +SHOW_IMAGES = false; + +%% iSAM Options +HARD_CONSTRAINT = false; +POINT_PRIORS = false; +BATCH_INIT = true; +REORDER_INTERVAL = 10; +ALWAYS_RELINEARIZE = false; + +%% Display Options +SAVE_GRAPH = false; +PRINT_STATS = true; +DRAW_INTERVAL = 4; +CAMERA_INTERVAL = 1; +DRAW_TRUE_POSES = false; +SAVE_FIGURES = false; +SAVE_GRAPHS = false; + +%% Generate data and initialize iSAM with the first pose and points VisualISAMGenerateData VisualISAMInitialize +figure; VisualISAMPlot + +%% Main loop for iSAM: stepping through all poses for frame_i=2:NCAMERAS VisualISAMStep if mod(frame_i,DRAW_INTERVAL)==0 diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index 7ab135168..fd87c5434 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -1,5 +1,4 @@ VisualISAMGlobalVars -sprintf('vData...') %% Generate simulated data points = {}; diff --git a/matlab/examples/VisualISAMInitOptions.m b/matlab/examples/VisualISAMInitOptions.m deleted file mode 100644 index a9ef09bb5..000000000 --- a/matlab/examples/VisualISAMInitOptions.m +++ /dev/null @@ -1,22 +0,0 @@ -VisualISAMGlobalVars - -%% Data Options -TRIANGLE = true; -NCAMERAS = 20; -SHOW_IMAGES = false; - -%% iSAM Options -HARD_CONSTRAINT = false; -POINT_PRIORS = false; -BATCH_INIT = true; -REORDER_INTERVAL=10; -ALWAYS_RELINEARIZE = false; - -%% Display Options -SAVE_GRAPH = false; -PRINT_STATS = true; -DRAW_INTERVAL = 4; -CAMERA_INTERVAL = 1; -DRAW_TRUE_POSES = false; -SAVE_FIGURES = false; -SAVE_GRAPHS = false; \ No newline at end of file diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index 59d4014a3..d7f5c55b0 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -37,9 +37,13 @@ sprintf('Done!') t=toc; % if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end if SAVE_FIGURES - print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i)); + fig2 = figure('visible','off'); + newax = copyobj(h,fig2); + colormap(fig2,'hot'); + set(newax, 'units', 'normalized', 'position', [0.13 0.11 0.775 0.815]); + print(fig2,'-dpng',sprintf('VisualiSAM%03d.png',frame_i)); end -if SAVE_GRAPHS +if SAVE_GRAPHS && (frame_i>1) isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i)); end diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui.fig index 0597b776a14d7d85fb38bf043ab03dca6e68d91c..07d1b793d90768cdf86718f3c85800a930e7b52a 100644 GIT binary patch delta 9326 zcmV-!B$3;WOSMdpJ`FN6IyEyoH8CJEFflTbQ6rIH27h`a0000000001Nlgy`008nM 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initialization code - DO NOT EDIT gui_Singleton = 1; @@ -53,8 +53,8 @@ function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin) % varargin command line arguments to VisualISAM_gui (see VARARGIN) % Choose default command line output for VisualISAM_gui +initOptions(handles) handles.output = hObject; -VisualISAMInitOptions % Update handles structure guidata(hObject, handles); @@ -62,11 +62,51 @@ guidata(hObject, handles); % UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME) % uiwait(handles.figure1); - function showFramei(hObject, handles) VisualISAMGlobalVars set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i)); + drawnow guidata(hObject, handles); + +function showWaiting(handles, status) + set(handles.waitingStatus,'String', status); + drawnow + guidata(handles.waitingStatus, handles); + +function triangle = chooseDataset(handles) + str = cellstr(get(handles.dataset,'String')); + sel = get(handles.dataset,'Value'); + switch str{sel} + case 'triangle' + triangle = true; + case 'cube' + triangle = false; + end + +function initOptions(handles) + VisualISAMGlobalVars + %% Setting data options + TRIANGLE = chooseDataset(handles) + NCAMERAS = str2num(get(handles.numCamEdit,'String')) + SHOW_IMAGES = get(handles.showImagesCB,'Value') + + %% iSAM Options + HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value') + POINT_PRIORS = get(handles.pointPriorsCB,'Value') + set(handles.batchInitCB,'Value',1); + drawnow + BATCH_INIT = get(handles.batchInitCB,'Value') + REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String')) + ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value') + + %% Display Options + SAVE_GRAPH = get(handles.saveGraphCB,'Value') + PRINT_STATS = get(handles.printStatsCB,'Value') + DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) + CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String')) + DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value') + SAVE_FIGURES = get(handles.saveFiguresCB,'Value') + SAVE_GRAPHS = get(handles.saveGraphsCB,'Value') % --- Outputs from this function are returned to the command line. function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles) @@ -84,13 +124,13 @@ function intializeButton_Callback(hObject, eventdata, handles) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) VisualISAMGlobalVars - DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ; - NCAMERAS = str2num(get(handles.numCamEdit,'String')) ; + initOptions(handles) VisualISAMGenerateData VisualISAMInitialize VisualISAMPlot showFramei(hObject, handles) + % --- Executes on button press in stepButton. function stepButton_Callback(hObject, eventdata, handles) % hObject handle to stepButton (see GCBO) @@ -102,32 +142,25 @@ function stepButton_Callback(hObject, eventdata, handles) showFramei(hObject, handles) VisualISAMStep if mod(frame_i,DRAW_INTERVAL)==0 + showWaiting(handles, 'Computing marginals...'); VisualISAMPlot + showWaiting(handles, ''); end end -% --- Executes on selection change in popupmenu1. -function popupmenu1_Callback(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) +% --- Executes on selection change in dataset. +function dataset_Callback(hObject, eventdata, handles) +% hObject handle to dataset (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) -% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array -% contents{get(hObject,'Value')} returns selected item from popupmenu1 - global TRIANGLE - str = cellstr(get(hObject,'String')); - sel = get(hObject,'Value'); - switch str{sel} - case 'triangle' - TRIANGLE = true - case 'cube' - TRIANGLE = false - end +% Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array +% contents{get(hObject,'Value')} returns selected item from dataset % --- Executes during object creation, after setting all properties. -function popupmenu1_CreateFcn(hObject, eventdata, handles) -% hObject handle to popupmenu1 (see GCBO) +function dataset_CreateFcn(hObject, eventdata, handles) +% hObject handle to dataset (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called @@ -143,16 +176,17 @@ function runButton_Callback(hObject, eventdata, handles) % hObject handle to runButton (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) - sprintf('Not yet implemented') - - -% --- Executes on button press in stopButton. -function stopButton_Callback(hObject, eventdata, handles) -% hObject handle to stopButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - sprintf('Not yet implemented') - + VisualISAMGlobalVars + while (frame_i Date: Sat, 9 Jun 2012 04:58:20 +0000 Subject: [PATCH 295/914] Removed all those comments --- matlab/examples/VisualISAM_gui.m | 150 +++++++------------------------ 1 file changed, 30 insertions(+), 120 deletions(-) diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index ab48a4cc1..015c7ef6d 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -6,7 +6,7 @@ function varargout = VisualISAM_gui(varargin) % H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to % the existing singleton*. % -% VISUALISAM_GUI('CALLBACK',hObject,eventData,handles,...) calls the local +% VISUALISAM_GUI('CALLBACK',hObject,~,handles,...) calls the local % function named CALLBACK in VISUALISAM_GUI.M with the given input arguments. % % VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the @@ -45,11 +45,8 @@ end % --- Executes just before VisualISAM_gui is made visible. -function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin) +function VisualISAM_gui_OpeningFcn(hObject, ~, handles, varargin) % This function has no output args, see OutputFcn. -% hObject handle to figure -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) % varargin command line arguments to VisualISAM_gui (see VARARGIN) % Choose default command line output for VisualISAM_gui @@ -109,20 +106,14 @@ function initOptions(handles) SAVE_GRAPHS = get(handles.saveGraphsCB,'Value') % --- Outputs from this function are returned to the command line. -function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles) +function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) % varargout cell array for returning output args (see VARARGOUT); -% hObject handle to figure -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) - % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in intializeButton. -function intializeButton_Callback(hObject, eventdata, handles) -% hObject handle to intializeButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) +function intializeButton_Callback(hObject, ~, handles) + VisualISAMGlobalVars initOptions(handles) VisualISAMGenerateData @@ -132,10 +123,8 @@ function intializeButton_Callback(hObject, eventdata, handles) % --- Executes on button press in stepButton. -function stepButton_Callback(hObject, eventdata, handles) -% hObject handle to stepButton (see GCBO) -% eventdata reserved - to be defined in a future version of MATLAB -% handles structure with handles and user data (see GUIDATA) +function stepButton_Callback(hObject, ~, handles) + VisualISAMGlobalVars if (frame_i Date: Sat, 9 Jun 2012 05:29:34 +0000 Subject: [PATCH 296/914] fix some small bugs in VisualISAM_gui. Arrange callback functions. --- matlab/examples/VisualISAMDemo.m | 2 +- matlab/examples/VisualISAMGenerateData.m | 2 + matlab/examples/VisualISAM_gui.fig | Bin 9781 -> 9838 bytes matlab/examples/VisualISAM_gui.m | 219 ++++++++++++----------- 4 files changed, 113 insertions(+), 110 deletions(-) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index a3a89404f..626b3a944 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -1,2 +1,2 @@ -VisualISAMInitOptions +VisualISAMGlobalVars VisualISAM_gui \ No newline at end of file diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index fd87c5434..03222f3cf 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -25,6 +25,7 @@ end height = 10; r = 40; K = gtsamCal3_S2(500,500,0,640/2,480/2); cameras = {}; +gui = gcf; for i=1:NCAMERAS theta = (i-1)*2*pi/NCAMERAS; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); @@ -39,6 +40,7 @@ for i=1:NCAMERAS end end end +figure(gui); odometry = cameras{1}.pose.between(cameras{2}.pose); diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui.fig index 07d1b793d90768cdf86718f3c85800a930e7b52a..748b722619838e18e40bfff4eaf010e9bcaf2ea1 100644 GIT binary patch delta 5854 zcmV<479r`iOzupOGZ<50bRbG~ZXh5zATTgGH8wgmFd#B8F*1=+BavVRf21S;00000 z0003=O%DJ7030L$0C=428BK2-HPqRpN$E#`(nD1VR6qzWu<5BBK%IQGyCR__o1|%l z6udLuSu0+9-iRe-7ZTndw0e=N%kZC z0QE`Ux9^Rg{rv3l`qU-~~M zDL=Z$Iutyo`SIMhk)!1Ap8#Fi!L0j5O}{FCmM9h>NWnBCjCU{^e=ukbfU4morM;$eH7e-hYxzlT9~zfZ~b-M0$e?*V^?EmWA{Pfnf(*|r0oCXK>3Yzu(v;(e+5~8rs$$_p%9#2ju+B;EB}557%=B|#7XcO zjZZoKj=QAbf3K^~7cso4vFF76A4|?4>paLfI#2$vC9h}~5>kcknyq)9JwOVZI9tiR zHP&1FeO%M0WxKdko|(NAr~ots1cqW667033P&NL|(cZ>4=kaUVWbBErqt$xyR6rlo z8q5B289Uefg6Ag8{UQ%I91 zRC-+wGY_(?c_zbzj?$nm4qoCOYV$8JDk|B+f7~2nAu7`li56?6bFizOtZSXDoB~}( 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b/matlab/examples/VisualISAM_gui.m @@ -22,7 +22,7 @@ function varargout = VisualISAM_gui(varargin) % Edit the above text to modify the response to help VisualISAM_gui -% Last Modified by GUIDE v2.5 08-Jun-2012 23:53:47 +% Last Modified by GUIDE v2.5 09-Jun-2012 00:56:47 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; @@ -50,7 +50,6 @@ function VisualISAM_gui_OpeningFcn(hObject, ~, handles, varargin) % varargin command line arguments to VisualISAM_gui (see VARARGIN) % Choose default command line output for VisualISAM_gui -initOptions(handles) handles.output = hObject; % Update handles structure @@ -59,6 +58,16 @@ guidata(hObject, handles); % UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME) % uiwait(handles.figure1); +% --- Outputs from this function are returned to the command line. +function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) +% varargout cell array for returning output args (see VARARGOUT); +% Get default command line output from handles structure +varargout{1} = handles.output; + + +%---------------------------------------------------------- +% Convenient functions +%---------------------------------------------------------- function showFramei(hObject, handles) VisualISAMGlobalVars set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i)); @@ -82,21 +91,19 @@ function triangle = chooseDataset(handles) function initOptions(handles) VisualISAMGlobalVars - %% Setting data options + % Setting data options TRIANGLE = chooseDataset(handles) NCAMERAS = str2num(get(handles.numCamEdit,'String')) SHOW_IMAGES = get(handles.showImagesCB,'Value') - %% iSAM Options + % iSAM Options HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value') POINT_PRIORS = get(handles.pointPriorsCB,'Value') - set(handles.batchInitCB,'Value',1); - drawnow BATCH_INIT = get(handles.batchInitCB,'Value') REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String')) ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value') - %% Display Options + % Display Options SAVE_GRAPH = get(handles.saveGraphCB,'Value') PRINT_STATS = get(handles.printStatsCB,'Value') DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) @@ -104,44 +111,11 @@ function initOptions(handles) DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value') SAVE_FIGURES = get(handles.saveFiguresCB,'Value') SAVE_GRAPHS = get(handles.saveGraphsCB,'Value') - -% --- Outputs from this function are returned to the command line. -function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) -% varargout cell array for returning output args (see VARARGOUT); -% Get default command line output from handles structure -varargout{1} = handles.output; - -% --- Executes on button press in intializeButton. -function intializeButton_Callback(hObject, ~, handles) - - VisualISAMGlobalVars - initOptions(handles) - VisualISAMGenerateData - VisualISAMInitialize - VisualISAMPlot - showFramei(hObject, handles) - -% --- Executes on button press in stepButton. -function stepButton_Callback(hObject, ~, handles) - VisualISAMGlobalVars - if (frame_i Date: Sat, 9 Jun 2012 14:13:32 +0000 Subject: [PATCH 297/914] fix missing field --- gtsam/linear/ConjugateGradientSolver.h | 7 +++++-- gtsam/linear/IterativeSolver.h | 6 +++--- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index f7f1ad5dc..c31507f9b 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -37,14 +37,17 @@ struct ConjugateGradientParameters : public IterativeOptimizationParameters { } blas_kernel_; ConjugateGradientParameters() - : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), - blas_kernel_(GTSAM) {} + : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), blas_kernel_(GTSAM) {} ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM) : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {} + ConjugateGradientParameters(const ConjugateGradientParameters &p) + : minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), + epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), blas_kernel_(p.blas_kernel_) {} + /* general interface */ inline size_t minIterations() const { return minIterations_; } inline size_t maxIterations() const { return maxIterations_; } diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index fb19e6d58..6f002bda4 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -23,15 +23,15 @@ namespace gtsam { public: typedef boost::shared_ptr shared_ptr; - enum Kernel { CG = 0 } kernel_ ; ///< Iterative Method Kernel - enum Verbosity { SILENT = 0, COMPLEXITY = 1, ERROR = 2} verbosity_ ; ///< Verbosity + enum Kernel { CG = 0 } kernel_ ; ///< Iterative Method Kernel + enum Verbosity { SILENT, ERROR } verbosity_; public: IterativeOptimizationParameters(const IterativeOptimizationParameters &p) : kernel_(p.kernel_), verbosity_(p.verbosity_) {} - IterativeOptimizationParameters(Kernel kernel = CG, Verbosity verbosity = SILENT) + IterativeOptimizationParameters(const Kernel kernel = CG, const Verbosity verbosity = SILENT) : kernel_(kernel), verbosity_(verbosity) {} virtual ~IterativeOptimizationParameters() {} From 1de8d6ecf3aeb6e5a854f48b1867ea81d0ac99b7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 18:17:13 +0000 Subject: [PATCH 298/914] Fixed compile error because "using namespace std" disappeared. --- gtsam/inference/graph-inl.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h index 73980797a..ff65147cc 100644 --- a/gtsam/inference/graph-inl.h +++ b/gtsam/inference/graph-inl.h @@ -113,13 +113,13 @@ predecessorMap2Graph(const PredecessorMap& p_map) { FOREACH_PAIR(child, parent, p_map) { if (key2vertex.find(child) == key2vertex.end()) { v1 = add_vertex(child, g); - key2vertex.insert(make_pair(child, v1)); + key2vertex.insert(std::make_pair(child, v1)); } else v1 = key2vertex[child]; if (key2vertex.find(parent) == key2vertex.end()) { v2 = add_vertex(parent, g); - key2vertex.insert(make_pair(parent, v2)); + key2vertex.insert(std::make_pair(parent, v2)); } else v2 = key2vertex[parent]; From aeb2474d55331685329ed2e74b77929e1a5137c9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 18:19:45 +0000 Subject: [PATCH 299/914] Made a cpp file that makes the header cleaner, and avoids superheavy includes. --- gtsam/nonlinear/Symbol.cpp | 73 ++++++++++++++++++++++++++++++++++++++ gtsam/nonlinear/Symbol.h | 62 ++++++++++---------------------- 2 files changed, 91 insertions(+), 44 deletions(-) create mode 100644 gtsam/nonlinear/Symbol.cpp diff --git a/gtsam/nonlinear/Symbol.cpp b/gtsam/nonlinear/Symbol.cpp new file mode 100644 index 000000000..a161e2fd7 --- /dev/null +++ b/gtsam/nonlinear/Symbol.cpp @@ -0,0 +1,73 @@ +/* ---------------------------------------------------------------------------- + + * 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 Symbol.cpp + * @date June 9, 2012 + * @author: Frank Dellaert + * @author: Richard Roberts + */ + +#pragma once + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace gtsam { + + static const size_t keyBits = sizeof(Key) * 8; + static const size_t chrBits = sizeof(unsigned char) * 8; + static const size_t indexBits = keyBits - chrBits; + static const Key chrMask = Key(std::numeric_limits::max()) + << indexBits; + static const Key indexMask = ~chrMask; + + Symbol::Symbol(Key key) { + c_ = (unsigned char) ((key & chrMask) >> indexBits); + j_ = key & indexMask; + } + + Key Symbol::key() const { + if (j_ > indexMask) + throw std::invalid_argument("Symbol index is too large"); + Key key = (Key(c_) << indexBits) | j_; + return key; + } + + void Symbol::print(const std::string& s) const { + std::cout << s << (std::string) (*this) << std::endl; + } + + bool Symbol::equals(const Symbol& expected, double tol) const { + return (*this) == expected; + } + + Symbol::operator std::string() const { + return str(boost::format("%c%d") % c_ % j_); + } + + boost::function Symbol::ChrTest(unsigned char c) { + namespace bl = boost::lambda; + return bl::bind(&Symbol::chr, bl::bind(bl::constructor(), bl::_1)) + == c; + } + +} // namespace gtsam + diff --git a/gtsam/nonlinear/Symbol.h b/gtsam/nonlinear/Symbol.h index 03fd4aa1f..b4bda4f1a 100644 --- a/gtsam/nonlinear/Symbol.h +++ b/gtsam/nonlinear/Symbol.h @@ -19,17 +19,7 @@ #pragma once #include - -#include -#include #include -#include -#include -#include -#include - -#include -#include namespace gtsam { @@ -45,6 +35,7 @@ protected: size_t j_; public: + /** Default constructor */ Symbol() : c_(0), j_(0) { @@ -61,39 +52,19 @@ public: } /** Constructor that decodes an integer Key */ - Symbol(Key key) { - const size_t keyBits = sizeof(Key) * 8; - const size_t chrBits = sizeof(unsigned char) * 8; - const size_t indexBits = keyBits - chrBits; - const Key chrMask = Key(std::numeric_limits::max()) << indexBits; - const Key indexMask = ~chrMask; - c_ = (unsigned char)((key & chrMask) >> indexBits); - j_ = key & indexMask; - } + Symbol(Key key); /** return Key (integer) representation */ - Key key() const { - const size_t keyBits = sizeof(Key) * 8; - const size_t chrBits = sizeof(unsigned char) * 8; - const size_t indexBits = keyBits - chrBits; - const Key chrMask = Key(std::numeric_limits::max()) << indexBits; - const Key indexMask = ~chrMask; - if(j_ > indexMask) - throw std::invalid_argument("Symbol index is too large"); - Key key = (Key(c_) << indexBits) | j_; - return key; - } + Key key() const; /** Cast to integer */ operator Key() const { return key(); } - // Testable Requirements - void print(const std::string& s = "") const { - std::cout << s << (std::string) (*this) << std::endl; - } - bool equals(const Symbol& expected, double tol = 0.0) const { - return (*this) == expected; - } + /// Print + void print(const std::string& s = "") const; + + /// Check equality + bool equals(const Symbol& expected, double tol = 0.0) const; /** Retrieve key character */ unsigned char chr() const { @@ -106,23 +77,29 @@ public: } /** Create a string from the key */ - operator std::string() const { - return str(boost::format("%c%d") % c_ % j_); - } + operator std::string() const; /** Comparison for use in maps */ bool operator<(const Symbol& comp) const { return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_); } + + /** Comparison for use in maps */ bool operator==(const Symbol& comp) const { return comp.c_ == c_ && comp.j_ == j_; } + + /** Comparison for use in maps */ bool operator==(Key comp) const { return comp == (Key)(*this); } + + /** Comparison for use in maps */ bool operator!=(const Symbol& comp) const { return comp.c_ != c_ || comp.j_ != j_; } + + /** Comparison for use in maps */ bool operator!=(Key comp) const { return comp != (Key)(*this); } @@ -132,10 +109,7 @@ public: * Values::filter() function to retrieve all key-value pairs with the * requested character. */ - static boost::function ChrTest(unsigned char c) { - namespace bl = boost::lambda; - return bl::bind(&Symbol::chr, bl::bind(bl::constructor(), bl::_1)) == c; - } + static boost::function ChrTest(unsigned char c); private: From 5b08dde1f3aab686aee5a2317f875131649072fe Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 18:50:29 +0000 Subject: [PATCH 300/914] Include -inl.h as is now custom --- gtsam_unstable/linear/iterative.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam_unstable/linear/iterative.h b/gtsam_unstable/linear/iterative.h index 6765ac22a..29233ae27 100644 --- a/gtsam_unstable/linear/iterative.h +++ b/gtsam_unstable/linear/iterative.h @@ -148,3 +148,6 @@ namespace gtsam { } // namespace gtsam + +#include + From 03465500e95b1001553606bc97680cd07fcf7e54 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 18:51:43 +0000 Subject: [PATCH 301/914] typedef - though this double inheritance chain is a mess. Should GaussianFactorGraph be a typedef as well? --- gtsam/linear/JacobianFactorGraph.cpp | 20 ++++++++++---------- gtsam/linear/JacobianFactorGraph.h | 20 +++++++++++--------- 2 files changed, 21 insertions(+), 19 deletions(-) diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp index b02375a79..632a55e02 100644 --- a/gtsam/linear/JacobianFactorGraph.cpp +++ b/gtsam/linear/JacobianFactorGraph.cpp @@ -10,7 +10,7 @@ namespace gtsam { /* ************************************************************************* */ -Errors operator*(const FactorGraph& fg, const VectorValues& x) { +Errors operator*(const JacobianFactorGraph& fg, const VectorValues& x) { Errors e; BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { e.push_back((*Ai)*x); @@ -19,12 +19,12 @@ Errors operator*(const FactorGraph& fg, const VectorValues& x) { } /* ************************************************************************* */ -void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, Errors& e) { +void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, Errors& e) { multiplyInPlace(fg,x,e.begin()); } /* ************************************************************************* */ -void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { +void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { Errors::iterator ei = e; BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { *ei = (*Ai)*x; @@ -35,7 +35,7 @@ void multiplyInPlace(const FactorGraph& fg, const VectorValues& /* ************************************************************************* */ // x += alpha*A'*e -void transposeMultiplyAdd(const FactorGraph& fg, double alpha, const Errors& e, VectorValues& x) { +void transposeMultiplyAdd(const JacobianFactorGraph& fg, double alpha, const Errors& e, VectorValues& x) { // For each factor add the gradient contribution Errors::const_iterator ei = e.begin(); BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { @@ -44,7 +44,7 @@ void transposeMultiplyAdd(const FactorGraph& fg, double alpha, c } /* ************************************************************************* */ -VectorValues gradient(const FactorGraph& fg, const VectorValues& x0) { +VectorValues gradient(const JacobianFactorGraph& fg, const VectorValues& x0) { // It is crucial for performance to make a zero-valued clone of x VectorValues g = VectorValues::Zero(x0); Errors e; @@ -56,7 +56,7 @@ VectorValues gradient(const FactorGraph& fg, const VectorValues& } /* ************************************************************************* */ -void gradientAtZero(const FactorGraph& fg, VectorValues& g) { +void gradientAtZero(const JacobianFactorGraph& fg, VectorValues& g) { // Zero-out the gradient g.setZero(); Errors e; @@ -67,7 +67,7 @@ void gradientAtZero(const FactorGraph& fg, VectorValues& g) { } /* ************************************************************************* */ -void residual(const FactorGraph& fg, const VectorValues &x, VectorValues &r) { +void residual(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r) { Index i = 0 ; BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { r[i] = factor->getb(); @@ -79,7 +79,7 @@ void residual(const FactorGraph& fg, const VectorValues &x, Vect } /* ************************************************************************* */ -void multiply(const FactorGraph& fg, const VectorValues &x, VectorValues &r) { +void multiply(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r) { r.vector() = Vector::Zero(r.dim()); Index i = 0; BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { @@ -92,7 +92,7 @@ void multiply(const FactorGraph& fg, const VectorValues &x, Vect } /* ************************************************************************* */ -void transposeMultiply(const FactorGraph& fg, const VectorValues &r, VectorValues &x) { +void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, VectorValues &x) { x.vector() = Vector::Zero(x.dim()); Index i = 0; BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { @@ -102,6 +102,6 @@ void transposeMultiply(const FactorGraph& fg, const VectorValues ++i; } } -} +} // namespace diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h index 8d240c00e..598c69677 100644 --- a/gtsam/linear/JacobianFactorGraph.h +++ b/gtsam/linear/JacobianFactorGraph.h @@ -24,17 +24,19 @@ namespace gtsam { + typedef FactorGraph JacobianFactorGraph; + /** return A*x */ - Errors operator*(const FactorGraph& fg, const VectorValues& x); + Errors operator*(const JacobianFactorGraph& fg, const VectorValues& x); /** In-place version e <- A*x that overwrites e. */ - void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, Errors& e); + void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, Errors& e); /** In-place version e <- A*x that takes an iterator. */ - void multiplyInPlace(const FactorGraph& fg, const VectorValues& x, const Errors::iterator& e); + void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e); /** x += alpha*A'*e */ - void transposeMultiplyAdd(const FactorGraph& fg, double alpha, const Errors& e, VectorValues& x); + void transposeMultiplyAdd(const JacobianFactorGraph& fg, double alpha, const Errors& e, VectorValues& x); /** * Compute the gradient of the energy function, @@ -45,7 +47,7 @@ namespace gtsam { * @param x0 The center about which to compute the gradient * @return The gradient as a VectorValues */ - VectorValues gradient(const FactorGraph& fg, const VectorValues& x0); + VectorValues gradient(const JacobianFactorGraph& fg, const VectorValues& x0); /** * Compute the gradient of the energy function, @@ -56,11 +58,11 @@ namespace gtsam { * @param [output] g A VectorValues to store the gradient, which must be preallocated, see allocateVectorValues * @return The gradient as a VectorValues */ - void gradientAtZero(const FactorGraph& fg, VectorValues& g); + void gradientAtZero(const JacobianFactorGraph& fg, VectorValues& g); /* matrix-vector operations */ - void residual(const FactorGraph& fg, const VectorValues &x, VectorValues &r); - void multiply(const FactorGraph& fg, const VectorValues &x, VectorValues &r); - void transposeMultiply(const FactorGraph& fg, const VectorValues &r, VectorValues &x); + void residual(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r); + void multiply(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r); + void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, VectorValues &x); } From 54bfe722ad10888292b629c109181421a6fad926 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 18:52:22 +0000 Subject: [PATCH 302/914] Returning ordering from planarGraph is obsolete since Index change --- gtsam/slam/smallExample.cpp | 26 +++++++++++++------------- gtsam/slam/smallExample.h | 19 ++++++++++--------- tests/timeGaussianFactorGraph.cpp | 8 ++------ 3 files changed, 25 insertions(+), 28 deletions(-) diff --git a/gtsam/slam/smallExample.cpp b/gtsam/slam/smallExample.cpp index 5b0ee90dd..9937847ae 100644 --- a/gtsam/slam/smallExample.cpp +++ b/gtsam/slam/smallExample.cpp @@ -135,7 +135,7 @@ namespace example { } /* ************************************************************************* */ - FactorGraph createGaussianFactorGraph(const Ordering& ordering) { + JacobianFactorGraph createGaussianFactorGraph(const Ordering& ordering) { // Create empty graph GaussianFactorGraph fg; @@ -153,7 +153,7 @@ namespace example { // measurement between x2 and l1: l1-x2=[-0.2;0.3] fg.add(ordering[X(2)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2); - return *fg.dynamicCastFactors >(); + return *fg.dynamicCastFactors(); } /* ************************************************************************* */ @@ -272,7 +272,7 @@ namespace example { } /* ************************************************************************* */ - FactorGraph createSimpleConstraintGraph() { + JacobianFactorGraph createSimpleConstraintGraph() { // create unary factor // prior on _x_, mean = [1,-1], sigma=0.1 Matrix Ax = eye(2); @@ -292,7 +292,7 @@ namespace example { constraintModel)); // construct the graph - FactorGraph fg; + JacobianFactorGraph fg; fg.push_back(f1); fg.push_back(f2); @@ -309,7 +309,7 @@ namespace example { } /* ************************************************************************* */ - FactorGraph createSingleConstraintGraph() { + JacobianFactorGraph createSingleConstraintGraph() { // create unary factor // prior on _x_, mean = [1,-1], sigma=0.1 Matrix Ax = eye(2); @@ -334,7 +334,7 @@ namespace example { constraintModel)); // construct the graph - FactorGraph fg; + JacobianFactorGraph fg; fg.push_back(f1); fg.push_back(f2); @@ -350,7 +350,7 @@ namespace example { } /* ************************************************************************* */ - FactorGraph createMultiConstraintGraph() { + JacobianFactorGraph createMultiConstraintGraph() { // unary factor 1 Matrix A = eye(2); Vector b = Vector_(2, -2.0, 2.0); @@ -395,7 +395,7 @@ namespace example { constraintModel)); // construct the graph - FactorGraph fg; + JacobianFactorGraph fg; fg.push_back(lf1); fg.push_back(lc1); fg.push_back(lc2); @@ -420,7 +420,7 @@ namespace example { } /* ************************************************************************* */ - boost::tuple, Ordering, VectorValues> planarGraph(size_t N) { + boost::tuple planarGraph(size_t N) { // create empty graph NonlinearFactorGraph nlfg; @@ -457,7 +457,7 @@ namespace example { xtrue[ordering[key(x, y)]] = Point2(x,y).vector(); // linearize around zero - return boost::make_tuple(*nlfg.linearize(zeros, ordering), ordering, xtrue); + return boost::make_tuple(*nlfg.linearize(zeros, ordering), xtrue); } /* ************************************************************************* */ @@ -470,9 +470,9 @@ namespace example { } /* ************************************************************************* */ - pair, FactorGraph > splitOffPlanarTree(size_t N, - const FactorGraph& original) { - FactorGraph T, C; + pair splitOffPlanarTree(size_t N, + const JacobianFactorGraph& original) { + JacobianFactorGraph T, C; // Add the x11 constraint to the tree T.push_back(original[0]); diff --git a/gtsam/slam/smallExample.h b/gtsam/slam/smallExample.h index 96dcbaf09..3b3b200b8 100644 --- a/gtsam/slam/smallExample.h +++ b/gtsam/slam/smallExample.h @@ -21,9 +21,10 @@ #pragma once -#include -#include #include +#include +#include +#include namespace gtsam { namespace example { @@ -65,7 +66,7 @@ namespace gtsam { * create a linear factor graph * The non-linear graph above evaluated at NoisyValues */ - FactorGraph createGaussianFactorGraph(const Ordering& ordering); + JacobianFactorGraph createGaussianFactorGraph(const Ordering& ordering); /** * create small Chordal Bayes Net x <- y @@ -99,21 +100,21 @@ namespace gtsam { * Creates a simple constrained graph with one linear factor and * one binary equality constraint that sets x = y */ - FactorGraph createSimpleConstraintGraph(); + JacobianFactorGraph createSimpleConstraintGraph(); VectorValues createSimpleConstraintValues(); /** * Creates a simple constrained graph with one linear factor and * one binary constraint. */ - FactorGraph createSingleConstraintGraph(); + JacobianFactorGraph createSingleConstraintGraph(); VectorValues createSingleConstraintValues(); /** * Creates a constrained graph with a linear factor and two * binary constraints that share a node */ - FactorGraph createMultiConstraintGraph(); + JacobianFactorGraph createMultiConstraintGraph(); VectorValues createMultiConstraintValues(); /* ******************************************************* */ @@ -129,7 +130,7 @@ namespace gtsam { * -x11-x21-x31 * with x11 clamped at (1,1), and others related by 2D odometry. */ - boost::tuple, Ordering, VectorValues> planarGraph(size_t N); + boost::tuple planarGraph(size_t N); /* * Create canonical ordering for planar graph that also works for tree @@ -146,8 +147,8 @@ namespace gtsam { * | * -x11-x21-x31 */ - std::pair, FactorGraph > splitOffPlanarTree( - size_t N, const FactorGraph& original); + std::pair splitOffPlanarTree( + size_t N, const JacobianFactorGraph& original); } // example } // gtsam diff --git a/tests/timeGaussianFactorGraph.cpp b/tests/timeGaussianFactorGraph.cpp index 3c9d83b3d..aff3ff150 100644 --- a/tests/timeGaussianFactorGraph.cpp +++ b/tests/timeGaussianFactorGraph.cpp @@ -43,10 +43,8 @@ double timeKalmanSmoother(int T) { // Create a planar factor graph and optimize // todo: use COLAMD ordering again (removed when linear baked-in ordering added) double timePlanarSmoother(int N, bool old = true) { - boost::tuple pg = planarGraph(N); + boost::tuple pg = planarGraph(N); GaussianFactorGraph& fg(pg.get<0>()); -// Ordering& ordering(pg.get<1>()); -// VectorValues& config(pg.get<2>()); clock_t start = clock(); GaussianSequentialSolver(fg).optimize(); clock_t end = clock (); @@ -58,10 +56,8 @@ double timePlanarSmoother(int N, bool old = true) { // Create a planar factor graph and eliminate // todo: use COLAMD ordering again (removed when linear baked-in ordering added) double timePlanarSmootherEliminate(int N, bool old = true) { - boost::tuple pg = planarGraph(N); + boost::tuple pg = planarGraph(N); GaussianFactorGraph& fg(pg.get<0>()); -// Ordering& ordering(pg.get<1>()); -// VectorValues& config(pg.get<2>()); clock_t start = clock(); GaussianSequentialSolver(fg).eliminate(); clock_t end = clock (); From dc879fe280b6a7d8f225412a0a31684f59f7370c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 18:54:47 +0000 Subject: [PATCH 303/914] Moved testSubgraphPreconditioner from experimental back to linear/tests, though most of it is commented out, mostly because of JacobianFactorGraph - GaussianFactorGraph distinction --- tests/testSubgraphPreconditioner.cpp | 213 +++++++++++++++++++++++++++ 1 file changed, 213 insertions(+) create mode 100644 tests/testSubgraphPreconditioner.cpp diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp new file mode 100644 index 000000000..747e35914 --- /dev/null +++ b/tests/testSubgraphPreconditioner.cpp @@ -0,0 +1,213 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSubgraphConditioner.cpp + * @brief Unit tests for SubgraphPreconditioner + * @author Frank Dellaert + **/ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +using namespace boost::assign; + +using namespace std; +using namespace gtsam; +using namespace example; + +// define keys +Key i3003 = 3003, i2003 = 2003, i1003 = 1003; +Key i3002 = 3002, i2002 = 2002, i1002 = 1002; +Key i3001 = 3001, i2001 = 2001, i1001 = 1001; + +// TODO fix Ordering::equals, because the ordering *is* correct ! +/* ************************************************************************* * +TEST( SubgraphPreconditioner, planarOrdering ) +{ + // Check canonical ordering + Ordering expected, ordering = planarOrdering(3); + expected += i3003, i2003, i1003, i3002, i2002, i1002, i3001, i2001, i1001; + CHECK(assert_equal(expected,ordering)); +} + +/* ************************************************************************* */ +TEST( SubgraphPreconditioner, planarGraph ) + { + // Check planar graph construction + GaussianFactorGraph A; + VectorValues xtrue; + boost::tie(A, xtrue) = planarGraph(3); + LONGS_EQUAL(13,A.size()); + LONGS_EQUAL(9,xtrue.size()); + DOUBLES_EQUAL(0,A.error(xtrue),1e-9); // check zero error for xtrue + + // Check that xtrue is optimal + GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(A).eliminate(); + VectorValues actual = optimize(*R1); + CHECK(assert_equal(xtrue,actual)); +} + +/* ************************************************************************* * +TEST( SubgraphPreconditioner, splitOffPlanarTree ) +{ + // Build a planar graph + GaussianFactorGraph A; + VectorValues xtrue; + boost::tie(A, xtrue) = planarGraph(3); + + // Get the spanning tree and constraints, and check their sizes + JacobianFactorGraph T, C; + // TODO big mess: GFG and JFG mess !!! + boost::tie(T, C) = splitOffPlanarTree(3, A); + LONGS_EQUAL(9,T.size()); + LONGS_EQUAL(4,C.size()); + + // Check that the tree can be solved to give the ground xtrue + GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); + VectorValues xbar = optimize(*R1); + CHECK(assert_equal(xtrue,xbar)); +} + +/* ************************************************************************* * +TEST( SubgraphPreconditioner, system ) +{ + // Build a planar graph + JacobianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + // Get the spanning tree and corresponding ordering + GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); + SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); + + // Eliminate the spanning tree to build a prior + SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 + VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 + + // Create Subgraph-preconditioned system + VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible + SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); + + // Create zero config + VectorValues zeros = VectorValues::Zero(xbar); + + // Set up y0 as all zeros + VectorValues y0 = zeros; + + // y1 = perturbed y0 + VectorValues y1 = zeros; + y1[i2003] = Vector_(2, 1.0, -1.0); + + // Check corresponding x values + VectorValues expected_x1 = xtrue, x1 = system.x(y1); + expected_x1[i2003] = Vector_(2, 2.01, 2.99); + expected_x1[i3003] = Vector_(2, 3.01, 2.99); + CHECK(assert_equal(xtrue, system.x(y0))); + CHECK(assert_equal(expected_x1,system.x(y1))); + + // Check errors +// DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); // TODO ! +// DOUBLES_EQUAL(3,error(Ab,x1),1e-9); // TODO ! + DOUBLES_EQUAL(0,error(system,y0),1e-9); + DOUBLES_EQUAL(3,error(system,y1),1e-9); + + // Test gradient in x + VectorValues expected_gx0 = zeros; + VectorValues expected_gx1 = zeros; + CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); + expected_gx1[i1003] = Vector_(2, -100., 100.); + expected_gx1[i2002] = Vector_(2, -100., 100.); + expected_gx1[i2003] = Vector_(2, 200., -200.); + expected_gx1[i3002] = Vector_(2, -100., 100.); + expected_gx1[i3003] = Vector_(2, 100., -100.); + CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); + + // Test gradient in y + VectorValues expected_gy0 = zeros; + VectorValues expected_gy1 = zeros; + expected_gy1[i1003] = Vector_(2, 2., -2.); + expected_gy1[i2002] = Vector_(2, -2., 2.); + expected_gy1[i2003] = Vector_(2, 3., -3.); + expected_gy1[i3002] = Vector_(2, -1., 1.); + expected_gy1[i3003] = Vector_(2, 1., -1.); + CHECK(assert_equal(expected_gy0,gradient(system,y0))); + CHECK(assert_equal(expected_gy1,gradient(system,y1))); + + // Check it numerically for good measure + // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) + // Vector numerical_g1 = numericalGradient (error, y1, 0.001); + // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., + // 3., -3., 0., 0., -1., 1., 1., -1.); + // CHECK(assert_equal(expected_g1,numerical_g1)); +} + +/* ************************************************************************* * +TEST( SubgraphPreconditioner, conjugateGradients ) +{ + // Build a planar graph + GaussianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + // Get the spanning tree and corresponding ordering + GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); + SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); + + // Eliminate the spanning tree to build a prior + Ordering ordering = planarOrdering(N); + SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 + VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 + + // Create Subgraph-preconditioned system + VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible + SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); + + // Create zero config y0 and perturbed config y1 + VectorValues y0 = VectorValues::Zero(xbar); + + VectorValues y1 = y0; + y1[i2003] = Vector_(2, 1.0, -1.0); + VectorValues x1 = system.x(y1); + + // Solve for the remaining constraints using PCG + ConjugateGradientParameters parameters; +// VectorValues actual = gtsam::conjugateGradients(system, y1, verbose, epsilon, epsilon, maxIterations); +// CHECK(assert_equal(y0,actual)); + + // Compare with non preconditioned version: + VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); + CHECK(assert_equal(xtrue,actual2,1e-4)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From f45c23658558511bb6a16d1cf900988820104859 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 9 Jun 2012 19:17:15 +0000 Subject: [PATCH 304/914] Isolated exception case for use of Symbol.key(), removed use of Symbol in several tests. Removed "using namespace xxx" in header --- .cproject | 336 +++++++++--------- gtsam/nonlinear/tests/testKey.cpp | 2 + gtsam_unstable/dynamics/imuSystem.cpp | 16 +- gtsam_unstable/dynamics/imuSystem.h | 46 +-- .../dynamics/tests/testIMUSystem.cpp | 13 +- .../dynamics/tests/testVelocityConstraint.cpp | 2 +- tests/testBoundingConstraint.cpp | 15 +- tests/testGaussianFactor.cpp | 8 +- 8 files changed, 227 insertions(+), 211 deletions(-) diff --git a/.cproject b/.cproject index 5689b0b48..af740032b 100644 --- a/.cproject +++ b/.cproject @@ -311,14 +311,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -345,6 +337,7 @@ make + tests/testBayesTree.run true false @@ -352,6 +345,7 @@ make + testBinaryBayesNet.run true false @@ -399,6 +393,7 @@ make + testSymbolicBayesNet.run true false @@ -406,6 +401,7 @@ make + tests/testSymbolicFactor.run true false @@ -413,6 +409,7 @@ make + testSymbolicFactorGraph.run true false @@ -428,11 +425,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -441,6 +447,14 @@ true true + + make + -j5 + testIMUSystem.run + true + true + true + make -j5 @@ -513,22 +527,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -545,6 +543,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -569,18 +583,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -665,26 +687,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -931,6 +945,7 @@ make + testGraph.run true false @@ -938,6 +953,7 @@ make + testJunctionTree.run true false @@ -945,6 +961,7 @@ make + testSymbolicBayesNetB.run true false @@ -1064,6 +1081,7 @@ make + testErrors.run true false @@ -1519,7 +1537,6 @@ make - testSimulated2DOriented.run true false @@ -1559,7 +1576,6 @@ make - testSimulated2D.run true false @@ -1567,7 +1583,6 @@ make - testSimulated3D.run true false @@ -1783,7 +1798,6 @@ make - tests/testGaussianISAM2 true false @@ -1805,102 +1819,6 @@ 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 -j2 @@ -2102,6 +2020,7 @@ cpack + -G DEB true false @@ -2109,6 +2028,7 @@ cpack + -G RPM true false @@ -2116,6 +2036,7 @@ cpack + -G TGZ true false @@ -2123,6 +2044,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2216,42 +2138,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap_gtsam + -j2 + timeRot3.run true true true - + make - -j5 - wrap + -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 @@ -2295,6 +2273,46 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam/nonlinear/tests/testKey.cpp b/gtsam/nonlinear/tests/testKey.cpp index dedb45332..601176935 100644 --- a/gtsam/nonlinear/tests/testKey.cpp +++ b/gtsam/nonlinear/tests/testKey.cpp @@ -25,6 +25,8 @@ using namespace boost::assign; using namespace std; using namespace gtsam; +Key aKey = gtsam::symbol_shorthand::X(4); // FIXME: throws index too large exception in Symbol.key() + /* ************************************************************************* */ TEST(Key, KeySymbolConversion) { Symbol original('j', 4); diff --git a/gtsam_unstable/dynamics/imuSystem.cpp b/gtsam_unstable/dynamics/imuSystem.cpp index 209615bcc..376868583 100644 --- a/gtsam_unstable/dynamics/imuSystem.cpp +++ b/gtsam_unstable/dynamics/imuSystem.cpp @@ -13,44 +13,44 @@ using namespace gtsam; /* ************************************************************************* */ void Graph::addPrior(Key key, const PoseRTV& pose, const SharedNoiseModel& noiseModel) { - add(Prior(PoseKey(key), pose, noiseModel)); + add(Prior(key, pose, noiseModel)); } /* ************************************************************************* */ void Graph::addConstraint(Key key, const PoseRTV& pose) { - add(Constraint(PoseKey(key), pose)); + add(Constraint(key, pose)); } /* ************************************************************************* */ void Graph::addHeightPrior(Key key, double z, const SharedNoiseModel& noiseModel) { - add(DHeightPrior(PoseKey(key), z, noiseModel)); + add(DHeightPrior(key, z, noiseModel)); } /* ************************************************************************* */ void Graph::addFullIMUMeasurement(Key key1, Key key2, const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) { - add(FullIMUMeasurement(accel, gyro, dt, PoseKey(key1), PoseKey(key2), noiseModel)); + add(FullIMUMeasurement(accel, gyro, dt, key1, key2, noiseModel)); } /* ************************************************************************* */ void Graph::addIMUMeasurement(Key key1, Key key2, const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) { - add(IMUMeasurement(accel, gyro, dt, PoseKey(key1), PoseKey(key2), noiseModel)); + add(IMUMeasurement(accel, gyro, dt, key1, key2, noiseModel)); } /* ************************************************************************* */ void Graph::addVelocityConstraint(Key key1, Key key2, double dt, const SharedNoiseModel& noiseModel) { - add(VelocityConstraint(PoseKey(key1), PoseKey(key2), dt, noiseModel)); + add(VelocityConstraint(key1, key2, dt, noiseModel)); } /* ************************************************************************* */ void Graph::addBetween(Key key1, Key key2, const PoseRTV& z, const SharedNoiseModel& noiseModel) { - add(Between(PoseKey(key1), PoseKey(key2), z, noiseModel)); + add(Between(key1, key2, z, noiseModel)); } /* ************************************************************************* */ void Graph::addRange(Key key1, Key key2, double z, const SharedNoiseModel& noiseModel) { - add(Range(PoseKey(key1), PoseKey(key2), z, noiseModel)); + add(Range(key1, key2, z, noiseModel)); } /* ************************************************************************* */ diff --git a/gtsam_unstable/dynamics/imuSystem.h b/gtsam_unstable/dynamics/imuSystem.h index b0bee8873..ef5437fdf 100644 --- a/gtsam_unstable/dynamics/imuSystem.h +++ b/gtsam_unstable/dynamics/imuSystem.h @@ -6,11 +6,6 @@ #pragma once -#include - -#include -#include -#include #include #include #include @@ -34,11 +29,6 @@ */ namespace imu { -using namespace gtsam; - -// Values: just poses -inline Symbol PoseKey(Index j) { return Symbol('x', j); } - struct Values : public gtsam::Values { typedef gtsam::Values Base; @@ -46,39 +36,39 @@ struct Values : public gtsam::Values { Values(const Values& values) : Base(values) {} Values(const Base& values) : Base(values) {} - void insertPose(Index key, const PoseRTV& pose) { insert(PoseKey(key), pose); } - PoseRTV pose(Index key) const { return at(PoseKey(key)); } + void insertPose(gtsam::Key key, const gtsam::PoseRTV& pose) { insert(key, pose); } + gtsam::PoseRTV pose(gtsam::Key key) const { return at(key); } }; // factors -typedef IMUFactor IMUMeasurement; // IMU between measurements -typedef FullIMUFactor FullIMUMeasurement; // Full-state IMU between measurements -typedef BetweenFactor Between; // full odometry (including velocity) -typedef NonlinearEquality Constraint; -typedef PriorFactor Prior; -typedef RangeFactor Range; +typedef gtsam::IMUFactor IMUMeasurement; // IMU between measurements +typedef gtsam::FullIMUFactor FullIMUMeasurement; // Full-state IMU between measurements +typedef gtsam::BetweenFactor Between; // full odometry (including velocity) +typedef gtsam::NonlinearEquality Constraint; +typedef gtsam::PriorFactor Prior; +typedef gtsam::RangeFactor Range; // graph components -struct Graph : public NonlinearFactorGraph { - typedef NonlinearFactorGraph Base; +struct Graph : public gtsam::NonlinearFactorGraph { + typedef gtsam::NonlinearFactorGraph Base; Graph() {} Graph(const Base& graph) : Base(graph) {} Graph(const Graph& graph) : Base(graph) {} // prior factors - void addPrior(size_t key, const PoseRTV& pose, const SharedNoiseModel& noiseModel); - void addConstraint(size_t key, const PoseRTV& pose); - void addHeightPrior(size_t key, double z, const SharedNoiseModel& noiseModel); + void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel); + void addConstraint(size_t key, const gtsam::PoseRTV& pose); + void addHeightPrior(size_t key, double z, const gtsam::SharedNoiseModel& noiseModel); // inertial factors - void addFullIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel); - void addIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel); - void addVelocityConstraint(size_t key1, size_t key2, double dt, const SharedNoiseModel& noiseModel); + void addFullIMUMeasurement(size_t key1, size_t key2, const gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel); + void addIMUMeasurement(size_t key1, size_t key2, const gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel); + void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::SharedNoiseModel& noiseModel); // other measurements - void addBetween(size_t key1, size_t key2, const PoseRTV& z, const SharedNoiseModel& noiseModel); - void addRange(size_t key1, size_t key2, double z, const SharedNoiseModel& noiseModel); + void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::SharedNoiseModel& noiseModel); + void addRange(size_t key1, size_t key2, double z, const gtsam::SharedNoiseModel& noiseModel); // optimization Values optimize(const Values& init) const; diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 916d07559..783c420d4 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -3,6 +3,8 @@ * @author Alex Cunningham */ +#include + #include #include @@ -13,10 +15,9 @@ using namespace imu; const double tol=1e-5; +static const Key x0 = 0, x1 = 1, x2 = 2, x3 = 3, x4 = 4; static const Vector g = delta(3, 2, -9.81); -Key x1 = PoseKey(1), x2 = PoseKey(2), x3 = PoseKey(3), x4 = PoseKey(4); - /* ************************************************************************* */ TEST(testIMUSystem, instantiations) { // just checking for compilation @@ -149,14 +150,14 @@ TEST( testIMUSystem, linear_trajectory) { imu::Values true_traj, init_traj; Graph graph; - graph.add(Constraint(PoseKey(0), start)); - true_traj.insert(PoseKey(0), start); - init_traj.insert(PoseKey(0), start); + graph.add(Constraint(x0, start)); + true_traj.insert(x0, start); + init_traj.insert(x0, start); size_t nrPoses = 10; PoseRTV cur_pose = start; for (size_t i=1; i fg = example::createGaussianFactorGraph(ordering); @@ -275,6 +279,7 @@ TEST( GaussianFactor, matrix ) /* ************************************************************************* */ TEST( GaussianFactor, matrix_aug ) { + const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; FactorGraph fg = example::createGaussianFactorGraph(ordering); @@ -387,6 +392,7 @@ void print(const list& i) { TEST( GaussianFactor, size ) { // create a linear factor graph + const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); Ordering ordering; ordering += kx1,kx2,kl1; GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); From 9e26b32daa00f4181167f50ba7fa2180a01870f2 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 9 Jun 2012 19:43:14 +0000 Subject: [PATCH 305/914] Fixed Symbol problem - related to using std::numeric_limits::max() statically on keys created outside of functions --- .cproject | 8 ++++ gtsam/nonlinear/Symbol.cpp | 65 ++++++++++++++++--------------- gtsam/nonlinear/tests/testKey.cpp | 4 +- 3 files changed, 43 insertions(+), 34 deletions(-) diff --git a/.cproject b/.cproject index af740032b..24c4afa85 100644 --- a/.cproject +++ b/.cproject @@ -703,6 +703,14 @@ true true + + make + -j5 + testKey.run + true + true + true + make -j5 diff --git a/gtsam/nonlinear/Symbol.cpp b/gtsam/nonlinear/Symbol.cpp index a161e2fd7..19cf78eb5 100644 --- a/gtsam/nonlinear/Symbol.cpp +++ b/gtsam/nonlinear/Symbol.cpp @@ -16,8 +16,6 @@ * @author: Richard Roberts */ -#pragma once - #include #include @@ -27,47 +25,50 @@ #include #include +#include #include #include namespace gtsam { - static const size_t keyBits = sizeof(Key) * 8; - static const size_t chrBits = sizeof(unsigned char) * 8; - static const size_t indexBits = keyBits - chrBits; - static const Key chrMask = Key(std::numeric_limits::max()) - << indexBits; - static const Key indexMask = ~chrMask; +static const size_t keyBits = sizeof(Key) * 8; +static const size_t chrBits = sizeof(unsigned char) * 8; +static const size_t indexBits = keyBits - chrBits; +static const Key chrMask = Key(UCHAR_MAX) << indexBits; // For some reason, std::numeric_limits::max() fails +static const Key indexMask = ~chrMask; - Symbol::Symbol(Key key) { - c_ = (unsigned char) ((key & chrMask) >> indexBits); - j_ = key & indexMask; - } +Symbol::Symbol(Key key) { + c_ = (unsigned char) ((key & chrMask) >> indexBits); + j_ = key & indexMask; +} - Key Symbol::key() const { - if (j_ > indexMask) - throw std::invalid_argument("Symbol index is too large"); - Key key = (Key(c_) << indexBits) | j_; - return key; - } +Key Symbol::key() const { + if (j_ > indexMask) { + boost::format msg("Symbol index is too large, j=%d, indexMask=%d"); + msg % j_ % indexMask; + throw std::invalid_argument(msg.str()); + } + Key key = (Key(c_) << indexBits) | j_; + return key; +} - void Symbol::print(const std::string& s) const { - std::cout << s << (std::string) (*this) << std::endl; - } +void Symbol::print(const std::string& s) const { + std::cout << s << (std::string) (*this) << std::endl; +} - bool Symbol::equals(const Symbol& expected, double tol) const { - return (*this) == expected; - } +bool Symbol::equals(const Symbol& expected, double tol) const { + return (*this) == expected; +} - Symbol::operator std::string() const { - return str(boost::format("%c%d") % c_ % j_); - } +Symbol::operator std::string() const { + return str(boost::format("%c%d") % c_ % j_); +} - boost::function Symbol::ChrTest(unsigned char c) { - namespace bl = boost::lambda; - return bl::bind(&Symbol::chr, bl::bind(bl::constructor(), bl::_1)) - == c; - } +boost::function Symbol::ChrTest(unsigned char c) { + namespace bl = boost::lambda; + return bl::bind(&Symbol::chr, bl::bind(bl::constructor(), bl::_1)) + == c; +} } // namespace gtsam diff --git a/gtsam/nonlinear/tests/testKey.cpp b/gtsam/nonlinear/tests/testKey.cpp index 601176935..ee9734af5 100644 --- a/gtsam/nonlinear/tests/testKey.cpp +++ b/gtsam/nonlinear/tests/testKey.cpp @@ -21,11 +21,11 @@ using namespace boost::assign; #include #include #include - + using namespace std; using namespace gtsam; -Key aKey = gtsam::symbol_shorthand::X(4); // FIXME: throws index too large exception in Symbol.key() +Key aKey = gtsam::symbol_shorthand::X(4); /* ************************************************************************* */ TEST(Key, KeySymbolConversion) { From 3d2c3aff05412c5e22593e6699a52b3d3eb55d63 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 9 Jun 2012 20:15:44 +0000 Subject: [PATCH 306/914] Moved all Simulated* example domains and smallExample to the tests folder so they are no longer installed --- gtsam.h | 4 +-- gtsam_unstable/CMakeLists.txt | 2 -- gtsam_unstable/slam/CMakeLists.txt | 26 ------------------- tests/CMakeLists.txt | 14 ++++++++-- {gtsam/slam => tests}/simulated2D.cpp | 2 +- {gtsam/slam => tests}/simulated2D.h | 0 .../slam => tests}/simulated2DConstraints.h | 2 +- {gtsam/slam => tests}/simulated2DOriented.cpp | 2 +- {gtsam/slam => tests}/simulated2DOriented.h | 0 .../slam => tests}/simulated3D.cpp | 2 +- {gtsam_unstable/slam => tests}/simulated3D.h | 0 {gtsam/slam => tests}/smallExample.cpp | 3 ++- {gtsam/slam => tests}/smallExample.h | 2 +- tests/testBoundingConstraint.cpp | 2 +- tests/testDoglegOptimizer.cpp | 2 +- tests/testGaussianBayesNet.cpp | 2 +- tests/testGaussianFactor.cpp | 2 +- tests/testGaussianFactorGraphB.cpp | 2 +- tests/testGaussianISAM.cpp | 2 +- tests/testGaussianISAM2.cpp | 2 +- tests/testGaussianJunctionTreeB.cpp | 2 +- tests/testInferenceB.cpp | 3 ++- tests/testNonlinearEquality.cpp | 3 ++- tests/testNonlinearFactor.cpp | 4 +-- tests/testNonlinearFactorGraph.cpp | 2 +- tests/testNonlinearOptimizer.cpp | 2 +- .../tests => tests}/testSerializationSLAM.cpp | 3 ++- .../slam/tests => tests}/testSimulated2D.cpp | 2 +- .../testSimulated2DOriented.cpp | 4 +-- .../slam/tests => tests}/testSimulated3D.cpp | 2 +- tests/testSubgraphPreconditioner.cpp | 2 +- tests/testSymbolicBayesNetB.cpp | 2 +- tests/testSymbolicFactorGraphB.cpp | 2 +- tests/timeGaussianFactorGraph.cpp | 2 +- 34 files changed, 47 insertions(+), 61 deletions(-) delete mode 100644 gtsam_unstable/slam/CMakeLists.txt rename {gtsam/slam => tests}/simulated2D.cpp (97%) rename {gtsam/slam => tests}/simulated2D.h (100%) rename {gtsam/slam => tests}/simulated2DConstraints.h (99%) rename {gtsam/slam => tests}/simulated2DOriented.cpp (96%) rename {gtsam/slam => tests}/simulated2DOriented.h (100%) rename {gtsam_unstable/slam => tests}/simulated3D.cpp (95%) rename {gtsam_unstable/slam => tests}/simulated3D.h (100%) rename {gtsam/slam => tests}/smallExample.cpp (99%) rename {gtsam/slam => tests}/smallExample.h (99%) rename {gtsam/slam/tests => tests}/testSerializationSLAM.cpp (99%) rename {gtsam/slam/tests => tests}/testSimulated2D.cpp (98%) rename {gtsam/slam/tests => tests}/testSimulated2DOriented.cpp (96%) rename {gtsam_unstable/slam/tests => tests}/testSimulated3D.cpp (97%) diff --git a/gtsam.h b/gtsam.h index 0e2367cc6..315071f65 100644 --- a/gtsam.h +++ b/gtsam.h @@ -834,7 +834,7 @@ class Odometry { // Simulated2D //************************************************************************* -#include +#include namespace simulated2D { class Values { @@ -856,7 +856,7 @@ class Graph { }///\namespace simulated2D // Simulated2DOriented Example Domain -#include +#include namespace simulated2DOriented { class Values { diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 7a7af3232..2d9f597bd 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -6,7 +6,6 @@ set (gtsam_unstable_subdirs dynamics linear nonlinear - slam ) add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) @@ -33,7 +32,6 @@ set(gtsam_unstable_srcs ${dynamics_srcs} ${linear_srcs} ${nonlinear_srcs} - ${slam_srcs} ) option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON) diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt deleted file mode 100644 index afe453279..000000000 --- a/gtsam_unstable/slam/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -# Install headers -file(GLOB slam_headers "*.h") -install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam) - -# Components to link tests in this subfolder against -set(slam_local_libs - slam_unstable - slam - nonlinear - linear - inference - geometry - base - ccolamd -) - -set (slam_full_libs - gtsam-static - gtsam_unstable-static) - -# Exclude tests that don't work -set (slam_excluded_tests "") - -# Add all tests -gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") -add_dependencies(check.unstable check.slam_unstable) diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 4d29dd557..9e4c501d4 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -1,4 +1,14 @@ +# Build a library of example domains, just for tests +file(GLOB test_lib_srcs "*.cpp") +file(GLOB test_srcs "test*.cpp") +file(GLOB time_srcs "time*.cpp") +list(REMOVE_ITEM test_lib_srcs ${test_srcs}) +list(REMOVE_ITEM test_lib_srcs ${time_srcs}) +add_library(test_lib STATIC ${test_lib_srcs}) + +# Assemble local libraries set(tests_local_libs + test_lib slam nonlinear linear @@ -24,7 +34,7 @@ if (GTSAM_BUILD_TESTS) # Build grouped tests gtsam_add_grouped_scripts("tests" # Use subdirectory as group label "test*.cpp" check "Test" # Standard for all tests - "${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists + "${tests_local_libs}" "gtsam-static;CppUnitLite;test_lib" "${tests_exclude}" # Pass in linking and exclusion lists ${is_test}) # Set all as tests endif (GTSAM_BUILD_TESTS) @@ -37,6 +47,6 @@ if (GTSAM_BUILD_TIMING) # Build grouped benchmarks gtsam_add_grouped_scripts("tests" # Use subdirectory as group label "time*.cpp" timing "Timing Benchmark" # Standard for all timing scripts - "${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}" # Pass in linking and exclusion lists + "${tests_local_libs}" "gtsam-static;CppUnitLite;test_lib" "${tests_exclude}" # Pass in linking and exclusion lists ${is_test}) endif (GTSAM_BUILD_TIMING) diff --git a/gtsam/slam/simulated2D.cpp b/tests/simulated2D.cpp similarity index 97% rename from gtsam/slam/simulated2D.cpp rename to tests/simulated2D.cpp index 95dfef0e5..199a6756b 100644 --- a/gtsam/slam/simulated2D.cpp +++ b/tests/simulated2D.cpp @@ -15,7 +15,7 @@ * @author Frank Dellaert */ -#include +#include namespace simulated2D { diff --git a/gtsam/slam/simulated2D.h b/tests/simulated2D.h similarity index 100% rename from gtsam/slam/simulated2D.h rename to tests/simulated2D.h diff --git a/gtsam/slam/simulated2DConstraints.h b/tests/simulated2DConstraints.h similarity index 99% rename from gtsam/slam/simulated2DConstraints.h rename to tests/simulated2DConstraints.h index 4594a8e1f..cf0266d86 100644 --- a/gtsam/slam/simulated2DConstraints.h +++ b/tests/simulated2DConstraints.h @@ -24,7 +24,7 @@ #include #include #include -#include +#include // \namespace diff --git a/gtsam/slam/simulated2DOriented.cpp b/tests/simulated2DOriented.cpp similarity index 96% rename from gtsam/slam/simulated2DOriented.cpp rename to tests/simulated2DOriented.cpp index 947aaddc5..c7d1d8469 100644 --- a/gtsam/slam/simulated2DOriented.cpp +++ b/tests/simulated2DOriented.cpp @@ -15,7 +15,7 @@ * @author Frank Dellaert */ -#include +#include namespace simulated2DOriented { diff --git a/gtsam/slam/simulated2DOriented.h b/tests/simulated2DOriented.h similarity index 100% rename from gtsam/slam/simulated2DOriented.h rename to tests/simulated2DOriented.h diff --git a/gtsam_unstable/slam/simulated3D.cpp b/tests/simulated3D.cpp similarity index 95% rename from gtsam_unstable/slam/simulated3D.cpp rename to tests/simulated3D.cpp index 933d1f194..980b6cabd 100644 --- a/gtsam_unstable/slam/simulated3D.cpp +++ b/tests/simulated3D.cpp @@ -15,7 +15,7 @@ * @author Alex Cunningham **/ -#include +#include namespace gtsam { diff --git a/gtsam_unstable/slam/simulated3D.h b/tests/simulated3D.h similarity index 100% rename from gtsam_unstable/slam/simulated3D.h rename to tests/simulated3D.h diff --git a/gtsam/slam/smallExample.cpp b/tests/smallExample.cpp similarity index 99% rename from gtsam/slam/smallExample.cpp rename to tests/smallExample.cpp index 9937847ae..b518bebe5 100644 --- a/gtsam/slam/smallExample.cpp +++ b/tests/smallExample.cpp @@ -17,7 +17,6 @@ * @author Frank dellaert */ -#include #include #include #include @@ -25,6 +24,8 @@ #include #include +#include + #include #include diff --git a/gtsam/slam/smallExample.h b/tests/smallExample.h similarity index 99% rename from gtsam/slam/smallExample.h rename to tests/smallExample.h index 3b3b200b8..161c45da8 100644 --- a/gtsam/slam/smallExample.h +++ b/tests/smallExample.h @@ -21,7 +21,7 @@ #pragma once -#include +#include #include #include #include diff --git a/tests/testBoundingConstraint.cpp b/tests/testBoundingConstraint.cpp index 3956b2934..128251a23 100644 --- a/tests/testBoundingConstraint.cpp +++ b/tests/testBoundingConstraint.cpp @@ -15,7 +15,7 @@ * @author Alex Cunningham */ -#include +#include #include #include #include diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index 529b1b2f1..9a4f6bf25 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -16,7 +16,7 @@ */ #include -#include +#include #include #include #include diff --git a/tests/testGaussianBayesNet.cpp b/tests/testGaussianBayesNet.cpp index 8444dacc3..60af529ec 100644 --- a/tests/testGaussianBayesNet.cpp +++ b/tests/testGaussianBayesNet.cpp @@ -29,7 +29,7 @@ using namespace boost::assign; #include #include #include -#include +#include using namespace std; using namespace gtsam; diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index 077dc44be..bc0040f37 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -16,7 +16,7 @@ * @author Frank Dellaert **/ -#include +#include #include #include #include diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 0f76af4f6..718dbc302 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -15,7 +15,7 @@ * @author Christian Potthast **/ -#include +#include #include #include #include diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index 03a747196..a6eccd70f 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -15,7 +15,7 @@ * @author Michael Kaess */ -#include +#include #include #include #include diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index c74dbe276..c79e4e8fc 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -12,7 +12,7 @@ #include #include #include -#include +#include #include #include diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 03e2d27d3..5b7555d37 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -15,7 +15,7 @@ * @author nikai */ -#include +#include #include #include #include diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index c054b9b6a..81b24a1e7 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -20,9 +20,10 @@ #include #include #include -#include #include +#include + using namespace std; using namespace gtsam; diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 2b35e9f60..9a139e581 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -14,8 +14,9 @@ * @author Alex Cunningham */ +#include + #include -#include #include #include #include diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index e203bcf94..00fa217c6 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -28,8 +28,8 @@ #include #include #include -#include -#include +#include +#include #include #include #include diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index d1d240a67..7d9160c1d 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -29,7 +29,7 @@ using namespace boost::assign; #include #include -#include +#include #include #include #include diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 7cb8bb045..ee681db3e 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -15,7 +15,7 @@ * @author Frank Dellaert */ -#include +#include #include #include #include diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp similarity index 99% rename from gtsam/slam/tests/testSerializationSLAM.cpp rename to tests/testSerializationSLAM.cpp index 275abe1b8..7650925d1 100644 --- a/gtsam/slam/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -16,7 +16,8 @@ * @date Feb 7, 2012 */ -#include +#include + #include #include #include diff --git a/gtsam/slam/tests/testSimulated2D.cpp b/tests/testSimulated2D.cpp similarity index 98% rename from gtsam/slam/tests/testSimulated2D.cpp rename to tests/testSimulated2D.cpp index b72a8f4c0..165177a56 100644 --- a/gtsam/slam/tests/testSimulated2D.cpp +++ b/tests/testSimulated2D.cpp @@ -21,7 +21,7 @@ #include #include -#include +#include using namespace std; using namespace gtsam; diff --git a/gtsam/slam/tests/testSimulated2DOriented.cpp b/tests/testSimulated2DOriented.cpp similarity index 96% rename from gtsam/slam/tests/testSimulated2DOriented.cpp rename to tests/testSimulated2DOriented.cpp index d017512ce..24fe6ec4e 100644 --- a/gtsam/slam/tests/testSimulated2DOriented.cpp +++ b/tests/testSimulated2DOriented.cpp @@ -16,8 +16,8 @@ * @brief unit tests for simulated2DOriented */ -#include -#include +#include +#include #include #include #include diff --git a/gtsam_unstable/slam/tests/testSimulated3D.cpp b/tests/testSimulated3D.cpp similarity index 97% rename from gtsam_unstable/slam/tests/testSimulated3D.cpp rename to tests/testSimulated3D.cpp index 7283544a1..be9548a8e 100644 --- a/gtsam_unstable/slam/tests/testSimulated3D.cpp +++ b/tests/testSimulated3D.cpp @@ -15,7 +15,7 @@ * @author Alex Cunningham **/ -#include +#include #include #include #include diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index 747e35914..0f18924da 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -16,7 +16,7 @@ **/ #include -#include +#include #include #include #include diff --git a/tests/testSymbolicBayesNetB.cpp b/tests/testSymbolicBayesNetB.cpp index 4f0d04595..f2e9772ec 100644 --- a/tests/testSymbolicBayesNetB.cpp +++ b/tests/testSymbolicBayesNetB.cpp @@ -22,7 +22,7 @@ using namespace boost::assign; #include #include -#include +#include #include #include #include diff --git a/tests/testSymbolicFactorGraphB.cpp b/tests/testSymbolicFactorGraphB.cpp index 8fde094ed..7d657c9bf 100644 --- a/tests/testSymbolicFactorGraphB.cpp +++ b/tests/testSymbolicFactorGraphB.cpp @@ -15,7 +15,7 @@ * @author Frank Dellaert */ -#include +#include #include #include #include diff --git a/tests/timeGaussianFactorGraph.cpp b/tests/timeGaussianFactorGraph.cpp index aff3ff150..f8d76c1dd 100644 --- a/tests/timeGaussianFactorGraph.cpp +++ b/tests/timeGaussianFactorGraph.cpp @@ -19,7 +19,7 @@ #include #include // for operator += in Ordering #include -#include +#include #include using namespace std; From b602e75a995a41a3e1eab75334e3dbd9f8174a9d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 9 Jun 2012 21:06:06 +0000 Subject: [PATCH 307/914] Removed the use of the ADD_CLONE_NONLINEAR_FACTOR macro, documented instances of clone() in factors --- examples/LocalizationExample2.cpp | 2 -- gtsam/nonlinear/NonlinearEquality.h | 15 +++++++-- gtsam/nonlinear/NonlinearFactor.h | 3 +- gtsam/nonlinear/WhiteNoiseFactor.h | 5 ++- gtsam/slam/AntiFactor.h | 5 ++- gtsam/slam/BearingFactor.h | 5 ++- gtsam/slam/BearingRangeFactor.h | 5 ++- gtsam/slam/BetweenFactor.h | 5 ++- gtsam/slam/GeneralSFMFactor.h | 5 ++- gtsam/slam/PartialPriorFactor.h | 5 ++- gtsam/slam/PriorFactor.h | 5 ++- gtsam/slam/ProjectionFactor.h | 5 ++- gtsam/slam/RangeFactor.h | 5 ++- gtsam/slam/StereoFactor.h | 5 ++- gtsam_unstable/dynamics/FullIMUFactor.h | 7 ++-- gtsam_unstable/dynamics/IMUFactor.h | 7 ++-- gtsam_unstable/dynamics/VelocityConstraint.h | 5 ++- gtsam_unstable/nonlinear/LinearizedFactor.h | 5 ++- tests/simulated2D.h | 15 +++++++-- tests/simulated2DConstraints.h | 35 ++++++++++++-------- tests/simulated2DOriented.h | 5 ++- tests/smallExample.cpp | 2 -- tests/testExtendedKalmanFilter.cpp | 4 --- tests/testNonlinearFactor.cpp | 7 ++-- 24 files changed, 117 insertions(+), 50 deletions(-) diff --git a/examples/LocalizationExample2.cpp b/examples/LocalizationExample2.cpp index 9a4330181..ea651008c 100644 --- a/examples/LocalizationExample2.cpp +++ b/examples/LocalizationExample2.cpp @@ -47,8 +47,6 @@ public: if (H) (*H) = Matrix_(2,3, 1.0,0.0,0.0, 0.0,1.0,0.0); return Vector_(2, q.x() - mx_, q.y() - my_); } - - ADD_CLONE_NONLINEAR_FACTOR(UnaryFactor) }; /** diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index e9710c780..e5f419ff4 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -161,7 +161,10 @@ namespace gtsam { return GaussianFactor::shared_ptr(new JacobianFactor(ordering[this->key()], A, b, model)); } - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// @} @@ -212,7 +215,10 @@ namespace gtsam { virtual ~NonlinearEquality1() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** g(x) with optional derivative */ Vector evaluateError(const X& x1, boost::optional H = boost::none) const { @@ -269,7 +275,10 @@ namespace gtsam { : Base(noiseModel::Constrained::All(X::Dim(), fabs(mu)), key1, key2) {} virtual ~NonlinearEquality2() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** g(x) with optional derivative2 */ Vector evaluateError(const X& x1, const X& x2, diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 8251bff59..a01cead24 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -36,9 +36,10 @@ /** * Macro to add a standard clone function to a derived factor + * @DEPRECIATED: will go away shortly - just add the clone function directly */ #define ADD_CLONE_NONLINEAR_FACTOR(Derived) \ - virtual gtsam::NonlinearFactor::shared_ptr clone() const { \ + virtual gtsam::NonlinearFactor::shared_ptr clone() const { \ return boost::static_pointer_cast( \ gtsam::NonlinearFactor::shared_ptr(new Derived(*this))); } diff --git a/gtsam/nonlinear/WhiteNoiseFactor.h b/gtsam/nonlinear/WhiteNoiseFactor.h index f37debd54..163633115 100644 --- a/gtsam/nonlinear/WhiteNoiseFactor.h +++ b/gtsam/nonlinear/WhiteNoiseFactor.h @@ -163,7 +163,10 @@ namespace gtsam { return linearize(z_, u, p, j1, j2); } - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /// @} diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 47e0fd40c..1e0d64db7 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -50,7 +50,10 @@ namespace gtsam { virtual ~AntiFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** implement functions needed for Testable */ diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index edd484e36..251e37a37 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -55,7 +55,10 @@ namespace gtsam { virtual ~BearingFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** h(x)-z -> between(z,h(x)) for Rot2 manifold */ Vector evaluateError(const Pose& pose, const Point& point, diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 0bfa86540..3ce671292 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -57,7 +57,10 @@ namespace gtsam { virtual ~BearingRangeFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** Print */ virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index 62f66cc48..1779bf286 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -62,7 +62,10 @@ namespace gtsam { virtual ~BetweenFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** implement functions needed for Testable */ diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index d64585b7d..f4615c334 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -62,7 +62,10 @@ namespace gtsam { virtual ~GeneralSFMFactor() {} ///< destructor - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * print diff --git a/gtsam/slam/PartialPriorFactor.h b/gtsam/slam/PartialPriorFactor.h index 215f87ef7..bea3f3f46 100644 --- a/gtsam/slam/PartialPriorFactor.h +++ b/gtsam/slam/PartialPriorFactor.h @@ -87,7 +87,10 @@ namespace gtsam { this->fillH(); } - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** implement functions needed for Testable */ diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 608e717dd..094065336 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -56,7 +56,10 @@ namespace gtsam { Base(model, key), prior_(prior) { } - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** implement functions needed for Testable */ diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index c6529a34f..5a871d96f 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -70,7 +70,10 @@ namespace gtsam { /** Virtual destructor */ virtual ~GenericProjectionFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * print diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h index ee3dc0b8e..dcc94476a 100644 --- a/gtsam/slam/RangeFactor.h +++ b/gtsam/slam/RangeFactor.h @@ -51,7 +51,10 @@ namespace gtsam { virtual ~RangeFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** h(x)-z */ Vector evaluateError(const Pose& pose, const Point& point, boost::optional H1, boost::optional H2) const { diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 500009ab4..d0c0bda6a 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -57,7 +57,10 @@ public: virtual ~GenericStereoFactor() {} ///< Virtual destructor - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * print diff --git a/gtsam_unstable/dynamics/FullIMUFactor.h b/gtsam_unstable/dynamics/FullIMUFactor.h index 306ec5191..c9a75ec23 100644 --- a/gtsam_unstable/dynamics/FullIMUFactor.h +++ b/gtsam_unstable/dynamics/FullIMUFactor.h @@ -51,11 +51,14 @@ public: virtual ~FullIMUFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** Check if two factors are equal */ virtual bool equals(const NonlinearFactor& e, double tol = 1e-9) const { - const This* const f = dynamic_cast(&e); + const This* const f = dynamic_cast(&e); return f && Base::equals(e) && equal_with_abs_tol(accel_, f->accel_, tol) && equal_with_abs_tol(gyro_, f->gyro_, tol) && diff --git a/gtsam_unstable/dynamics/IMUFactor.h b/gtsam_unstable/dynamics/IMUFactor.h index b1ccdb3bc..adcf772e3 100644 --- a/gtsam_unstable/dynamics/IMUFactor.h +++ b/gtsam_unstable/dynamics/IMUFactor.h @@ -44,11 +44,14 @@ public: virtual ~IMUFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** Check if two factors are equal */ virtual bool equals(const NonlinearFactor& e, double tol = 1e-9) const { - const This* const f = dynamic_cast(&e); + const This* const f = dynamic_cast(&e); return f && Base::equals(e) && equal_with_abs_tol(accel_, f->accel_, tol) && equal_with_abs_tol(gyro_, f->gyro_, tol) && diff --git a/gtsam_unstable/dynamics/VelocityConstraint.h b/gtsam_unstable/dynamics/VelocityConstraint.h index 7646b7486..801bf12cd 100644 --- a/gtsam_unstable/dynamics/VelocityConstraint.h +++ b/gtsam_unstable/dynamics/VelocityConstraint.h @@ -72,7 +72,10 @@ public: virtual ~VelocityConstraint() {} - ADD_CLONE_NONLINEAR_FACTOR(VelocityConstraint) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new VelocityConstraint(*this))); } /** * Calculates the error for trapezoidal model given diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h index 3fa46701d..8f9461d02 100644 --- a/gtsam_unstable/nonlinear/LinearizedFactor.h +++ b/gtsam_unstable/nonlinear/LinearizedFactor.h @@ -59,7 +59,10 @@ public: virtual ~LinearizedFactor() {} - ADD_CLONE_NONLINEAR_FACTOR(This); + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * Use this constructor with pre-constructed decoders diff --git a/tests/simulated2D.h b/tests/simulated2D.h index 403fac109..c5a62bba9 100644 --- a/tests/simulated2D.h +++ b/tests/simulated2D.h @@ -135,7 +135,10 @@ namespace simulated2D { virtual ~GenericPrior() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } private: @@ -178,7 +181,10 @@ namespace simulated2D { virtual ~GenericOdometry() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } private: @@ -222,7 +228,10 @@ namespace simulated2D { virtual ~GenericMeasurement() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } private: diff --git a/tests/simulated2DConstraints.h b/tests/simulated2DConstraints.h index cf0266d86..b9f2edcb5 100644 --- a/tests/simulated2DConstraints.h +++ b/tests/simulated2DConstraints.h @@ -59,7 +59,10 @@ namespace simulated2D { virtual ~ScalarCoordConstraint1() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * Constructor for constraint @@ -69,8 +72,8 @@ namespace simulated2D { * @param mu is the penalty function gain */ ScalarCoordConstraint1(Key key, double c, - bool isGreaterThan, double mu = 1000.0) : - Base(key, c, isGreaterThan, mu) { + bool isGreaterThan, double mu = 1000.0) : + Base(key, c, isGreaterThan, mu) { } /** @@ -124,7 +127,10 @@ namespace simulated2D { virtual ~MaxDistanceConstraint() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } /** * Primary constructor for factor @@ -163,18 +169,21 @@ namespace simulated2D { */ template struct MinDistanceConstraint : public BoundingConstraint2 { - typedef BoundingConstraint2 Base; ///< Base class for factor - typedef MinDistanceConstraint This; ///< This class for factor - typedef POSE Pose; ///< Type of pose variable constrained - typedef POINT Point; ///< Type of point variable constrained + typedef BoundingConstraint2 Base; ///< Base class for factor + typedef MinDistanceConstraint This; ///< This class for factor + typedef POSE Pose; ///< Type of pose variable constrained + typedef POINT Point; ///< Type of point variable constrained - virtual ~MinDistanceConstraint() {} + virtual ~MinDistanceConstraint() {} - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - /** - * Primary constructor for factor - * @param key1 is the first variable key + /** + * Primary constructor for factor + * @param key1 is the first variable key * @param key2 is the second variable key * @param range_bound is the minimum range allowed between the variables * @param mu is the gain for the penalty function diff --git a/tests/simulated2DOriented.h b/tests/simulated2DOriented.h index ed0d8ba1a..ef8378fc5 100644 --- a/tests/simulated2DOriented.h +++ b/tests/simulated2DOriented.h @@ -118,7 +118,10 @@ namespace simulated2DOriented { return measured_.localCoordinates(odo(x1, x2, H1, H2)); } - ADD_CLONE_NONLINEAR_FACTOR(This) + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } }; diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index b518bebe5..3dd0324dc 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -210,8 +210,6 @@ namespace example { return (h(x) - z_).vector(); } - ADD_CLONE_NONLINEAR_FACTOR(UnaryFactor) - }; } diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp index 440119e66..c19bcd4c9 100644 --- a/tests/testExtendedKalmanFilter.cpp +++ b/tests/testExtendedKalmanFilter.cpp @@ -125,8 +125,6 @@ public: virtual ~NonlinearMotionModel() {} - ADD_CLONE_NONLINEAR_FACTOR(This) - // Calculate the next state prediction using the nonlinear function f() T f(const T& x_t0) const { @@ -269,8 +267,6 @@ public: virtual ~NonlinearMeasurementModel() {} - ADD_CLONE_NONLINEAR_FACTOR(This) - // Calculate the predicted measurement using the nonlinear function h() // Byproduct: updates Jacobian H, and noiseModel (R) Vector h(const T& x_t1) const { diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index 00fa217c6..0a9c59f8b 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -257,7 +257,9 @@ public: return (Vector(1) << x1 + x2 + x3 + x4).finished(); } - ADD_CLONE_NONLINEAR_FACTOR(TestFactor4) + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new TestFactor4(*this))); } }; /* ************************************ */ @@ -305,8 +307,6 @@ public: } return (Vector(1) << x1 + x2 + x3 + x4 + x5).finished(); } - - ADD_CLONE_NONLINEAR_FACTOR(TestFactor5) }; /* ************************************ */ @@ -360,7 +360,6 @@ public: return (Vector(1) << x1 + x2 + x3 + x4 + x5 + x6).finished(); } - ADD_CLONE_NONLINEAR_FACTOR(TestFactor6) }; /* ************************************ */ From f9db53fdb8936a8d1d4d0347060ed3750f7068f4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 21:31:22 +0000 Subject: [PATCH 308/914] cleaned up code a bit --- gtsam/discrete/DecisionTreeFactor.cpp | 4 +-- gtsam/inference/SymbolicFactorGraph.cpp | 27 ++++++++------------ gtsam/linear/GaussianBayesNet.cpp | 33 +++++++++++++------------ gtsam/slam/visualSLAM.cpp | 25 +++++++++---------- 4 files changed, 40 insertions(+), 49 deletions(-) diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp index 105ff3a38..7f566a115 100644 --- a/gtsam/discrete/DecisionTreeFactor.cpp +++ b/gtsam/discrete/DecisionTreeFactor.cpp @@ -22,6 +22,7 @@ #include #include +#include using namespace std; @@ -94,8 +95,7 @@ namespace gtsam { Index j = keys()[i]; dkeys.push_back(DiscreteKey(j,cardinality(j))); } - shared_ptr f(new DecisionTreeFactor(dkeys, result)); - return f; + return boost::make_shared(dkeys, result); } /* ************************************************************************* */ diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index 2ae0b483a..514ba156b 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -15,13 +15,13 @@ * @author Frank Dellaert */ -#include - #include #include #include #include +#include + namespace gtsam { using namespace std; @@ -32,26 +32,22 @@ namespace gtsam { /* ************************************************************************* */ void SymbolicFactorGraph::push_factor(Index key) { - boost::shared_ptr factor(new IndexFactor(key)); - push_back(factor); + push_back(boost::make_shared(key)); } /** Push back binary factor */ void SymbolicFactorGraph::push_factor(Index key1, Index key2) { - boost::shared_ptr factor(new IndexFactor(key1,key2)); - push_back(factor); + push_back(boost::make_shared(key1,key2)); } /** Push back ternary factor */ void SymbolicFactorGraph::push_factor(Index key1, Index key2, Index key3) { - boost::shared_ptr factor(new IndexFactor(key1,key2,key3)); - push_back(factor); + push_back(boost::make_shared(key1,key2,key3)); } /** Push back 4-way factor */ void SymbolicFactorGraph::push_factor(Index key1, Index key2, Index key3, Index key4) { - boost::shared_ptr factor(new IndexFactor(key1,key2,key3,key4)); - push_back(factor); + push_back(boost::make_shared(key1,key2,key3,key4)); } /* ************************************************************************* */ @@ -66,7 +62,7 @@ namespace gtsam { /* ************************************************************************* */ IndexFactor::shared_ptr CombineSymbolic( const FactorGraph& factors, const FastMap >& variableSlots) { + vector >& variableSlots) { IndexFactor::shared_ptr combined(Combine (factors, variableSlots)); // combined->assertInvariants(); return combined; @@ -84,12 +80,9 @@ namespace gtsam { if (keys.size() < 1) throw invalid_argument( "IndexFactor::CombineAndEliminate called on factors with no variables."); - pair result; - std::vector newKeys(keys.begin(),keys.end()); - result.first.reset(new IndexConditional(newKeys, nrFrontals)); - result.second.reset(new IndexFactor(newKeys.begin()+nrFrontals, newKeys.end())); - - return result; + vector newKeys(keys.begin(), keys.end()); + return make_pair(new IndexConditional(newKeys, nrFrontals), + new IndexFactor(newKeys.begin() + nrFrontals, newKeys.end())); } /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index 62b63bb27..d1f0d8f8d 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -15,19 +15,20 @@ * @author Frank Dellaert */ -#include +#include +#include +#include +#include + #include +#include #include -#include -#include -#include - -#include +#include using namespace std; using namespace gtsam; - +using boost::shared_ptr; // trick from some reading group #define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL) @@ -72,13 +73,13 @@ void push_front(GaussianBayesNet& bn, Index key, Vector d, Matrix R, } /* ************************************************************************* */ -boost::shared_ptr allocateVectorValues(const GaussianBayesNet& bn) { +shared_ptr allocateVectorValues(const GaussianBayesNet& bn) { vector dimensions(bn.size()); Index var = 0; - BOOST_FOREACH(const boost::shared_ptr conditional, bn) { + BOOST_FOREACH(const shared_ptr conditional, bn) { dimensions[var++] = conditional->dim(); } - return boost::shared_ptr(new VectorValues(dimensions)); + return shared_ptr(new VectorValues(dimensions)); } /* ************************************************************************* */ @@ -92,7 +93,7 @@ VectorValues optimize(const GaussianBayesNet& bn) { // (R*x)./sigmas = y by solving x=inv(R)*(y.*sigmas) void optimizeInPlace(const GaussianBayesNet& bn, VectorValues& x) { /** solve each node in turn in topological sort order (parents first)*/ - BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, bn) { + BOOST_REVERSE_FOREACH(const shared_ptr cg, bn) { // i^th part of R*x=y, x=inv(R)*y // (Rii*xi + R_i*x(i+1:))./si = yi <-> xi = inv(Rii)*(yi.*si - R_i*x(i+1:)) cg->solveInPlace(x); @@ -102,14 +103,14 @@ void optimizeInPlace(const GaussianBayesNet& bn, VectorValues& x) { /* ************************************************************************* */ VectorValues backSubstitute(const GaussianBayesNet& bn, const VectorValues& input) { VectorValues output = input; - BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, bn) { + BOOST_REVERSE_FOREACH(const shared_ptr cg, bn) { const Index key = *(cg->beginFrontals()); Vector xS = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()); xS = input[key] - cg->get_S() * xS; output[key] = cg->get_R().triangularView().solve(xS); } - BOOST_FOREACH(const boost::shared_ptr cg, bn) { + BOOST_FOREACH(const shared_ptr cg, bn) { cg->scaleFrontalsBySigma(output); } @@ -130,7 +131,7 @@ VectorValues backSubstituteTranspose(const GaussianBayesNet& bn, // we loop from first-eliminated to last-eliminated // i^th part of L*gy=gx is done block-column by block-column of L - BOOST_FOREACH(const boost::shared_ptr cg, bn) + BOOST_FOREACH(const shared_ptr cg, bn) cg->solveTransposeInPlace(gy); // Scale gy @@ -196,7 +197,7 @@ pair matrix(const GaussianBayesNet& bn) { Index key; size_t I; FOREACH_PAIR(key,I,mapping) { // find corresponding conditional - boost::shared_ptr cg = bn[key]; + shared_ptr cg = bn[key]; // get sigmas Vector sigmas = cg->get_sigmas(); @@ -233,7 +234,7 @@ pair matrix(const GaussianBayesNet& bn) { double determinant(const GaussianBayesNet& bayesNet) { double logDet = 0.0; - BOOST_FOREACH(boost::shared_ptr cg, bayesNet){ + BOOST_FOREACH(shared_ptr cg, bayesNet){ logDet += cg->get_R().diagonal().unaryExpr(ptr_fun(log)).sum(); } diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 1331ef20f..bb3cd19d1 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -17,6 +17,9 @@ #include #include +#include + +using boost::make_shared; namespace visualSLAM { @@ -62,49 +65,43 @@ namespace visualSLAM { /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrK K) { - boost::shared_ptr factor(new ProjectionFactor(measured, model, poseKey, pointKey, K)); - push_back(factor); + push_back(make_shared(measured, model, poseKey, pointKey, K)); } /* ************************************************************************* */ void Graph::addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrKStereo K) { - boost::shared_ptr factor(new StereoFactor(measured, model, poseKey, pointKey, K)); - push_back(factor); + push_back(make_shared(measured, model, poseKey, pointKey, K)); } /* ************************************************************************* */ void Graph::addPoseConstraint(Key poseKey, const Pose3& p) { - boost::shared_ptr factor(new PoseConstraint(poseKey, p)); - push_back(factor); + push_back(make_shared(poseKey, p)); } /* ************************************************************************* */ void Graph::addPointConstraint(Key pointKey, const Point3& p) { - boost::shared_ptr factor(new PointConstraint(pointKey, p)); - push_back(factor); + push_back(make_shared(pointKey, p)); } /* ************************************************************************* */ void Graph::addPosePrior(Key poseKey, const Pose3& p, const SharedNoiseModel& model) { - boost::shared_ptr factor(new PosePrior(poseKey, p, model)); - push_back(factor); + push_back(make_shared(poseKey, p, model)); } /* ************************************************************************* */ void Graph::addPointPrior(Key pointKey, const Point3& p, const SharedNoiseModel& model) { - boost::shared_ptr factor(new PointPrior(pointKey, p, model)); - push_back(factor); + push_back(make_shared(pointKey, p, model)); } /* ************************************************************************* */ void Graph::addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model) { - push_back(boost::shared_ptr(new RangeFactor(poseKey, pointKey, range, model))); + push_back(make_shared(poseKey, pointKey, range, model)); } /* ************************************************************************* */ void Graph::addOdometry(Key x1, Key x2, const Pose3& odometry, const SharedNoiseModel& model) { - push_back(boost::shared_ptr >(new BetweenFactor(x1, x2, odometry, model))); + push_back(make_shared >(x1, x2, odometry, model)); } /* ************************************************************************* */ From 80e2179a8db6e4582fb142d67f7bfeab784f55b7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 9 Jun 2012 21:33:10 +0000 Subject: [PATCH 309/914] Cleaned up typedefs in FactorGraph.h (and removed FactorizationResult), and also made sure ::shared_ptr was never assumed to exist for a FACTOR template argument. Should it exist, ever? --- gtsam/inference/EliminationTree-inl.h | 2 +- gtsam/inference/EliminationTree.h | 2 +- gtsam/inference/FactorGraph-inl.h | 22 +++-- gtsam/inference/FactorGraph.h | 81 +++++++---------- .../inference/GenericMultifrontalSolver-inl.h | 2 +- gtsam/inference/GenericMultifrontalSolver.h | 2 +- gtsam/inference/GenericSequentialSolver-inl.h | 8 +- gtsam/inference/GenericSequentialSolver.h | 2 +- gtsam/inference/inference-inl.h | 25 +++--- gtsam/inference/inference.h | 88 ++++++++++--------- gtsam/linear/GaussianFactorGraph.h | 2 +- tests/testGaussianFactorGraphB.cpp | 12 +-- 12 files changed, 126 insertions(+), 122 deletions(-) diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index 2f62f79af..c4cb9d4cf 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -132,7 +132,7 @@ typename EliminationTree::shared_ptr EliminationTree::Create( // Hang factors in right places tic(3, "hang factors"); - BOOST_FOREACH(const typename DERIVEDFACTOR::shared_ptr& derivedFactor, factorGraph) { + BOOST_FOREACH(const typename boost::shared_ptr& derivedFactor, factorGraph) { // Here we upwards-cast to the factor type of this EliminationTree. This // allows performing symbolic elimination on, for example, GaussianFactors. if(derivedFactor) { diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index eb45deaf0..6ab7dcf49 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -52,7 +52,7 @@ public: typedef EliminationTree This; ///< This class typedef boost::shared_ptr shared_ptr; ///< Shared pointer to this class - typedef typename FACTOR::shared_ptr sharedFactor; ///< Shared pointer to a factor + typedef typename boost::shared_ptr sharedFactor; ///< Shared pointer to a factor typedef gtsam::BayesNet BayesNet; ///< The BayesNet corresponding to FACTOR /** Typedef for an eliminate subroutine */ diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 8da4465d5..90212f39f 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -36,6 +36,16 @@ namespace gtsam { + /* ************************************************************************* */ + template + template + FactorGraph::FactorGraph(const BayesNet& bayesNet) { + factors_.reserve(bayesNet.size()); + BOOST_FOREACH(const typename CONDITIONAL::shared_ptr& cond, bayesNet) { + this->push_back(cond->toFactor()); + } + } + /* ************************************************************************* */ template void FactorGraph::print(const std::string& s) const { @@ -50,7 +60,7 @@ namespace gtsam { /* ************************************************************************* */ template - bool FactorGraph::equals(const FactorGraph& fg, double tol) const { + bool FactorGraph::equals(const This& fg, double tol) const { /** check whether the two factor graphs have the same number of factors_ */ if (factors_.size() != fg.size()) return false; @@ -111,20 +121,20 @@ namespace gtsam { } /* ************************************************************************* */ + // Recursive function to add factors in cliques to vector of factors_io template void _FactorGraph_BayesTree_adder( - std::vector::sharedFactor>& factors, + std::vector >& factors_io, const typename BayesTree::sharedClique& clique) { if(clique) { // Add factor from this clique - factors.push_back((*clique)->toFactor()); + factors_io.push_back((*clique)->toFactor()); // Traverse children typedef typename BayesTree::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& child, clique->children()) { - _FactorGraph_BayesTree_adder(factors, child); - } + BOOST_FOREACH(const sharedClique& child, clique->children()) + _FactorGraph_BayesTree_adder(factors_io, child); } } diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 90e9e8a1f..621c18b9f 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -21,14 +21,13 @@ #pragma once -#include -#include -#include - #include #include #include +#include +#include + namespace gtsam { // Forward declarations @@ -41,30 +40,28 @@ template class BayesTree; */ template class FactorGraph { + public: - typedef FACTOR FactorType; - typedef typename FACTOR::KeyType KeyType; - typedef boost::shared_ptr > shared_ptr; - typedef typename boost::shared_ptr sharedFactor; + + typedef FACTOR FactorType; ///< factor type + typedef typename FACTOR::KeyType KeyType; ///< type of Keys we use to index factors with + typedef boost::shared_ptr sharedFactor; ///< Shared pointer to a factor + typedef boost::shared_ptr sharedConditional; ///< Shared pointer to a conditional + + typedef FactorGraph This; ///< Typedef for this class + typedef boost::shared_ptr shared_ptr; ///< Shared pointer for this class typedef typename std::vector::iterator iterator; typedef typename std::vector::const_iterator const_iterator; - /** typedef for elimination result */ - typedef std::pair< - boost::shared_ptr, - typename FACTOR::shared_ptr> EliminationResult; + /** typedef for elimination result */ + typedef std::pair EliminationResult; - /** typedef for an eliminate subroutine */ - typedef boost::function&, size_t)> Eliminate; - - /** Typedef for the result of factorization */ - typedef std::pair< - boost::shared_ptr, - FactorGraph > FactorizationResult; + /** typedef for an eliminate subroutine */ + typedef boost::function Eliminate; protected: - /** concept check */ + /** concept check, makes sure FACTOR defines print and equals */ GTSAM_CONCEPT_TESTABLE_TYPE(FACTOR) /** Collection of factors */ @@ -82,7 +79,11 @@ template class BayesTree; /// @name Advanced Constructors /// @{ - /** convert from Bayes net */ + /** + * @brief Constructor from a Bayes net + * @param bayesNet the Bayes net to convert, type CONDITIONAL must yield compatible factor + * @return a factor graph with all the conditionals, as factors + */ template FactorGraph(const BayesNet& bayesNet); @@ -113,7 +114,7 @@ template class BayesTree; } /** push back many factors */ - void push_back(const FactorGraph& factors) { + void push_back(const This& factors) { factors_.insert(end(), factors.begin(), factors.end()); } @@ -123,9 +124,14 @@ template class BayesTree; factors_.insert(end(), firstFactor, lastFactor); } - /** push back many factors stored in a vector*/ + /** + * @brief Add a vector of derived factors + * @param factors to add + */ template - void push_back(const std::vector >& factors); + void push_back(const std::vector >& factors) { + factors_.insert(end(), factors.begin(), factors.end()); + } /// @} /// @name Testable @@ -135,7 +141,7 @@ template class BayesTree; void print(const std::string& s = "FactorGraph") const; /** Check equality */ - bool equals(const FactorGraph& fg, double tol = 1e-9) const; + bool equals(const This& fg, double tol = 1e-9) const; /// @} /// @name Standard Interface @@ -252,31 +258,6 @@ template class BayesTree; template FACTORGRAPH combine(const FACTORGRAPH& fg1, const FACTORGRAPH& fg2); - /* - * These functions are defined here because they are templated on an - * additional parameter. Putting them in the -inl.h file would mean these - * would have to be explicitly instantiated for any possible derived factor - * type. - */ - - /* ************************************************************************* */ - template - template - FactorGraph::FactorGraph(const BayesNet& bayesNet) { - factors_.reserve(bayesNet.size()); - BOOST_FOREACH(const typename CONDITIONAL::shared_ptr& cond, bayesNet) { - this->push_back(cond->toFactor()); - } - } - - /* ************************************************************************* */ - template - template - void FactorGraph::push_back(const std::vector >& factors) { - BOOST_FOREACH(const boost::shared_ptr& factor, factors) - this->push_back(factor); - } - } // namespace gtsam #include diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index 40a70bfd7..192436959 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -78,7 +78,7 @@ namespace gtsam { /* ************************************************************************* */ template - typename F::shared_ptr GenericMultifrontalSolver::marginalFactor( + typename boost::shared_ptr GenericMultifrontalSolver::marginalFactor( Index j, Eliminate function) const { return eliminate(function)->marginalFactor(j, function); } diff --git a/gtsam/inference/GenericMultifrontalSolver.h b/gtsam/inference/GenericMultifrontalSolver.h index 5d6cc74ef..a64df38e9 100644 --- a/gtsam/inference/GenericMultifrontalSolver.h +++ b/gtsam/inference/GenericMultifrontalSolver.h @@ -102,7 +102,7 @@ namespace gtsam { * Compute the marginal density over a variable, by integrating out * all of the other variables. This function returns the result as a factor. */ - typename FACTOR::shared_ptr marginalFactor(Index j, + typename boost::shared_ptr marginalFactor(Index j, Eliminate function) const; /// @} diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h index 5b3e0dd28..cc7e6146c 100644 --- a/gtsam/inference/GenericSequentialSolver-inl.h +++ b/gtsam/inference/GenericSequentialSolver-inl.h @@ -95,7 +95,7 @@ namespace gtsam { // Permute the factors - NOTE that this permutes the original factors, not // copies. Other parts of the code may hold shared_ptr's to these factors so // we must undo the permutation before returning. - BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *factors_) + BOOST_FOREACH(const typename boost::shared_ptr& factor, *factors_) if (factor) factor->permuteWithInverse(*permutationInverse); // Eliminate all variables @@ -103,7 +103,7 @@ namespace gtsam { bayesNet(EliminationTree::Create(*factors_)->eliminate(function)); // Undo the permuation on the original factors and on the structure. - BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *factors_) + BOOST_FOREACH(const typename boost::shared_ptr& factor, *factors_) if (factor) factor->permuteWithInverse(*permutation); // Take the joint marginal from the Bayes net. @@ -116,7 +116,7 @@ namespace gtsam { joint->push_back((*(conditional++))->toFactor()); // Undo the permutation on the eliminated joint marginal factors - BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *joint) + BOOST_FOREACH(const typename boost::shared_ptr& factor, *joint) factor->permuteWithInverse(*permutation); return joint; @@ -124,7 +124,7 @@ namespace gtsam { /* ************************************************************************* */ template - typename FACTOR::shared_ptr // + typename boost::shared_ptr // GenericSequentialSolver::marginalFactor(Index j, Eliminate function) const { // Create a container for the one variable index std::vector js(1); diff --git a/gtsam/inference/GenericSequentialSolver.h b/gtsam/inference/GenericSequentialSolver.h index 5486b3280..5b4d4b41e 100644 --- a/gtsam/inference/GenericSequentialSolver.h +++ b/gtsam/inference/GenericSequentialSolver.h @@ -130,7 +130,7 @@ namespace gtsam { * Compute the marginal Gaussian density over a variable, by integrating out * all of the other variables. This function returns the result as a factor. */ - typename FACTOR::shared_ptr marginalFactor(Index j, Eliminate function) const; + typename boost::shared_ptr marginalFactor(Index j, Eliminate function) const; /// @} diff --git a/gtsam/inference/inference-inl.h b/gtsam/inference/inference-inl.h index 02e78e8e9..b24c2d6d2 100644 --- a/gtsam/inference/inference-inl.h +++ b/gtsam/inference/inference-inl.h @@ -31,7 +31,8 @@ namespace inference { /* ************************************************************************* */ template -Permutation::shared_ptr PermutationCOLAMD(const VariableIndex& variableIndex, const CONSTRAINED& constrainLast) { +Permutation::shared_ptr PermutationCOLAMD( + const VariableIndex& variableIndex, const CONSTRAINED& constrainLast) { std::vector cmember(variableIndex.size(), 0); @@ -55,10 +56,14 @@ inline Permutation::shared_ptr PermutationCOLAMD(const VariableIndex& variableIn /* ************************************************************************* */ template -typename Graph::FactorizationResult eliminate(const Graph& factorGraph, const std::vector& variables, - const typename Graph::Eliminate& eliminateFcn, boost::optional variableIndex_) { +std::pair eliminate( + const Graph& factorGraph, + const std::vector& variables, + const typename Graph::Eliminate& eliminateFcn, + boost::optional variableIndex_) { - const VariableIndex& variableIndex = variableIndex_ ? *variableIndex_ : VariableIndex(factorGraph); + const VariableIndex& variableIndex = + variableIndex_ ? *variableIndex_ : VariableIndex(factorGraph); // First find the involved factors Graph involvedFactors; @@ -108,13 +113,11 @@ typename Graph::FactorizationResult eliminate(const Graph& factorGraph, const st if(remainingFactor->size() != 0) remainingGraph.push_back(remainingFactor); - return typename Graph::FactorizationResult(conditional, remainingGraph); + return std::make_pair(conditional, remainingGraph); -} - - -} - -} +} // eliminate + +} // namespace inference +} // namespace gtsam diff --git a/gtsam/inference/inference.h b/gtsam/inference/inference.h index 38f896a0f..15373e62a 100644 --- a/gtsam/inference/inference.h +++ b/gtsam/inference/inference.h @@ -29,52 +29,60 @@ namespace gtsam { -namespace inference { + namespace inference { -/** - * Compute a permutation (variable ordering) using colamd - */ -Permutation::shared_ptr PermutationCOLAMD(const VariableIndex& variableIndex); + /** + * Compute a permutation (variable ordering) using colamd + */ + Permutation::shared_ptr PermutationCOLAMD( + const VariableIndex& variableIndex); -/** - * Compute a permutation (variable ordering) using constrained colamd - */ -template -Permutation::shared_ptr PermutationCOLAMD(const VariableIndex& variableIndex, const CONSTRAINED& constrainLast); + /** + * Compute a permutation (variable ordering) using constrained colamd + */ + template + Permutation::shared_ptr PermutationCOLAMD( + const VariableIndex& variableIndex, const CONSTRAINED& constrainLast); -/** - * Compute a CCOLAMD permutation using the constraint groups in cmember. - */ -Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, std::vector& cmember); + /** + * Compute a CCOLAMD permutation using the constraint groups in cmember. + */ + Permutation::shared_ptr PermutationCOLAMD_( + const VariableIndex& variableIndex, std::vector& cmember); -/** Factor the factor graph into a conditional and a remaining factor graph. - * Given the factor graph \f$ f(X) \f$, and \c variables to factorize out - * \f$ V \f$, this function factorizes into \f$ f(X) = f(V;Y)f(Y) \f$, where - * \f$ Y := X\V \f$ are the remaining variables. If \f$ f(X) = p(X) \f$ is - * a probability density or likelihood, the factorization produces a - * conditional probability density and a marginal \f$ p(X) = p(V|Y)p(Y) \f$. - * - * For efficiency, this function treats the variables to eliminate - * \c variables as fully-connected, so produces a dense (fully-connected) - * conditional on all of the variables in \c variables, instead of a sparse - * BayesNet. If the variables are not fully-connected, it is more efficient - * to sequentially factorize multiple times. - */ -template -typename Graph::FactorizationResult eliminate(const Graph& factorGraph, const std::vector& variables, - const typename Graph::Eliminate& eliminateFcn, boost::optional variableIndex = boost::none); + /** Factor the factor graph into a conditional and a remaining factor graph. + * Given the factor graph \f$ f(X) \f$, and \c variables to factorize out + * \f$ V \f$, this function factorizes into \f$ f(X) = f(V;Y)f(Y) \f$, where + * \f$ Y := X\V \f$ are the remaining variables. If \f$ f(X) = p(X) \f$ is + * a probability density or likelihood, the factorization produces a + * conditional probability density and a marginal \f$ p(X) = p(V|Y)p(Y) \f$. + * + * For efficiency, this function treats the variables to eliminate + * \c variables as fully-connected, so produces a dense (fully-connected) + * conditional on all of the variables in \c variables, instead of a sparse + * BayesNet. If the variables are not fully-connected, it is more efficient + * to sequentially factorize multiple times. + */ + template + std::pair eliminate( + const Graph& factorGraph, + const std::vector& variables, + const typename Graph::Eliminate& eliminateFcn, + boost::optional variableIndex = boost::none); -/** Eliminate a single variable, by calling - * eliminate(const Graph&, const std::vector&, const typename Graph::Eliminate&, boost::optional) - */ -template -typename Graph::FactorizationResult eliminateOne(const Graph& factorGraph, typename Graph::KeyType variable, - const typename Graph::Eliminate& eliminateFcn, boost::optional variableIndex = boost::none) { - std::vector variables(1, variable); - return eliminate(factorGraph, variables, eliminateFcn, variableIndex); -} + /** Eliminate a single variable, by calling + * eliminate(const Graph&, const std::vector&, const typename Graph::Eliminate&, boost::optional) + */ + template + std::pair eliminateOne( + const Graph& factorGraph, typename Graph::KeyType variable, + const typename Graph::Eliminate& eliminateFcn, + boost::optional variableIndex = boost::none) { + std::vector variables(1, variable); + return eliminate(factorGraph, variables, eliminateFcn, variableIndex); + } -} + } // namespace inference } // namespace gtsam diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 07c2e94ad..07d0c8774 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -45,7 +45,7 @@ namespace gtsam { template boost::shared_ptr gaussianErrors_(const FactorGraph& fg, const VectorValues& x) { boost::shared_ptr e(new Errors); - BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, fg) { + BOOST_FOREACH(const typename boost::shared_ptr& factor, fg) { e->push_back(factor->error_vector(x)); } return e; diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 718dbc302..9b3f9eb0d 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -200,14 +200,16 @@ TEST( GaussianFactorGraph, eliminateOne_x1 ) Ordering ordering; ordering += X(1),L(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); - GaussianFactorGraph::FactorizationResult result = inference::eliminateOne(fg, 0, EliminateQR); + GaussianConditional::shared_ptr conditional; + GaussianFactorGraph remaining; + boost::tie(conditional,remaining) = inference::eliminateOne(fg, 0, EliminateQR); // create expected Conditional Gaussian Matrix I = 15*eye(2), R11 = I, S12 = -0.111111*I, S13 = -0.444444*I; Vector d = Vector_(2, -0.133333, -0.0222222), sigma = ones(2); GaussianConditional expected(ordering[X(1)],15*d,R11,ordering[L(1)],S12,ordering[X(2)],S13,sigma); - EXPECT(assert_equal(expected,*result.first,tol)); + EXPECT(assert_equal(expected,*conditional,tol)); } /* ************************************************************************* */ @@ -247,9 +249,9 @@ TEST( GaussianFactorGraph, eliminateOne_x1_fast ) { Ordering ordering; ordering += X(1),L(1),X(2); GaussianFactorGraph fg = createGaussianFactorGraph(ordering); - GaussianFactorGraph::FactorizationResult result = inference::eliminateOne(fg, ordering[X(1)], EliminateQR); - GaussianConditional::shared_ptr conditional = result.first; - GaussianFactorGraph remaining = result.second; + GaussianConditional::shared_ptr conditional; + GaussianFactorGraph remaining; + boost::tie(conditional,remaining) = inference::eliminateOne(fg, ordering[X(1)], EliminateQR); // create expected Conditional Gaussian Matrix I = 15*eye(2), R11 = I, S12 = -0.111111*I, S13 = -0.444444*I; From 44530b2291fe0fdbf248dc20aeb8647e9d2d2c50 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 03:31:09 +0000 Subject: [PATCH 310/914] I got rid of GlobalVars, added comments, and made "step" plot every time --- matlab/examples/VisualISAMDemo.m | 15 +- matlab/examples/VisualISAMExample.m | 12 +- matlab/examples/VisualISAMExample_triangle.m | 123 ++++-------- matlab/examples/VisualISAMGenerateData.m | 10 +- matlab/examples/VisualISAMGlobalVars.m | 7 - matlab/examples/VisualISAMInitialize.m | 17 +- matlab/examples/VisualISAMPlot.m | 16 +- matlab/examples/VisualISAMStep.m | 38 +++- matlab/examples/VisualISAM_gui.m | 196 +++++++++---------- 9 files changed, 203 insertions(+), 231 deletions(-) delete mode 100644 matlab/examples/VisualISAMGlobalVars.m diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index 626b3a944..df83ab32c 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -1,2 +1,15 @@ -VisualISAMGlobalVars +% VisualISAMDemo: runs VisualSLAM iSAM demo in a GUI +% Authors: Duy Nguyen Ta + +% Make sure global variables are visible on command prompt +% so you can examine how they change as you step through +global TRIANGLE NCAMERAS SHOW_IMAGES +global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE +global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES +global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING +global points K cameras odometry +global poseNoise pointNoise odometryNoise measurementNoise +global frame_i isam newFactors initialEstimates result + +% Start GUI VisualISAM_gui \ No newline at end of file diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index 633c20cb5..136adb3ed 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -10,12 +10,14 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -clear %% Global variables used in VisualISAMExample -VisualISAMGlobalVars +global TRIANGLE NCAMERAS SHOW_IMAGES +global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE +global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES +global SAVE_FIGURES SAVE_GRAPHS %% Setting data options -TRIANGLE = true; +TRIANGLE = false; NCAMERAS = 20; SHOW_IMAGES = false; @@ -28,8 +30,8 @@ ALWAYS_RELINEARIZE = false; %% Display Options SAVE_GRAPH = false; -PRINT_STATS = true; -DRAW_INTERVAL = 4; +PRINT_STATS = false; +DRAW_INTERVAL = 5; CAMERA_INTERVAL = 1; DRAW_TRUE_POSES = false; SAVE_FIGURES = false; diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m index c0dabec72..f6b030d1d 100644 --- a/matlab/examples/VisualISAMExample_triangle.m +++ b/matlab/examples/VisualISAMExample_triangle.m @@ -10,100 +10,43 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create a triangle target, just 3 points on a plane -nPoints = 3; -r = 10; -points = {}; -for j=1:nPoints - theta = (j-1)*2*pi/nPoints; - points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); -end +%% Global variables used in VisualISAMExample +global TRIANGLE NCAMERAS SHOW_IMAGES +global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE +global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES +global SAVE_FIGURES SAVE_GRAPHS -%% Create camera cameras on a circle around the triangle -nCameras = 10; -height = 10; -r = 30; -cameras = {}; -K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); -end -odometry = cameras{1}.pose.between(cameras{2}.pose); +%% Setting data options +TRIANGLE = true; +NCAMERAS = 10; +SHOW_IMAGES = false; -posepriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]'); -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]'); -pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); +%% iSAM Options +HARD_CONSTRAINT = false; +POINT_PRIORS = false; +BATCH_INIT = true; +REORDER_INTERVAL = 10; +ALWAYS_RELINEARIZE = false; -%% Create an ISAM object for inference -isam = visualSLAMISAM(2); +%% Display Options +SAVE_GRAPH = false; +PRINT_STATS = false; +DRAW_INTERVAL = 5; +CAMERA_INTERVAL = 1; +DRAW_TRUE_POSES = false; +SAVE_FIGURES = false; +SAVE_GRAPHS = false; -%% Update ISAM -newFactors = visualSLAMGraph; -initialEstimates = visualSLAMValues; -figure(1); clf; -for i=1:nCameras - - % Prior for the first pose or odometry for subsequent cameras - if (i==1) - newFactors.addPosePrior(symbol('x',1), cameras{1}.pose, posepriorNoise); - newFactors.addPointPrior(symbol('l',1), points{1}, pointNoise); - else - newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, odometryNoise); - end +%% Generate data and initialize iSAM with the first pose and points +VisualISAMGenerateData +VisualISAMInitialize +figure; +VisualISAMPlot - % Visual measurement factors - for j=1:nPoints - zij = cameras{i}.project(points{j}); - newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); - end - - % Initial estimates for the new pose. Also initialize points while in - % the first frame. - if (i==1) - initialEstimates.insertPose(symbol('x',i), cameras{i}.pose); - for j=1:nPoints - initialEstimates.insertPoint(symbol('l',j), points{j}); - end - else - %TODO: this might be suboptimal since "result" is not the fully - %optimized result - if (i==2), prevPose = cameras{1}.pose; - else prevPose = result.pose(symbol('x',i-1)); end - initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); - end - - % Update ISAM, only update for the second frame onward - % Update the first frame will cause error, since it's under constrained - if (i>=2) - isam.update(newFactors, initialEstimates); - result = isam.estimate(); - - % Plot results - h=figure(1); clf; - hold on; - for j=1:nPoints - P = isam.marginalCovariance(symbol('l',j)); - point_j = result.point(symbol('l',j)); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); - end - - for ii=1:i - P = isam.marginalCovariance(symbol('x',ii)); - pose_ii = result.pose(symbol('x',ii)); - plotPose3(pose_ii,P,10); - end - axis([-35 35 -35 35 -35 35]) - view([36 34]) - colormap('hot') -% print(h,'-dpng',sprintf('vISAM_%03d.png',i)); - - % Reset newFactors and initialEstimates to prepare for the next - % update - newFactors = visualSLAMGraph; - initialEstimates = visualSLAMValues; +%% Main loop for iSAM: stepping through all poses +for frame_i=2:NCAMERAS + VisualISAMStep + if mod(frame_i,DRAW_INTERVAL)==0 + VisualISAMPlot end end \ No newline at end of file diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index 03222f3cf..638bdd90b 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -1,4 +1,12 @@ -VisualISAMGlobalVars +% VisualISAMGenerateData: create data for viusalSLAM::iSAM examples +% Authors: Duy Nguyen Ta and Frank Dellaert + +% options +global TRIANGLE NCAMERAS SHOW_IMAGES + +% global outputs +global points cameras K odometry +global poseNoise odometryNoise pointNoise measurementNoise % data ? %% Generate simulated data points = {}; diff --git a/matlab/examples/VisualISAMGlobalVars.m b/matlab/examples/VisualISAMGlobalVars.m deleted file mode 100644 index 2438a9ea0..000000000 --- a/matlab/examples/VisualISAMGlobalVars.m +++ /dev/null @@ -1,7 +0,0 @@ -global TRIANGLE NCAMERAS SHOW_IMAGES -global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE -global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES -global SAVE_FIGURES SAVE_GRAPHS -global nPoints points K cameras odometry -global poseNoise pointNoise odometryNoise measurementNoise -global frame_i isam newFactors initialEstimates result diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index c8f341096..8fd23aeaa 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -1,4 +1,15 @@ -VisualISAMGlobalVars +function VisualISAMStep +% VisualISAMStep: execute one update step of visualSLAM::iSAM object +% Authors: Duy Nguyen Ta and Frank Dellaert + +% global variables, input +global cameras points pointNoise poseNoise measurementNoise K + +% global variables, output +global isam newFactors initialEstimates frame_i result + +% options +global REORDER_INTERVAL HARD_CONSTRAINT POINT_PRIORS %% Initialize iSAM isam = visualSLAMISAM(REORDER_INTERVAL); @@ -14,7 +25,7 @@ else end initialEstimates.insertPose(i1,pose1); % Add visual measurement factors from first pose -for j=1:nPoints +for j=1:size(points,2) jj = symbol('l',j); if POINT_PRIORS % add point priors newFactors.addPointPrior(jj, points{j}, pointNoise); @@ -24,6 +35,6 @@ for j=1:nPoints initialEstimates.insertPoint(jj, points{j}); end -frame_i = 1 +frame_i = 1; result = initialEstimates; cla; \ No newline at end of file diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index d7f5c55b0..4e7ef07da 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -1,13 +1,17 @@ -VisualISAMGlobalVars +% VisualISAMPlot: plot current state of visualSLAM::iSAM object +% Authors: Duy Nguyen Ta and Frank Dellaert + +% global variables, input +global points cameras frame_i isam result + +% options +global CAMERA_INTERVAL DRAW_TRUE_POSES SAVE_FIGURES SAVE_GRAPHS %% Plot results tic -% h=figure(2);clf -% set(1,'NumberTitle','off','Name','Visual iSAM'); h=gca; cla(h); hold on; -sprintf('Computing marginals and plotting. Please wait...') for j=1:size(points,2) point_j = result.point(symbol('l',j)); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); @@ -21,7 +25,7 @@ for ii=1:CAMERA_INTERVAL:frame_i if (frame_i>1) P = isam.marginalCovariance(symbol('x',ii)); else - P = [] + P = []; end plotPose3(pose_ii,P,10); if DRAW_TRUE_POSES % show ground truth @@ -31,9 +35,7 @@ end axis([-40 40 -40 40 -10 20]);axis equal view(3) colormap('hot') -sprintf('Done!') -% figure(2); t=toc; % if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end if SAVE_FIGURES diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index f5e1a96b6..ab417d3d2 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -1,24 +1,46 @@ -VisualISAMGlobalVars +function VisualISAMStep +% VisualISAMStep: execute one update step of visualSLAM::iSAM object +% Authors: Duy Nguyen Ta and Frank Dellaert + +% global variables, input +global frame_i odometry odometryNoise newFactors initialEstimates +global points cameras measurementNoise K + +% global variables, input/output +global isam + +% global variables, output +global result + +% options +global BATCH_INIT SHOW_TIMING ALWAYS_RELINEARIZE +global SAVE_GRAPH PRINT_STATS + +% iSAM expects us to give it a new set of factors +% along with initial estimates for any new variables introduced. +% We do not clear in frame 2 so we add to the factors added in Initialize +if frame_i > 2 + newFactors = visualSLAMGraph; + initialEstimates = visualSLAMValues; +end %% Add odometry newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, odometryNoise); %% Add visual measurement factors -for j=1:nPoints +for j=1:size(points,2) zij = cameras{frame_i}.project(points{j}); newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), K); end %% Initial estimates for the new pose. Also initialize points while in the first frame. -%TODO: this might be suboptimal since "result" is not the fully optimized result if (frame_i==2), prevPose = cameras{1}.pose; else, prevPose = result.pose(symbol('x',frame_i-1)); end initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(odometry)); %% Update ISAM if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses - initialEstimates - fullyOptimized = newFactors.optimize(initialEstimates) + fullyOptimized = newFactors.optimize(initialEstimates); initialEstimates = fullyOptimized; end % figure(1);tic; @@ -30,14 +52,10 @@ if ALWAYS_RELINEARIZE % re-linearize isam.reorder_relinearize(); end - if SAVE_GRAPH isam.saveGraph(sprintf('VisualiSAM.dot',frame_i)); end + if PRINT_STATS isam.printStats(); end - -%% Reset newFactors and initialEstimates to prepare for the next update -newFactors = visualSLAMGraph; -initialEstimates = visualSLAMValues; \ No newline at end of file diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index d13e45e3f..e1de7701e 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -1,37 +1,20 @@ function varargout = VisualISAM_gui(varargin) -% VISUALISAM_GUI MATLAB code for VisualISAM_gui.fig -% VISUALISAM_GUI, by itself, creates a new VISUALISAM_GUI or raises the existing -% singleton*. -% -% H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to -% the existing singleton*. -% -% VISUALISAM_GUI('CALLBACK',hObject,~,handles,...) calls the local -% function named CALLBACK in VISUALISAM_GUI.M with the given input arguments. -% -% VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the -% existing singleton*. Starting from the left, property value pairs are -% applied to the GUI before VisualISAM_gui_OpeningFcn gets called. An -% unrecognized property name or invalid value makes property application -% stop. All inputs are passed to VisualISAM_gui_OpeningFcn via varargin. -% -% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one -% instance to run (singleton)". -% -% See also: GUIDE, GUIDATA, GUIHANDLES - -% Edit the above text to modify the response to help VisualISAM_gui +% VisualISAM_gui: runs VisualSLAM iSAM demo in GUI +% Interface is defined by VisualISAM_gui.fig +% You can run this file directly, but won't have access to globals +% By running ViusalISAMDemo, you see all variables in command prompt +% Authors: Duy Nguyen Ta % Last Modified by GUIDE v2.5 09-Jun-2012 00:56:47 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... - 'gui_Singleton', gui_Singleton, ... - 'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ... - 'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ... - 'gui_LayoutFcn', [] , ... - 'gui_Callback', []); + 'gui_Singleton', gui_Singleton, ... + 'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ... + 'gui_OutputFcn', @VisualISAM_gui_OutputFcn, ... + 'gui_LayoutFcn', [] , ... + 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end @@ -55,11 +38,8 @@ handles.output = hObject; % Update handles structure guidata(hObject, handles); -% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME) -% uiwait(handles.figure1); - % --- Outputs from this function are returned to the command line. -function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) +function varargout = VisualISAM_gui_OutputFcn(hObject, ~, handles) % varargout cell array for returning output args (see VARARGOUT); % Get default command line output from handles structure varargout{1} = handles.output; @@ -69,49 +49,54 @@ varargout{1} = handles.output; % Convenient functions %---------------------------------------------------------- function showFramei(hObject, handles) - VisualISAMGlobalVars - set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i)); - drawnow - guidata(hObject, handles); - +global frame_i +set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i)); +drawnow +guidata(hObject, handles); + function showWaiting(handles, status) - set(handles.waitingStatus,'String', status); - drawnow - guidata(handles.waitingStatus, handles); - +set(handles.waitingStatus,'String', status); +drawnow +guidata(handles.waitingStatus, handles); + function triangle = chooseDataset(handles) - str = cellstr(get(handles.dataset,'String')); - sel = get(handles.dataset,'Value'); - switch str{sel} - case 'triangle' - triangle = true; - case 'cube' - triangle = false; - end - +str = cellstr(get(handles.dataset,'String')); +sel = get(handles.dataset,'Value'); +switch str{sel} + case 'triangle' + triangle = true; + case 'cube' + triangle = false; +end + function initOptions(handles) - VisualISAMGlobalVars - % Setting data options - TRIANGLE = chooseDataset(handles) - NCAMERAS = str2num(get(handles.numCamEdit,'String')) - SHOW_IMAGES = get(handles.showImagesCB,'Value') - % iSAM Options - HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value') - POINT_PRIORS = get(handles.pointPriorsCB,'Value') - BATCH_INIT = get(handles.batchInitCB,'Value') - REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String')) - ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value') +global TRIANGLE NCAMERAS SHOW_IMAGES +global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE +global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES +global SAVE_FIGURES SAVE_GRAPHS + +% Setting data options +TRIANGLE = chooseDataset(handles); +NCAMERAS = str2num(get(handles.numCamEdit,'String')); +SHOW_IMAGES = get(handles.showImagesCB,'Value'); + +% iSAM Options +HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value'); +POINT_PRIORS = get(handles.pointPriorsCB,'Value'); +BATCH_INIT = get(handles.batchInitCB,'Value'); +REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String')); +ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value'); + +% Display Options +SAVE_GRAPH = get(handles.saveGraphCB,'Value'); +PRINT_STATS = get(handles.printStatsCB,'Value'); +DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')); +CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String')); +DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value'); +SAVE_FIGURES = get(handles.saveFiguresCB,'Value'); +SAVE_GRAPHS = get(handles.saveGraphsCB,'Value'); - % Display Options - SAVE_GRAPH = get(handles.saveGraphCB,'Value') - PRINT_STATS = get(handles.printStatsCB,'Value') - DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) - CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String')) - DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value') - SAVE_FIGURES = get(handles.saveFiguresCB,'Value') - SAVE_GRAPHS = get(handles.saveGraphsCB,'Value') - %---------------------------------------------------------- % Callback functions for GUI elements @@ -130,7 +115,7 @@ end function dataset_Callback(hObject, ~, handles) % Hints: contents = cellstr(get(hObject,'String')) returns dataset contents as cell array % contents{get(hObject,'Value')} returns selected item from dataset - + % --- Executes during object creation, after setting all properties. function numCamEdit_CreateFcn(hObject, ~, handles) @@ -161,13 +146,13 @@ function pointPriorsCB_Callback(hObject, ~, handles) % --- Executes during object creation, after setting all properties. function batchInitCB_CreateFcn(hObject, eventdata, handles) - set(hObject,'Value',1); - +set(hObject,'Value',1); + % --- Executes on button press in batchInitCB. function batchInitCB_Callback(hObject, ~, handles) % Hint: get(hObject,'Value') returns toggle state of batchInitCB - + % --- Executes on button press in alwaysRelinearizeCB. function alwaysRelinearizeCB_Callback(hObject, ~, handles) % Hint: get(hObject,'Value') returns toggle state of alwaysRelinearizeCB @@ -242,48 +227,45 @@ function saveGraphsCB_Callback(hObject, ~, handles) % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, ~, handles) - VisualISAMGlobalVars - initOptions(handles) - VisualISAMGenerateData - VisualISAMInitialize - VisualISAMPlot - showFramei(hObject, handles) - - +initOptions(handles) +VisualISAMGenerateData +VisualISAMInitialize +VisualISAMPlot +showFramei(hObject, handles) + + % --- Executes on button press in runButton. function runButton_Callback(hObject, ~, handles) - VisualISAMGlobalVars - while (frame_i Date: Sun, 10 Jun 2012 04:24:12 +0000 Subject: [PATCH 311/914] fixed printing --- gtsam/nonlinear/NonlinearISAM.cpp | 29 +++++++++++++++-------------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 8c4424f05..810c9037c 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -25,10 +25,12 @@ #include +using namespace std; + namespace gtsam { /* ************************************************************************* */ -void NonlinearISAM::saveGraph(const std::string& s) const { +void NonlinearISAM::saveGraph(const string& s) const { isam_.saveGraph(s); } @@ -67,7 +69,7 @@ void NonlinearISAM::update(const NonlinearFactorGraph& newFactors, /* ************************************************************************* */ void NonlinearISAM::reorder_relinearize() { -// std::cout << "Reordering, relinearizing..." << std::endl; +// cout << "Reordering, relinearizing..." << endl; if(factors_.size() > 0) { // Obtain the new linearization point @@ -104,24 +106,23 @@ Matrix NonlinearISAM::marginalCovariance(Key key) const { } /* ************************************************************************* */ -void NonlinearISAM::print(const std::string& s) const { - std::cout << "ISAM - " << s << ":" << std::endl; - std::cout << " ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << std::endl; - isam_.print("GaussianISAM"); - linPoint_.print("Linearization Point"); - ordering_.print("System Ordering"); - factors_.print("Nonlinear Graph"); +void NonlinearISAM::print(const string& s) const { + cout s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl; + isam_.print("GaussianISAM:\n"); + linPoint_.print("Linearization Point:\n"); + ordering_.print("System Ordering:\n"); + factors_.print("Nonlinear Graph:\n"); } /* ************************************************************************* */ void NonlinearISAM::printStats() const { gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData(); gtsam::GaussianISAM::CliqueStats stats = data.getStats(); - std::cout << "\navg Conditional Size: " << stats.avgConditionalSize; - std::cout << "\nmax Conditional Size: " << stats.maxConditionalSize; - std::cout << "\navg Separator Size: " << stats.avgSeparatorSize; - std::cout << "\nmax Separator Size: " << stats.maxSeparatorSize; - std::cout << std::endl; + cout << "\navg Conditional Size: " << stats.avgConditionalSize; + cout << "\nmax Conditional Size: " << stats.maxConditionalSize; + cout << "\navg Separator Size: " << stats.avgSeparatorSize; + cout << "\nmax Separator Size: " << stats.maxSeparatorSize; + cout << endl; } /* ************************************************************************* */ From 7eb449c2051c844f589693a41e817f4b281ec383 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 04:25:05 +0000 Subject: [PATCH 312/914] GenerateData is now a function, no globals --- matlab/examples/VisualISAMDemo.m | 3 +- matlab/examples/VisualISAMExample.m | 18 ++++---- matlab/examples/VisualISAMExample_triangle.m | 18 ++++---- matlab/examples/VisualISAMGenerateData.m | 48 +++++++++----------- matlab/examples/VisualISAMInitialize.m | 28 ++++++++---- matlab/examples/VisualISAMPlot.m | 9 ++-- matlab/examples/VisualISAMStep.m | 18 ++++---- matlab/examples/VisualISAM_gui.m | 33 ++++++++------ 8 files changed, 90 insertions(+), 85 deletions(-) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index df83ab32c..cb56a8208 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -3,11 +3,10 @@ % Make sure global variables are visible on command prompt % so you can examine how they change as you step through -global TRIANGLE NCAMERAS SHOW_IMAGES global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING -global points K cameras odometry +global data global poseNoise pointNoise odometryNoise measurementNoise global frame_i isam newFactors initialEstimates result diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index 136adb3ed..c6563aa6e 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -11,16 +11,11 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Global variables used in VisualISAMExample -global TRIANGLE NCAMERAS SHOW_IMAGES +global data global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES global SAVE_FIGURES SAVE_GRAPHS -%% Setting data options -TRIANGLE = false; -NCAMERAS = 20; -SHOW_IMAGES = false; - %% iSAM Options HARD_CONSTRAINT = false; POINT_PRIORS = false; @@ -37,14 +32,19 @@ DRAW_TRUE_POSES = false; SAVE_FIGURES = false; SAVE_GRAPHS = false; -%% Generate data and initialize iSAM with the first pose and points -VisualISAMGenerateData +%% Generate data +options.triangle = false; +options.nrCameras = 20; +showImages = false; +data = VisualISAMGenerateData(options,showImages); + +%% Initialize iSAM with the first pose and points VisualISAMInitialize figure; VisualISAMPlot %% Main loop for iSAM: stepping through all poses -for frame_i=2:NCAMERAS +for frame_i=2:options.nrCameras VisualISAMStep if mod(frame_i,DRAW_INTERVAL)==0 VisualISAMPlot diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m index f6b030d1d..8629ae79f 100644 --- a/matlab/examples/VisualISAMExample_triangle.m +++ b/matlab/examples/VisualISAMExample_triangle.m @@ -11,16 +11,11 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Global variables used in VisualISAMExample -global TRIANGLE NCAMERAS SHOW_IMAGES +global data global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES global SAVE_FIGURES SAVE_GRAPHS -%% Setting data options -TRIANGLE = true; -NCAMERAS = 10; -SHOW_IMAGES = false; - %% iSAM Options HARD_CONSTRAINT = false; POINT_PRIORS = false; @@ -37,14 +32,19 @@ DRAW_TRUE_POSES = false; SAVE_FIGURES = false; SAVE_GRAPHS = false; -%% Generate data and initialize iSAM with the first pose and points -VisualISAMGenerateData +%% Generate data +options.triangle = true; +options.nrCameras = 10; +showImages = false; +data = VisualISAMGenerateData(options,showImages); + +%% Initialize iSAM with the first pose and points VisualISAMInitialize figure; VisualISAMPlot %% Main loop for iSAM: stepping through all poses -for frame_i=2:NCAMERAS +for frame_i=2:options.nrCameras VisualISAMStep if mod(frame_i,DRAW_INTERVAL)==0 VisualISAMPlot diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index 638bdd90b..0eb504d57 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -1,25 +1,20 @@ +function data = VisualISAMGenerateData(options, showImages) % VisualISAMGenerateData: create data for viusalSLAM::iSAM examples % Authors: Duy Nguyen Ta and Frank Dellaert - -% options -global TRIANGLE NCAMERAS SHOW_IMAGES - -% global outputs -global points cameras K odometry -global poseNoise odometryNoise pointNoise measurementNoise % data ? +if nargin<2, showImages=false; end %% Generate simulated data -points = {}; -if TRIANGLE % Create a triangle target, just 3 points on a plane +data.points = {}; +if options.triangle % Create a triangle target, just 3 points on a plane nPoints = 3; r = 10; for j=1:nPoints theta = (j-1)*2*pi/nPoints; - points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); + data.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); end else % 3D landmarks as vertices of a cube nPoints = 8; - points = {gtsamPoint3([10 10 10]'),... + data.points = {gtsamPoint3([10 10 10]'),... gtsamPoint3([-10 10 10]'),... gtsamPoint3([-10 -10 10]'),... gtsamPoint3([10 -10 10]'),... @@ -31,29 +26,28 @@ end %% Create camera cameras on a circle around the triangle height = 10; r = 40; -K = gtsamCal3_S2(500,500,0,640/2,480/2); -cameras = {}; -gui = gcf; -for i=1:NCAMERAS - theta = (i-1)*2*pi/NCAMERAS; +data.K = gtsamCal3_S2(500,500,0,640/2,480/2); +data.cameras = {}; +for i=1:options.nrCameras + theta = (i-1)*2*pi/options.nrCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); - if SHOW_IMAGES % show images + data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); +end + +%% show images if asked +if showImages + gui = gcf; + for i=1:options.nrCameras figure(2+i);clf;hold on set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i)); for j=1:nPoints - zij = cameras{i}.project(points{j}); + zij = data.cameras{i}.project(data.points{j}); plot(zij.x,zij.y,'*'); axis([1 640 1 480]); end end + figure(gui); end -figure(gui); -odometry = cameras{1}.pose.between(cameras{2}.pose); - -%% Set Noise parameters -poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); \ No newline at end of file +%% Calculate odometry between cameras +data.odometry = data.cameras{1}.pose.between(data.cameras{2}.pose); diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index 8fd23aeaa..eeba8cbf6 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -3,36 +3,46 @@ function VisualISAMStep % Authors: Duy Nguyen Ta and Frank Dellaert % global variables, input -global cameras points pointNoise poseNoise measurementNoise K +global data pointNoise poseNoise measurementNoise % global variables, output global isam newFactors initialEstimates frame_i result +global poseNoise odometryNoise pointNoise measurementNoise % options global REORDER_INTERVAL HARD_CONSTRAINT POINT_PRIORS %% Initialize iSAM isam = visualSLAMISAM(REORDER_INTERVAL); + +%% Set Noise parameters +poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); +measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); + +%% Add constraints/priors newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; i1 = symbol('x',1); -camera1 = cameras{1}; +camera1 = data.cameras{1}; pose1 = camera1.pose; if HARD_CONSTRAINT % add hard constraint newFactors.addPoseConstraint(i1,pose1); else newFactors.addPosePrior(i1,pose1, poseNoise); end -initialEstimates.insertPose(i1,pose1); -% Add visual measurement factors from first pose -for j=1:size(points,2) +initialEstimates.insertPose(i1,pose1); % TODO: should not be from ground truth! + +%% Add visual measurement factors from first pose +for j=1:size(data.points,2) jj = symbol('l',j); if POINT_PRIORS % add point priors - newFactors.addPointPrior(jj, points{j}, pointNoise); + newFactors.addPointPrior(jj, data.points{j}, pointNoise); end - zij = camera1.project(points{j}); - newFactors.addMeasurement(zij, measurementNoise, i1, jj, K); - initialEstimates.insertPoint(jj, points{j}); + zij = camera1.project(data.points{j}); + newFactors.addMeasurement(zij, measurementNoise, i1, jj, data.K); + initialEstimates.insertPoint(jj, data.points{j}); % TODO: should not be from ground truth! end frame_i = 1; diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index 4e7ef07da..52eb030b5 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -2,17 +2,16 @@ % Authors: Duy Nguyen Ta and Frank Dellaert % global variables, input -global points cameras frame_i isam result +global data frame_i isam result % options global CAMERA_INTERVAL DRAW_TRUE_POSES SAVE_FIGURES SAVE_GRAPHS %% Plot results -tic h=gca; cla(h); hold on; -for j=1:size(points,2) +for j=1:size(data.points,2) point_j = result.point(symbol('l',j)); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); if (frame_i>1) @@ -29,15 +28,13 @@ for ii=1:CAMERA_INTERVAL:frame_i end plotPose3(pose_ii,P,10); if DRAW_TRUE_POSES % show ground truth - plotPose3(cameras{ii}.pose,0.001*eye(6),10); + plotPose3(data.cameras{ii}.pose,0.001*eye(6),10); end end axis([-40 40 -40 40 -10 20]);axis equal view(3) colormap('hot') -t=toc; -% if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end if SAVE_FIGURES fig2 = figure('visible','off'); newax = copyobj(h,fig2); diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index ab417d3d2..833618a6f 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -3,8 +3,8 @@ function VisualISAMStep % Authors: Duy Nguyen Ta and Frank Dellaert % global variables, input -global frame_i odometry odometryNoise newFactors initialEstimates -global points cameras measurementNoise K +global frame_i odometryNoise measurementNoise newFactors initialEstimates +global data % global variables, input/output global isam @@ -25,18 +25,18 @@ if frame_i > 2 end %% Add odometry -newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, odometryNoise); +newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), data.odometry, odometryNoise); %% Add visual measurement factors -for j=1:size(points,2) - zij = cameras{frame_i}.project(points{j}); - newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), K); +for j=1:size(data.points,2) + zij = data.cameras{frame_i}.project(data.points{j}); + newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), data.K); end -%% Initial estimates for the new pose. Also initialize points while in the first frame. -if (frame_i==2), prevPose = cameras{1}.pose; +%% Initial estimates for the new pose. Also initialize data.points while in the first frame. +if (frame_i==2), prevPose = data.cameras{1}.pose; else, prevPose = result.pose(symbol('x',frame_i-1)); end -initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(odometry)); +initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(data.odometry)); %% Update ISAM if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index e1de7701e..a1f9a8a54 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -71,21 +71,15 @@ end function initOptions(handles) -global TRIANGLE NCAMERAS SHOW_IMAGES global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES -global SAVE_FIGURES SAVE_GRAPHS - -% Setting data options -TRIANGLE = chooseDataset(handles); -NCAMERAS = str2num(get(handles.numCamEdit,'String')); -SHOW_IMAGES = get(handles.showImagesCB,'Value'); +global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING % iSAM Options HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value'); POINT_PRIORS = get(handles.pointPriorsCB,'Value'); BATCH_INIT = get(handles.batchInitCB,'Value'); -REORDER_INTERVAL = str2num(get(handles.numCamEdit,'String')); +REORDER_INTERVAL = str2num(get(handles.reorderIntervalEdit,'String')); ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value'); % Display Options @@ -96,7 +90,7 @@ CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String')); DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value'); SAVE_FIGURES = get(handles.saveFiguresCB,'Value'); SAVE_GRAPHS = get(handles.saveGraphsCB,'Value'); - +SHOW_TIMING = false; %---------------------------------------------------------- % Callback functions for GUI elements @@ -227,8 +221,19 @@ function saveGraphsCB_Callback(hObject, ~, handles) % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, ~, handles) + +global data + +% initialize global options initOptions(handles) -VisualISAMGenerateData + +% Generate Data +options.triangle = chooseDataset(handles); +options.nrCameras = str2num(get(handles.numCamEdit,'String')); +showImages = get(handles.showImagesCB,'Value'); +data = VisualISAMGenerateData(options, showImages); + +% Initialize and plot VisualISAMInitialize VisualISAMPlot showFramei(hObject, handles) @@ -236,8 +241,8 @@ showFramei(hObject, handles) % --- Executes on button press in runButton. function runButton_Callback(hObject, ~, handles) -global frame_i NCAMERAS DRAW_INTERVAL -while (frame_i Date: Sun, 10 Jun 2012 05:00:42 +0000 Subject: [PATCH 313/914] Initialize now initailizes first two cameras, makes so much more sense! --- matlab/examples/VisualISAMDemo.m | 2 +- matlab/examples/VisualISAMExample.m | 5 +- matlab/examples/VisualISAMExample_triangle.m | 5 +- matlab/examples/VisualISAMInitialize.m | 63 +++++++++++++------- matlab/examples/VisualISAMPlot.m | 9 +++ matlab/examples/VisualISAMStep.m | 30 +++------- 6 files changed, 66 insertions(+), 48 deletions(-) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index cb56a8208..a6850fb7d 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -8,7 +8,7 @@ global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING global data global poseNoise pointNoise odometryNoise measurementNoise -global frame_i isam newFactors initialEstimates result +global frame_i isam result % Start GUI VisualISAM_gui \ No newline at end of file diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index c6563aa6e..f84ee89c7 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -11,7 +11,8 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Global variables used in VisualISAMExample -global data +global data isam frame_i result +global poseNoise odometryNoise pointNoise measurementNoise global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES global SAVE_FIGURES SAVE_GRAPHS @@ -44,7 +45,7 @@ figure; VisualISAMPlot %% Main loop for iSAM: stepping through all poses -for frame_i=2:options.nrCameras +for frame_i=3:options.nrCameras VisualISAMStep if mod(frame_i,DRAW_INTERVAL)==0 VisualISAMPlot diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m index 8629ae79f..536dbf9c1 100644 --- a/matlab/examples/VisualISAMExample_triangle.m +++ b/matlab/examples/VisualISAMExample_triangle.m @@ -11,7 +11,8 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Global variables used in VisualISAMExample -global data +global data isam frame_i result +global poseNoise odometryNoise pointNoise measurementNoise global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES global SAVE_FIGURES SAVE_GRAPHS @@ -44,7 +45,7 @@ figure; VisualISAMPlot %% Main loop for iSAM: stepping through all poses -for frame_i=2:options.nrCameras +for frame_i=3:options.nrCameras VisualISAMStep if mod(frame_i,DRAW_INTERVAL)==0 VisualISAMPlot diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index eeba8cbf6..73d512d3d 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -1,17 +1,17 @@ -function VisualISAMStep -% VisualISAMStep: execute one update step of visualSLAM::iSAM object +function VisualInitialize +% VisualInitialize: initialize visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta and Frank Dellaert +% options +global REORDER_INTERVAL HARD_CONSTRAINT POINT_PRIORS BATCH_INIT ALWAYS_RELINEARIZE + % global variables, input -global data pointNoise poseNoise measurementNoise +global data % global variables, output -global isam newFactors initialEstimates frame_i result +global isam frame_i result global poseNoise odometryNoise pointNoise measurementNoise -% options -global REORDER_INTERVAL HARD_CONSTRAINT POINT_PRIORS - %% Initialize iSAM isam = visualSLAMISAM(REORDER_INTERVAL); @@ -24,27 +24,50 @@ measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); %% Add constraints/priors newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; -i1 = symbol('x',1); -camera1 = data.cameras{1}; -pose1 = camera1.pose; -if HARD_CONSTRAINT % add hard constraint - newFactors.addPoseConstraint(i1,pose1); -else - newFactors.addPosePrior(i1,pose1, poseNoise); +for frame_i=1:2 + ii = symbol('x',frame_i); + if frame_i==1 & HARD_CONSTRAINT % add hard constraint + newFactors.addPoseConstraint(ii,data.cameras{1}.pose); + else + newFactors.addPosePrior(ii,data.cameras{frame_i}.pose, poseNoise); + end + % TODO: init should not be from ground truth! + initialEstimates.insertPose(ii,data.cameras{frame_i}.pose); end -initialEstimates.insertPose(i1,pose1); % TODO: should not be from ground truth! -%% Add visual measurement factors from first pose +%% Add visual measurement factors from two first poses +for frame_i=1:2 + ii = symbol('x',frame_i); + for j=1:size(data.points,2) + jj = symbol('l',j); + zij = data.cameras{frame_i}.project(data.points{j}); + newFactors.addMeasurement(zij, measurementNoise, ii, jj, data.K); + end +end + +%% Initialize points, possibly add priors on them for j=1:size(data.points,2) jj = symbol('l',j); if POINT_PRIORS % add point priors newFactors.addPointPrior(jj, data.points{j}, pointNoise); end - zij = camera1.project(data.points{j}); - newFactors.addMeasurement(zij, measurementNoise, i1, jj, data.K); initialEstimates.insertPoint(jj, data.points{j}); % TODO: should not be from ground truth! end -frame_i = 1; -result = initialEstimates; +%% Update ISAM +if BATCH_INIT % Do a full optimize for first two poses + fullyOptimized = newFactors.optimize(initialEstimates); + isam.update(newFactors, fullyOptimized); +else + isam.update(newFactors, initialEstimates); +end +% figure(1);tic; +% t=toc; plot(frame_i,t,'r.'); tic +result = isam.estimate(); +% t=toc; plot(frame_i,t,'g.'); + +if ALWAYS_RELINEARIZE % re-linearize + isam.reorder_relinearize(); +end + cla; \ No newline at end of file diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index 52eb030b5..fc4436332 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -6,6 +6,7 @@ global data frame_i isam result % options global CAMERA_INTERVAL DRAW_TRUE_POSES SAVE_FIGURES SAVE_GRAPHS +global SAVE_GRAPH PRINT_STATS %% Plot results h=gca; @@ -46,4 +47,12 @@ if SAVE_GRAPHS && (frame_i>1) isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i)); end +if SAVE_GRAPH + isam.saveGraph(sprintf('VisualiSAM.dot',frame_i)); +end + +if PRINT_STATS + isam.printStats(); +end + drawnow \ No newline at end of file diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index 833618a6f..9bf8f93ac 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -3,7 +3,7 @@ function VisualISAMStep % Authors: Duy Nguyen Ta and Frank Dellaert % global variables, input -global frame_i odometryNoise measurementNoise newFactors initialEstimates +global frame_i odometryNoise measurementNoise global data % global variables, input/output @@ -13,16 +13,12 @@ global isam global result % options -global BATCH_INIT SHOW_TIMING ALWAYS_RELINEARIZE -global SAVE_GRAPH PRINT_STATS +global SHOW_TIMING ALWAYS_RELINEARIZE % iSAM expects us to give it a new set of factors % along with initial estimates for any new variables introduced. -% We do not clear in frame 2 so we add to the factors added in Initialize -if frame_i > 2 - newFactors = visualSLAMGraph; - initialEstimates = visualSLAMValues; -end +newFactors = visualSLAMGraph; +initialEstimates = visualSLAMValues; %% Add odometry newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), data.odometry, odometryNoise); @@ -33,29 +29,17 @@ for j=1:size(data.points,2) newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), data.K); end -%% Initial estimates for the new pose. Also initialize data.points while in the first frame. -if (frame_i==2), prevPose = data.cameras{1}.pose; -else, prevPose = result.pose(symbol('x',frame_i-1)); end +%% Initial estimates for the new pose. +prevPose = result.pose(symbol('x',frame_i-1)); initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(data.odometry)); %% Update ISAM -if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses - fullyOptimized = newFactors.optimize(initialEstimates); - initialEstimates = fullyOptimized; -end % figure(1);tic; isam.update(newFactors, initialEstimates); % t=toc; plot(frame_i,t,'r.'); tic result = isam.estimate(); % t=toc; plot(frame_i,t,'g.'); + if ALWAYS_RELINEARIZE % re-linearize isam.reorder_relinearize(); end - -if SAVE_GRAPH - isam.saveGraph(sprintf('VisualiSAM.dot',frame_i)); -end - -if PRINT_STATS - isam.printStats(); -end From b50c69b7aacc2a0b9f1bf7fda80de01ac0055a59 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 05:37:14 +0000 Subject: [PATCH 314/914] Fixed compile error. Sorry! --- gtsam/nonlinear/NonlinearISAM.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 810c9037c..5f95a0609 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -107,7 +107,7 @@ Matrix NonlinearISAM::marginalCovariance(Key key) const { /* ************************************************************************* */ void NonlinearISAM::print(const string& s) const { - cout s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl; + cout << s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl; isam_.print("GaussianISAM:\n"); linPoint_.print("Linearization Point:\n"); ordering_.print("System Ordering:\n"); From 4107167633d95da08bfbb3cf22d1de82d0b0cebf Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 15:20:51 +0000 Subject: [PATCH 315/914] nrPoses, nrPoints --- gtsam.h | 2 ++ gtsam/slam/visualSLAM.cpp | 15 +++++++++++++++ gtsam/slam/visualSLAM.h | 6 ++++++ 3 files changed, 23 insertions(+) diff --git a/gtsam.h b/gtsam.h index 315071f65..ff9bb2022 100644 --- a/gtsam.h +++ b/gtsam.h @@ -891,6 +891,8 @@ class Values { void updatePose(size_t key, const gtsam::Pose3& pose); void updatePoint(size_t key, const gtsam::Point3& pose); size_t size() const; + size_t nrPoses() const; + size_t nrPoints() const; void print(string s) const; gtsam::Pose3 pose(size_t i); gtsam::Point3 point(size_t j); diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index bb3cd19d1..26123dda6 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -23,6 +23,20 @@ using boost::make_shared; namespace visualSLAM { + /* ************************************************************************* */ + size_t Values::nrPoses() const { + // TODO, is there a better way? + ConstFiltered poses = filter(); + return poses.size(); + } + + /* ************************************************************************* */ + size_t Values::nrPoints() const { + // TODO, is there a better way? + ConstFiltered points = filter(); + return points.size(); + } + /* ************************************************************************* */ Vector Values::xs() const { size_t j=0; @@ -53,6 +67,7 @@ namespace visualSLAM { return result; } + /* ************************************************************************* */ Matrix Values::points() const { size_t j=0; ConstFiltered points = filter(); diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index f1f5c3850..5f2d70905 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -72,6 +72,12 @@ namespace visualSLAM { /// update a point void updatePoint(Key j, const Point3& point) { update(j, point); } + /// get number of poses + size_t nrPoses() const; + + /// get number of points + size_t nrPoints() const; + /// get a pose Pose3 pose(Key i) const { return at(i); } From 6b23258b9739f916790093c9cd85944e6594ff96 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 15:26:59 +0000 Subject: [PATCH 316/914] options structure all the way --- matlab/examples/VisualISAMDemo.m | 3 - matlab/examples/VisualISAMExample.m | 55 ++++++++------- matlab/examples/VisualISAMExample_triangle.m | 55 ++++++++------- matlab/examples/VisualISAMGenerateData.m | 5 +- matlab/examples/VisualISAMInitialize.m | 15 ++-- matlab/examples/VisualISAMPlot.m | 72 +++++++++++--------- matlab/examples/VisualISAMStep.m | 8 +-- matlab/examples/VisualISAM_gui.m | 56 +++++++-------- 8 files changed, 130 insertions(+), 139 deletions(-) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index a6850fb7d..f4b975ad5 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -3,9 +3,6 @@ % Make sure global variables are visible on command prompt % so you can examine how they change as you step through -global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE -global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES -global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING global data global poseNoise pointNoise odometryNoise measurementNoise global frame_i isam result diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index f84ee89c7..f7114b652 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -11,43 +11,42 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Global variables used in VisualISAMExample -global data isam frame_i result +global options data isam result frame_i global poseNoise odometryNoise pointNoise measurementNoise -global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE -global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES -global SAVE_FIGURES SAVE_GRAPHS -%% iSAM Options -HARD_CONSTRAINT = false; -POINT_PRIORS = false; -BATCH_INIT = true; -REORDER_INTERVAL = 10; -ALWAYS_RELINEARIZE = false; - -%% Display Options -SAVE_GRAPH = false; -PRINT_STATS = false; -DRAW_INTERVAL = 5; -CAMERA_INTERVAL = 1; -DRAW_TRUE_POSES = false; -SAVE_FIGURES = false; -SAVE_GRAPHS = false; - -%% Generate data +% Data Options options.triangle = false; options.nrCameras = 20; -showImages = false; -data = VisualISAMGenerateData(options,showImages); +options.showImages = false; + +% iSAM Options +options.hardConstraint = false; +options.pointPriors = false; +options.batchInitialization = true; +options.reorderInterval = 10; +options.alwaysRelinearize = false; + +% Display Options +options.saveDotFile = false; +options.printStats = false; +options.drawInterval = 5; +options.cameraInterval = 1; +options.drawTruePoses = false; +options.saveFigures = false; +options.saveDotFiles = false; + +%% Generate data +data = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -VisualISAMInitialize -figure; -VisualISAMPlot +VisualISAMInitialize(options) +figure(1); +VisualISAMPlot(data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras VisualISAMStep - if mod(frame_i,DRAW_INTERVAL)==0 - VisualISAMPlot + if mod(frame_i,options.drawInterval)==0 + VisualISAMPlot(data, isam, result, options) end end \ No newline at end of file diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m index 536dbf9c1..2fdb35599 100644 --- a/matlab/examples/VisualISAMExample_triangle.m +++ b/matlab/examples/VisualISAMExample_triangle.m @@ -11,43 +11,42 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Global variables used in VisualISAMExample -global data isam frame_i result +global options data isam result frame_i global poseNoise odometryNoise pointNoise measurementNoise -global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE -global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES -global SAVE_FIGURES SAVE_GRAPHS -%% iSAM Options -HARD_CONSTRAINT = false; -POINT_PRIORS = false; -BATCH_INIT = true; -REORDER_INTERVAL = 10; -ALWAYS_RELINEARIZE = false; - -%% Display Options -SAVE_GRAPH = false; -PRINT_STATS = false; -DRAW_INTERVAL = 5; -CAMERA_INTERVAL = 1; -DRAW_TRUE_POSES = false; -SAVE_FIGURES = false; -SAVE_GRAPHS = false; - -%% Generate data +% Data Options options.triangle = true; options.nrCameras = 10; -showImages = false; -data = VisualISAMGenerateData(options,showImages); +options.showImages = false; + +% iSAM Options +options.hardConstraint = false; +options.pointPriors = false; +options.batchInitialization = true; +options.reorderInterval = 10; +options.alwaysRelinearize = false; + +% Display Options +options.saveDotFile = false; +options.printStats = false; +options.drawInterval = 5; +options.cameraInterval = 1; +options.drawTruePoses = false; +options.saveFigures = false; +options.saveDotFiles = false; + +%% Generate data +data = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -VisualISAMInitialize -figure; -VisualISAMPlot +VisualISAMInitialize(options) +figure(1); +VisualISAMPlot(data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras VisualISAMStep - if mod(frame_i,DRAW_INTERVAL)==0 - VisualISAMPlot + if mod(frame_i,options.drawInterval)==0 + VisualISAMPlot(data, isam, result, options) end end \ No newline at end of file diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index 0eb504d57..adb0b9243 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -1,7 +1,6 @@ -function data = VisualISAMGenerateData(options, showImages) +function data = VisualISAMGenerateData(options) % VisualISAMGenerateData: create data for viusalSLAM::iSAM examples % Authors: Duy Nguyen Ta and Frank Dellaert -if nargin<2, showImages=false; end %% Generate simulated data data.points = {}; @@ -35,7 +34,7 @@ for i=1:options.nrCameras end %% show images if asked -if showImages +if options.showImages gui = gcf; for i=1:options.nrCameras figure(2+i);clf;hold on diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index 73d512d3d..d7489eb67 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -1,10 +1,7 @@ -function VisualInitialize +function VisualInitialize(options) % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta and Frank Dellaert -% options -global REORDER_INTERVAL HARD_CONSTRAINT POINT_PRIORS BATCH_INIT ALWAYS_RELINEARIZE - % global variables, input global data @@ -13,7 +10,7 @@ global isam frame_i result global poseNoise odometryNoise pointNoise measurementNoise %% Initialize iSAM -isam = visualSLAMISAM(REORDER_INTERVAL); +isam = visualSLAMISAM(options.reorderInterval); %% Set Noise parameters poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); @@ -26,7 +23,7 @@ newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; for frame_i=1:2 ii = symbol('x',frame_i); - if frame_i==1 & HARD_CONSTRAINT % add hard constraint + if frame_i==1 & options.hardConstraint % add hard constraint newFactors.addPoseConstraint(ii,data.cameras{1}.pose); else newFactors.addPosePrior(ii,data.cameras{frame_i}.pose, poseNoise); @@ -48,14 +45,14 @@ end %% Initialize points, possibly add priors on them for j=1:size(data.points,2) jj = symbol('l',j); - if POINT_PRIORS % add point priors + if options.pointPriors % add point priors newFactors.addPointPrior(jj, data.points{j}, pointNoise); end initialEstimates.insertPoint(jj, data.points{j}); % TODO: should not be from ground truth! end %% Update ISAM -if BATCH_INIT % Do a full optimize for first two poses +if options.batchInitialization % Do a full optimize for first two poses fullyOptimized = newFactors.optimize(initialEstimates); isam.update(newFactors, fullyOptimized); else @@ -66,7 +63,7 @@ end result = isam.estimate(); % t=toc; plot(frame_i,t,'g.'); -if ALWAYS_RELINEARIZE % re-linearize +if options.alwaysRelinearize % re-linearize isam.reorder_relinearize(); end diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index fc4436332..42407ec82 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -1,58 +1,62 @@ +function VisualISAMPlot(data, isam, result, options) % VisualISAMPlot: plot current state of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert -% global variables, input -global data frame_i isam result +M = double(result.nrPoses); +N = double(result.nrPoints); -% options -global CAMERA_INTERVAL DRAW_TRUE_POSES SAVE_FIGURES SAVE_GRAPHS -global SAVE_GRAPH PRINT_STATS - -%% Plot results h=gca; cla(h); hold on; -for j=1:size(data.points,2) - point_j = result.point(symbol('l',j)); + +%% Plot points +for j=1:N + jj = symbol('l',j); + point_j = result.point(jj); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - if (frame_i>1) - P = isam.marginalCovariance(symbol('l',j)); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); - end -end -for ii=1:CAMERA_INTERVAL:frame_i - pose_ii = result.pose(symbol('x',ii)); - if (frame_i>1) - P = isam.marginalCovariance(symbol('x',ii)); - else - P = []; - end - plotPose3(pose_ii,P,10); - if DRAW_TRUE_POSES % show ground truth - plotPose3(data.cameras{ii}.pose,0.001*eye(6),10); + P = isam.marginalCovariance(jj); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); +end + +%% Plot cameras +for i=1:options.cameraInterval:M + ii = symbol('x',i); + pose_i = result.pose(ii); + if options.hardConstraint & (i==1) + plotPose3(pose_i,[],10); + else + P = isam.marginalCovariance(ii); + plotPose3(pose_i,P,10); + end + if options.drawTruePoses % show ground truth + plotPose3(data.cameras{i}.pose,[],10); end end + +%% draw axis([-40 40 -40 40 -10 20]);axis equal view(3) colormap('hot') +drawnow -if SAVE_FIGURES +%% do various optional things + +if options.saveFigures fig2 = figure('visible','off'); newax = copyobj(h,fig2); colormap(fig2,'hot'); set(newax, 'units', 'normalized', 'position', [0.13 0.11 0.775 0.815]); - print(fig2,'-dpng',sprintf('VisualiSAM%03d.png',frame_i)); -end -if SAVE_GRAPHS && (frame_i>1) - isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i)); + print(fig2,'-dpng',sprintf('VisualiSAM%03d.png',M)); end -if SAVE_GRAPH - isam.saveGraph(sprintf('VisualiSAM.dot',frame_i)); +if options.saveDotFiles + isam.saveGraph(sprintf('VisualiSAM%03d.dot',M)); end -if PRINT_STATS +if options.saveDotFile + isam.saveGraph(sprintf('VisualiSAM.dot')); +end + +if options.printStats isam.printStats(); end - -drawnow \ No newline at end of file diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index 9bf8f93ac..30b0dfcce 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -3,8 +3,7 @@ function VisualISAMStep % Authors: Duy Nguyen Ta and Frank Dellaert % global variables, input -global frame_i odometryNoise measurementNoise -global data +global options data odometryNoise measurementNoise frame_i % global variables, input/output global isam @@ -12,9 +11,6 @@ global isam % global variables, output global result -% options -global SHOW_TIMING ALWAYS_RELINEARIZE - % iSAM expects us to give it a new set of factors % along with initial estimates for any new variables introduced. newFactors = visualSLAMGraph; @@ -40,6 +36,6 @@ isam.update(newFactors, initialEstimates); result = isam.estimate(); % t=toc; plot(frame_i,t,'g.'); -if ALWAYS_RELINEARIZE % re-linearize +if options.alwaysRelinearize % re-linearize isam.reorder_relinearize(); end diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index a1f9a8a54..3adeb4b1c 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -71,26 +71,28 @@ end function initOptions(handles) -global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE -global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES -global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING +global options + +% Data options +options.triangle = chooseDataset(handles); +options.nrCameras = str2num(get(handles.numCamEdit,'String')); +options.showImages = get(handles.showImagesCB,'Value'); % iSAM Options -HARD_CONSTRAINT = get(handles.hardConstraintCB,'Value'); -POINT_PRIORS = get(handles.pointPriorsCB,'Value'); -BATCH_INIT = get(handles.batchInitCB,'Value'); -REORDER_INTERVAL = str2num(get(handles.reorderIntervalEdit,'String')); -ALWAYS_RELINEARIZE = get(handles.alwaysRelinearizeCB,'Value'); +options.hardConstraint = get(handles.hardConstraintCB,'Value'); +options.pointPriors = get(handles.pointPriorsCB,'Value'); +options.batchInitialization = get(handles.batchInitCB,'Value'); +options.reorderInterval = str2num(get(handles.reorderIntervalEdit,'String')); +options.alwaysRelinearize = get(handles.alwaysRelinearizeCB,'Value'); % Display Options -SAVE_GRAPH = get(handles.saveGraphCB,'Value'); -PRINT_STATS = get(handles.printStatsCB,'Value'); -DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')); -CAMERA_INTERVAL = str2num(get(handles.cameraIntervalEdit,'String')); -DRAW_TRUE_POSES = get(handles.drawTruePosesCB,'Value'); -SAVE_FIGURES = get(handles.saveFiguresCB,'Value'); -SAVE_GRAPHS = get(handles.saveGraphsCB,'Value'); -SHOW_TIMING = false; +options.saveDotFile = get(handles.saveGraphCB,'Value'); +options.printStats = get(handles.printStatsCB,'Value'); +options.drawInterval = str2num(get(handles.drawInterval,'String')); +options.cameraInterval = str2num(get(handles.cameraIntervalEdit,'String')); +options.drawTruePoses = get(handles.drawTruePosesCB,'Value'); +options.saveFigures = get(handles.saveFiguresCB,'Value'); +options.saveDotFiles = get(handles.saveGraphsCB,'Value'); %---------------------------------------------------------- % Callback functions for GUI elements @@ -222,33 +224,31 @@ function saveGraphsCB_Callback(hObject, ~, handles) % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, ~, handles) -global data +global options data isam result % initialize global options +global options initOptions(handles) % Generate Data -options.triangle = chooseDataset(handles); -options.nrCameras = str2num(get(handles.numCamEdit,'String')); -showImages = get(handles.showImagesCB,'Value'); -data = VisualISAMGenerateData(options, showImages); +data = VisualISAMGenerateData(options); % Initialize and plot -VisualISAMInitialize -VisualISAMPlot +VisualISAMInitialize(options) +VisualISAMPlot(data, isam, result, options) showFramei(hObject, handles) % --- Executes on button press in runButton. function runButton_Callback(hObject, ~, handles) -global frame_i data DRAW_INTERVAL +global options data frame_i isam result while (frame_i Date: Sun, 10 Jun 2012 16:06:37 +0000 Subject: [PATCH 317/914] Fixed Doxygen warning. --- gtsam/nonlinear/NonlinearFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index a01cead24..19c9c6988 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -36,7 +36,7 @@ /** * Macro to add a standard clone function to a derived factor - * @DEPRECIATED: will go away shortly - just add the clone function directly + * @DEPRECATED: will go away shortly - just add the clone function directly */ #define ADD_CLONE_NONLINEAR_FACTOR(Derived) \ virtual gtsam::NonlinearFactor::shared_ptr clone() const { \ From 653d4ef131aec6553692e8b42844f8212e3b0c09 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 18:46:56 +0000 Subject: [PATCH 318/914] No more globals (except in gui and demo) --- matlab/examples/VisualISAMDemo.m | 4 +--- matlab/examples/VisualISAMExample.m | 10 +++------ matlab/examples/VisualISAMExample_triangle.m | 10 +++------ matlab/examples/VisualISAMInitialize.m | 23 +++++++------------- matlab/examples/VisualISAMStep.m | 22 ++++++------------- matlab/examples/VisualISAM_gui.m | 17 ++++++++------- 6 files changed, 31 insertions(+), 55 deletions(-) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index f4b975ad5..00518293a 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -3,9 +3,7 @@ % Make sure global variables are visible on command prompt % so you can examine how they change as you step through -global data -global poseNoise pointNoise odometryNoise measurementNoise -global frame_i isam result +global frame_i data noiseModels isam result options % Start GUI VisualISAM_gui \ No newline at end of file diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index f7114b652..eadca5d2f 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -10,10 +10,6 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Global variables used in VisualISAMExample -global options data isam result frame_i -global poseNoise odometryNoise pointNoise measurementNoise - % Data Options options.triangle = false; options.nrCameras = 20; @@ -39,14 +35,14 @@ options.saveDotFiles = false; data = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -VisualISAMInitialize(options) +[noiseModels,isam,result] = VisualISAMInitialize(data,options); figure(1); VisualISAMPlot(data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras - VisualISAMStep + [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); if mod(frame_i,options.drawInterval)==0 VisualISAMPlot(data, isam, result, options) end -end \ No newline at end of file +end diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m index 2fdb35599..c9c416cb2 100644 --- a/matlab/examples/VisualISAMExample_triangle.m +++ b/matlab/examples/VisualISAMExample_triangle.m @@ -10,10 +10,6 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Global variables used in VisualISAMExample -global options data isam result frame_i -global poseNoise odometryNoise pointNoise measurementNoise - % Data Options options.triangle = true; options.nrCameras = 10; @@ -39,14 +35,14 @@ options.saveDotFiles = false; data = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -VisualISAMInitialize(options) +[noiseModels,isam,result] = VisualISAMInitialize(data,options); figure(1); VisualISAMPlot(data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras - VisualISAMStep + [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); if mod(frame_i,options.drawInterval)==0 VisualISAMPlot(data, isam, result, options) end -end \ No newline at end of file +end diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index d7489eb67..f79a30a93 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -1,22 +1,15 @@ -function VisualInitialize(options) +function [noiseModels,isam,result] = VisualInitialize(data,options) % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta and Frank Dellaert -% global variables, input -global data - -% global variables, output -global isam frame_i result -global poseNoise odometryNoise pointNoise measurementNoise - %% Initialize iSAM isam = visualSLAMISAM(options.reorderInterval); %% Set Noise parameters -poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); -measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); +noiseModels.pose = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.odometry = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.point = gtsamSharedNoiseModel_Sigma(3, 0.1); +noiseModels.measurement = gtsamSharedNoiseModel_Sigma(2, 1.0); %% Add constraints/priors newFactors = visualSLAMGraph; @@ -26,7 +19,7 @@ for frame_i=1:2 if frame_i==1 & options.hardConstraint % add hard constraint newFactors.addPoseConstraint(ii,data.cameras{1}.pose); else - newFactors.addPosePrior(ii,data.cameras{frame_i}.pose, poseNoise); + newFactors.addPosePrior(ii,data.cameras{frame_i}.pose, noiseModels.pose); end % TODO: init should not be from ground truth! initialEstimates.insertPose(ii,data.cameras{frame_i}.pose); @@ -38,7 +31,7 @@ for frame_i=1:2 for j=1:size(data.points,2) jj = symbol('l',j); zij = data.cameras{frame_i}.project(data.points{j}); - newFactors.addMeasurement(zij, measurementNoise, ii, jj, data.K); + newFactors.addMeasurement(zij, noiseModels.measurement, ii, jj, data.K); end end @@ -46,7 +39,7 @@ end for j=1:size(data.points,2) jj = symbol('l',j); if options.pointPriors % add point priors - newFactors.addPointPrior(jj, data.points{j}, pointNoise); + newFactors.addPointPrior(jj, data.points{j}, noiseModels.point); end initialEstimates.insertPoint(jj, data.points{j}); % TODO: should not be from ground truth! end diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index 30b0dfcce..ca951e5e5 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -1,33 +1,25 @@ -function VisualISAMStep +function [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); % VisualISAMStep: execute one update step of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert -% global variables, input -global options data odometryNoise measurementNoise frame_i - -% global variables, input/output -global isam - -% global variables, output -global result - % iSAM expects us to give it a new set of factors % along with initial estimates for any new variables introduced. newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; %% Add odometry -newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), data.odometry, odometryNoise); +i = double(result.nrPoses)+1; +newFactors.addOdometry(symbol('x',i-1), symbol('x',i), data.odometry, noiseModels.odometry); %% Add visual measurement factors for j=1:size(data.points,2) - zij = data.cameras{frame_i}.project(data.points{j}); - newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), data.K); + zij = data.cameras{i}.project(data.points{j}); + newFactors.addMeasurement(zij, noiseModels.measurement, symbol('x',i), symbol('l',j), data.K); end %% Initial estimates for the new pose. -prevPose = result.pose(symbol('x',frame_i-1)); -initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(data.odometry)); +prevPose = result.pose(symbol('x',i-1)); +initialEstimates.insertPose(symbol('x',i), prevPose.compose(data.odometry)); %% Update ISAM % figure(1);tic; diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index 3adeb4b1c..49b73ab65 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -224,28 +224,28 @@ function saveGraphsCB_Callback(hObject, ~, handles) % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, ~, handles) -global options data isam result +global frame_i data noiseModels isam result options % initialize global options -global options initOptions(handles) % Generate Data data = VisualISAMGenerateData(options); % Initialize and plot -VisualISAMInitialize(options) +[noiseModels,isam,result] = VisualISAMInitialize(data,options); VisualISAMPlot(data, isam, result, options) +frame_i = 2; showFramei(hObject, handles) % --- Executes on button press in runButton. function runButton_Callback(hObject, ~, handles) -global options data frame_i isam result +global frame_i data noiseModels isam result options while (frame_i Date: Sun, 10 Jun 2012 19:55:01 +0000 Subject: [PATCH 319/914] Fixed factor equals --- gtsam_unstable/nonlinear/LinearizedFactor.cpp | 17 +++++++++-------- gtsam_unstable/nonlinear/LinearizedFactor.h | 2 +- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.cpp b/gtsam_unstable/nonlinear/LinearizedFactor.cpp index 82e5c9eef..2d3d1af72 100644 --- a/gtsam_unstable/nonlinear/LinearizedFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearizedFactor.cpp @@ -129,16 +129,17 @@ void LinearizedFactor::print(const std::string& s, const KeyFormatter& keyFormat } /* ************************************************************************* */ -bool LinearizedFactor::equals(const LinearizedFactor& other, double tol) const { - if (!Base::equals(other, tol) - || !lin_points_.equals(other.lin_points_, tol) - || !equal_with_abs_tol(b_, other.b_, tol) - || !model_->equals(*other.model_, tol) - || matrices_.size() != other.matrices_.size()) +bool LinearizedFactor::equals(const NonlinearFactor& other, double tol) const { + const LinearizedFactor* e = dynamic_cast(&other); + if (!e || !Base::equals(other, tol) + || !lin_points_.equals(e->lin_points_, tol) + || !equal_with_abs_tol(b_, e->b_, tol) + || !model_->equals(*e->model_, tol) + || matrices_.size() != e->matrices_.size()) return false; - KeyMatrixMap::const_iterator map1 = matrices_.begin(), map2 = other.matrices_.begin(); - for (; map1 != matrices_.end(), map2 != other.matrices_.end(); ++map1, ++map2) + KeyMatrixMap::const_iterator map1 = matrices_.begin(), map2 = e->matrices_.begin(); + for (; map1 != matrices_.end(), map2 != e->matrices_.end(); ++map1, ++map2) if ((map1->first != map2->first) || !equal_with_abs_tol(map1->second, map2->second, tol)) return false; return true; diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h index 8f9461d02..28102d8fd 100644 --- a/gtsam_unstable/nonlinear/LinearizedFactor.h +++ b/gtsam_unstable/nonlinear/LinearizedFactor.h @@ -100,7 +100,7 @@ public: virtual void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /** equals function with optional tolerance */ - virtual bool equals(const LinearizedFactor& other, double tol = 1e-9) const; + virtual bool equals(const NonlinearFactor& other, double tol = 1e-9) const; // access functions From f90ae6feca92449e3597bb58a72350a81ec6d026 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 10 Jun 2012 22:32:24 +0000 Subject: [PATCH 320/914] Made generateData create ground truth and measurements, and now step only uses the latter. --- matlab/examples/VisualISAMExample.m | 8 ++--- matlab/examples/VisualISAMExample_triangle.m | 8 ++--- matlab/examples/VisualISAMGenerateData.m | 34 ++++++++++++-------- matlab/examples/VisualISAMInitialize.m | 32 +++++++++--------- matlab/examples/VisualISAMPlot.m | 4 +-- matlab/examples/VisualISAMStep.m | 10 +++--- matlab/examples/VisualISAM_gui.m | 24 +++++++------- 7 files changed, 63 insertions(+), 57 deletions(-) diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index eadca5d2f..2dfde60bb 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -32,17 +32,17 @@ options.saveFigures = false; options.saveDotFiles = false; %% Generate data -data = VisualISAMGenerateData(options); +[data,truth] = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -[noiseModels,isam,result] = VisualISAMInitialize(data,options); +[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); figure(1); -VisualISAMPlot(data, isam, result, options) +VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); if mod(frame_i,options.drawInterval)==0 - VisualISAMPlot(data, isam, result, options) + VisualISAMPlot(truth, data, isam, result, options) end end diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m index c9c416cb2..c5cdf288d 100644 --- a/matlab/examples/VisualISAMExample_triangle.m +++ b/matlab/examples/VisualISAMExample_triangle.m @@ -32,17 +32,17 @@ options.saveFigures = false; options.saveDotFiles = false; %% Generate data -data = VisualISAMGenerateData(options); +[data,truth] = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -[noiseModels,isam,result] = VisualISAMInitialize(data,options); +[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); figure(1); -VisualISAMPlot(data, isam, result, options) +VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); if mod(frame_i,options.drawInterval)==0 - VisualISAMPlot(data, isam, result, options) + VisualISAMPlot(truth, data, isam, result, options) end end diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index adb0b9243..fab8185f9 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -1,19 +1,18 @@ -function data = VisualISAMGenerateData(options) +function [data,truth] = VisualISAMGenerateData(options) % VisualISAMGenerateData: create data for viusalSLAM::iSAM examples % Authors: Duy Nguyen Ta and Frank Dellaert %% Generate simulated data -data.points = {}; if options.triangle % Create a triangle target, just 3 points on a plane - nPoints = 3; + nrPoints = 3; r = 10; - for j=1:nPoints - theta = (j-1)*2*pi/nPoints; - data.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); + for j=1:nrPoints + theta = (j-1)*2*pi/nrPoints; + truth.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); end else % 3D landmarks as vertices of a cube - nPoints = 8; - data.points = {gtsamPoint3([10 10 10]'),... + nrPoints = 8; + truth.points = {gtsamPoint3([10 10 10]'),... gtsamPoint3([-10 10 10]'),... gtsamPoint3([-10 -10 10]'),... gtsamPoint3([10 -10 10]'),... @@ -25,12 +24,16 @@ end %% Create camera cameras on a circle around the triangle height = 10; r = 40; -data.K = gtsamCal3_S2(500,500,0,640/2,480/2); -data.cameras = {}; +truth.K = gtsamCal3_S2(500,500,0,640/2,480/2); +data.K = truth.K; for i=1:options.nrCameras theta = (i-1)*2*pi/options.nrCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K); + truth.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), truth.K); + % Create measurements + for j=1:nrPoints + data.z{i,j} = truth.cameras{i}.project(truth.points{j}); + end end %% show images if asked @@ -39,8 +42,8 @@ if options.showImages for i=1:options.nrCameras figure(2+i);clf;hold on set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i)); - for j=1:nPoints - zij = data.cameras{i}.project(data.points{j}); + for j=1:nrPoints + zij = truth.cameras{i}.project(truth.points{j}); plot(zij.x,zij.y,'*'); axis([1 640 1 480]); end @@ -49,4 +52,7 @@ if options.showImages end %% Calculate odometry between cameras -data.odometry = data.cameras{1}.pose.between(data.cameras{2}.pose); +odometry = truth.cameras{1}.pose.between(truth.cameras{2}.pose); +for i=1:options.nrCameras-1 + data.odometry{i}=odometry; +end \ No newline at end of file diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m index f79a30a93..13a4258c9 100644 --- a/matlab/examples/VisualISAMInitialize.m +++ b/matlab/examples/VisualISAMInitialize.m @@ -1,4 +1,4 @@ -function [noiseModels,isam,result] = VisualInitialize(data,options) +function [noiseModels,isam,result] = VisualInitialize(data,truth,options) % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta and Frank Dellaert @@ -12,36 +12,36 @@ noiseModels.point = gtsamSharedNoiseModel_Sigma(3, 0.1); noiseModels.measurement = gtsamSharedNoiseModel_Sigma(2, 1.0); %% Add constraints/priors +% TODO: should not be from ground truth! newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; -for frame_i=1:2 - ii = symbol('x',frame_i); - if frame_i==1 & options.hardConstraint % add hard constraint - newFactors.addPoseConstraint(ii,data.cameras{1}.pose); +for i=1:2 + ii = symbol('x',i); + if i==1 & options.hardConstraint % add hard constraint + newFactors.addPoseConstraint(ii,truth.cameras{1}.pose); else - newFactors.addPosePrior(ii,data.cameras{frame_i}.pose, noiseModels.pose); + newFactors.addPosePrior(ii,truth.cameras{i}.pose, noiseModels.pose); end - % TODO: init should not be from ground truth! - initialEstimates.insertPose(ii,data.cameras{frame_i}.pose); + initialEstimates.insertPose(ii,truth.cameras{i}.pose); end %% Add visual measurement factors from two first poses -for frame_i=1:2 - ii = symbol('x',frame_i); - for j=1:size(data.points,2) +for i=1:2 + ii = symbol('x',i); + for j=1:size(data.z,2) jj = symbol('l',j); - zij = data.cameras{frame_i}.project(data.points{j}); - newFactors.addMeasurement(zij, noiseModels.measurement, ii, jj, data.K); + newFactors.addMeasurement(data.z{i,j}, noiseModels.measurement, ii, jj, data.K); end end %% Initialize points, possibly add priors on them -for j=1:size(data.points,2) +% TODO: should not be from ground truth! +for j=1:size(data.z,2) jj = symbol('l',j); if options.pointPriors % add point priors - newFactors.addPointPrior(jj, data.points{j}, noiseModels.point); + newFactors.addPointPrior(jj, truth.points{j}, noiseModels.point); end - initialEstimates.insertPoint(jj, data.points{j}); % TODO: should not be from ground truth! + initialEstimates.insertPoint(jj, truth.points{j}); end %% Update ISAM diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/examples/VisualISAMPlot.m index 42407ec82..8e8dce6f1 100644 --- a/matlab/examples/VisualISAMPlot.m +++ b/matlab/examples/VisualISAMPlot.m @@ -1,4 +1,4 @@ -function VisualISAMPlot(data, isam, result, options) +function VisualISAMPlot(truth, data, isam, result, options) % VisualISAMPlot: plot current state of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert @@ -29,7 +29,7 @@ for i=1:options.cameraInterval:M plotPose3(pose_i,P,10); end if options.drawTruePoses % show ground truth - plotPose3(data.cameras{i}.pose,[],10); + plotPose3(truth.cameras{i}.pose,[],10); end end diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m index ca951e5e5..491fd9bac 100644 --- a/matlab/examples/VisualISAMStep.m +++ b/matlab/examples/VisualISAMStep.m @@ -9,17 +9,17 @@ initialEstimates = visualSLAMValues; %% Add odometry i = double(result.nrPoses)+1; -newFactors.addOdometry(symbol('x',i-1), symbol('x',i), data.odometry, noiseModels.odometry); +odometry = data.odometry{i-1}; +newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); %% Add visual measurement factors -for j=1:size(data.points,2) - zij = data.cameras{i}.project(data.points{j}); - newFactors.addMeasurement(zij, noiseModels.measurement, symbol('x',i), symbol('l',j), data.K); +for j=1:size(data.z,2) + newFactors.addMeasurement(data.z{i,j}, noiseModels.measurement, symbol('x',i), symbol('l',j), data.K); end %% Initial estimates for the new pose. prevPose = result.pose(symbol('x',i-1)); -initialEstimates.insertPose(symbol('x',i), prevPose.compose(data.odometry)); +initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); %% Update ISAM % figure(1);tic; diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m index 49b73ab65..97405a318 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/examples/VisualISAM_gui.m @@ -224,31 +224,31 @@ function saveGraphsCB_Callback(hObject, ~, handles) % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, ~, handles) -global frame_i data noiseModels isam result options +global frame_i truth data noiseModels isam result options % initialize global options initOptions(handles) % Generate Data -data = VisualISAMGenerateData(options); +[data,truth] = VisualISAMGenerateData(options); % Initialize and plot -[noiseModels,isam,result] = VisualISAMInitialize(data,options); -VisualISAMPlot(data, isam, result, options) +[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); +VisualISAMPlot(truth, data, isam, result, options) frame_i = 2; showFramei(hObject, handles) % --- Executes on button press in runButton. function runButton_Callback(hObject, ~, handles) -global frame_i data noiseModels isam result options -while (frame_i Date: Mon, 11 Jun 2012 13:12:02 +0000 Subject: [PATCH 321/914] add an enum field --- gtsam/linear/ConjugateGradientSolver.h | 3 ++- gtsam/linear/IterativeSolver.h | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index c31507f9b..06b2aa178 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -18,6 +18,7 @@ namespace gtsam { /** * parameters for the conjugate gradient method */ + struct ConjugateGradientParameters : public IterativeOptimizationParameters { typedef IterativeOptimizationParameters Base; @@ -45,7 +46,7 @@ struct ConjugateGradientParameters : public IterativeOptimizationParameters { epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {} ConjugateGradientParameters(const ConjugateGradientParameters &p) - : minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), + : Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), blas_kernel_(p.blas_kernel_) {} /* general interface */ diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 6f002bda4..77146d1e4 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -24,7 +24,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; enum Kernel { CG = 0 } kernel_ ; ///< Iterative Method Kernel - enum Verbosity { SILENT, ERROR } verbosity_; + enum Verbosity { SILENT = 0, COMPLEXITY, ERROR } verbosity_; public: From ffd210b11ed4e2313a0b2f3924611347b5d6b907 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 11 Jun 2012 14:31:32 +0000 Subject: [PATCH 322/914] Command line for generating svn stats, needs statsvn from statsvn.org --- makestats.sh | 1 + 1 file changed, 1 insertion(+) create mode 100644 makestats.sh diff --git a/makestats.sh b/makestats.sh new file mode 100644 index 000000000..f1201ddd0 --- /dev/null +++ b/makestats.sh @@ -0,0 +1 @@ +java -jar ~/src/statsvn-0.7.0/statsvn.jar -output-dir stats -exclude "examples/Data/**/*;gtsam/3rdparty/**/*" logfile.log . From f602049484d6fa1e31454255b0f8d3b2a9f932ca Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 11 Jun 2012 14:48:26 +0000 Subject: [PATCH 323/914] Wrapped SimpleCamera::projectSafe() --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index ff9bb2022..e728de125 100644 --- a/gtsam.h +++ b/gtsam.h @@ -442,6 +442,7 @@ class SimpleCamera { // Action on Point3 gtsam::Point2 project(const gtsam::Point3& point); + pair projectSafe(const gtsam::Point3& pw) const; static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); // Backprojection From 3be4be9039ba6aa264e36f530fecc01faff53d37 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 11 Jun 2012 14:50:22 +0000 Subject: [PATCH 324/914] Moved "bigobj" MSVC compile flag to affect testSerializationSLAM --- gtsam/slam/CMakeLists.txt | 4 ---- tests/CMakeLists.txt | 4 ++++ 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt index 768ab2307..c25e32bd4 100644 --- a/gtsam/slam/CMakeLists.txt +++ b/gtsam/slam/CMakeLists.txt @@ -24,10 +24,6 @@ if (GTSAM_BUILD_TESTS) gtsam_add_subdir_tests(slam "${slam_local_libs}" "gtsam-static" "${slam_excluded_files}") endif(GTSAM_BUILD_TESTS) -if(MSVC) - add_definitions("/bigobj") -endif() - # Build timing scripts if (GTSAM_BUILD_TIMING) gtsam_add_subdir_timing(slam "${slam_local_libs}" "gtsam-static" "${slam_excluded_files}") diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 9e4c501d4..213d2f5e9 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -25,6 +25,10 @@ set (tests_exclude #"${CMAKE_CURRENT_SOURCE_DIR}/testOccupancyGrid.cpp" ) +if(MSVC) + add_definitions("/bigobj") # testSerializationSLAM needs this +endif() + # Build tests if (GTSAM_BUILD_TESTS) # Subdirectory target for tests From 22c8c483a9d3a2c5c2bd51869b80dd2dd1821ff1 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 11 Jun 2012 14:52:05 +0000 Subject: [PATCH 325/914] Added headers files to show up in MSVC --- CppUnitLite/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt index 286a39258..534a802d4 100644 --- a/CppUnitLite/CMakeLists.txt +++ b/CppUnitLite/CMakeLists.txt @@ -3,7 +3,7 @@ file(GLOB cppunitlite_headers "*.h") file(GLOB cppunitlite_src "*.cpp") -add_library(CppUnitLite STATIC ${cppunitlite_src}) +add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers}) gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure From e53aecf97017b60af20da74725e079a12475eb6a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 11 Jun 2012 14:53:13 +0000 Subject: [PATCH 326/914] Qualified boost::shared_ptr --- gtsam/linear/GaussianBayesNet.cpp | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index d1f0d8f8d..0ddc4a7b3 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -28,7 +28,6 @@ using namespace std; using namespace gtsam; -using boost::shared_ptr; // trick from some reading group #define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL) @@ -73,13 +72,13 @@ void push_front(GaussianBayesNet& bn, Index key, Vector d, Matrix R, } /* ************************************************************************* */ -shared_ptr allocateVectorValues(const GaussianBayesNet& bn) { +boost::shared_ptr allocateVectorValues(const GaussianBayesNet& bn) { vector dimensions(bn.size()); Index var = 0; - BOOST_FOREACH(const shared_ptr conditional, bn) { + BOOST_FOREACH(const boost::shared_ptr conditional, bn) { dimensions[var++] = conditional->dim(); } - return shared_ptr(new VectorValues(dimensions)); + return boost::shared_ptr(new VectorValues(dimensions)); } /* ************************************************************************* */ @@ -93,7 +92,7 @@ VectorValues optimize(const GaussianBayesNet& bn) { // (R*x)./sigmas = y by solving x=inv(R)*(y.*sigmas) void optimizeInPlace(const GaussianBayesNet& bn, VectorValues& x) { /** solve each node in turn in topological sort order (parents first)*/ - BOOST_REVERSE_FOREACH(const shared_ptr cg, bn) { + BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, bn) { // i^th part of R*x=y, x=inv(R)*y // (Rii*xi + R_i*x(i+1:))./si = yi <-> xi = inv(Rii)*(yi.*si - R_i*x(i+1:)) cg->solveInPlace(x); @@ -103,14 +102,14 @@ void optimizeInPlace(const GaussianBayesNet& bn, VectorValues& x) { /* ************************************************************************* */ VectorValues backSubstitute(const GaussianBayesNet& bn, const VectorValues& input) { VectorValues output = input; - BOOST_REVERSE_FOREACH(const shared_ptr cg, bn) { + BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, bn) { const Index key = *(cg->beginFrontals()); Vector xS = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()); xS = input[key] - cg->get_S() * xS; output[key] = cg->get_R().triangularView().solve(xS); } - BOOST_FOREACH(const shared_ptr cg, bn) { + BOOST_FOREACH(const boost::shared_ptr cg, bn) { cg->scaleFrontalsBySigma(output); } @@ -131,7 +130,7 @@ VectorValues backSubstituteTranspose(const GaussianBayesNet& bn, // we loop from first-eliminated to last-eliminated // i^th part of L*gy=gx is done block-column by block-column of L - BOOST_FOREACH(const shared_ptr cg, bn) + BOOST_FOREACH(const boost::shared_ptr cg, bn) cg->solveTransposeInPlace(gy); // Scale gy @@ -197,7 +196,7 @@ pair matrix(const GaussianBayesNet& bn) { Index key; size_t I; FOREACH_PAIR(key,I,mapping) { // find corresponding conditional - shared_ptr cg = bn[key]; + boost::shared_ptr cg = bn[key]; // get sigmas Vector sigmas = cg->get_sigmas(); @@ -234,7 +233,7 @@ pair matrix(const GaussianBayesNet& bn) { double determinant(const GaussianBayesNet& bayesNet) { double logDet = 0.0; - BOOST_FOREACH(shared_ptr cg, bayesNet){ + BOOST_FOREACH(boost::shared_ptr cg, bayesNet){ logDet += cg->get_R().diagonal().unaryExpr(ptr_fun(log)).sum(); } From 83dc580220ab31a1c51de04365101219191d5890 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 11 Jun 2012 22:10:23 +0000 Subject: [PATCH 327/914] add a nonlinear gradient-descent optimizer, and a unit test. todo: 1. test wolfe condition or armijo rule, 2. use iterative.h --- gtsam/nonlinear/GradientDescentOptimizer.cpp | 120 +++++++++++++++++++ gtsam/nonlinear/GradientDescentOptimizer.h | 74 ++++++++++++ tests/testGradientDescentOptimizer.cpp | 66 ++++++++++ 3 files changed, 260 insertions(+) create mode 100644 gtsam/nonlinear/GradientDescentOptimizer.cpp create mode 100644 gtsam/nonlinear/GradientDescentOptimizer.h create mode 100644 tests/testGradientDescentOptimizer.cpp diff --git a/gtsam/nonlinear/GradientDescentOptimizer.cpp b/gtsam/nonlinear/GradientDescentOptimizer.cpp new file mode 100644 index 000000000..9416b4f6c --- /dev/null +++ b/gtsam/nonlinear/GradientDescentOptimizer.cpp @@ -0,0 +1,120 @@ +/** + * @file GradientDescentOptimizer.cpp + * @brief + * @author ydjian + * @date Jun 11, 2012 + */ + +#include + +#include +#include +#include +#include +#include + +#include + +using namespace std; + +namespace gtsam { + +/** + * Return the gradient vector of a nonlinear factor given a linearization point and a variable ordering + * Can be moved to NonlinearFactorGraph.h if desired + */ +void gradientInPlace(const NonlinearFactorGraph &nfg, const Values &values, const Ordering &ordering, VectorValues &g) { + + // Linearize graph + GaussianFactorGraph::shared_ptr linear = nfg.linearize(values, ordering); + const FactorGraph::shared_ptr jfg = linear->dynamicCastFactors >(); + + // compute the gradient direction + gtsam::gradientAtZero(*jfg, g); +} + + +/* ************************************************************************* */ +void GradientDescentOptimizer::iterate() { + + + // Pull out parameters we'll use + const NonlinearOptimizerParams::Verbosity nloVerbosity = params_.verbosity; + + // compute the gradient vector + gradientInPlace(graph_, state_.values, *ordering_, *gradient_); + + /* normalize it such that it becomes a unit vector */ + const double g = gradient_->vector().norm(); + gradient_->vector() /= g; + + // perform the golden section search algorithm to decide the the optimal step size + // detail refer to http://en.wikipedia.org/wiki/Golden_section_search + VectorValues step = VectorValues::SameStructure(*gradient_); + const double phi = 0.5*(1.0+std::sqrt(5.0)), resphi = 2.0 - phi, tau = 1e-5; + double minStep = -1.0, maxStep = 0, + newStep = minStep + (maxStep-minStep) / (phi+1.0) ; + + step.vector() = newStep * gradient_->vector(); + Values newValues = state_.values.retract(step, *ordering_); + double newError = graph_.error(newValues); + + if ( nloVerbosity ) { + std::cout << "minStep = " << minStep << ", maxStep = " << maxStep << ", newStep = " << newStep << ", newError = " << newError << std::endl; + } + + while (true) { + const bool flag = (maxStep - newStep > newStep - minStep) ? true : false ; + const double testStep = flag ? + newStep + resphi * (maxStep - newStep) : newStep - resphi * (newStep - minStep); + + if ( (maxStep- minStep) < tau * (std::fabs(testStep) + std::fabs(newStep)) ) { + newStep = 0.5*(minStep+maxStep); + step.vector() = newStep * gradient_->vector(); + newValues = state_.values.retract(step, *ordering_); + newError = graph_.error(newValues); + + if ( newError < state_.error ) { + state_.values = state_.values.retract(step, *ordering_); + state_.error = graph_.error(state_.values); + } + + break; + } + + step.vector() = testStep * gradient_->vector(); + const Values testValues = state_.values.retract(step, *ordering_); + const double testError = graph_.error(testValues); + + // update the working range + if ( testError < newError ) { + if ( flag ) { + minStep = newStep; + newStep = testStep; + newError = testError; + } + else { + maxStep = newStep; + newStep = testStep; + newError = testError; + } + } + else { + if ( flag ) { + maxStep = testStep; + } + else { + minStep = testStep; + } + } + + if ( nloVerbosity ) { + std::cout << "minStep = " << minStep << ", maxStep = " << maxStep << ", newStep = " << newStep << ", newError = " << newError << std::endl; + } + } + + // Increment the iteration counter + ++state_.iterations; +} + +} /* namespace gtsam */ diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/GradientDescentOptimizer.h new file mode 100644 index 000000000..03e1c018b --- /dev/null +++ b/gtsam/nonlinear/GradientDescentOptimizer.h @@ -0,0 +1,74 @@ +/** + * @file GradientDescentOptimizer.cpp + * @brief + * @author ydjian + * @date Jun 11, 2012 + */ + +#pragma once + +#include + +namespace gtsam { + +class GradientDescentOptimizer; + +class GradientDescentParams : public NonlinearOptimizerParams { + +public: + typedef NonlinearOptimizerParams Base; + + GradientDescentParams():Base() {} + virtual void print(const std::string& str = "") const { + Base::print(str); + } + + virtual ~GradientDescentParams() {} +}; + +class GradientDescentState : public NonlinearOptimizerState { + +public: + + typedef NonlinearOptimizerState Base; + + GradientDescentState(const NonlinearFactorGraph& graph, const Values& values) + : Base(graph, values) {} +}; + +class GradientDescentOptimizer : public NonlinearOptimizer { + +public: + + typedef boost::shared_ptr shared_ptr; + typedef NonlinearOptimizer Base; + typedef GradientDescentState States; + typedef GradientDescentParams Parameters; + +protected: + + Parameters params_; + States state_; + Ordering::shared_ptr ordering_; + VectorValues::shared_ptr gradient_; + +public: + + GradientDescentOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params = Parameters()) + : Base(graph), params_(params), state_(graph, initialValues), + ordering_(initialValues.orderingArbitrary()), + gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))) {} + + virtual ~GradientDescentOptimizer() {} + + virtual void iterate(); + +protected: + + virtual const NonlinearOptimizerState& _state() const { return state_; } + virtual const NonlinearOptimizerParams& _params() const { return params_; } +}; + + + +} diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp new file mode 100644 index 000000000..de4de4a6f --- /dev/null +++ b/tests/testGradientDescentOptimizer.cpp @@ -0,0 +1,66 @@ +/** + * @file testGradientDescentOptimizer.cpp + * @brief + * @author ydjian + * @date Jun 11, 2012 + */ + +#include +#include + +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +TEST(optimize, GradientDescentOptimizer) { + + // 1. Create graph container and add factors to it + pose2SLAM::Graph graph ; + + // 2a. Add Gaussian prior + Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin + SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); + graph.addPrior(1, priorMean, priorNoise); + + // 2b. Add odometry factors + SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); + graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); + graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + + // 2c. Add pose constraint + SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); + graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + + // 3. Create the data structure to hold the initialEstimate estinmate to the solution + pose2SLAM::Values initialEstimate; + Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); + Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); + Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); + Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); + Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + // cout << "initial error = " << graph.error(initialEstimate) << endl ; + + // 4. Single Step Optimization using Levenberg-Marquardt + GradientDescentParams param; + param.maxIterations = 500; /* requires a larger number of iterations to converge */ + param.verbosity = NonlinearOptimizerParams::SILENT; + + GradientDescentOptimizer optimizer(graph, initialEstimate, param); + Values result = optimizer.optimize(); + // cout << "solver final error = " << graph.error(result) << endl; + + /* the optimality of the solution is not comparable to the */ + DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); +} + + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From f1c5b9f5dc846648df3ba6dad0b1bb6ac11081d7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 04:38:05 +0000 Subject: [PATCH 328/914] Renamed some examples --- matlab/examples/{LocalizationExample.m => OdometryExample.m} | 2 +- matlab/examples/PlanarSLAMExample.m | 2 +- matlab/examples/Pose2SLAMExample.m | 2 +- .../examples/{Pose3SLAMExample_circle.m => Pose3SLAMExample.m} | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) rename matlab/examples/{LocalizationExample.m => OdometryExample.m} (99%) rename matlab/examples/{Pose3SLAMExample_circle.m => Pose3SLAMExample.m} (99%) diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/OdometryExample.m similarity index 99% rename from matlab/examples/LocalizationExample.m rename to matlab/examples/OdometryExample.m index dacd6d972..bb9d06c70 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/OdometryExample.m @@ -44,7 +44,7 @@ result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n ')); %% Plot Covariance Ellipses -figure(1);clf; +cla; plot(result.xs(),result.ys(),'k*-'); hold on marginals = graph.marginals(result); for i=1:result.size() diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index c5cc2d5d3..7d4973883 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -62,7 +62,7 @@ result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses -figure(1);clf;hold on +cla;hold on marginals = graph.marginals(result); for i=1:3 key = symbol('x',i); diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index 1f63ffd60..e15cab3bf 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -56,7 +56,7 @@ result = graph.optimize(initialEstimate); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses -figure(1);clf; +cla; plot(result.xs(),result.ys(),'k*-'); hold on plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); marginals = graph.marginals(result); diff --git a/matlab/examples/Pose3SLAMExample_circle.m b/matlab/examples/Pose3SLAMExample.m similarity index 99% rename from matlab/examples/Pose3SLAMExample_circle.m rename to matlab/examples/Pose3SLAMExample.m index 1c8e481ee..285701cff 100644 --- a/matlab/examples/Pose3SLAMExample_circle.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -38,7 +38,7 @@ initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1))); initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); %% Plot Initial Estimate -figure(1);clf +cla plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); %% optimize From 990eca29db0b1e1f4008199152bb08075b79705f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 04:46:51 +0000 Subject: [PATCH 329/914] Added an example selector. Try it using gtsamExamples :-) --- .../{VO_Example.m => StereoVOExample_large.m} | 0 matlab/examples/VisualISAMExample.m | 2 +- matlab/examples/VisualSLAMExample.m | 2 +- matlab/examples/gtsamExamples.fig | Bin 0 -> 7342 bytes matlab/examples/gtsamExamples.m | 142 ++++++++++++++++++ 5 files changed, 144 insertions(+), 2 deletions(-) rename matlab/examples/{VO_Example.m => StereoVOExample_large.m} (100%) create mode 100644 matlab/examples/gtsamExamples.fig create mode 100644 matlab/examples/gtsamExamples.m diff --git a/matlab/examples/VO_Example.m b/matlab/examples/StereoVOExample_large.m similarity index 100% rename from matlab/examples/VO_Example.m rename to matlab/examples/StereoVOExample_large.m diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index 2dfde60bb..f8423a057 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -36,7 +36,7 @@ options.saveDotFiles = false; %% Initialize iSAM with the first pose and points [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); -figure(1); +cla; VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses diff --git a/matlab/examples/VisualSLAMExample.m b/matlab/examples/VisualSLAMExample.m index f6ef2063b..c2b045dab 100644 --- a/matlab/examples/VisualSLAMExample.m +++ b/matlab/examples/VisualSLAMExample.m @@ -80,7 +80,7 @@ result.print(sprintf('\nFinal result:\n ')); %% Plot results with covariance ellipses marginals = graph.marginals(result); -figure(1);clf +cla hold on; for j=1:size(points,2) P = marginals.marginalCovariance(symbol('l',j)); diff --git a/matlab/examples/gtsamExamples.fig b/matlab/examples/gtsamExamples.fig new file mode 100644 index 0000000000000000000000000000000000000000..39370f3df54fab4ef92d744742611a8679b409bd GIT binary patch literal 7342 zcma)BRa+a1vcm^2*B+^n2jz~cYrko z%uPfbMt!g`nJ%CJqIS{J>#p*pa?iiPrIIDgyBfo32)@uu?I!s~`*+0WCYFArQQR%& zPli#N`a>!A-gl^9LlM*+d^}Z0WGkBcW&;(4qTdspYOGdDICrh@Zi2Q8vIY>3taf>@ zrg$!r;WOMJ+P;bW9xRf`+P?->0p@==j6JtLTTM+ws@u?{KCco}u}#)r_k?kFXS^rrK9+yc5AzJFZj3ikcn1l&S?qUD#Zw?C9Xu zXdda{RY)Wmc;c-pvL=0zVo$~I#nIm(dfkF0S|wM1c_+ptHCU1bnArgB$5AGFSeTgL z2+ekIy&yOG@%w9ZQInVYVT(D#){X3ix^N8Sp5a>(kBs>EU}kTfU9aTy!pSZv+pj;} zuXM8*Nr2_Pot#w@BuyetC*Bb+#Pq)5dq(yh@;N+vGJ%K9Nb^7uXe=y&Itv4^f;#r} zSGAtxvsNsHy9#dRDs`@Zn*X%<6WvqH6vBvoPVnl@zf`ci!2CR(Rjhzb_!AnQNpSX4 z8a(DQ#)^}lZwG0Y|cP<+wL$6F=|T3vAMbQtbsbBGj|ewr{&k}1zs;} zz;>H(ZEv)WI*S!m54l!%X@@nB#J$pep?R9E>j3`+Nk3v1`PlBaw@0E4jwj$`QIxRX>2-v4>d>ugOz)#^cO}b*ln;LFS4GZ{DsBp5I=~6EA@}(M9u) zCm-za-d^ez7I9yXxRiOlGg2T32~W^&Ag!*-ir2Sor2A9^hSJq#6C2MSzt4#%UZ`Db zeE%wBt6K3>T%u1}yy4`!+-z-qZCl)Zo3lAkXPaQ)HW8lWn!#8W_Ud6UwO~d1B7WSn zx+58v)RbSb5Bp8Rt0%5!O+3^cN@a4lDvO_?cWyqjO;b;$JiY=?EXTwPC9AXmk|kOL zYdzPL(Rl)6)9p=H}iZ z+AD@kQZC-q4p*~vq{(-t{V)>G)&Yr(%Xvvz!1}N5rT-m;Pfy4CWA>D?RJny4)BnJ1 zh;fMvz_pi0Y+i%Knwly$e3d!B)e^yN9`*I7YQIm0LQFvf-eggEBBTZQHzjY$B@ z&L&k zr4-3tXJ^1ljk7l)%}1jK{M(XuV_mj$uX1|q%!CQuLBy_64{|T5!uO)+8O3%s^CW-` z>V!4ba&>XTlQR7-nAG6SzYYzgut?D_>O1hj%P-%UijtD(-k<`XKZ+jlo&3$FK5u1{ zFpx!ed}>)~zkfk}DpXsmaYvWZTgp0Cn)Fyw0JQ=#9u(KK(8C9-PIQ#Mfi zo*6wJpi1CbGFa>S@Fikp^+}|jGaAVt5{+aV=XC#CZkAOYkmZDDoJIOwmutH9*RjJ# zT$o0?O}amoMs=CcV~QBgA_&?&!Cf=-;@cTKPJt`@nFF&?SE-OX%>KI=)I7hkQS|Qn zC7oQ)y~CuiZ0s&9^t+-|q#FfzS2EG9E@)vqe(vjU>eG3qq9xI&l;VVg;m?Eft2f(? z&p0A=m4yTv?IPn{))SDQ*kQ;UCBx_;ygH&@kj^YDoHa*UdOcG{?CkP>SKU7YhT1oT zxj9rkSe`ZApvU(S68Ik=0|Diuak@SCda3t|YkBvt`Z=ZVxIg%6w*0vlO;^IDHXP9| z>F4FSg)8J7?YN_}U8jssr5pNp2Lfy)3bgpEe*rCZFIp~V?D2My*9lcmzTW$Nnc)cQ zgDat%9iMwH@7(5 zdm`Y=(}P*2P17C!SZK%f0tI}rctS~&4g#V}9U zR-i`ENqc;9hO5ig@$1XMQ}LkAfIz8y>oQCJ)K$01|CpUNq5dzk2by-9f=g*bf7K%J ze<*(o#{b#hNEIW^L`M9AC&jkyNAgiss75V#C4 z^HdjbvoB=4M&Q`3Z75~zedsY;(vrvu>I5btP@OB-MaL!IkNvAtzMbaEdzLg2-L
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Starting from the left, property value pairs are +% applied to the GUI before gtsamExamples_OpeningFcn gets called. An +% unrecognized property name or invalid value makes property application +% stop. All inputs are passed to gtsamExamples_OpeningFcn via varargin. +% +% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one +% instance to run (singleton)". +% +% See also: GUIDE, GUIDATA, GUIHANDLES + +% Edit the above text to modify the response to help gtsamExamples + +% Last Modified by GUIDE v2.5 12-Jun-2012 00:27:03 + +% Begin initialization code - DO NOT EDIT +gui_Singleton = 1; +gui_State = struct('gui_Name', mfilename, ... + 'gui_Singleton', gui_Singleton, ... + 'gui_OpeningFcn', @gtsamExamples_OpeningFcn, ... + 'gui_OutputFcn', @gtsamExamples_OutputFcn, ... + 'gui_LayoutFcn', [] , ... + 'gui_Callback', []); +if nargin && ischar(varargin{1}) + gui_State.gui_Callback = str2func(varargin{1}); +end + +if nargout + [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); +else + gui_mainfcn(gui_State, varargin{:}); +end +% End initialization code - DO NOT EDIT + +% --- Executes just before gtsamExamples is made visible. +function gtsamExamples_OpeningFcn(hObject, eventdata, handles, varargin) +% This function has no output args, see OutputFcn. +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +% varargin command line arguments to gtsamExamples (see VARARGIN) + +% Choose default command line output for gtsamExamples +handles.output = hObject; + +% Update handles structure +guidata(hObject, handles); + +% This sets up the initial plot - only do when we are invisible +% so window can get raised using gtsamExamples. +if strcmp(get(hObject,'Visible'),'off') + plot(rand(5)); +end + +% --- Outputs from this function are returned to the command line. +function varargout = gtsamExamples_OutputFcn(hObject, eventdata, handles) +% varargout cell array for returning output args (see VARARGOUT); +% hObject handle to figure +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Get default command line output from handles structure +varargout{1} = handles.output; + +% -------------------------------------------------------------------- +function CloseMenuItem_Callback(hObject, eventdata, handles) +% hObject handle to CloseMenuItem (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) +selection = questdlg(['Close ' get(handles.figure1,'Name') '?'],... + ['Close ' get(handles.figure1,'Name') '...'],... + 'Yes','No','Yes'); +if strcmp(selection,'No') + return; +end + +delete(handles.figure1) + +% --- Executes on button press in Odometry. +function Odometry_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +OdometryExample; +echo off + +% --- Executes on button press in Localization. +function Localization_Callback(hObject, eventdata, handles) +fprintf(1,'LocalizationExample not implemented yet\n'); + +% --- Executes on button press in Pose2SLAM. +function Pose2SLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose2SLAMExample +echo off + +% --- Executes on button press in Pose3SLAM. +function Pose3SLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose3SLAMExample +echo off + +% --- Executes on button press in PlanarSLAM. +function PlanarSLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +PlanarSLAMExample +echo off + +% --- Executes on button press in VisualSLAM. +function VisualSLAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +VisualSLAMExample +echo off + +% --- Executes on button press in VisualISAM. +function VisualISAM_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +VisualISAMExample +echo off + +% --- Executes on button press in StereoVO. +function StereoVO_Callback(hObject, eventdata, handles) +fprintf(1,'StereoVOExample not implemented yet\n'); + +% --- Executes on button press in Future. +function Future_Callback(hObject, eventdata, handles) +fprintf(1,'Future demo not implemented yet :-)\n'); From 7638da41929f0bb46879db19b6cb5a6633c98d03 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 04:56:44 +0000 Subject: [PATCH 330/914] Rename --- examples/{LocalizationExample.cpp => OdometryExample.cpp} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename examples/{LocalizationExample.cpp => OdometryExample.cpp} (100%) diff --git a/examples/LocalizationExample.cpp b/examples/OdometryExample.cpp similarity index 100% rename from examples/LocalizationExample.cpp rename to examples/OdometryExample.cpp From c8cb0d00c8d17d996c80bebff31fa77cd88eccd5 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 04:57:07 +0000 Subject: [PATCH 331/914] Rename --- examples/{LocalizationExample2.cpp => LocalizationExample.cpp} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename examples/{LocalizationExample2.cpp => LocalizationExample.cpp} (100%) diff --git a/examples/LocalizationExample2.cpp b/examples/LocalizationExample.cpp similarity index 100% rename from examples/LocalizationExample2.cpp rename to examples/LocalizationExample.cpp From aeeb47d4708c903c71edc8c30fb8e78b3e65d3f1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 05:01:12 +0000 Subject: [PATCH 332/914] Fixed up comments --- examples/LocalizationExample.cpp | 2 +- examples/OdometryExample.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index ea651008c..caa87e48f 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -11,7 +11,7 @@ /** * @file LocalizationExample.cpp - * @brief Simple robot localization example + * @brief Simple robot localization example, with three "GPS-like" measurements * @author Frank Dellaert */ diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 578f33558..3c00aca81 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @file LocalizationExample.cpp - * @brief Simple robot localization example + * @file OdometryExample.cpp + * @brief Simple robot motion example, with prior and two odometry measurements * @author Frank Dellaert */ From 03a6317a0cfa2c340c0392c36d44210d2355681a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 12 Jun 2012 05:29:25 +0000 Subject: [PATCH 333/914] Added LocalizationExample --- matlab/examples/LocalizationExample.m | 58 ++++++++++++++++++++++++++ matlab/examples/OdometryExample.m | 1 + matlab/examples/gtsamExamples.fig | Bin 7342 -> 9239 bytes matlab/examples/gtsamExamples.m | 10 ++--- 4 files changed, 63 insertions(+), 6 deletions(-) create mode 100644 matlab/examples/LocalizationExample.m diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m new file mode 100644 index 000000000..0e801e4c0 --- /dev/null +++ b/matlab/examples/LocalizationExample.m @@ -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 +% +% @brief Example of a simple 2D localization example +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - Robot poses are facing along the X axis (horizontal, to the right in 2D) +% - The robot moves 2 meters each step +% - The robot is on a grid, moving 2 meters each step + +%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) +graph = pose2SLAMGraph; + +%% Add two odometry factors +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +graph.addOdometry(1, 2, odometry, odometryNoise); +graph.addOdometry(2, 3, odometry, odometryNoise); + +%% Add three "GPS" measurements +% We use Pose2 Priors here with high variance on theta +noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.1; 10]); +graph.addPrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel); +graph.addPrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel); +graph.addPrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel); + +%% print +graph.print(sprintf('\nFactor graph:\n')); + +%% Initialize to noisy points +initialEstimate = pose2SLAMValues; +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate.print(sprintf('\nInitial estimate:\n ')); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +result.print(sprintf('\nFinal result:\n ')); + +%% Plot Covariance Ellipses +cla; +plot(result.xs(),result.ys(),'k*-'); hold on +marginals = graph.marginals(result); +for i=1:result.size() + pose_i = result.pose(i); + P{i}=marginals.marginalCovariance(i); + plotPose2(pose_i,'g',P{i}) +end +axis([-0.6 4.8 -1 1]) +axis equal diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index bb9d06c70..68bdf0380 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -52,4 +52,5 @@ for i=1:result.size() P{i}=marginals.marginalCovariance(i); plotPose2(pose_i,'g',P{i}) end +axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/gtsamExamples.fig b/matlab/examples/gtsamExamples.fig index 39370f3df54fab4ef92d744742611a8679b409bd..e29163e28733672598de3319389497c87053bf2c 100644 GIT binary patch delta 8860 zcmV;NB4gdIIhRO~K?*f8Ix;gLGB7bRkx?U&UGv3{aW3NA&P?V7-Z{O^^H}7LS@3)g_ z0Puf)1(*=@lIR79+XcywrTP`oTg{zn?!uRVY85wqwWV$=4(h7-^x_1D{R+i(s=)Yge# zH(l>Y3~W*-yh&1OGxE_uXxFH}%K{mB*d`+K+b(ATbDd})^&GXkl(R3=T4Dq4G0tkt zV!;vYaq6#;fV5|ff@Cck>BI#pEf0Oiyq<={Ir=(9M z{Y%nklKw5}b4g$P$LMp-&S#n*Pc=W4-@~@^_-F0vH~uOPDlRHcDsC!{Dy}NdD(=I! z^Z3W~tm1!m4eJJ$?r!z$L&(-Mnl3NnMMy*@vvF>*Z9tmLX}EH(D^Rr0>JsAm)S`qdyz6JcFELHZ+pyPeFe|~uDuOXE<;-bXG>|Zw 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z9*%$I>3Mn5up_GJBl(J+2!8%-Y0plE>mdD%Ztp>L_n`N3>2Eb2&mX3bTI++;`+lYO zF*&`DfBWn5ozHSFU;BFR_Ybe Date: Tue, 12 Jun 2012 14:19:01 +0000 Subject: [PATCH 334/914] move iterative.* back to stable. add a template-style nonlinear iterative solver --- gtsam/linear/ConjugateGradientSolver.h | 4 +- gtsam/linear/SubgraphSolver.cpp | 3 +- gtsam/linear/SubgraphSolver.h | 3 +- gtsam/linear/VectorValues.h | 5 + .../linear/iterative-inl.h | 2 +- .../linear/iterative.cpp | 2 +- {gtsam_unstable => gtsam}/linear/iterative.h | 2 +- gtsam/nonlinear/GradientDescentOptimizer.cpp | 26 ++- gtsam/nonlinear/GradientDescentOptimizer.h | 148 +++++++++++++++++- gtsam_unstable/CMakeLists.txt | 1 - tests/testGradientDescentOptimizer.cpp | 48 +++++- tests/testSubgraphPreconditioner.cpp | 2 +- 12 files changed, 226 insertions(+), 20 deletions(-) rename {gtsam_unstable => gtsam}/linear/iterative-inl.h (99%) rename {gtsam_unstable => gtsam}/linear/iterative.cpp (98%) rename {gtsam_unstable => gtsam}/linear/iterative.h (98%) diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index 06b2aa178..3a42b8842 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -19,7 +19,9 @@ namespace gtsam { * parameters for the conjugate gradient method */ -struct ConjugateGradientParameters : public IterativeOptimizationParameters { +class ConjugateGradientParameters : public IterativeOptimizationParameters { + +public: typedef IterativeOptimizationParameters Base; typedef boost::shared_ptr shared_ptr; diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index c91365f19..891585ee5 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -13,14 +13,13 @@ #include #include #include +#include #include #include #include #include #include -#include - #include #include diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index ec9a5f19a..debb373f2 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -19,7 +19,8 @@ namespace gtsam { -struct SubgraphSolverParameters : public ConjugateGradientParameters { +class SubgraphSolverParameters : public ConjugateGradientParameters { +public: typedef ConjugateGradientParameters Base; SubgraphSolverParameters() : Base() {} }; diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index f3ef57418..3531989c9 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -262,6 +262,11 @@ namespace gtsam { return gtsam::dot(this->values_, V.values_); } + /** Vector L2 norm */ + inline double norm() const { + return this->vector().norm(); + } + /** * + operator does element-wise addition. Both VectorValues must have the * same structure (checked when NDEBUG is not defined). diff --git a/gtsam_unstable/linear/iterative-inl.h b/gtsam/linear/iterative-inl.h similarity index 99% rename from gtsam_unstable/linear/iterative-inl.h rename to gtsam/linear/iterative-inl.h index f384b7504..3c9cffc7b 100644 --- a/gtsam_unstable/linear/iterative-inl.h +++ b/gtsam/linear/iterative-inl.h @@ -18,7 +18,7 @@ #pragma once -#include +#include #include #include diff --git a/gtsam_unstable/linear/iterative.cpp b/gtsam/linear/iterative.cpp similarity index 98% rename from gtsam_unstable/linear/iterative.cpp rename to gtsam/linear/iterative.cpp index eb1d898dd..6dadb2d72 100644 --- a/gtsam_unstable/linear/iterative.cpp +++ b/gtsam/linear/iterative.cpp @@ -16,7 +16,7 @@ * @date Dec 28, 2009 */ -#include +#include #include #include #include diff --git a/gtsam_unstable/linear/iterative.h b/gtsam/linear/iterative.h similarity index 98% rename from gtsam_unstable/linear/iterative.h rename to gtsam/linear/iterative.h index 29233ae27..4237f2632 100644 --- a/gtsam_unstable/linear/iterative.h +++ b/gtsam/linear/iterative.h @@ -149,5 +149,5 @@ namespace gtsam { } // namespace gtsam -#include +#include diff --git a/gtsam/nonlinear/GradientDescentOptimizer.cpp b/gtsam/nonlinear/GradientDescentOptimizer.cpp index 9416b4f6c..9a4b6b37b 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.cpp +++ b/gtsam/nonlinear/GradientDescentOptimizer.cpp @@ -5,15 +5,13 @@ * @date Jun 11, 2012 */ -#include - #include #include #include #include #include -#include +#include using namespace std; @@ -30,7 +28,7 @@ void gradientInPlace(const NonlinearFactorGraph &nfg, const Values &values, cons const FactorGraph::shared_ptr jfg = linear->dynamicCastFactors >(); // compute the gradient direction - gtsam::gradientAtZero(*jfg, g); + gradientAtZero(*jfg, g); } @@ -112,9 +110,27 @@ void GradientDescentOptimizer::iterate() { std::cout << "minStep = " << minStep << ", maxStep = " << maxStep << ", newStep = " << newStep << ", newError = " << newError << std::endl; } } - // Increment the iteration counter ++state_.iterations; } +double GradientDescentOptimizer2::System::error(const State &state) const { + return graph_.error(state); +} + +GradientDescentOptimizer2::System::Gradient GradientDescentOptimizer2::System::gradient(const State &state) const { + Gradient result = state.zeroVectors(ordering_); + gradientInPlace(graph_, state, ordering_, result); + return result; +} +GradientDescentOptimizer2::System::State GradientDescentOptimizer2::System::advance(const State ¤t, const double alpha, const Gradient &g) const { + Gradient step = g; + step.vector() *= alpha; + return current.retract(step, ordering_); +} + +Values GradientDescentOptimizer2::optimize() { + return gradientDescent(System(graph_, *ordering_), initialEstimate_, params_); +} + } /* namespace gtsam */ diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/GradientDescentOptimizer.h index 03e1c018b..1a78416de 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.h +++ b/gtsam/nonlinear/GradientDescentOptimizer.h @@ -11,7 +11,7 @@ namespace gtsam { -class GradientDescentOptimizer; +/* an implementation of gradient-descent method using the NLO interface */ class GradientDescentParams : public NonlinearOptimizerParams { @@ -70,5 +70,151 @@ protected: }; +#include + +/* Yet another implementation of the gradient-descent method using the iterative.h interface */ +class GradientDescentParams2 : public NonlinearOptimizerParams { +public: + GradientDescentParams2(){} +}; + +class GradientDescentOptimizer2 { + + class System { + + public: + + typedef Values State; + typedef VectorValues Gradient; + + protected: + + NonlinearFactorGraph graph_; + Ordering ordering_; + + public: + + System(const NonlinearFactorGraph &graph, const Ordering &ordering): graph_(graph), ordering_(ordering) {} + double error(const State &state) const ; + Gradient gradient(const State &state) const ; + State advance(const State ¤t, const double alpha, const Gradient &g) const ; + }; + +public: + + typedef GradientDescentParams2 Parameters; + typedef boost::shared_ptr shared_ptr; + +protected: + + NonlinearFactorGraph graph_; + Values initialEstimate_; + Parameters params_; + Ordering::shared_ptr ordering_; + VectorValues::shared_ptr gradient_; + +public: + + GradientDescentOptimizer2(const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params = Parameters()) + : graph_(graph), initialEstimate_(initialValues), params_(params), + ordering_(initialValues.orderingArbitrary()), + gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))) {} + + virtual ~GradientDescentOptimizer2() {} + + virtual Values optimize () ; +}; + + +template +double lineSearch(const S &system, const V currentValues, const W &gradient) { + + /* normalize it such that it becomes a unit vector */ + const double g = gradient.norm(); + + // perform the golden section search algorithm to decide the the optimal step size + // detail refer to http://en.wikipedia.org/wiki/Golden_section_search + const double phi = 0.5*(1.0+std::sqrt(5.0)), resphi = 2.0 - phi, tau = 1e-5; + double minStep = -1.0/g, maxStep = 0, + newStep = minStep + (maxStep-minStep) / (phi+1.0) ; + + V newValues = system.advance(currentValues, newStep, gradient); + double newError = system.error(newValues); + + while (true) { + const bool flag = (maxStep - newStep > newStep - minStep) ? true : false ; + const double testStep = flag ? + newStep + resphi * (maxStep - newStep) : newStep - resphi * (newStep - minStep); + + if ( (maxStep- minStep) < tau * (std::fabs(testStep) + std::fabs(newStep)) ) { + return 0.5*(minStep+maxStep); + } + + const V testValues = system.advance(currentValues, testStep, gradient); + const double testError = system.error(testValues); + + // update the working range + if ( testError >= newError ) { + if ( flag ) maxStep = testStep; + else minStep = testStep; + } + else { + if ( flag ) { + minStep = newStep; + newStep = testStep; + newError = testError; + } + else { + maxStep = newStep; + newStep = testStep; + newError = testError; + } + } + } + + return 0.0; +} + +template +V gradientDescent(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms) { + + V currentValues = initial, prevValues; + double currentError = system.error(currentValues), prevError; + Index iteration = 0; + + // check if we're already close enough + if(currentError <= params.errorTol) { + if (params.verbosity >= NonlinearOptimizerParams::ERROR) + std::cout << "Exiting, as error = " << currentError << " < " << params.errorTol << std::endl; + return currentValues; + } + + // Maybe show output + if (params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "Initial error: " << currentError << std::endl; + + // Iterative loop + do { + // Do next iteration + const typename S::Gradient gradient = system.gradient(currentValues); + const double alpha = lineSearch(system, currentValues, gradient); + + prevValues = currentValues; + prevError = currentError; + + currentValues = system.advance(prevValues, alpha, gradient); + currentError = system.error(currentValues); + + // Maybe show output + if(params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "currentError: " << currentError << std::endl; + } while( ++iteration < params.maxIterations && + !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, + params.errorTol, prevError, currentError, params.verbosity)); + + // Printing if verbose + if (params.verbosity >= NonlinearOptimizerParams::ERROR && iteration >= params.maxIterations) + std::cout << "Terminating because reached maximum iterations" << std::endl; + + return currentValues; +} } diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 2d9f597bd..b03dc3d73 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -4,7 +4,6 @@ set (gtsam_unstable_subdirs base discrete dynamics - linear nonlinear ) diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index de4de4a6f..fac025c77 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -5,19 +5,21 @@ * @date Jun 11, 2012 */ -#include #include +#include #include -#include #include +#include +#include + using namespace std; using namespace gtsam; -/* ************************************************************************* */ -TEST(optimize, GradientDescentOptimizer) { + +boost::tuple generateProblem() { // 1. Create graph container and add factors to it pose2SLAM::Graph graph ; @@ -45,9 +47,21 @@ TEST(optimize, GradientDescentOptimizer) { Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + + return boost::tie(graph, initialEstimate); +} + + +/* ************************************************************************* */ +TEST(optimize, GradientDescentOptimizer) { + + pose2SLAM::Graph graph ; + pose2SLAM::Values initialEstimate; + + boost::tie(graph, initialEstimate) = generateProblem(); // cout << "initial error = " << graph.error(initialEstimate) << endl ; - // 4. Single Step Optimization using Levenberg-Marquardt + // Single Step Optimization using Levenberg-Marquardt GradientDescentParams param; param.maxIterations = 500; /* requires a larger number of iterations to converge */ param.verbosity = NonlinearOptimizerParams::SILENT; @@ -58,8 +72,32 @@ TEST(optimize, GradientDescentOptimizer) { /* the optimality of the solution is not comparable to the */ DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); + + CHECK(1); } +/* ************************************************************************* */ +TEST(optimize, GradientDescentOptimizer2) { + + pose2SLAM::Graph graph ; + pose2SLAM::Values initialEstimate; + + boost::tie(graph, initialEstimate) = generateProblem(); +// cout << "initial error = " << graph.error(initialEstimate) << endl ; + + // Single Step Optimization using Levenberg-Marquardt + GradientDescentParams2 param; + param.maxIterations = 500; /* requires a larger number of iterations to converge */ + param.verbosity = NonlinearOptimizerParams::ERROR; + + + GradientDescentOptimizer2 optimizer(graph, initialEstimate, param); + Values result = optimizer.optimize(); +// cout << "solver final error = " << graph.error(result) << endl; + + /* the optimality of the solution is not comparable to the */ + DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); +} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index 0f18924da..382ac4cc7 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -15,9 +15,9 @@ * @author Frank Dellaert **/ -#include #include #include +#include #include #include #include From 8687e1293c98160fd57c766b5f50a3e03a6fa24b Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 12 Jun 2012 14:20:08 +0000 Subject: [PATCH 335/914] disable error msg --- tests/testGradientDescentOptimizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index fac025c77..cfd7db3d7 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -88,7 +88,7 @@ TEST(optimize, GradientDescentOptimizer2) { // Single Step Optimization using Levenberg-Marquardt GradientDescentParams2 param; param.maxIterations = 500; /* requires a larger number of iterations to converge */ - param.verbosity = NonlinearOptimizerParams::ERROR; + param.verbosity = NonlinearOptimizerParams::SILENT; GradientDescentOptimizer2 optimizer(graph, initialEstimate, param); From eb40447a5be2a47e392275e9ad4ba2bd00370b55 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 12 Jun 2012 16:04:23 +0000 Subject: [PATCH 336/914] Moved VisualISAM gui components out to core matlab utilities - now usable for building other examples --- matlab/{examples => }/VisualISAMDemo.m | 0 matlab/{examples => }/VisualISAMGenerateData.m | 0 matlab/{examples => }/VisualISAMInitialize.m | 0 matlab/{examples => }/VisualISAMPlot.m | 0 matlab/{examples => }/VisualISAMStep.m | 0 matlab/{examples => }/VisualISAM_gui.fig | Bin matlab/{examples => }/VisualISAM_gui.m | 0 7 files changed, 0 insertions(+), 0 deletions(-) rename matlab/{examples => }/VisualISAMDemo.m (100%) rename matlab/{examples => }/VisualISAMGenerateData.m (100%) rename matlab/{examples => }/VisualISAMInitialize.m (100%) rename matlab/{examples => }/VisualISAMPlot.m (100%) rename matlab/{examples => }/VisualISAMStep.m (100%) rename matlab/{examples => }/VisualISAM_gui.fig (100%) rename matlab/{examples => }/VisualISAM_gui.m (100%) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/VisualISAMDemo.m similarity index 100% rename from matlab/examples/VisualISAMDemo.m rename to matlab/VisualISAMDemo.m diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/VisualISAMGenerateData.m similarity index 100% rename from matlab/examples/VisualISAMGenerateData.m rename to matlab/VisualISAMGenerateData.m diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m similarity index 100% rename from matlab/examples/VisualISAMInitialize.m rename to matlab/VisualISAMInitialize.m diff --git a/matlab/examples/VisualISAMPlot.m b/matlab/VisualISAMPlot.m similarity index 100% rename from matlab/examples/VisualISAMPlot.m rename to matlab/VisualISAMPlot.m diff --git a/matlab/examples/VisualISAMStep.m b/matlab/VisualISAMStep.m similarity index 100% rename from matlab/examples/VisualISAMStep.m rename to matlab/VisualISAMStep.m diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/VisualISAM_gui.fig similarity index 100% rename from matlab/examples/VisualISAM_gui.fig rename to matlab/VisualISAM_gui.fig diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/VisualISAM_gui.m similarity index 100% rename from matlab/examples/VisualISAM_gui.m rename to matlab/VisualISAM_gui.m From b8ca742d3dd32d1e40b1cae34f44eb6164151643 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 12 Jun 2012 18:21:50 +0000 Subject: [PATCH 337/914] Moved demo code back to examples --- matlab/{ => examples}/VisualISAMDemo.m | 0 matlab/{ => examples}/VisualISAMGenerateData.m | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename matlab/{ => examples}/VisualISAMDemo.m (100%) rename matlab/{ => examples}/VisualISAMGenerateData.m (100%) diff --git a/matlab/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m similarity index 100% rename from matlab/VisualISAMDemo.m rename to matlab/examples/VisualISAMDemo.m diff --git a/matlab/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m similarity index 100% rename from matlab/VisualISAMGenerateData.m rename to matlab/examples/VisualISAMGenerateData.m From cee80c1938bb0fe469e9614bac4b19efd8ee7256 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 13 Jun 2012 01:21:10 +0000 Subject: [PATCH 338/914] add a generic nonlinear cg solver --- gtsam/linear/VectorValues.cpp | 8 ++ gtsam/linear/VectorValues.h | 16 +++ gtsam/nonlinear/GradientDescentOptimizer.cpp | 24 ++--- gtsam/nonlinear/GradientDescentOptimizer.h | 100 +++++++++++-------- tests/testGradientDescentOptimizer.cpp | 36 ++++++- 5 files changed, 124 insertions(+), 60 deletions(-) diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index a0af31c70..5868d8452 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -151,6 +151,14 @@ VectorValues VectorValues::operator+(const VectorValues& c) const { return result; } +/* ************************************************************************* */ +VectorValues VectorValues::operator-(const VectorValues& c) const { + assert(this->hasSameStructure(c)); + VectorValues result(SameStructure(c)); + result.values_ = this->values_ - c.values_; + return result; +} + /* ************************************************************************* */ void VectorValues::operator+=(const VectorValues& c) { assert(this->hasSameStructure(c)); diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 3531989c9..0a32e6812 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -273,6 +273,12 @@ namespace gtsam { */ VectorValues operator+(const VectorValues& c) const; + /** + * + operator does element-wise subtraction. Both VectorValues must have the + * same structure (checked when NDEBUG is not defined). + */ + VectorValues operator-(const VectorValues& c) const; + /** * += operator does element-wise addition. Both VectorValues must have the * same structure (checked when NDEBUG is not defined). @@ -301,6 +307,16 @@ namespace gtsam { void copyStructureFrom(const VectorValues& other); public: + + /** + * scale a vector by a scalar + */ + friend VectorValues operator*(const double a, const VectorValues &V) { + VectorValues result(VectorValues::SameStructure(V)); + result.values_ = a * V.values_; + return result; + } + /// TODO: linear algebra interface seems to have been added for SPCG. friend size_t dim(const VectorValues& V) { return V.dim(); diff --git a/gtsam/nonlinear/GradientDescentOptimizer.cpp b/gtsam/nonlinear/GradientDescentOptimizer.cpp index 9a4b6b37b..2243577c7 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.cpp +++ b/gtsam/nonlinear/GradientDescentOptimizer.cpp @@ -85,7 +85,11 @@ void GradientDescentOptimizer::iterate() { const double testError = graph_.error(testValues); // update the working range - if ( testError < newError ) { + if ( testError >= newError ) { + if ( flag ) maxStep = testStep; + else minStep = testStep; + } + else { if ( flag ) { minStep = newStep; newStep = testStep; @@ -97,14 +101,6 @@ void GradientDescentOptimizer::iterate() { newError = testError; } } - else { - if ( flag ) { - maxStep = testStep; - } - else { - minStep = testStep; - } - } if ( nloVerbosity ) { std::cout << "minStep = " << minStep << ", maxStep = " << maxStep << ", newStep = " << newStep << ", newError = " << newError << std::endl; @@ -114,23 +110,23 @@ void GradientDescentOptimizer::iterate() { ++state_.iterations; } -double GradientDescentOptimizer2::System::error(const State &state) const { +double ConjugateGradientOptimizer::System::error(const State &state) const { return graph_.error(state); } -GradientDescentOptimizer2::System::Gradient GradientDescentOptimizer2::System::gradient(const State &state) const { +ConjugateGradientOptimizer::System::Gradient ConjugateGradientOptimizer::System::gradient(const State &state) const { Gradient result = state.zeroVectors(ordering_); gradientInPlace(graph_, state, ordering_, result); return result; } -GradientDescentOptimizer2::System::State GradientDescentOptimizer2::System::advance(const State ¤t, const double alpha, const Gradient &g) const { +ConjugateGradientOptimizer::System::State ConjugateGradientOptimizer::System::advance(const State ¤t, const double alpha, const Gradient &g) const { Gradient step = g; step.vector() *= alpha; return current.retract(step, ordering_); } -Values GradientDescentOptimizer2::optimize() { - return gradientDescent(System(graph_, *ordering_), initialEstimate_, params_); +Values ConjugateGradientOptimizer::optimize() { + return conjugateGradient(System(graph_, *ordering_), initialEstimate_, params_, !cg_); } } /* namespace gtsam */ diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/GradientDescentOptimizer.h index 1a78416de..6f79b4779 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.h +++ b/gtsam/nonlinear/GradientDescentOptimizer.h @@ -13,19 +13,6 @@ namespace gtsam { /* an implementation of gradient-descent method using the NLO interface */ -class GradientDescentParams : public NonlinearOptimizerParams { - -public: - typedef NonlinearOptimizerParams Base; - - GradientDescentParams():Base() {} - virtual void print(const std::string& str = "") const { - Base::print(str); - } - - virtual ~GradientDescentParams() {} -}; - class GradientDescentState : public NonlinearOptimizerState { public: @@ -43,7 +30,7 @@ public: typedef boost::shared_ptr shared_ptr; typedef NonlinearOptimizer Base; typedef GradientDescentState States; - typedef GradientDescentParams Parameters; + typedef NonlinearOptimizerParams Parameters; protected: @@ -70,15 +57,11 @@ protected: }; -#include +/** + * An implementation of the nonlinear cg method using the template below + */ -/* Yet another implementation of the gradient-descent method using the iterative.h interface */ -class GradientDescentParams2 : public NonlinearOptimizerParams { -public: - GradientDescentParams2(){} -}; - -class GradientDescentOptimizer2 { +class ConjugateGradientOptimizer { class System { @@ -102,8 +85,8 @@ class GradientDescentOptimizer2 { public: - typedef GradientDescentParams2 Parameters; - typedef boost::shared_ptr shared_ptr; + typedef NonlinearOptimizerParams Parameters; + typedef boost::shared_ptr shared_ptr; protected: @@ -112,20 +95,25 @@ protected: Parameters params_; Ordering::shared_ptr ordering_; VectorValues::shared_ptr gradient_; + bool cg_; public: - GradientDescentOptimizer2(const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params = Parameters()) + ConjugateGradientOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, + const Parameters& params = Parameters(), const bool cg = true) : graph_(graph), initialEstimate_(initialValues), params_(params), ordering_(initialValues.orderingArbitrary()), - gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))) {} + gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))), + cg_(cg) {} - virtual ~GradientDescentOptimizer2() {} + virtual ~ConjugateGradientOptimizer() {} virtual Values optimize () ; }; - +/** + * Implement the golden-section line search algorithm + */ template double lineSearch(const S &system, const V currentValues, const W &gradient) { @@ -171,37 +159,62 @@ double lineSearch(const S &system, const V currentValues, const W &gradient) { } } } - return 0.0; } -template -V gradientDescent(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms) { +/** + * Implement the nonlinear conjugate gradient method using the Polak-Ribieve formula suggested in + * http://en.wikipedia.org/wiki/Nonlinear_conjugate_gradient_method. + * + * The S (system) class requires three member functions: error(state), gradient(state) and + * advance(state, step-size, direction). The V class denotes the state or the solution. + * + * The last parameter is a switch between gradient-descent and conjugate gradient + */ - V currentValues = initial, prevValues; - double currentError = system.error(currentValues), prevError; - Index iteration = 0; +template +V conjugateGradient(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms, const bool gradientDescent) { // check if we're already close enough + double currentError = system.error(initial); if(currentError <= params.errorTol) { if (params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "Exiting, as error = " << currentError << " < " << params.errorTol << std::endl; - return currentValues; + return initial; } + V currentValues = initial; + typename S::Gradient currentGradient = system.gradient(currentValues), prevGradient, + direction = currentGradient; + + /* do one step of gradient descent */ + V prevValues = currentValues; double prevError = currentError; + double alpha = lineSearch(system, currentValues, direction); + currentValues = system.advance(prevValues, alpha, direction); + currentError = system.error(currentValues); + Index iteration = 0; + // Maybe show output if (params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "Initial error: " << currentError << std::endl; // Iterative loop do { - // Do next iteration - const typename S::Gradient gradient = system.gradient(currentValues); - const double alpha = lineSearch(system, currentValues, gradient); - prevValues = currentValues; - prevError = currentError; + if ( gradientDescent == true) { + direction = system.gradient(currentValues); + } + else { + prevGradient = currentGradient; + currentGradient = system.gradient(currentValues); + const double beta = std::max(0.0, currentGradient.dot(currentGradient-prevGradient)/currentGradient.dot(currentGradient)); + direction = currentGradient + (beta*direction); + } - currentValues = system.advance(prevValues, alpha, gradient); + alpha = lineSearch(system, currentValues, direction); + + prevValues = currentValues; prevError = currentError; + + currentValues = system.advance(prevValues, alpha, direction); currentError = system.error(currentValues); // Maybe show output @@ -217,4 +230,9 @@ V gradientDescent(const S &system, const V &initial, const NonlinearOptimizerPar return currentValues; } + + + + + } diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index cfd7db3d7..54130b664 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -62,13 +62,13 @@ TEST(optimize, GradientDescentOptimizer) { // cout << "initial error = " << graph.error(initialEstimate) << endl ; // Single Step Optimization using Levenberg-Marquardt - GradientDescentParams param; + NonlinearOptimizerParams param; param.maxIterations = 500; /* requires a larger number of iterations to converge */ param.verbosity = NonlinearOptimizerParams::SILENT; GradientDescentOptimizer optimizer(graph, initialEstimate, param); Values result = optimizer.optimize(); - // cout << "solver final error = " << graph.error(result) << endl; +// cout << "gd1 solver final error = " << graph.error(result) << endl; /* the optimality of the solution is not comparable to the */ DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); @@ -76,6 +76,29 @@ TEST(optimize, GradientDescentOptimizer) { CHECK(1); } +/* ************************************************************************* */ +TEST(optimize, ConjugateGradientOptimizer) { + + pose2SLAM::Graph graph ; + pose2SLAM::Values initialEstimate; + + boost::tie(graph, initialEstimate) = generateProblem(); +// cout << "initial error = " << graph.error(initialEstimate) << endl ; + + // Single Step Optimization using Levenberg-Marquardt + NonlinearOptimizerParams param; + param.maxIterations = 500; /* requires a larger number of iterations to converge */ + param.verbosity = NonlinearOptimizerParams::SILENT; + + + ConjugateGradientOptimizer optimizer(graph, initialEstimate, param, true); + Values result = optimizer.optimize(); +// cout << "cg final error = " << graph.error(result) << endl; + + /* the optimality of the solution is not comparable to the */ + DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); +} + /* ************************************************************************* */ TEST(optimize, GradientDescentOptimizer2) { @@ -86,19 +109,22 @@ TEST(optimize, GradientDescentOptimizer2) { // cout << "initial error = " << graph.error(initialEstimate) << endl ; // Single Step Optimization using Levenberg-Marquardt - GradientDescentParams2 param; + NonlinearOptimizerParams param; param.maxIterations = 500; /* requires a larger number of iterations to converge */ param.verbosity = NonlinearOptimizerParams::SILENT; - GradientDescentOptimizer2 optimizer(graph, initialEstimate, param); + ConjugateGradientOptimizer optimizer(graph, initialEstimate, param, false); Values result = optimizer.optimize(); -// cout << "solver final error = " << graph.error(result) << endl; +// cout << "gd2 solver final error = " << graph.error(result) << endl; /* the optimality of the solution is not comparable to the */ DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); } + + + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 5b47ab512c44125a39a6b96ad83e7335d0b1b355 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 13 Jun 2012 02:31:32 +0000 Subject: [PATCH 339/914] Added checking in VisualISAM to only add measurements/priors/initializations for observed landmarks --- matlab/VisualISAMInitialize.m | 26 +++++++++++++------------- matlab/VisualISAMPlot.m | 11 +++++++---- 2 files changed, 20 insertions(+), 17 deletions(-) diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 13a4258c9..2227aa0f3 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -1,6 +1,6 @@ function [noiseModels,isam,result] = VisualInitialize(data,truth,options) % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters -% Authors: Duy Nguyen Ta and Frank Dellaert +% Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham %% Initialize iSAM isam = visualSLAMISAM(options.reorderInterval); @@ -25,25 +25,25 @@ for i=1:2 initialEstimates.insertPose(ii,truth.cameras{i}.pose); end -%% Add visual measurement factors from two first poses +%% Add visual measurement factors from two first poses and initialize observed landmarks for i=1:2 ii = symbol('x',i); for j=1:size(data.z,2) jj = symbol('l',j); - newFactors.addMeasurement(data.z{i,j}, noiseModels.measurement, ii, jj, data.K); + % Must check whether a landmark was actually observed + if ~isempty(data.z{i,j}) + newFactors.addMeasurement(data.z{i,j}, noiseModels.measurement, ii, jj, data.K); + % TODO: initial estimates should not be from ground truth! + if ~initialEstimates.exists(jj) + initialEstimates.insertPoint(jj, truth.points{j}); + end + if options.pointPriors % add point priors + newFactors.addPointPrior(jj, truth.points{j}, noiseModels.point); + end + end end end -%% Initialize points, possibly add priors on them -% TODO: should not be from ground truth! -for j=1:size(data.z,2) - jj = symbol('l',j); - if options.pointPriors % add point priors - newFactors.addPointPrior(jj, truth.points{j}, noiseModels.point); - end - initialEstimates.insertPoint(jj, truth.points{j}); -end - %% Update ISAM if options.batchInitialization % Do a full optimize for first two poses fullyOptimized = newFactors.optimize(initialEstimates); diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m index 8e8dce6f1..6d3dde225 100644 --- a/matlab/VisualISAMPlot.m +++ b/matlab/VisualISAMPlot.m @@ -11,11 +11,14 @@ hold on; %% Plot points for j=1:N + %% TODO: use the actual set of keys present jj = symbol('l',j); - point_j = result.point(jj); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - P = isam.marginalCovariance(jj); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + if result.exists(jj) + point_j = result.point(jj); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + P = isam.marginalCovariance(jj); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); + end end %% Plot cameras From 0b04e0273e9f2751d4e4ee10420fca84667da952 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 10:50:56 +0000 Subject: [PATCH 340/914] Some targets --- .cproject | 358 ++++++++++++++++++++++++------------------------------ 1 file changed, 162 insertions(+), 196 deletions(-) diff --git a/.cproject b/.cproject index 24c4afa85..1a5a51c19 100644 --- a/.cproject +++ b/.cproject @@ -311,6 +311,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -337,7 +345,6 @@ make - tests/testBayesTree.run true false @@ -345,7 +352,6 @@ make - testBinaryBayesNet.run true false @@ -393,7 +399,6 @@ make - testSymbolicBayesNet.run true false @@ -401,7 +406,6 @@ make - tests/testSymbolicFactor.run true false @@ -409,7 +413,6 @@ make - testSymbolicFactorGraph.run true false @@ -425,20 +428,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -447,14 +441,6 @@ true true - - make - -j5 - testIMUSystem.run - true - true - true - make -j5 @@ -527,22 +513,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -559,6 +529,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -583,26 +569,18 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check - true - true - true - - - make - -j2 - clean + -j5 + testOrdering.run true true true @@ -687,26 +665,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -943,17 +921,16 @@ true true - + make -j5 - testGaussianJunctionTreeB.run + testSubgraphPreconditioner.run true true true make - testGraph.run true false @@ -961,7 +938,6 @@ make - testJunctionTree.run true false @@ -969,7 +945,6 @@ make - testSymbolicBayesNetB.run true false @@ -991,14 +966,6 @@ true true - - make - -j5 - clean - true - true - true - make -j2 @@ -1089,7 +1056,6 @@ make - testErrors.run true false @@ -1545,6 +1511,7 @@ make + testSimulated2DOriented.run true false @@ -1584,6 +1551,7 @@ make + testSimulated2D.run true false @@ -1591,6 +1559,7 @@ make + testSimulated3D.run true false @@ -1780,10 +1749,10 @@ true true - + make -j5 - LocalizationExample2.run + OdometryExample.run true true true @@ -1806,6 +1775,7 @@ make + tests/testGaussianISAM2 true false @@ -1827,14 +1797,110 @@ true true - + make -j2 - install + 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 + -j3 + install + true + false + true + make -j2 @@ -1845,10 +1911,10 @@ make - -j5 + -j3 check true - true + false true @@ -2028,7 +2094,6 @@ cpack - -G DEB true false @@ -2036,7 +2101,6 @@ cpack - -G RPM true false @@ -2044,7 +2108,6 @@ cpack - -G TGZ true false @@ -2052,7 +2115,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2146,98 +2208,42 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run + -j5 + wrap_gtsam 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 + -j5 + wrap true true true @@ -2281,46 +2287,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - From d13db7a9977d03e368abf43279b1a2160c5ba01d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 12:03:33 +0000 Subject: [PATCH 341/914] Fixed wrap problem where a double could not be passed to a method taking a size_t. Also, if a method takes a bool, you now *have* to pass a logical in matlab (i.e., true or false) --- wrap/Argument.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index af9097ea4..f51b86864 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -32,8 +32,12 @@ string Argument::matlabClass(const string& delim) const { result += ns + delim; if (type=="string" || type=="unsigned char" || type=="char") return result + "char"; - if (type=="bool" || type=="int" || type=="size_t" || type=="Vector" || type=="Matrix") - return result + "double"; + if (type=="Vector" || type=="Matrix") + return result + "double"; + if (type=="int" || type=="size_t") + return result + "numeric"; + if (type=="bool") + return result + "logical"; return result + type; } From 991d8f3c5fddc5ea2cb708084d212174359e1442 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 12:05:39 +0000 Subject: [PATCH 342/914] No more need to convert to double after wrap fix --- matlab/VisualISAMPlot.m | 4 ++-- matlab/VisualISAMStep.m | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m index 6d3dde225..b23b3a475 100644 --- a/matlab/VisualISAMPlot.m +++ b/matlab/VisualISAMPlot.m @@ -2,8 +2,8 @@ function VisualISAMPlot(truth, data, isam, result, options) % VisualISAMPlot: plot current state of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert -M = double(result.nrPoses); -N = double(result.nrPoints); +M = result.nrPoses; +N = result.nrPoints; h=gca; cla(h); diff --git a/matlab/VisualISAMStep.m b/matlab/VisualISAMStep.m index 491fd9bac..4c044fdda 100644 --- a/matlab/VisualISAMStep.m +++ b/matlab/VisualISAMStep.m @@ -8,7 +8,7 @@ newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; %% Add odometry -i = double(result.nrPoses)+1; +i = result.nrPoses+1; odometry = data.odometry{i-1}; newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); From 25b4a15e94f97c85622c3e65170e8465d5567718 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 12:06:02 +0000 Subject: [PATCH 343/914] Got rid of redundant examples (clutter!) --- matlab/examples/VisualISAMExample_triangle.m | 48 ----------- matlab/examples/VisualSLAMExample_triangle.m | 87 -------------------- 2 files changed, 135 deletions(-) delete mode 100644 matlab/examples/VisualISAMExample_triangle.m delete mode 100644 matlab/examples/VisualSLAMExample_triangle.m diff --git a/matlab/examples/VisualISAMExample_triangle.m b/matlab/examples/VisualISAMExample_triangle.m deleted file mode 100644 index c5cdf288d..000000000 --- a/matlab/examples/VisualISAMExample_triangle.m +++ /dev/null @@ -1,48 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% GTSAM Copyright 3510, 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 -% -% @brief A simple visual SLAM example for structure from motion -% @author Duy-Nguyen Ta -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -% Data Options -options.triangle = true; -options.nrCameras = 10; -options.showImages = false; - -% iSAM Options -options.hardConstraint = false; -options.pointPriors = false; -options.batchInitialization = true; -options.reorderInterval = 10; -options.alwaysRelinearize = false; - -% Display Options -options.saveDotFile = false; -options.printStats = false; -options.drawInterval = 5; -options.cameraInterval = 1; -options.drawTruePoses = false; -options.saveFigures = false; -options.saveDotFiles = false; - -%% Generate data -[data,truth] = VisualISAMGenerateData(options); - -%% Initialize iSAM with the first pose and points -[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); -figure(1); -VisualISAMPlot(truth, data, isam, result, options) - -%% Main loop for iSAM: stepping through all poses -for frame_i=3:options.nrCameras - [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); - if mod(frame_i,options.drawInterval)==0 - VisualISAMPlot(truth, data, isam, result, options) - end -end diff --git a/matlab/examples/VisualSLAMExample_triangle.m b/matlab/examples/VisualSLAMExample_triangle.m deleted file mode 100644 index 92d885a86..000000000 --- a/matlab/examples/VisualSLAMExample_triangle.m +++ /dev/null @@ -1,87 +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 -% -% @brief A simple visual SLAM example for structure from motion -% @author Duy-Nguyen Ta -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Create a triangle target, just 3 points on a plane -r = 10; -points = {}; -for j=1:3 - theta = (j-1)*2*pi/3; - points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); -end - -%% Create camera cameras on a circle around the triangle -nCameras = 6; -height = 10; -r = 30; -cameras = {}; -K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K) -end - -%% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -graph = visualSLAMGraph; - -%% Add factors for all measurements -measurementNoiseSigma=1; % in pixels -measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); -for i=1:nCameras - for j=1:3 - zij = cameras{i}.project(points{j}); % you can add noise here if desired - graph.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); - end -end - -%% Add Gaussian priors for 3 points to constrain the system -pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,0.1); -for j=1:3 - graph.addPointPrior(symbol('l',j), points{j}, pointPriorNoise); -end - -%% Print the graph -graph.print(sprintf('\nFactor graph:\n')); - -%% Initialize to noisy cameras and points -initialEstimate = visualSLAMValues; -for i=1:size(cameras,2) - initialEstimate.insertPose(symbol('x',i), cameras{i}.pose); -end -for j=1:size(points,2) - initialEstimate.insertPoint(symbol('l',j), points{j}); -end -initialEstimate.print(sprintf('\nInitial estimate:\n ')); - -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); -result.print(sprintf('\nFinal result:\n ')); - -%% Plot results with covariance ellipses -marginals = graph.marginals(result); -figure(1);clf -hold on; -for j=1:size(points,2) - P = marginals.marginalCovariance(symbol('l',j)); - point_j = result.point(symbol('l',j)); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); -end - -for i=1:size(cameras,2) - P = marginals.marginalCovariance(symbol('x',i)) - pose_i = result.pose(symbol('x',i)) - plotPose3(pose_i,P,10); -end -axis([-20 20 -20 20 -1 15]); -axis equal -view(-37,40) From 0724bd73f37cb3bb7de21a8570336e4493e1f918 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 12:07:02 +0000 Subject: [PATCH 344/914] Use GenerateData --- matlab/examples/VisualSLAMExample.m | 57 +++++++++++------------------ 1 file changed, 21 insertions(+), 36 deletions(-) diff --git a/matlab/examples/VisualSLAMExample.m b/matlab/examples/VisualSLAMExample.m index c2b045dab..9beb0e1ba 100644 --- a/matlab/examples/VisualSLAMExample.m +++ b/matlab/examples/VisualSLAMExample.m @@ -16,28 +16,13 @@ % - Each camera sees all landmarks. % - Visual measurements as 2D points are given, corrupted by Gaussian noise. -%% Generate simulated data -% 3D landmarks as vertices of a cube -points = {gtsamPoint3([10 10 10]'),... - gtsamPoint3([-10 10 10]'),... - gtsamPoint3([-10 -10 10]'),... - gtsamPoint3([10 -10 10]'),... - gtsamPoint3([10 10 -10]'),... - gtsamPoint3([-10 10 -10]'),... - gtsamPoint3([-10 -10 -10]'),... - gtsamPoint3([10 -10 -10]')}; +% Data Options +options.triangle = false; +options.nrCameras = 10; +options.showImages = false; -% Camera cameras on a circle around the cube, pointing at the world origin -nCameras = 6; -height = 0; -r = 30; -cameras = {}; -K = gtsamCal3_S2(500,500,0,640/2,480/2); -for i=1:nCameras - theta = (i-1)*2*pi/nCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K); -end +%% Generate data +[data,truth] = VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; @@ -48,29 +33,28 @@ graph = visualSLAMGraph; %% Add factors for all measurements measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); -for i=1:nCameras - for j=1:size(points,2) - zij = cameras{i}.project(points{j}); % you can add noise here if desired - graph.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K); +for i=1:size(data.z,1) + for j=1:size(data.z,2) + graph.addMeasurement(data.z{i,j}, measurementNoise, symbol('x',i), symbol('l',j), data.K); end end %% Add Gaussian priors for a pose and a landmark to constrain the system posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); -graph.addPosePrior(symbol('x',1), cameras{1}.pose, posePriorNoise); +graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,pointNoiseSigma); -graph.addPointPrior(symbol('l',1), points{1}, pointPriorNoise); +graph.addPointPrior(symbol('l',1), truth.points{1}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); -%% Initialize to noisy cameras and points +%% Initialize cameras and points to ground truth in this example initialEstimate = visualSLAMValues; -for i=1:size(cameras,2) - initialEstimate.insertPose(symbol('x',i), cameras{i}.pose); +for i=1:size(truth.cameras,2) + initialEstimate.insertPose(symbol('x',i), truth.cameras{i}.pose); end -for j=1:size(points,2) - initialEstimate.insertPoint(symbol('l',j), points{j}); +for j=1:size(truth.points,2) + initialEstimate.insertPoint(symbol('l',j), truth.points{j}); end initialEstimate.print(sprintf('\nInitial estimate:\n ')); @@ -82,18 +66,19 @@ result.print(sprintf('\nFinal result:\n ')); marginals = graph.marginals(result); cla hold on; -for j=1:size(points,2) +for j=1:result.nrPoints P = marginals.marginalCovariance(symbol('l',j)); point_j = result.point(symbol('l',j)); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end -for i=1:size(cameras,2) - P = marginals.marginalCovariance(symbol('x',i)) - pose_i = result.pose(symbol('x',i)) +for i=1:result.nrPoses + P = marginals.marginalCovariance(symbol('x',i)); + pose_i = result.pose(symbol('x',i)); plotPose3(pose_i,P,10); end axis([-35 35 -35 35 -15 15]); axis equal view(-37,40) +colormap hot From 89d5f2c4ec4eb669dc8ab8d092ec4db33e22451d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 12:14:50 +0000 Subject: [PATCH 345/914] Renamed VisualSLAM to SFM example (as no dometry, and to sync with manual) --- .../{VisualSLAMExample.m => SFMExample.m} | 2 +- matlab/examples/gtsamExamples.fig | Bin 9239 -> 9258 bytes matlab/examples/gtsamExamples.m | 8 ++++---- 3 files changed, 5 insertions(+), 5 deletions(-) rename matlab/examples/{VisualSLAMExample.m => SFMExample.m} (97%) diff --git a/matlab/examples/VisualSLAMExample.m b/matlab/examples/SFMExample.m similarity index 97% rename from matlab/examples/VisualSLAMExample.m rename to matlab/examples/SFMExample.m index 9beb0e1ba..187c36749 100644 --- a/matlab/examples/VisualSLAMExample.m +++ b/matlab/examples/SFMExample.m @@ -6,7 +6,7 @@ % % See LICENSE for the license information % -% @brief A simple visual SLAM example for structure from motion +% @brief A structure from motion example % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/matlab/examples/gtsamExamples.fig b/matlab/examples/gtsamExamples.fig index e29163e28733672598de3319389497c87053bf2c..a70f76bcb6ca11028eca7ff70fc7ce47cb12e533 100644 GIT binary patch delta 8884 zcmV;lB1_$uNUBJXGZ*d8+bp`F>#^wcBA9CPGP-~u-g;>3{yNIig5AylCXDvlhP=b7>DPMmmcrwK)Q z()jJ0-S_5wtmpl9CJ{oFf1eR5Nq$L=0#Y=l<&o65B1fyaRjpjFNHWhA(d+vDbveX- zNVJI-_UlXuVHAWU5|nV{wkWGd#Fw)?Bre6Q{lugkH&Eh7v5Oxi&4H%0+@Q@kB1iR0 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index 6cab86732..049350d54 100644 --- a/matlab/examples/gtsamExamples.m +++ b/matlab/examples/gtsamExamples.m @@ -22,7 +22,7 @@ function varargout = gtsamExamples(varargin) % Edit the above text to modify the response to help gtsamExamples -% Last Modified by GUIDE v2.5 12-Jun-2012 00:27:03 +% Last Modified by GUIDE v2.5 13-Jun-2012 08:13:23 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; @@ -117,11 +117,11 @@ echo on PlanarSLAMExample echo off -% --- Executes on button press in VisualSLAM. -function VisualSLAM_Callback(hObject, eventdata, handles) +% --- Executes on button press in SFM. +function SFM_Callback(hObject, eventdata, handles) axes(handles.axes3); echo on -VisualSLAMExample +SFMExample echo off % --- Executes on button press in VisualISAM. From 2678be064655b669bb3511659a84c6a7b926abee Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 12:22:31 +0000 Subject: [PATCH 346/914] Fixed up display options in gtsamExamples --- matlab/examples/LocalizationExample.m | 2 ++ matlab/examples/OdometryExample.m | 2 ++ matlab/examples/PlanarSLAMExample.m | 2 ++ matlab/examples/Pose2SLAMExample.m | 3 +++ matlab/examples/Pose3SLAMExample.m | 6 +++++- matlab/examples/SFMExample.m | 7 +++---- 6 files changed, 17 insertions(+), 5 deletions(-) diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index 0e801e4c0..d9c374e39 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -49,6 +49,7 @@ result.print(sprintf('\nFinal result:\n ')); cla; plot(result.xs(),result.ys(),'k*-'); hold on marginals = graph.marginals(result); +P={}; for i=1:result.size() pose_i = result.pose(i); P{i}=marginals.marginalCovariance(i); @@ -56,3 +57,4 @@ for i=1:result.size() end axis([-0.6 4.8 -1 1]) axis equal +view(2) diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index 68bdf0380..d6dae314d 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -47,6 +47,7 @@ result.print(sprintf('\nFinal result:\n ')); cla; plot(result.xs(),result.ys(),'k*-'); hold on marginals = graph.marginals(result); +P={}; for i=1:result.size() pose_i = result.pose(i); P{i}=marginals.marginalCovariance(i); @@ -54,3 +55,4 @@ for i=1:result.size() end axis([-0.6 4.8 -1 1]) axis equal +view(2) \ No newline at end of file diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index 7d4973883..2bf27d11c 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -84,5 +84,7 @@ end plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-'); plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-'); plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-'); +axis([-0.6 4.8 -1 1]) axis equal +view(2) diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index e15cab3bf..f60154fa3 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -60,9 +60,12 @@ cla; plot(result.xs(),result.ys(),'k*-'); hold on plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); marginals = graph.marginals(result); +P={}; for i=1:result.size() pose_i = result.pose(i); P{i}=marginals.marginalCovariance(i); plotPose2(pose_i,'g',P{i}) end +axis([-0.6 4.8 -1 1]) axis equal +view(2) diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index 285701cff..e8f5c7c32 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -45,5 +45,9 @@ plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); result = fg.optimize(initial); %% Show Result -hold on; plot3DTrajectory(result,'b-*', true, 0.3); axis equal; +hold on; plot3DTrajectory(result,'b-*', true, 0.3); +axis([-2 2 -2 2 -1 1]); +axis equal +view(-37,40) +colormap hot result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 187c36749..5d454f081 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -78,7 +78,6 @@ for i=1:result.nrPoses pose_i = result.pose(symbol('x',i)); plotPose3(pose_i,P,10); end -axis([-35 35 -35 35 -15 15]); -axis equal -view(-37,40) -colormap hot +axis([-40 40 -40 40 -10 20]);axis equal +view(3) +colormap('hot') From e21696b4737064b5ca424b3c9d4065d0a417b8e0 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 13 Jun 2012 13:48:55 +0000 Subject: [PATCH 347/914] Adding filtering interfaces for Values to isoloate points and poses --- gtsam.h | 2 ++ gtsam/slam/tests/testVisualSLAM.cpp | 15 +++++++++++++++ gtsam/slam/visualSLAM.h | 18 ++++++++++++++++++ 3 files changed, 35 insertions(+) diff --git a/gtsam.h b/gtsam.h index e728de125..ee7f5dd01 100644 --- a/gtsam.h +++ b/gtsam.h @@ -897,6 +897,8 @@ class Values { void print(string s) const; gtsam::Pose3 pose(size_t i); gtsam::Point3 point(size_t j); + visualSLAM::Values allPoses() const; + visualSLAM::Values allPoints() const; bool exists(size_t key); Vector xs() const; Vector ys() const; diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index d01d402ee..d9abc67ed 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -222,6 +222,21 @@ TEST( VisualSLAM, dataAssociation) { // std::pair actualChowLiu = isam.chowLiuPredictions(); // 2 times 2*2 } +/* ************************************************************************* */ +TEST( VisualSLAM, filteredValues) { + visualSLAM::Values full; + full.insert(X(1), Pose3(Pose2(1.0, 2.0, 0.3))); + full.insert(L(1), Point3(1.0, 2.0, 3.0)); + + visualSLAM::Values actPoses(full.allPoses()); + visualSLAM::Values expPoses; expPoses.insert(X(1), Pose3(Pose2(1.0, 2.0, 0.3))); + EXPECT(assert_equal(expPoses, actPoses)); + + visualSLAM::Values actPoints(full.allPoints()); + visualSLAM::Values expPoints; expPoints.insert(L(1), Point3(1.0, 2.0, 3.0)); + EXPECT(assert_equal(expPoints, actPoints)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 5f2d70905..d577ee527 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -51,6 +51,8 @@ namespace visualSLAM { struct Values: public gtsam::Values { typedef boost::shared_ptr shared_ptr; + typedef gtsam::Values::ConstFiltered PoseFiltered; + typedef gtsam::Values::ConstFiltered PointFiltered; /// Default constructor Values() {} @@ -60,6 +62,16 @@ namespace visualSLAM { gtsam::Values(values) { } + /// Constructor from filtered values view of poses + Values(const PoseFiltered& view) : + gtsam::Values(view) { + } + + /// Constructor from filtered values view of points + Values(const PointFiltered& view) : + gtsam::Values(view) { + } + /// insert a pose void insertPose(Key i, const Pose3& pose) { insert(i, pose); } @@ -84,6 +96,12 @@ namespace visualSLAM { /// get a point Point3 point(Key j) const { return at(j); } + /// get a const view containing only poses + PoseFiltered allPoses() const { return this->filter(); } + + /// get a const view containing only points + PointFiltered allPoints() const { return this->filter(); } + /// check if value with specified key exists bool exists(Key i) const { return gtsam::Values::exists(i); } From 1cbc827512dde1f92e792c492bbce9c499734696 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 13 Jun 2012 14:58:15 +0000 Subject: [PATCH 348/914] Changed the data interface for the VisualISAM demos --- matlab/VisualISAMInitialize.m | 26 +++++++++++------------- matlab/VisualISAMStep.m | 16 +++++++++++---- matlab/examples/SFMExample.m | 7 ++++--- matlab/examples/VisualISAMExample.m | 2 +- matlab/examples/VisualISAMGenerateData.m | 4 +++- 5 files changed, 32 insertions(+), 23 deletions(-) diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 2227aa0f3..8873e3c4d 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -1,4 +1,4 @@ -function [noiseModels,isam,result] = VisualInitialize(data,truth,options) +function [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options) % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham @@ -17,7 +17,7 @@ newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; for i=1:2 ii = symbol('x',i); - if i==1 & options.hardConstraint % add hard constraint + if i==1 && options.hardConstraint % add hard constraint newFactors.addPoseConstraint(ii,truth.cameras{1}.pose); else newFactors.addPosePrior(ii,truth.cameras{i}.pose, noiseModels.pose); @@ -28,18 +28,16 @@ end %% Add visual measurement factors from two first poses and initialize observed landmarks for i=1:2 ii = symbol('x',i); - for j=1:size(data.z,2) - jj = symbol('l',j); - % Must check whether a landmark was actually observed - if ~isempty(data.z{i,j}) - newFactors.addMeasurement(data.z{i,j}, noiseModels.measurement, ii, jj, data.K); - % TODO: initial estimates should not be from ground truth! - if ~initialEstimates.exists(jj) - initialEstimates.insertPoint(jj, truth.points{j}); - end - if options.pointPriors % add point priors - newFactors.addPointPrior(jj, truth.points{j}, noiseModels.point); - end + for k=1:length(data.Z{i}) + j = data.J{i}{k}; + jj = symbol('l',data.J{i}{k}); + newFactors.addMeasurement(data.Z{i}{k}, noiseModels.measurement, ii, jj, data.K); + % TODO: initial estimates should not be from ground truth! + if ~initialEstimates.exists(jj) + initialEstimates.insertPoint(jj, truth.points{j}); + end + if options.pointPriors % add point priors + newFactors.addPointPrior(jj, truth.points{j}, noiseModels.point); end end end diff --git a/matlab/VisualISAMStep.m b/matlab/VisualISAMStep.m index 4c044fdda..0f87a66f0 100644 --- a/matlab/VisualISAMStep.m +++ b/matlab/VisualISAMStep.m @@ -1,4 +1,4 @@ -function [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); +function [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth, options) % VisualISAMStep: execute one update step of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert @@ -12,9 +12,17 @@ i = result.nrPoses+1; odometry = data.odometry{i-1}; newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); -%% Add visual measurement factors -for j=1:size(data.z,2) - newFactors.addMeasurement(data.z{i,j}, noiseModels.measurement, symbol('x',i), symbol('l',j), data.K); +%% Add visual measurement factors and initializations as necessary +for k=1:length(data.Z{i}) + zij = data.Z{i}{k}; + j = data.J{i}{k}; + jj = symbol('l', j); + newFactors.addMeasurement(zij, noiseModels.measurement, symbol('x',i), jj, data.K); + % TODO: initialize with something other than truth + if ~result.exists(jj) && ~initialEstimates.exists(jj) + lmInit = truth.points{j}; + initialEstimates.insertPoint(jj, lmInit); + end end %% Initial estimates for the new pose. diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 5d454f081..9821b1478 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -33,9 +33,10 @@ graph = visualSLAMGraph; %% Add factors for all measurements measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); -for i=1:size(data.z,1) - for j=1:size(data.z,2) - graph.addMeasurement(data.z{i,j}, measurementNoise, symbol('x',i), symbol('l',j), data.K); +for i=1:length(data.Z) + for k=1:length(data.Z{i}) + j = data.J{i}{k}; + graph.addMeasurement(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('l',j), data.K); end end diff --git a/matlab/examples/VisualISAMExample.m b/matlab/examples/VisualISAMExample.m index f8423a057..dc6a95ae2 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/examples/VisualISAMExample.m @@ -41,7 +41,7 @@ VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras - [isam,result] = VisualISAMStep(data,noiseModels,isam,result,options); + [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options); if mod(frame_i,options.drawInterval)==0 VisualISAMPlot(truth, data, isam, result, options) end diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/examples/VisualISAMGenerateData.m index fab8185f9..3c55417d9 100644 --- a/matlab/examples/VisualISAMGenerateData.m +++ b/matlab/examples/VisualISAMGenerateData.m @@ -32,7 +32,9 @@ for i=1:options.nrCameras truth.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), truth.K); % Create measurements for j=1:nrPoints - data.z{i,j} = truth.cameras{i}.project(truth.points{j}); + % All landmarks seen in every frame + data.Z{i}{j} = truth.cameras{i}.project(truth.points{j}); + data.J{i}{j} = j; end end From 63b3b4eceabddacb36d2313c0e6cb27828c94fa2 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 13 Jun 2012 16:38:51 +0000 Subject: [PATCH 349/914] Added matlab interface to get indices out of Values structures. Added more matlab symbol functions. --- gtsam.h | 25 +++++++++++++++++++++++++ gtsam/base/FastVector.h | 10 +++++++++- gtsam/nonlinear/Values.h | 9 +++++++-- matlab/VisualISAMPlot.m | 16 +++++++--------- matlab/symbolChr.m | 4 ++++ matlab/symbolIndex.m | 4 ++++ 6 files changed, 56 insertions(+), 12 deletions(-) create mode 100644 matlab/symbolChr.m create mode 100644 matlab/symbolIndex.m diff --git a/gtsam.h b/gtsam.h index ee7f5dd01..f1720c466 100644 --- a/gtsam.h +++ b/gtsam.h @@ -643,8 +643,11 @@ class KalmanFilter { class Symbol { Symbol(char c, size_t j); + Symbol(size_t k); void print(string s) const; size_t key() const; + size_t index() const; + char chr() const; }; class Ordering { @@ -665,6 +668,27 @@ class Values { bool exists(size_t j) const; }; +// Actually a FastList +#include +class KeyList { + KeyList(); + KeyList(const gtsam::KeyList& other); + + // Note: no print function + size_t size() const; +}; + +// Actually a KeyVector +#include +class KeyVector { + KeyVector(); + KeyVector(const gtsam::KeyVector& other); + + // Note: no print function + size_t size() const; + size_t at(size_t i) const; +}; + class Marginals { Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); @@ -899,6 +923,7 @@ class Values { gtsam::Point3 point(size_t j); visualSLAM::Values allPoses() const; visualSLAM::Values allPoints() const; + gtsam::KeyVector keys() const; // Note the switch to KeyVector, rather than KeyList bool exists(size_t key); Vector xs() const; Vector ys() const; diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index ee7258ba8..e91bd1813 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -23,6 +23,8 @@ #include #include +#include + namespace gtsam { /** @@ -58,9 +60,15 @@ public: Base::assign(first, last); } - /** Copy constructor from another FastSet */ + /** Copy constructor from another FastVector */ FastVector(const FastVector& x) : Base(x) {} + /** Copy constructor from a FastList */ + FastVector(const FastList& x) { + if(x.size() > 0) + Base::assign(x.begin(), x.end()); + } + /** Copy constructor from the base class */ FastVector(const Base& x) : Base(x) {} diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 8b8fbc71c..8ade8ff06 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -26,6 +26,7 @@ #include #include +#include #include #include @@ -43,12 +44,16 @@ namespace gtsam { + // Useful typedefs for operations with Values - allow for matlab interfaces + typedef FastList KeyList; + typedef FastVector KeyVector; + // Forward declarations / utilities class ValueCloneAllocator; class ValueAutomaticCasting; template static bool _truePredicate(const T&) { return true; } -/** + /** * A non-templated config holding any types of Manifold-group elements. A * values structure is a map from keys to values. It is used to specify the * value of a bunch of variables in a factor graph. A Values is a values @@ -238,7 +243,7 @@ namespace gtsam { * Returns a set of keys in the config * Note: by construction, the list is ordered */ - FastList keys() const; + KeyList keys() const; /** Replace all keys and variables */ Values& operator=(const Values& rhs); diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m index b23b3a475..90c542662 100644 --- a/matlab/VisualISAMPlot.m +++ b/matlab/VisualISAMPlot.m @@ -10,15 +10,13 @@ cla(h); hold on; %% Plot points -for j=1:N - %% TODO: use the actual set of keys present - jj = symbol('l',j); - if result.exists(jj) - point_j = result.point(jj); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - P = isam.marginalCovariance(jj); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); - end +pointKeys = result.allPoints().keys(); +for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed + jj = pointKeys.at(j); + point_j = result.point(jj); + plot3(point_j.x, point_j.y, point_j.z,'marker','o'); + P = isam.marginalCovariance(jj); + covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end %% Plot cameras diff --git a/matlab/symbolChr.m b/matlab/symbolChr.m new file mode 100644 index 000000000..39c92ec85 --- /dev/null +++ b/matlab/symbolChr.m @@ -0,0 +1,4 @@ +function c = symbolChr(key) +% generate the chr from a key +s = gtsamSymbol(key); +c = s.chr(); \ No newline at end of file diff --git a/matlab/symbolIndex.m b/matlab/symbolIndex.m new file mode 100644 index 000000000..3046cf229 --- /dev/null +++ b/matlab/symbolIndex.m @@ -0,0 +1,4 @@ +function i = symbolIndex(key) +% generate the index from a key +s = gtsamSymbol(key); +i = s.index(); \ No newline at end of file From 9d0c88c1ddac522600b46559ec43f068e79d577c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 17:40:20 +0000 Subject: [PATCH 350/914] Exposed truth --- matlab/examples/VisualISAMDemo.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/examples/VisualISAMDemo.m index 00518293a..813d6d2e1 100644 --- a/matlab/examples/VisualISAMDemo.m +++ b/matlab/examples/VisualISAMDemo.m @@ -3,7 +3,7 @@ % Make sure global variables are visible on command prompt % so you can examine how they change as you step through -global frame_i data noiseModels isam result options +global options truth data noiseModels isam result frame_i % Start GUI VisualISAM_gui \ No newline at end of file From 87fe727838cd7a29d0a6f2dbfe6ffc5a7925ce34 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 17:42:06 +0000 Subject: [PATCH 351/914] Fixed logic error, added odometry --- matlab/VisualISAMInitialize.m | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 8873e3c4d..4d0b13931 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -17,10 +17,12 @@ newFactors = visualSLAMGraph; initialEstimates = visualSLAMValues; for i=1:2 ii = symbol('x',i); - if i==1 && options.hardConstraint % add hard constraint - newFactors.addPoseConstraint(ii,truth.cameras{1}.pose); - else - newFactors.addPosePrior(ii,truth.cameras{i}.pose, noiseModels.pose); + if i==1 + if options.hardConstraint % add hard constraint + newFactors.addPoseConstraint(ii,truth.cameras{1}.pose); + else + newFactors.addPosePrior(ii,truth.cameras{i}.pose, noiseModels.pose); + end end initialEstimates.insertPose(ii,truth.cameras{i}.pose); end @@ -42,6 +44,9 @@ for i=1:2 end end +%% Add odometry between frames 1 and 2 +newFactors.addOdometry(symbol('x',1), symbol('x',2), data.odometry{1}, noiseModels.odometry); + %% Update ISAM if options.batchInitialization % Do a full optimize for first two poses fullyOptimized = newFactors.optimize(initialEstimates); From 4bbe66f1064bac2a89f419865e3911ea4ba2444f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 17:45:27 +0000 Subject: [PATCH 352/914] Wrapped some more iSAM methods. Note that wrap cannot handle returning a reference, so the 4 methods we (Yong-Dian and I) added make a copy, just by declaring it a non-reference in gtsam.h. Works, but be mindful of cost. --- gtsam.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/gtsam.h b/gtsam.h index f1720c466..6628d2424 100644 --- a/gtsam.h +++ b/gtsam.h @@ -659,6 +659,7 @@ class Ordering { class NonlinearFactorGraph { NonlinearFactorGraph(); + void print(string s) const; }; class Values { @@ -975,6 +976,12 @@ class ISAM { void reorder_relinearize(); void addKey(size_t key); void setOrdering(const gtsam::Ordering& new_ordering); + + // These might be expensive as instead of a reference the wrapper will make a copy + gtsam::GaussianISAM bayesTree() const; + visualSLAM::Values getLinearizationPoint() const; + gtsam::Ordering getOrdering() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; }; }///\namespace visualSLAM From 4c78ce32d4e1fe19c23ad852c01809598bfbbc6f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 13 Jun 2012 18:04:33 +0000 Subject: [PATCH 353/914] V should be manifold, and then we can just use retract instead of advance --- gtsam/nonlinear/GradientDescentOptimizer.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/GradientDescentOptimizer.h index 6f79b4779..659aff68c 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.h +++ b/gtsam/nonlinear/GradientDescentOptimizer.h @@ -7,6 +7,7 @@ #pragma once +#include #include namespace gtsam { @@ -175,6 +176,8 @@ double lineSearch(const S &system, const V currentValues, const W &gradient) { template V conjugateGradient(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms, const bool gradientDescent) { + GTSAM_CONCEPT_MANIFOLD_TYPE(V); + // check if we're already close enough double currentError = system.error(initial); if(currentError <= params.errorTol) { From 9739c9effc8d8e5fab3b9dacd179bcccaf1cbc84 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 13 Jun 2012 20:21:23 +0000 Subject: [PATCH 354/914] Fixing include path error due to case-insensitive macs --- gtsam/nonlinear/GradientDescentOptimizer.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/GradientDescentOptimizer.h index 659aff68c..5caef0957 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.h +++ b/gtsam/nonlinear/GradientDescentOptimizer.h @@ -7,7 +7,7 @@ #pragma once -#include +#include #include namespace gtsam { From dd0574ebeb84a2ea11c10678eddcbe8ace72b57c Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 13 Jun 2012 20:41:54 +0000 Subject: [PATCH 355/914] Fixed broken GUI interface - still uses truth for initialization --- matlab/VisualISAM_gui.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab/VisualISAM_gui.m b/matlab/VisualISAM_gui.m index 97405a318..0f345e0fa 100644 --- a/matlab/VisualISAM_gui.m +++ b/matlab/VisualISAM_gui.m @@ -245,7 +245,7 @@ global frame_i truth data noiseModels isam result options while (frame_i Date: Thu, 14 Jun 2012 03:14:53 +0000 Subject: [PATCH 356/914] Fixed Remaining problems with GUI --- gtsam/nonlinear/Values.cpp | 4 +--- matlab/VisualISAMPlot.m | 6 +++--- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index a6804c1a6..bb66943eb 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -165,10 +165,8 @@ namespace gtsam { /* ************************************************************************* */ FastList Values::keys() const { FastList result; - for(const_iterator key_value = begin(); key_value != end(); ++key_value) { + for(const_iterator key_value = begin(); key_value != end(); ++key_value) result.push_back(key_value->key); - cout << result.back() << endl; - } return result; } diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m index 90c542662..a2950b5dc 100644 --- a/matlab/VisualISAMPlot.m +++ b/matlab/VisualISAMPlot.m @@ -10,9 +10,9 @@ cla(h); hold on; %% Plot points -pointKeys = result.allPoints().keys(); -for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed - jj = pointKeys.at(j); +for k=1:length(data.J{M}) + j = data.J{M}{k}; + jj = symbol('l', j); point_j = result.point(jj); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); P = isam.marginalCovariance(jj); From 7d3db1c9620b484fd15db1dd142f0b87626548e8 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 14 Jun 2012 03:20:28 +0000 Subject: [PATCH 357/914] Got rid of "Plot" button (as every time you step, you plot) --- matlab/VisualISAM_gui.fig | Bin 9838 -> 9761 bytes matlab/VisualISAM_gui.m | 15 +-------------- matlab/examples/gtsamExamples.fig | Bin 9258 -> 9270 bytes matlab/examples/gtsamExamples.m | 1 + 4 files changed, 2 insertions(+), 14 deletions(-) diff --git a/matlab/VisualISAM_gui.fig b/matlab/VisualISAM_gui.fig index 748b722619838e18e40bfff4eaf010e9bcaf2ea1..7140cbf7333b38b5712208c676d6da9caadbbf26 100644 GIT binary patch literal 9761 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z-ed3s_k;8s{-BQ`P3s|X&lH+J?2~=#CgGRqJVS0)f8SQWXVq_$`fYeJ;n{y^jf>Rp zIZHB%t?`G!kT2xlw&NY^c|Llc7kYTy)))#lGz9#iU@)-V($iIx)AP)~=qdV#o{h@V zW^4S4`mvtIdTY|N&ld=M;X8Wl{o{45eow&H8an7x(+7MFSiyVWbMd=G_|4;YJDUQ* z7GJ0_c>L8Txyb4J)>D}O#nvg9<-S1U(PRF4IIi{8y7;%r^R$0Fe!1TNrLQdz`akR9 Q`49OwD4nIlv&15D0YTrZd;kCd diff --git a/matlab/examples/gtsamExamples.m b/matlab/examples/gtsamExamples.m index 049350d54..67d4f1c27 100644 --- a/matlab/examples/gtsamExamples.m +++ b/matlab/examples/gtsamExamples.m @@ -57,6 +57,7 @@ handles.output = hObject; % Update handles structure guidata(hObject, handles); +OdometryExample; % --- Outputs from this function are returned to the command line. function varargout = gtsamExamples_OutputFcn(hObject, eventdata, handles) From 984032e29e12245aaa4ec913d0f2a235bb40c36c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 14 Jun 2012 03:55:01 +0000 Subject: [PATCH 358/914] Put back Alex's change that I foolishly undid. --- matlab/VisualISAMPlot.m | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m index a2950b5dc..e140686d9 100644 --- a/matlab/VisualISAMPlot.m +++ b/matlab/VisualISAMPlot.m @@ -10,9 +10,10 @@ cla(h); hold on; %% Plot points -for k=1:length(data.J{M}) - j = data.J{M}{k}; - jj = symbol('l', j); +% Can't use data because current frame might not see all points +pointKeys = result.allPoints().keys(); +for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed + jj = pointKeys.at(j); point_j = result.point(jj); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); P = isam.marginalCovariance(jj); From 642e180ff72523a69c1efb1ca8bbd7a61c9677fa Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 14 Jun 2012 04:51:42 +0000 Subject: [PATCH 359/914] renamed StereoVO data files --- .../Data/{VO_camera_poses.txt => VO_camera_poses_large.txt} | 0 .../{VO_stereo_factors.txt => VO_stereo_factors_large.txt} | 0 matlab/examples/StereoVOExample_large.m | 4 ++-- 3 files changed, 2 insertions(+), 2 deletions(-) rename examples/Data/{VO_camera_poses.txt => VO_camera_poses_large.txt} (100%) rename examples/Data/{VO_stereo_factors.txt => VO_stereo_factors_large.txt} (100%) diff --git a/examples/Data/VO_camera_poses.txt b/examples/Data/VO_camera_poses_large.txt similarity index 100% rename from examples/Data/VO_camera_poses.txt rename to examples/Data/VO_camera_poses_large.txt diff --git a/examples/Data/VO_stereo_factors.txt b/examples/Data/VO_stereo_factors_large.txt similarity index 100% rename from examples/Data/VO_stereo_factors.txt rename to examples/Data/VO_stereo_factors_large.txt diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/examples/StereoVOExample_large.m index 1b2db3bf3..171836cf8 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/examples/StereoVOExample_large.m @@ -24,7 +24,7 @@ initial = visualSLAMValues; %% load the initial poses from VO % row format: camera_id 4x4 pose (row, major) fprintf(1,'Reading data\n'); -cameras = dlmread('../../examples/Data/VO_camera_poses.txt'); +cameras = dlmread('../../examples/Data/VO_camera_poses_large.txt'); for i=1:size(cameras,1) pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); initial.insertPose(symbol('x',cameras(i,1)),pose); @@ -32,7 +32,7 @@ end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z -measurements = dlmread('../../examples/Data/VO_stereo_factors.txt'); +measurements = dlmread('../../examples/Data/VO_stereo_factors_large.txt'); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) From c3901f678428784c930d315c887a6bec8f714a21 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 14 Jun 2012 05:04:52 +0000 Subject: [PATCH 360/914] CALIBRATION template parameter --- gtsam/slam/ProjectionFactor.h | 15 +++++++-------- gtsam/slam/tests/testProjectionFactor.cpp | 9 ++++++++- 2 files changed, 15 insertions(+), 9 deletions(-) diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 5a871d96f..e1ea38b27 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -29,13 +29,13 @@ namespace gtsam { * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * i.e. the main building block for visual SLAM. */ - template + template class GenericProjectionFactor: public NoiseModelFactor2 { protected: // Keep a copy of measurement and calibration for I/O - Point2 measured_; ///< 2D measurement - boost::shared_ptr K_; ///< shared pointer to calibration object + Point2 measured_; ///< 2D measurement + boost::shared_ptr K_; ///< shared pointer to calibration object public: @@ -43,14 +43,13 @@ namespace gtsam { typedef NoiseModelFactor2 Base; /// shorthand for this class - typedef GenericProjectionFactor This; + typedef GenericProjectionFactor This; /// shorthand for a smart pointer to a factor typedef boost::shared_ptr shared_ptr; /// Default constructor - GenericProjectionFactor() : - K_(new Cal3_S2(444, 555, 666, 777, 888)) { + GenericProjectionFactor() { } /** @@ -94,7 +93,7 @@ namespace gtsam { Vector evaluateError(const Pose3& pose, const Point3& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none) const { try { - SimpleCamera camera(*K_, pose); + PinholeCamera camera(*K_, pose); Point2 reprojectionError(camera.project(point, H1, H2) - measured_); return reprojectionError.vector(); } catch( CheiralityException& e) { @@ -112,7 +111,7 @@ namespace gtsam { } /** return the calibration object */ - inline const Cal3_S2::shared_ptr calibration() const { + inline const boost::shared_ptr calibration() const { return K_; } diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index 0cd357c70..f344f98c9 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -18,6 +18,7 @@ #include #include +#include #include using namespace std; @@ -41,8 +42,14 @@ using symbol_shorthand::X; using symbol_shorthand::L; /* ************************************************************************* */ -TEST( ProjectionFactor, error ) +TEST( ProjectionFactor, nonStandard ) { + GenericProjectionFactor f; +} + +/* ************************************************************************* */ +TEST( ProjectionFactor, error ) + { // Create the factor with a measurement that is 3 pixels off in x Point2 z(323.,240.); int i=1, j=1; From 5a5d246b3097af04a3743f461d8ea67701628f34 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 14 Jun 2012 05:05:15 +0000 Subject: [PATCH 361/914] Added comments, some more methods --- gtsam/geometry/Cal3DS2.h | 31 +++++++++++++++++++++++-------- 1 file changed, 23 insertions(+), 8 deletions(-) diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index fc6bce9db..d26b9a19d 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -34,7 +34,7 @@ private: double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point double k1_, k2_ ; // radial 2nd-order and 4th-order - double k3_, k4_ ; // tagential distortion + double k3_, k4_ ; // tangential distortion // K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] // r = Pn.x^2 + Pn.y^2 @@ -76,31 +76,46 @@ public: /// @name Standard Interface /// @{ - ///TODO: comment + /// 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_;} + + /// Convert ideal point p (in intrinsic coordinates) into pixel coordinates Point2 uncalibrate(const Point2& p, boost::optional H1 = boost::none, boost::optional H2 = boost::none) const ; - ///TODO: comment + /// Derivative of uncalibrate wrpt intrinsic coordinates Matrix D2d_intrinsic(const Point2& p) const ; - ///TODO: comment + /// Derivative of uncalibrate wrpt the calibration parameters Matrix D2d_calibration(const Point2& p) const ; /// @} /// @name Manifold /// @{ - ///TODO: comment + /// Given delta vector, update calibration Cal3DS2 retract(const Vector& d) const ; - ///TODO: comment + /// Given a different calibration, calculate update to obtain it Vector localCoordinates(const Cal3DS2& T2) const ; - ///TODO: comment + /// Return dimensions of calibration manifold object virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2) - ///TODO: comment + /// Return dimensions of calibration manifold object static size_t Dim() { return 9; } //TODO: make a final dimension variable private: From 2524c632dff55937ebd451aea722da20f6e2b408 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 14 Jun 2012 05:05:41 +0000 Subject: [PATCH 362/914] Use p instead of l for points --- matlab/examples/SFMExample.m | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 9821b1478..3f8733fc3 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -36,7 +36,7 @@ measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; - graph.addMeasurement(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('l',j), data.K); + graph.addMeasurement(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('p',j), data.K); end end @@ -44,7 +44,7 @@ end posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,pointNoiseSigma); -graph.addPointPrior(symbol('l',1), truth.points{1}, pointPriorNoise); +graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); @@ -55,7 +55,7 @@ for i=1:size(truth.cameras,2) initialEstimate.insertPose(symbol('x',i), truth.cameras{i}.pose); end for j=1:size(truth.points,2) - initialEstimate.insertPoint(symbol('l',j), truth.points{j}); + initialEstimate.insertPoint(symbol('p',j), truth.points{j}); end initialEstimate.print(sprintf('\nInitial estimate:\n ')); @@ -68,8 +68,8 @@ marginals = graph.marginals(result); cla hold on; for j=1:result.nrPoints - P = marginals.marginalCovariance(symbol('l',j)); - point_j = result.point(symbol('l',j)); + P = marginals.marginalCovariance(symbol('p',j)); + point_j = result.point(symbol('p',j)); plot3(point_j.x, point_j.y, point_j.z,'marker','o'); covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); end From a6ea70da7bceda485460b05eba104fba051423b5 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 14 Jun 2012 05:10:12 +0000 Subject: [PATCH 363/914] small three pose VO example --- examples/Data/VO_camera_poses_small.txt | 3 + examples/Data/VO_stereo_factors_small.txt | 244 ++++++++++++++++++++++ matlab/examples/StereoVOExample_small.m | 79 +++++++ 3 files changed, 326 insertions(+) create mode 100644 examples/Data/VO_camera_poses_small.txt create mode 100644 examples/Data/VO_stereo_factors_small.txt create mode 100644 matlab/examples/StereoVOExample_small.m diff --git a/examples/Data/VO_camera_poses_small.txt b/examples/Data/VO_camera_poses_small.txt new file mode 100644 index 000000000..c0de67ee6 --- /dev/null +++ b/examples/Data/VO_camera_poses_small.txt @@ -0,0 +1,3 @@ +1 1 0 0 0 0 1 0 0 -0 0 1 0 0 0 0 1 +2 0.999997 -0.00240146 0.00061075 0.00314304 0.0024019 0.999997 -0.00071977 0.00414596 -0.00060902 0.000721235 1 0.95998 0 0 0 1 +3 0.999993 -0.00371801 0.000595621 0.00280572 0.00371612 0.999988 0.00314729 0.00981461 -0.000607315 -0.00314506 0.999995 1.91967 0 0 0 1 diff --git a/examples/Data/VO_stereo_factors_small.txt b/examples/Data/VO_stereo_factors_small.txt new file mode 100644 index 000000000..8c7e977a3 --- /dev/null +++ b/examples/Data/VO_stereo_factors_small.txt @@ -0,0 +1,244 @@ +1 3 209.979 185.87 61.5418 -8.90263 -2.48003 16.0758 +2 3 183.871 158.526 58.5288 -9.02175 -2.42293 15.2918 +3 3 154.533 127.498 45.2523 -9.04073 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-1.35829 8.37485 +2 188 1088.88 1036.23 39.7023 4.88985 -1.35836 7.36084 +3 188 1160.46 1100.97 15.2843 4.97444 -1.42279 6.51521 +1 190 1085.46 1039.22 62.8393 5.52829 -1.27798 8.38169 +2 190 1146.8 1094.21 47.6122 5.48765 -1.27929 7.3702 +3 190 1228.58 1168.42 24.1453 5.52629 -1.32759 6.44148 +1 200 988.3 953.944 70.9989 5.92163 -1.59251 11.2813 +2 200 1023.27 984.786 60.7993 5.77461 -1.56408 10.0713 \ No newline at end of file diff --git a/matlab/examples/StereoVOExample_small.m b/matlab/examples/StereoVOExample_small.m new file mode 100644 index 000000000..95926ee0d --- /dev/null +++ b/matlab/examples/StereoVOExample_small.m @@ -0,0 +1,79 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read Stereo Visual Odometry from file and optimize +% @author Chris Beall +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Load calibration +% format: fx fy skew cx cy baseline +calib = dlmread('../../examples/Data/VO_calibration.txt'); +K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); +stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); + +%% create empty graph and values +graph = visualSLAMGraph; +initial = visualSLAMValues; + + +%% load the initial poses from VO +% row format: camera_id 4x4 pose (row, major) +fprintf(1,'Reading data\n'); +cameras = dlmread('../../examples/Data/VO_camera_poses_small.txt'); +for i=1:size(cameras,1) + pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); + initial.insertPose(symbol('x',cameras(i,1)),pose); +end + +%% load stereo measurements and initialize landmarks +% camera_id landmark_id uL uR v X Y Z +measurements = dlmread('../../examples/Data/VO_stereo_factors_small.txt'); + +fprintf(1,'Creating Graph\n'); tic +for i=1:size(measurements,1) + sf = measurements(i,:); + graph.addStereoMeasurement(gtsamStereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... + symbol('x', sf(1)), symbol('l', sf(2)), K); + + if ~initial.exists(symbol('l',sf(2))) + % 3D landmarks are stored in camera coordinates: transform + % to world coordinates using the respective initial pose + pose = initial.pose(symbol('x', sf(1))); + world_point = pose.transform_from(gtsamPoint3(sf(6),sf(7),sf(8))); + initial.insertPoint(symbol('l',sf(2)), world_point); + end +end +toc + +%% add a constraint on the starting pose +key = symbol('x',1); +first_pose = initial.pose(key); +graph.addPoseConstraint(key, first_pose); + +%% optimize +fprintf(1,'Optimizing\n'); tic +result = graph.optimize(initial); +toc + +%% visualize initial trajectory, final trajectory, and final points +figure(1); clf; hold on; + +% initial trajectory in red (rotated so Z is up) +plot3(initial.zs(),-initial.xs(),-initial.ys(), '-*r','LineWidth',2); + +% final trajectory in green (rotated so Z is up) +plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2); +xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); + + +% optimized 3D points (rotated so Z is up) +points = result.points(); +plot3(points(:,3),-points(:,1),-points(:,2),'.'); + +axis equal +view(3) From c9a89587e04ad79bd30d1672f8442365a1bde997 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 14 Jun 2012 14:50:54 +0000 Subject: [PATCH 364/914] Removed empty folder From b2debfbc3a6b0595e51af45caef5e8d91fa977fc Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 14 Jun 2012 16:03:55 +0000 Subject: [PATCH 365/914] Fixed comment --- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 429bf0102..29aa9ede1 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -46,7 +46,7 @@ namespace gtsam { /** print just calls base class */ void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; - /** return keys in some random order */ + /** return keys as an ordered set - ordering is by key value */ std::set keys() const; /** unnormalized error, \f$ 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \f$ in the most common case */ From cbc5ee6c1899fad9ddb75aafb30403bef181f07e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 14 Jun 2012 16:03:57 +0000 Subject: [PATCH 366/914] Added wrapping for NonlinearFactor to allow for access to keys from an individual key --- gtsam.h | 24 +++++++++++++++++++++++- gtsam/inference/FactorGraph.h | 6 ++++-- 2 files changed, 27 insertions(+), 3 deletions(-) diff --git a/gtsam.h b/gtsam.h index 6628d2424..c32488093 100644 --- a/gtsam.h +++ b/gtsam.h @@ -662,6 +662,15 @@ class NonlinearFactorGraph { void print(string s) const; }; +class NonlinearFactor { +// NonlinearFactor(); // FIXME: don't use this - creates an abstract class + void print(string s) const; + void equals(const gtsam::NonlinearFactor& other, double tol) const; + gtsam::KeyVector keys() const; + size_t size() const; + size_t dim() const; +}; + class Values { Values(); size_t size() const; @@ -730,6 +739,7 @@ class Graph { bool empty() const; void remove(size_t i); size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t i) const; // NonlinearFactorGraph double error(const pose2SLAM::Values& values) const; @@ -780,6 +790,7 @@ class Graph { bool empty() const; void remove(size_t i); size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t i) const; // NonlinearFactorGraph double error(const pose3SLAM::Values& values) const; @@ -827,6 +838,7 @@ class Graph { bool empty() const; void remove(size_t i); size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t i) const; // NonlinearFactorGraph double error(const planarSLAM::Values& values) const; @@ -860,6 +872,9 @@ class Odometry { // Simulated2D //************************************************************************* +// FIXME: Simulated* domains are not actually installed, so this should be removed +// from the toolbox + #include namespace simulated2D { @@ -935,7 +950,14 @@ class Values { class Graph { Graph(); - void print(string s) const; + // FactorGraph + void print(string s) const; + bool equals(const visualSLAM::Graph& fg, double tol) const; + size_t size() const; + bool empty() const; + void remove(size_t i); + size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t i) const; double error(const visualSLAM::Values& values) const; gtsam::Ordering* orderingCOLAMD(const visualSLAM::Values& values) const; diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 621c18b9f..a1a14b01c 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -157,8 +157,10 @@ template class BayesTree; operator const std::vector&() const { return factors_; } /** Get a specific factor by index */ - const sharedFactor operator[](size_t i) const { assert(i Date: Thu, 14 Jun 2012 16:10:46 +0000 Subject: [PATCH 367/914] Removed simulated2D from wrapped example domains, as it isn't actually installed anymore --- gtsam.h | 50 -------------------------------------------------- 1 file changed, 50 deletions(-) diff --git a/gtsam.h b/gtsam.h index c32488093..1b9689a77 100644 --- a/gtsam.h +++ b/gtsam.h @@ -868,56 +868,6 @@ class Odometry { }///\namespace planarSLAM -//************************************************************************* -// Simulated2D -//************************************************************************* - -// FIXME: Simulated* domains are not actually installed, so this should be removed -// from the toolbox - -#include -namespace simulated2D { - -class Values { - Values(); - void insertPose(size_t i, const gtsam::Point2& p); - void insertPoint(size_t j, const gtsam::Point2& p); - size_t nrPoses() const; - size_t nrPoints() const; - gtsam::Point2 pose(size_t i); - gtsam::Point2 point(size_t j); -}; - -class Graph { - Graph(); -}; - -// TODO: add factors, etc. - -}///\namespace simulated2D - -// Simulated2DOriented Example Domain -#include -namespace simulated2DOriented { - -class Values { - Values(); - void insertPose(size_t i, const gtsam::Pose2& p); - void insertPoint(size_t j, const gtsam::Point2& p); - size_t nrPoses() const; - size_t nrPoints() const; - gtsam::Pose2 pose(size_t i); - gtsam::Point2 point(size_t j); -}; - -class Graph { - Graph(); -}; - -// TODO: add factors, etc. - -}///\namespace simulated2DOriented - //************************************************************************* // VisualSLAM //************************************************************************* From 562ec1b6304eeeb961f1155b26d7d54500d6f0bb Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 14 Jun 2012 17:33:58 +0000 Subject: [PATCH 368/914] simplified basic StereoVOExample to use only 3 artificial landmarks and 2 poses --- examples/Data/VO_camera_poses_small.txt | 3 - examples/Data/VO_stereo_factors_small.txt | 244 ---------------------- matlab/examples/StereoVOExample.m | 77 +++++++ matlab/examples/StereoVOExample_small.m | 79 ------- 4 files changed, 77 insertions(+), 326 deletions(-) delete mode 100644 examples/Data/VO_camera_poses_small.txt delete mode 100644 examples/Data/VO_stereo_factors_small.txt create mode 100644 matlab/examples/StereoVOExample.m delete mode 100644 matlab/examples/StereoVOExample_small.m diff --git a/examples/Data/VO_camera_poses_small.txt b/examples/Data/VO_camera_poses_small.txt deleted file mode 100644 index c0de67ee6..000000000 --- a/examples/Data/VO_camera_poses_small.txt +++ /dev/null @@ -1,3 +0,0 @@ -1 1 0 0 0 0 1 0 0 -0 0 1 0 0 0 0 1 -2 0.999997 -0.00240146 0.00061075 0.00314304 0.0024019 0.999997 -0.00071977 0.00414596 -0.00060902 0.000721235 1 0.95998 0 0 0 1 -3 0.999993 -0.00371801 0.000595621 0.00280572 0.00371612 0.999988 0.00314729 0.00981461 -0.000607315 -0.00314506 0.999995 1.91967 0 0 0 1 diff --git a/examples/Data/VO_stereo_factors_small.txt b/examples/Data/VO_stereo_factors_small.txt deleted file mode 100644 index 8c7e977a3..000000000 --- a/examples/Data/VO_stereo_factors_small.txt +++ /dev/null @@ -1,244 +0,0 @@ -1 3 209.979 185.87 61.5418 -8.90263 -2.48003 16.0758 -2 3 183.871 158.526 58.5288 -9.02175 -2.42293 15.2918 -3 3 154.533 127.498 45.2523 -9.04073 -2.53526 14.3359 -1 7 402.088 390.052 9.90739 -9.25908 -7.27203 32.201 -2 7 394.391 382.151 5.65911 -9.4424 -7.33715 31.6638 -1 8 363.621 350.3 19.013 -9.91743 -6.20361 29.0959 -2 8 354.573 340.708 15.0627 -9.87834 -6.11295 27.9529 -1 11 328.245 314.688 36.8183 -11.1456 -5.38969 28.5871 -2 11 317.629 303.492 33.1041 -11.0929 -5.31025 27.4172 -1 13 354.416 341.486 73.4162 -10.5993 -4.13089 29.9745 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at end of file diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m new file mode 100644 index 000000000..b3c834a93 --- /dev/null +++ b/matlab/examples/StereoVOExample.m @@ -0,0 +1,77 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Basic VO Example with 3 landmarks and two cameras +% @author Chris Beall +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - For simplicity this example is in the camera's coordinate frame +% - X: right, Y: down, Z: forward +% - Pose x1 is at the origin, Pose 2 is 1 meter forward (along Z-axis) +% - x1 is fixed with a constraint, x2 is initialized with noisy values +% - No noise on measurements + +%% Create keys for variables +x1 = symbol('x',1); x2 = symbol('x',2); +l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); + +%% Create graph container and add factors to it +graph = visualSLAMGraph; + +%% add a constraint on the starting pose +first_pose = gtsamPose3(); +graph.addPoseConstraint(x1, first_pose); + +%% Create realistic calibration and measurement noise model +% format: fx fy skew cx cy baseline +K = gtsamCal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); +stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); + +%% Add measurements +% pose 1 +graph.addStereoMeasurement(gtsamStereoPoint2(520, 480, 440), stereo_model, x1, l1, K); +graph.addStereoMeasurement(gtsamStereoPoint2(120, 80, 440), stereo_model, x1, l2, K); +graph.addStereoMeasurement(gtsamStereoPoint2(320, 280, 140), stereo_model, x1, l3, K); + +%pose 2 +graph.addStereoMeasurement(gtsamStereoPoint2(570, 520, 490), stereo_model, x2, l1, K); +graph.addStereoMeasurement(gtsamStereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); +graph.addStereoMeasurement(gtsamStereoPoint2(320, 270, 115), stereo_model, x2, l3, K); + + +%% Create initial estimate for camera poses and landmarks +initialEstimate = visualSLAMValues; +initialEstimate.insertPose(x1, first_pose); +% noisy estimate for pose 2 +initialEstimate.insertPose(x2, gtsamPose3(gtsamRot3(), gtsamPoint3(0.1,-.1,1.1))); +initialEstimate.insertPoint(l1, gtsamPoint3( 1, 1, 5)); +initialEstimate.insertPoint(l2, gtsamPoint3(-1, 1, 5)); +initialEstimate.insertPoint(l3, gtsamPoint3( 0,-.5, 5)); + +%% optimize +fprintf(1,'Optimizing\n'); tic +result = graph.optimize(initialEstimate); +toc + +%% visualize initial trajectory, final trajectory, and final points +figure(1); clf; hold on; + +% initial trajectory in red (rotated so Z is up) +plot3(initialEstimate.zs(),-initialEstimate.xs(),-initialEstimate.ys(), '-*r','LineWidth',2); + +% final trajectory in green (rotated so Z is up) +plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2); +xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); + +% optimized 3D points (rotated so Z is up) +points = result.points(); +plot3(points(:,3),-points(:,1),-points(:,2),'.'); + +axis equal +view(3) diff --git a/matlab/examples/StereoVOExample_small.m b/matlab/examples/StereoVOExample_small.m deleted file mode 100644 index 95926ee0d..000000000 --- a/matlab/examples/StereoVOExample_small.m +++ /dev/null @@ -1,79 +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 -% -% @brief Read Stereo Visual Odometry from file and optimize -% @author Chris Beall -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Load calibration -% format: fx fy skew cx cy baseline -calib = dlmread('../../examples/Data/VO_calibration.txt'); -K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); -stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); - -%% create empty graph and values -graph = visualSLAMGraph; -initial = visualSLAMValues; - - -%% load the initial poses from VO -% row format: camera_id 4x4 pose (row, major) -fprintf(1,'Reading data\n'); -cameras = dlmread('../../examples/Data/VO_camera_poses_small.txt'); -for i=1:size(cameras,1) - pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); - initial.insertPose(symbol('x',cameras(i,1)),pose); -end - -%% load stereo measurements and initialize landmarks -% camera_id landmark_id uL uR v X Y Z -measurements = dlmread('../../examples/Data/VO_stereo_factors_small.txt'); - -fprintf(1,'Creating Graph\n'); tic -for i=1:size(measurements,1) - sf = measurements(i,:); - graph.addStereoMeasurement(gtsamStereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... - symbol('x', sf(1)), symbol('l', sf(2)), K); - - if ~initial.exists(symbol('l',sf(2))) - % 3D landmarks are stored in camera coordinates: transform - % to world coordinates using the respective initial pose - pose = initial.pose(symbol('x', sf(1))); - world_point = pose.transform_from(gtsamPoint3(sf(6),sf(7),sf(8))); - initial.insertPoint(symbol('l',sf(2)), world_point); - end -end -toc - -%% add a constraint on the starting pose -key = symbol('x',1); -first_pose = initial.pose(key); -graph.addPoseConstraint(key, first_pose); - -%% optimize -fprintf(1,'Optimizing\n'); tic -result = graph.optimize(initial); -toc - -%% visualize initial trajectory, final trajectory, and final points -figure(1); clf; hold on; - -% initial trajectory in red (rotated so Z is up) -plot3(initial.zs(),-initial.xs(),-initial.ys(), '-*r','LineWidth',2); - -% final trajectory in green (rotated so Z is up) -plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2); -xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); - - -% optimized 3D points (rotated so Z is up) -points = result.points(); -plot3(points(:,3),-points(:,1),-points(:,2),'.'); - -axis equal -view(3) From 13057e7548b98e84d349cfeedc30eae95984fa51 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 14 Jun 2012 18:49:53 +0000 Subject: [PATCH 369/914] added StereoVOExample to GUI --- matlab/examples/StereoVOExample.m | 3 ++- matlab/examples/gtsamExamples.m | 5 ++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index b3c834a93..661b9aee8 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -60,7 +60,7 @@ result = graph.optimize(initialEstimate); toc %% visualize initial trajectory, final trajectory, and final points -figure(1); clf; hold on; +cla; hold on; % initial trajectory in red (rotated so Z is up) plot3(initialEstimate.zs(),-initialEstimate.xs(),-initialEstimate.ys(), '-*r','LineWidth',2); @@ -73,5 +73,6 @@ xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); points = result.points(); plot3(points(:,3),-points(:,1),-points(:,2),'.'); +axis([-4 4 -4 4 -4 4]); axis equal view(3) diff --git a/matlab/examples/gtsamExamples.m b/matlab/examples/gtsamExamples.m index 67d4f1c27..b3862088a 100644 --- a/matlab/examples/gtsamExamples.m +++ b/matlab/examples/gtsamExamples.m @@ -134,7 +134,10 @@ echo off % --- Executes on button press in StereoVO. function StereoVO_Callback(hObject, eventdata, handles) -fprintf(1,'StereoVOExample not implemented yet\n'); +axes(handles.axes3); +echo on +StereoVOExample +echo off % --- Executes on button press in Future. function Future_Callback(hObject, eventdata, handles) From d36b8b63e72fea808d1f19cd9cc195f1a52c4ec9 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 14 Jun 2012 20:00:51 +0000 Subject: [PATCH 370/914] Added versions of partial priors for parts of poses - useful for GPS or inertial priors. Added interval interface to Pose2 and Pose3. --- gtsam/geometry/Pose2.h | 18 ++++- gtsam/geometry/Pose3.h | 14 ++++ gtsam/geometry/concepts.h | 8 +++ gtsam/slam/PartialPriorFactor.h | 3 - gtsam_unstable/CMakeLists.txt | 9 ++- gtsam_unstable/slam/CMakeLists.txt | 26 +++++++ gtsam_unstable/slam/PoseRotationPrior.h | 64 +++++++++++++++++ gtsam_unstable/slam/PoseTranslationPrior.h | 64 +++++++++++++++++ gtsam_unstable/slam/tests/testPosePriors.cpp | 76 ++++++++++++++++++++ 9 files changed, 274 insertions(+), 8 deletions(-) create mode 100644 gtsam_unstable/slam/CMakeLists.txt create mode 100644 gtsam_unstable/slam/PoseRotationPrior.h create mode 100644 gtsam_unstable/slam/PoseTranslationPrior.h create mode 100644 gtsam_unstable/slam/tests/testPosePriors.cpp diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h index 60c74e7cb..d091ddac8 100644 --- a/gtsam/geometry/Pose2.h +++ b/gtsam/geometry/Pose2.h @@ -259,12 +259,26 @@ public: boost::optional H1=boost::none, boost::optional H2=boost::none) const; -private: - /// @} /// @name Advanced Interface /// @{ + /** + * Return the start and end indices (inclusive) of the translation component of the + * exponential map parameterization + * @return a pair of [start, end] indices into the tangent space vector + */ + inline static std::pair translationInterval() { return std::make_pair(0, 1); } + + /** + * Return the start and end indices (inclusive) of the rotation component of the + * exponential map parameterization + * @return a pair of [start, end] indices into the tangent space vector + */ + static std::pair rotationInterval() { return std::make_pair(2, 2); } + +private: + // Serialization function friend class boost::serialization::access; template diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h index 4d32a5608..dfae2d7a2 100644 --- a/gtsam/geometry/Pose3.h +++ b/gtsam/geometry/Pose3.h @@ -228,6 +228,20 @@ namespace gtsam { /// @name Advanced Interface /// @{ + /** + * Return the start and end indices (inclusive) of the translation component of the + * exponential map parameterization + * @return a pair of [start, end] indices into the tangent space vector + */ + inline static std::pair translationInterval() { return std::make_pair(3, 5); } + + /** + * Return the start and end indices (inclusive) of the rotation component of the + * exponential map parameterization + * @return a pair of [start, end] indices into the tangent space vector + */ + static std::pair rotationInterval() { return std::make_pair(0, 2); } + private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/geometry/concepts.h b/gtsam/geometry/concepts.h index 3000530e5..bde16ee6e 100644 --- a/gtsam/geometry/concepts.h +++ b/gtsam/geometry/concepts.h @@ -49,6 +49,14 @@ private: static Translation checkTranslationMemberAccess(const POSE& p) { return p.translation(); } + + static std::pair checkTranslationInterval() { + return POSE::translationInterval(); + } + + static std::pair checkRotationInterval() { + return POSE::rotationInterval(); + } }; /** diff --git a/gtsam/slam/PartialPriorFactor.h b/gtsam/slam/PartialPriorFactor.h index bea3f3f46..f096ed9bc 100644 --- a/gtsam/slam/PartialPriorFactor.h +++ b/gtsam/slam/PartialPriorFactor.h @@ -66,9 +66,6 @@ namespace gtsam { public: - // shorthand for a smart pointer to a factor - typedef typename boost::shared_ptr shared_ptr; - virtual ~PartialPriorFactor() {} /** Single Element Constructor: acts on a single parameter specified by idx */ diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index b03dc3d73..1c781453a 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -2,9 +2,11 @@ # and also build tests set (gtsam_unstable_subdirs base - discrete + discrete +# linear dynamics nonlinear + slam ) add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure) @@ -14,7 +16,7 @@ foreach(subdir ${gtsam_unstable_subdirs}) # Build convenience libraries file(GLOB subdir_srcs "${subdir}/*.cpp") set(${subdir}_srcs ${subdir_srcs}) - if (GTSAM_BUILD_CONVENIENCE_LIBRARIES) + if (subdir_srcs AND GTSAM_BUILD_CONVENIENCE_LIBRARIES) message(STATUS "Building Convenience Library: ${subdir}_unstable") add_library("${subdir}_unstable" STATIC ${subdir_srcs}) endif() @@ -29,8 +31,9 @@ set(gtsam_unstable_srcs ${base_srcs} ${discrete_srcs} ${dynamics_srcs} - ${linear_srcs} + #${linear_srcs} ${nonlinear_srcs} + ${slam_srcs} ) option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON) diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt new file mode 100644 index 000000000..88dd60edd --- /dev/null +++ b/gtsam_unstable/slam/CMakeLists.txt @@ -0,0 +1,26 @@ +# Install headers +file(GLOB slam_headers "*.h") +install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam) + +# Components to link tests in this subfolder against +set(slam_local_libs + #slam_unstable # No sources currently, so no convenience lib + slam + nonlinear + linear + inference + geometry + base + ccolamd +) + +set (slam_full_libs + gtsam-static + gtsam_unstable-static) + +# Exclude tests that don't work +set (slam_excluded_tests "") + +# Add all tests +gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") +add_dependencies(check.unstable check.slam_unstable) diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam_unstable/slam/PoseRotationPrior.h new file mode 100644 index 000000000..c5f039f7f --- /dev/null +++ b/gtsam_unstable/slam/PoseRotationPrior.h @@ -0,0 +1,64 @@ +/** + * @file PoseRotationPrior.h + * + * @brief Implements a prior on the rotation component of a pose + * + * @date Jun 14, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include +#include + +namespace gtsam { + +template +class PoseRotationPrior : public PartialPriorFactor { +public: + + typedef PoseRotationPrior This; + typedef PartialPriorFactor Base; + typedef POSE Pose; + typedef typename POSE::Rotation Rotation; + + GTSAM_CONCEPT_POSE_TYPE(Pose) + GTSAM_CONCEPT_GROUP_TYPE(Pose) + GTSAM_CONCEPT_LIE_TYPE(Rotation) + + /** standard constructor */ + PoseRotationPrior(Key key, const Rotation& rot_z, const SharedNoiseModel& model) + : Base(key, model) + { + assert(rot_z.dim() == model->dim()); + + // Calculate the prior applied + this->prior_ = Rotation::Logmap(rot_z); + + // Create the mask for partial prior + size_t pose_dim = Pose::identity().dim(); + size_t rot_dim = rot_z.dim(); + + // get the interval of the lie coordinates corresponding to rotation + std::pair interval = Pose::rotationInterval(); + + std::vector mask; + for (size_t i=interval.first; i<=interval.second; ++i) + mask.push_back(i); + this->mask_ = mask; + + this->H_ = zeros(rot_dim, pose_dim); + this->fillH(); + } + + /** get the rotation used to create the measurement */ + Rotation priorRotation() const { return Rotation::Expmap(this->prior_); } + +}; + +} // \namespace gtsam + + + + diff --git a/gtsam_unstable/slam/PoseTranslationPrior.h b/gtsam_unstable/slam/PoseTranslationPrior.h new file mode 100644 index 000000000..0e4d34b8b --- /dev/null +++ b/gtsam_unstable/slam/PoseTranslationPrior.h @@ -0,0 +1,64 @@ +/** + * @file PoseTranslationPrior.h + * + * @brief Implements a prior on the translation component of a pose + * + * @date Jun 14, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include +#include + +namespace gtsam { + +template +class PoseTranslationPrior : public PartialPriorFactor { +public: + + typedef PoseTranslationPrior This; + typedef PartialPriorFactor Base; + typedef POSE Pose; + typedef typename POSE::Translation Translation; + + GTSAM_CONCEPT_POSE_TYPE(Pose) + GTSAM_CONCEPT_GROUP_TYPE(Pose) + GTSAM_CONCEPT_LIE_TYPE(Translation) + + /** standard constructor */ + PoseTranslationPrior(Key key, const Translation& rot_z, const SharedNoiseModel& model) + : Base(key, model) + { + assert(rot_z.dim() == model->dim()); + + // Calculate the prior applied + this->prior_ = Translation::Logmap(rot_z); + + // Create the mask for partial prior + size_t pose_dim = Pose::identity().dim(); + size_t rot_dim = rot_z.dim(); + + // get the interval of the lie coordinates corresponding to rotation + std::pair interval = Pose::translationInterval(); + + std::vector mask; + for (size_t i=interval.first; i<=interval.second; ++i) + mask.push_back(i); + this->mask_ = mask; + + this->H_ = zeros(rot_dim, pose_dim); + this->fillH(); + } + + /** get the rotation used to create the measurement */ + Translation priorTranslation() const { return Translation::Expmap(this->prior_); } + +}; + +} // \namespace gtsam + + + + diff --git a/gtsam_unstable/slam/tests/testPosePriors.cpp b/gtsam_unstable/slam/tests/testPosePriors.cpp new file mode 100644 index 000000000..4aa835266 --- /dev/null +++ b/gtsam_unstable/slam/tests/testPosePriors.cpp @@ -0,0 +1,76 @@ +/** + * @file testPosePriors.cpp + * + * @brief Tests partial priors on poses + * + * @date Jun 14, 2012 + * @author Alex Cunningham + */ + +#include + +#include +#include + +#include +#include + +#include + +using namespace gtsam; + +Key x1 = symbol_shorthand::X(1); + +const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas(Vector_(1, 0.1)); +const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); +const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); + +/* ************************************************************************* */ +TEST( testPoseTranslationPrior, planar) { + + typedef PoseTranslationPrior PlanarTPrior; + PlanarTPrior actTprior(x1, Point2(2.0, 3.0), model2); + EXPECT(assert_equal(Point2(2.0, 3.0), actTprior.priorTranslation())); + Matrix expH(2,3); expH << eye(2,2), zeros(2,1); + EXPECT(assert_equal(eye(2,3), actTprior.H())); +} + +/* ************************************************************************* */ +TEST( testPoseTranslationPrior, visual) { + + typedef PoseTranslationPrior VisualTPrior; + VisualTPrior actPose3Tprior(x1, Point3(2.0, 3.0, 4.0), model3); + EXPECT(assert_equal(Point3(2.0, 3.0, 4.0), actPose3Tprior.priorTranslation())); + Matrix expH(3,6); expH << zeros(3,3), eye(3,3); + EXPECT(assert_equal(expH, actPose3Tprior.H())); + +// typedef PoseTranslationPrior CamTPrior; +// CamTPrior actCamTprior(x1, Point3(2.0, 3.0, 4.0), model3); +} + +/* ************************************************************************* */ +TEST( testPoseRotationPrior, planar) { + + typedef PoseRotationPrior PlanarRPrior; + PlanarRPrior actRprior(x1, Rot2::fromDegrees(30.0), model1); + EXPECT(assert_equal(Rot2::fromDegrees(30.0), actRprior.priorRotation())); + Matrix expH(1,3); expH << 0.0, 0.0, 1.0; + EXPECT(assert_equal(expH, actRprior.H())); +} + +/* ************************************************************************* */ +TEST( testPoseRotationPrior, visual) { + + typedef PoseRotationPrior VisualRPrior; + VisualRPrior actPose3Rprior(x1, Rot3::RzRyRx(0.1, 0.2, 0.3), model3); + EXPECT(assert_equal(Rot3::RzRyRx(0.1, 0.2, 0.3), actPose3Rprior.priorRotation())); + Matrix expH(3,6); expH << eye(3,3), zeros(3,3); + EXPECT(assert_equal(expH, actPose3Rprior.H())); + +// typedef testPoseRotationPrior CamRPrior; +// CamRPrior actCamRprior(x1, Rot3::RzRyRx(0.1, 0.2, 0.3), model3); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From 8bdef8a392df13a928a3a8ce2fdac1675f70e26b Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Thu, 14 Jun 2012 22:07:17 +0000 Subject: [PATCH 371/914] 1. return a copy instead of shared ptr 2. arrange the code a bit --- gtsam/linear/IterativeSolver.h | 2 +- gtsam/linear/SimpleSPCGSolver.cpp | 10 +++++----- gtsam/linear/SimpleSPCGSolver.h | 6 +++--- gtsam/linear/SubgraphSolver.cpp | 7 ++----- gtsam/linear/SubgraphSolver.h | 2 +- gtsam/linear/iterative-inl.h | 13 +++++++++---- gtsam/linear/iterative.h | 3 +-- gtsam/nonlinear/GradientDescentOptimizer.h | 4 +--- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 4 ++-- 9 files changed, 25 insertions(+), 26 deletions(-) diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 77146d1e4..6030f7be6 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -52,7 +52,7 @@ namespace gtsam { public: IterativeSolver(){} virtual ~IterativeSolver() {} - virtual VectorValues::shared_ptr optimize () = 0; + virtual VectorValues optimize () = 0; }; } diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index addbc74dd..fa0fee82f 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -82,7 +82,7 @@ SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Paramet } /* implements the CGLS method in Section 7.4 of Bjork's book */ -VectorValues::shared_ptr SimpleSPCGSolver::optimize (const VectorValues &initial) { +VectorValues SimpleSPCGSolver::optimize (const VectorValues &initial) { VectorValues::shared_ptr x(new VectorValues(initial)); VectorValues r = VectorValues::Zero(*by_), @@ -180,10 +180,10 @@ void SimpleSPCGSolver::transposeBackSubstitute(const VectorValues &input, Vector } } -VectorValues::shared_ptr SimpleSPCGSolver::transform(const VectorValues &y) { - VectorValues::shared_ptr x = boost::make_shared(VectorValues::Zero(y)); - this->backSubstitute(y, *x); - axpy(1.0, *xt_, *x); +VectorValues SimpleSPCGSolver::transform(const VectorValues &y) { + VectorValues x = VectorValues::Zero(y); + this->backSubstitute(y, x); + axpy(1.0, *xt_, x); return x; } diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index 097022c22..994815fa4 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -65,11 +65,11 @@ public: SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); virtual ~SimpleSPCGSolver() {} - virtual VectorValues::shared_ptr optimize () {return optimize(*y0_);} + virtual VectorValues optimize () {return optimize(*y0_);} protected: - VectorValues::shared_ptr optimize (const VectorValues &initial); + VectorValues optimize (const VectorValues &initial); /** output = \f$ [\bar{b_y} ; 0 ] - [A_c R_t^{-1} ; I] \f$ input */ void residual(const VectorValues &input, VectorValues &output); @@ -87,7 +87,7 @@ protected: void transposeBackSubstitute(const VectorValues &rhs, VectorValues &sol) ; /** return \f$ R_t^{-1} y + x_t \f$ */ - VectorValues::shared_ptr transform(const VectorValues &y); + VectorValues transform(const VectorValues &y); /** naively split a gaussian factor graph into tree and constraint parts * Note: This function has to be refined for your graph/application */ diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 891585ee5..d2af81a6c 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -58,13 +58,10 @@ SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters Rc1, xbar); } -VectorValues::shared_ptr SubgraphSolver::optimize() { +VectorValues SubgraphSolver::optimize() { VectorValues ybar = conjugateGradients(*pc_, pc_->zero(), parameters_); - - boost::shared_ptr xbar = boost::make_shared() ; - *xbar = pc_->x(ybar); - return xbar; + return pc_->x(ybar); } boost::tuple diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index debb373f2..60104bbe0 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -44,7 +44,7 @@ public: SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); virtual ~SubgraphSolver() {} - virtual VectorValues::shared_ptr optimize () ; + virtual VectorValues optimize () ; protected: diff --git a/gtsam/linear/iterative-inl.h b/gtsam/linear/iterative-inl.h index 3c9cffc7b..8a052a66f 100644 --- a/gtsam/linear/iterative-inl.h +++ b/gtsam/linear/iterative-inl.h @@ -79,6 +79,7 @@ namespace gtsam { /* ************************************************************************* */ // take a step, return true if converged bool step(const S& Ab, V& x) { + if ((++k) >= ((int)parameters_.maxIterations())) return true; //----------------------------------> @@ -91,9 +92,12 @@ namespace gtsam { // check for convergence double new_gamma = dot(g, g); + if (parameters_.verbosity() != ConjugateGradientParameters::SILENT) std::cout << "iteration " << k << ": alpha = " << alpha - << ", dotg = " << new_gamma << std::endl; + << ", dotg = " << new_gamma + << std::endl; + if (new_gamma < threshold) return true; // calculate new search direction @@ -124,9 +128,10 @@ namespace gtsam { if (parameters.verbosity() != ConjugateGradientParameters::SILENT) std::cout << "CG: epsilon = " << parameters.epsilon() - << ", maxIterations = " << parameters.maxIterations() - << ", ||g0||^2 = " << state.gamma - << ", threshold = " << state.threshold << std::endl; + << ", maxIterations = " << parameters.maxIterations() + << ", ||g0||^2 = " << state.gamma + << ", threshold = " << state.threshold + << std::endl; if ( state.gamma < state.threshold ) { if (parameters.verbosity() != ConjugateGradientParameters::SILENT) diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h index 4237f2632..5ffb366c2 100644 --- a/gtsam/linear/iterative.h +++ b/gtsam/linear/iterative.h @@ -36,8 +36,7 @@ namespace gtsam { * @param steepest flag, if true does steepest descent, not CG * */ template - V conjugateGradients(const S& Ab, V x, bool verbose, double epsilon, - size_t maxIterations, bool steepest = false); + V conjugateGradients(const S& Ab, V x, bool verbose, double epsilon, size_t maxIterations, bool steepest = false); /** * Helper class encapsulating the combined system |Ax-b_|^2 diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/GradientDescentOptimizer.h index 5caef0957..2407ee39f 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.h +++ b/gtsam/nonlinear/GradientDescentOptimizer.h @@ -108,7 +108,6 @@ public: cg_(cg) {} virtual ~ConjugateGradientOptimizer() {} - virtual Values optimize () ; }; @@ -223,8 +222,7 @@ V conjugateGradient(const S &system, const V &initial, const NonlinearOptimizerP // Maybe show output if(params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "currentError: " << currentError << std::endl; } while( ++iteration < params.maxIterations && - !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, - params.errorTol, prevError, currentError, params.verbosity)); + !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, prevError, currentError, params.verbosity)); // Printing if verbose if (params.verbosity >= NonlinearOptimizerParams::ERROR && iteration >= params.maxIterations) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index ddebdb498..5847986be 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -80,11 +80,11 @@ void LevenbergMarquardtOptimizer::iterate() { if ( boost::dynamic_pointer_cast(params_.iterativeParams)) { SimpleSPCGSolver solver (dampedSystem, *boost::dynamic_pointer_cast(params_.iterativeParams)); - delta = *solver.optimize(); + delta = solver.optimize(); } else if ( boost::dynamic_pointer_cast(params_.iterativeParams) ) { SubgraphSolver solver (dampedSystem, *boost::dynamic_pointer_cast(params_.iterativeParams)); - delta = *solver.optimize(); + delta = solver.optimize(); } else { throw runtime_error("LMSolver: special cg parameter type is not handled in LM solver ..."); From 7832b586e6adeac2b5de7f1f59b8dfb9f8fb1905 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 15 Jun 2012 01:00:50 +0000 Subject: [PATCH 372/914] Small detail in constructors --- wrap/matlab.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/wrap/matlab.h b/wrap/matlab.h index 483326720..365e11f39 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -321,20 +321,21 @@ public: // Constructor for free-store allocated objects. // Creates shared pointer, will delete if is last one to hold pointer ObjectHandle(T* ptr) : - type(&typeid(T)), t(boost::shared_ptr (ptr)) { + type(&typeid(T)), t(ptr) { signature = this; } // Constructor for shared pointers // Creates shared pointer, will delete if is last one to hold pointer - ObjectHandle(boost::shared_ptr ptr) : - /*type(&typeid(T)),*/ t(ptr) { + ObjectHandle(boost::shared_ptr shared_ptr) : + /*type(&typeid(T)),*/ t(shared_ptr) { signature = this; } ~ObjectHandle() { // object is in shared_ptr, will be automatically deleted signature = 0; // destroy signature + // std::cout << "ObjectHandle destructor" << std::endl; } // Get the actual object contained by handle From 9d3bb30bc2e279423df7211458505284c2e50c30 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 15 Jun 2012 01:01:25 +0000 Subject: [PATCH 373/914] Dummy object for Andrew to play with --- gtsam_unstable/base/Dummy.h | 40 +++++++++++++++++++++++++++++++++ gtsam_unstable/gtsam_unstable.h | 6 +++++ 2 files changed, 46 insertions(+) create mode 100644 gtsam_unstable/base/Dummy.h diff --git a/gtsam_unstable/base/Dummy.h b/gtsam_unstable/base/Dummy.h new file mode 100644 index 000000000..6189662dc --- /dev/null +++ b/gtsam_unstable/base/Dummy.h @@ -0,0 +1,40 @@ +/* ---------------------------------------------------------------------------- + + * 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 Dummy.h + * @brief Dummy class for testing MATLAB memory allocation + * @author Andrew Melim + * @author Frank Dellaert + * @date June 14, 2012 + */ + +namespace gtsam { + + static size_t gDummyCount; + + struct Dummy { + size_t id; + Dummy():id(++gDummyCount) { + std::cout << "Dummy constructor " << id << std::endl; + } + ~Dummy() { + std::cout << "Dummy destructor " << id << std::endl; + gDummyCount--; + } + void print(const std::string& s="") const { + std::cout << s << "Dummy " << id << std::endl; + } + + }; + +} // namespace gtsam + diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 91377da8c..fda6ff8c4 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -10,6 +10,12 @@ class gtsam::SharedNoiseModel; namespace gtsam { +#include +class Dummy { + Dummy(); + void print(string s) const; +}; + #include class PoseRTV { PoseRTV(); From 06ed5370910adb8abd2fd7912104dd713ba48653 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 15 Jun 2012 01:01:39 +0000 Subject: [PATCH 374/914] Made display better --- matlab/examples/StereoVOExample.m | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 661b9aee8..4553a1f0d 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -61,6 +61,10 @@ toc %% visualize initial trajectory, final trajectory, and final points cla; hold on; +axis normal +axis([-1 6 -2 2 -1.5 1.5]); +axis equal +view(-38,12) % initial trajectory in red (rotated so Z is up) plot3(initialEstimate.zs(),-initialEstimate.xs(),-initialEstimate.ys(), '-*r','LineWidth',2); @@ -71,8 +75,5 @@ xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); % optimized 3D points (rotated so Z is up) points = result.points(); -plot3(points(:,3),-points(:,1),-points(:,2),'.'); +plot3(points(:,3),-points(:,1),-points(:,2),'*'); -axis([-4 4 -4 4 -4 4]); -axis equal -view(3) From 82482e61fc87b16fba1455428477eccd5d6950c7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 15 Jun 2012 03:52:50 +0000 Subject: [PATCH 375/914] Make unique IDs --- gtsam_unstable/base/Dummy.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam_unstable/base/Dummy.h b/gtsam_unstable/base/Dummy.h index 6189662dc..ccf23af5d 100644 --- a/gtsam_unstable/base/Dummy.h +++ b/gtsam_unstable/base/Dummy.h @@ -28,7 +28,6 @@ namespace gtsam { } ~Dummy() { std::cout << "Dummy destructor " << id << std::endl; - gDummyCount--; } void print(const std::string& s="") const { std::cout << s << "Dummy " << id << std::endl; From 22017065e45b4b98d1ffb6c98dda9247fbf82f23 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Fri, 15 Jun 2012 21:49:01 +0000 Subject: [PATCH 376/914] take out the blas kernel parameter --- gtsam/linear/ConjugateGradientSolver.h | 23 +++++------------------ 1 file changed, 5 insertions(+), 18 deletions(-) diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index 3a42b8842..cf1d31d85 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -32,24 +32,14 @@ public: double epsilon_rel_; ///< threshold for relative error decrease double epsilon_abs_; ///< threshold for absolute error decrease - /* Matrix Operation Kernel */ - enum BLASKernel { - GTSAM = 0, ///< Jacobian Factor Graph of GTSAM - SBM, ///< Sparse Block Matrix - SBM_MT ///< Sparse Block Matrix Multithreaded - } blas_kernel_; - ConjugateGradientParameters() - : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), blas_kernel_(GTSAM) {} + : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3){} - ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, - double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM) - : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), - epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {} + ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, double epsilon_rel, double epsilon_abs) + : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs){} ConjugateGradientParameters(const ConjugateGradientParameters &p) - : Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), - epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), blas_kernel_(p.blas_kernel_) {} + : Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_) {} /* general interface */ inline size_t minIterations() const { return minIterations_; } @@ -58,14 +48,11 @@ public: inline double epsilon() const { return epsilon_rel_; } inline double epsilon_rel() const { return epsilon_rel_; } inline double epsilon_abs() const { return epsilon_abs_; } - inline BLASKernel blas_kernel() const { return blas_kernel_; } void print() const { - const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"}; Base::print(); std::cout << "ConjugateGradientParameters: " - << "blas = " << blasStr[blas_kernel_] - << ", minIter = " << minIterations_ + << "minIter = " << minIterations_ << ", maxIter = " << maxIterations_ << ", resetIter = " << reset_ << ", eps_rel = " << epsilon_rel_ From 1e190f7c902b3b37c771e87505f11f7ca75b7c5d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jun 2012 00:05:30 +0000 Subject: [PATCH 377/914] Moved CHECK and EQUALITY to top of gtsam --- matlab/{tests => }/CHECK.m | 0 matlab/{tests => }/EQUALITY.m | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename matlab/{tests => }/CHECK.m (100%) rename matlab/{tests => }/EQUALITY.m (100%) diff --git a/matlab/tests/CHECK.m b/matlab/CHECK.m similarity index 100% rename from matlab/tests/CHECK.m rename to matlab/CHECK.m diff --git a/matlab/tests/EQUALITY.m b/matlab/EQUALITY.m similarity index 100% rename from matlab/tests/EQUALITY.m rename to matlab/EQUALITY.m From f15d242a78c1deb7cac44f67f6aafbfb13335c63 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jun 2012 03:23:38 +0000 Subject: [PATCH 378/914] There was no unit test for DLT. Guess what, it never survived the switch to Eigen. Fixed now. --- gtsam/base/Matrix.cpp | 28 +++++---------- gtsam/base/tests/testMatrix.cpp | 63 ++++++++++++++++++++++----------- 2 files changed, 52 insertions(+), 39 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index 2d32ccc04..e96d5a329 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -671,31 +671,21 @@ void svd(const Matrix& A, Matrix& U, Vector& S, Matrix& V) { boost::tuple DLT(const Matrix& A, double rank_tol) { // Check size of A - int m = A.rows(), n = A.cols(); - if (m < n) throw invalid_argument( - "DLT: m svd(A, Eigen::ComputeFullV); + Vector s = svd.singularValues(); + Matrix V = svd.matrixV(); // Find rank int rank = 0; - for (int j = 0; j < n; j++) - if (S(j) > rank_tol) rank++; - // Find minimum singular value and corresponding column index - int min_j = n - 1; - double min_S = S(min_j); - for (int j = 0; j < n - 1; j++) - if (S(j) < min_S) { - min_j = j; - min_S = S(j); - } + for (int j = 0; j < m; j++) + if (s(j) > rank_tol) rank++; - // Return rank, minimum singular value, and corresponding column of V - return boost::tuple(rank, min_S, Vector(column(V, min_j))); + // Return rank, error, and corresponding column of V + double error = m

-+`rH$(AHhD>C`ZFg+v7Dj#ZGIieBIl<0GdspU- z?~AQ9BszV@>+5%)Y!{Z286j83e6?eO4tkT44?$kH;2T{(!*f~RSiS6*3a5OL&9xUJ z_?3^%*S&Vp$JfK!b>!ccpYRTy;|G*3QN7srQ1ZpASMDW$;k)buj5NM zjdWWpi6J_Wxs<-`k;H!v59`f*XRCON#CO_6Po`a)>xP_ddyBS2i9fxx3_dx^`wUgr zk|k*T&2g^gk-ySpokEET9EDZK0O#|r41W?=O*%eeL9{y(`_%9 zTEpg{b}}(=02u9zkN*H&B>w;rMai!_M(tJGHm)p`C zXk8#!$Q!1S$N^X1pHIf7(|m1fr(9|4f1&DA%W-aI6K)M1xd4)`%ExaYDGUG^>t8vD z;tcAfd81S0lKofeDwwKpdmlo{@gnC_zk6#PD)@bw4&+#HFnjJQG6hLz;z?t%pHtN! zlHO@C9G1^?vyyoV`%^rUc^I!D)4X}6>UTo++fdV^j6@8kE4Ch6w>ue|3f(vW6ZlqD z--<4D`>Fh`FYPK9a@<5DcXub{R0F9w{_yqs;fCT|?ll^6`_jM5Z`9{_u5C|E)%;1S z4O4t>mh!P^;_~hBfY`_YV{UK;PaJ*~^FNOMF1LsLRGL&U>Ke7|@jO9V*&A$x;18Ri zUZ4(5TZ_l5bFINPt6RPCk`f~&W6td0j4{SWbJI4iEp&}kh%RsET`-rD z;=*ec47eeN&H)6n=Naqkj8|?I)Kcfg^H1jg088j|M!z!`!}|N(=&L>KHxZ;#7^j+5 zXt3b@)&vctbo$n*cb%k~D3&qiVOlAJ?;VauAp3Q%J)S*E!^F~EN#iT4%L}|qrL1EY&gR+WSt7EP_U38fA1aZIji=Wj=e`YTDm7*AQ-7c9W6-6D zzLG~rs%m%k8g0$hit8G@;Z>xyj&fv?bBr$IjDgNG&1c=}f9SU9J=hOA7Po?A`N

(rank, error, Vector(column(V, p-1))); } /* ************************************************************************* */ diff --git a/gtsam/base/tests/testMatrix.cpp b/gtsam/base/tests/testMatrix.cpp index ad6742613..abd71bacc 100644 --- a/gtsam/base/tests/testMatrix.cpp +++ b/gtsam/base/tests/testMatrix.cpp @@ -1052,32 +1052,55 @@ TEST( matrix, svd3 ) /* ************************************************************************* */ TEST( matrix, svd4 ) { - Matrix U, V; - Vector s; + Matrix U, V; + Vector s; - Matrix A = Matrix_(3,2, - 0.8147, 0.9134, - 0.9058, 0.6324, - 0.1270, 0.0975); + Matrix A = Matrix_(3,2, + 0.8147, 0.9134, + 0.9058, 0.6324, + 0.1270, 0.0975); - Matrix expectedU = Matrix_(3,2, - 0.7397, 0.6724, - 0.6659, -0.7370, - 0.0970, -0.0689); + Matrix expectedU = Matrix_(3,2, + 0.7397, 0.6724, + 0.6659, -0.7370, + 0.0970, -0.0689); - Vector expected_s = Vector_(2, 1.6455, 0.1910); + Vector expected_s = Vector_(2, 1.6455, 0.1910); - Matrix expectedV = Matrix_(2,2, - 0.7403, -0.6723, - 0.6723, 0.7403); + Matrix expectedV = Matrix_(2,2, + 0.7403, -0.6723, + 0.6723, 0.7403); - svd(A, U, s, V); - Matrix reconstructed = U * diag(s) * trans(V); + svd(A, U, s, V); + Matrix reconstructed = U * diag(s) * trans(V); - EXPECT(assert_equal(A, reconstructed, 1e-4)); - EXPECT(assert_equal(expectedU,U, 1e-3)); - EXPECT(assert_equal(expected_s,s, 1e-4)); - EXPECT(assert_equal(expectedV,V, 1e-4)); + EXPECT(assert_equal(A, reconstructed, 1e-4)); + EXPECT(assert_equal(expectedU,U, 1e-3)); + EXPECT(assert_equal(expected_s,s, 1e-4)); + EXPECT(assert_equal(expectedV,V, 1e-4)); +} + +/* ************************************************************************* */ +TEST( matrix, DLT ) +{ + Matrix A = Matrix_(8,9, + 0.21, -0.42, -10.71, 0.18, -0.36, -9.18, -0.61, 1.22, 31.11, + 0.44, -0.66, -15.84, 0.34, -0.51, -12.24, -1.64, 2.46, 59.04, + 0.69, -8.28, -12.19, -0.48, 5.76, 8.48, -1.89, 22.68, 33.39, + 0.96, -8.4, -17.76, -0.6, 5.25, 11.1, -3.36, 29.4, 62.16, + 1.25, 0.3, 2.75, -3.5, -0.84, -7.7, 16.25, 3.9, 35.75, + 1.56, 0.42, 4.56, -3.38, -0.91, -9.88, 22.36, 6.02, 65.36, + 1.89, 2.24, 3.99, 3.24, 3.84, 6.84, 18.09, 21.44, 38.19, + 2.24, 2.48, 6.24, 3.08, 3.41, 8.58, 24.64, 27.28, 68.64 + ); + int rank; + double error; + Vector actual; + boost::tie(rank,error,actual) = DLT(A); + Vector expected = Vector_(9, -0.0, 0.2357, 0.4714, -0.2357, 0.0, - 0.4714,-0.4714, 0.4714, 0.0); + EXPECT_LONGS_EQUAL(8,rank); + EXPECT_DOUBLES_EQUAL(0,error,1e-8); + EXPECT(assert_equal(expected, actual, 1e-4)); } /* ************************************************************************* */ From 8cf867bdbd82bce00f7dab8493b728d7e9af8e64 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 16 Jun 2012 03:59:12 +0000 Subject: [PATCH 379/914] Better EQUALITY --- matlab/EQUALITY.m | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/matlab/EQUALITY.m b/matlab/EQUALITY.m index 4f310175d..114867ac0 100644 --- a/matlab/EQUALITY.m +++ b/matlab/EQUALITY.m @@ -1,12 +1,14 @@ -function EQUALITY(name,A,B,tol) +function EQUALITY(name,expected,actual,tol) % test equality of two vectors/matrices up to tolerance if nargin<4,tol=1e-9;end -assertion = size(A)==size(B); +assertion = size(expected)==size(actual); if assertion - assertion = all(abs(A-B) Date: Sun, 17 Jun 2012 15:14:22 +0000 Subject: [PATCH 380/914] Added matrix and calibration --- gtsam/geometry/Cal3_S2Stereo.h | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index f32b2a922..3a945e8cd 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -68,6 +68,12 @@ namespace gtsam { /// @name Standard Interface /// @{ + /// return calibration, same for left and right + const Cal3_S2& calibration() const { return K_;} + + /// return calibration matrix K, same for left and right + Matrix matrix() const { return K_.matrix();} + /// focal length x inline double fx() const { return K_.fx();} @@ -84,9 +90,7 @@ namespace gtsam { inline double py() const { return K_.py();} /// return the principal point - Point2 principalPoint() const { - return K_.principalPoint(); - } + Point2 principalPoint() const { return K_.principalPoint();} /// return baseline inline double baseline() const { return b_; } From 1edcc8a53b0889eb4d399a7395ab13914cafb7a6 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 18 Jun 2012 04:31:11 +0000 Subject: [PATCH 381/914] adapt old implementations to the latest function templates reorg partial elimination + pcg solvers a new unit test for pcg solvers use python.psutil to inspect peak memory usage --- gtsam/linear/IterativeSolver.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 6030f7be6..8292b3831 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -11,6 +11,7 @@ #pragma once +#include #include namespace gtsam { @@ -50,8 +51,12 @@ namespace gtsam { class IterativeSolver { public: + typedef boost::shared_ptr shared_ptr; IterativeSolver(){} virtual ~IterativeSolver() {} + + /* update interface to the nonlinear optimizer */ + virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {} virtual VectorValues optimize () = 0; }; From fdb94319bdabc9b00a911d25d0a792fe7331bea6 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 18 Jun 2012 14:03:43 +0000 Subject: [PATCH 382/914] comments --- gtsam/geometry/Rot3.h | 28 +++++++--------------------- 1 file changed, 7 insertions(+), 21 deletions(-) diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h index c0fbfc999..e3aaa6d32 100644 --- a/gtsam/geometry/Rot3.h +++ b/gtsam/geometry/Rot3.h @@ -104,10 +104,10 @@ namespace gtsam { /// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis. static Rot3 Rx(double t); - /// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis. + /// Rotation around Y axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis. static Rot3 Ry(double t); - /// Rotation around X axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis. + /// Rotation around Z axis as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis. static Rot3 Rz(double t); /// Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis. @@ -119,31 +119,17 @@ namespace gtsam { return RzRyRx(xyz(0), xyz(1), xyz(2)); } - /** - * Positive yaw is to right (as in aircraft heading). - * Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw) - * as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf. - * Assumes vehicle coordinate frame X forward, Y right, Z down. - */ + /// Positive yaw is to right (as in aircraft heading). See ypr static Rot3 yaw (double t) { return Rz(t); } - /** - * Positive pitch is up (increasing aircraft altitude). - * Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw) - * as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf. - * Assumes vehicle coordinate frame X forward, Y right, Z down. - */ + /// Positive pitch is up (increasing aircraft altitude).See ypr static Rot3 pitch(double t) { return Ry(t); } - /** - * Positive roll is to right (increasing yaw in aircraft). - * Tait-Bryan system from Spatial Reference Model (SRM) (x,y,z) = (roll,pitch,yaw) - * as described in http://www.sedris.org/wg8home/Documents/WG80462.pdf. - * Assumes vehicle coordinate frame X forward, Y right, Z down. - */ + //// Positive roll is to right (increasing yaw in aircraft). static Rot3 roll (double t) { return Rx(t); } - /** Returns rotation nRb from body to nav frame. + /** + * Returns rotation nRb from body to nav frame. * Positive yaw is to right (as in aircraft heading). * Positive pitch is up (increasing aircraft altitude). * Positive roll is to right (increasing yaw in aircraft). From c77e8176c749176871e3c663c828c9761d4bffd1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 18 Jun 2012 14:04:20 +0000 Subject: [PATCH 383/914] Balbianello images for larger SFM example --- .../Data/Balbianello/BalbianelloMedium-1.jpg | Bin 0 -> 102899 bytes .../Data/Balbianello/BalbianelloMedium-2.jpg | Bin 0 -> 93154 bytes .../Data/Balbianello/BalbianelloMedium-3.jpg | Bin 0 -> 102182 bytes .../Data/Balbianello/BalbianelloMedium-4.jpg | Bin 0 -> 96414 bytes .../Data/Balbianello/BalbianelloMedium-5.jpg | Bin 0 -> 85882 bytes 5 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 examples/Data/Balbianello/BalbianelloMedium-1.jpg create mode 100644 examples/Data/Balbianello/BalbianelloMedium-2.jpg create mode 100644 examples/Data/Balbianello/BalbianelloMedium-3.jpg create mode 100644 examples/Data/Balbianello/BalbianelloMedium-4.jpg create mode 100644 examples/Data/Balbianello/BalbianelloMedium-5.jpg diff --git a/examples/Data/Balbianello/BalbianelloMedium-1.jpg 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zr+6dGXxIJFXBe8$(@rWH#^n3|D6Y0k$ZyY?K;Ob-12MUbYA;PurL+qG)iw;HXU?*& z;R^~6+-PzyFLKV)yO4g~EDv>uhWQ=7tir7I-d{h##YxUVr>em21racIKAy>1{3OWN z?G4Qk1Ld|ELmwg7(Tw*W#o0tBKgq>1r?>eE`f2ec>9Ke>-W@u3gbQr8fQ8M~AtP(s z0o8gJhZTPM#5yIOU%l#KBx>X}wuHWQD{X~uPgS7l$MQ5VJJD+mXZs+M=FL>wTw~oFcNx#Kf{jQ{=qQ$1$+YkJO8veEQ zZ|z;;t!Gn$O)~AY&#|ohEE-j`Eyq83BMti3!3d-61Y?Z!u6#?W2{_6_#L%57xXRb^ z{{V(UE>-iq{uORJ=_A}c$8F2Cfn(F#(ARUM={j}KgC)D3);TT%962YC!=+?i+1kRn zj@}hGAHofJzTPd`$2yBBCa{p$`D$e&{j~)CbVIAb_LXacDM8f40=M8zED^@R^Atx1 z`+~2fwZ7s!hwM@<|r=Dp=zuXy&sn8N9>JIL{nXY4!yh H>VN;)!Y(O( literal 0 HcmV?d00001 From 4ec1cc9e5a7cdbcfec37e10c6233c995c5059075 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 18 Jun 2012 14:04:50 +0000 Subject: [PATCH 384/914] ignore .mat files, more targets --- .cproject | 362 +++++++++++++++++++++++++++++------------------------- 1 file changed, 198 insertions(+), 164 deletions(-) diff --git a/.cproject b/.cproject index 1a5a51c19..b0ad23ee6 100644 --- a/.cproject +++ b/.cproject @@ -311,14 +311,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -345,6 +337,7 @@ make + tests/testBayesTree.run true false @@ -352,6 +345,7 @@ make + testBinaryBayesNet.run true false @@ -399,6 +393,7 @@ make + testSymbolicBayesNet.run true false @@ -406,6 +401,7 @@ make + tests/testSymbolicFactor.run true false @@ -413,6 +409,7 @@ make + testSymbolicFactorGraph.run true false @@ -428,11 +425,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -441,6 +447,14 @@ true true + + make + -j5 + testIMUSystem.run + true + true + true + make -j5 @@ -513,22 +527,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -545,6 +543,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -569,18 +583,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check + true + true + true + + + make + -j2 + clean true true true @@ -665,26 +687,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -841,10 +863,10 @@ true true - + make - -j2 - testNonlinearFactorGraph.run + -j5 + testGradientDescentOptimizer.run true true true @@ -921,16 +943,17 @@ true true - + make -j5 - testSubgraphPreconditioner.run + testGaussianJunctionTreeB.run true true true make + testGraph.run true false @@ -938,6 +961,7 @@ make + testJunctionTree.run true false @@ -945,6 +969,7 @@ make + testSymbolicBayesNetB.run true false @@ -966,6 +991,14 @@ true true + + make + -j5 + clean + true + true + true + make -j2 @@ -1056,6 +1089,7 @@ make + testErrors.run true false @@ -1511,7 +1545,6 @@ make - testSimulated2DOriented.run true false @@ -1551,7 +1584,6 @@ make - testSimulated2D.run true false @@ -1559,7 +1591,6 @@ make - testSimulated3D.run true false @@ -1749,10 +1780,10 @@ true true - + make -j5 - OdometryExample.run + LocalizationExample2.run true true true @@ -1775,7 +1806,6 @@ make - tests/testGaussianISAM2 true false @@ -1797,108 +1827,12 @@ 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 - -j3 + -j2 install true - false + true true @@ -1911,7 +1845,7 @@ make - -j3 + -j2 check true false @@ -2094,6 +2028,7 @@ cpack + -G DEB true false @@ -2101,6 +2036,7 @@ cpack + -G RPM true false @@ -2108,6 +2044,7 @@ cpack + -G TGZ true false @@ -2115,6 +2052,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2208,42 +2146,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap_gtsam + -j2 + timeRot3.run true true true - + make - -j5 - wrap + -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 @@ -2287,6 +2281,46 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + From d57fc32e742ebc5181611c567a896d69fff4681a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 18 Jun 2012 14:55:30 +0000 Subject: [PATCH 385/914] To simplify FactorGraph, removed convertCastFactors and dynamicCastFactors from FactorGraph - replaced their calls with in-place code to do the needed conversions --- gtsam/inference/FactorGraph.h | 33 ------------------- gtsam/inference/tests/testFactorGraph.cpp | 6 ---- gtsam/linear/GaussianConditional.h | 2 +- gtsam/linear/GaussianFactorGraph.cpp | 13 ++++++-- gtsam/linear/HessianFactor.h | 4 +-- gtsam/linear/JacobianFactor.cpp | 12 +++++++ gtsam/linear/JacobianFactor.h | 3 ++ gtsam/linear/SubgraphSolver.cpp | 27 ++++++++++++--- .../linear/tests/testGaussianFactorGraph.cpp | 28 ++++++++++------ gtsam/linear/tests/testHessianFactor.cpp | 18 +++++++--- gtsam/nonlinear/GradientDescentOptimizer.cpp | 10 ++++-- gtsam/nonlinear/NonlinearISAM.cpp | 6 ++-- gtsam/slam/tests/testPlanarSLAM.cpp | 10 +++--- tests/smallExample.cpp | 12 +++---- 14 files changed, 104 insertions(+), 80 deletions(-) diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index a1a14b01c..89662ffc4 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -200,39 +200,6 @@ template class BayesTree; /** return the number valid factors */ size_t nrFactors() const; - /** dynamic_cast the factor pointers down or up the class hierarchy */ - template - typename RELATED::shared_ptr dynamicCastFactors() const { - typename RELATED::shared_ptr ret(new RELATED); - ret->reserve(this->size()); - BOOST_FOREACH(const sharedFactor& factor, *this) { - typename RELATED::FactorType::shared_ptr castedFactor(boost::dynamic_pointer_cast(factor)); - if(castedFactor) - ret->push_back(castedFactor); - else - throw std::invalid_argument("In FactorGraph::dynamic_factor_cast(), dynamic_cast failed, meaning an invalid cast was requested."); - } - return ret; - } - - /** - * dynamic_cast factor pointers if possible, otherwise convert with a - * constructor of the target type. - */ - template - typename TARGET::shared_ptr convertCastFactors() const { - typename TARGET::shared_ptr ret(new TARGET); - ret->reserve(this->size()); - BOOST_FOREACH(const sharedFactor& factor, *this) { - typename TARGET::FactorType::shared_ptr castedFactor(boost::dynamic_pointer_cast(factor)); - if(castedFactor) - ret->push_back(castedFactor); - else - ret->push_back(typename TARGET::FactorType::shared_ptr(new typename TARGET::FactorType(*factor))); - } - return ret; - } - private: /** Serialization function */ diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index 8669329bb..4743d1102 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -91,12 +91,6 @@ typedef boost::shared_ptr shared; // CHECK(singletonGraph_excepted.equals(singletonGraph)); //} -/* ************************************************************************* */ -TEST(FactorGraph, dynamic_factor_cast) { - FactorGraph fg; - fg.dynamicCastFactors >(); -} - /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 2f91a6115..0dc8d771a 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -80,7 +80,7 @@ public: GaussianConditional(); /** constructor */ - GaussianConditional(Index key); + explicit GaussianConditional(Index key); /** constructor with no parents * |Rx-d| diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 853cf26ba..cd436a0b2 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -160,9 +160,18 @@ namespace gtsam { /* ************************************************************************* */ Matrix GaussianFactorGraph::denseJacobian() const { + // Convert to Jacobians + FactorGraph jfg; + jfg.reserve(this->size()); + BOOST_FOREACH(const sharedFactor& factor, *this) { + if(boost::shared_ptr jf = + boost::dynamic_pointer_cast(factor)) + jfg.push_back(jf); + else + jfg.push_back(boost::make_shared(*factor)); + } // combine all factors - JacobianFactor combined(*CombineJacobians(*convertCastFactors > (), VariableSlots(*this))); + JacobianFactor combined(*CombineJacobians(jfg, VariableSlots(*this))); return combined.matrix_augmented(); } diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 5bbee3708..4be0b950c 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -197,10 +197,10 @@ namespace gtsam { const std::vector& gs, double f); /** Construct from Conditional Gaussian */ - HessianFactor(const GaussianConditional& cg); + explicit HessianFactor(const GaussianConditional& cg); /** Convert from a JacobianFactor (computes A^T * A) or HessianFactor */ - HessianFactor(const GaussianFactor& factor); + explicit HessianFactor(const GaussianFactor& factor); /** Special constructor used in EliminateCholesky which combines the given factors */ HessianFactor(const FactorGraph& factors, diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 677900b01..bdb51701e 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -66,6 +66,18 @@ namespace gtsam { assertInvariants(); } + /* ************************************************************************* */ + JacobianFactor::JacobianFactor(const GaussianFactor& gf) : Ab_(matrix_) { + // Copy the matrix data depending on what type of factor we're copying from + if(const JacobianFactor* rhs = dynamic_cast(&gf)) + *this = JacobianFactor(*rhs); + else if(const HessianFactor* rhs = dynamic_cast(&gf)) + *this = JacobianFactor(*rhs); + else + throw std::invalid_argument("In JacobianFactor(const GaussianFactor& rhs), rhs is neither a JacobianFactor nor a HessianFactor"); + assertInvariants(); + } + /* ************************************************************************* */ JacobianFactor::JacobianFactor() : Ab_(matrix_) { assertInvariants(); } diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index d45873c3b..276d11f27 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -102,6 +102,9 @@ namespace gtsam { /** Copy constructor */ JacobianFactor(const JacobianFactor& gf); + /** Convert from other GaussianFactor */ + JacobianFactor(const GaussianFactor& gf); + /** default constructor for I/O */ JacobianFactor(); diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index d2af81a6c..9b37d9a4b 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -52,10 +52,29 @@ SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(*Ab1)->eliminate(&EliminateQR); VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); - pc_ = boost::make_shared( - Ab1->dynamicCastFactors >(), - Ab2->dynamicCastFactors >(), - Rc1, xbar); + // Convert or cast Ab1 to JacobianFactors + boost::shared_ptr > Ab1Jacobians = boost::make_shared >(); + Ab1Jacobians->reserve(Ab1->size()); + BOOST_FOREACH(const boost::shared_ptr& factor, *Ab1) { + if(boost::shared_ptr jf = + boost::dynamic_pointer_cast(factor)) + Ab1Jacobians->push_back(jf); + else + Ab1Jacobians->push_back(boost::make_shared(*factor)); + } + + // Convert or cast Ab2 to JacobianFactors + boost::shared_ptr > Ab2Jacobians = boost::make_shared >(); + Ab1Jacobians->reserve(Ab2->size()); + BOOST_FOREACH(const boost::shared_ptr& factor, *Ab2) { + if(boost::shared_ptr jf = + boost::dynamic_pointer_cast(factor)) + Ab2Jacobians->push_back(jf); + else + Ab2Jacobians->push_back(boost::make_shared(*factor)); + } + + pc_ = boost::make_shared(Ab1Jacobians, Ab2Jacobians, Rc1, xbar); } VectorValues SubgraphSolver::optimize() { diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index 34009f856..6bb4a6348 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -50,10 +50,8 @@ TEST(GaussianFactorGraph, initialization) { fg.add(0, -5*eye(2), 2, 5*eye(2), Vector_(2, 0.0, 1.0), unit2); fg.add(1, -5*eye(2), 2, 5*eye(2), Vector_(2, -1.0, 1.5), unit2); - FactorGraph graph = *fg.dynamicCastFactors >(); - - EXPECT_LONGS_EQUAL(4, graph.size()); - JacobianFactor factor = *graph[0]; + EXPECT_LONGS_EQUAL(4, fg.size()); + JacobianFactor factor = *boost::dynamic_pointer_cast(fg[0]); // 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 @@ -155,8 +153,14 @@ TEST(GaussianFactorGraph, Combine2) gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); - JacobianFactor actual = *CombineJacobians(*gfg.dynamicCastFactors > (), VariableSlots(gfg)); + // Convert to Jacobians, inefficient copy of all factors instead of selectively converting only Hessians + FactorGraph jacobians; + BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, gfg) { + jacobians.push_back(boost::make_shared(*factor)); + } + + // Combine Jacobians into a single dense factor + JacobianFactor actual = *CombineJacobians(jacobians, VariableSlots(gfg)); Matrix zero3x3 = zeros(3,3); Matrix A0 = gtsam::stack(3, &A10, &zero3x3, &zero3x3); @@ -213,8 +217,7 @@ TEST(GaussianFactor, CombineAndEliminate) GaussianConditional::shared_ptr actualBN; GaussianFactor::shared_ptr actualFactor; - boost::tie(actualBN, actualFactor) = // - EliminateQR(*gfg.dynamicCastFactors > (), 1); + boost::tie(actualBN, actualFactor) = EliminateQR(gfg, 1); JacobianFactor::shared_ptr actualJacobian = boost::dynamic_pointer_cast< JacobianFactor>(actualFactor); @@ -410,9 +413,14 @@ TEST(GaussianFactor, eliminateFrontals) Matrix actualDense = factors.denseJacobian(); EXPECT(assert_equal(2.0 * Ab, actualDense)); + // Convert to Jacobians, inefficient copy of all factors instead of selectively converting only Hessians + FactorGraph jacobians; + BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, factors) { + jacobians.push_back(boost::make_shared(*factor)); + } + // Create combined factor - JacobianFactor combined(*CombineJacobians(*factors.dynamicCastFactors > (), VariableSlots(factors))); + JacobianFactor combined(*CombineJacobians(jacobians, VariableSlots(factors))); // Copies factors as they will be eliminated in place JacobianFactor actualFactor_QR = combined; diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index 59873862a..bd76fd1d0 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -414,10 +414,20 @@ TEST_UNSAFE(HessianFactor, CombineAndEliminate) // create expected Hessian after elimination HessianFactor expectedCholeskyFactor(expectedFactor); - GaussianFactorGraph::EliminationResult actualCholesky = EliminateCholesky( - *gfg.convertCastFactors > (), 1); - HessianFactor::shared_ptr actualFactor = boost::dynamic_pointer_cast< - HessianFactor>(actualCholesky.second); + // Convert all factors to hessians + FactorGraph hessians; + BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, gfg) { + if(boost::shared_ptr hf = boost::dynamic_pointer_cast(factor)) + hessians.push_back(hf); + else if(boost::shared_ptr jf = boost::dynamic_pointer_cast(factor)) + hessians.push_back(boost::make_shared(*jf)); + else + CHECK(false); + } + + // Eliminate + GaussianFactorGraph::EliminationResult actualCholesky = EliminateCholesky(gfg, 1); + HessianFactor::shared_ptr actualFactor = boost::dynamic_pointer_cast(actualCholesky.second); EXPECT(assert_equal(*expectedBN, *actualCholesky.first, 1e-6)); EXPECT(assert_equal(expectedCholeskyFactor, *actualFactor, 1e-6)); diff --git a/gtsam/nonlinear/GradientDescentOptimizer.cpp b/gtsam/nonlinear/GradientDescentOptimizer.cpp index 2243577c7..4a471de4d 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.cpp +++ b/gtsam/nonlinear/GradientDescentOptimizer.cpp @@ -25,10 +25,16 @@ void gradientInPlace(const NonlinearFactorGraph &nfg, const Values &values, cons // Linearize graph GaussianFactorGraph::shared_ptr linear = nfg.linearize(values, ordering); - const FactorGraph::shared_ptr jfg = linear->dynamicCastFactors >(); + FactorGraph jfg; jfg.reserve(linear->size()); + BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, *linear) { + if(boost::shared_ptr jf = boost::dynamic_pointer_cast(factor)) + jfg.push_back((jf)); + else + jfg.push_back(boost::make_shared(*factor)); + } // compute the gradient direction - gradientAtZero(*jfg, g); + gradientAtZero(jfg, g); } diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 5f95a0609..a1700beca 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -58,8 +58,7 @@ void NonlinearISAM::update(const NonlinearFactorGraph& newFactors, BOOST_FOREACH(Key key, factor->keys()) ordering_.tryInsert(key, ordering_.nVars()); // will do nothing if already present - boost::shared_ptr linearizedNewFactors( - newFactors.linearize(linPoint_, ordering_)->dynamicCastFactors()); + boost::shared_ptr linearizedNewFactors = newFactors.linearize(linPoint_, ordering_); // Update ISAM isam_.update(*linearizedNewFactors); @@ -81,8 +80,7 @@ void NonlinearISAM::reorder_relinearize() { ordering_ = *factors_.orderingCOLAMD(newLinPoint); // Create a linear factor graph at the new linearization point - boost::shared_ptr gfg( - factors_.linearize(newLinPoint, ordering_)->dynamicCastFactors()); + boost::shared_ptr gfg = factors_.linearize(newLinPoint, ordering_); // Just recreate the whole BayesTree isam_.update(*gfg); diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp index c5d77faa3..81a15290c 100644 --- a/gtsam/slam/tests/testPlanarSLAM.cpp +++ b/gtsam/slam/tests/testPlanarSLAM.cpp @@ -174,12 +174,10 @@ TEST( planarSLAM, constructor ) Vector expected2 = Vector_(1, -0.1); Vector expected3 = Vector_(1, 0.22); // Get NoiseModelFactors - FactorGraph GNM = - *G.dynamicCastFactors >(); - EXPECT(assert_equal(expected0, GNM[0]->unwhitenedError(c))); - EXPECT(assert_equal(expected1, GNM[1]->unwhitenedError(c))); - EXPECT(assert_equal(expected2, GNM[2]->unwhitenedError(c))); - EXPECT(assert_equal(expected3, GNM[3]->unwhitenedError(c))); + EXPECT(assert_equal(expected0, boost::dynamic_pointer_cast(G[0])->unwhitenedError(c))); + EXPECT(assert_equal(expected1, boost::dynamic_pointer_cast(G[1])->unwhitenedError(c))); + EXPECT(assert_equal(expected2, boost::dynamic_pointer_cast(G[2])->unwhitenedError(c))); + EXPECT(assert_equal(expected3, boost::dynamic_pointer_cast(G[3])->unwhitenedError(c))); } /* ************************************************************************* */ diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index 3dd0324dc..b0af6c723 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -138,23 +138,23 @@ namespace example { /* ************************************************************************* */ JacobianFactorGraph createGaussianFactorGraph(const Ordering& ordering) { // Create empty graph - GaussianFactorGraph fg; + JacobianFactorGraph fg; SharedDiagonal unit2 = noiseModel::Unit::Create(2); // linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_] - fg.add(ordering[X(1)], 10*eye(2), -1.0*ones(2), unit2); + fg.push_back(boost::make_shared(ordering[X(1)], 10*eye(2), -1.0*ones(2), unit2)); // odometry between x1 and x2: x2-x1=[0.2;-0.1] - fg.add(ordering[X(1)], -10*eye(2),ordering[X(2)], 10*eye(2), Vector_(2, 2.0, -1.0), unit2); + fg.push_back(boost::make_shared(ordering[X(1)], -10*eye(2),ordering[X(2)], 10*eye(2), Vector_(2, 2.0, -1.0), unit2)); // measurement between x1 and l1: l1-x1=[0.0;0.2] - fg.add(ordering[X(1)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, 0.0, 1.0), unit2); + fg.push_back(boost::make_shared(ordering[X(1)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, 0.0, 1.0), unit2)); // measurement between x2 and l1: l1-x2=[-0.2;0.3] - fg.add(ordering[X(2)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2); + fg.push_back(boost::make_shared(ordering[X(2)], -5*eye(2), ordering[L(1)], 5*eye(2), Vector_(2, -1.0, 1.5), unit2)); - return *fg.dynamicCastFactors(); + return fg; } /* ************************************************************************* */ From 509c2b4c67cc6b406cd366dcec6eac4059c6ebc0 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 18 Jun 2012 18:12:19 +0000 Subject: [PATCH 386/914] wrap LieVector --- gtsam.h | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/gtsam.h b/gtsam.h index 1b9689a77..20f0e7a57 100644 --- a/gtsam.h +++ b/gtsam.h @@ -63,6 +63,34 @@ namespace gtsam { // base //************************************************************************* +class LieVector { + // Standard constructors + LieVector(); + LieVector(Vector v); + + // Standard interface + Vector vector() const; + + // Testable + void print(string s) const; + bool equals(const gtsam::LieVector& expected, double tol) const; + + // Group + static gtsam::LieVector identity(); + gtsam::LieVector inverse() const; + gtsam::LieVector compose(const gtsam::LieVector& p) const; + gtsam::LieVector between(const gtsam::LieVector& l2) const; + + // Manifold + size_t dim() const; + gtsam::LieVector retract(Vector v) const; + Vector localCoordinates(const gtsam::LieVector& t2) const; + + // Lie group + static gtsam::LieVector Expmap(Vector v); + static Vector Logmap(const gtsam::LieVector& p); +}; + //************************************************************************* // geometry //************************************************************************* From 73c87d1b1087d8ba27c4fc430a5ff381395514bf Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 18 Jun 2012 19:33:45 +0000 Subject: [PATCH 387/914] Added keyformatter arguments --- gtsam/nonlinear/NonlinearISAM.cpp | 8 ++++---- gtsam/nonlinear/NonlinearISAM.h | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index a1700beca..6820b3e05 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -104,12 +104,12 @@ Matrix NonlinearISAM::marginalCovariance(Key key) const { } /* ************************************************************************* */ -void NonlinearISAM::print(const string& s) const { +void NonlinearISAM::print(const string& s, const KeyFormatter& keyFormatter) const { cout << s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl; isam_.print("GaussianISAM:\n"); - linPoint_.print("Linearization Point:\n"); - ordering_.print("System Ordering:\n"); - factors_.print("Nonlinear Graph:\n"); + linPoint_.print("Linearization Point:\n", keyFormatter); + ordering_.print("System Ordering:\n", keyFormatter); + factors_.print("Nonlinear Graph:\n", keyFormatter); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/NonlinearISAM.h b/gtsam/nonlinear/NonlinearISAM.h index d2ca75c42..7a7b9cd2c 100644 --- a/gtsam/nonlinear/NonlinearISAM.h +++ b/gtsam/nonlinear/NonlinearISAM.h @@ -86,7 +86,7 @@ public: int reorderCounter() const { return reorderCounter_; } /// Date: Mon, 18 Jun 2012 23:31:57 +0000 Subject: [PATCH 388/914] Cleaned up header and wrapped most functions (why not clean up stuff and be comprehensive when you wrap a function in class Foo, all? Takes a few minutes extra, but you're right there!) --- gtsam.h | 40 ++++---- gtsam/geometry/PinholeCamera.h | 164 +++++++++++++++++---------------- 2 files changed, 111 insertions(+), 93 deletions(-) diff --git a/gtsam.h b/gtsam.h index 20f0e7a57..12d299b85 100644 --- a/gtsam.h +++ b/gtsam.h @@ -461,29 +461,37 @@ class CalibratedCamera { class SimpleCamera { // Standard Constructors and Named Constructors SimpleCamera(); - SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& k); - SimpleCamera(const gtsam::Cal3_S2& k, const gtsam::Pose3& pose); + 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); // Testable void print(string s) const; bool equals(const gtsam::SimpleCamera& camera, double tol) const; - // Action on Point3 - gtsam::Point2 project(const gtsam::Point3& point); - pair projectSafe(const gtsam::Point3& pw) const; - static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint); - - // Backprojection - gtsam::Point3 backproject(const gtsam::Point2& pi, double scale) const; - gtsam::Point3 backproject_from_camera(const gtsam::Point2& pi, double scale) const; - // Standard Interface - gtsam::Pose3 pose() const; + gtsam::Pose3 pose() const; + gtsam::Cal3_S2 calibration(); - // Convenient generators - static gtsam::SimpleCamera lookat(const gtsam::Point3& eye, - const gtsam::Point3& target, const gtsam::Point3& upVector, - const gtsam::Cal3_S2& k); + // Manifold + gtsam::SimpleCamera retract(const 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_to_camera(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; + gtsam::Point3 backproject_from_camera(const gtsam::Point2& p, double depth) const; + double range(const gtsam::Point3& point); + // double range(const gtsam::Pose3& point); // FIXME, overload }; //************************************************************************* diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index a267a20b0..139523802 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -54,23 +54,84 @@ namespace gtsam { explicit PinholeCamera(const Pose3& pose):pose_(pose){} /** constructor with pose and calibration */ - PinholeCamera(const Pose3& pose, const Calibration& k):pose_(pose),K_(k) {} + PinholeCamera(const Pose3& pose, const Calibration& K):pose_(pose),K_(K) {} /** alternative constructor with pose and calibration */ - PinholeCamera(const Calibration& k, const Pose3& pose):pose_(pose),K_(k) {} + PinholeCamera(const Calibration& K, const Pose3& pose):pose_(pose),K_(K) {} + + /// @} + /// @name Named Constructors + /// @{ + + /** + * Create a level camera at the given 2D pose and height + * @param pose2 specifies the location and viewing direction + * (theta 0 = looking in direction of positive X axis) + * @param height camera height + */ + static PinholeCamera level(const Calibration &K, const Pose2& pose2, double height) { + const double st = sin(pose2.theta()), ct = cos(pose2.theta()); + const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); + const Rot3 wRc(x, y, z); + const Point3 t(pose2.x(), pose2.y(), height); + const Pose3 pose3(wRc, t); + return PinholeCamera(pose3, K); + } + + /// PinholeCamera::level with default calibration + static PinholeCamera level(const Pose2& pose2, double height) { + return PinholeCamera::level(Calibration(), pose2, height); + } + + /** + * Create a camera at the given eye position looking at a target point in the scene + * with the specified up direction vector. + * @param eye specifies the camera position + * @param target the point to look at + * @param upVector specifies the camera up direction vector, + * doesn't need to be on the image plane nor orthogonal to the viewing axis + * @param K optional calibration parameter + */ + static PinholeCamera lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) { + Point3 zc = target-eye; + zc = zc/zc.norm(); + Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down + xc = xc/xc.norm(); + Point3 yc = zc.cross(xc); + Pose3 pose3(Rot3(xc,yc,zc), eye); + return PinholeCamera(pose3, K); + } /// @} /// @name Advanced Constructors /// @{ - explicit PinholeCamera(const Vector &v){ + explicit PinholeCamera(const Vector &v) { pose_ = Pose3::Expmap(v.head(Pose3::Dim())); - if ( v.size() > Pose3::Dim()) { + if (v.size() > Pose3::Dim()) { K_ = Calibration(v.tail(Calibration::Dim())); } } - PinholeCamera(const Vector &v, const Vector &k) : pose_(Pose3::Expmap(v)),K_(k){} + PinholeCamera(const Vector &v, const Vector &K) : + pose_(Pose3::Expmap(v)), K_(K) { + } + + /// @} + /// @name Testable + /// @{ + + /// assert equality up to a tolerance + bool equals (const PinholeCamera &camera, double tol = 1e-9) const { + return pose_.equals(camera.pose(), tol) && + K_.equals(camera.calibration(), tol) ; + } + + /// print + void print(const std::string& s = "PinholeCamera") const { + pose_.print(s+".pose"); + K_.print(s+".calibration"); + } /// @} /// @name Standard Interface @@ -90,30 +151,18 @@ namespace gtsam { /// return calibration inline const Calibration& calibration() const { return K_; } - /// compose two cameras + /// @} + /// @name Group ?? Frank says this might not make sense + /// @{ + + /// compose two cameras: TODO Frank says this might not make sense inline const PinholeCamera compose(const Pose3 &c) const { - return PinholeCamera( pose_ * c, K_ ) ; + return PinholeCamera( pose_ * c, K_ ) ; } - /// inverse + /// compose two cameras: TODO Frank says this might not make sense inline const PinholeCamera inverse() const { - return PinholeCamera( pose_.inverse(), K_ ) ; - } - - /// @} - /// @name Testable - /// @{ - - /// assert equality up to a tolerance - bool equals (const PinholeCamera &camera, double tol = 1e-9) const { - return pose_.equals(camera.pose(), tol) && - K_.equals(camera.calibration(), tol) ; - } - - /// print - void print(const std::string& s = "PinholeCamera") const { - pose_.print(s+".pose"); - K_.print(s+".calibration"); + return PinholeCamera( pose_.inverse(), K_ ) ; } /// @} @@ -137,58 +186,21 @@ namespace gtsam { return d; } - /// Lie group dimensionality + /// Manifold dimension inline size_t dim() const { return pose_.dim() + K_.dim(); } - /// Lie group dimensionality + /// Manifold dimension inline static size_t Dim() { return Pose3::Dim() + Calibration::Dim(); } - /** - * Create a level camera at the given 2D pose and height - * @param pose2 specifies the location and viewing direction - * (theta 0 = looking in direction of positive X axis) - */ - static PinholeCamera level(const Pose2& pose2, double height) { - return PinholeCamera::level(Calibration(), pose2, height); - } - - static PinholeCamera level(const Calibration &K, const Pose2& pose2, double height) { - const double st = sin(pose2.theta()), ct = cos(pose2.theta()); - const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); - const Rot3 wRc(x, y, z); - const Point3 t(pose2.x(), pose2.y(), height); - const Pose3 pose3(wRc, t); - return PinholeCamera(pose3, K); - } - - /** - * Create a camera at the given eye position looking at a target point in the scene - * with the specified up direction vector. - * @param eye specifies the camera position - * @param target the point to look at - * @param upVector specifies the camera up direction vector, - * doesn't need to be on the image plane nor orthogonal to the viewing axis - * @param K optional calibration parameter - */ - static PinholeCamera lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) { - Point3 zc = target-eye; - zc = zc/zc.norm(); - Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down - xc = xc/xc.norm(); - Point3 yc = zc.cross(xc); - Pose3 pose3(Rot3(xc,yc,zc), eye); - return PinholeCamera(pose3, K); - } - /// @} /// @name Transformations and measurement functions /// @{ /** - * projects a 3-dimensional point in camera coordinates into the - * camera and returns a 2-dimensional point, no calibration applied - * With optional 2by3 derivative - */ + * projects a 3-dimensional point in camera coordinates into the + * camera and returns a 2-dimensional point, no calibration applied + * With optional 2by3 derivative + */ inline static Point2 project_to_camera(const Point3& P, boost::optional H1 = boost::none){ if (H1) { @@ -271,18 +283,16 @@ namespace gtsam { return pi; } - /** - * backproject a 2-dimensional point to a 3-dimension point - */ - - inline Point3 backproject(const Point2& pi, double scale) const { - const Point2 pn = K_.calibrate(pi); - const Point3 pc(pn.x()*scale, pn.y()*scale, scale); + /// backproject a 2-dimensional point to a 3-dimensional point at given depth + inline Point3 backproject(const Point2& p, double depth) const { + const Point2 pn = K_.calibrate(p); + const Point3 pc(pn.x()*depth, pn.y()*depth, depth); return pose_.transform_from(pc); } - inline Point3 backproject_from_camera(const Point2& pi, double scale) const { - return backproject(pi, scale); + /// backproject a 2-dimensional point to a 3-dimensional point at given depth + inline Point3 backproject_from_camera(const Point2& p, double depth) const { + return backproject(p, depth); } /** From 06f4de3981fc1a1b8648a661b12d1ad1e177475c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 19 Jun 2012 00:22:07 +0000 Subject: [PATCH 389/914] level is shadowed --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 12d299b85..5ec897fe1 100644 --- a/gtsam.h +++ b/gtsam.h @@ -465,7 +465,7 @@ class SimpleCamera { 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 level(const gtsam::Pose2& pose, double height); // FIXME overload static gtsam::SimpleCamera lookat(const gtsam::Point3& eye, const gtsam::Point3& target, const gtsam::Point3& upVector, const gtsam::Cal3_S2& K); From 0a3d9975f39f0e6c2c105ab73bc39f86b709c450 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 19 Jun 2012 06:04:31 +0000 Subject: [PATCH 390/914] adding smart flags for several static noise model creation function --- gtsam/linear/NoiseModel.cpp | 6 ++++++ gtsam/linear/NoiseModel.h | 14 +++++++------- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index a0901c58b..51f732db0 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -422,6 +422,12 @@ SharedDiagonal Constrained::QR(Matrix& Ab) const { /* ************************************************************************* */ // Isotropic +/* ************************************************************************* */ +Isotropic::shared_ptr Isotropic::Sigma(size_t dim, double sigma, bool smart) { + if (smart && fabs(sigma-1.0)<1e-9) return Unit::Create(dim); + return shared_ptr(new Isotropic(dim, sigma)); +} + /* ************************************************************************* */ Isotropic::shared_ptr Isotropic::Variance(size_t dim, double variance, bool smart) { if (smart && fabs(variance-1.0)<1e-9) return Unit::Create(dim); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index f7a1c351a..b1e65feff 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -112,6 +112,8 @@ namespace gtsam { * as indeed * |y|^2 = y'*y = x'*R'*R*x * Various derived classes are available that are more efficient. + * The named constructors return a shared_ptr because, when the smart flag is true, + * the underlying object might be a derived class such as Diagonal. */ class Gaussian: public Base { @@ -274,8 +276,8 @@ namespace gtsam { * A diagonal noise model created by specifying a Vector of precisions, i.e. * i.e. the diagonal of the information matrix, i.e., weights */ - static shared_ptr Precisions(const Vector& precisions) { - return Variances(reciprocal(precisions)); + static shared_ptr Precisions(const Vector& precisions, bool smart = false) { + return Variances(reciprocal(precisions), smart); } virtual void print(const std::string& name) const; @@ -496,9 +498,7 @@ namespace gtsam { /** * An isotropic noise model created by specifying a standard devation sigma */ - static shared_ptr Sigma(size_t dim, double sigma) { - return shared_ptr(new Isotropic(dim, sigma)); - } + static shared_ptr Sigma(size_t dim, double sigma, bool smart = false); /** * An isotropic noise model created by specifying a variance = sigma^2. @@ -509,8 +509,8 @@ namespace gtsam { /** * An isotropic noise model created by specifying a precision */ - static shared_ptr Precision(size_t dim, double precision) { - return Variance(dim, 1.0/precision); + static shared_ptr Precision(size_t dim, double precision, bool smart = false) { + return Variance(dim, 1.0/precision, smart); } virtual void print(const std::string& name) const; From 350e761ec667492ecbd162f6371cbe2a7f3b5d43 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 19 Jun 2012 06:05:32 +0000 Subject: [PATCH 391/914] adding comments with Frank --- gtsam/linear/SharedDiagonal.h | 16 ++++++-- gtsam/linear/SharedNoiseModel.h | 73 +++++++++++++++++++++++---------- 2 files changed, 65 insertions(+), 24 deletions(-) diff --git a/gtsam/linear/SharedDiagonal.h b/gtsam/linear/SharedDiagonal.h index 8a7e101a2..193a30215 100644 --- a/gtsam/linear/SharedDiagonal.h +++ b/gtsam/linear/SharedDiagonal.h @@ -22,11 +22,17 @@ namespace gtsam { // note, deliberately not in noiseModel namespace - // A useful convenience class to refer to a shared Diagonal model - // There are (somewhat dangerous) constructors from Vector and pair - // that call Sigmas and Sigma, respectively. + /** + * A useful convenience class to refer to a shared Diagonal model + * There are (somewhat dangerous) constructors from Vector and pair + * that call Sigmas and Sigma, respectively. + */ class SharedDiagonal: public noiseModel::Diagonal::shared_ptr { public: + + /// @name Standard Constructors + /// @{ + SharedDiagonal() { } SharedDiagonal(const noiseModel::Diagonal::shared_ptr& p) : @@ -45,6 +51,10 @@ namespace gtsam { // note, deliberately not in noiseModel namespace noiseModel::Diagonal::shared_ptr(noiseModel::Diagonal::Sigmas(sigmas)) { } + /// @} + /// @name Print + /// @{ + /// Print inline void print(const std::string &s) const { (*this)->print(s); } diff --git a/gtsam/linear/SharedNoiseModel.h b/gtsam/linear/SharedNoiseModel.h index 1d66e3495..bc90fee49 100644 --- a/gtsam/linear/SharedNoiseModel.h +++ b/gtsam/linear/SharedNoiseModel.h @@ -15,10 +15,16 @@ namespace gtsam { // note, deliberately not in noiseModel namespace + /** + * Just a convenient class to generate shared pointers to a noise model + */ struct SharedNoiseModel: public noiseModel::Base::shared_ptr { typedef noiseModel::Base::shared_ptr Base; + /// @name Standard Constructors + /// @{ + SharedNoiseModel() {} SharedNoiseModel(const noiseModel::Robust::shared_ptr& p): Base(p) {} SharedNoiseModel(const noiseModel::Gaussian::shared_ptr& p): Base(p) {} @@ -27,6 +33,10 @@ namespace gtsam { // note, deliberately not in noiseModel namespace SharedNoiseModel(const noiseModel::Isotropic::shared_ptr& p): Base(p) {} SharedNoiseModel(const noiseModel::Unit::shared_ptr& p): Base(p) {} + /// @} + /// @name Dangerous constructors + /// @{ + #ifdef GTSAM_MAGIC_GAUSSIAN SharedNoiseModel(const Matrix& covariance) : Base(boost::static_pointer_cast( @@ -45,30 +55,16 @@ namespace gtsam { // note, deliberately not in noiseModel namespace noiseModel::Isotropic::Sigma(GTSAM_DANGEROUS_GAUSSIAN, s))) {} #endif + /// @} + /// @name Print + /// @{ + /// Print inline void print(const std::string &s) const { (*this)->print(s); } - // Static syntactic sugar functions to create noisemodels directly - // These should only be used with the Matlab interface - static inline SharedNoiseModel Sigmas(const Vector& sigmas, bool smart=false) { - return noiseModel::Diagonal::Sigmas(sigmas, smart); - } - - static inline SharedNoiseModel Sigma(size_t dim, double sigma) { - return noiseModel::Isotropic::Sigma(dim, sigma); - } - - static inline SharedNoiseModel Precisions(const Vector& precisions) { - return noiseModel::Diagonal::Precisions(precisions); - } - - static inline SharedNoiseModel Precision(size_t dim, double precision) { - return noiseModel::Isotropic::Precision(dim, precision); - } - - static inline SharedNoiseModel Unit(size_t dim) { - return noiseModel::Unit::Create(dim); - } + /// @} + /// @name Static syntactic sugar (should only be used with the MATLAB interface) + /// @{ static inline SharedNoiseModel SqrtInformation(const Matrix& R) { return noiseModel::Gaussian::SqrtInformation(R); @@ -78,6 +74,38 @@ namespace gtsam { // note, deliberately not in noiseModel namespace return noiseModel::Gaussian::Covariance(covariance, smart); } + static inline SharedNoiseModel Sigmas(const Vector& sigmas, bool smart=false) { + return noiseModel::Diagonal::Sigmas(sigmas, smart); + } + + static inline SharedNoiseModel Variances(const Vector& variances, bool smart=false) { + return noiseModel::Diagonal::Variances(variances, smart); + } + + static inline SharedNoiseModel Precisions(const Vector& precisions, bool smart=false) { + return noiseModel::Diagonal::Precisions(precisions, smart); + } + + static inline SharedNoiseModel Sigma(size_t dim, double sigma, bool smart=false) { + return noiseModel::Isotropic::Sigma(dim, sigma, smart); + } + + static inline SharedNoiseModel Variance(size_t dim, double variance, bool smart=false) { + return noiseModel::Isotropic::Variance(dim, variance, smart); + } + + static inline SharedNoiseModel Precision(size_t dim, double precision, bool smart=false) { + return noiseModel::Isotropic::Precision(dim, precision, smart); + } + + static inline SharedNoiseModel Unit(size_t dim) { + return noiseModel::Unit::Create(dim); + } + + /// @} + /// @name Serialization + /// @{ + /** Serialization function */ friend class boost::serialization::access; template @@ -85,5 +113,8 @@ namespace gtsam { // note, deliberately not in noiseModel namespace ar & boost::serialization::make_nvp("SharedNoiseModel", boost::serialization::base_object(*this)); } + + /// @} + }; } From f9a8d69a75999deb6392b851055c8a321e6b06d5 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 19 Jun 2012 06:06:26 +0000 Subject: [PATCH 392/914] specialized templates to support noise model class inheritance --- wrap/matlab.h | 69 +++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 67 insertions(+), 2 deletions(-) diff --git a/wrap/matlab.h b/wrap/matlab.h index 365e11f39..4d98ede30 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -21,9 +21,14 @@ #include #include +#include using gtsam::Vector; using gtsam::Matrix; +using gtsam::noiseModel::Gaussian; +using gtsam::noiseModel::Diagonal; +using gtsam::noiseModel::Isotropic; +using gtsam::noiseModel::Unit; extern "C" { #include @@ -453,8 +458,9 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const char *clas */ template boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { - //Why is this here? -#ifndef UNSAFE_WRAP + #ifndef UNSAFE_WRAP + // Useful code to check argument type + // Problem, does not support inheritance bool isClass = mxIsClass(obj, className.c_str()); if (!isClass) { mexPrintf("Expected %s, got %s\n", className.c_str(), mxGetClassName(obj)); @@ -467,6 +473,65 @@ boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& cla return handle->get_object(); } +/* + * Specialized template for noise model. Checking their derived types properly + */ +// Isotropic +template <> +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { +#ifndef UNSAFE_WRAP + bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); + bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); + if (!isIsotropic && !isUnit) { + mexPrintf("Expected Isotropic or derived classes, got %s\n", mxGetClassName(obj)); + error("Argument has wrong type."); + } +#endif + mxArray* mxh = mxGetProperty(obj,0,"self"); + if (mxh==NULL) error("unwrap_reference: invalid wrap object"); + ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); + return handle->get_object(); +} + +// Diagonal +template <> +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { +#ifndef UNSAFE_WRAP + bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal"); + bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); + bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); + if (!isDiagonal && !isIsotropic && !isUnit ) { + mexPrintf("Expected Diagonal or derived classes, got %s\n", mxGetClassName(obj)); + error("Argument has wrong type."); + } +#endif + mxArray* mxh = mxGetProperty(obj,0,"self"); + if (mxh==NULL) error("unwrap_reference: invalid wrap object"); + ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); + return handle->get_object(); +} + +// Gaussian +template <> +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { +#ifndef UNSAFE_WRAP + bool isGaussian = mxIsClass(obj, "gtsamnoiseModelGaussian"); + bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal"); + bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); + bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); + if (!isGaussian && !isDiagonal && !isIsotropic && !isUnit) { + mexPrintf("Expected Gaussian or derived classes, got %s\n", mxGetClassName(obj)); + error("Argument has wrong type."); + } +#endif + mxArray* mxh = mxGetProperty(obj,0,"self"); + if (mxh==NULL) error("unwrap_reference: invalid wrap object"); + ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); + return handle->get_object(); +} + +//end specialized templates + template void delete_shared_ptr(const mxArray* obj, const string& className) { //Why is this here? From 584c5c11c43b8e1aa9eb88f1ad41415e8ef7bd5a Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 19 Jun 2012 06:08:55 +0000 Subject: [PATCH 393/914] wrap noiseModel classes. Inheritance works nicely in Matlab. Probably we don't need shared noise model classes anymore. --- gtsam.h | 61 +++++++++++++++++++++++++++++++++++++++++++++------------ 1 file changed, 48 insertions(+), 13 deletions(-) diff --git a/gtsam.h b/gtsam.h index 5ec897fe1..b02156544 100644 --- a/gtsam.h +++ b/gtsam.h @@ -16,6 +16,8 @@ * Limitations on methods * - Parsing does not support overloading * - There can only be one method (static or otherwise) with a given name + * Methods must start with a lowercase letter + * Static methods must start with a letter (upper or lowercase) and use the "static" keyword * Arguments to functions any of * - Eigen types: Matrix, Vector * - Eigen types and classes as an optionally const reference @@ -35,8 +37,6 @@ * Using namespace * - To use a namespace (e.g., generate a "using namespace x" line in cpp files), add "using namespace x;" * - This declaration applies to all classes *after* the declaration, regardless of brackets - * Methods must start with a lowercase letter - * Static methods must start with a letter (upper or lowercase) and use the "static" keyword * Includes in C++ wrappers * - By default, the include will be <[classname].h> * - All namespaces must have angle brackets: @@ -503,6 +503,52 @@ class SimpleCamera { // linear //************************************************************************* +#include +namespace noiseModel { +class Gaussian { + static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); + static gtsam::noiseModel::Gaussian* Covariance(Matrix R); +// Matrix R() const; // FIXME: cannot parse!!! + void print(string s) const; +}; + +class Diagonal { + static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); + static gtsam::noiseModel::Diagonal* Variances(Vector variances); + static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); + Vector sample() const; +// Matrix R() const; // FIXME: cannot parse!!! + void print(string s) const; +}; + +class Isotropic { + 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); + Vector sample() const; + void print(string s) const; +}; + +class Unit { + static gtsam::noiseModel::Unit* Create(size_t dim); + void print(string s) const; +}; +}///\namespace noiseModel + +// TODO: smart flag not supported. Default argument is not wrapped properly yet +class SharedNoiseModel { + static gtsam::SharedNoiseModel SqrtInformation(Matrix R); + static gtsam::SharedNoiseModel Covariance(Matrix covariance); + static gtsam::SharedNoiseModel Sigmas(Vector sigmas); + static gtsam::SharedNoiseModel Variances(Vector variances); + static gtsam::SharedNoiseModel Precisions(Vector precisions); + static gtsam::SharedNoiseModel Sigma(size_t dim, double sigma); + static gtsam::SharedNoiseModel Variance(size_t dim, double variance); + static gtsam::SharedNoiseModel Precision(size_t dim, double precision); + static gtsam::SharedNoiseModel Unit(size_t dim); + void print(string s) const; +}; + class SharedGaussian { SharedGaussian(Matrix covariance); void print(string s) const; @@ -514,17 +560,6 @@ class SharedDiagonal { Vector sample() const; }; -class SharedNoiseModel { - static gtsam::SharedNoiseModel Sigmas(Vector sigmas); - static gtsam::SharedNoiseModel Sigma(size_t dim, double sigma); - static gtsam::SharedNoiseModel Precisions(Vector precisions); - static gtsam::SharedNoiseModel Precision(size_t dim, double precision); - static gtsam::SharedNoiseModel Unit(size_t dim); - static gtsam::SharedNoiseModel SqrtInformation(Matrix R); - static gtsam::SharedNoiseModel Covariance(Matrix covariance); - void print(string s) const; -}; - class VectorValues { VectorValues(); VectorValues(size_t nVars, size_t varDim); From 615cfee44c0c9561491c23236a2c0ae0e1f48a74 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 19 Jun 2012 15:00:41 +0000 Subject: [PATCH 394/914] Added verbosity flag in optimize. Really, we should have more sophisticated optimize. --- gtsam/slam/visualSLAM.cpp | 8 ++++++++ gtsam/slam/visualSLAM.h | 16 ++++++++-------- matlab/VisualISAMInitialize.m | 2 +- matlab/examples/SFMExample.m | 10 ++++++---- 4 files changed, 23 insertions(+), 13 deletions(-) diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 26123dda6..f8aef8bb9 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -17,6 +17,7 @@ #include #include +#include #include using boost::make_shared; @@ -120,4 +121,11 @@ namespace visualSLAM { } /* ************************************************************************* */ + Values Graph::optimize(const Values& initialEstimate, size_t verbosity) const { + LevenbergMarquardtParams params; + params.verbosity = (NonlinearOptimizerParams::Verbosity)verbosity; + LevenbergMarquardtOptimizer optimizer(*this, initialEstimate,params); + return optimizer.optimize(); + } + /* ************************************************************************* */ } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index d577ee527..6e5109041 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -20,14 +20,16 @@ #pragma once #include -#include -#include #include -#include -#include -#include +#include +#include + #include #include +#include +#include +#include + #include namespace visualSLAM { @@ -213,9 +215,7 @@ namespace visualSLAM { * @param range approximate range to landmark * @param model uncertainty model of this prior */ - Values optimize(const Values& initialEstimate) { - return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); - } + Values optimize(const Values& initialEstimate, size_t verbosity) const; /// Return a Marginals object Marginals marginals(const Values& solution) const { diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 4d0b13931..43e8162dd 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -49,7 +49,7 @@ newFactors.addOdometry(symbol('x',1), symbol('x',2), data.odometry{1}, noiseMode %% Update ISAM if options.batchInitialization % Do a full optimize for first two poses - fullyOptimized = newFactors.optimize(initialEstimates); + fullyOptimized = newFactors.optimize(initialEstimates,0); isam.update(newFactors, fullyOptimized); else isam.update(newFactors, initialEstimates); diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 3f8733fc3..ac25a4328 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -49,18 +49,20 @@ graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); -%% Initialize cameras and points to ground truth in this example +%% Initialize cameras and points close to ground truth in this example initialEstimate = visualSLAMValues; for i=1:size(truth.cameras,2) - initialEstimate.insertPose(symbol('x',i), truth.cameras{i}.pose); + pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); + initialEstimate.insertPose(symbol('x',i), pose_i); end for j=1:size(truth.points,2) - initialEstimate.insertPoint(symbol('p',j), truth.points{j}); + point_j = truth.points{j}.retract(0.1*randn(3,1)); + initialEstimate.insertPoint(symbol('p',j), point_j); end initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n ')); %% Plot results with covariance ellipses From 9cb903fe0814706c95a278bd33d27e53b654c2ff Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 19 Jun 2012 15:28:22 +0000 Subject: [PATCH 395/914] 1. remove a redundant constructor of PinholeCamera 2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly --- examples/CameraResectioning.cpp | 2 +- gtsam/geometry/PinholeCamera.h | 8 -------- gtsam/geometry/tests/testSimpleCamera.cpp | 6 +++--- gtsam/slam/ProjectionFactor.h | 2 +- tests/testNonlinearEquality.cpp | 4 ++-- 5 files changed, 7 insertions(+), 15 deletions(-) diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index 3f586a67f..277c78ee0 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -46,7 +46,7 @@ public: /// evaluate the error virtual Vector evaluateError(const Pose3& pose, boost::optional H = boost::none) const { - SimpleCamera camera(*K_, pose); + SimpleCamera camera(pose, *K_); Point2 reprojectionError(camera.project(P_, H) - p_); return reprojectionError.vector(); } diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 139523802..2754bf7ef 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -56,9 +56,6 @@ namespace gtsam { /** constructor with pose and calibration */ PinholeCamera(const Pose3& pose, const Calibration& K):pose_(pose),K_(K) {} - /** alternative constructor with pose and calibration */ - PinholeCamera(const Calibration& K, const Pose3& pose):pose_(pose),K_(K) {} - /// @} /// @name Named Constructors /// @{ @@ -290,11 +287,6 @@ namespace gtsam { return pose_.transform_from(pc); } - /// backproject a 2-dimensional point to a 3-dimensional point at given depth - inline Point3 backproject_from_camera(const Point2& p, double depth) const { - return backproject(p, depth); - } - /** * Calculate range to a landmark * @param point 3D location of landmark diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index 71f36998c..e46a247a0 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -35,7 +35,7 @@ const Pose3 pose1(Matrix_(3,3, ), Point3(0,0,0.5)); -const SimpleCamera camera(K, pose1); +const SimpleCamera camera(pose1, K); const Point3 point1(-0.08,-0.08, 0.0); const Point3 point2(-0.08, 0.08, 0.0); @@ -106,7 +106,7 @@ TEST( SimpleCamera, backproject2) { Point3 origin; Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down - SimpleCamera camera(K, Pose3(rot, origin)); + SimpleCamera camera(Pose3(rot, origin), K); Point3 actual = camera.backproject(Point2(), 1.); Point3 expected(0., 1., 0.); @@ -119,7 +119,7 @@ TEST( SimpleCamera, backproject2) /* ************************************************************************* */ Point2 project2(const Pose3& pose, const Point3& point) { - return SimpleCamera(K,pose).project(point); + return SimpleCamera(pose,K).project(point); } TEST( SimpleCamera, Dproject_point_pose) diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index e1ea38b27..1b1aeb57b 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -93,7 +93,7 @@ namespace gtsam { Vector evaluateError(const Pose3& pose, const Point3& point, boost::optional H1 = boost::none, boost::optional H2 = boost::none) const { try { - PinholeCamera camera(*K_, pose); + PinholeCamera camera(pose, *K_); Point2 reprojectionError(camera.project(point, H1, H2) - measured_); return reprojectionError.vector(); } catch( CheiralityException& e) { diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 9a139e581..4679dd740 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -524,9 +524,9 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) { 0.0, 0.0, 1.0, 0.0, -1.0, 0.0)); Pose3 pose1(faceDownY, Point3()); // origin, left camera - SimpleCamera camera1(K, pose1); + SimpleCamera camera1(pose1, K); Pose3 pose2(faceDownY, Point3(2.0, 0.0, 0.0)); // 2 units to the left - SimpleCamera camera2(K, pose2); + SimpleCamera camera2(pose2, K); Point3 landmark(1.0, 5.0, 0.0); //centered between the cameras, 5 units away // keys From 9fe0b66be5e2c86a69ef8b5441350a7f669e29c4 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 19 Jun 2012 15:29:10 +0000 Subject: [PATCH 396/914] add a function that dynamically casts gaussian factor graph into jacobian factor graph --- gtsam/linear/JacobianFactorGraph.cpp | 15 +++++++++++++++ gtsam/linear/JacobianFactorGraph.h | 5 +++++ 2 files changed, 20 insertions(+) diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp index 632a55e02..0ca3b8667 100644 --- a/gtsam/linear/JacobianFactorGraph.cpp +++ b/gtsam/linear/JacobianFactorGraph.cpp @@ -102,6 +102,21 @@ void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, Vec ++i; } } + +/* ************************************************************************* */ +JacobianFactorGraph::shared_ptr dynamicCastFactors(const GaussianFactorGraph &gfg) { + JacobianFactorGraph::shared_ptr jfg(new JacobianFactorGraph()); + jfg->reserve(gfg.size()); + BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, gfg) { + JacobianFactor::shared_ptr castedFactor(boost::dynamic_pointer_cast(factor)); + if(castedFactor) jfg->push_back(castedFactor); + else throw std::invalid_argument("dynamicCastFactors(), dynamic_cast failed, meaning an invalid cast was requested."); + } + return jfg; +} + + + } // namespace diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h index 598c69677..cb27b507a 100644 --- a/gtsam/linear/JacobianFactorGraph.h +++ b/gtsam/linear/JacobianFactorGraph.h @@ -19,8 +19,10 @@ #include #include +#include #include #include +#include namespace gtsam { @@ -65,4 +67,7 @@ namespace gtsam { void multiply(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r); void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, VectorValues &x); + /** dynamic_cast the gaussian factors down to jacobian factors */ + JacobianFactorGraph::shared_ptr dynamicCastFactors(const GaussianFactorGraph &gfg); + } From a0851f0eb41b3c76f0eb83dc88d67ce81dc613d0 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 19 Jun 2012 18:03:01 +0000 Subject: [PATCH 397/914] reshape matrix to tensor --- gtsam/geometry/tensorInterface.h | 12 ++++++++++++ gtsam/geometry/tests/testTensors.cpp | 4 ++++ 2 files changed, 16 insertions(+) diff --git a/gtsam/geometry/tensorInterface.h b/gtsam/geometry/tensorInterface.h index 61212e2c9..7a2c144d7 100644 --- a/gtsam/geometry/tensorInterface.h +++ b/gtsam/geometry/tensorInterface.h @@ -60,6 +60,18 @@ namespace gtsam { return tensors::Tensor2(data); } + /** Reshape Matrix into rank 2 tensor */ + template + tensors::Tensor2 reshape2matrix(const Matrix& m) { + if (m.rows() * m.cols() != N1 * N2) throw std::invalid_argument( + "reshape2: incompatible dimensions"); + double data[N2][N1]; + for (int j = 0; j < N2; j++) + for (int i = 0; i < N1; i++) + data[j][i] = m(j,i); + return tensors::Tensor2(data); + } + /** Reshape rank 3 tensor into Matrix */ template Matrix reshape(const tensors::Tensor3Expression& T, int m, int n) { diff --git a/gtsam/geometry/tests/testTensors.cpp b/gtsam/geometry/tests/testTensors.cpp index 85437b850..0e1c381cf 100644 --- a/gtsam/geometry/tests/testTensors.cpp +++ b/gtsam/geometry/tests/testTensors.cpp @@ -188,6 +188,10 @@ TEST( Tensor2, reshape2 ) { Tensor2<3,4> actual = reshape2<3,4>(camera::vector); CHECK(assert_equality(camera::M(a,A),actual(a,A))); + + // reshape Matrix to rank 2 tensor + Tensor2<3,4> actual_m = reshape2matrix<3,4>(camera::matrix); + CHECK(assert_equality(camera::M(a,A), actual_m(a,A))); } /* ************************************************************************* */ From 882b4d4e7e634f7326f42c97b704b27e6a84ff93 Mon Sep 17 00:00:00 2001 From: Summit Patel Date: Tue, 19 Jun 2012 18:31:22 +0000 Subject: [PATCH 398/914] Fixed Doxygen warnings. --- gtsam/nonlinear/DoglegOptimizer.h | 1 - gtsam/nonlinear/GaussNewtonOptimizer.h | 1 - gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 1 - gtsam/nonlinear/NonlinearFactor.h | 2 +- 4 files changed, 1 insertion(+), 4 deletions(-) diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index c8ac636cf..065d0b34d 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -101,7 +101,6 @@ public: * copies the objects. * @param graph The nonlinear factor graph to optimize * @param initialValues The initial variable assignments - * @param params The optimization parameters */ DoglegOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, const Ordering& ordering) : NonlinearOptimizer(graph) { diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h index 217b6e618..1a1984ffb 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.h +++ b/gtsam/nonlinear/GaussNewtonOptimizer.h @@ -66,7 +66,6 @@ public: * copies the objects. * @param graph The nonlinear factor graph to optimize * @param initialValues The initial variable assignments - * @param params The optimization parameters */ GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, const Ordering& ordering) : NonlinearOptimizer(graph), state_(graph, initialValues) { diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index aae8e45cc..0858b72b9 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -110,7 +110,6 @@ public: * copies the objects. * @param graph The nonlinear factor graph to optimize * @param initialValues The initial variable assignments - * @param params The optimization parameters */ LevenbergMarquardtOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, const Ordering& ordering) : NonlinearOptimizer(graph), dimensions_(initialValues.dims(ordering)) { diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 19c9c6988..e1cfb2bc3 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -36,7 +36,7 @@ /** * Macro to add a standard clone function to a derived factor - * @DEPRECATED: will go away shortly - just add the clone function directly + * @deprecated: will go away shortly - just add the clone function directly */ #define ADD_CLONE_NONLINEAR_FACTOR(Derived) \ virtual gtsam::NonlinearFactor::shared_ptr clone() const { \ From 006d3fcde23d99114d2a8436ad7a02879d307b2f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 19 Jun 2012 19:06:32 +0000 Subject: [PATCH 399/914] Added verbosity flag --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index b02156544..a220f5fe3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1001,7 +1001,7 @@ class Graph { void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& model); void addOdometry(size_t poseKey1, size_t poseKey2, const gtsam::Pose3& odometry, const gtsam::SharedNoiseModel& model); - visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate) const; + visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate, size_t verbosity) const; gtsam::Marginals marginals(const visualSLAM::Values& solution) const; }; From d5fbfcb7b7da0d4c384245ae115bdb1ab737c85a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 19 Jun 2012 22:06:40 +0000 Subject: [PATCH 400/914] Create and load CMake exports and config files --- CMakeLists.txt | 8 ++++---- CppUnitLite/CMakeLists.txt | 4 +++- gtsam/CMakeLists.txt | 8 ++++++-- gtsam_unstable/CMakeLists.txt | 8 ++++++-- 4 files changed, 19 insertions(+), 9 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c843030e4..fb25d2dd8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,6 +11,7 @@ set (GTSAM_VERSION_PATCH 0) #set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library") set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") +include(GtsamMakeConfigFile) # Record the root dir for gtsam - needed during external builds, e.g., ROS set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}) @@ -139,10 +140,9 @@ if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) endif(GTSAM_BUILD_UNSTABLE) -# Make config files -include(GtsamMakeConfigFile) -GtsamMakeConfigFile(GTSAM gtsam-static) -GtsamMakeConfigFile(CppUnitLite CppUnitLite) +# Install config and export files +GtsamMakeConfigFile(GTSAM) +export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt index 534a802d4..35ecd71f8 100644 --- a/CppUnitLite/CMakeLists.txt +++ b/CppUnitLite/CMakeLists.txt @@ -4,11 +4,13 @@ file(GLOB cppunitlite_headers "*.h") file(GLOB cppunitlite_src "*.cpp") add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers}) +list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite) +set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure option(GTSAM_INSTALL_CPPUNITLITE "Enable/Disable installation of CppUnitLite library" ON) if (GTSAM_INSTALL_CPPUNITLITE) install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite) - install(TARGETS CppUnitLite ARCHIVE DESTINATION lib) + install(TARGETS CppUnitLite EXPORT GTSAM-exports ARCHIVE DESTINATION lib) endif(GTSAM_INSTALL_CPPUNITLITE) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 495c3f39f..b4fae3475 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -91,7 +91,9 @@ if (GTSAM_BUILD_STATIC_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) - install(TARGETS gtsam-static ARCHIVE DESTINATION lib) + install(TARGETS gtsam-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib) + list(APPEND GTSAM_EXPORTED_TARGETS gtsam-static) + set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) set(gtsam-lib "gtsam-static") endif (GTSAM_BUILD_STATIC_LIBRARY) @@ -104,7 +106,9 @@ if (GTSAM_BUILD_SHARED_LIBRARY) CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} SOVERSION ${gtsam_soversion}) - install(TARGETS gtsam-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) + install(TARGETS gtsam-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) + list(APPEND GTSAM_EXPORTED_TARGETS gtsam-shared) + set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) if (NOT GTSAM_BUILD_STATIC_LIBRARY) set(gtsam-lib "gtsam-shared") endif() diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 1c781453a..acd36ddc2 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -54,7 +54,9 @@ set_target_properties(gtsam_unstable-static PROPERTIES SOVERSION ${gtsam_unstable_soversion}) target_link_libraries(gtsam_unstable-static gtsam-static) set(gtsam_unstable-lib "gtsam_unstable-static") -install(TARGETS gtsam_unstable-static ARCHIVE DESTINATION lib) +install(TARGETS gtsam_unstable-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib) +list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-static) +set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) message(STATUS "Building GTSAM_UNSTABLE - shared") @@ -65,7 +67,9 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) VERSION ${gtsam_unstable_version} SOVERSION ${gtsam_unstable_soversion}) target_link_libraries(gtsam_unstable-shared gtsam-shared) - install(TARGETS gtsam_unstable-shared LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) + install(TARGETS gtsam_unstable-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin) + list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-shared) + set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) # Wrap version for gtsam_unstable From 7c475d83c338f533467af54f2510f625efb11a70 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 20 Jun 2012 00:01:49 +0000 Subject: [PATCH 401/914] Comments and additional test regarding permutations and orderings --- .cproject | 332 +++++++++--------- gtsam/inference/Permutation.h | 4 + gtsam/inference/inference.cpp | 8 +- gtsam/inference/inference.h | 17 +- gtsam/inference/tests/testInference.cpp | 48 ++- gtsam/nonlinear/ISAM2.h | 19 +- .../SuccessiveLinearizationOptimizer.h | 1 + 7 files changed, 247 insertions(+), 182 deletions(-) diff --git a/.cproject b/.cproject index b0ad23ee6..ca640b7b1 100644 --- a/.cproject +++ b/.cproject @@ -311,6 +311,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -337,7 +345,6 @@ make - tests/testBayesTree.run true false @@ -345,7 +352,6 @@ make - testBinaryBayesNet.run true false @@ -393,7 +399,6 @@ make - testSymbolicBayesNet.run true false @@ -401,7 +406,6 @@ make - tests/testSymbolicFactor.run true false @@ -409,7 +413,6 @@ make - testSymbolicFactorGraph.run true false @@ -425,20 +428,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -527,22 +521,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -559,6 +537,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -583,26 +577,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -687,26 +681,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -799,6 +793,14 @@ true true + + make + -j5 + testInference.run + true + true + true + make -j2 @@ -953,7 +955,6 @@ make - testGraph.run true false @@ -961,7 +962,6 @@ make - testJunctionTree.run true false @@ -969,7 +969,6 @@ make - testSymbolicBayesNetB.run true false @@ -1089,7 +1088,6 @@ make - testErrors.run true false @@ -1545,6 +1543,7 @@ make + testSimulated2DOriented.run true false @@ -1584,6 +1583,7 @@ make + testSimulated2D.run true false @@ -1591,6 +1591,7 @@ make + testSimulated3D.run true false @@ -1806,6 +1807,7 @@ make + tests/testGaussianISAM2 true false @@ -1827,6 +1829,102 @@ 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 -j2 @@ -2028,7 +2126,6 @@ cpack - -G DEB true false @@ -2036,7 +2133,6 @@ cpack - -G RPM true false @@ -2044,7 +2140,6 @@ cpack - -G TGZ true false @@ -2052,7 +2147,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2146,98 +2240,42 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run + -j5 + wrap_gtsam 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 + -j5 + wrap true true true @@ -2281,46 +2319,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index dc3aa669a..5454dafec 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -40,6 +40,10 @@ namespace gtsam { * arguments supplied through the square-bracket [] operator through the * permutation. Note that this helper class stores a reference to the original * container. + * + * Permutations can be considered to a 1-1 mapping from an original set of indices + * to a different set of indices. Permutations can be composed and inverted + * in order to create new indexing for a structure. * \nosubgrouping */ class Permutation { diff --git a/gtsam/inference/inference.cpp b/gtsam/inference/inference.cpp index 7afad8330..3cddc4cfc 100644 --- a/gtsam/inference/inference.cpp +++ b/gtsam/inference/inference.cpp @@ -29,9 +29,9 @@ using namespace std; namespace gtsam { - namespace inference { +/* ************************************************************************* */ Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, std::vector& cmember) { size_t nEntries = variableIndex.nEntries(), nFactors = variableIndex.nFactors(), nVars = variableIndex.size(); // Convert to compressed column major format colamd wants it in (== MATLAB format!) @@ -93,6 +93,6 @@ Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, s return permutation; } -} - -} +/* ************************************************************************* */ +} // \namespace inference +} // \namespace gtsam diff --git a/gtsam/inference/inference.h b/gtsam/inference/inference.h index 15373e62a..6ee278c68 100644 --- a/gtsam/inference/inference.h +++ b/gtsam/inference/inference.h @@ -38,7 +38,11 @@ namespace gtsam { const VariableIndex& variableIndex); /** - * Compute a permutation (variable ordering) using constrained colamd + * Compute a permutation (variable ordering) using constrained colamd to move + * a set of variables to the end of the ordering + * @param variableIndex is the variable index lookup from a graph + * @param constrainlast is a vector of keys that should be constrained + * @tparam constrainLast is a std::vector (or similar structure) */ template Permutation::shared_ptr PermutationCOLAMD( @@ -46,6 +50,13 @@ namespace gtsam { /** * Compute a CCOLAMD permutation using the constraint groups in cmember. + * + * @param variableIndex is the variable structure from a graph + * @param cmember is the constraint group list for each variable, where + * 0 is the default, unconstrained group, and higher numbers move further to + * the back of the list + * + * AGC: does cmember change? */ Permutation::shared_ptr PermutationCOLAMD_( const VariableIndex& variableIndex, std::vector& cmember); @@ -82,8 +93,8 @@ namespace gtsam { return eliminate(factorGraph, variables, eliminateFcn, variableIndex); } - } // namespace inference + } // \namespace inference -} // namespace gtsam +} // \namespace gtsam #include diff --git a/gtsam/inference/tests/testInference.cpp b/gtsam/inference/tests/testInference.cpp index 41c33a456..2523eb32b 100644 --- a/gtsam/inference/tests/testInference.cpp +++ b/gtsam/inference/tests/testInference.cpp @@ -11,8 +11,8 @@ /** * @file testInference.cpp - * @brief * @author Richard Roberts + * @author Alex Cunningham * @date Dec 6, 2010 */ @@ -35,8 +35,52 @@ TEST(inference, UnobservedVariables) { VariableIndex variableIndex(sfg); - Permutation::shared_ptr colamd(inference::PermutationCOLAMD(variableIndex)); + // Computes a permutation with known variables first, skipped variables last + // Actual 0 1 3 5 2 4 + Permutation::shared_ptr actual(inference::PermutationCOLAMD(variableIndex)); + Permutation expected(6); + expected[0] = 0; + expected[1] = 1; + expected[2] = 3; + expected[3] = 5; + expected[4] = 2; + expected[5] = 4; + EXPECT(assert_equal(expected, *actual)); +} + +/* ************************************************************************* */ +TEST(inference, constrained_ordering) { + SymbolicFactorGraph sfg; + + // create graph with wanted variable set = 2, 4 + sfg.push_factor(0,1); + sfg.push_factor(1,2); + sfg.push_factor(2,3); + sfg.push_factor(3,4); + sfg.push_factor(4,5); + + VariableIndex variableIndex(sfg); + + // unconstrained version + Permutation::shared_ptr actUnconstrained(inference::PermutationCOLAMD(variableIndex)); + Permutation expUnconstrained = Permutation::Identity(6); + EXPECT(assert_equal(expUnconstrained, *actUnconstrained)); + + // constrained version - push one set to the end + std::vector constrainLast; + constrainLast.push_back(2); + constrainLast.push_back(4); + Permutation::shared_ptr actConstrained(inference::PermutationCOLAMD(variableIndex, constrainLast)); + Permutation expConstrained(6); + expConstrained[0] = 0; + expConstrained[1] = 1; + expConstrained[2] = 5; + expConstrained[3] = 3; + expConstrained[4] = 4; + expConstrained[5] = 2; + EXPECT(assert_equal(expConstrained, *actConstrained)); } /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index a2ef3793b..984284ebd 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -232,8 +232,12 @@ struct ISAM2Result { boost::optional detail; }; -struct ISAM2Clique : public BayesTreeCliqueBase { - +/** + * Specialized Clique structure for ISAM2, incorporating caching and gradient contribution + * TODO: more documentation + */ +class ISAM2Clique : public BayesTreeCliqueBase { +public: typedef ISAM2Clique This; typedef BayesTreeCliqueBase Base; typedef boost::shared_ptr shared_ptr; @@ -268,7 +272,7 @@ struct ISAM2Clique : public BayesTreeCliqueBase @@ -308,7 +313,7 @@ private: ar & BOOST_SERIALIZATION_NVP(cachedFactor_); ar & BOOST_SERIALIZATION_NVP(gradientContribution_); } -}; +}; // \struct ISAM2Clique /** * @addtogroup ISAM2 @@ -442,6 +447,8 @@ public: * @param force_relinearize Relinearize any variables whose delta magnitude is sufficiently * large (Params::relinearizeThreshold), regardless of the relinearization interval * (Params::relinearizeSkip). + * @param constrainedKeys is an optional map of keys to group labels, such that a variable can + * be constrained to a particular grouping in the BayesTree * @return An ISAM2Result struct containing information about the update */ ISAM2Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(), @@ -450,7 +457,7 @@ public: bool force_relinearize = false); /** Access the current linearization point */ - const Values& getLinearizationPoint() const {return theta_;} + const Values& getLinearizationPoint() const { return theta_; } /** Compute an estimate from the incomplete linear delta computed during the last update. * This delta is incomplete because it was not updated below wildfire_threshold. If only @@ -496,7 +503,7 @@ public: mutable size_t lastBacksubVariableCount; size_t lastNnzTop; - ISAM2Params params() const { return params_; } + const ISAM2Params& params() const { return params_; } //@} diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 393e4bacc..7033613ac 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -105,6 +105,7 @@ public: default: throw std::runtime_error("Nonlinear optimization parameter \"factorization\" is invalid"); + return EliminateQR; break; } } From 8789201822e8e3431112493fe0033f1114bbc764 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 20 Jun 2012 01:35:42 +0000 Subject: [PATCH 402/914] Added mechanism to create a constrained ordering directly from a NonlinearFactorGraph --- .cproject | 8 ++++++ gtsam/inference/inference-inl.h | 16 ++++++++++++ gtsam/inference/inference.h | 13 ++++++++++ gtsam/inference/tests/testInference.cpp | 32 ++++++++++++++++++++++++ gtsam/nonlinear/NonlinearFactorGraph.cpp | 29 +++++++++++++++++++-- gtsam/nonlinear/NonlinearFactorGraph.h | 15 ++++++++--- tests/testNonlinearFactorGraph.cpp | 14 +++++++---- 7 files changed, 117 insertions(+), 10 deletions(-) diff --git a/.cproject b/.cproject index ca640b7b1..cb05ca49e 100644 --- a/.cproject +++ b/.cproject @@ -990,6 +990,14 @@ true true + + make + -j5 + testNonlinearFactorGraph.run + true + true + true + make -j5 diff --git a/gtsam/inference/inference-inl.h b/gtsam/inference/inference-inl.h index b24c2d6d2..c17f947d1 100644 --- a/gtsam/inference/inference-inl.h +++ b/gtsam/inference/inference-inl.h @@ -48,6 +48,22 @@ Permutation::shared_ptr PermutationCOLAMD( return PermutationCOLAMD_(variableIndex, cmember); } +/* ************************************************************************* */ +template +Permutation::shared_ptr PermutationCOLAMDGrouped( + const VariableIndex& variableIndex, const CONSTRAINED_MAP& constraints) { + std::vector cmember(variableIndex.size(), 0); + + typedef typename CONSTRAINED_MAP::value_type constraint_pair; + BOOST_FOREACH(const constraint_pair& p, constraints) { + assert(p.first < variableIndex.size()); + // FIXME: check that no groups are skipped + cmember[p.first] = p.second; + } + + return PermutationCOLAMD_(variableIndex, cmember); +} + /* ************************************************************************* */ inline Permutation::shared_ptr PermutationCOLAMD(const VariableIndex& variableIndex) { std::vector cmember(variableIndex.size(), 0); diff --git a/gtsam/inference/inference.h b/gtsam/inference/inference.h index 6ee278c68..7ba268789 100644 --- a/gtsam/inference/inference.h +++ b/gtsam/inference/inference.h @@ -48,8 +48,21 @@ namespace gtsam { Permutation::shared_ptr PermutationCOLAMD( const VariableIndex& variableIndex, const CONSTRAINED& constrainLast); + /** + * Compute a permutation of variable ordering using constrained colamd to + * move variables to the end in groups (0 = unconstrained, higher numbers at + * the end). + * @param variableIndex is the variable index lookup from a graph + * @param constraintMap is a map from variable index -> group number for constrained variables + * @tparam CONSTRAINED_MAP is an associative structure (like std::map), from size_t->int + */ + template + Permutation::shared_ptr PermutationCOLAMDGrouped( + const VariableIndex& variableIndex, const CONSTRAINED_MAP& constraints); + /** * Compute a CCOLAMD permutation using the constraint groups in cmember. + * The format for cmember is a part of ccolamd. * * @param variableIndex is the variable structure from a graph * @param cmember is the constraint group list for each variable, where diff --git a/gtsam/inference/tests/testInference.cpp b/gtsam/inference/tests/testInference.cpp index 2523eb32b..b25703cb6 100644 --- a/gtsam/inference/tests/testInference.cpp +++ b/gtsam/inference/tests/testInference.cpp @@ -81,6 +81,38 @@ TEST(inference, constrained_ordering) { EXPECT(assert_equal(expConstrained, *actConstrained)); } +/* ************************************************************************* */ +TEST(inference, grouped_constrained_ordering) { + SymbolicFactorGraph sfg; + + // create graph with constrained groups: + // 1: 2, 4 + // 2: 5 + sfg.push_factor(0,1); + sfg.push_factor(1,2); + sfg.push_factor(2,3); + sfg.push_factor(3,4); + sfg.push_factor(4,5); + + VariableIndex variableIndex(sfg); + + // constrained version - push one set to the end + FastMap constraints; + constraints[2] = 1; + constraints[4] = 1; + constraints[5] = 2; + + Permutation::shared_ptr actConstrained(inference::PermutationCOLAMDGrouped(variableIndex, constraints)); + Permutation expConstrained(6); + expConstrained[0] = 0; + expConstrained[1] = 1; + expConstrained[2] = 3; + expConstrained[3] = 2; + expConstrained[4] = 4; + expConstrained[5] = 5; + EXPECT(assert_equal(expConstrained, *actConstrained)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index d29e7282d..8c4076c56 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -83,9 +83,34 @@ Ordering::shared_ptr NonlinearFactorGraph::orderingCOLAMD( // Permute the Ordering with the COLAMD ordering ordering->permuteWithInverse(*colamdPerm->inverse()); + return ordering; +} - // Return the Ordering and VariableIndex to be re-used during linearization - // and elimination +/* ************************************************************************* */ +Ordering::shared_ptr NonlinearFactorGraph::orderingCOLAMDConstrained(const Values& config, + const std::map& constraints) const { + // Create symbolic graph and initial (iterator) ordering + SymbolicFactorGraph::shared_ptr symbolic; + Ordering::shared_ptr ordering; + boost::tie(symbolic, ordering) = this->symbolic(config); + + // Compute the VariableIndex (column-wise index) + VariableIndex variableIndex(*symbolic, ordering->size()); + if (config.size() != variableIndex.size()) throw std::runtime_error( + "orderingCOLAMD: some variables in the graph are not constrained!"); + + // Create a constraint list with correct indices + typedef std::map::value_type constraint_type; + std::map index_constraints; + BOOST_FOREACH(const constraint_type& p, constraints) + index_constraints[ordering->at(p.first)] = p.second; + + // Compute a constrained fill-reducing ordering with COLAMD + Permutation::shared_ptr colamdPerm(inference::PermutationCOLAMDGrouped( + variableIndex, index_constraints)); + + // Permute the Ordering with the COLAMD ordering + ordering->permuteWithInverse(*colamdPerm->inverse()); return ordering; } diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 29aa9ede1..1742c7b78 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -75,12 +75,21 @@ namespace gtsam { symbolic(const Values& config) const; /** - * Compute a fill-reducing ordering using COLAMD. This returns the - * ordering and a VariableIndex, which can later be re-used to save - * computation. + * Compute a fill-reducing ordering using COLAMD. */ Ordering::shared_ptr orderingCOLAMD(const Values& config) const; + /** + * Compute a fill-reducing ordering with constraints using CCOLAMD + * + * @param constraints is a map of Key->group, where 0 is unconstrained, and higher + * group numbers are further back in the ordering. Only keys with nonzero group + * indices need to appear in the constraints, unconstrained is assumed for all + * other variables + */ + Ordering::shared_ptr orderingCOLAMDConstrained(const Values& config, + const std::map& constraints) const; + /** * linearize a nonlinear factor graph */ diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index 7d9160c1d..f44113f93 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -83,7 +83,14 @@ TEST( Graph, GET_ORDERING) Ordering::shared_ptr ordering; boost::tie(symbolic, ordering) = nlfg.symbolic(createNoisyValues()); Ordering actual = *nlfg.orderingCOLAMD(createNoisyValues()); - CHECK(assert_equal(expected,actual)); + EXPECT(assert_equal(expected,actual)); + + // Constrained ordering - put x2 at the end + std::map constraints; + constraints[X(2)] = 1; + Ordering actualConstrained = *nlfg.orderingCOLAMDConstrained(createNoisyValues(), constraints); + Ordering expectedConstrained; expectedConstrained += L(1), X(1), X(2); + EXPECT(assert_equal(expectedConstrained, actualConstrained)); } /* ************************************************************************* */ @@ -146,8 +153,5 @@ TEST( Graph, rekey ) } /* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From e50aecb75c6a1317cfb1b016d89ce064620b3d36 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 20 Jun 2012 14:26:46 +0000 Subject: [PATCH 403/914] StereoCamera is now a Value --- gtsam/base/DerivedValue.h | 7 ++- gtsam/geometry/StereoCamera.h | 89 +++++++++++++++++++++-------------- 2 files changed, 57 insertions(+), 39 deletions(-) diff --git a/gtsam/base/DerivedValue.h b/gtsam/base/DerivedValue.h index 83ecea510..6c10a29f5 100644 --- a/gtsam/base/DerivedValue.h +++ b/gtsam/base/DerivedValue.h @@ -10,10 +10,9 @@ * -------------------------------------------------------------------------- */ /* - * DerivedValue.h - * - * Created on: Jan 26, 2012 - * Author: thduynguyen + * @file DerivedValue.h + * @date Jan 26, 2012 + * @author Duy Nguyen Ta */ #pragma once diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index aa22c18c6..867844fbb 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -30,13 +30,17 @@ namespace gtsam { * A stereo camera class, parameterize by left camera pose and stereo calibration * @addtogroup geometry */ -class StereoCamera { +class StereoCamera : public DerivedValue { private: Pose3 leftCamPose_; Cal3_S2Stereo::shared_ptr K_; public: + + /// @name Standard Constructors + /// @{ + StereoCamera() { } @@ -46,6 +50,54 @@ public: return K_; } + /// @} + /// @name Testable + /// @{ + + void print(const std::string& s = "") const { + leftCamPose_.print(s + ".camera."); + K_->print(s + ".calibration."); + } + + bool equals(const StereoCamera &camera, double tol = 1e-9) const { + return leftCamPose_.equals(camera.leftCamPose_, tol) && K_->equals( + *camera.K_, tol); + } + + /// @} + /// @name Manifold + /// @{ + + /** Dimensionality of the tangent space */ + inline size_t dim() const { + return 6; + } + + /** Dimensionality of the tangent space */ + static inline size_t Dim() { + return 6; + } + + /// Updates a with tangent space delta + inline StereoCamera retract(const Vector& v) const { + return StereoCamera(pose().retract(v), K_); + } + + /// Local coordinates of manifold neighborhood around current value + inline Vector localCoordinates(const StereoCamera& t2) const { + return Vector(leftCamPose_.localCoordinates(t2.leftCamPose_)); + } + + Pose3 between(const StereoCamera &camera, + boost::optional H1=boost::none, + boost::optional H2=boost::none) const { + return leftCamPose_.between(camera.pose(), H1, H2); + } + + /// @} + /// @name Standard Interface + /// @{ + const Pose3& pose() const { return leftCamPose_; } @@ -80,40 +132,7 @@ public: return world_point; } - /** Dimensionality of the tangent space */ - inline size_t dim() const { - return 6; - } - - /** Dimensionality of the tangent space */ - static inline size_t Dim() { - return 6; - } - - bool equals(const StereoCamera &camera, double tol = 1e-9) const { - return leftCamPose_.equals(camera.leftCamPose_, tol) && K_->equals( - *camera.K_, tol); - } - - // Manifold requirements - use existing expmap/logmap - inline StereoCamera retract(const Vector& v) const { - return StereoCamera(pose().retract(v), K_); - } - - inline Vector localCoordinates(const StereoCamera& t2) const { - return Vector(leftCamPose_.localCoordinates(t2.leftCamPose_)); - } - - Pose3 between(const StereoCamera &camera, - boost::optional H1=boost::none, - boost::optional H2=boost::none) const { - return leftCamPose_.between(camera.pose(), H1, H2); - } - - void print(const std::string& s = "") const { - leftCamPose_.print(s + ".camera."); - K_->print(s + ".calibration."); - } + /// @} private: /** utility functions */ From 56c9107775621f6eef2d9af6464538f671ce0738 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Wed, 20 Jun 2012 17:10:55 +0000 Subject: [PATCH 404/914] typo in assertion --- gtsam/geometry/Tensor2Expression.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Tensor2Expression.h b/gtsam/geometry/Tensor2Expression.h index f9e56054f..5b07bad37 100644 --- a/gtsam/geometry/Tensor2Expression.h +++ b/gtsam/geometry/Tensor2Expression.h @@ -299,7 +299,7 @@ namespace tensors { const Tensor2Expression& actual, double tol = 1e-9) { if (actual.equivalent(expected, tol)) return true; - std::cout << "Not equal:\n"; + std::cout << "Not equivalent:\n"; expected.print("expected:\n"); actual.print("actual:\n"); return false; From 30525529c93523b345eca19fa5d7ffc342d88e99 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 20 Jun 2012 20:56:06 +0000 Subject: [PATCH 405/914] update according to the pinholecamera change --- gtsam.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index a220f5fe3..bafc15790 100644 --- a/gtsam.h +++ b/gtsam.h @@ -489,7 +489,6 @@ class SimpleCamera { pair projectSafe(const gtsam::Point3& pw) const; gtsam::Point2 project(const gtsam::Point3& point); gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; - gtsam::Point3 backproject_from_camera(const gtsam::Point2& p, double depth) const; double range(const gtsam::Point3& point); // double range(const gtsam::Pose3& point); // FIXME, overload }; From d0c193e403b493336e5f09d38a8b0500a855c903 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 21 Jun 2012 01:20:04 +0000 Subject: [PATCH 406/914] Made global variables and functions in unit tests static to avoid duplicate symbols when linking all tests together --- gtsam/base/TestableAssertions.h | 4 +-- gtsam/geometry/tests/testCal3Bundler.cpp | 4 +-- gtsam/geometry/tests/testCal3DS2.cpp | 4 +-- gtsam/geometry/tests/testCalibratedCamera.cpp | 14 +++++----- gtsam/geometry/tests/testFundamental.cpp | 8 +++--- gtsam/geometry/tests/testHomography2.cpp | 6 ++--- gtsam/geometry/tests/testPoint3.cpp | 2 +- gtsam/geometry/tests/testPose2.cpp | 6 ++--- gtsam/geometry/tests/testRot3M.cpp | 6 ++--- gtsam/geometry/tests/testRot3Q.cpp | 6 ++--- gtsam/geometry/tests/testSimpleCamera.cpp | 16 ++++++------ gtsam/inference/tests/testBayesTree.cpp | 6 ++--- .../inference/tests/testSymbolicBayesNet.cpp | 2 +- gtsam/slam/tests/testGeneralSFMFactor.cpp | 12 ++++----- .../testGeneralSFMFactor_Cal3Bundler.cpp | 26 +++++++++---------- 15 files changed, 61 insertions(+), 61 deletions(-) diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index 10daafbb4..e79d6b764 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -30,7 +30,7 @@ namespace gtsam { /** * Equals testing for basic types */ -bool assert_equal(const Index& expected, const Index& actual, double tol = 0.0) { +static bool assert_equal(const Index& expected, const Index& actual, double tol = 0.0) { if(expected != actual) { std::cout << "Not equal:\nexpected: " << expected << "\nactual: " << actual << std::endl; return false; @@ -327,7 +327,7 @@ bool assert_container_equality(const V& expected, const V& actual) { /** * Compare strings for unit tests */ -bool assert_equal(const std::string& expected, const std::string& actual) { +static bool assert_equal(const std::string& expected, const std::string& actual) { if (expected == actual) return true; printf("Not equal:\n"); diff --git a/gtsam/geometry/tests/testCal3Bundler.cpp b/gtsam/geometry/tests/testCal3Bundler.cpp index bb1bd861d..e354796fa 100644 --- a/gtsam/geometry/tests/testCal3Bundler.cpp +++ b/gtsam/geometry/tests/testCal3Bundler.cpp @@ -25,8 +25,8 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Cal3Bundler) GTSAM_CONCEPT_MANIFOLD_INST(Cal3Bundler) -Cal3Bundler K(500, 1e-3, 1e-3); -Point2 p(2,3); +static Cal3Bundler K(500, 1e-3, 1e-3); +static Point2 p(2,3); /* ************************************************************************* */ TEST( Cal3Bundler, calibrate) diff --git a/gtsam/geometry/tests/testCal3DS2.cpp b/gtsam/geometry/tests/testCal3DS2.cpp index 4c79a447b..9f8777e49 100644 --- a/gtsam/geometry/tests/testCal3DS2.cpp +++ b/gtsam/geometry/tests/testCal3DS2.cpp @@ -25,8 +25,8 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Cal3DS2) GTSAM_CONCEPT_MANIFOLD_INST(Cal3DS2) -Cal3DS2 K(500, 100, 0.1, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3); -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, calibrate) diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp index 7fe88bce0..f8750ec24 100644 --- a/gtsam/geometry/tests/testCalibratedCamera.cpp +++ b/gtsam/geometry/tests/testCalibratedCamera.cpp @@ -27,19 +27,19 @@ using namespace gtsam; GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera) -const Pose3 pose1(Matrix_(3,3, +static const Pose3 pose1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,0.5)); -const CalibratedCamera camera(pose1); +static const CalibratedCamera camera(pose1); -const Point3 point1(-0.08,-0.08, 0.0); -const Point3 point2(-0.08, 0.08, 0.0); -const Point3 point3( 0.08, 0.08, 0.0); -const Point3 point4( 0.08,-0.08, 0.0); +static const Point3 point1(-0.08,-0.08, 0.0); +static const Point3 point2(-0.08, 0.08, 0.0); +static const Point3 point3( 0.08, 0.08, 0.0); +static const Point3 point4( 0.08,-0.08, 0.0); /* ************************************************************************* */ TEST( CalibratedCamera, constructor) @@ -95,7 +95,7 @@ TEST( CalibratedCamera, Dproject_to_camera1) { } /* ************************************************************************* */ -Point2 project2(const Pose3& pose, const Point3& point) { +static Point2 project2(const Pose3& pose, const Point3& point) { return CalibratedCamera(pose).project(point); } diff --git a/gtsam/geometry/tests/testFundamental.cpp b/gtsam/geometry/tests/testFundamental.cpp index 46a051609..c233cbfd0 100644 --- a/gtsam/geometry/tests/testFundamental.cpp +++ b/gtsam/geometry/tests/testFundamental.cpp @@ -34,11 +34,11 @@ using namespace tensors; /* ************************************************************************* */ // Indices -tensors::Index<3, 'a'> a; -tensors::Index<3, 'b'> b; +static tensors::Index<3, 'a'> a; +static tensors::Index<3, 'b'> b; -tensors::Index<4, 'A'> A; -tensors::Index<4, 'B'> B; +static tensors::Index<4, 'A'> A; +static tensors::Index<4, 'B'> B; /* ************************************************************************* */ TEST( Tensors, FundamentalMatrix) diff --git a/gtsam/geometry/tests/testHomography2.cpp b/gtsam/geometry/tests/testHomography2.cpp index 062de9d1d..85681baa4 100644 --- a/gtsam/geometry/tests/testHomography2.cpp +++ b/gtsam/geometry/tests/testHomography2.cpp @@ -36,9 +36,9 @@ using namespace tensors; /* ************************************************************************* */ // Indices -tensors::Index<3, 'a'> a, _a; -tensors::Index<3, 'b'> b, _b; -tensors::Index<3, 'c'> c, _c; +static tensors::Index<3, 'a'> a, _a; +static tensors::Index<3, 'b'> b, _b; +static tensors::Index<3, 'c'> c, _c; /* ************************************************************************* */ TEST( Homography2, RealImages) diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp index c7e25f7a9..492d65e42 100644 --- a/gtsam/geometry/tests/testPoint3.cpp +++ b/gtsam/geometry/tests/testPoint3.cpp @@ -23,7 +23,7 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Point3) GTSAM_CONCEPT_LIE_INST(Point3) -Point3 P(0.2,0.7,-2); +static Point3 P(0.2,0.7,-2); /* ************************************************************************* */ TEST(Point3, Lie) { diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp index 2a0f9ebec..a79371e63 100644 --- a/gtsam/geometry/tests/testPose2.cpp +++ b/gtsam/geometry/tests/testPose2.cpp @@ -156,7 +156,7 @@ TEST(Pose3, expmap_c) #endif /* ************************************************************************* */ -TEST(Pose3, expmap_c_full) +TEST(Pose2, expmap_c_full) { double w=0.3; Vector xi = Vector_(3, 0.0, w, w); @@ -191,7 +191,7 @@ TEST(Pose2, logmap_full) { } /* ************************************************************************* */ -Point2 transform_to_proxy(const Pose2& pose, const Point2& point) { +static Point2 transform_to_proxy(const Pose2& pose, const Point2& point) { return pose.transform_to(point); } @@ -220,7 +220,7 @@ TEST( Pose2, transform_to ) } /* ************************************************************************* */ -Point2 transform_from_proxy(const Pose2& pose, const Point2& point) { +static Point2 transform_from_proxy(const Pose2& pose, const Point2& point) { return pose.transform_from(point); } diff --git a/gtsam/geometry/tests/testRot3M.cpp b/gtsam/geometry/tests/testRot3M.cpp index 7c8bd04bd..449ed9cd7 100644 --- a/gtsam/geometry/tests/testRot3M.cpp +++ b/gtsam/geometry/tests/testRot3M.cpp @@ -31,9 +31,9 @@ using namespace std; using namespace gtsam; -Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); -Point3 P(0.2, 0.7, -2.0); -double error = 1e-9, epsilon = 0.001; +static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); +static Point3 P(0.2, 0.7, -2.0); +static double error = 1e-9, epsilon = 0.001; static const Matrix I3 = eye(3); /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testRot3Q.cpp b/gtsam/geometry/tests/testRot3Q.cpp index 02056eb2d..7268eed55 100644 --- a/gtsam/geometry/tests/testRot3Q.cpp +++ b/gtsam/geometry/tests/testRot3Q.cpp @@ -27,9 +27,9 @@ using namespace gtsam; -Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); -Point3 P(0.2, 0.7, -2.0); -double error = 1e-9, epsilon = 0.001; +static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); +static Point3 P(0.2, 0.7, -2.0); +static double error = 1e-9, epsilon = 0.001; /* ************************************************************************* */ TEST( Rot3, constructor) diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index e46a247a0..6cc00de8a 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -26,21 +26,21 @@ using namespace std; using namespace gtsam; -const Cal3_S2 K(625, 625, 0, 0, 0); +static const Cal3_S2 K(625, 625, 0, 0, 0); -const Pose3 pose1(Matrix_(3,3, +static const Pose3 pose1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,0.5)); -const SimpleCamera camera(pose1, K); +static const SimpleCamera camera(pose1, K); -const Point3 point1(-0.08,-0.08, 0.0); -const Point3 point2(-0.08, 0.08, 0.0); -const Point3 point3( 0.08, 0.08, 0.0); -const Point3 point4( 0.08,-0.08, 0.0); +static const Point3 point1(-0.08,-0.08, 0.0); +static const Point3 point2(-0.08, 0.08, 0.0); +static const Point3 point3( 0.08, 0.08, 0.0); +static const Point3 point4( 0.08,-0.08, 0.0); /* ************************************************************************* */ TEST( SimpleCamera, constructor) @@ -118,7 +118,7 @@ TEST( SimpleCamera, backproject2) } /* ************************************************************************* */ -Point2 project2(const Pose3& pose, const Point3& point) { +static Point2 project2(const Pose3& pose, const Point3& point) { return SimpleCamera(pose,K).project(point); } diff --git a/gtsam/inference/tests/testBayesTree.cpp b/gtsam/inference/tests/testBayesTree.cpp index 2f85e1454..a5601b8eb 100644 --- a/gtsam/inference/tests/testBayesTree.cpp +++ b/gtsam/inference/tests/testBayesTree.cpp @@ -62,7 +62,7 @@ static const Index _x3_=0, _x2_=1; /* ************************************************************************* */ // Conditionals for ASIA example from the tutorial with A and D evidence static const Index _X_=0, _T_=1, _S_=2, _E_=3, _L_=4, _B_=5; -IndexConditional::shared_ptr +static IndexConditional::shared_ptr B(new IndexConditional(_B_)), L(new IndexConditional(_L_, _B_)), E(new IndexConditional(_E_, _L_, _B_)), @@ -71,11 +71,11 @@ IndexConditional::shared_ptr X(new IndexConditional(_X_, _E_)); // Cliques -IndexConditional::shared_ptr +static IndexConditional::shared_ptr ELB(IndexConditional::FromKeys(cref_list_of<3>(_E_)(_L_)(_B_), 3)); // Bayes Tree for Asia example -SymbolicBayesTree createAsiaSymbolicBayesTree() { +static SymbolicBayesTree createAsiaSymbolicBayesTree() { SymbolicBayesTree bayesTree; // Ordering asiaOrdering; asiaOrdering += _X_, _T_, _S_, _E_, _L_, _B_; SymbolicBayesTree::insert(bayesTree, B); diff --git a/gtsam/inference/tests/testSymbolicBayesNet.cpp b/gtsam/inference/tests/testSymbolicBayesNet.cpp index 20abb6a71..06b1bded9 100644 --- a/gtsam/inference/tests/testSymbolicBayesNet.cpp +++ b/gtsam/inference/tests/testSymbolicBayesNet.cpp @@ -35,7 +35,7 @@ static const Index _C_ = 3; static const Index _D_ = 4; static const Index _E_ = 5; -IndexConditional::shared_ptr +static IndexConditional::shared_ptr B(new IndexConditional(_B_)), L(new IndexConditional(_L_, _B_)); diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index 1306f5148..d6fcb5c5a 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -65,7 +65,7 @@ public: }; -double getGaussian() +static double getGaussian() { double S,V1,V2; // Use Box-Muller method to create gauss noise from uniform noise @@ -80,7 +80,7 @@ double getGaussian() return sqrt(-2.0f * (double)log(S) / S) * V1; } -const SharedNoiseModel sigma1(noiseModel::Unit::Create(1)); +static const SharedNoiseModel sigma1(noiseModel::Unit::Create(1)); /* ************************************************************************* */ TEST( GeneralSFMFactor, equals ) @@ -116,7 +116,7 @@ TEST( GeneralSFMFactor, error ) { static const double baseline = 5.0 ; /* ************************************************************************* */ -vector genPoint3() { +static vector genPoint3() { const double z = 5; vector landmarks ; landmarks.push_back(Point3 (-1.0,-1.0, z)); @@ -134,14 +134,14 @@ vector genPoint3() { return landmarks ; } -vector genCameraDefaultCalibration() { +static vector genCameraDefaultCalibration() { vector X ; X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); return X ; } -vector genCameraVariableCalibration() { +static vector genCameraVariableCalibration() { const Cal3_S2 K(640,480,0.01,320,240); vector X ; X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); @@ -149,7 +149,7 @@ vector genCameraVariableCalibration() { return X ; } -boost::shared_ptr getOrdering(const vector& cameras, const vector& landmarks) { +static boost::shared_ptr getOrdering(const vector& cameras, const vector& landmarks) { boost::shared_ptr ordering(new Ordering); for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index 142c27e7e..9afd8eff1 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -66,7 +66,7 @@ public: }; -double getGaussian() +static double getGaussian() { double S,V1,V2; // Use Box-Muller method to create gauss noise from uniform noise @@ -81,10 +81,10 @@ double getGaussian() return sqrt(-2.0f * (double)log(S) / S) * V1; } -const SharedNoiseModel sigma1(noiseModel::Unit::Create(1)); +static const SharedNoiseModel sigma1(noiseModel::Unit::Create(1)); /* ************************************************************************* */ -TEST( GeneralSFMFactor, equals ) +TEST( GeneralSFMFactor_Cal3Bundler, equals ) { // Create two identical factors and make sure they're equal Vector z = Vector_(2,323.,240.); @@ -100,7 +100,7 @@ TEST( GeneralSFMFactor, equals ) } /* ************************************************************************* */ -TEST( GeneralSFMFactor, error ) { +TEST( GeneralSFMFactor_Cal3Bundler, error ) { Point2 z(3.,0.); const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); boost::shared_ptr @@ -119,7 +119,7 @@ TEST( GeneralSFMFactor, error ) { static const double baseline = 5.0 ; /* ************************************************************************* */ -vector genPoint3() { +static vector genPoint3() { const double z = 5; vector landmarks ; landmarks.push_back(Point3 (-1.0,-1.0, z)); @@ -137,14 +137,14 @@ vector genPoint3() { return landmarks ; } -vector genCameraDefaultCalibration() { +static vector genCameraDefaultCalibration() { vector cameras ; cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); return cameras ; } -vector genCameraVariableCalibration() { +static vector genCameraVariableCalibration() { const Cal3Bundler K(500,1e-3,1e-3); vector cameras ; cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); @@ -152,7 +152,7 @@ vector genCameraVariableCalibration() { return cameras ; } -boost::shared_ptr getOrdering(const std::vector& cameras, const std::vector& landmarks) { +static boost::shared_ptr getOrdering(const std::vector& cameras, const std::vector& landmarks) { boost::shared_ptr ordering(new Ordering); for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; @@ -160,7 +160,7 @@ boost::shared_ptr getOrdering(const std::vector& camera } /* ************************************************************************* */ -TEST( GeneralSFMFactor, optimize_defaultK ) { +TEST( GeneralSFMFactor_Cal3Bundler, optimize_defaultK ) { vector landmarks = genPoint3(); vector cameras = genCameraDefaultCalibration(); @@ -199,7 +199,7 @@ TEST( GeneralSFMFactor, optimize_defaultK ) { } /* ************************************************************************* */ -TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { +TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_SingleMeasurementError ) { vector landmarks = genPoint3(); vector cameras = genCameraVariableCalibration(); // add measurement with noise @@ -242,7 +242,7 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { } /* ************************************************************************* */ -TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { +TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_FixCameras ) { vector landmarks = genPoint3(); vector cameras = genCameraVariableCalibration(); @@ -283,7 +283,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { } /* ************************************************************************* */ -TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { +TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_FixLandmarks ) { vector landmarks = genPoint3(); vector cameras = genCameraVariableCalibration(); @@ -336,7 +336,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { } /* ************************************************************************* */ -TEST( GeneralSFMFactor, optimize_varK_BA ) { +TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) { vector landmarks = genPoint3(); vector cameras = genCameraVariableCalibration(); From a9945f2265f2c42be550efd8167d5fc08e966004 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 21 Jun 2012 01:20:14 +0000 Subject: [PATCH 407/914] Moved dim() from NonlinearFactor to NoiseModelFactor - for NonlinearFactors that linearize to HessianFactors, dimension is not defined. --- gtsam/nonlinear/NonlinearFactor.h | 3 --- gtsam/slam/AntiFactor.h | 3 --- 2 files changed, 6 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index e1cfb2bc3..f6869140c 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -124,9 +124,6 @@ public: */ virtual double error(const Values& c) const = 0; - /** get the dimension of the factor (number of rows on linearization) */ - virtual size_t dim() const = 0; - /** * Checks whether a factor should be used based on a set of values. * This is primarily used to implment inequality constraints that diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 1e0d64db7..890e5beee 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -78,9 +78,6 @@ namespace gtsam { */ double error(const Values& c) const { return -factor_->error(c); } - /** get the dimension of the factor (same as the original factor) */ - size_t dim() const { return factor_->dim(); } - /** * Checks whether this factor should be used based on a set of values. * The AntiFactor will have the same 'active' profile as the original factor. From a0fc13fce8eda2ac5800af364ba13ce253c1e9c9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 21 Jun 2012 01:20:25 +0000 Subject: [PATCH 408/914] Added LieMatrix to allow optimizing for matrices (treated as manifold objects) in gtsam --- gtsam/base/LieMatrix.cpp | 36 ++++++++ gtsam/base/LieMatrix.h | 139 +++++++++++++++++++++++++++++ gtsam/base/tests/testLieMatrix.cpp | 71 +++++++++++++++ 3 files changed, 246 insertions(+) create mode 100644 gtsam/base/LieMatrix.cpp create mode 100644 gtsam/base/LieMatrix.h create mode 100644 gtsam/base/tests/testLieMatrix.cpp diff --git a/gtsam/base/LieMatrix.cpp b/gtsam/base/LieMatrix.cpp new file mode 100644 index 000000000..332401689 --- /dev/null +++ b/gtsam/base/LieMatrix.cpp @@ -0,0 +1,36 @@ +/* ---------------------------------------------------------------------------- + + * 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 LieMatrix.cpp + * @brief A wrapper around Matrix providing Lie compatibility + * @author Richard Roberts and Alex Cunningham + */ + +#include + +namespace gtsam { + + /* ************************************************************************* */ + LieMatrix::LieMatrix(size_t m, size_t n, ...) + : Matrix(m,n) { + va_list ap; + va_start(ap, n); + for(size_t i = 0; i < m; ++i) { + for(size_t j = 0; j < n; ++j) { + double value = va_arg(ap, double); + (*this)(i,j) = value; + } + } + va_end(ap); + } + +} \ No newline at end of file diff --git a/gtsam/base/LieMatrix.h b/gtsam/base/LieMatrix.h new file mode 100644 index 000000000..2ab15a054 --- /dev/null +++ b/gtsam/base/LieMatrix.h @@ -0,0 +1,139 @@ +/* ---------------------------------------------------------------------------- + + * 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 LieMatrix.h + * @brief A wrapper around Matrix providing Lie compatibility + * @author Richard Roberts and Alex Cunningham + */ + +#pragma once + +#include + +#include +#include +#include + +namespace gtsam { + +/** + * LieVector is a wrapper around vector to allow it to be a Lie type + */ +struct LieMatrix : public Matrix, public DerivedValue { + + /** default constructor - should be unnecessary */ + LieMatrix() {} + + /** initialize from a normal matrix */ + LieMatrix(const Matrix& v) : Matrix(v) {} + + /** initialize from a fixed size normal vector */ + template + LieMatrix(const Eigen::Matrix& v) : Matrix(v) {} + + /** constructor with size and initial data, row order ! */ + LieMatrix(size_t m, size_t n, const double* const data) : + Matrix(Eigen::Map(data, m, n)) {} + + /** Specify arguments directly, as in Matrix_() - always force these to be doubles */ + LieMatrix(size_t m, size_t n, ...); + + /** get the underlying vector */ + inline Matrix matrix() const { + return static_cast(*this); + } + + /** print @param s optional string naming the object */ + inline void print(const std::string& name="") const { + gtsam::print(matrix(), name); + } + + /** equality up to tolerance */ + inline bool equals(const LieMatrix& expected, double tol=1e-5) const { + return gtsam::equal_with_abs_tol(matrix(), expected.matrix(), tol); + } + + // Manifold requirements + + /** Returns dimensionality of the tangent space */ + inline size_t dim() const { return this->size(); } + + /** Update the LieMatrix with a tangent space update. The elements of the + * tangent space vector correspond to the matrix entries arranged in + * *row-major* order. */ + inline LieMatrix retract(const Vector& v) const { + if(v.size() != this->rows() * this->cols()) + throw std::invalid_argument("LieMatrix::retract called with Vector of incorrect size"); + return LieMatrix(*this + Eigen::Map(&v(0), this->cols(), this->rows()).transpose()); + } + + /** @return the local coordinates of another object. The elements of the + * tangent space vector correspond to the matrix entries arranged in + * *row-major* order. */ + inline Vector localCoordinates(const LieMatrix& t2) const { + Vector result(this->rows() * this->cols()); + Eigen::Map(&result(0), this->cols(), this->rows()).transpose() = + (t2 - *this); + return result; + } + + // Group requirements + + /** identity - NOTE: no known size at compile time - so zero length */ + inline static LieMatrix identity() { + throw std::runtime_error("LieMatrix::identity(): Don't use this function"); + return LieMatrix(); + } + + // Note: Manually specifying the 'gtsam' namespace for the optional Matrix arguments + // This is a work-around for linux g++ 4.6.1 that incorrectly selects the Eigen::Matrix class + // instead of the gtsam::Matrix class. This is related to deriving this class from an Eigen Vector + // as the other geometry objects (Point3, Rot3, etc.) have this problem + /** compose with another object */ + inline LieMatrix compose(const LieMatrix& p, + boost::optional H1=boost::none, + boost::optional H2=boost::none) const { + if(H1) *H1 = eye(dim()); + if(H2) *H2 = eye(p.dim()); + + return LieMatrix(*this + p); + } + + /** between operation */ + inline LieMatrix between(const LieMatrix& l2, + boost::optional H1=boost::none, + boost::optional H2=boost::none) const { + if(H1) *H1 = -eye(dim()); + if(H2) *H2 = eye(l2.dim()); + return LieMatrix(l2 - *this); + } + + /** invert the object and yield a new one */ + inline LieMatrix inverse(boost::optional H=boost::none) const { + if(H) *H = -eye(dim()); + + return LieMatrix(-(*this)); + } + + // Lie functions + + /** Expmap around identity */ + static inline LieMatrix Expmap(const Vector& v) { + throw std::runtime_error("LieMatrix::Expmap(): Don't use this function"); + return LieMatrix(v); } + + /** Logmap around identity - just returns with default cast back */ + static inline Vector Logmap(const LieMatrix& p) { + return Eigen::Map(&p(0,0), p.dim()); } + +}; +} // \namespace gtsam diff --git a/gtsam/base/tests/testLieMatrix.cpp b/gtsam/base/tests/testLieMatrix.cpp new file mode 100644 index 000000000..e4070d338 --- /dev/null +++ b/gtsam/base/tests/testLieMatrix.cpp @@ -0,0 +1,71 @@ +/* ---------------------------------------------------------------------------- + + * 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 testLieMatrix.cpp + * @author Richard Roberts + */ + +#include + +#include +#include +#include + +using namespace gtsam; + +GTSAM_CONCEPT_TESTABLE_INST(LieMatrix) +GTSAM_CONCEPT_LIE_INST(LieMatrix) + +/* ************************************************************************* */ +TEST( LieMatrix, construction ) { + Matrix m = Matrix_(2,2, 1.0, 2.0, 3.0, 4.0); + LieMatrix lie1(m), lie2(m); + + EXPECT(lie1.dim() == 4); + EXPECT(assert_equal(m, lie1.matrix())); + EXPECT(assert_equal(lie1, lie2)); +} + +/* ************************************************************************* */ +TEST( LieMatrix, other_constructors ) { + Matrix init = Matrix_(2,2, 10.0, 20.0, 30.0, 40.0); + LieMatrix exp(init); + LieMatrix a(2,2,10.0,20.0,30.0,40.0); + double data[] = {10,30,20,40}; + LieMatrix b(2,2,data); + EXPECT(assert_equal(exp, a)); + EXPECT(assert_equal(exp, b)); + EXPECT(assert_equal(b, a)); +} + +/* ************************************************************************* */ +TEST(LieMatrix, retract) { + LieMatrix init(2,2, 1.0,2.0,3.0,4.0); + init.print("init: "); + Vector update = Vector_(4, 3.0, 4.0, 6.0, 7.0); + + LieMatrix expected(2,2, 4.0, 6.0, 9.0, 11.0); + LieMatrix actual = init.retract(update); + + EXPECT(assert_equal(expected, actual)); + + LieMatrix expectedUpdate = update; + LieMatrix actualUpdate = init.localCoordinates(actual); + + EXPECT(assert_equal(expectedUpdate, actualUpdate)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ + + From 120b3c26726c509d1cfb5e507e16dc68c74ddc22 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 21 Jun 2012 14:01:34 +0000 Subject: [PATCH 409/914] Comments only --- gtsam/inference/Factor.h | 2 +- gtsam/linear/GaussianMultifrontalSolver.h | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index b73eff9d0..6ed9c809b 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -36,7 +36,7 @@ template class Conditional; * which will be the type used to label variables. Key types currently in use * in gtsam are Index with symbolic (IndexFactor, SymbolicFactorGraph) and * Gaussian factors (GaussianFactor, JacobianFactor, HessianFactor, GaussianFactorGraph), - * and Symbol with nonlinear factors (NonlinearFactor, NonlinearFactorGraph). + * and Key with nonlinear factors (NonlinearFactor, NonlinearFactorGraph). * though currently only IndexFactor and IndexConditional derive from this * class, using Index keys. This class does not store any data other than its * keys. Derived classes store data such as matrices and probability tables. diff --git a/gtsam/linear/GaussianMultifrontalSolver.h b/gtsam/linear/GaussianMultifrontalSolver.h index a38bb3161..322aacfc6 100644 --- a/gtsam/linear/GaussianMultifrontalSolver.h +++ b/gtsam/linear/GaussianMultifrontalSolver.h @@ -100,6 +100,8 @@ public: * Compute the marginal joint over a set of variables, by integrating out * all of the other variables. This function returns the result as a factor * graph. + * + * NOTE: This function is limited to computing a joint on 2 variables */ GaussianFactorGraph::shared_ptr jointFactorGraph(const std::vector& js) const; From 3366c673d76a1b22273578f9a180da2637f0f03f Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Thu, 21 Jun 2012 14:28:08 +0000 Subject: [PATCH 410/914] (With Duy) add a matlab wrapper for the LM optimizer and parameters in visualSLAM, have an example in SFMExample.m --- gtsam.h | 17 ++++++++++ gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 6 +++- gtsam/slam/tests/testVisualSLAM.cpp | 32 +++++++++++++++++++ gtsam/slam/visualSLAM.h | 11 +++++++ matlab/examples/SFMExample.m | 14 ++++++-- 5 files changed, 77 insertions(+), 3 deletions(-) diff --git a/gtsam.h b/gtsam.h index bafc15790..b1c3b8d02 100644 --- a/gtsam.h +++ b/gtsam.h @@ -777,6 +777,13 @@ class Marginals { Matrix marginalInformation(size_t variable) const; }; +#include +class LevenbergMarquardtParams { + LevenbergMarquardtParams(); + LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose); + void print(string s) const; +}; + }///\namespace gtsam //************************************************************************* @@ -1002,6 +1009,7 @@ class Graph { visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate, size_t verbosity) const; gtsam::Marginals marginals(const visualSLAM::Values& solution) const; + visualSLAM::LevenbergMarquardtOptimizer optimizer(const visualSLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; }; class ISAM { @@ -1026,4 +1034,13 @@ class ISAM { gtsam::NonlinearFactorGraph getFactorsUnsafe() const; }; +class LevenbergMarquardtOptimizer { + double lambda() const; + void iterate(); + visualSLAM::Values optimize(); + double error() const; + size_t iterations() const; + visualSLAM::Values values() const; +}; + }///\namespace visualSLAM diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 0858b72b9..231df9f4e 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -33,7 +33,7 @@ class LevenbergMarquardtParams : public SuccessiveLinearizationParams { public: /** See LevenbergMarquardtParams::lmVerbosity */ enum VerbosityLM { - SILENT, + SILENT = 0, LAMBDA, TRYLAMBDA, TRYCONFIG, @@ -49,6 +49,9 @@ public: LevenbergMarquardtParams() : lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), verbosityLM(SILENT) {} + LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose) : + lambdaInitial(initial), lambdaFactor(factor), lambdaUpperBound(bound), verbosityLM(VerbosityLM(verbose)) {} + virtual ~LevenbergMarquardtParams() {} virtual void print(const std::string& str = "") const { @@ -56,6 +59,7 @@ public: std::cout << " lambdaInitial: " << lambdaInitial << "\n"; std::cout << " lambdaFactor: " << lambdaFactor << "\n"; std::cout << " lambdaUpperBound: " << lambdaUpperBound << "\n"; + std::cout << " verbosityLM: " << verbosityLM << "\n"; std::cout.flush(); } }; diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index d9abc67ed..081142038 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -154,6 +154,38 @@ TEST( VisualSLAM, optimizeLM2) CHECK(assert_equal(initialEstimate, optimizer.values())); } +/* ************************************************************************* */ +TEST( VisualSLAM, LMoptimizer) +{ + // build a graph + visualSLAM::Graph graph(testGraph()); + // add 2 camera constraints + graph.addPoseConstraint(X(1), camera1); + graph.addPoseConstraint(X(2), camera2); + + // Create an initial values structure corresponding to the ground truth + Values initialEstimate; + initialEstimate.insert(X(1), camera1); + initialEstimate.insert(X(2), camera2); + initialEstimate.insert(L(1), landmark1); + initialEstimate.insert(L(2), landmark2); + initialEstimate.insert(L(3), landmark3); + initialEstimate.insert(L(4), landmark4); + + // Create an optimizer and check its error + // We expect the initial to be zero because config is the ground truth + LevenbergMarquardtOptimizer optimizer = graph.optimizer(initialEstimate); + DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); + + // Iterate once, and the config should not have changed because we started + // with the ground truth + optimizer.iterate(); + DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); + + // check if correct + CHECK(assert_equal(initialEstimate, optimizer.values())); +} + /* ************************************************************************* */ TEST( VisualSLAM, CHECK_ORDERING) diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 6e5109041..3fb213ee7 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -29,6 +29,7 @@ #include #include #include +#include #include @@ -217,6 +218,16 @@ namespace visualSLAM { */ Values optimize(const Values& initialEstimate, size_t verbosity) const; + /** + * Setup and return a LevenbargMarquardtOptimizer + * @param initialEstimate initial estimate of all variables in the graph + * @param parameters optimizer's parameters + * @return a LevenbergMarquardtOptimizer object, which you can use to control the optimization process + */ + LevenbergMarquardtOptimizer optimizer(const Values& initialEstimate, const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) const { + return LevenbergMarquardtOptimizer((*this), initialEstimate, parameters); + } + /// Return a Marginals object Marginals marginals(const Values& solution) const { return Marginals(*this,solution); diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index ac25a4328..8e56c00b7 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -61,8 +61,18 @@ for j=1:size(truth.points,2) end initialEstimate.print(sprintf('\nInitial estimate:\n ')); -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,1); +%% One-shot Optimize using Levenberg-Marquardt optimization with an ordering from colamd +%result = graph.optimize(initialEstimate,1); +%result.print(sprintf('\nFinal result:\n ')); + +%% Fine grain optimization, allowing user to iterate step by step + +parameters = gtsamLevenbergMarquardtParams(1e-5, 1e-5, 0, 2); +optimizer = graph.optimizer(initialEstimate, parameters); +for i=1:5 + optimizer.iterate(); +end +result = optimizer.values(); result.print(sprintf('\nFinal result:\n ')); %% Plot results with covariance ellipses From 2c1e30db51742ba78addf8ae64f9744cf20d28b0 Mon Sep 17 00:00:00 2001 From: Florian Hauer Date: Thu, 21 Jun 2012 15:14:13 +0000 Subject: [PATCH 411/914] Fix of the StereoVOExample.m in the matlab examples folder The optimize method at line 65 was missing the second argument --- matlab/examples/StereoVOExample.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 4553a1f0d..99717fda5 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -56,7 +56,7 @@ initialEstimate.insertPoint(l3, gtsamPoint3( 0,-.5, 5)); %% optimize fprintf(1,'Optimizing\n'); tic -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); toc %% visualize initial trajectory, final trajectory, and final points From fcde937b62b2712d458bb218bba9641ac3ed14ab Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 21 Jun 2012 15:29:09 +0000 Subject: [PATCH 412/914] Some ignores only From 282dc6d78811e6f5f2a79fab8ee3d30842b4a844 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 21 Jun 2012 15:46:39 +0000 Subject: [PATCH 413/914] comments and formatting --- gtsam/inference/GenericMultifrontalSolver-inl.h | 12 ++++++++---- gtsam/inference/GenericSequentialSolver-inl.h | 8 ++++---- gtsam/inference/IndexFactor.cpp | 2 +- gtsam/linear/GaussianFactor.h | 4 +++- gtsam/nonlinear/NonlinearISAM.cpp | 3 +++ 5 files changed, 19 insertions(+), 10 deletions(-) diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index 192436959..db18f2093 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -47,13 +47,16 @@ namespace gtsam { /* ************************************************************************* */ template - typename BayesTree::shared_ptr GenericMultifrontalSolver::eliminate(Eliminate function) const { + typename BayesTree::shared_ptr + GenericMultifrontalSolver::eliminate(Eliminate function) const { // eliminate junction tree, returns pointer to root - typename BayesTree::sharedClique root = junctionTree_->eliminate(function); + typename BayesTree::sharedClique + root = junctionTree_->eliminate(function); // create an empty Bayes tree and insert root clique - typename BayesTree::shared_ptr bayesTree(new BayesTree); + typename BayesTree::shared_ptr + bayesTree(new BayesTree); bayesTree->insert(root); // return the Bayes tree @@ -65,7 +68,8 @@ namespace gtsam { typename FactorGraph::shared_ptr GenericMultifrontalSolver::jointFactorGraph( const std::vector& js, Eliminate function) const { - // We currently have code written only for computing the + // FIXME: joint for arbitrary sets of variables not present + // TODO: develop and implement theory for shortcuts of more than two variables if (js.size() != 2) throw std::domain_error( "*MultifrontalSolver::joint(js) currently can only compute joint marginals\n" diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h index cc7e6146c..53dee3dcd 100644 --- a/gtsam/inference/GenericSequentialSolver-inl.h +++ b/gtsam/inference/GenericSequentialSolver-inl.h @@ -96,7 +96,7 @@ namespace gtsam { // copies. Other parts of the code may hold shared_ptr's to these factors so // we must undo the permutation before returning. BOOST_FOREACH(const typename boost::shared_ptr& factor, *factors_) - if (factor) factor->permuteWithInverse(*permutationInverse); + if (factor) factor->permuteWithInverse(*permutationInverse); // Eliminate all variables typename BayesNet::shared_ptr @@ -104,20 +104,20 @@ namespace gtsam { // Undo the permuation on the original factors and on the structure. BOOST_FOREACH(const typename boost::shared_ptr& factor, *factors_) - if (factor) factor->permuteWithInverse(*permutation); + if (factor) factor->permuteWithInverse(*permutation); // Take the joint marginal from the Bayes net. sharedFactorGraph joint(new FactorGraph ); joint->reserve(js.size()); typename BayesNet::const_reverse_iterator - conditional = bayesNet->rbegin(); + conditional = bayesNet->rbegin(); for (size_t i = 0; i < js.size(); ++i) joint->push_back((*(conditional++))->toFactor()); // Undo the permutation on the eliminated joint marginal factors BOOST_FOREACH(const typename boost::shared_ptr& factor, *joint) - factor->permuteWithInverse(*permutation); + factor->permuteWithInverse(*permutation); return joint; } diff --git a/gtsam/inference/IndexFactor.cpp b/gtsam/inference/IndexFactor.cpp index f74aa4ff5..b04338d5b 100644 --- a/gtsam/inference/IndexFactor.cpp +++ b/gtsam/inference/IndexFactor.cpp @@ -58,7 +58,7 @@ namespace gtsam { /* ************************************************************************* */ void IndexFactor::permuteWithInverse(const Permutation& inversePermutation) { BOOST_FOREACH(Index& key, keys()) - key = inversePermutation[key]; + key = inversePermutation[key]; assertInvariants(); } /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index e2537b7b4..b1fd9338e 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -107,7 +107,9 @@ namespace gtsam { * to already be inverted. This acts just as a change-of-name for each * variable. The order of the variables within the factor is not changed. */ - virtual void permuteWithInverse(const Permutation& inversePermutation) { IndexFactor::permuteWithInverse(inversePermutation); } + virtual void permuteWithInverse(const Permutation& inversePermutation) { + IndexFactor::permuteWithInverse(inversePermutation); + } private: /** Serialization function */ diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 6820b3e05..17fba2432 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -53,6 +53,7 @@ void NonlinearISAM::update(const NonlinearFactorGraph& newFactors, linPoint_.insert(initialValues); // Augment ordering + // TODO: allow for ordering constraints within the new variables // FIXME: should just loop over new values BOOST_FOREACH(const NonlinearFactorGraph::sharedFactor& factor, newFactors) BOOST_FOREACH(Key key, factor->keys()) @@ -77,9 +78,11 @@ void NonlinearISAM::reorder_relinearize() { isam_.clear(); // Compute an ordering + // TODO: allow for constrained ordering here ordering_ = *factors_.orderingCOLAMD(newLinPoint); // Create a linear factor graph at the new linearization point + // TODO: decouple relinearization and reordering to avoid boost::shared_ptr gfg = factors_.linearize(newLinPoint, ordering_); // Just recreate the whole BayesTree From 2db389b8cb711be9a16c6836b1c3ae7237255992 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 21 Jun 2012 15:56:22 +0000 Subject: [PATCH 414/914] Fixed EQUALITY to deal with incorrect size --- matlab/EQUALITY.m | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/matlab/EQUALITY.m b/matlab/EQUALITY.m index 114867ac0..a387e1154 100644 --- a/matlab/EQUALITY.m +++ b/matlab/EQUALITY.m @@ -3,12 +3,17 @@ function EQUALITY(name,expected,actual,tol) if nargin<4,tol=1e-9;end -assertion = size(expected)==size(actual); -if assertion - assertion = all(abs(expected-actual) Date: Thu, 21 Jun 2012 17:22:05 +0000 Subject: [PATCH 415/914] moved tensors to ransac library. run cmake! --- gtsam/geometry/Tensor1.h | 85 ------- gtsam/geometry/Tensor1Expression.h | 181 ------------- gtsam/geometry/Tensor2.h | 84 ------ gtsam/geometry/Tensor2Expression.h | 310 ----------------------- gtsam/geometry/Tensor3.h | 106 -------- gtsam/geometry/Tensor3Expression.h | 194 -------------- gtsam/geometry/Tensor4.h | 58 ----- gtsam/geometry/Tensor5.h | 75 ------ gtsam/geometry/Tensor5Expression.h | 135 ---------- gtsam/geometry/projectiveGeometry.cpp | 71 ------ gtsam/geometry/projectiveGeometry.h | 124 --------- gtsam/geometry/tensorInterface.h | 120 --------- gtsam/geometry/tensors.h | 45 ---- gtsam/geometry/tests/testFundamental.cpp | 73 ------ gtsam/geometry/tests/testHomography2.cpp | 188 -------------- gtsam/geometry/tests/testTensors.cpp | 244 ------------------ 16 files changed, 2093 deletions(-) delete mode 100644 gtsam/geometry/Tensor1.h delete mode 100644 gtsam/geometry/Tensor1Expression.h delete mode 100644 gtsam/geometry/Tensor2.h delete mode 100644 gtsam/geometry/Tensor2Expression.h delete mode 100644 gtsam/geometry/Tensor3.h delete mode 100644 gtsam/geometry/Tensor3Expression.h delete mode 100644 gtsam/geometry/Tensor4.h delete mode 100644 gtsam/geometry/Tensor5.h delete mode 100644 gtsam/geometry/Tensor5Expression.h delete mode 100644 gtsam/geometry/projectiveGeometry.cpp delete mode 100644 gtsam/geometry/projectiveGeometry.h delete mode 100644 gtsam/geometry/tensorInterface.h delete mode 100644 gtsam/geometry/tensors.h delete mode 100644 gtsam/geometry/tests/testFundamental.cpp delete mode 100644 gtsam/geometry/tests/testHomography2.cpp delete mode 100644 gtsam/geometry/tests/testTensors.cpp diff --git a/gtsam/geometry/Tensor1.h b/gtsam/geometry/Tensor1.h deleted file mode 100644 index e7dc6bfb3..000000000 --- a/gtsam/geometry/Tensor1.h +++ /dev/null @@ -1,85 +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 Tensor1.h - * @brief Rank 1 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - */ - -#pragma once -#include - -namespace tensors { - - /** - * A rank 1 tensor. Actually stores data. - * @addtogroup tensors - * \nosubgrouping - */ - template - class Tensor1 { - double T[N]; ///< Storage - - public: - - /// @name Standard Constructors - /// @{ - - /** default constructor */ - Tensor1() { - } - - /** construct from data */ - Tensor1(const double* data) { - for (int i = 0; i < N; i++) - T[i] = data[i]; - } - - /** construct from expression */ - template - Tensor1(const Tensor1Expression >& a) { - for (int i = 0; i < N; i++) - T[i] = a(i); - } - - /// @} - /// @name Standard Interface - /// @{ - - /** return data */ - inline int dim() const { - return N; - } - - /** return data */ - inline const double& operator()(int i) const { - return T[i]; - } - - /** return data */ - inline double& operator()(int i) { - return T[i]; - } - - /// return an expression associated with an index - template Tensor1Expression > operator()( - Index index) const { - return Tensor1Expression >(*this); - } - - /// @} - - }; -// Tensor1 - -}// namespace tensors diff --git a/gtsam/geometry/Tensor1Expression.h b/gtsam/geometry/Tensor1Expression.h deleted file mode 100644 index 37b5809c8..000000000 --- a/gtsam/geometry/Tensor1Expression.h +++ /dev/null @@ -1,181 +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 Tensor1Expression.h - * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - */ - -#pragma once - -#include -#include -#include -#include - -namespace tensors { - - /** - * Templated class to provide a rank 1 tensor interface to a class. - * This class does not store any data but the result of an expression. - * It is associated with an index. - * @addtogroup tensors - * \nosubgrouping - */ - template class Tensor1Expression { - - private: - - A iter; - - typedef Tensor1Expression This; - - /** Helper class for multiplying with a double */ - class TimesDouble_ { - A iter; - const double s; - public: - /// Constructor - TimesDouble_(const A &a, double s_) : - iter(a), s(s_) { - } - /// Element access - inline double operator()(int i) const { - return iter(i) * s; - } - }; - - public: - - /// @name Standard Constructors - /// @{ - - /** constructor */ - Tensor1Expression(const A &a) : - iter(a) { - } - - /// @} - /// @name Testable - /// @{ - - /** Print */ - void print(const std::string s = "") const { - std::cout << s << "{"; - std::cout << (*this)(0); - for (int i = 1; i < I::dim; i++) - std::cout << ", "<< (*this)(i); - std::cout << "}" << std::endl; - } - - /// equality - template - bool equals(const Tensor1Expression & q, double tol) const { - for (int i = 0; i < I::dim; i++) - if (fabs((*this)(i) - q(i)) > tol) return false; - return true; - } - - /// @} - /// @name Standard Interface - /// @{ - - /** norm */ - double norm() const { - double sumsqr = 0.0; - for (int i = 0; i < I::dim; i++) - sumsqr += iter(i) * iter(i); - return sqrt(sumsqr); - } - - /// test equivalence - template - bool equivalent(const Tensor1Expression & q, double tol = 1e-9) const { - return ((*this) * (1.0 / norm())).equals(q * (1.0 / q.norm()), tol) - || ((*this) * (-1.0 / norm())).equals(q * (1.0 / q.norm()), tol); - } - - /** Check if two expressions are equal */ - template - bool operator==(const Tensor1Expression& e) const { - for (int i = 0; i < I::dim; i++) - if (iter(i) != e(i)) return false; - return true; - } - - /** element access */ - double operator()(int i) const { - return iter(i); - } - - /** mutliply with a double. */ - inline Tensor1Expression operator*(double s) const { - return TimesDouble_(iter, s); - } - - /** Class for contracting two rank 1 tensor expressions, yielding a double. */ - template - inline double operator*(const Tensor1Expression &b) const { - double sum = 0.0; - for (int i = 0; i < I::dim; i++) - sum += (*this)(i) * b(i); - return sum; - } - - }; // Tensor1Expression - - /// @} - /// @name Advanced Interface - /// @{ - - /** Print a rank 1 expression */ - template - void print(const Tensor1Expression& T, const std::string s = "") { - T.print(s); - } - - /** norm */ - template - double norm(const Tensor1Expression& T) { - return T.norm(); - } - - /** - * This template works for any two expressions - */ - template - bool assert_equality(const Tensor1Expression& expected, - const Tensor1Expression& actual, double tol = 1e-9) { - if (actual.equals(expected, tol)) return true; - std::cout << "Not equal:\n"; - expected.print("expected:\n"); - actual.print("actual:\n"); - return false; - } - - /** - * This template works for any two expressions - */ - template - bool assert_equivalent(const Tensor1Expression& expected, - const Tensor1Expression& actual, double tol = 1e-9) { - if (actual.equivalent(expected, tol)) return true; - std::cout << "Not equal:\n"; - expected.print("expected:\n"); - actual.print("actual:\n"); - return false; - } - - /// @} - -} // namespace tensors diff --git a/gtsam/geometry/Tensor2.h b/gtsam/geometry/Tensor2.h deleted file mode 100644 index 825b57b3e..000000000 --- a/gtsam/geometry/Tensor2.h +++ /dev/null @@ -1,84 +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 Tensor2.h - * @brief Rank 2 Tensor based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - */ - -#pragma once -#include - -namespace tensors { - -/** - * Rank 2 Tensor - * @addtogroup tensors - * \nosubgrouping - */ -template -class Tensor2 { -protected: - Tensor1 T[N2]; ///< Storage - -public: - - /// @name Standard Constructors - /// @{ - - /** default constructor */ - Tensor2() { - } - - /// construct from data - expressed in row major form - Tensor2(const double data[N2][N1]) { - for (int j = 0; j < N2; j++) - T[j] = Tensor1 (data[j]); - } - - /** construct from expression */ - template - Tensor2(const Tensor2Expression , Index >& a) { - for (int j = 0; j < N2; j++) - T[j] = a(j); - } - - /// @} - /// @name Standard Interface - /// @{ - - /** dimension - TODO: is this right for anything other than 3x3? */ - size_t dim() const {return N1 * N2;} - - /// const element access - const double & operator()(int i, int j) const { - return T[j](i); - } - - /// element access - double & operator()(int i, int j) { - return T[j](i); - } - - /** convert to expression */ - template Tensor2Expression , Index< - N2, J> > operator()(Index i, Index j) const { - return Tensor2Expression , Index > (*this); - } - - /// @} - -}; - -} // namespace tensors - diff --git a/gtsam/geometry/Tensor2Expression.h b/gtsam/geometry/Tensor2Expression.h deleted file mode 100644 index 5b07bad37..000000000 --- a/gtsam/geometry/Tensor2Expression.h +++ /dev/null @@ -1,310 +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 Tensor2Expression.h - * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - */ - -#pragma once - -#include -#include -#include - -namespace tensors { - - /** - * Templated class to hold a rank 2 tensor expression. - * @addtogroup tensors - * \nosubgrouping - */ - template class Tensor2Expression { - - private: - - A iter; - - typedef Tensor2Expression This; - - /** Helper class for instantiating one index */ - class FixJ_ { - const int j; - const A iter; - public: - FixJ_(int j_, const A &a) : - j(j_), iter(a) { - } - double operator()(int i) const { - return iter(i, j); - } - }; - - /** Helper class for swapping indices */ - class Swap_ { - const A iter; - public: - /// Constructor - Swap_(const A &a) : - iter(a) { - } - /// Element access - double operator()(int j, int i) const { - return iter(i, j); - } - }; - - /** Helper class for multiplying with a double */ - class TimesDouble_ { - A iter; - const double s; - public: - /// Constructor - TimesDouble_(const A &a, double s_) : - iter(a), s(s_) { - } - /// Element access - inline double operator()(int i, int j) const { - return iter(i, j) * s; - } - }; - - /** Helper class for contracting index I with rank 1 tensor */ - template class ITimesRank1_ { - const This a; - const Tensor1Expression b; - public: - /// Constructor - ITimesRank1_(const This &a_, const Tensor1Expression &b_) : - a(a_), b(b_) { - } - /// Element access - double operator()(int j) const { - double sum = 0.0; - for (int i = 0; i < I::dim; i++) - sum += a(i, j) * b(i); - return sum; - } - }; - - /** Helper class for contracting index J with rank 1 tensor */ - template class JTimesRank1_ { - const This a; - const Tensor1Expression b; - public: - /// Constructor - JTimesRank1_(const This &a_, const Tensor1Expression &b_) : - a(a_), b(b_) { - } - /// Element access - double operator()(int i) const { - double sum = 0.0; - for (int j = 0; j < J::dim; j++) - sum += a(i, j) * b(j); - return sum; - } - }; - - /** Helper class for contracting index I with rank 2 tensor */ - template class ITimesRank2_ { - const This a; - const Tensor2Expression b; - public: - /// Constructor - ITimesRank2_(const This &a_, const Tensor2Expression &b_) : - a(a_), b(b_) { - } - /// Element access - double operator()(int j, int k) const { - double sum = 0.0; - for (int i = 0; i < I::dim; i++) - sum += a(i, j) * b(i, k); - return sum; - } - }; - - public: - - /// @name Standard Constructors - /// @{ - - /** constructor */ - Tensor2Expression(const A &a) : - iter(a) { - } - - /// @} - /// @name Testable - /// @{ - - /** Print */ - void print(const std::string& s = "Tensor2:") const { - std::cout << s << "{"; - (*this)(0).print(); - for (int j = 1; j < J::dim; j++) { - std::cout << ","; - (*this)(j).print(""); - } - std::cout << "}" << std::endl; - } - - /// test equality - template - bool equals(const Tensor2Expression & q, double tol) const { - for (int j = 0; j < J::dim; j++) - if (!(*this)(j).equals(q(j), tol)) - return false; - return true; - } - - /// @} - /// @name Standard Interface - /// @{ - - /** norm */ - double norm() const { - double sumsqr = 0.0; - for (int i = 0; i < I::dim; i++) - for (int j = 0; j < J::dim; j++) - sumsqr += iter(i, j) * iter(i, j); - return sqrt(sumsqr); - } - - /// test equivalence - template - bool equivalent(const Tensor2Expression & q, double tol) const { - return ((*this) * (1.0 / norm())).equals(q * (1.0 / q.norm()), tol) - || ((*this) * (-1.0 / norm())).equals(q * (1.0 / q.norm()), tol); - } - - /** element access */ - double operator()(int i, int j) const { - return iter(i, j); - } - - /** swap indices */ - typedef Tensor2Expression Swapped; - /// Return Swap_ helper class - Swapped swap() { - return Swap_(iter); - } - - /** mutliply with a double. */ - inline Tensor2Expression operator*(double s) const { - return TimesDouble_(iter, s); - } - - /** Fix a single index */ - Tensor1Expression operator()(int j) const { - return FixJ_(j, iter); - } - - /** Check if two expressions are equal */ - template - bool operator==(const Tensor2Expression& T) const { - for (int i = 0; i < I::dim; i++) - for (int j = 0; j < J::dim; j++) - if (iter(i, j) != T(i, j)) - return false; - return true; - } - - /// @} - /// @name Advanced Interface - /// @{ - - /** c(j) = a(i,j)*b(i) */ - template - inline Tensor1Expression, J> operator*( - const Tensor1Expression& p) { - return ITimesRank1_(*this, p); - } - - /** c(i) = a(i,j)*b(j) */ - template - inline Tensor1Expression, I> operator*( - const Tensor1Expression &p) { - return JTimesRank1_(*this, p); - } - - /** c(j,k) = a(i,j)*T(i,k) */ - template - inline Tensor2Expression , J, K> operator*( - const Tensor2Expression& p) { - return ITimesRank2_(*this, p); - } - - }; - // Tensor2Expression - - /** Print */ - template - void print(const Tensor2Expression& T, const std::string& s = - "Tensor2:") { - T.print(s); - } - - /** Helper class for multiplying two covariant tensors */ - template class Rank1Rank1_ { - const Tensor1Expression iterA; - const Tensor1Expression iterB; - public: - /// Constructor - Rank1Rank1_(const Tensor1Expression &a, - const Tensor1Expression &b) : - iterA(a), iterB(b) { - } - /// element access - double operator()(int i, int j) const { - return iterA(i) * iterB(j); - } - }; - - /** Multiplying two different indices yields an outer product */ - template - inline Tensor2Expression , I, J> operator*( - const Tensor1Expression &a, const Tensor1Expression &b) { - return Rank1Rank1_(a, b); - } - - /** - * This template works for any two expressions - */ - template - bool assert_equality(const Tensor2Expression& expected, - const Tensor2Expression& actual, double tol = 1e-9) { - if (actual.equals(expected, tol)) - return true; - std::cout << "Not equal:\n"; - expected.print("expected:\n"); - actual.print("actual:\n"); - return false; - } - - /** - * This template works for any two expressions - */ - template - bool assert_equivalent(const Tensor2Expression& expected, - const Tensor2Expression& actual, double tol = 1e-9) { - if (actual.equivalent(expected, tol)) - return true; - std::cout << "Not equivalent:\n"; - expected.print("expected:\n"); - actual.print("actual:\n"); - return false; - } - - /// @} - -} // namespace tensors diff --git a/gtsam/geometry/Tensor3.h b/gtsam/geometry/Tensor3.h deleted file mode 100644 index cfd96f7f6..000000000 --- a/gtsam/geometry/Tensor3.h +++ /dev/null @@ -1,106 +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 Tensor3.h - * @brief Rank 3 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author: Frank Dellaert - */ - -#pragma once -#include - -namespace tensors { - - /** - * Rank 3 Tensor - * @addtogroup tensors - * \nosubgrouping - */ - template - class Tensor3 { - Tensor2 T[N3]; ///< Storage - - public: - - /// @name Standard Constructors - /// @{ - - /** default constructor */ - Tensor3() { - } - - /** construct from data */ - Tensor3(const double data[N3][N2][N1]) { - for (int k = 0; k < N3; k++) - T[k] = data[k]; - } - - /// @} - /// @name Advanced Constructors - /// @{ - - /** construct from expression */ - template - Tensor3(const Tensor3Expression , Index , Index >& a) { - for (int k = 0; k < N3; k++) - T[k] = a(k); - } - - /// @} - /// @name Standard Interface - /// @{ - - /// element access - double operator()(int i, int j, int k) const { - return T[k](i, j); - } - - /** convert to expression */ - template Tensor3Expression , - Index , Index > operator()(const Index& i, - const Index& j, const Index& k) { - return Tensor3Expression , Index , Index > (*this); - } - - /** convert to expression */ - template Tensor3Expression , - Index , Index > operator()(const Index& i, - const Index& j, const Index& k) const { - return Tensor3Expression , Index , Index > (*this); - } - }; // Tensor3 - - /** Rank 3 permutation tensor */ - struct Eta3 { - - /** calculate value. TODO: wasteful to actually use this */ - double operator()(int i, int j, int k) const { - return ((j - i) * (k - i) * (k - j)) / 2; - } - - /** create expression */ - template Tensor3Expression , - Index<3, J> , Index<3, K> > operator()(const Index<3, I>& i, - const Index<3, J>& j, const Index<3, K>& k) const { - return Tensor3Expression , Index<3, J> , Index<3, K> > ( - *this); - } - - }; // Eta - - /// @} - -} // namespace tensors diff --git a/gtsam/geometry/Tensor3Expression.h b/gtsam/geometry/Tensor3Expression.h deleted file mode 100644 index b7474bdfb..000000000 --- a/gtsam/geometry/Tensor3Expression.h +++ /dev/null @@ -1,194 +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 Tensor3Expression.h - * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - */ - -#pragma once - -#include -#include - -namespace tensors { - - /** - * templated class to interface to an object A as a rank 3 tensor - * @addtogroup tensors - * \nosubgrouping - */ - template class Tensor3Expression { - A iter; - - typedef Tensor3Expression This; - - /** Helper class for instantiating one index */ - class FixK_ { - const int k; - const A iter; - public: - FixK_(int k_, const A &a) : - k(k_), iter(a) { - } - double operator()(int i, int j) const { - return iter(i, j, k); - } - }; - - /** Helper class for contracting rank3 and rank1 tensor */ - template class TimesRank1_ { - typedef Tensor1Expression Rank1; - const This T; - const Rank1 t; - public: - TimesRank1_(const This &a, const Rank1 &b) : - T(a), t(b) { - } - double operator()(int j, int k) const { - double sum = 0.0; - for (int i = 0; i < I::dim; i++) - sum += T(i, j, k) * t(i); - return sum; - } - }; - - public: - - /// @name Standard Constructors - /// @{ - - /** constructor */ - Tensor3Expression(const A &a) : - iter(a) { - } - - /// @} - /// @name Standard Interface - /// @{ - - /** Print */ - void print(const std::string& s = "Tensor3:") const { - std::cout << s << "{"; - (*this)(0).print(""); - for (int k = 1; k < K::dim; k++) { - std::cout << ","; - (*this)(k).print(""); - } - std::cout << "}" << std::endl; - } - - /// test equality - template - bool equals(const Tensor3Expression & q, double tol) const { - for (int k = 0; k < K::dim; k++) - if (!(*this)(k).equals(q(k), tol)) return false; - return true; - } - - /** element access */ - double operator()(int i, int j, int k) const { - return iter(i, j, k); - } - - /** Fix a single index */ - Tensor2Expression operator()(int k) const { - return FixK_(k, iter); - } - - /** Contracting with rank1 tensor */ - template - inline Tensor2Expression , J, K> operator*( - const Tensor1Expression &b) const { - return TimesRank1_ (*this, b); - } - - }; // Tensor3Expression - - /// @} - /// @name Advanced Interface - /// @{ - - /** Print */ - template - void print(const Tensor3Expression& T, const std::string& s = - "Tensor3:") { - T.print(s); - } - - /** Helper class for outer product of rank2 and rank1 tensor */ - template - class Rank2Rank1_ { - typedef Tensor2Expression Rank2; - typedef Tensor1Expression Rank1; - const Rank2 iterA; - const Rank1 iterB; - public: - /// Constructor - Rank2Rank1_(const Rank2 &a, const Rank1 &b) : - iterA(a), iterB(b) { - } - /// Element access - double operator()(int i, int j, int k) const { - return iterA(i, j) * iterB(k); - } - }; - - /** outer product of rank2 and rank1 tensor */ - template - inline Tensor3Expression , I, J, K> operator*( - const Tensor2Expression& a, const Tensor1Expression &b) { - return Rank2Rank1_ (a, b); - } - - /** Helper class for outer product of rank1 and rank2 tensor */ - template - class Rank1Rank2_ { - typedef Tensor1Expression Rank1; - typedef Tensor2Expression Rank2; - const Rank1 iterA; - const Rank2 iterB; - public: - /// Constructor - Rank1Rank2_(const Rank1 &a, const Rank2 &b) : - iterA(a), iterB(b) { - } - /// Element access - double operator()(int i, int j, int k) const { - return iterA(i) * iterB(j, k); - } - }; - - /** outer product of rank2 and rank1 tensor */ - template - inline Tensor3Expression , I, J, K> operator*( - const Tensor1Expression& a, const Tensor2Expression &b) { - return Rank1Rank2_ (a, b); - } - - /** - * This template works for any two expressions - */ - template - bool assert_equality(const Tensor3Expression& expected, - const Tensor3Expression& actual, double tol = 1e-9) { - if (actual.equals(expected, tol)) return true; - std::cout << "Not equal:\n"; - expected.print("expected:\n"); - actual.print("actual:\n"); - return false; - } - - /// @} - -} // namespace tensors diff --git a/gtsam/geometry/Tensor4.h b/gtsam/geometry/Tensor4.h deleted file mode 100644 index e8bfb0186..000000000 --- a/gtsam/geometry/Tensor4.h +++ /dev/null @@ -1,58 +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 Tensor4.h - * @brief Rank 4 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 12, 2010 - * @author Frank Dellaert - */ - -#pragma once -#include - -namespace tensors { - - /** - * Rank 4 Tensor - * @addtogroup tensors - * \nosubgrouping - */ - template - class Tensor4 { - - private: - - Tensor3 T[N4]; ///< Storage - - public: - - /// @name Standard Constructors - /// @{ - - /** default constructor */ - Tensor4() { - } - - /// @} - /// @name Standard Interface - /// @{ - - /// element access - double operator()(int i, int j, int k, int l) const { - return T[l](i, j, k); - } - - /// @} - - }; // Tensor4 - -} // namespace tensors diff --git a/gtsam/geometry/Tensor5.h b/gtsam/geometry/Tensor5.h deleted file mode 100644 index a19784d84..000000000 --- a/gtsam/geometry/Tensor5.h +++ /dev/null @@ -1,75 +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 Tensor5.h - * @brief Rank 5 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 12, 2010 - * @author Frank Dellaert - */ - -#pragma once -#include - -namespace tensors { - - /** - * Rank 5 Tensor - * @addtogroup tensors - * \nosubgrouping - */ - template - class Tensor5 { - - private: - - Tensor4 T[N5]; ///< Storage - - public: - - /// @name Standard Constructors - /// @{ - - /** default constructor */ - Tensor5() { - } - - /// @} - /// @name Standard Interface - /// @{ - - /** construct from expression */ - template - Tensor5(const Tensor5Expression , Index , Index , Index , Index >& a) { - for (int m = 0; m < N5; m++) - T[m] = a(m); - } - - /// element access - double operator()(int i, int j, int k, int l, int m) const { - return T[m](i, j, k, l); - } - - /** convert to expression */ - template Tensor5Expression , Index , Index , Index , - Index > operator()(Index i, Index j, - Index k, Index l, Index m) { - return Tensor5Expression , Index , Index , Index , Index > (*this); - } - - /// @} - - }; // Tensor5 - -} // namespace tensors diff --git a/gtsam/geometry/Tensor5Expression.h b/gtsam/geometry/Tensor5Expression.h deleted file mode 100644 index 6a6018e22..000000000 --- a/gtsam/geometry/Tensor5Expression.h +++ /dev/null @@ -1,135 +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 Tensor5Expression.h - * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - */ - -#pragma once - -#include -#include - -namespace tensors { - - /** - * templated class to interface to an object A as a rank 5 tensor - * @addtogroup tensors - * \nosubgrouping - */ - template class Tensor5Expression { - A iter; - - typedef Tensor5Expression This; - - /** Helper class for swapping indices 3 and 4 :-) */ - class Swap34_ { - const A iter; - public: - /// Constructor - Swap34_(const A &a) : - iter(a) { - } - /// swapping element access - double operator()(int i, int j, int k, int l, int m) const { - return iter(i, j, l, k, m); - } - }; - - public: - - /// @name Standard Constructors - /// @{ - - /** constructor */ - Tensor5Expression(const A &a) : - iter(a) { - } - - /// @} - /// @name Standard Interface - /// @{ - - /** Print */ - void print(const std::string& s = "Tensor5:") const { - std::cout << s << std::endl; - for (int m = 0; m < M::dim; m++) - for (int l = 0; l < L::dim; l++) - for (int k = 0; k < K::dim; k++) { - std::cout << "(m,l,k) = (" << m << "," << l << "," << k << ")" - << std::endl; - for (int j = 0; j < J::dim; j++) { - for (int i = 0; i < I::dim; i++) - std::cout << " " << (*this)(i, j, k, l, m); - std::cout << std::endl; - } - } - std::cout << std::endl; - } - - /** swap indices */ - typedef Tensor5Expression Swapped; - /// create Swap34_ helper class - Swapped swap34() { - return Swap34_(iter); - } - - /** element access */ - double operator()(int i, int j, int k, int l, int m) const { - return iter(i, j, k, l, m); - } - - }; - // Tensor5Expression - - /// @} - /// @name Advanced Interface - /// @{ - - /** Print */ - template - void print(const Tensor5Expression& T, - const std::string& s = "Tensor5:") { - T.print(s); - } - - /** Helper class for outer product of rank3 and rank2 tensor */ - template - class Rank3Rank2_ { - typedef Tensor3Expression Rank3; - typedef Tensor2Expression Rank2; - const Rank3 iterA; - const Rank2 iterB; - public: - /// Constructor - Rank3Rank2_(const Rank3 &a, const Rank2 &b) : - iterA(a), iterB(b) { - } - /// Element access - double operator()(int i, int j, int k, int l, int m) const { - return iterA(i, j, k) * iterB(l, m); - } - }; - - /** outer product of rank2 and rank1 tensor */ - template - inline Tensor5Expression , I, J, K, L, M> operator*( - const Tensor3Expression& a, - const Tensor2Expression &b) { - return Rank3Rank2_(a, b); - } - - /// @} - -} // namespace tensors diff --git a/gtsam/geometry/projectiveGeometry.cpp b/gtsam/geometry/projectiveGeometry.cpp deleted file mode 100644 index 31c975c43..000000000 --- a/gtsam/geometry/projectiveGeometry.cpp +++ /dev/null @@ -1,71 +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 projectiveGeometry.cpp - * @brief Projective geometry, implemented using tensor library - * @date Feb 12, 2010 - * @author: Frank Dellaert - */ - -#include -#include - -#include -#include - -namespace gtsam { - - using namespace std; - using namespace tensors; - - /* ************************************************************************* */ - Point2h point2h(double x, double y, double w) { - double data[3]; - data[0] = x; - data[1] = y; - data[2] = w; - return data; - } - - /* ************************************************************************* */ - Line2h line2h(double a, double b, double c) { - double data[3]; - data[0] = a; - data[1] = b; - data[2] = c; - return data; - } - - /* ************************************************************************* */ - Point3h point3h(double X, double Y, double Z, double W) { - double data[4]; - data[0] = X; - data[1] = Y; - data[2] = Z; - data[3] = W; - return data; - } - - /* ************************************************************************* */ - Plane3h plane3h(double a, double b, double c, double d) { - double data[4]; - data[0] = a; - data[1] = b; - data[2] = c; - data[3] = d; - return data; - } - - - /* ************************************************************************* */ - -} // namespace gtsam diff --git a/gtsam/geometry/projectiveGeometry.h b/gtsam/geometry/projectiveGeometry.h deleted file mode 100644 index 2be02a349..000000000 --- a/gtsam/geometry/projectiveGeometry.h +++ /dev/null @@ -1,124 +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 projectiveGeometry.h - * @brief Projective geometry, implemented using tensor library - * @date Feb 12, 2010 - * @author Frank Dellaert - */ - -#pragma once - -#include -#include - -namespace gtsam { - - /** - * 2D Point in homogeneous coordinates - * @addtogroup geometry - */ - typedef tensors::Tensor1<3> Point2h; - Point2h point2h(double x, double y, double w); ///< create Point2h - - /** - * 2D Line in homogeneous coordinates - * @addtogroup geometry - */ - typedef tensors::Tensor1<3> Line2h; - Line2h line2h(double a, double b, double c); ///< create Line2h - - /** - * 2D (homegeneous) Point correspondence - * @addtogroup geometry - */ - struct Correspondence { - Point2h first; ///< First point - Point2h second; ///< Second point - - /// Create a correspondence pair - Correspondence(const Point2h &p1, const Point2h &p2) : - first(p1), second(p2) { - } - /// Swap points - Correspondence swap() const { - return Correspondence(second, first); - } - /// print - void print() { - tensors::Index<3, 'i'> i; - tensors::print(first(i), "first :"); - tensors::print(second(i), "second:"); - } - }; - - /** - * 2D-2D Homography - * @addtogroup geometry - */ - typedef tensors::Tensor2<3, 3> Homography2; - - /** - * Fundamental Matrix - * @addtogroup geometry - */ - typedef tensors::Tensor2<3, 3> FundamentalMatrix; - - /** - * Triplet of (homogeneous) 2D points - * @addtogroup geometry - */ - struct Triplet { - Point2h first; ///< First point - Point2h second; ///< Second point - Point2h third; ///< Third point - - /// Create a Triplet correspondence - Triplet(const Point2h &p1, const Point2h &p2, const Point2h &p3) : - first(p1), second(p2), third(p3) { - } - /// print - void print() { - tensors::Index<3, 'i'> i; - tensors::print(first(i), "first :"); - tensors::print(second(i), "second:"); - tensors::print(third(i), "third :"); - } - }; - - /** - * Trifocal Tensor - * @addtogroup geometry - */ - typedef tensors::Tensor3<3, 3, 3> TrifocalTensor; - - /** - * 3D Point in homogeneous coordinates - * @addtogroup geometry - */ - typedef tensors::Tensor1<4> Point3h; - Point3h point3h(double X, double Y, double Z, double W); ///< create Point3h - - /** - * 3D Plane in homogeneous coordinates - * @addtogroup geometry - */ - typedef tensors::Tensor1<4> Plane3h; - Plane3h plane3h(double a, double b, double c, double d); ///< create Plane3h - - /** - * 3D to 2D projective camera - * @addtogroup geometry - */ - typedef tensors::Tensor2<3, 4> ProjectiveCamera; - -} // namespace gtsam diff --git a/gtsam/geometry/tensorInterface.h b/gtsam/geometry/tensorInterface.h deleted file mode 100644 index 7a2c144d7..000000000 --- a/gtsam/geometry/tensorInterface.h +++ /dev/null @@ -1,120 +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 tensorInterface.h - * @brief Interfacing tensors template library and gtsam - * @date Feb 12, 2010 - * @author Frank Dellaert - */ - -#pragma once - -#include -#include - -namespace gtsam { - - /** Reshape rank 2 tensor into Matrix */ - template - Matrix reshape(const tensors::Tensor2Expression& T, int m, int n) { - if (m * n != I::dim * J::dim) throw std::invalid_argument( - "reshape: incompatible dimensions"); - MatrixRowMajor M(m, n); - size_t t = 0; - for (int j = 0; j < J::dim; j++) - for (int i = 0; i < I::dim; i++) - M.data()[t++] = T(i, j); - return Matrix(M); - } - - /** Reshape rank 2 tensor into Vector */ - template - Vector toVector(const tensors::Tensor2Expression& T) { - Vector v(I::dim * J::dim); - size_t t = 0; - for (int j = 0; j < J::dim; j++) - for (int i = 0; i < I::dim; i++) - v(t++) = T(i, j); - return v; - } - - /** Reshape Vector into rank 2 tensor */ - template - tensors::Tensor2 reshape2(const Vector& v) { - if (v.size() != N1 * N2) throw std::invalid_argument( - "reshape2: incompatible dimensions"); - double data[N2][N1]; - int t = 0; - for (int j = 0; j < N2; j++) - for (int i = 0; i < N1; i++) - data[j][i] = v(t++); - return tensors::Tensor2(data); - } - - /** Reshape Matrix into rank 2 tensor */ - template - tensors::Tensor2 reshape2matrix(const Matrix& m) { - if (m.rows() * m.cols() != N1 * N2) throw std::invalid_argument( - "reshape2: incompatible dimensions"); - double data[N2][N1]; - for (int j = 0; j < N2; j++) - for (int i = 0; i < N1; i++) - data[j][i] = m(j,i); - return tensors::Tensor2(data); - } - - /** Reshape rank 3 tensor into Matrix */ - template - Matrix reshape(const tensors::Tensor3Expression& T, int m, int n) { - if (m * n != I::dim * J::dim * K::dim) throw std::invalid_argument( - "reshape: incompatible dimensions"); - Matrix M(m, n); - int t = 0; - for (int k = 0; k < K::dim; k++) - for (int i = 0; i < I::dim; i++) - for (int j = 0; j < J::dim; j++) - M.data()[t++] = T(i, j, k); - return M; - } - - /** Reshape Vector into rank 3 tensor */ - template - tensors::Tensor3 reshape3(const Vector& v) { - if (v.size() != N1 * N2 * N3) throw std::invalid_argument( - "reshape3: incompatible dimensions"); - double data[N3][N2][N1]; - int t = 0; - for (int k = 0; k < N3; k++) - for (int j = 0; j < N2; j++) - for (int i = 0; i < N1; i++) - data[k][j][i] = v(t++); - return tensors::Tensor3(data); - } - - /** Reshape rank 5 tensor into Matrix */ - template - Matrix reshape(const tensors::Tensor5Expression& T, int m, - int n) { - if (m * n != I::dim * J::dim * K::dim * L::dim * M::dim) throw std::invalid_argument( - "reshape: incompatible dimensions"); - Matrix R(m, n); - int t = 0; - for (int m = 0; m < M::dim; m++) - for (int l = 0; l < L::dim; l++) - for (int k = 0; k < K::dim; k++) - for (int i = 0; i < I::dim; i++) - for (int j = 0; j < J::dim; j++) - R.data()[t++] = T(i, j, k, l, m); - return R; - } - -} // namespace gtsam diff --git a/gtsam/geometry/tensors.h b/gtsam/geometry/tensors.h deleted file mode 100644 index a7125775a..000000000 --- a/gtsam/geometry/tensors.h +++ /dev/null @@ -1,45 +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 tensors.h - * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 10, 2010 - * @author Frank Dellaert - * @addtogroup tensors - */ - -#pragma once - -namespace tensors { - - /** index */ - template struct Index { - static const int dim = Dim; ///< dimension - }; - -} // namespace tensors - -// Expression templates -#include -#include -#include -// Tensor4 not needed so far -#include - -// Actual tensor classes -#include -#include -#include -#include -#include - - diff --git a/gtsam/geometry/tests/testFundamental.cpp b/gtsam/geometry/tests/testFundamental.cpp deleted file mode 100644 index c233cbfd0..000000000 --- a/gtsam/geometry/tests/testFundamental.cpp +++ /dev/null @@ -1,73 +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 testFundamental.cpp - * @brief try tensor expressions based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 13, 2010 - * @author: Frank Dellaert - */ - -#include -#include -#include // for operator += -using namespace boost::assign; - -#include - -#include -#include -#include - -using namespace std; -using namespace gtsam; -using namespace tensors; - -/* ************************************************************************* */ -// Indices - -static tensors::Index<3, 'a'> a; -static tensors::Index<3, 'b'> b; - -static tensors::Index<4, 'A'> A; -static tensors::Index<4, 'B'> B; - -/* ************************************************************************* */ -TEST( Tensors, FundamentalMatrix) -{ - double f[3][3] = { { 1, 0, 0 }, { 1, 2, 3 }, { 1, 2, 3 } }; - FundamentalMatrix F(f); - - Point2h p = point2h(1, 2, 3); // point p in view one - Point2h q = point2h(14, -1, 0); // point q in view two - - // points p and q are in correspondence - CHECK(F(a,b)*p(a)*q(b) == 0) - - // in detail, l1(b)*q(b)==0 - Line2h l1 = line2h(1, 14, 14); - CHECK(F(a,b)*p(a) == l1(b)) - CHECK(l1(b)*q(b) == 0); // q is on line l1 - - // and l2(a)*p(a)==0 - Line2h l2 = line2h(13, -2, -3); - CHECK(F(a,b)*q(b) == l2(a)) - CHECK(l2(a)*p(a) == 0); // p is on line l2 -} - - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - diff --git a/gtsam/geometry/tests/testHomography2.cpp b/gtsam/geometry/tests/testHomography2.cpp deleted file mode 100644 index 85681baa4..000000000 --- a/gtsam/geometry/tests/testHomography2.cpp +++ /dev/null @@ -1,188 +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 testHomography2.cpp - * @brief Test and estimate 2D homographies - * @date Feb 13, 2010 - * @author Frank Dellaert - */ - -#include -#include -#include // for operator += -using namespace boost::assign; - -#include - -#include -#include -#include -#include -#include - -using namespace std; -using namespace gtsam; -using namespace tensors; - -/* ************************************************************************* */ -// Indices - -static tensors::Index<3, 'a'> a, _a; -static tensors::Index<3, 'b'> b, _b; -static tensors::Index<3, 'c'> c, _c; - -/* ************************************************************************* */ -TEST( Homography2, RealImages) -{ - // 4 point correspondences MATLAB from the floor of bt001.png and bt002.png - Correspondence p1(point2h(216.841, 443.220, 1), point2h(213.528, 414.671, 1)); - Correspondence p2(point2h(252.119, 363.481, 1), point2h(244.614, 348.842, 1)); - Correspondence p3(point2h(316.614, 414.768, 1), point2h(303.128, 390.000, 1)); - Correspondence p4(point2h(324.165, 465.463, 1), point2h(308.614, 431.129, 1)); - - // Homography obtained using MATLAB code - double h[3][3] = { { 0.9075, 0.0031, -0 }, { -0.1165, 0.8288, -0.0004 }, { - 30.8472, 16.0449, 1 } }; - Homography2 H(h); - - // CHECK whether they are equivalent - CHECK(assert_equivalent(p1.second(b),H(b,a)*p1.first(a),0.05)) - CHECK(assert_equivalent(p2.second(b),H(b,a)*p2.first(a),0.05)) - CHECK(assert_equivalent(p3.second(b),H(b,a)*p3.first(a),0.05)) - CHECK(assert_equivalent(p4.second(b),H(b,a)*p4.first(a),0.05)) -} - -/* ************************************************************************* */ -// Homography test case -// 4 trivial correspondences of a translating square -Correspondence p1(point2h(0, 0, 1), point2h(4, 5, 1)); -Correspondence p2(point2h(1, 0, 1), point2h(5, 5, 1)); -Correspondence p3(point2h(1, 1, 1), point2h(5, 6, 1)); -Correspondence p4(point2h(0, 1, 1), point2h(4, 6, 1)); - -double h[3][3] = { { 1, 0, 4 }, { 0, 1, 5 }, { 0, 0, 1 } }; -Homography2 H(h); - -/* ************************************************************************* */ -TEST( Homography2, TestCase) -{ - // Check homography - list correspondences; - correspondences += p1, p2, p3, p4; - BOOST_FOREACH(const Correspondence& p, correspondences) - CHECK(assert_equality(p.second(b),H(_a,b) * p.first(a))) - - // Check a line - Line2h l1 = line2h(1, 0, -1); // in a - Line2h l2 = line2h(1, 0, -5); // x==5 in b - CHECK(assert_equality(l1(a), H(a,b)*l2(b))) -} - -/* ************************************************************************* */ -/** - * Computes the homography H(I,_T) from template to image - * given the pose tEc of the camera in the template coordinate frame. - * Assumption is Z is normal to the template, template texture in X-Y plane. - */ -Homography2 patchH(const Pose3& tEc) { - Pose3 cEt = tEc.inverse(); - Rot3 cRt = cEt.rotation(); - Point3 r1 = cRt.r1(), r2 = cRt.r2(), t = cEt.translation(); - - // TODO cleanup !!!! - // column 1 - double H11 = r1.x(); - double H21 = r1.y(); - double H31 = r1.z(); - // column 2 - double H12 = r2.x(); - double H22 = r2.y(); - double H32 = r2.z(); - // column 3 - double H13 = t.x(); - double H23 = t.y(); - double H33 = t.z(); - double data2[3][3] = { { H11, H21, H31 }, { H12, H22, H32 }, - { H13, H23, H33 } }; - return Homography2(data2); -} - -/* ************************************************************************* */ -namespace gtsam { -// size_t dim(const tensors::Tensor2<3, 3>& H) {return 9;} - Vector toVector(const tensors::Tensor2<3, 3>& H) { - tensors::Index<3, 'T'> _T; // covariant 2D template - tensors::Index<3, 'C'> I; // contravariant 2D camera - return toVector(H(I,_T)); - } - Vector localCoordinates(const tensors::Tensor2<3, 3>& A, const tensors::Tensor2<3, 3>& B) { - return toVector(A)-toVector(B); // TODO correct order ? - } -} - -#include - -/* ************************************************************************* */ -TEST( Homography2, patchH) -{ - tensors::Index<3, 'T'> _T; // covariant 2D template - tensors::Index<3, 'C'> I; // contravariant 2D camera - - // data[_T][I] - double data1[3][3] = {{1,0,0},{0,-1,0},{0,0,10}}; - Homography2 expected(data1); - - // camera rotation, looking in negative Z - Rot3 gRc(Point3(1,0,0),Point3(0,-1,0),Point3(0,0,-1)); - Point3 gTc(0,0,10); // Camera location, out on the Z axis - Pose3 gEc(gRc,gTc); // Camera pose - - Homography2 actual = patchH(gEc); - -// GTSAM_PRINT(expected(I,_T)); -// GTSAM_PRINT(actual(I,_T)); - CHECK(assert_equality(expected(I,_T),actual(I,_T))); - - // FIXME: this doesn't appear to be tested, and requires that Tensor2 be a Lie object -// Matrix D = numericalDerivative11(patchH, gEc); -// print(D,"D"); -} - -/* ************************************************************************* */ -TEST( Homography2, patchH2) -{ - tensors::Index<3, 'T'> _T; // covariant 2D template - tensors::Index<3, 'C'> I; // contravariant 2D camera - - // data[_T][I] - double data1[3][3] = {{1,0,0},{0,-1,0},{0,0,10}}; - Homography2 expected(data1); - - // camera rotation, looking in negative Z - Rot3 gRc(Point3(1,0,0),Point3(0,-1,0),Point3(0,0,-1)); - Point3 gTc(0,0,10); // Camera location, out on the Z axis - Pose3 gEc(gRc,gTc); // Camera pose - - Homography2 actual = patchH(gEc); - -// GTSAM_PRINT(expected(I,_T)); -// GTSAM_PRINT(actual(I,_T)); - CHECK(assert_equality(expected(I,_T),actual(I,_T))); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - diff --git a/gtsam/geometry/tests/testTensors.cpp b/gtsam/geometry/tests/testTensors.cpp deleted file mode 100644 index 0e1c381cf..000000000 --- a/gtsam/geometry/tests/testTensors.cpp +++ /dev/null @@ -1,244 +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 testTensors.cpp - * @brief try tensor expressions based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf - * @date Feb 9, 2010 - * @author Frank Dellaert - */ - -#include -#include -#include // for operator += -using namespace boost::assign; - -#include - -#include -#include -#include - -using namespace std; -using namespace gtsam; -using namespace tensors; - -/* ************************************************************************* */ -// Indices - -tensors::Index<3, 'a'> a, _a; -tensors::Index<3, 'b'> b, _b; -tensors::Index<3, 'c'> c, _c; - -tensors::Index<4, 'A'> A; -tensors::Index<4, 'B'> B; - -/* ************************************************************************* */ -// Tensor1 -/* ************************************************************************* */ -TEST(Tensor1, Basics) -{ - // you can create 1-tensors corresponding to 2D homogeneous points - // using the function point2h in projectiveGeometry.* - Point2h p = point2h(1, 2, 3), q = point2h(2, 4, 6); - - // equality tests always take tensor expressions, not tensors themselves - // the difference is that a tensor expression has indices - CHECK(p(a)==p(a)) - CHECK(assert_equality(p(a),p(a))) - CHECK(assert_equality(p(a)*2,q(a))) - CHECK(assert_equivalent(p(a),q(a))) // projectively equivalent - - // and you can take a norm, typically for normalization to the sphere - DOUBLES_EQUAL(sqrt(14.0),norm(p(a)),1e-9) -} - -/* ************************************************************************* */ -TEST( Tensor1, Incidence2D) -{ - // 2D lines are created with line2h - Line2h l = line2h(-13, 5, 1); - Point2h p = point2h(1, 2, 3), q = point2h(2, 5, 1); - - // Incidence between a line and a point is checked with simple contraction - // It does not matter which index you use, but it has to be of dimension 3 - DOUBLES_EQUAL(l(a)*p(a),0,1e-9) - DOUBLES_EQUAL(l(b)*q(b),0,1e-9) - DOUBLES_EQUAL(p(a)*l(a),0,1e-9) - DOUBLES_EQUAL(q(a)*l(a),0,1e-9) -} - -/* ************************************************************************* */ -TEST( Tensor1, Incidence3D) -{ - // similar constructs exist for 3D points and planes - Plane3h pi = plane3h(0, 1, 0, -2); - Point3h P = point3h(0, 2, 0, 1), Q = point3h(1, 2, 0, 1); - - // Incidence is checked similarly - DOUBLES_EQUAL(pi(A)*P(A),0,1e-9) - DOUBLES_EQUAL(pi(A)*Q(A),0,1e-9) - DOUBLES_EQUAL(P(A)*pi(A),0,1e-9) - DOUBLES_EQUAL(Q(A)*pi(A),0,1e-9) -} - -/* ************************************************************************* */ -// Tensor2 -/* ************************************************************************* */ -TEST( Tensor2, Outer33) -{ - Line2h l1 = line2h(1, 2, 3), l2 = line2h(1, 3, 5); - - // We can also create tensors directly from data - double data[3][3] = { { 1, 2, 3 }, { 3, 6, 9 }, {5, 10, 15} }; - Tensor2<3, 3> expected(data); - // in this case expected(0) == {1,2,3} - Line2h l0 = expected(a,b)(0); - CHECK(l0(a) == l1(a)) - - // And we create rank 2 tensors from the outer product of two rank 1 tensors - CHECK(expected(a,b) == l1(a) * l2(b)) - - // swap just swaps how you access a tensor, but note the data is the same - CHECK(assert_equality(expected(a,b).swap(), l2(b) * l1(a))); -} - -/* ************************************************************************* */ -TEST( Tensor2, AnotherOuter33) -{ - // first cube point from testFundamental, projected in left and right -// Point2h p = point2h(0, -1, 2), q = point2h(-2, -1, 2); -// print(p(a)*q(b)); -// print(p(b)*q(a)); -// print(q(a)*p(b)); -// print(q(b)*p(a)); -} - -/* ************************************************************************* */ -TEST( Tensor2, Outer34) -{ - Line2h l = line2h(1, 2, 3); - Plane3h pi = plane3h(1, 3, 5, 7); - double - data[4][3] = { { 1, 2, 3 }, { 3, 6, 9 }, { 5, 10, 15 }, { 7, 14, 21 } }; - Tensor2<3, 4> expected(data); - CHECK(assert_equality(expected(a,B),l(a) * pi(B))) - CHECK(assert_equality(expected(a,B).swap(),pi(B) * l(a))) -} - -/* ************************************************************************* */ -TEST( Tensor2, SpecialContract) -{ - double data[3][3] = { { 1, 2, 3 }, { 2, 4, 6 }, { 3, 6, 9 } }; - Tensor2<3, 3> S(data), T(data); - //print(S(a, b) * T(a, c)); // contract a -> b,c - // S(a,0)*T(a,0) = [1 2 3] . [1 2 3] = 14 - // S(a,0)*T(a,2) = [1 2 3] . [3 6 9] = 3+12+27 = 42 - double data2[3][3] = { { 14, 28, 42 }, { 28, 56, 84 }, { 42, 84, 126 } }; - Tensor2<3, 3> expected(data2); - CHECK(assert_equality(expected(b,c), S(a, b) * T(a, c))); -} - -/* ************************************************************************* */ -TEST( Tensor2, ProjectiveCamera) -{ - Point2h p = point2h(1 + 2, 2, 5); - Point3h P = point3h(1, 2, 5, 1); - double data[4][3] = { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, { 2, 0, 0 } }; - ProjectiveCamera M(data); - CHECK(assert_equality(p(a),M(a,A)*P(A))) -} - -/* ************************************************************************* */ -namespace camera { - // to specify the tensor M(a,A), we need to give four 2D points - double data[4][3] = { { 1, 2, 3 }, { 4, 5, 6 }, { 7, 8, 9 }, { 10, 11, 12 } }; - ProjectiveCamera M(data); - Matrix matrix = Matrix_(4,3,1.,2.,3.,4.,5.,6.,7.,8.,9.,10.,11.,12.); - Vector vector = Vector_( 12,1.,2.,3.,4.,5.,6.,7.,8.,9.,10.,11.,12.); -} - -/* ************************************************************************* */ -TEST( Tensor2, reshape ) -{ - // it is annoying that a camera can only be reshaped to a 4*3 -// print(camera::M(a,A)); - Matrix actual = reshape(camera::M(a,A),4,3); - EQUALITY(camera::matrix,actual); -} - -/* ************************************************************************* */ -TEST( Tensor2, toVector ) -{ - // Vectors are created with the leftmost indices iterating the fastest - Vector actual = toVector(camera::M(a,A)); - CHECK(assert_equal(camera::vector,actual)); -} - -/* ************************************************************************* */ -TEST( Tensor2, reshape2 ) -{ - Tensor2<3,4> actual = reshape2<3,4>(camera::vector); - CHECK(assert_equality(camera::M(a,A),actual(a,A))); - - // reshape Matrix to rank 2 tensor - Tensor2<3,4> actual_m = reshape2matrix<3,4>(camera::matrix); - CHECK(assert_equality(camera::M(a,A), actual_m(a,A))); -} - -/* ************************************************************************* */ -TEST( Tensor2, reshape_33_to_9 ) -{ - double data[3][3] = { { 1, 2, 3 }, { 4, 5, 6 }, { 7, 8, 9 } }; - FundamentalMatrix F(data); - Matrix matrix = Matrix_(1,9,1.,2.,3.,4.,5.,6.,7.,8.,9.); - Matrix actual = reshape(F(a,b),1,9); - EQUALITY(matrix,actual); - Vector v = Vector_( 9,1.,2.,3.,4.,5.,6.,7.,8.,9.); - CHECK(assert_equality(F(a,b),reshape2<3, 3> (v)(a,b))); -} - -/* ************************************************************************* */ -// Tensor3 -/* ************************************************************************* */ -TEST( Tensor3, Join) -{ - Line2h l = line2h(-13, 5, 1); - Point2h p = point2h(1, 2, 3), q = point2h(2, 5, 1); - - // join points into line - Eta3 e; - CHECK(assert_equality(e(a, b, c) * p(a) * q(b), l(c))) -} - -/* ************************************************************************* */ -TEST( Tensor5, Outer32) -{ - double t[3][3][3] = { { { 0, 0, 3 }, { 0, 8, -125 }, { -3, 125, 1 } }, { { 0, - 0, 3 }, { 0, 8, -125 }, { -3, 125, 1 } }, { { 0, 0, 3 }, { 0, 8, -125 }, - { -3, 125, 1 } } }; - TrifocalTensor T(t); - - double data[3][3] = { { 0, 0, 3 }, { 0, 8, -125 }, { -3, 125, 1 } }; - FundamentalMatrix F(data); - - //Index<3, 'd'> d, _d; - //Index<3, 'e'> e, _e; - //print(T(_a,b,c)*F(_d,_e)); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ - From c8a623a1acba2bdb547f9ccf3ea9d5e0c5653ab1 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 21 Jun 2012 17:44:18 +0000 Subject: [PATCH 416/914] Improved interface for Sampler to allow alternate usage with noiseModels, removed references to SharedDiagonal --- gtsam/linear/Sampler.cpp | 33 ++++++++++++++++++++++++------ gtsam/linear/Sampler.h | 33 ++++++++++++++++++++++++------ gtsam/linear/tests/testSampler.cpp | 2 +- 3 files changed, 55 insertions(+), 13 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index 058533104..f69cfdae6 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -22,23 +22,29 @@ namespace gtsam { /* ************************************************************************* */ -Sampler::Sampler(const SharedDiagonal& model, int32_t seed) - : sigmas_(model->sigmas()), generator_(static_cast(seed)) +Sampler::Sampler(const noiseModel::Diagonal::shared_ptr& model, int32_t seed) + : model_(model), generator_(static_cast(seed)) { } /* ************************************************************************* */ Sampler::Sampler(const Vector& sigmas, int32_t seed) - : sigmas_(sigmas), generator_(static_cast(seed)) +: model_(noiseModel::Diagonal::Sigmas(sigmas, true)), generator_(static_cast(seed)) { } /* ************************************************************************* */ -Vector Sampler::sample() { - size_t d = dim(); +Sampler::Sampler(int32_t seed) +: generator_(static_cast(seed)) +{ +} + +/* ************************************************************************* */ +Vector Sampler::sampleDiagonal(const Vector& sigmas) { + size_t d = sigmas.size(); Vector result(d); for (size_t i = 0; i < d; i++) { - double sigma = sigmas_(i); + double sigma = sigmas(i); // handle constrained case separately if (sigma == 0.0) { @@ -53,4 +59,19 @@ Vector Sampler::sample() { return result; } +/* ************************************************************************* */ +Vector Sampler::sample() { + assert(model_.get()); + const Vector& sigmas = model_->sigmas(); + return sampleDiagonal(sigmas); +} + +/* ************************************************************************* */ +Vector Sampler::sample(const noiseModel::Diagonal::shared_ptr& model) { + assert(model.get()); + const Vector& sigmas = model->sigmas(); + return sampleDiagonal(sigmas); +} +/* ************************************************************************* */ + } // \namespace gtsam diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index 53b59a9ea..1150f5d55 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -18,7 +18,7 @@ #pragma once -#include +#include namespace gtsam { @@ -31,8 +31,8 @@ namespace gtsam { */ class Sampler { protected: - /** sigmas from the noise model */ - Vector sigmas_; + /** noiseModel created at generation */ + noiseModel::Diagonal::shared_ptr model_; /** generator */ boost::minstd_rand generator_; @@ -46,7 +46,7 @@ public: * * NOTE: do not use zero as a seed, it will break the generator */ - Sampler(const SharedDiagonal& model, int32_t seed = 42u); + Sampler(const noiseModel::Diagonal::shared_ptr& model, int32_t seed = 42u); /** * Create a sampler for a distribution specified by a vector of sigmas directly @@ -55,9 +55,17 @@ public: */ Sampler(const Vector& sigmas, int32_t seed = 42u); + /** + * Create a sampler without a given noisemodel - pass in to sample + * + * NOTE: do not use zero as a seed, it will break the generator + */ + Sampler(int32_t seed = 42u); + /** access functions */ - size_t dim() const { return sigmas_.size(); } - Vector sigmas() const { return sigmas_; } + size_t dim() const { assert(model_.get()); return model_->dim(); } + Vector sigmas() const { assert(model_.get()); return model_->sigmas(); } + const noiseModel::Diagonal::shared_ptr& model() const { return model_; } /** * sample from distribution @@ -65,6 +73,19 @@ public: */ Vector sample(); + /** + * Sample from noisemodel passed in as an argument, + * can be used without having initialized a model for the system. + * + * NOTE: not const due to need to update the underlying generator + */ + Vector sample(const noiseModel::Diagonal::shared_ptr& model); + +protected: + + /** given sigmas for a diagonal model, returns a sample */ + Vector sampleDiagonal(const Vector& sigmas); + }; } diff --git a/gtsam/linear/tests/testSampler.cpp b/gtsam/linear/tests/testSampler.cpp index e01788b65..ffb546e40 100644 --- a/gtsam/linear/tests/testSampler.cpp +++ b/gtsam/linear/tests/testSampler.cpp @@ -25,7 +25,7 @@ const double tol = 1e-5; /* ************************************************************************* */ TEST(testSampler, basic) { Vector sigmas = Vector_(3, 1.0, 0.1, 0.0); - SharedDiagonal model = noiseModel::Diagonal::Sigmas(sigmas); + noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(sigmas); char seed = 'A'; Sampler sampler1(model, seed), sampler2(model, 1), sampler3(model, 1); EXPECT(assert_equal(sigmas, sampler1.sigmas())); From 0393f656292a92bec8eb9cefe0254d782d6e6e6b Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 21 Jun 2012 17:44:20 +0000 Subject: [PATCH 417/914] Small formatting --- gtsam/linear/Sampler.cpp | 1 - gtsam/linear/Sampler.h | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index f69cfdae6..ea2c04106 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -18,7 +18,6 @@ #include #include - namespace gtsam { /* ************************************************************************* */ diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index 1150f5d55..71abdfc07 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -10,8 +10,8 @@ * -------------------------------------------------------------------------- */ /** - * @file Sampler.h * @brief sampling that can be parameterized using a NoiseModel to generate samples from + * @file Sampler.h * the given distribution * @author Alex Cunningham */ @@ -88,4 +88,4 @@ protected: }; -} +} // \namespace gtsam From 2123938b1bea71b050358fb7f9add50265484917 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 21 Jun 2012 17:45:43 +0000 Subject: [PATCH 418/914] FIXMEs for wrapping library components --- gtsam/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index b4fae3475..7467ad0cf 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -137,5 +137,7 @@ if (GTSAM_BUILD_WRAP) set(mexFlags "${mexFlags} -g COMPFLAGS='/c /DMATLAB_MEX_FILE ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}'") # Macro to handle details of setting up targets + # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 + # FIXME: rework install commands to specify only certain filetypes/folders to avoid installing temp files wrap_library(gtsam "${mexFlags}" "../") endif () From f5cd87129d0f63585d557dae4f60f1d58b2a3aac Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 21 Jun 2012 17:53:45 +0000 Subject: [PATCH 419/914] Added at(Index) synonym for the operator[]. This allows easier matlab wrapping. --- gtsam/inference/Permutation.h | 22 ++++++++++++++++------ 1 file changed, 16 insertions(+), 6 deletions(-) diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 5454dafec..0aa322e87 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -86,11 +86,25 @@ public: /// @{ /** - * Permute the given variable, i.e. determine it's new index after the - * permutation. + * Return the new index of the supplied variable after the permutation */ Index operator[](Index variable) const { check(variable); return rangeIndices_[variable]; } + /** + * Return the new index of the supplied variable after the permutation. This version allows modification. + */ + Index& operator[](Index variable) { check(variable); return rangeIndices_[variable]; } + + /** + * Return the new index of the supplied variable after the permutation. Synonym for operator[](Index). + */ + Index at(Index variable) const { return operator[](variable); } + + /** + * Return the new index of the supplied variable after the permutation. This version allows modification. Synonym for operator[](Index). + */ + Index& at(Index variable) { return operator[](variable); } + /** * The number of variables in the range of this permutation, i.e. the output * space. @@ -145,10 +159,6 @@ public: /// @name Advanced Interface /// @{ - /** - * TODO: comment - */ - Index& operator[](Index variable) { check(variable); return rangeIndices_[variable]; } /** * A partial permutation, reorders the variables selected by selector through From eab2496f6efe9884d4eee97aa06a2d0140e36073 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 21 Jun 2012 19:29:01 +0000 Subject: [PATCH 420/914] Added 5-Way and 6-Way key constructors supported by the base class --- gtsam/inference/IndexFactor.h | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/gtsam/inference/IndexFactor.h b/gtsam/inference/IndexFactor.h index 9b2d39727..8ab5a880a 100644 --- a/gtsam/inference/IndexFactor.h +++ b/gtsam/inference/IndexFactor.h @@ -98,6 +98,18 @@ namespace gtsam { assertInvariants(); } + /** Construct 5-way factor */ + IndexFactor(Index j1, Index j2, Index j3, Index j4, Index j5) : + Base(j1, j2, j3, j4, j5) { + assertInvariants(); + } + + /** Construct 6-way factor */ + IndexFactor(Index j1, Index j2, Index j3, Index j4, Index j5, Index j6) : + Base(j1, j2, j3, j4, j5, j6) { + assertInvariants(); + } + /// @} /// @name Advanced Constructors /// @{ From 48b33c44d3e361e3a065b9a3a753b62bd88a4b57 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 21 Jun 2012 20:26:30 +0000 Subject: [PATCH 421/914] Added constructors from a BayesTree to the SymbolicFactorGraph --- gtsam/inference/SymbolicFactorGraph.cpp | 8 ++++++-- gtsam/inference/SymbolicFactorGraph.h | 9 +++++++-- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index 514ba156b..b58a69b6d 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -27,10 +27,14 @@ namespace gtsam { using namespace std; /* ************************************************************************* */ - SymbolicFactorGraph::SymbolicFactorGraph(const BayesNet& bayesNet) : + SymbolicFactorGraph::SymbolicFactorGraph(const SymbolicBayesNet& bayesNet) : FactorGraph(bayesNet) {} - /* ************************************************************************* */ + /* ************************************************************************* */ + SymbolicFactorGraph::SymbolicFactorGraph(const SymbolicBayesTree& bayesTree) : + FactorGraph(bayesTree) {} + + /* ************************************************************************* */ void SymbolicFactorGraph::push_factor(Index key) { push_back(boost::make_shared(key)); } diff --git a/gtsam/inference/SymbolicFactorGraph.h b/gtsam/inference/SymbolicFactorGraph.h index 4da2baf13..d5d808f17 100644 --- a/gtsam/inference/SymbolicFactorGraph.h +++ b/gtsam/inference/SymbolicFactorGraph.h @@ -23,12 +23,14 @@ namespace gtsam { template class EliminationTree; } namespace gtsam { template class BayesNet; } +namespace gtsam { template class BayesTree; } namespace gtsam { class IndexConditional; } namespace gtsam { + typedef EliminationTree SymbolicEliminationTree; typedef BayesNet SymbolicBayesNet; - typedef EliminationTree SymbolicEliminationTree; + typedef BayesTree SymbolicBayesTree; /** Symbolic IndexFactor Graph * \nosubgrouping @@ -45,7 +47,10 @@ namespace gtsam { } /** Construct from a BayesNet */ - SymbolicFactorGraph(const BayesNet& bayesNet); + SymbolicFactorGraph(const SymbolicBayesNet& bayesNet); + + /** Construct from a BayesTree */ + SymbolicFactorGraph(const SymbolicBayesTree& bayesTree); /** * Construct from a factor graph of any type From 94a769a4473a6181e8cf72f8876cf80ec30fb8a5 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 21 Jun 2012 22:31:41 +0000 Subject: [PATCH 422/914] Created derived classes for SymbolicSequentialSolver and SymbolicMultifrontalSolver. This simplifies calling eliminate, mimics the Gaussian versions, and makes matlab wrapping possible. --- gtsam/inference/SymbolicMultifrontalSolver.h | 41 +++++++++++++++- gtsam/inference/SymbolicSequentialSolver.h | 47 ++++++++++++++++++- gtsam/inference/tests/testEliminationTree.cpp | 3 +- gtsam/inference/tests/testJunctionTree.cpp | 3 +- tests/testSymbolicBayesNetB.cpp | 3 +- tests/testSymbolicFactorGraphB.cpp | 2 +- 6 files changed, 88 insertions(+), 11 deletions(-) diff --git a/gtsam/inference/SymbolicMultifrontalSolver.h b/gtsam/inference/SymbolicMultifrontalSolver.h index 35b253c31..454be1d00 100644 --- a/gtsam/inference/SymbolicMultifrontalSolver.h +++ b/gtsam/inference/SymbolicMultifrontalSolver.h @@ -22,7 +22,44 @@ namespace gtsam { -// The base class provides all of the needed functionality -typedef GenericMultifrontalSolver > > SymbolicMultifrontalSolver; + class SymbolicMultifrontalSolver : GenericMultifrontalSolver > > { + + protected: + typedef GenericMultifrontalSolver > > Base; + + public: + /** + * Construct the solver for a factor graph. This builds the junction + * tree, which does the symbolic elimination, identifies the cliques, + * and distributes all the factors to the right cliques. + */ + SymbolicMultifrontalSolver(const SymbolicFactorGraph& factorGraph) : Base(factorGraph) {}; + + /** + * Construct the solver with a shared pointer to a factor graph and to a + * VariableIndex. The solver will store these pointers, so this constructor + * is the fastest. + */ + SymbolicMultifrontalSolver(const SymbolicFactorGraph::shared_ptr& factorGraph, + const VariableIndex::shared_ptr& variableIndex) : Base(factorGraph, variableIndex) {}; + + /** + * Eliminate the factor graph sequentially. Uses a column elimination tree + * to recursively eliminate. + */ + SymbolicBayesTree::shared_ptr eliminate() const { return Base::eliminate(&EliminateSymbolic); }; + + /** + * Compute the marginal joint over a set of variables, by integrating out + * all of the other variables. Returns the result as a factor graph. + */ + SymbolicFactorGraph::shared_ptr jointFactorGraph(const std::vector& js) const { return Base::jointFactorGraph(js, &EliminateSymbolic); }; + + /** + * Compute the marginal Gaussian density over a variable, by integrating out + * all of the other variables. This function returns the result as a factor. + */ + IndexFactor::shared_ptr marginalFactor(Index j) const { return Base::marginalFactor(j, &EliminateSymbolic); }; + }; } diff --git a/gtsam/inference/SymbolicSequentialSolver.h b/gtsam/inference/SymbolicSequentialSolver.h index d6e21e88e..c114261f0 100644 --- a/gtsam/inference/SymbolicSequentialSolver.h +++ b/gtsam/inference/SymbolicSequentialSolver.h @@ -21,8 +21,51 @@ namespace gtsam { -// The base class provides all of the needed functionality -typedef GenericSequentialSolver SymbolicSequentialSolver; + class SymbolicSequentialSolver : GenericSequentialSolver { + + protected: + typedef GenericSequentialSolver Base; + + public: + /** + * Construct the solver for a factor graph. This builds the junction + * tree, which does the symbolic elimination, identifies the cliques, + * and distributes all the factors to the right cliques. + */ + SymbolicSequentialSolver(const SymbolicFactorGraph& factorGraph) : Base(factorGraph) {}; + + /** + * Construct the solver with a shared pointer to a factor graph and to a + * VariableIndex. The solver will store these pointers, so this constructor + * is the fastest. + */ + SymbolicSequentialSolver(const SymbolicFactorGraph::shared_ptr& factorGraph, + const VariableIndex::shared_ptr& variableIndex) : Base(factorGraph, variableIndex) {}; + + /** Print to cout */ + void print(const std::string& name = "SymbolicSequentialSolver: ") const { Base::print(name); }; + + /** Test whether is equal to another */ + bool equals(const SymbolicSequentialSolver& other, double tol = 1e-9) const { return Base::equals(other, tol); }; + + /** + * Eliminate the factor graph sequentially. Uses a column elimination tree + * to recursively eliminate. + */ + SymbolicBayesNet::shared_ptr eliminate() const { return Base::eliminate(&EliminateSymbolic); }; + + /** + * Compute the marginal joint over a set of variables, by integrating out + * all of the other variables. Returns the result as a factor graph. + */ + SymbolicFactorGraph::shared_ptr jointFactorGraph(const std::vector& js) const { return Base::jointFactorGraph(js, &EliminateSymbolic); }; + + /** + * Compute the marginal Gaussian density over a variable, by integrating out + * all of the other variables. This function returns the result as a factor. + */ + IndexFactor::shared_ptr marginalFactor(Index j) const { return Base::marginalFactor(j, &EliminateSymbolic); }; + }; } diff --git a/gtsam/inference/tests/testEliminationTree.cpp b/gtsam/inference/tests/testEliminationTree.cpp index 0ec8b2266..c1df6e98e 100644 --- a/gtsam/inference/tests/testEliminationTree.cpp +++ b/gtsam/inference/tests/testEliminationTree.cpp @@ -101,8 +101,7 @@ TEST(EliminationTree, eliminate ) fg.push_factor(3, 4); // eliminate - SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate( - &EliminateSymbolic); + SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(); CHECK(assert_equal(expected,actual)); } diff --git a/gtsam/inference/tests/testJunctionTree.cpp b/gtsam/inference/tests/testJunctionTree.cpp index 16309abda..a2765a201 100644 --- a/gtsam/inference/tests/testJunctionTree.cpp +++ b/gtsam/inference/tests/testJunctionTree.cpp @@ -83,8 +83,7 @@ TEST( JunctionTree, eliminate) SymbolicJunctionTree jt(fg); SymbolicBayesTree::sharedClique actual = jt.eliminate(&EliminateSymbolic); - BayesNet bn(*SymbolicSequentialSolver(fg).eliminate( - &EliminateSymbolic)); + BayesNet bn(*SymbolicSequentialSolver(fg).eliminate()); SymbolicBayesTree expected(bn); // cout << "BT from JT:\n"; diff --git a/tests/testSymbolicBayesNetB.cpp b/tests/testSymbolicBayesNetB.cpp index f2e9772ec..58ba3060b 100644 --- a/tests/testSymbolicBayesNetB.cpp +++ b/tests/testSymbolicBayesNetB.cpp @@ -54,8 +54,7 @@ TEST( SymbolicBayesNet, constructor ) SymbolicFactorGraph fg(factorGraph); // eliminate it - SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate( - &EliminateSymbolic); + SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(); CHECK(assert_equal(expected, actual)); } diff --git a/tests/testSymbolicFactorGraphB.cpp b/tests/testSymbolicFactorGraphB.cpp index 7d657c9bf..ddb53b13c 100644 --- a/tests/testSymbolicFactorGraphB.cpp +++ b/tests/testSymbolicFactorGraphB.cpp @@ -143,7 +143,7 @@ TEST( SymbolicFactorGraph, eliminate ) SymbolicFactorGraph fg(factorGraph); // eliminate it - SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(&EliminateSymbolic); + SymbolicBayesNet actual = *SymbolicSequentialSolver(fg).eliminate(); CHECK(assert_equal(expected,actual)); } From 835d1d6b50d2428ab30b81b2cfe73dee53ea07e5 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Thu, 21 Jun 2012 22:32:28 +0000 Subject: [PATCH 423/914] First Iteration of Shortcut Cache changes and misc const fixes --- gtsam/inference/BayesTree-inl.h | 21 ++- gtsam/inference/BayesTree.h | 6 + gtsam/inference/BayesTreeCliqueBase-inl.h | 178 ++++++++++++---------- gtsam/inference/BayesTreeCliqueBase.h | 13 +- 4 files changed, 128 insertions(+), 90 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 9fb8080ce..dfefd721e 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -557,10 +557,27 @@ namespace gtsam { /* ************************************************************************* */ template - template - void BayesTree::removeTop(const CONTAINER& keys, + void BayesTree::deleteCachedShorcuts(const sharedClique& subtree) { + // Check if subtree exists + if (subtree) { + //Delete CachedShortcut for this clique + subtree->resetCachedShortcut(); + // Recursive call over all child cliques + BOOST_FOREACH(sharedClique& childClique, subtree->children()) { + deleteCachedShorcuts(childClique); + } + } + } + + /* ************************************************************************* */ + template + template + void BayesTree::removeTop(const CONTAINER& keys, BayesNet& bn, typename BayesTree::Cliques& orphans) { + //TODO: Improve this + deleteCachedShorcuts(this->root_); + // process each key of the new factor BOOST_FOREACH(const Index& key, keys) { diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index de9a84640..14b01ab03 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -280,6 +280,12 @@ namespace gtsam { sharedClique insert(const sharedConditional& clique, std::list& children, bool isRootClique = false); + /** + * This deletes the cached shortcuts of all cliques in a subtree. This is + * performed when the bayes tree is modified. + */ + void deleteCachedShorcuts(const sharedClique& subtree); + private: /** deep copy to another tree */ diff --git a/gtsam/inference/BayesTreeCliqueBase-inl.h b/gtsam/inference/BayesTreeCliqueBase-inl.h index c57d6ed50..272747126 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inl.h +++ b/gtsam/inference/BayesTreeCliqueBase-inl.h @@ -102,103 +102,113 @@ namespace gtsam { return changed; } - /* ************************************************************************* */ - // The shortcut density is a conditional P(S|R) of the separator of this - // clique on the root. We can compute it recursively from the parent shortcut - // P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p - /* ************************************************************************* */ - template - BayesNet BayesTreeCliqueBase::shortcut(derived_ptr R, Eliminate function) { + /* ************************************************************************* */ + // The shortcut density is a conditional P(S|R) of the separator of this + // clique on the root. We can compute it recursively from the parent shortcut + // P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p + /* ************************************************************************* */ + template + BayesNet BayesTreeCliqueBase::shortcut( + derived_ptr R, Eliminate function) const{ - static const bool debug = false; + static const bool debug = false; - // A first base case is when this clique or its parent is the root, - // in which case we return an empty Bayes net. + BayesNet p_S_R; //shortcut P(S|R) - derived_ptr parent(parent_.lock()); + //Check if the ShortCut already exists + if(!cachedShortcut_){ - if (R.get()==this || parent==R) { - BayesNet empty; - return empty; - } + // A first base case is when this clique or its parent is the root, + // in which case we return an empty Bayes net. - // The root conditional - FactorGraph p_R(BayesNet(R->conditional())); + derived_ptr parent(parent_.lock()); - // The parent clique has a ConditionalType for each frontal node in Fp - // so we can obtain P(Fp|Sp) in factor graph form - FactorGraph p_Fp_Sp(BayesNet(parent->conditional())); + if (R.get() == this || parent == R) { + BayesNet empty; + return empty; + } - // If not the base case, obtain the parent shortcut P(Sp|R) as factors - FactorGraph p_Sp_R(parent->shortcut(R, function)); + // The root conditional + FactorGraph p_R(BayesNet(R->conditional())); - // now combine P(Cp|R) = P(Fp|Sp) * P(Sp|R) - FactorGraph p_Cp_R; - p_Cp_R.push_back(p_R); - p_Cp_R.push_back(p_Fp_Sp); - p_Cp_R.push_back(p_Sp_R); + // The parent clique has a ConditionalType for each frontal node in Fp + // so we can obtain P(Fp|Sp) in factor graph form + FactorGraph p_Fp_Sp(BayesNet(parent->conditional())); - // Eliminate into a Bayes net with ordering designed to integrate out - // any variables not in *our* separator. Variables to integrate out must be - // eliminated first hence the desired ordering is [Cp\S S]. - // However, an added wrinkle is that Cp might overlap with the root. - // Keys corresponding to the root should not be added to the ordering at all. + // If not the base case, obtain the parent shortcut P(Sp|R) as factors + FactorGraph p_Sp_R(parent->shortcut(R, function)); - if(debug) { - p_R.print("p_R: "); - p_Fp_Sp.print("p_Fp_Sp: "); - p_Sp_R.print("p_Sp_R: "); - } + // now combine P(Cp|R) = P(Fp|Sp) * P(Sp|R) + FactorGraph p_Cp_R; + p_Cp_R.push_back(p_R); + p_Cp_R.push_back(p_Fp_Sp); + p_Cp_R.push_back(p_Sp_R); - // We want to factor into a conditional of the clique variables given the - // root and the marginal on the root, integrating out all other variables. - // The integrands include any parents of this clique and the variables of - // the parent clique. - FastSet variablesAtBack; - FastSet separator; - size_t uniqueRootVariables = 0; - BOOST_FOREACH(const Index separatorIndex, this->conditional()->parents()) { - variablesAtBack.insert(separatorIndex); - separator.insert(separatorIndex); - if(debug) std::cout << "At back (this): " << separatorIndex << std::endl; - } - BOOST_FOREACH(const Index key, R->conditional()->keys()) { - if(variablesAtBack.insert(key).second) - ++ uniqueRootVariables; - if(debug) std::cout << "At back (root): " << key << std::endl; - } + // Eliminate into a Bayes net with ordering designed to integrate out + // any variables not in *our* separator. Variables to integrate out must be + // eliminated first hence the desired ordering is [Cp\S S]. + // However, an added wrinkle is that Cp might overlap with the root. + // Keys corresponding to the root should not be added to the ordering at all. - Permutation toBack = Permutation::PushToBack( - std::vector(variablesAtBack.begin(), variablesAtBack.end()), - R->conditional()->lastFrontalKey() + 1); - Permutation::shared_ptr toBackInverse(toBack.inverse()); - BOOST_FOREACH(const typename FactorType::shared_ptr& factor, p_Cp_R) { - factor->permuteWithInverse(*toBackInverse); } - typename BayesNet::shared_ptr eliminated(EliminationTree< - FactorType>::Create(p_Cp_R)->eliminate(function)); + if(debug) { + p_R.print("p_R: "); + p_Fp_Sp.print("p_Fp_Sp: "); + p_Sp_R.print("p_Sp_R: "); + } - // Take only the conditionals for p(S|R). We check for each variable being - // in the separator set because if some separator variables overlap with - // root variables, we cannot rely on the number of root variables, and also - // want to include those variables in the conditional. - BayesNet p_S_R; - BOOST_REVERSE_FOREACH(typename ConditionalType::shared_ptr conditional, *eliminated) { - assert(conditional->nrFrontals() == 1); - if(separator.find(toBack[conditional->firstFrontalKey()]) != separator.end()) { - if(debug) - conditional->print("Taking C|R conditional: "); - p_S_R.push_front(conditional); - } - if(p_S_R.size() == separator.size()) - break; - } + // We want to factor into a conditional of the clique variables given the + // root and the marginal on the root, integrating out all other variables. + // The integrands include any parents of this clique and the variables of + // the parent clique. + FastSet variablesAtBack; + FastSet separator; + size_t uniqueRootVariables = 0; + BOOST_FOREACH(const Index separatorIndex, this->conditional()->parents()) { + variablesAtBack.insert(separatorIndex); + separator.insert(separatorIndex); + if(debug) std::cout << "At back (this): " << separatorIndex << std::endl; + } + BOOST_FOREACH(const Index key, R->conditional()->keys()) { + if(variablesAtBack.insert(key).second) + ++ uniqueRootVariables; + if(debug) std::cout << "At back (root): " << key << std::endl; + } - // Undo the permutation - if(debug) toBack.print("toBack: "); - p_S_R.permuteWithInverse(toBack); + Permutation toBack = Permutation::PushToBack( + std::vector(variablesAtBack.begin(), variablesAtBack.end()), + R->conditional()->lastFrontalKey() + 1); + Permutation::shared_ptr toBackInverse(toBack.inverse()); + BOOST_FOREACH(const typename FactorType::shared_ptr& factor, p_Cp_R) { + factor->permuteWithInverse(*toBackInverse); } + typename BayesNet::shared_ptr eliminated(EliminationTree< + FactorType>::Create(p_Cp_R)->eliminate(function)); - // return the parent shortcut P(Sp|R) - assertInvariants(); + // Take only the conditionals for p(S|R). We check for each variable being + // in the separator set because if some separator variables overlap with + // root variables, we cannot rely on the number of root variables, and also + // want to include those variables in the conditional. + BOOST_REVERSE_FOREACH(typename ConditionalType::shared_ptr conditional, *eliminated) { + assert(conditional->nrFrontals() == 1); + if(separator.find(toBack[conditional->firstFrontalKey()]) != separator.end()) { + if(debug) + conditional->print("Taking C|R conditional: "); + p_S_R.push_front(conditional); + } + if(p_S_R.size() == separator.size()) + break; + } + + // Undo the permutation + if(debug) toBack.print("toBack: "); + p_S_R.permuteWithInverse(toBack); + + assertInvariants(); + cachedShortcut_ = p_S_R; + } + else + p_S_R = *cachedShortcut_; + + // return the shortcut P(S|R) return p_S_R; } @@ -210,7 +220,7 @@ namespace gtsam { /* ************************************************************************* */ template FactorGraph::FactorType> BayesTreeCliqueBase::marginal( - derived_ptr R, Eliminate function) { + derived_ptr R, Eliminate function) const{ // If we are the root, just return this root // NOTE: immediately cast to a factor graph BayesNet bn(R->conditional()); @@ -231,7 +241,7 @@ namespace gtsam { /* ************************************************************************* */ template FactorGraph::FactorType> BayesTreeCliqueBase::joint( - derived_ptr C2, derived_ptr R, Eliminate function) { + derived_ptr C2, derived_ptr R, Eliminate function) const { // For now, assume neither is the root // Combine P(F1|S1), P(S1|R), P(F2|S2), P(S2|R), and P(R) diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index e09454e86..fa0992fbd 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -80,6 +80,9 @@ namespace gtsam { derived_weak_ptr parent_; std::list children_; + /// This stores the Cached Shortcut value + mutable boost::optional > cachedShortcut_; + /// @name Testable /// @{ @@ -150,14 +153,13 @@ namespace gtsam { bool permuteSeparatorWithInverse(const Permutation& inversePermutation); /** return the conditional P(S|Root) on the separator given the root */ - // TODO: create a cached version - BayesNet shortcut(derived_ptr root, Eliminate function); + BayesNet shortcut(derived_ptr root, Eliminate function) const; /** return the marginal P(C) of the clique */ - FactorGraph marginal(derived_ptr root, Eliminate function); + FactorGraph marginal(derived_ptr root, Eliminate function) const; /** return the joint P(C1,C2), where C1==this. TODO: not a method? */ - FactorGraph joint(derived_ptr C2, derived_ptr root, Eliminate function); + FactorGraph joint(derived_ptr C2, derived_ptr root, Eliminate function) const; friend class BayesTree; @@ -166,6 +168,9 @@ namespace gtsam { ///TODO: comment void assertInvariants() const; + /// Reset the computed shortcut of this clique. Used by friend BayesTree + void resetCachedShortcut() { cachedShortcut_ = boost::none; } + private: /** Cliques cannot be copied except by the clone() method, which does not From 6f58726a210b946143b07e576ff6e2ec6790be54 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 21 Jun 2012 23:46:24 +0000 Subject: [PATCH 424/914] Added testable functions to GenericMultifrontalSolver and SymbolicMultifrontalSolver --- gtsam/inference/GenericMultifrontalSolver-inl.h | 16 ++++++++++++++++ gtsam/inference/GenericMultifrontalSolver.h | 12 +++++++++++- gtsam/inference/SymbolicMultifrontalSolver.h | 6 ++++++ 3 files changed, 33 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h index db18f2093..39cda6771 100644 --- a/gtsam/inference/GenericMultifrontalSolver-inl.h +++ b/gtsam/inference/GenericMultifrontalSolver-inl.h @@ -39,6 +39,22 @@ namespace gtsam { structure_(variableIndex), junctionTree_(new JT(*graph, *structure_)) { } + /* ************************************************************************* */ + template + void GenericMultifrontalSolver::print(const std::string& s) const { + this->structure_->print(s + " structure:\n"); + this->junctionTree_->print(s + " jtree:"); + } + + /* ************************************************************************* */ + template + bool GenericMultifrontalSolver::equals( + const GenericMultifrontalSolver& expected, double tol) const { + if (!this->structure_->equals(*expected.structure_, tol)) return false; + if (!this->junctionTree_->equals(*expected.junctionTree_, tol)) return false; + return true; + } + /* ************************************************************************* */ template void GenericMultifrontalSolver::replaceFactors(const sharedGraph& graph) { diff --git a/gtsam/inference/GenericMultifrontalSolver.h b/gtsam/inference/GenericMultifrontalSolver.h index a64df38e9..2d50b2ec1 100644 --- a/gtsam/inference/GenericMultifrontalSolver.h +++ b/gtsam/inference/GenericMultifrontalSolver.h @@ -72,7 +72,17 @@ namespace gtsam { GenericMultifrontalSolver(const sharedGraph& factorGraph, const VariableIndex::shared_ptr& variableIndex); - /// @} + /// @} + /// @name Testable + /// @{ + + /** Print to cout */ + void print(const std::string& name = "GenericMultifrontalSolver: ") const; + + /** Test whether is equal to another */ + bool equals(const GenericMultifrontalSolver& other, double tol = 1e-9) const; + + /// @} /// @name Standard Interface /// @{ diff --git a/gtsam/inference/SymbolicMultifrontalSolver.h b/gtsam/inference/SymbolicMultifrontalSolver.h index 454be1d00..802b10d72 100644 --- a/gtsam/inference/SymbolicMultifrontalSolver.h +++ b/gtsam/inference/SymbolicMultifrontalSolver.h @@ -43,6 +43,12 @@ namespace gtsam { SymbolicMultifrontalSolver(const SymbolicFactorGraph::shared_ptr& factorGraph, const VariableIndex::shared_ptr& variableIndex) : Base(factorGraph, variableIndex) {}; + /** Print to cout */ + void print(const std::string& name = "SymbolicMultifrontalSolver: ") const { Base::print(name); }; + + /** Test whether is equal to another */ + bool equals(const SymbolicMultifrontalSolver& other, double tol = 1e-9) const { return Base::equals(other, tol); }; + /** * Eliminate the factor graph sequentially. Uses a column elimination tree * to recursively eliminate. From 700dba5e8e85e12c89fb2bee5110190e7582ada1 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 21 Jun 2012 23:53:49 +0000 Subject: [PATCH 425/914] Added several inference-level classes to the matlab wrapper --- gtsam.h | 195 +++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 192 insertions(+), 3 deletions(-) diff --git a/gtsam.h b/gtsam.h index b1c3b8d02..f18694b32 100644 --- a/gtsam.h +++ b/gtsam.h @@ -496,7 +496,182 @@ class SimpleCamera { //************************************************************************* // inference //************************************************************************* +class Permutation { + // Standard Constructors and Named Constructors + Permutation(); + Permutation(size_t nVars); + static gtsam::Permutation Identity(size_t nVars); + // FIXME: Cannot currently wrap std::vector + //static gtsam::Permutation PullToFront(const vector& toFront, size_t size, bool filterDuplicates); + //static gtsam::Permutation PushToBack(const vector& toBack, size_t size, bool filterDuplicates = false); + // Testable + void print(string s) const; + bool equals(const gtsam::Permutation& rhs, double tol) const; + + // Standard interface + size_t at(size_t variable) const; + size_t size() const; + bool empty() const; + void resize(size_t newSize); + gtsam::Permutation* permute(const gtsam::Permutation& permutation) const; + gtsam::Permutation* inverse() const; +}; + +class IndexFactor { + // Standard Constructors and Named Constructors + IndexFactor(); + IndexFactor(size_t j); + IndexFactor(size_t j1, size_t j2); + IndexFactor(size_t j1, size_t j2, size_t j3); + IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4); + IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5); + IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6); + // FIXME: Must wrap std::set for this to work + //IndexFactor(const std::set& js); + + // From Factor + size_t size() const; + void print(string s) const; + bool equals(const gtsam::IndexFactor& other, double tol) const; + // FIXME: Need to wrap std::vector + //std::vector& keys(); +}; + +class IndexConditional { + // Standard Constructors and Named Constructors + IndexConditional(); + IndexConditional(size_t key); + IndexConditional(size_t key, size_t parent); + IndexConditional(size_t key, size_t parent1, size_t parent2); + IndexConditional(size_t key, size_t parent1, size_t parent2, size_t parent3); + // FIXME: Must wrap std::vector for this to work + //IndexFactor(size_t key, const std::vector& parents); + //IndexConditional(const std::vector& keys, size_t nrFrontals); + //template static shared_ptr FromKeys(const KEYS& keys, size_t nrFrontals); + + // Testable + void print(string s) const; + bool equals(const gtsam::IndexConditional& other, double tol) const; + + // Standard interface + size_t nrFrontals() const; + size_t nrParents() const; + gtsam::IndexFactor* toFactor() const; +}; + +#include +class SymbolicBayesNet { + // Standard Constructors and Named Constructors + SymbolicBayesNet(); + SymbolicBayesNet(const gtsam::SymbolicBayesNet& bn); + SymbolicBayesNet(const gtsam::IndexConditional* conditional); + + // Testable + void print(string s) const; + bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; + + // Standard interface + size_t size() const; + void push_back(const gtsam::IndexConditional* conditional); + // FIXME: cannot overload functions + //void push_back(const SymbolicBayesNet bn); + void push_front(const gtsam::IndexConditional* conditional); + // FIXME: cannot overload functions + //void push_front(const SymbolicBayesNet bn); + void pop_front(); + void permuteWithInverse(const gtsam::Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); +}; + +#include +class SymbolicBayesTree { + // Standard Constructors and Named Constructors + SymbolicBayesTree(); + SymbolicBayesTree(const gtsam::SymbolicBayesNet& bn); + SymbolicBayesTree(const gtsam::SymbolicBayesTree& other); + // FIXME: wrap needs to understand std::list + //SymbolicBayesTree(const gtsam::SymbolicBayesNet& bayesNet, std::list subtrees); + + // Testable + void print(string s) const; + bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; + + // Standard interface + size_t size() const; + void saveGraph(string s) const; + void clear(); + // TODO: There are many other BayesTree member functions which might be of use +}; + +class SymbolicFactorGraph { + // Standard Constructors and Named Constructors + SymbolicFactorGraph(); + SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet); + SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree); + + // From FactorGraph + void push_back(gtsam::IndexFactor* factor); + void print(string s) const; + bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; + size_t size() const; + + // Standard interface + // FIXME: Must wrap FastSet for this to work + //FastSet keys() const; +}; + +class SymbolicSequentialSolver { + // Standard Constructors and Named Constructors + SymbolicSequentialSolver(const gtsam::SymbolicFactorGraph& factorGraph); + SymbolicSequentialSolver(const gtsam::SymbolicFactorGraph* factorGraph, const gtsam::VariableIndex* variableIndex); + + // Testable + void print(string s) const; + bool equals(const gtsam::SymbolicSequentialSolver& rhs, double tol) const; + + // Standard interface + gtsam::SymbolicBayesNet* eliminate() const; +}; + +class SymbolicMultifrontalSolver { + // Standard Constructors and Named Constructors + SymbolicMultifrontalSolver(const gtsam::SymbolicFactorGraph& factorGraph); + SymbolicMultifrontalSolver(const gtsam::SymbolicFactorGraph* factorGraph, const gtsam::VariableIndex* variableIndex); + + // Testable + void print(string s) const; + bool equals(const gtsam::SymbolicMultifrontalSolver& rhs, double tol) const; + + // Standard interface + gtsam::SymbolicBayesTree* eliminate() const; +}; + +#include +class VariableIndex { + // Standard Constructors and Named Constructors + VariableIndex(); + // FIXME: Handle templates somehow + //template VariableIndex(const FactorGraph& factorGraph, size_t nVariables); + //template VariableIndex(const FactorGraph& factorGraph); + VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph); + VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph, size_t nVariables); +// VariableIndex(const gtsam::GaussianFactorGraph& factorGraph); +// VariableIndex(const gtsam::GaussianFactorGraph& factorGraph, size_t nVariables); +// VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph); +// VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph, size_t nVariables); + 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; + void permute(const gtsam::Permutation& permutation); +}; //************************************************************************* // linear @@ -721,10 +896,23 @@ class Symbol { }; class Ordering { - Ordering(); + // Standard Constructors and Named Constructors + Ordering(); + + // Testable void print(string s) const; bool equals(const gtsam::Ordering& ord, double tol) const; - void push_back(size_t key); + + // Standard interface + size_t nVars() const; + size_t size() const; + size_t at(size_t key) const; + bool exists(size_t key) const; + void insert(size_t key, size_t order); + void push_back(size_t key); + void permuteWithInverse(const gtsam::Permutation& inversePermutation); + // FIXME: Wrap InvertedMap as well + //InvertedMap invert() const; }; class NonlinearFactorGraph { @@ -738,7 +926,8 @@ class NonlinearFactor { void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; - size_t dim() const; + // FIXME: NonlinearFactor does not have a dim() member function + //size_t dim() const; }; class Values { From c95cd18ec4c4b731e5a636288aa97360a28ee8ff Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 15:24:49 +0000 Subject: [PATCH 426/914] Fixed namespace of isfinite, etc - in std --- gtsam/base/types.h | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 7973e3d34..2d593409c 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -73,10 +73,14 @@ namespace gtsam { #ifdef _MSC_VER +// Define some common g++ functions and macros that MSVC does not have + #include -using boost::math::isfinite; -using boost::math::isnan; -using boost::math::isinf; +namespace std { + using boost::math::isfinite; + using boost::math::isnan; + using boost::math::isinf; +} #include #ifndef M_PI From 5e2980fc4dd89a6da746a358c48290b978049f5b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 15:24:53 +0000 Subject: [PATCH 427/914] Removed extra typedefs --- gtsam/inference/tests/testBayesTree.cpp | 2 -- gtsam/inference/tests/testJunctionTree.cpp | 1 - 2 files changed, 3 deletions(-) diff --git a/gtsam/inference/tests/testBayesTree.cpp b/gtsam/inference/tests/testBayesTree.cpp index a5601b8eb..f64e56df6 100644 --- a/gtsam/inference/tests/testBayesTree.cpp +++ b/gtsam/inference/tests/testBayesTree.cpp @@ -33,8 +33,6 @@ using namespace boost::assign; using namespace std; using namespace gtsam; -typedef BayesTree SymbolicBayesTree; - ///* ************************************************************************* */ //// SLAM example from RSS sqrtSAM paper static const Index _x3_=0, _x2_=1; diff --git a/gtsam/inference/tests/testJunctionTree.cpp b/gtsam/inference/tests/testJunctionTree.cpp index a2765a201..e9694eda3 100644 --- a/gtsam/inference/tests/testJunctionTree.cpp +++ b/gtsam/inference/tests/testJunctionTree.cpp @@ -35,7 +35,6 @@ using namespace gtsam; using namespace std; typedef JunctionTree SymbolicJunctionTree; -typedef BayesTree SymbolicBayesTree; /* ************************************************************************* * * x1 - x2 - x3 - x4 From 685d4d7da289c105a05814b699c12f453d3f0909 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 15:24:57 +0000 Subject: [PATCH 428/914] Added check and exception for incompatible noise model dimension in JacobianFactor --- gtsam/linear/JacobianFactor.cpp | 34 +++++++++++++++++++++++++++++++++ gtsam/linear/JacobianFactor.h | 18 +++++++++++++++++ 2 files changed, 52 insertions(+) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index bdb51701e..e2a582d9b 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -86,6 +86,7 @@ namespace gtsam { size_t dims[] = { 1 }; Ab_.copyStructureFrom(BlockAb(matrix_, dims, dims+1, b_in.size())); getb() = b_in; + model_ = noiseModel::Unit::Create(this->rows()); assertInvariants(); } @@ -93,6 +94,10 @@ namespace gtsam { JacobianFactor::JacobianFactor(Index i1, const Matrix& A1, const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { + + if(model->dim() != b.size()) + throw InvalidNoiseModel(b.size(), model->dim()); + size_t dims[] = { A1.cols(), 1}; Ab_.copyStructureFrom(BlockAb(matrix_, dims, dims+2, b.size())); Ab_(0) = A1; @@ -104,6 +109,10 @@ namespace gtsam { JacobianFactor::JacobianFactor(Index i1, const Matrix& A1, Index i2, const Matrix& A2, const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1,i2), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { + + if(model->dim() != b.size()) + throw InvalidNoiseModel(b.size(), model->dim()); + size_t dims[] = { A1.cols(), A2.cols(), 1}; Ab_.copyStructureFrom(BlockAb(matrix_, dims, dims+3, b.size())); Ab_(0) = A1; @@ -116,6 +125,10 @@ namespace gtsam { JacobianFactor::JacobianFactor(Index i1, const Matrix& A1, Index i2, const Matrix& A2, Index i3, const Matrix& A3, const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1,i2,i3), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { + + if(model->dim() != b.size()) + throw InvalidNoiseModel(b.size(), model->dim()); + size_t dims[] = { A1.cols(), A2.cols(), A3.cols(), 1}; Ab_.copyStructureFrom(BlockAb(matrix_, dims, dims+4, b.size())); Ab_(0) = A1; @@ -131,6 +144,10 @@ namespace gtsam { GaussianFactor(GetKeys(terms.size(), terms.begin(), terms.end())), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { + + if(model->dim() != b.size()) + throw InvalidNoiseModel(b.size(), model->dim()); + size_t* dims = (size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. for(size_t j=0; jdim() != b.size()) + throw InvalidNoiseModel(b.size(), model->dim()); + size_t* dims=(size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. size_t j=0; std::list >::const_iterator term=terms.begin(); @@ -542,10 +563,23 @@ namespace gtsam { /* ************************************************************************* */ void JacobianFactor::setModel(bool anyConstrained, const Vector& sigmas) { + if(sigmas.size() != this->rows()) + throw InvalidNoiseModel(this->rows(), sigmas.size()); if (anyConstrained) model_ = noiseModel::Constrained::MixedSigmas(sigmas); else model_ = noiseModel::Diagonal::Sigmas(sigmas); } + /* ************************************************************************* */ + const char* JacobianFactor::InvalidNoiseModel::what() throw() { + if(description_.empty()) + description_ = (boost::format( + "A JacobianFactor was attempted to be constructed or modified to use a\n" + "noise model of incompatible dimension. The JacobianFactor has\n" + "dimensionality (i.e. length of error vector) %d but the provided noise\n" + "model has dimensionality %d.") % factorDims % noiseModelDims).str(); + return description_.c_str(); + } + } diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 276d11f27..f5c8bf29b 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -299,6 +299,23 @@ namespace gtsam { /** Assert invariants after elimination */ void assertInvariants() const; + /** An exception indicating that the noise model dimension passed into the + * JacobianFactor has a different dimensionality than the factor. */ + class InvalidNoiseModel : std::exception { + public: + const size_t factorDims; ///< The dimensionality of the factor + const size_t noiseModelDims; ///< The dimensionality of the noise model + + InvalidNoiseModel(size_t factorDims, size_t noiseModelDims) : + factorDims(factorDims), noiseModelDims(noiseModelDims) {} + virtual ~InvalidNoiseModel() throw() {} + + virtual const char* what() throw(); + + private: + mutable std::string description_; + }; + private: // Friend HessianFactor to facilitate conversion constructors @@ -321,5 +338,6 @@ namespace gtsam { } }; // JacobianFactor + } // gtsam From d8703b1c93c476fe344da8f2dd48a4b84bddf63b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 15:25:02 +0000 Subject: [PATCH 429/914] Reverting - Moved dim() from NonlinearFactor to NoiseModelFactor - for NonlinearFactors that linearize to HessianFactors, dimension is not defined. (reverse-merged from commit e9b6a7949524d4d8d4069abaee16d213792a3507) --- gtsam/nonlinear/NonlinearFactor.h | 3 +++ gtsam/slam/AntiFactor.h | 3 +++ 2 files changed, 6 insertions(+) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index f6869140c..e1cfb2bc3 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -124,6 +124,9 @@ public: */ virtual double error(const Values& c) const = 0; + /** get the dimension of the factor (number of rows on linearization) */ + virtual size_t dim() const = 0; + /** * Checks whether a factor should be used based on a set of values. * This is primarily used to implment inequality constraints that diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 890e5beee..1e0d64db7 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -78,6 +78,9 @@ namespace gtsam { */ double error(const Values& c) const { return -factor_->error(c); } + /** get the dimension of the factor (same as the original factor) */ + size_t dim() const { return factor_->dim(); } + /** * Checks whether this factor should be used based on a set of values. * The AntiFactor will have the same 'active' profile as the original factor. From c0819adb8f3d0830c277a0d9ced61d34589f2fe4 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 15:43:33 +0000 Subject: [PATCH 430/914] Changed static to inline in TestableAssertions.h to avoid warnings --- gtsam/base/TestableAssertions.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h index e79d6b764..00ab79d30 100644 --- a/gtsam/base/TestableAssertions.h +++ b/gtsam/base/TestableAssertions.h @@ -30,7 +30,7 @@ namespace gtsam { /** * Equals testing for basic types */ -static bool assert_equal(const Index& expected, const Index& actual, double tol = 0.0) { +inline bool assert_equal(const Index& expected, const Index& actual, double tol = 0.0) { if(expected != actual) { std::cout << "Not equal:\nexpected: " << expected << "\nactual: " << actual << std::endl; return false; @@ -327,7 +327,7 @@ bool assert_container_equality(const V& expected, const V& actual) { /** * Compare strings for unit tests */ -static bool assert_equal(const std::string& expected, const std::string& actual) { +inline bool assert_equal(const std::string& expected, const std::string& actual) { if (expected == actual) return true; printf("Not equal:\n"); From ae9088efdc8e3729d9862cb0c4caf155fdd00523 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 22 Jun 2012 15:57:56 +0000 Subject: [PATCH 431/914] Added back dim() for NonlinearFactor --- gtsam.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index f18694b32..d06bd0b4f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -926,8 +926,7 @@ class NonlinearFactor { void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; - // FIXME: NonlinearFactor does not have a dim() member function - //size_t dim() const; + size_t dim() const; }; class Values { From 18ba9bcb3d800b220ae2e339c8e99b78254d3761 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 22 Jun 2012 16:38:01 +0000 Subject: [PATCH 432/914] Removed sample() functions and global random number generator --- gtsam.h | 18 +- gtsam/base/Vector.cpp | 19 +- gtsam/base/Vector.h | 26 +- gtsam/base/tests/testVector.cpp | 21 -- gtsam/linear/NoiseModel.cpp | 24 -- gtsam/linear/NoiseModel.h | 10 - gtsam/linear/Sampler.cpp | 2 +- gtsam/linear/Sampler.h | 4 +- gtsam/linear/SharedDiagonal.h | 3 - gtsam/linear/VectorValues.h | 1 + gtsam/linear/tests/testNoiseModel.cpp | 14 +- gtsam/slam/dataset.cpp | 427 +++++++++++++------------- 12 files changed, 238 insertions(+), 331 deletions(-) diff --git a/gtsam.h b/gtsam.h index d06bd0b4f..21ee927db 100644 --- a/gtsam.h +++ b/gtsam.h @@ -690,7 +690,6 @@ class Diagonal { static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); static gtsam::noiseModel::Diagonal* Variances(Vector variances); static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); - Vector sample() const; // Matrix R() const; // FIXME: cannot parse!!! void print(string s) const; }; @@ -699,7 +698,6 @@ class Isotropic { 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); - Vector sample() const; void print(string s) const; }; @@ -731,7 +729,19 @@ class SharedGaussian { class SharedDiagonal { SharedDiagonal(Vector sigmas); void print(string s) const; - Vector sample() const; +}; + +class Sampler { + Sampler(gtsam::noiseModel::Diagonal* model, int seed); + Sampler(Vector sigmas, int seed); + Sampler(int seed); + + size_t dim() const; + Vector sigmas() const; + gtsam::noiseModel::Diagonal* model() const; + + Vector sample(); + Vector sampleNewModel(gtsam::noiseModel::Diagonal* model); }; class VectorValues { @@ -926,7 +936,7 @@ class NonlinearFactor { void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; - size_t dim() const; +// size_t dim() const; // FIXME: Doesn't link }; class Values { diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp index 19546016f..a7e8f2769 100644 --- a/gtsam/base/Vector.cpp +++ b/gtsam/base/Vector.cpp @@ -23,13 +23,11 @@ #include #include #include +#include #include #include #include -#include -#include - #include #include @@ -39,8 +37,6 @@ using namespace std; -boost::minstd_rand generator(42u); - namespace gtsam { /* ************************************************************************* */ @@ -432,19 +428,6 @@ Vector concatVectors(size_t nrVectors, ...) return concatVectors(vs); } -/* ************************************************************************* */ -Vector rand_vector_norm(size_t dim, double mean, double sigma) -{ - boost::normal_distribution norm_dist(mean, sigma); - boost::variate_generator > norm(generator, norm_dist); - - Vector v(dim); - for(int i = 0; i #include +#include #include #include -#include - -/** - * Static random number generator - needs to maintain a state - * over time, hence the static generator. Be careful in - * cases where multiple processes (as is frequently the case with - * multi-robot scenarios) are using the sample() facilities - * in NoiseModel, as they will each have the same seed. - */ -// FIXME: make this go away - use the Sampler class instead -extern boost::minstd_rand generator; namespace gtsam { @@ -358,20 +348,6 @@ Vector concatVectors(const std::list& vs); */ Vector concatVectors(size_t nrVectors, ...); -/** - * random vector - */ -Vector rand_vector_norm(size_t dim, double mean = 0, double sigma = 1); - -/** - * Sets the generator to use a different seed value. - * Default argument resets the RNG - * @param seed is the new seed - */ -inline void seedRNG(unsigned int seed = 42u) { - generator.seed(seed); -} - } // namespace gtsam #include diff --git a/gtsam/base/tests/testVector.cpp b/gtsam/base/tests/testVector.cpp index 6657d41f9..b8bb0333b 100644 --- a/gtsam/base/tests/testVector.cpp +++ b/gtsam/base/tests/testVector.cpp @@ -297,27 +297,6 @@ TEST( TestVector, linear_dependent3 ) EXPECT(!linear_dependent(v1, v2)); } -/* ************************************************************************* */ -TEST( TestVector, random ) -{ - // Assumes seed not previously reset during this test - seedRNG(); - Vector v1_42 = rand_vector_norm(5); - - // verify that resetting the RNG produces the same value - seedRNG(); - Vector v2_42 = rand_vector_norm(5); - - EXPECT(assert_equal(v1_42, v2_42, 1e-6)); - - // verify that different seed produces a different value - seedRNG(41u); - - Vector v3_41 = rand_vector_norm(5); - - EXPECT(assert_inequal(v1_42, v3_41, 1e-6)); -} - /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 51f732db0..f212118c9 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -255,18 +255,6 @@ void Diagonal::WhitenInPlace(Matrix& H) const { vector_scale_inplace(invsigmas(), H); } -/* ************************************************************************* */ -Vector Diagonal::sample() const { - Vector result(dim_); - for (size_t i = 0; i < dim_; i++) { - typedef boost::normal_distribution Normal; - Normal dist(0.0, this->sigmas_(i)); - boost::variate_generator norm(generator, dist); - result(i) = norm(); - } - return result; -} - /* ************************************************************************* */ // Constrained /* ************************************************************************* */ @@ -464,18 +452,6 @@ void Isotropic::WhitenInPlace(Matrix& H) const { H *= invsigma_; } -/* ************************************************************************* */ -// faster version -Vector Isotropic::sample() const { - typedef boost::normal_distribution Normal; - Normal dist(0.0, this->sigma_); - boost::variate_generator norm(generator, dist); - Vector result(dim_); - for (size_t i = 0; i < dim_; i++) - result(i) = norm(); - return result; -} - /* ************************************************************************* */ // Unit /* ************************************************************************* */ diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index b1e65feff..50e59a85d 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -298,11 +298,6 @@ namespace gtsam { Vector invsigmas() const; double invsigma(size_t i) const; - /** - * generate random variate - */ - virtual Vector sample() const; - /** * Return R itself, but note that Whiten(H) is cheaper than R*H */ @@ -525,11 +520,6 @@ namespace gtsam { */ inline double sigma() const { return sigma_; } - /** - * generate random variate - */ - virtual Vector sample() const; - private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/linear/Sampler.cpp b/gtsam/linear/Sampler.cpp index ea2c04106..6031440bd 100644 --- a/gtsam/linear/Sampler.cpp +++ b/gtsam/linear/Sampler.cpp @@ -66,7 +66,7 @@ Vector Sampler::sample() { } /* ************************************************************************* */ -Vector Sampler::sample(const noiseModel::Diagonal::shared_ptr& model) { +Vector Sampler::sampleNewModel(const noiseModel::Diagonal::shared_ptr& model) { assert(model.get()); const Vector& sigmas = model->sigmas(); return sampleDiagonal(sigmas); diff --git a/gtsam/linear/Sampler.h b/gtsam/linear/Sampler.h index 71abdfc07..3f6fee7ca 100644 --- a/gtsam/linear/Sampler.h +++ b/gtsam/linear/Sampler.h @@ -20,6 +20,8 @@ #include +#include + namespace gtsam { /** @@ -79,7 +81,7 @@ public: * * NOTE: not const due to need to update the underlying generator */ - Vector sample(const noiseModel::Diagonal::shared_ptr& model); + Vector sampleNewModel(const noiseModel::Diagonal::shared_ptr& model); protected: diff --git a/gtsam/linear/SharedDiagonal.h b/gtsam/linear/SharedDiagonal.h index 193a30215..f57d6d726 100644 --- a/gtsam/linear/SharedDiagonal.h +++ b/gtsam/linear/SharedDiagonal.h @@ -58,9 +58,6 @@ namespace gtsam { // note, deliberately not in noiseModel namespace /// Print inline void print(const std::string &s) const { (*this)->print(s); } - /// Generate a sample - inline Vector sample() const { return (*this)->sample(); } - /** Serialization function */ friend class boost::serialization::access; template diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 0a32e6812..f3d82511e 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -24,6 +24,7 @@ #include #include #include +#include namespace gtsam { diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 6ca0ccd81..94a174543 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -131,15 +131,6 @@ TEST(NoiseModel, equals) EXPECT(assert_inequal(*i1,*i2)); } -/* ************************************************************************* */ -TEST(NoiseModel, sample) -{ - Vector s = Vector_(3,1.0,2.0,3.0); - SharedDiagonal model = sharedSigmas(s); - Vector v = model->sample(); - // no check as no way yet to set random seed -} - // TODO enable test once a mechanism for smart constraints exists ///* ************************************************************************* */ //TEST(NoiseModel, ConstrainedSmart ) @@ -346,8 +337,5 @@ TEST(NoiseModel, robustNoise) } /* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index d4be33f31..c2af9af36 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -20,226 +20,231 @@ #include #include +#include #include using namespace std; -using namespace gtsam; #define LINESIZE 81920 namespace gtsam { - /* ************************************************************************* */ - pair > dataset(const string& dataset, - const string& user_path) { - string path = user_path, set = dataset; - boost::optional null_model; - boost::optional identity(noiseModel::Unit::Create(3)); - boost::optional small( - noiseModel::Diagonal::Variances( - gtsam::Vector_(3, 0.0001, 0.0001, 0.0003))); +/* ************************************************************************* */ +pair > dataset(const string& dataset, + const string& user_path) { + string path = user_path, set = dataset; + boost::optional null_model; + boost::optional identity(noiseModel::Unit::Create(3)); + boost::optional small( + noiseModel::Diagonal::Variances( + gtsam::Vector_(3, 0.0001, 0.0001, 0.0003))); - if (path.empty()) - path = string(getenv("HOME")) + "/data"; - if (set.empty()) - set = string(getenv("DATASET")); + if (path.empty()) + path = string(getenv("HOME")) + "/data"; + if (set.empty()) + set = string(getenv("DATASET")); - if (set == "intel") - return make_pair(path + "/Intel/intel.graph", null_model); - if (set == "intel-gfs") - return make_pair(path + "/Intel/intel.gfs.graph", null_model); - if (set == "Killian-gfs") - return make_pair(path + "/Killian/Killian.gfs.graph", null_model); - if (set == "Killian") - return make_pair(path + "/Killian/Killian.graph", small); - if (set == "Killian-noised") - return make_pair(path + "/Killian/Killian-noised.graph", null_model); - if (set == "3") - return make_pair(path + "/TORO/w3-odom.graph", identity); - if (set == "100") - return make_pair(path + "/TORO/w100-odom.graph", identity); - if (set == "10K") - return make_pair(path + "/TORO/w10000-odom.graph", identity); - if (set == "10K2") - return make_pair(path + "/hogman/data/2D/w10000.graph", - noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05))); - if (set == "Eiffel100") - return make_pair(path + "/TORO/w100-Eiffel.graph", identity); - if (set == "Eiffel10K") - return make_pair(path + "/TORO/w10000-Eiffel.graph", identity); - if (set == "olson") - return make_pair(path + "/Olson/olson06icra.graph", null_model); - if (set == "victoria") - return make_pair(path + "/VictoriaPark/victoria_park.graph", null_model); - if (set == "beijing") - return make_pair(path + "/Beijing/beijingData_trips.graph", null_model); + if (set == "intel") + return make_pair(path + "/Intel/intel.graph", null_model); + if (set == "intel-gfs") + return make_pair(path + "/Intel/intel.gfs.graph", null_model); + if (set == "Killian-gfs") + return make_pair(path + "/Killian/Killian.gfs.graph", null_model); + if (set == "Killian") + return make_pair(path + "/Killian/Killian.graph", small); + if (set == "Killian-noised") + return make_pair(path + "/Killian/Killian-noised.graph", null_model); + if (set == "3") + return make_pair(path + "/TORO/w3-odom.graph", identity); + if (set == "100") + return make_pair(path + "/TORO/w100-odom.graph", identity); + if (set == "10K") + return make_pair(path + "/TORO/w10000-odom.graph", identity); + if (set == "10K2") + return make_pair(path + "/hogman/data/2D/w10000.graph", + noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05))); + if (set == "Eiffel100") + return make_pair(path + "/TORO/w100-Eiffel.graph", identity); + if (set == "Eiffel10K") + return make_pair(path + "/TORO/w10000-Eiffel.graph", identity); + if (set == "olson") + return make_pair(path + "/Olson/olson06icra.graph", null_model); + if (set == "victoria") + return make_pair(path + "/VictoriaPark/victoria_park.graph", null_model); + if (set == "beijing") + return make_pair(path + "/Beijing/beijingData_trips.graph", null_model); - return make_pair("unknown", null_model); - } - - /* ************************************************************************* */ - - pair load2D( - pair > dataset, - int maxID, bool addNoise, bool smart) { - return load2D(dataset.first, dataset.second, maxID, addNoise, smart); - } - - pair load2D( - const string& filename, boost::optional model, int maxID, - bool addNoise, bool smart) { - cout << "Will try to read " << filename << endl; - ifstream is(filename.c_str()); - if (!is) { - cout << "load2D: can not find the file!"; - exit(-1); - } - - pose2SLAM::Values::shared_ptr poses(new pose2SLAM::Values); - pose2SLAM::Graph::shared_ptr graph(new pose2SLAM::Graph); - - string tag; - - // load the poses - while (is) { - is >> tag; - - if ((tag == "VERTEX2") || (tag == "VERTEX")) { - int id; - double x, y, yaw; - is >> id >> x >> y >> yaw; - // optional filter - if (maxID && id >= maxID) - continue; - poses->insert(id, Pose2(x, y, yaw)); - } - is.ignore(LINESIZE, '\n'); - } - is.clear(); /* clears the end-of-file and error flags */ - is.seekg(0, ios::beg); - - // load the factors - while (is) { - is >> tag; - - if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { - int id1, id2; - double x, y, yaw; - - is >> id1 >> id2 >> x >> y >> yaw; - Matrix m = eye(3); - is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); - m(2, 0) = m(0, 2); - m(2, 1) = m(1, 2); - m(1, 0) = m(0, 1); - - // optional filter - if (maxID && (id1 >= maxID || id2 >= maxID)) - continue; - - Pose2 l1Xl2(x, y, yaw); - - // SharedNoiseModel noise = noiseModel::Gaussian::Covariance(m, smart); - if (!model) { - Vector variances = Vector_(3, m(0, 0), m(1, 1), m(2, 2)); - model = noiseModel::Diagonal::Variances(variances, smart); - } - - if (addNoise) - l1Xl2 = l1Xl2.retract((*model)->sample()); - - // Insert vertices if pure odometry file - if (!poses->exists(id1)) - poses->insert(id1, Pose2()); - if (!poses->exists(id2)) - poses->insert(id2, poses->at(id1) * l1Xl2); - - pose2SLAM::Graph::sharedFactor factor( - new pose2SLAM::Odometry(id1, id2, l1Xl2, *model)); - graph->push_back(factor); - } - is.ignore(LINESIZE, '\n'); - } - - cout << "load2D read a graph file with " << poses->size() - << " vertices and " << graph->nrFactors() << " factors" << endl; - - return make_pair(graph, poses); - } - - /* ************************************************************************* */ - void save2D(const pose2SLAM::Graph& graph, const Values& config, - const SharedDiagonal model, const string& filename) { - - fstream stream(filename.c_str(), fstream::out); - - // save poses - BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, config) - { - const Pose2& pose = dynamic_cast(key_value.value); - stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " - << pose.y() << " " << pose.theta() << endl; - } - - // save edges - Matrix R = model->R(); - Matrix RR = trans(R) * R; //prod(trans(R),R); - BOOST_FOREACH(boost::shared_ptr factor_, graph) - { - boost::shared_ptr factor = - boost::dynamic_pointer_cast(factor_); - if (!factor) - continue; - - Pose2 pose = factor->measured().inverse(); - stream << "EDGE2 " << factor->key2() << " " << factor->key1() << " " - << pose.x() << " " << pose.y() << " " << pose.theta() << " " - << RR(0, 0) << " " << RR(0, 1) << " " << RR(1, 1) << " " - << RR(2, 2) << " " << RR(0, 2) << " " << RR(1, 2) << endl; - } - - stream.close(); - } - - /* ************************************************************************* */ - bool load3D(const string& filename) { - ifstream is(filename.c_str()); - if (!is) - return false; - - while (is) { - char buf[LINESIZE]; - is.getline(buf, LINESIZE); - istringstream ls(buf); - string tag; - ls >> tag; - - if (tag == "VERTEX3") { - int id; - double x, y, z, roll, pitch, yaw; - ls >> id >> x >> y >> z >> roll >> pitch >> yaw; - } - } - is.clear(); /* clears the end-of-file and error flags */ - is.seekg(0, ios::beg); - - while (is) { - char buf[LINESIZE]; - is.getline(buf, LINESIZE); - istringstream ls(buf); - string tag; - ls >> tag; - - if (tag == "EDGE3") { - int id1, id2; - double x, y, z, roll, pitch, yaw; - ls >> id1 >> id2 >> x >> y >> z >> roll >> pitch >> yaw; - Matrix m = eye(6); - for (int i = 0; i < 6; i++) - for (int j = i; j < 6; j++) - ls >> m(i, j); - } - } - return true; - } + return make_pair("unknown", null_model); } + +/* ************************************************************************* */ +pair load2D( + pair > dataset, + int maxID, bool addNoise, bool smart) { + return load2D(dataset.first, dataset.second, maxID, addNoise, smart); +} + +/* ************************************************************************* */ +pair load2D( + const string& filename, boost::optional model, int maxID, + bool addNoise, bool smart) { + cout << "Will try to read " << filename << endl; + ifstream is(filename.c_str()); + if (!is) { + cout << "load2D: can not find the file!"; + exit(-1); + } + + pose2SLAM::Values::shared_ptr poses(new pose2SLAM::Values); + pose2SLAM::Graph::shared_ptr graph(new pose2SLAM::Graph); + + string tag; + + // load the poses + while (is) { + is >> tag; + + if ((tag == "VERTEX2") || (tag == "VERTEX")) { + int id; + double x, y, yaw; + is >> id >> x >> y >> yaw; + // optional filter + if (maxID && id >= maxID) + continue; + poses->insert(id, Pose2(x, y, yaw)); + } + is.ignore(LINESIZE, '\n'); + } + is.clear(); /* clears the end-of-file and error flags */ + is.seekg(0, ios::beg); + + // Create a sampler with random number generator + Sampler sampler(42u); + + // load the factors + while (is) { + is >> tag; + + if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { + int id1, id2; + double x, y, yaw; + + is >> id1 >> id2 >> x >> y >> yaw; + Matrix m = eye(3); + is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); + m(2, 0) = m(0, 2); + m(2, 1) = m(1, 2); + m(1, 0) = m(0, 1); + + // optional filter + if (maxID && (id1 >= maxID || id2 >= maxID)) + continue; + + Pose2 l1Xl2(x, y, yaw); + + // SharedNoiseModel noise = noiseModel::Gaussian::Covariance(m, smart); + if (!model) { + Vector variances = Vector_(3, m(0, 0), m(1, 1), m(2, 2)); + model = noiseModel::Diagonal::Variances(variances, smart); + } + + if (addNoise) + l1Xl2 = l1Xl2.retract(sampler.sampleNewModel(*model)); + + // Insert vertices if pure odometry file + if (!poses->exists(id1)) + poses->insert(id1, Pose2()); + if (!poses->exists(id2)) + poses->insert(id2, poses->at(id1) * l1Xl2); + + pose2SLAM::Graph::sharedFactor factor( + new pose2SLAM::Odometry(id1, id2, l1Xl2, *model)); + graph->push_back(factor); + } + is.ignore(LINESIZE, '\n'); + } + + cout << "load2D read a graph file with " << poses->size() + << " vertices and " << graph->nrFactors() << " factors" << endl; + + return make_pair(graph, poses); +} + +/* ************************************************************************* */ +void save2D(const pose2SLAM::Graph& graph, const Values& config, + const SharedDiagonal model, const string& filename) { + + fstream stream(filename.c_str(), fstream::out); + + // save poses + BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, config) + { + const Pose2& pose = dynamic_cast(key_value.value); + stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " + << pose.y() << " " << pose.theta() << endl; + } + + // save edges + Matrix R = model->R(); + Matrix RR = trans(R) * R; //prod(trans(R),R); + BOOST_FOREACH(boost::shared_ptr factor_, graph) + { + boost::shared_ptr factor = + boost::dynamic_pointer_cast(factor_); + if (!factor) + continue; + + Pose2 pose = factor->measured().inverse(); + stream << "EDGE2 " << factor->key2() << " " << factor->key1() << " " + << pose.x() << " " << pose.y() << " " << pose.theta() << " " + << RR(0, 0) << " " << RR(0, 1) << " " << RR(1, 1) << " " + << RR(2, 2) << " " << RR(0, 2) << " " << RR(1, 2) << endl; + } + + stream.close(); +} + +/* ************************************************************************* */ +bool load3D(const string& filename) { + ifstream is(filename.c_str()); + if (!is) + return false; + + while (is) { + char buf[LINESIZE]; + is.getline(buf, LINESIZE); + istringstream ls(buf); + string tag; + ls >> tag; + + if (tag == "VERTEX3") { + int id; + double x, y, z, roll, pitch, yaw; + ls >> id >> x >> y >> z >> roll >> pitch >> yaw; + } + } + is.clear(); /* clears the end-of-file and error flags */ + is.seekg(0, ios::beg); + + while (is) { + char buf[LINESIZE]; + is.getline(buf, LINESIZE); + istringstream ls(buf); + string tag; + ls >> tag; + + if (tag == "EDGE3") { + int id1, id2; + double x, y, z, roll, pitch, yaw; + ls >> id1 >> id2 >> x >> y >> z >> roll >> pitch >> yaw; + Matrix m = eye(6); + for (int i = 0; i < 6; i++) + for (int j = i; j < 6; j++) + ls >> m(i, j); + } + } + return true; +} +/* ************************************************************************* */ + +} // \namespace gtsam From 4de506a446f89bae1c83ce88bb760c52745fe139 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 22 Jun 2012 17:50:36 +0000 Subject: [PATCH 433/914] Added constructor from base model type --- gtsam/linear/SharedNoiseModel.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/linear/SharedNoiseModel.h b/gtsam/linear/SharedNoiseModel.h index bc90fee49..c9b2de6d4 100644 --- a/gtsam/linear/SharedNoiseModel.h +++ b/gtsam/linear/SharedNoiseModel.h @@ -26,6 +26,7 @@ namespace gtsam { // note, deliberately not in noiseModel namespace /// @{ SharedNoiseModel() {} + SharedNoiseModel(const noiseModel::Base::shared_ptr& p): Base(p) {} SharedNoiseModel(const noiseModel::Robust::shared_ptr& p): Base(p) {} SharedNoiseModel(const noiseModel::Gaussian::shared_ptr& p): Base(p) {} SharedNoiseModel(const noiseModel::Diagonal::shared_ptr& p): Base(p) {} From 7a48a03b25d6c25a40d25b70034ca79904088d03 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 22 Jun 2012 18:26:05 +0000 Subject: [PATCH 434/914] targets, ignore --- .cproject | 328 ++++++++++++++++++++++++++++-------------------------- 1 file changed, 169 insertions(+), 159 deletions(-) diff --git a/.cproject b/.cproject index cb05ca49e..0b06e9601 100644 --- a/.cproject +++ b/.cproject @@ -311,14 +311,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -345,6 +337,7 @@ make + tests/testBayesTree.run true false @@ -352,6 +345,7 @@ make + testBinaryBayesNet.run true false @@ -399,6 +393,7 @@ make + testSymbolicBayesNet.run true false @@ -406,6 +401,7 @@ make + tests/testSymbolicFactor.run true false @@ -413,6 +409,7 @@ make + testSymbolicFactorGraph.run true false @@ -428,11 +425,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -521,22 +527,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -553,6 +543,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -577,26 +583,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -681,26 +687,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -955,6 +961,7 @@ make + testGraph.run true false @@ -962,6 +969,7 @@ make + testJunctionTree.run true false @@ -969,6 +977,7 @@ make + testSymbolicBayesNetB.run true false @@ -1096,6 +1105,7 @@ make + testErrors.run true false @@ -1551,7 +1561,6 @@ make - testSimulated2DOriented.run true false @@ -1591,7 +1600,6 @@ make - testSimulated2D.run true false @@ -1599,7 +1607,6 @@ make - testSimulated3D.run true false @@ -1815,7 +1822,6 @@ make - tests/testGaussianISAM2 true false @@ -1837,102 +1843,6 @@ 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 -j2 @@ -1951,10 +1861,10 @@ make - -j2 + -j5 check true - false + true true @@ -2134,6 +2044,7 @@ cpack + -G DEB true false @@ -2141,6 +2052,7 @@ cpack + -G RPM true false @@ -2148,6 +2060,7 @@ cpack + -G TGZ true false @@ -2155,6 +2068,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2248,42 +2162,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap_gtsam + -j2 + timeRot3.run true true true - + make - -j5 - wrap + -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 @@ -2327,6 +2297,46 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + From 6f1ea87a00f8a8ace1a5aecec1b9794ee5c20438 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 22 Jun 2012 19:36:49 +0000 Subject: [PATCH 435/914] clean up noise model: Remove Shared[NoiseModel] classes and headers, typedef for backward compatibility in NoiseModel.h. Fix all tests and examples to create shared noise models through static functions in noise model classes. Fix MATLAB wrapper and examples as well. Add tests for MATLAB examples --- examples/CameraResectioning.cpp | 3 +- examples/LocalizationExample.cpp | 5 +- examples/OdometryExample.cpp | 5 +- examples/PlanarSLAMExample.cpp | 7 +- examples/Pose2SLAMExample.cpp | 7 +- examples/Pose2SLAMExample_advanced.cpp | 5 +- examples/Pose2SLAMExample_graph.cpp | 5 +- examples/Pose2SLAMwSPCG.cpp | 7 +- examples/VisualSLAMData.h | 6 +- gtsam.h | 72 ++++------- gtsam/linear/GaussianFactorGraph.h | 2 - gtsam/linear/HessianFactor.h | 1 - gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/KalmanFilter.cpp | 1 - gtsam/linear/KalmanFilter.h | 4 +- gtsam/linear/NoiseModel.cpp | 1 - gtsam/linear/NoiseModel.h | 36 +++--- gtsam/linear/SharedDiagonal.h | 88 ------------- gtsam/linear/SharedGaussian.h | 70 ---------- gtsam/linear/SharedNoiseModel.h | 121 ------------------ .../linear/tests/testGaussianFactorGraph.cpp | 28 ++-- .../linear/tests/testGaussianJunctionTree.cpp | 2 +- gtsam/linear/tests/testHessianFactor.cpp | 6 +- gtsam/linear/tests/testJacobianFactor.cpp | 14 +- gtsam/linear/tests/testKalmanFilter.cpp | 3 +- gtsam/linear/tests/testNoiseModel.cpp | 8 +- .../linear/tests/testSerializationLinear.cpp | 3 - gtsam/linear/tests/timeFactorOverhead.cpp | 6 +- gtsam/linear/tests/timeGaussianFactor.cpp | 2 +- gtsam/linear/tests/timeSLAMlike.cpp | 2 +- gtsam/nonlinear/NonlinearFactor.h | 2 +- gtsam/slam/tests/testGeneralSFMFactor.cpp | 12 +- .../testGeneralSFMFactor_Cal3Bundler.cpp | 2 +- gtsam/slam/tests/testPose2SLAM.cpp | 2 +- matlab/VisualISAMInitialize.m | 10 +- matlab/VisualISAM_gui.m | 1 + matlab/examples/LocalizationExample.m | 4 +- matlab/examples/OdometryExample.m | 4 +- matlab/examples/PlanarSLAMExample.m | 7 +- matlab/examples/PlanarSLAMExample_sampling.m | 8 +- matlab/examples/Pose2SLAMExample.m | 12 +- matlab/examples/Pose2SLAMExample_advanced.m | 6 +- matlab/examples/Pose2SLAMExample_circle.m | 2 +- matlab/examples/Pose2SLAMExample_graph.m | 5 +- matlab/examples/Pose2SLAMwSPCG.m | 6 +- matlab/examples/Pose3SLAMExample.m | 2 +- matlab/examples/Pose3SLAMExample_graph.m | 2 +- matlab/examples/SFMExample.m | 6 +- matlab/examples/StereoVOExample.m | 2 +- matlab/examples/StereoVOExample_large.m | 4 +- matlab/tests/testJacobianFactor.m | 4 +- matlab/tests/testKalmanFilter.m | 4 +- matlab/tests/testLocalizationExample.m | 49 +++++++ matlab/tests/testOdometryExample.m | 40 ++++++ matlab/tests/testPlanarSLAMExample.m | 68 ++++++++++ matlab/tests/testPose2SLAMExample.m | 60 +++++++++ matlab/tests/testPose3SLAMExample.m | 46 +++++++ matlab/tests/testSFMExample.m | 72 +++++++++++ matlab/tests/testStereoVOExample.m | 66 ++++++++++ matlab/tests/testVisualISAMExample.m | 53 ++++++++ matlab/tests/test_gtsam.m | 24 ++++ tests/smallExample.cpp | 8 +- tests/testGaussianFactor.cpp | 2 +- tests/testGaussianFactorGraphB.cpp | 10 +- tests/testGaussianISAM.cpp | 6 +- tests/testGaussianISAM2.cpp | 10 +- tests/testGaussianJunctionTreeB.cpp | 8 +- tests/testGradientDescentOptimizer.cpp | 6 +- tests/testGraph.cpp | 2 +- tests/testInferenceB.cpp | 4 +- tests/testNonlinearFactor.cpp | 6 +- tests/testNonlinearOptimizer.cpp | 6 +- tests/testRot3Optimization.cpp | 4 +- tests/testSimulated2DOriented.cpp | 2 +- tests/timeMultifrontalOnDataset.cpp | 2 +- tests/timeSequentialOnDataset.cpp | 2 +- wrap/matlab.h | 27 +++- 77 files changed, 708 insertions(+), 504 deletions(-) delete mode 100644 gtsam/linear/SharedDiagonal.h delete mode 100644 gtsam/linear/SharedGaussian.h delete mode 100644 gtsam/linear/SharedNoiseModel.h create mode 100644 matlab/tests/testLocalizationExample.m create mode 100644 matlab/tests/testOdometryExample.m create mode 100644 matlab/tests/testPlanarSLAMExample.m create mode 100644 matlab/tests/testPose2SLAMExample.m create mode 100644 matlab/tests/testPose3SLAMExample.m create mode 100644 matlab/tests/testSFMExample.m create mode 100644 matlab/tests/testStereoVOExample.m create mode 100644 matlab/tests/testVisualISAMExample.m diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index 277c78ee0..4133d1e1e 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -22,6 +22,7 @@ #include using namespace gtsam; +using namespace gtsam::noiseModel; using symbol_shorthand::X; /** @@ -69,7 +70,7 @@ int main(int argc, char* argv[]) { /* 2. add factors to the graph */ // add measurement factors - SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5)); + SharedDiagonal measurementNoise = Diagonal::Sigmas(Vector_(2, 0.5, 0.5)); boost::shared_ptr factor; graph.push_back( boost::make_shared(measurementNoise, X(1), calib, diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index caa87e48f..39f8de8a6 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -27,6 +27,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; /** * UnaryFactor @@ -63,12 +64,12 @@ int main(int argc, char** argv) { // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta graph.addOdometry(1, 2, odometry, odometryNoise); graph.addOdometry(2, 3, odometry, odometryNoise); // add unary measurement factors, like GPS, on all three poses - SharedDiagonal noiseModel(Vector_(2, 0.1, 0.1)); // 10cm std on x,y + SharedDiagonal noiseModel = Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y graph.push_back(boost::make_shared(1, 0, 0, noiseModel)); graph.push_back(boost::make_shared(2, 2, 0, noiseModel)); graph.push_back(boost::make_shared(3, 4, 0, noiseModel)); diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 3c00aca81..87844dfbc 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -26,6 +26,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; /** * Example of a simple 2D localization example @@ -40,12 +41,12 @@ int main(int argc, char** argv) { // add a Gaussian prior on pose x_1 Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin - SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta graph.addPrior(1, priorMean, priorNoise); // add directly to graph // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta graph.addOdometry(1, 2, odometry, odometryNoise); graph.addOdometry(2, 3, odometry, odometryNoise); diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index d58c8eb3e..2d739416a 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -23,6 +23,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; /** * Example of a simple 2D planar slam example with landmarls @@ -44,17 +45,17 @@ int main(int argc, char** argv) { // add a Gaussian prior on pose x_1 Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin - SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta graph.addPrior(i1, priorMean, priorNoise); // add directly to graph // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta graph.addOdometry(i1, i2, odometry, odometryNoise); graph.addOdometry(i2, i3, odometry, odometryNoise); // create a noise model for the landmark measurements - SharedDiagonal measurementNoise(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range + SharedDiagonal measurementNoise = Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range // create the measurement values - indices are (pose id, landmark id) Rot2 bearing11 = Rot2::fromDegrees(45), diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index 8118004af..61bdb1bda 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -22,6 +22,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; int main(int argc, char** argv) { @@ -30,18 +31,18 @@ int main(int argc, char** argv) { // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); + SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); graph.addPrior(1, priorMean, priorNoise); // 2b. Add odometry factors - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); + SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise); graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint - SharedDiagonal model(Vector_(3, 0.2, 0.2, 0.1)); + SharedDiagonal model = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), model); // print diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp index 083585c73..f727e27e2 100644 --- a/examples/Pose2SLAMExample_advanced.cpp +++ b/examples/Pose2SLAMExample_advanced.cpp @@ -29,6 +29,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; int main(int argc, char** argv) { /* 1. create graph container and add factors to it */ @@ -36,11 +37,11 @@ int main(int argc, char** argv) { /* 2.a add prior */ Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta graph.addPrior(1, priorMean, priorNoise); // add directly to graph /* 2.b add odometry */ - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) graph.addOdometry(1, 2, odometry, odometryNoise); graph.addOdometry(2, 3, odometry, odometryNoise); diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp index 6abeceb55..4dcdbea08 100644 --- a/examples/Pose2SLAMExample_graph.cpp +++ b/examples/Pose2SLAMExample_graph.cpp @@ -24,6 +24,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; int main(int argc, char** argv) { @@ -31,13 +32,13 @@ int main(int argc, char** argv) { // we are in build/examples, data is in examples/Data pose2SLAM::Graph::shared_ptr graph ; pose2SLAM::Values::shared_ptr initial; - SharedDiagonal model(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0)); + SharedDiagonal model = Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0)); boost::tie(graph,initial) = load2D("../../examples/Data/w100-odom.graph",model); initial->print("Initial estimate:\n"); // Add a Gaussian prior on first poses Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise(Vector_(3, 0.01, 0.01, 0.01)); + SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.01, 0.01, 0.01)); graph->addPrior(0, priorMean, priorNoise); // Single Step Optimization using Levenberg-Marquardt diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index ddf0a7ad0..53566e7e8 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -26,6 +26,7 @@ using namespace std; using namespace gtsam; +using namespace gtsam::noiseModel; /* ************************************************************************* */ int main(void) { @@ -35,18 +36,18 @@ int main(void) { // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); + SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); graph.addPrior(1, priorMean, priorNoise); // 2b. Add odometry factors - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); + SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint - SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); + SharedDiagonal constraintUncertainty = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); // print diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h index b96c24295..5416b3d43 100644 --- a/examples/VisualSLAMData.h +++ b/examples/VisualSLAMData.h @@ -73,7 +73,7 @@ struct VisualSLAMExampleData { data.odometry = data.poses[0].between(data.poses[1]); // Simulated measurements, possibly with Gaussian noise - data.noiseZ = gtsam::sharedSigma(2, 1.0); + data.noiseZ = gtsam::noiseModel::Isotropic::Sigma(2, 1.0); for (size_t i=0; isample()))*/); // you can add noise as desired } } - data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.001, 0.001, 0.001, 0.1, 0.1, 0.1)); - data.noiseL = gtsam::sharedSigma(3, 0.1); + data.noiseX = gtsam::noiseModel::Diagonal::Sigmas(gtsam::Vector_(6, 0.001, 0.001, 0.001, 0.1, 0.1, 0.1)); + data.noiseL = gtsam::noiseModel::Isotropic::Sigma(3, 0.1); return data; } diff --git a/gtsam.h b/gtsam.h index 21ee927db..78607651b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -679,6 +679,9 @@ class VariableIndex { #include namespace noiseModel { +class Base { +}; + class Gaussian { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); @@ -707,29 +710,6 @@ class Unit { }; }///\namespace noiseModel -// TODO: smart flag not supported. Default argument is not wrapped properly yet -class SharedNoiseModel { - static gtsam::SharedNoiseModel SqrtInformation(Matrix R); - static gtsam::SharedNoiseModel Covariance(Matrix covariance); - static gtsam::SharedNoiseModel Sigmas(Vector sigmas); - static gtsam::SharedNoiseModel Variances(Vector variances); - static gtsam::SharedNoiseModel Precisions(Vector precisions); - static gtsam::SharedNoiseModel Sigma(size_t dim, double sigma); - static gtsam::SharedNoiseModel Variance(size_t dim, double variance); - static gtsam::SharedNoiseModel Precision(size_t dim, double precision); - static gtsam::SharedNoiseModel Unit(size_t dim); - void print(string s) const; -}; - -class SharedGaussian { - SharedGaussian(Matrix covariance); - void print(string s) const; -}; - -class SharedDiagonal { - SharedDiagonal(Vector sigmas); - void print(string s) const; -}; class Sampler { Sampler(gtsam::noiseModel::Diagonal* model, int seed); @@ -789,11 +769,11 @@ class JacobianFactor { JacobianFactor(); JacobianFactor(Vector b_in); JacobianFactor(size_t i1, Matrix A1, Vector b, - const gtsam::SharedDiagonal& model); + const gtsam::noiseModel::Diagonal* model); JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b, - const gtsam::SharedDiagonal& model); + 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::SharedDiagonal& model); + Vector b, const gtsam::noiseModel::Diagonal* model); void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; bool empty() const; @@ -881,13 +861,13 @@ class KalmanFilter { 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::SharedDiagonal& modelQ); + 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::SharedDiagonal& model); + Matrix A1, Vector b, const gtsam::noiseModel::Diagonal* model); gtsam::GaussianDensity* update(gtsam::GaussianDensity* p, Matrix H, - Vector z, const gtsam::SharedDiagonal& model); + Vector z, const gtsam::noiseModel::Diagonal* model); gtsam::GaussianDensity* updateQ(gtsam::GaussianDensity* p, Matrix H, Vector z, Matrix Q); }; @@ -1024,10 +1004,10 @@ class Graph { const gtsam::Ordering& ordering) const; // pose2SLAM-specific - void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); + void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::noiseModel::Base* noiseModel); void addPoseConstraint(size_t key, const gtsam::Pose2& pose); - void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); - void addConstraint(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); + void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::noiseModel::Base* noiseModel); + void addConstraint(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::noiseModel::Base* noiseModel); pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate) const; pose2SLAM::Values optimizeSPCG(const pose2SLAM::Values& initialEstimate) const; gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; @@ -1075,8 +1055,8 @@ class Graph { const gtsam::Ordering& ordering) const; // pose3SLAM-specific - void addPrior(size_t key, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model); - void addConstraint(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::SharedNoiseModel& model); + void addPrior(size_t key, const gtsam::Pose3& p, const gtsam::noiseModel::Base* model); + void addConstraint(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::noiseModel::Base* model); void addHardConstraint(size_t i, const gtsam::Pose3& p); pose3SLAM::Values optimize(const pose3SLAM::Values& initialEstimate) const; gtsam::Marginals marginals(const pose3SLAM::Values& solution) const; @@ -1123,19 +1103,19 @@ class Graph { const gtsam::Ordering& ordering) const; // planarSLAM-specific - void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::SharedNoiseModel& noiseModel); + void addPrior(size_t key, const gtsam::Pose2& pose, const gtsam::noiseModel::Base* noiseModel); void addPoseConstraint(size_t key, const gtsam::Pose2& pose); - void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::SharedNoiseModel& noiseModel); - void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, const gtsam::SharedNoiseModel& noiseModel); - void addRange(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& noiseModel); - void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::SharedNoiseModel& noiseModel); + void addOdometry(size_t key1, size_t key2, const gtsam::Pose2& odometry, const gtsam::noiseModel::Base* noiseModel); + void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, const gtsam::noiseModel::Base* noiseModel); + void addRange(size_t poseKey, size_t pointKey, double range, const gtsam::noiseModel::Base* noiseModel); + void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::noiseModel::Base* noiseModel); planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate); gtsam::Marginals marginals(const planarSLAM::Values& solution) const; }; class Odometry { Odometry(size_t key1, size_t key2, const gtsam::Pose2& measured, - const gtsam::SharedNoiseModel& model); + const gtsam::noiseModel::Base* model); void print(string s) const; gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, const gtsam::Ordering& ordering) const; @@ -1190,9 +1170,9 @@ class Graph { const gtsam::Ordering& ordering) const; // Measurements - void addMeasurement(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, + void addMeasurement(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, const gtsam::Cal3_S2* K); - void addStereoMeasurement(const gtsam::StereoPoint2& measured, const gtsam::SharedNoiseModel& model, + void addStereoMeasurement(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, const gtsam::Cal3_S2Stereo* K); // Constraints @@ -1200,10 +1180,10 @@ class Graph { void addPointConstraint(size_t pointKey, const gtsam::Point3& p); // Priors - void addPosePrior(size_t poseKey, const gtsam::Pose3& p, const gtsam::SharedNoiseModel& model); - void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::SharedNoiseModel& model); - void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::SharedNoiseModel& model); - void addOdometry(size_t poseKey1, size_t poseKey2, const gtsam::Pose3& odometry, const gtsam::SharedNoiseModel& model); + void addPosePrior(size_t poseKey, const gtsam::Pose3& p, const gtsam::noiseModel::Base* model); + void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::noiseModel::Base* model); + void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::noiseModel::Base* model); + void addOdometry(size_t poseKey1, size_t poseKey2, const gtsam::Pose3& odometry, const gtsam::noiseModel::Base* model); visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate, size_t verbosity) const; gtsam::Marginals marginals(const visualSLAM::Values& solution) const; diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 07d0c8774..b4878565e 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -31,8 +31,6 @@ namespace gtsam { - class SharedDiagonal; - /** return A*x-b * \todo Make this a member function - affects SubgraphPreconditioner */ template diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 4be0b950c..46955d45a 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -33,7 +33,6 @@ namespace gtsam { // Forward declarations class JacobianFactor; - class SharedDiagonal; class GaussianConditional; template class BayesNet; diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index f5c8bf29b..7e1381f38 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gtsam/linear/KalmanFilter.cpp b/gtsam/linear/KalmanFilter.cpp index 0df9d99ce..987191254 100644 --- a/gtsam/linear/KalmanFilter.cpp +++ b/gtsam/linear/KalmanFilter.cpp @@ -23,7 +23,6 @@ #include #include #include -#include #include #include diff --git a/gtsam/linear/KalmanFilter.h b/gtsam/linear/KalmanFilter.h index 6df029b61..aeec47a39 100644 --- a/gtsam/linear/KalmanFilter.h +++ b/gtsam/linear/KalmanFilter.h @@ -18,6 +18,7 @@ */ #include +#include #ifndef KALMANFILTER_DEFAULT_FACTORIZATION #define KALMANFILTER_DEFAULT_FACTORIZATION QR @@ -25,9 +26,6 @@ namespace gtsam { - class SharedDiagonal; - class SharedGaussian; - /** * Kalman Filter class * diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index f212118c9..6d231748e 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -29,7 +29,6 @@ #include #include #include -#include static double inf = std::numeric_limits::infinity(); using namespace std; diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 50e59a85d..c67828822 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -24,11 +24,10 @@ namespace gtsam { - class SharedDiagonal; // forward declare - /// All noise models live in the noiseModel namespace namespace noiseModel { + // Forward declaration class Gaussian; class Diagonal; class Constrained; @@ -157,7 +156,7 @@ namespace gtsam { * A Gaussian noise model created by specifying a covariance matrix. * @param smart check if can be simplified to derived class */ - static shared_ptr Covariance(const Matrix& covariance, bool smart=false); + static shared_ptr Covariance(const Matrix& covariance, bool smart = true); virtual void print(const std::string& name) const; virtual bool equals(const Base& expected, double tol=1e-9) const; @@ -199,13 +198,13 @@ namespace gtsam { * @param Ab is the m*(n+1) augmented system matrix [A b] * @return in-place QR factorization [R d]. Below-diagonal is undefined !!!!! */ - virtual SharedDiagonal QR(Matrix& Ab) const; + virtual boost::shared_ptr QR(Matrix& Ab) const; /** * Cholesky factorization * FIXME: this is never used anywhere */ - virtual SharedDiagonal Cholesky(Matrix& Ab, size_t nFrontals) const; + virtual boost::shared_ptr Cholesky(Matrix& Ab, size_t nFrontals) const; /** * Return R itself, but note that Whiten(H) is cheaper than R*H @@ -263,20 +262,20 @@ namespace gtsam { * A diagonal noise model created by specifying a Vector of sigmas, i.e. * standard devations, the diagonal of the square root covariance matrix. */ - static shared_ptr Sigmas(const Vector& sigmas, bool smart=false); + static shared_ptr Sigmas(const Vector& sigmas, bool smart = true); /** * A diagonal noise model created by specifying a Vector of variances, i.e. * i.e. the diagonal of the covariance matrix. * @param smart check if can be simplified to derived class */ - static shared_ptr Variances(const Vector& variances, bool smart = false); + static shared_ptr Variances(const Vector& variances, bool smart = true); /** * A diagonal noise model created by specifying a Vector of precisions, i.e. * i.e. the diagonal of the information matrix, i.e., weights */ - static shared_ptr Precisions(const Vector& precisions, bool smart = false) { + static shared_ptr Precisions(const Vector& precisions, bool smart = true) { return Variances(reciprocal(precisions), smart); } @@ -365,13 +364,13 @@ namespace gtsam { * standard devations, some of which might be zero */ static shared_ptr MixedSigmas(const Vector& mu, const Vector& sigmas, - bool smart = false); + bool smart = true); /** * A diagonal noise model created by specifying a Vector of * standard devations, some of which might be zero */ - static shared_ptr MixedSigmas(const Vector& sigmas, bool smart = false) { + static shared_ptr MixedSigmas(const Vector& sigmas, bool smart = true) { return MixedSigmas(repeat(sigmas.size(), 1000.0), sigmas, smart); } @@ -380,7 +379,7 @@ namespace gtsam { * standard devations, some of which might be zero */ static shared_ptr MixedSigmas(double m, const Vector& sigmas, - bool smart = false) { + bool smart = true) { return MixedSigmas(repeat(sigmas.size(), m), sigmas, smart); } @@ -442,7 +441,7 @@ namespace gtsam { /** * Apply QR factorization to the system [A b], taking into account constraints */ - virtual SharedDiagonal QR(Matrix& Ab) const; + virtual Diagonal::shared_ptr QR(Matrix& Ab) const; /** * Check constrained is always true @@ -493,18 +492,18 @@ namespace gtsam { /** * An isotropic noise model created by specifying a standard devation sigma */ - static shared_ptr Sigma(size_t dim, double sigma, bool smart = false); + static shared_ptr Sigma(size_t dim, double sigma, bool smart = true); /** * An isotropic noise model created by specifying a variance = sigma^2. * @param smart check if can be simplified to derived class */ - static shared_ptr Variance(size_t dim, double variance, bool smart = false); + static shared_ptr Variance(size_t dim, double variance, bool smart = true); /** * An isotropic noise model created by specifying a precision */ - static shared_ptr Precision(size_t dim, double precision, bool smart = false) { + static shared_ptr Precision(size_t dim, double precision, bool smart = true) { return Variance(dim, 1.0/precision, smart); } @@ -718,6 +717,13 @@ namespace gtsam { } // namespace noiseModel + /** Note, deliberately not in noiseModel namespace. + * Deprecated. Only for compatibility with previous version. + */ + typedef noiseModel::Base::shared_ptr SharedNoiseModel; + typedef noiseModel::Gaussian::shared_ptr SharedGaussian; + typedef noiseModel::Diagonal::shared_ptr SharedDiagonal; + } // namespace gtsam diff --git a/gtsam/linear/SharedDiagonal.h b/gtsam/linear/SharedDiagonal.h deleted file mode 100644 index f57d6d726..000000000 --- a/gtsam/linear/SharedDiagonal.h +++ /dev/null @@ -1,88 +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 SharedDiagonal.h - * @brief Class that wraps a shared noise model with diagonal covariance - * @author Frank Dellaert - * @date Jan 22, 2010 - */ - -#pragma once - -#include - -namespace gtsam { // note, deliberately not in noiseModel namespace - - /** - * A useful convenience class to refer to a shared Diagonal model - * There are (somewhat dangerous) constructors from Vector and pair - * that call Sigmas and Sigma, respectively. - */ - class SharedDiagonal: public noiseModel::Diagonal::shared_ptr { - public: - - /// @name Standard Constructors - /// @{ - - SharedDiagonal() { - } - SharedDiagonal(const noiseModel::Diagonal::shared_ptr& p) : - noiseModel::Diagonal::shared_ptr(p) { - } - SharedDiagonal(const noiseModel::Constrained::shared_ptr& p) : - noiseModel::Diagonal::shared_ptr(p) { - } - SharedDiagonal(const noiseModel::Isotropic::shared_ptr& p) : - noiseModel::Diagonal::shared_ptr(p) { - } - SharedDiagonal(const noiseModel::Unit::shared_ptr& p) : - noiseModel::Diagonal::shared_ptr(p) { - } - SharedDiagonal(const Vector& sigmas) : - noiseModel::Diagonal::shared_ptr(noiseModel::Diagonal::Sigmas(sigmas)) { - } - - /// @} - /// @name Print - /// @{ - - /// Print - inline void print(const std::string &s) const { (*this)->print(s); } - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & boost::serialization::make_nvp("SharedDiagonal", - boost::serialization::base_object(*this)); - } - }; - - // TODO: make these the ones really used in unit tests - inline SharedDiagonal sharedSigmas(const Vector& sigmas) { - return noiseModel::Diagonal::Sigmas(sigmas); - } - inline SharedDiagonal sharedSigma(size_t dim, double sigma) { - return noiseModel::Isotropic::Sigma(dim, sigma); - } - inline SharedDiagonal sharedPrecisions(const Vector& precisions) { - return noiseModel::Diagonal::Precisions(precisions); - } - inline SharedDiagonal sharedPrecision(size_t dim, double precision) { - return noiseModel::Isotropic::Precision(dim, precision); - } - inline SharedDiagonal sharedUnit(size_t dim) { - return noiseModel::Unit::Create(dim); - } - -} - diff --git a/gtsam/linear/SharedGaussian.h b/gtsam/linear/SharedGaussian.h deleted file mode 100644 index a3154bac1..000000000 --- a/gtsam/linear/SharedGaussian.h +++ /dev/null @@ -1,70 +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 SharedGaussian.h - * @brief Class that wraps a shared Gaussian noise model - * @author Frank Dellaert - * @date Jan 22, 2010 - */ - -#pragma once - -#include -#include - -namespace gtsam { // note, deliberately not in noiseModel namespace - - /** - * A useful convenience class to refer to a shared Gaussian model - * Also needed to make noise models in matlab - */ - class SharedGaussian: public SharedNoiseModel { - public: - - typedef SharedNoiseModel Base; - - SharedGaussian() {} - SharedGaussian(const noiseModel::Gaussian::shared_ptr& p) : Base(p) {} - SharedGaussian(const noiseModel::Diagonal::shared_ptr& p) : Base(p) {} - SharedGaussian(const noiseModel::Constrained::shared_ptr& p) : Base(p) {} - SharedGaussian(const noiseModel::Isotropic::shared_ptr& p) : Base(p) {} - SharedGaussian(const noiseModel::Unit::shared_ptr& p) : Base(p) {} - - // Define GTSAM_MAGIC_GAUSSIAN to have access to slightly - // dangerous and non-shared (inefficient, wasteful) noise models. - // Intended to be used only in tests (if you must) and the MATLAB wrapper -#ifdef GTSAM_MAGIC_GAUSSIAN - SharedGaussian(const Matrix& covariance) - : Base(noiseModel::Gaussian::Covariance(covariance)) {} - SharedGaussian(const Vector& sigmas) - : Base(noiseModel::Diagonal::Sigmas(sigmas)) {} -#endif - -// Define GTSAM_DANGEROUS_GAUSSIAN to have access to bug-prone fixed dimension Gaussians -// Not intended for human use, only for backwards compatibility of old unit tests -#ifdef GTSAM_DANGEROUS_GAUSSIAN - SharedGaussian(const double& s) : - Base(noiseModel::Isotropic::Sigma(GTSAM_DANGEROUS_GAUSSIAN, s)) {} -#endif - - /// Print - inline void print(const std::string &s) const { (*this)->print(s); } - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & boost::serialization::make_nvp("SharedGaussian", - boost::serialization::base_object(*this)); - } - }; -} diff --git a/gtsam/linear/SharedNoiseModel.h b/gtsam/linear/SharedNoiseModel.h deleted file mode 100644 index c9b2de6d4..000000000 --- a/gtsam/linear/SharedNoiseModel.h +++ /dev/null @@ -1,121 +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 - - * -------------------------------------------------------------------------- */ - -#pragma once - -#include - -namespace gtsam { // note, deliberately not in noiseModel namespace - - /** - * Just a convenient class to generate shared pointers to a noise model - */ - struct SharedNoiseModel: public noiseModel::Base::shared_ptr { - - typedef noiseModel::Base::shared_ptr Base; - - /// @name Standard Constructors - /// @{ - - SharedNoiseModel() {} - SharedNoiseModel(const noiseModel::Base::shared_ptr& p): Base(p) {} - SharedNoiseModel(const noiseModel::Robust::shared_ptr& p): Base(p) {} - SharedNoiseModel(const noiseModel::Gaussian::shared_ptr& p): Base(p) {} - SharedNoiseModel(const noiseModel::Diagonal::shared_ptr& p): Base(p) {} - SharedNoiseModel(const noiseModel::Constrained::shared_ptr& p): Base(p) {} - SharedNoiseModel(const noiseModel::Isotropic::shared_ptr& p): Base(p) {} - SharedNoiseModel(const noiseModel::Unit::shared_ptr& p): Base(p) {} - - /// @} - /// @name Dangerous constructors - /// @{ - - #ifdef GTSAM_MAGIC_GAUSSIAN - SharedNoiseModel(const Matrix& covariance) : - Base(boost::static_pointer_cast( - noiseModel::Gaussian::Covariance(covariance))) {} - - SharedNoiseModel(const Vector& sigmas) : - Base(boost::static_pointer_cast( - noiseModel::Diagonal::Sigmas(sigmas))) {} - #endif - - // Define GTSAM_DANGEROUS_GAUSSIAN to have access to bug-prone fixed dimension Gaussians - // Not intended for human use, only for backwards compatibility of old unit tests - #ifdef GTSAM_DANGEROUS_GAUSSIAN - SharedNoiseModel(const double& s) : - Base(boost::static_pointer_cast( - noiseModel::Isotropic::Sigma(GTSAM_DANGEROUS_GAUSSIAN, s))) {} - #endif - - /// @} - /// @name Print - /// @{ - - /// Print - inline void print(const std::string &s) const { (*this)->print(s); } - - /// @} - /// @name Static syntactic sugar (should only be used with the MATLAB interface) - /// @{ - - static inline SharedNoiseModel SqrtInformation(const Matrix& R) { - return noiseModel::Gaussian::SqrtInformation(R); - } - - static inline SharedNoiseModel Covariance(const Matrix& covariance, bool smart=false) { - return noiseModel::Gaussian::Covariance(covariance, smart); - } - - static inline SharedNoiseModel Sigmas(const Vector& sigmas, bool smart=false) { - return noiseModel::Diagonal::Sigmas(sigmas, smart); - } - - static inline SharedNoiseModel Variances(const Vector& variances, bool smart=false) { - return noiseModel::Diagonal::Variances(variances, smart); - } - - static inline SharedNoiseModel Precisions(const Vector& precisions, bool smart=false) { - return noiseModel::Diagonal::Precisions(precisions, smart); - } - - static inline SharedNoiseModel Sigma(size_t dim, double sigma, bool smart=false) { - return noiseModel::Isotropic::Sigma(dim, sigma, smart); - } - - static inline SharedNoiseModel Variance(size_t dim, double variance, bool smart=false) { - return noiseModel::Isotropic::Variance(dim, variance, smart); - } - - static inline SharedNoiseModel Precision(size_t dim, double precision, bool smart=false) { - return noiseModel::Isotropic::Precision(dim, precision, smart); - } - - static inline SharedNoiseModel Unit(size_t dim) { - return noiseModel::Unit::Create(dim); - } - - /// @} - /// @name Serialization - /// @{ - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & boost::serialization::make_nvp("SharedNoiseModel", - boost::serialization::base_object(*this)); - } - - /// @} - - }; -} diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index 6bb4a6348..37aa440ff 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -36,7 +36,7 @@ static const Index _x0_=0, _x1_=1, _x2_=2, _x3_=3, _x4_=4, _x_=5, _y_=6, _l1_=7, #endif static SharedDiagonal - sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2), + sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), constraintModel = noiseModel::Constrained::All(2); /* ************************************************************************* */ @@ -234,26 +234,26 @@ TEST( NonlinearFactorGraph, combine2){ A11(1,0) = 0; A11(1,1) = 1; Vector b(2); b(0) = 2; b(1) = -1; - JacobianFactor::shared_ptr f1(new JacobianFactor(_x1_, A11, b*sigma1, sharedSigma(2,sigma1))); + JacobianFactor::shared_ptr f1(new JacobianFactor(_x1_, A11, b*sigma1, noiseModel::Isotropic::Sigma(2,sigma1))); double sigma2 = 0.5; A11(0,0) = 1; A11(0,1) = 0; A11(1,0) = 0; A11(1,1) = -1; b(0) = 4 ; b(1) = -5; - JacobianFactor::shared_ptr f2(new JacobianFactor(_x1_, A11, b*sigma2, sharedSigma(2,sigma2))); + JacobianFactor::shared_ptr f2(new JacobianFactor(_x1_, A11, b*sigma2, noiseModel::Isotropic::Sigma(2,sigma2))); double sigma3 = 0.25; A11(0,0) = 1; A11(0,1) = 0; A11(1,0) = 0; A11(1,1) = -1; b(0) = 3 ; b(1) = -88; - JacobianFactor::shared_ptr f3(new JacobianFactor(_x1_, A11, b*sigma3, sharedSigma(2,sigma3))); + JacobianFactor::shared_ptr f3(new JacobianFactor(_x1_, A11, b*sigma3, noiseModel::Isotropic::Sigma(2,sigma3))); // TODO: find a real sigma value for this example double sigma4 = 0.1; A11(0,0) = 6; A11(0,1) = 0; A11(1,0) = 0; A11(1,1) = 7; b(0) = 5 ; b(1) = -6; - JacobianFactor::shared_ptr f4(new JacobianFactor(_x1_, A11*sigma4, b*sigma4, sharedSigma(2,sigma4))); + JacobianFactor::shared_ptr f4(new JacobianFactor(_x1_, A11*sigma4, b*sigma4, noiseModel::Isotropic::Sigma(2,sigma4))); vector lfg; lfg.push_back(f1); @@ -286,7 +286,7 @@ TEST( NonlinearFactorGraph, combine2){ TEST(GaussianFactor, linearFactorN){ Matrix I = eye(2); vector f; - SharedDiagonal model = sharedSigma(2,1.0); + SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1.0); f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(_x1_, I, Vector_(2, 10.0, 5.0), model))); f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(_x1_, -10 * I, @@ -374,7 +374,7 @@ TEST(GaussianFactor, eliminateFrontals) make_pair( 9, Matrix(Ab.block(0, 6, 4, 2))), make_pair(11, Matrix(Ab.block(0, 8, 4, 2))); Vector b1 = Ab.col(10).segment(0, 4); - JacobianFactor::shared_ptr factor1(new JacobianFactor(terms1, b1, sharedSigma(4, 0.5))); + JacobianFactor::shared_ptr factor1(new JacobianFactor(terms1, b1, noiseModel::Isotropic::Sigma(4, 0.5))); // Create second factor list > terms2; @@ -384,7 +384,7 @@ TEST(GaussianFactor, eliminateFrontals) make_pair(9, Matrix(Ab.block(4, 6, 4, 2))), make_pair(11,Matrix(Ab.block(4, 8, 4, 2))); Vector b2 = Ab.col(10).segment(4, 4); - JacobianFactor::shared_ptr factor2(new JacobianFactor(terms2, b2, sharedSigma(4, 0.5))); + JacobianFactor::shared_ptr factor2(new JacobianFactor(terms2, b2, noiseModel::Isotropic::Sigma(4, 0.5))); // Create third factor list > terms3; @@ -393,14 +393,14 @@ TEST(GaussianFactor, eliminateFrontals) make_pair(9, Matrix(Ab.block(8, 6, 4, 2))), make_pair(11,Matrix(Ab.block(8, 8, 4, 2))); Vector b3 = Ab.col(10).segment(8, 4); - JacobianFactor::shared_ptr factor3(new JacobianFactor(terms3, b3, sharedSigma(4, 0.5))); + JacobianFactor::shared_ptr factor3(new JacobianFactor(terms3, b3, noiseModel::Isotropic::Sigma(4, 0.5))); // Create fourth factor list > terms4; terms4 += make_pair(11, Matrix(Ab.block(12, 8, 2, 2))); Vector b4 = Ab.col(10).segment(12, 2); - JacobianFactor::shared_ptr factor4(new JacobianFactor(terms4, b4, sharedSigma(2, 0.5))); + JacobianFactor::shared_ptr factor4(new JacobianFactor(terms4, b4, noiseModel::Isotropic::Sigma(2, 0.5))); // Create factor graph GaussianFactorGraph factors; @@ -554,13 +554,13 @@ TEST(GaussianFactor, permuteWithInverse) inversePermutation[4] = 1; inversePermutation[5] = 0; - JacobianFactor actual(1, A1, 3, A2, 5, A3, b, sharedSigma(2, 1.0)); + JacobianFactor actual(1, A1, 3, A2, 5, A3, b, noiseModel::Isotropic::Sigma(2, 1.0)); GaussianFactorGraph actualFG; actualFG.push_back(JacobianFactor::shared_ptr(new JacobianFactor(actual))); VariableIndex actualIndex(actualFG); actual.permuteWithInverse(inversePermutation); // actualIndex.permute(*inversePermutation.inverse()); - JacobianFactor expected(4, A1, 2, A2, 0, A3, b, sharedSigma(2, 1.0)); + JacobianFactor expected(4, A1, 2, A2, 0, A3, b, noiseModel::Isotropic::Sigma(2, 1.0)); GaussianFactorGraph expectedFG; expectedFG.push_back(JacobianFactor::shared_ptr(new JacobianFactor(expected))); // GaussianVariableIndex expectedIndex(expectedFG); @@ -609,7 +609,7 @@ TEST(GaussianFactorGraph, sparseJacobian) { 4., 6.,32.).transpose(); GaussianFactorGraph gfg; - SharedDiagonal model = sharedSigma(2, 0.5); + SharedDiagonal model = noiseModel::Isotropic::Sigma(2, 0.5); gfg.add(0, Matrix_(2,3, 1., 2., 3., 5., 6., 7.), Vector_(2, 4., 8.), model); gfg.add(0, Matrix_(2,3, 9.,10., 0., 0., 0., 0.), 1, Matrix_(2,2, 11., 12., 14., 15.), Vector_(2, 13.,16.), model); @@ -628,7 +628,7 @@ TEST(GaussianFactorGraph, denseHessian) { // 0 0 0 14 15 16 GaussianFactorGraph gfg; - SharedDiagonal model = sharedUnit(2); + SharedDiagonal model = noiseModel::Unit::Create(2); gfg.add(0, Matrix_(2,3, 1., 2., 3., 5., 6., 7.), Vector_(2, 4., 8.), model); gfg.add(0, Matrix_(2,3, 9.,10., 0., 0., 0., 0.), 1, Matrix_(2,2, 11., 12., 14., 15.), Vector_(2, 13.,16.), model); diff --git a/gtsam/linear/tests/testGaussianJunctionTree.cpp b/gtsam/linear/tests/testGaussianJunctionTree.cpp index a10f80a4d..b49d7fff0 100644 --- a/gtsam/linear/tests/testGaussianJunctionTree.cpp +++ b/gtsam/linear/tests/testGaussianJunctionTree.cpp @@ -38,7 +38,7 @@ static const Index x2=0, x1=1, x3=2, x4=3; GaussianFactorGraph createChain() { typedef GaussianFactorGraph::sharedFactor Factor; - SharedDiagonal model(Vector_(1, 0.5)); + SharedDiagonal model = noiseModel::Isotropic::Sigma(1, 0.5); Factor factor1(new JacobianFactor(x2, Matrix_(1,1,1.), x1, Matrix_(1,1,1.), Vector_(1,1.), model)); Factor factor2(new JacobianFactor(x2, Matrix_(1,1,1.), x3, Matrix_(1,1,1.), Vector_(1,1.), model)); Factor factor3(new JacobianFactor(x3, Matrix_(1,1,1.), x4, Matrix_(1,1,1.), Vector_(1,1.), model)); diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index bd76fd1d0..9c2adcffa 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -93,7 +93,7 @@ TEST(HessianFactor, ConversionConstructor) { vector > meas; meas.push_back(make_pair(0, Ax2)); meas.push_back(make_pair(1, Al1x1)); - JacobianFactor combined(meas, b2, sigmas); + JacobianFactor combined(meas, b2, noiseModel::Diagonal::Sigmas(sigmas)); HessianFactor actual(combined); @@ -468,7 +468,7 @@ TEST(HessianFactor, eliminate2 ) vector > meas; meas.push_back(make_pair(0, Ax2)); meas.push_back(make_pair(1, Al1x1)); - JacobianFactor combined(meas, b2, sigmas); + JacobianFactor combined(meas, b2, noiseModel::Diagonal::Sigmas(sigmas)); // eliminate the combined factor HessianFactor::shared_ptr combinedLF_Chol(new HessianFactor(combined)); @@ -502,7 +502,7 @@ TEST(HessianFactor, eliminate2 ) 0.00, 1.00, +0.00, -1.00 )/sigma; Vector b1 = Vector_(2,0.0,0.894427); - JacobianFactor expectedLF(1, Bl1x1, b1, repeat(2,1.0)); + JacobianFactor expectedLF(1, Bl1x1, b1, noiseModel::Isotropic::Sigma(2,1.0)); EXPECT(assert_equal(HessianFactor(expectedLF), *actualFactor, 1.5e-3)); } diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index 0d46807b6..af1d02d1f 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -29,7 +29,7 @@ using namespace gtsam; static const Index _x0_=0, _x1_=1, _x2_=2, _x3_=3, _x4_=4, _x_=5, _y_=6, _l1_=7, _l11_=8; static SharedDiagonal - sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2), + sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), constraintModel = noiseModel::Constrained::All(2); /* ************************************************************************* */ @@ -76,7 +76,7 @@ TEST(JacobianFactor, constructor2) JacobianFactor construct() { Matrix A = Matrix_(2,2, 1.,2.,3.,4.); Vector b = Vector_(2, 1.0, 2.0); - SharedDiagonal s = sharedSigmas(Vector_(2, 3.0, 4.0)); + SharedDiagonal s = noiseModel::Diagonal::Sigmas(Vector_(2, 3.0, 4.0)); JacobianFactor::shared_ptr shared( new JacobianFactor(0, A, b, s)); return *shared; @@ -86,7 +86,7 @@ TEST(JacobianFactor, return_value) { Matrix A = Matrix_(2,2, 1.,2.,3.,4.); Vector b = Vector_(2, 1.0, 2.0); - SharedDiagonal s = sharedSigmas(Vector_(2, 3.0, 4.0)); + SharedDiagonal s = noiseModel::Diagonal::Sigmas(Vector_(2, 3.0, 4.0)); JacobianFactor copied = construct(); EXPECT(assert_equal(b, copied.getb())); EXPECT(assert_equal(*s, *copied.get_model())); @@ -107,7 +107,7 @@ TEST(JabobianFactor, Hessian_conversion) { 1.2530, 2.1508, -0.8779, -1.8755, 0, 2.5858, 0.4789, -2.3943).finished(), (Vector(2) << -6.2929, -5.7941).finished(), - sharedUnit(2)); + noiseModel::Unit::Create(2)); JacobianFactor actual(hessian); @@ -202,7 +202,7 @@ TEST(JacobianFactor, eliminate2 ) vector > meas; meas.push_back(make_pair(_x2_, Ax2)); meas.push_back(make_pair(_l11_, Al1x1)); - JacobianFactor combined(meas, b2, sigmas); + JacobianFactor combined(meas, b2, noiseModel::Diagonal::Sigmas(sigmas)); // eliminate the combined factor GaussianConditional::shared_ptr actualCG_QR; @@ -236,7 +236,7 @@ TEST(JacobianFactor, eliminate2 ) 0.00, 1.00, +0.00, -1.00 )/sigma; Vector b1 = Vector_(2,0.0,0.894427); - JacobianFactor expectedLF(_l11_, Bl1x1, b1, repeat(2,1.0)); + JacobianFactor expectedLF(_l11_, Bl1x1, b1, noiseModel::Isotropic::Sigma(2,1.0)); EXPECT(assert_equal(expectedLF,*actualLF_QR,1e-3)); } @@ -304,7 +304,7 @@ TEST(JacobianFactor, CONSTRUCTOR_GaussianConditional ) // Call the constructor we are testing ! JacobianFactor actualLF(*CG); - JacobianFactor expectedLF(_x2_,R11,_l11_,S12,d, sigmas); + JacobianFactor expectedLF(_x2_,R11,_l11_,S12,d, noiseModel::Diagonal::Sigmas(sigmas)); EXPECT(assert_equal(expectedLF,actualLF,1e-5)); } diff --git a/gtsam/linear/tests/testKalmanFilter.cpp b/gtsam/linear/tests/testKalmanFilter.cpp index ca50c12e9..b45ac6a7b 100644 --- a/gtsam/linear/tests/testKalmanFilter.cpp +++ b/gtsam/linear/tests/testKalmanFilter.cpp @@ -18,8 +18,7 @@ */ #include -#include -#include +#include #include #include diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 94a174543..9b53a3be1 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -25,8 +25,6 @@ using namespace boost::assign; #include #include #include -#include -#include using namespace std; using namespace gtsam; @@ -279,8 +277,8 @@ TEST(NoiseModel, QRNan ) TEST(NoiseModel, SmartCovariance ) { bool smart = true; - SharedGaussian expected = Unit::Create(3); - SharedGaussian actual = Gaussian::Covariance(eye(3), smart); + gtsam::SharedGaussian expected = Unit::Create(3); + gtsam::SharedGaussian actual = Gaussian::Covariance(eye(3), smart); EXPECT(assert_equal(*expected,*actual)); } @@ -297,7 +295,7 @@ TEST(NoiseModel, ScalarOrVector ) TEST(NoiseModel, WhitenInPlace) { Vector sigmas = Vector_(3, 0.1, 0.1, 0.1); - SharedDiagonal model(sigmas); + SharedDiagonal model = Diagonal::Sigmas(sigmas); Matrix A = eye(3); model->WhitenInPlace(A); Matrix expected = eye(3) * 10; diff --git a/gtsam/linear/tests/testSerializationLinear.cpp b/gtsam/linear/tests/testSerializationLinear.cpp index 8082d3626..a646773f2 100644 --- a/gtsam/linear/tests/testSerializationLinear.cpp +++ b/gtsam/linear/tests/testSerializationLinear.cpp @@ -22,9 +22,6 @@ #include #include #include -#include -#include -#include #include #include diff --git a/gtsam/linear/tests/timeFactorOverhead.cpp b/gtsam/linear/tests/timeFactorOverhead.cpp index a843efd84..5ca4ceb59 100644 --- a/gtsam/linear/tests/timeFactorOverhead.cpp +++ b/gtsam/linear/tests/timeFactorOverhead.cpp @@ -60,7 +60,7 @@ int main(int argc, char *argv[]) { blockGfgs.reserve(nTrials); for(size_t trial=0; trial combGfgs; for(size_t trial=0; trial > terms; terms.reserve(varsPerBlock); diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index e1cfb2bc3..21e3d17d7 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -28,7 +28,7 @@ #include #include -#include +#include #include #include diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp index d6fcb5c5a..58f06c8d4 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp @@ -371,7 +371,7 @@ TEST( GeneralSFMFactor, optimize_varK_BA ) { graph.addCameraConstraint(0, cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras - graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 10.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); const double reproj_error = 1e-5 ; @@ -386,8 +386,8 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { // Tests range factor between a GeneralCamera and a Pose3 Graph graph; graph.addCameraConstraint(0, GeneralCamera()); - graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 1.0))); - graph.add(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), sharedSigma(6, 1.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0))); + graph.add(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0))); Values init; init.insert(X(0), GeneralCamera()); @@ -410,9 +410,9 @@ TEST(GeneralSFMFactor, GeneralCameraPoseRange) { TEST(GeneralSFMFactor, CalibratedCameraPoseRange) { // Tests range factor between a CalibratedCamera and a Pose3 NonlinearFactorGraph graph; - graph.add(PriorFactor(X(0), CalibratedCamera(), sharedSigma(6, 1.0))); - graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 1.0))); - graph.add(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), sharedSigma(6, 1.0))); + graph.add(PriorFactor(X(0), CalibratedCamera(), noiseModel::Isotropic::Sigma(6, 1.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 1.0))); + graph.add(PriorFactor(X(1), Pose3(Rot3(), Point3(1.0, 0.0, 0.0)), noiseModel::Isotropic::Sigma(6, 1.0))); Values init; init.insert(X(0), CalibratedCamera()); diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index 9afd8eff1..1b1ae5390 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -369,7 +369,7 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) { graph.addCameraConstraint(X(0), cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras - graph.add(RangeFactor(X(0), X(1), 2.0, sharedSigma(1, 10.0))); + graph.add(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); const double reproj_error = 1e-5 ; diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 55558b106..96f5dad03 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -393,7 +393,7 @@ TEST_UNSAFE(Pose2SLAM, expmap ) } // Common measurement covariance -static SharedNoiseModel sigmas = sharedSigmas(Vector_(3,sx,sy,st)); +static SharedNoiseModel sigmas = noiseModel::Diagonal::Sigmas(Vector_(3,sx,sy,st)); /* ************************************************************************* */ // Very simple test establishing Ax-b \approx z-h(x) diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 43e8162dd..01fdfe79c 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -6,10 +6,10 @@ function [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options) isam = visualSLAMISAM(options.reorderInterval); %% Set Noise parameters -noiseModels.pose = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.odometry = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.point = gtsamSharedNoiseModel_Sigma(3, 0.1); -noiseModels.measurement = gtsamSharedNoiseModel_Sigma(2, 1.0); +noiseModels.pose = gtsamnoiseModelDiagonal_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.odometry = gtsamnoiseModelDiagonal_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.point = gtsamnoiseModelIsotropic_Sigma(3, 0.1); +noiseModels.measurement = gtsamnoiseModelIsotropic_Sigma(2, 1.0); %% Add constraints/priors % TODO: should not be from ground truth! @@ -62,5 +62,3 @@ result = isam.estimate(); if options.alwaysRelinearize % re-linearize isam.reorder_relinearize(); end - -cla; \ No newline at end of file diff --git a/matlab/VisualISAM_gui.m b/matlab/VisualISAM_gui.m index 5fd0cd1d9..cdb2ddbaf 100644 --- a/matlab/VisualISAM_gui.m +++ b/matlab/VisualISAM_gui.m @@ -234,6 +234,7 @@ initOptions(handles) % Initialize and plot [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); +cla VisualISAMPlot(truth, data, isam, result, options) frame_i = 2; showFramei(hObject, handles) diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index d9c374e39..a523c312d 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -20,13 +20,13 @@ graph = pose2SLAMGraph; %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addOdometry(1, 2, odometry, odometryNoise); graph.addOdometry(2, 3, odometry, odometryNoise); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta -noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.1; 10]); +noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.1; 10]); graph.addPrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel); graph.addPrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel); graph.addPrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel); diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index d6dae314d..e712e4e21 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -20,12 +20,12 @@ graph = pose2SLAMGraph; %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addOdometry(1, 2, odometry, odometryNoise); graph.addOdometry(2, 3, odometry, odometryNoise); diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index 2bf27d11c..27dc97a08 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -28,18 +28,18 @@ graph = planarSLAMGraph; %% Add prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); graph.addPrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); graph.addOdometry(i1, i2, odometry, odometryNoise); graph.addOdometry(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors degrees = pi/180; -noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); @@ -75,6 +75,7 @@ end for i=1:3 plotPose2(pose{i},'g',P{i}) end +point = {}; for j=1:2 key = symbol('l',j); point{j} = result.point(key); diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m index f4124e003..99429900f 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/examples/PlanarSLAMExample_sampling.m @@ -15,22 +15,22 @@ i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); graph = planarSLAMGraph; priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); graph.addPrior(i1, priorMean, priorNoise); % add directly to graph odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); graph.addOdometry(i1, i2, odometry, odometryNoise); graph.addOdometry(i2, i3, odometry, odometryNoise); %% Except, for measurements we offer a choice j1 = symbol('l',1); j2 = symbol('l',2); degrees = pi/180; -noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); if 1 graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); else - bearingModel = gtsamSharedNoiseModel_Sigmas(0.1); + bearingModel = gtsamnoiseModelDiagonal_Sigmas(0.1); graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); end diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index f60154fa3..29133031e 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -24,19 +24,19 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print @@ -60,11 +60,11 @@ cla; plot(result.xs(),result.ys(),'k*-'); hold on plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); marginals = graph.marginals(result); -P={}; + for i=1:result.size() pose_i = result.pose(i); - P{i}=marginals.marginalCovariance(i); - plotPose2(pose_i,'g',P{i}) + P = marginals.marginalCovariance(i) + plotPose2(pose_i,'g',P); end axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/Pose2SLAMExample_advanced.m b/matlab/examples/Pose2SLAMExample_advanced.m index 827cf5661..fbffe9911 100644 --- a/matlab/examples/Pose2SLAMExample_advanced.m +++ b/matlab/examples/Pose2SLAMExample_advanced.m @@ -25,20 +25,20 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) graph.addOdometry(1, 2, odometry, odometryNoise); graph.addOdometry(2, 3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements -measurementNoise = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); +measurementNoise = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); % print graph.print('full graph'); diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index 7e7ab6694..828b6f5f6 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -19,7 +19,7 @@ p1 = hexagon.pose(1); fg = pose2SLAMGraph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); +covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 5*pi/180]); fg.addOdometry(0,1, delta, covariance); fg.addOdometry(1,2, delta, covariance); fg.addOdometry(2,3, delta, covariance); diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index 7a8644432..06a16ac55 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -11,13 +11,13 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Initialize graph, initial estimate, and odometry noise -model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); +model = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 5*pi/180]); [graph,initial]=load2D('../../examples/Data/w100-odom.graph',model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.01; 0.01; 0.01]); +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.01; 0.01; 0.01]); graph.addPrior(0, priorMean, priorNoise); % add directly to graph %% Plot Initial Estimate @@ -31,6 +31,7 @@ result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses marginals = graph.marginals(result); +P={}; for i=1:result.size()-1 pose_i = result.pose(i); P{i}=marginals.marginalCovariance(i); diff --git a/matlab/examples/Pose2SLAMwSPCG.m b/matlab/examples/Pose2SLAMwSPCG.m index f9c0537be..3f8f8adf1 100644 --- a/matlab/examples/Pose2SLAMwSPCG.m +++ b/matlab/examples/Pose2SLAMwSPCG.m @@ -22,19 +22,19 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]); +model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index e8f5c7c32..4cc41a4de 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -19,7 +19,7 @@ p1 = hexagon.pose(1); fg = pose3SLAMGraph; fg.addHardConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); fg.addConstraint(0,1, delta, covariance); fg.addConstraint(1,2, delta, covariance); fg.addConstraint(2,3, delta, covariance); diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m index acaf2c920..f2c411d08 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/examples/Pose3SLAMExample_graph.m @@ -16,7 +16,7 @@ N = 2500; filename = '../../examples/Data/sphere2500.txt'; %% Initialize graph, initial estimate, and odometry noise -model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +model = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); [graph,initial]=load3D(filename,model,true,N); %% Plot Initial Estimate diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 8e56c00b7..8aa0105b2 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -32,7 +32,7 @@ poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; graph = visualSLAMGraph; %% Add factors for all measurements -measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); +measurementNoise = gtsamnoiseModelIsotropic_Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; @@ -41,9 +41,9 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -posePriorNoise = gtsamSharedNoiseModel_Sigmas(poseNoiseSigmas); +posePriorNoise = gtsamnoiseModelDiagonal_Sigmas(poseNoiseSigmas); graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); -pointPriorNoise = gtsamSharedNoiseModel_Sigma(3,pointNoiseSigma); +pointPriorNoise = gtsamnoiseModelIsotropic_Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 99717fda5..980a3c5a1 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -31,7 +31,7 @@ graph.addPoseConstraint(x1, first_pose); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline K = gtsamCal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); -stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); +stereo_model = gtsamnoiseModelDiagonal_Sigmas([1.0; 1.0; 1.0]); %% Add measurements % pose 1 diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/examples/StereoVOExample_large.m index 171836cf8..ef1211e2a 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/examples/StereoVOExample_large.m @@ -14,7 +14,7 @@ % format: fx fy skew cx cy baseline calib = dlmread('../../examples/Data/VO_calibration.txt'); K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); -stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); +stereo_model = gtsamnoiseModelDiagonal_Sigmas([1.0; 1.0; 1.0]); %% create empty graph and values graph = visualSLAMGraph; @@ -57,7 +57,7 @@ graph.addPoseConstraint(key, first_pose); %% optimize fprintf(1,'Optimizing\n'); tic -result = graph.optimize(initial); +result = graph.optimize(initial,1); toc %% visualize initial trajectory, final trajectory, and final points diff --git a/matlab/tests/testJacobianFactor.m b/matlab/tests/testJacobianFactor.m index 2209b36a6..321f7c4ab 100644 --- a/matlab/tests/testJacobianFactor.m +++ b/matlab/tests/testJacobianFactor.m @@ -30,7 +30,7 @@ x1 = 3; % the RHS b2=[-1;1.5;2;-1]; sigmas = [1;1;1;1]; -model4 = gtsamSharedDiagonal(sigmas); +model4 = gtsamnoiseModelDiagonal_Sigmas(sigmas); combined = gtsamJacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4); % eliminate the first variable (x2) in the combined factor, destructive ! @@ -69,7 +69,7 @@ Bx1 = [ % the RHS b1= [0.0;0.894427]; -model2 = gtsamSharedDiagonal([1;1]); +model2 = gtsamnoiseModelDiagonal_Sigmas([1;1]); expectedLF = gtsamJacobianFactor(l1, Bl1, x1, Bx1, b1, model2); % check if the result matches the combined (reduced) factor diff --git a/matlab/tests/testKalmanFilter.m b/matlab/tests/testKalmanFilter.m index e9c1b7149..a181c68a1 100644 --- a/matlab/tests/testKalmanFilter.m +++ b/matlab/tests/testKalmanFilter.m @@ -22,13 +22,13 @@ F = eye(2,2); B = eye(2,2); u = [1.0; 0.0]; -modelQ = gtsamSharedDiagonal([0.1;0.1]); +modelQ = gtsamnoiseModelDiagonal_Sigmas([0.1;0.1]); Q = 0.01*eye(2,2); H = eye(2,2); z1 = [1.0, 0.0]'; z2 = [2.0, 0.0]'; z3 = [3.0, 0.0]'; -modelR = gtsamSharedDiagonal([0.1;0.1]); +modelR = gtsamnoiseModelDiagonal_Sigmas([0.1;0.1]); R = 0.01*eye(2,2); %% Create the set of expected output TestValues diff --git a/matlab/tests/testLocalizationExample.m b/matlab/tests/testLocalizationExample.m new file mode 100644 index 000000000..07b47257b --- /dev/null +++ b/matlab/tests/testLocalizationExample.m @@ -0,0 +1,49 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Example of a simple 2D localization example +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) +graph = pose2SLAMGraph; + +%% Add two odometry factors +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +graph.addOdometry(1, 2, odometry, odometryNoise); +graph.addOdometry(2, 3, odometry, odometryNoise); + +%% Add three "GPS" measurements +% We use Pose2 Priors here with high variance on theta +groundTruth = pose2SLAMValues; +groundTruth.insertPose(1, gtsamPose2(0.0, 0.0, 0.0)); +groundTruth.insertPose(2, gtsamPose2(2.0, 0.0, 0.0)); +groundTruth.insertPose(3, gtsamPose2(4.0, 0.0, 0.0)); +noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.1; 10]); +for i=1:3 + graph.addPrior(i, groundTruth.pose(i), noiseModel); +end + +%% Initialize to noisy points +initialEstimate = pose2SLAMValues; +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); + +%% Plot Covariance Ellipses +marginals = graph.marginals(result); +P={}; +for i=1:result.size() + pose_i = result.pose(i); + CHECK('pose_i.equals(groundTruth.pose(i)',pose_i.equals(groundTruth.pose(i),1e-4)); + P{i}=marginals.marginalCovariance(i); +end diff --git a/matlab/tests/testOdometryExample.m b/matlab/tests/testOdometryExample.m new file mode 100644 index 000000000..e83d0ec0a --- /dev/null +++ b/matlab/tests/testOdometryExample.m @@ -0,0 +1,40 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Example of a simple 2D localization example +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) +graph = pose2SLAMGraph; + +%% Add a Gaussian prior on pose x_1 +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +graph.addPrior(1, priorMean, priorNoise); % add directly to graph + +%% Add two odometry factors +odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +graph.addOdometry(1, 2, odometry, odometryNoise); +graph.addOdometry(2, 3, odometry, odometryNoise); + +%% Initialize to noisy points +initialEstimate = pose2SLAMValues; +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +marginals = graph.marginals(result); +marginals.marginalCovariance(i); + +%% Check first pose equality +pose_i = result.pose(1); +CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); \ No newline at end of file diff --git a/matlab/tests/testPlanarSLAMExample.m b/matlab/tests/testPlanarSLAMExample.m new file mode 100644 index 000000000..6446da790 --- /dev/null +++ b/matlab/tests/testPlanarSLAMExample.m @@ -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 +% +% @brief Simple robotics example using the pre-built planar SLAM domain +% @author Alex Cunningham +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - All values are axis aligned +% - Robot poses are facing along the X axis (horizontal, to the right in images) +% - We have bearing and range information for measurements +% - We have full odometry for measurements +% - The robot and landmarks are on a grid, moving 2 meters each step +% - Landmarks are 2 meters away from the robot trajectory + +%% Create keys for variables +i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); +j1 = symbol('l',1); j2 = symbol('l',2); + +%% Create graph container and add factors to it +graph = planarSLAMGraph; + +%% Add prior +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +graph.addPrior(i1, priorMean, priorNoise); % add directly to graph + +%% Add odometry +odometry = gtsamPose2(2.0, 0.0, 0.0); +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +graph.addOdometry(i1, i2, odometry, odometryNoise); +graph.addOdometry(i2, i3, odometry, odometryNoise); + +%% Add bearing/range measurement factors +degrees = pi/180; +noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); +graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); +graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); +graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); + +%% Initialize to noisy points +initialEstimate = planarSLAMValues; +initialEstimate.insertPose(i1, gtsamPose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(i2, gtsamPose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(i3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate.insertPoint(j1, gtsamPoint2(1.8, 2.1)); +initialEstimate.insertPoint(j2, gtsamPoint2(4.1, 1.8)); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); +marginals = graph.marginals(result); + +%% Check first pose and point equality +pose_1 = result.pose(symbol('x',1)); +marginals.marginalCovariance(symbol('x',1)); +CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); + +point_1 = result.point(symbol('l',1)); +marginals.marginalCovariance(symbol('l',1)); +CHECK('point_1.equals(gtsamPoint2(2,2),1e-4)',point_1.equals(gtsamPoint2(2,2),1e-4)); + + diff --git a/matlab/tests/testPose2SLAMExample.m b/matlab/tests/testPose2SLAMExample.m new file mode 100644 index 000000000..bf4f261e7 --- /dev/null +++ b/matlab/tests/testPose2SLAMExample.m @@ -0,0 +1,60 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Simple robotics example using the pre-built planar SLAM domain +% @author Alex Cunningham +% @author Frank Dellaert +% @author Chris Beall +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - All values are axis aligned +% - Robot poses are facing along the X axis (horizontal, to the right in images) +% - We have full odometry for measurements +% - The robot is on a grid, moving 2 meters each step + +%% Create graph container and add factors to it +graph = pose2SLAMGraph; + +%% Add prior +% gaussian for prior +priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +graph.addPrior(1, priorMean, priorNoise); % add directly to graph + +%% Add odometry +% general noisemodel for odometry +odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); + +%% Add pose constraint +model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); + +%% Initialize to noisy points +initialEstimate = pose2SLAMValues; +initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 )); +initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 )); +initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2)); +initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); +initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initialEstimate); + +%% Plot Covariance Ellipses +marginals = graph.marginals(result); +P = marginals.marginalCovariance(1); + +pose_1 = result.pose(1); +CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); + + diff --git a/matlab/tests/testPose3SLAMExample.m b/matlab/tests/testPose3SLAMExample.m new file mode 100644 index 000000000..9d2cf4271 --- /dev/null +++ b/matlab/tests/testPose3SLAMExample.m @@ -0,0 +1,46 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Create a hexagon of poses +hexagon = pose3SLAMValues_Circle(6,1.0); +p0 = hexagon.pose(0); +p1 = hexagon.pose(1); + +%% create a Pose graph with one equality constraint and one measurement +fg = pose3SLAMGraph; +fg.addHardConstraint(0, p0); +delta = p0.between(p1); +covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +fg.addConstraint(0,1, delta, covariance); +fg.addConstraint(1,2, delta, covariance); +fg.addConstraint(2,3, delta, covariance); +fg.addConstraint(3,4, delta, covariance); +fg.addConstraint(4,5, delta, covariance); +fg.addConstraint(5,0, delta, covariance); + +%% Create initial config +initial = pose3SLAMValues; +s = 0.10; +initial.insertPose(0, p0); +initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1))); +initial.insertPose(2, hexagon.pose(2).retract(s*randn(6,1))); +initial.insertPose(3, hexagon.pose(3).retract(s*randn(6,1))); +initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1))); +initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); + +%% optimize +result = fg.optimize(initial); + +pose_1 = result.pose(1); +CHECK('pose_1.equals(gtsamPose3,1e-4)',pose_1.equals(p1,1e-4)); + + diff --git a/matlab/tests/testSFMExample.m b/matlab/tests/testSFMExample.m new file mode 100644 index 000000000..ebda9535e --- /dev/null +++ b/matlab/tests/testSFMExample.m @@ -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 +% +% @brief A structure from motion example +% @author Duy-Nguyen Ta +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +options.triangle = false; +options.nrCameras = 10; +options.showImages = false; + +[data,truth] = VisualISAMGenerateData(options); + +measurementNoiseSigma = 1.0; +pointNoiseSigma = 0.1; +poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; + +graph = visualSLAMGraph; + +%% Add factors for all measurements +measurementNoise = gtsamnoiseModelIsotropic_Sigma(2,measurementNoiseSigma); +for i=1:length(data.Z) + for k=1:length(data.Z{i}) + j = data.J{i}{k}; + graph.addMeasurement(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('p',j), data.K); + end +end + +posePriorNoise = gtsamnoiseModelDiagonal_Sigmas(poseNoiseSigmas); +graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); +pointPriorNoise = gtsamnoiseModelIsotropic_Sigma(3,pointNoiseSigma); +graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); + +%% Initial estimate +initialEstimate = visualSLAMValues; +for i=1:size(truth.cameras,2) + pose_i = truth.cameras{i}.pose; + initialEstimate.insertPose(symbol('x',i), pose_i); +end +for j=1:size(truth.points,2) + point_j = truth.points{j}; + initialEstimate.insertPoint(symbol('p',j), point_j); +end + +%% Optimization +parameters = gtsamLevenbergMarquardtParams(1e-5, 1e-5, 0, 0); +optimizer = graph.optimizer(initialEstimate, parameters); +for i=1:5 + optimizer.iterate(); +end +result = optimizer.values(); + +%% Marginalization +marginals = graph.marginals(result); +marginals.marginalCovariance(symbol('p',1)); +marginals.marginalCovariance(symbol('x',1)); + +%% Check optimized results, should be equal to ground truth +for i=1:size(truth.cameras,2) + pose_i = result.pose(symbol('x',i)); + CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5)) +end + +for j=1:size(truth.points,2) + point_j = result.point(symbol('p',j)); + CHECK('point_j.equals(truth.points{j},1e-5)',point_j.equals(truth.points{j},1e-5)) +end diff --git a/matlab/tests/testStereoVOExample.m b/matlab/tests/testStereoVOExample.m new file mode 100644 index 000000000..8f751d313 --- /dev/null +++ b/matlab/tests/testStereoVOExample.m @@ -0,0 +1,66 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Basic VO Example with 3 landmarks and two cameras +% @author Chris Beall +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - For simplicity this example is in the camera's coordinate frame +% - X: right, Y: down, Z: forward +% - Pose x1 is at the origin, Pose 2 is 1 meter forward (along Z-axis) +% - x1 is fixed with a constraint, x2 is initialized with noisy values +% - No noise on measurements + +%% Create keys for variables +x1 = symbol('x',1); x2 = symbol('x',2); +l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); + +%% Create graph container and add factors to it +graph = visualSLAMGraph; + +%% add a constraint on the starting pose +first_pose = gtsamPose3(); +graph.addPoseConstraint(x1, first_pose); + +%% Create realistic calibration and measurement noise model +% format: fx fy skew cx cy baseline +K = gtsamCal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); +stereo_model = gtsamnoiseModelDiagonal_Sigmas([1.0; 1.0; 1.0]); + +%% Add measurements +% pose 1 +graph.addStereoMeasurement(gtsamStereoPoint2(520, 480, 440), stereo_model, x1, l1, K); +graph.addStereoMeasurement(gtsamStereoPoint2(120, 80, 440), stereo_model, x1, l2, K); +graph.addStereoMeasurement(gtsamStereoPoint2(320, 280, 140), stereo_model, x1, l3, K); + +%pose 2 +graph.addStereoMeasurement(gtsamStereoPoint2(570, 520, 490), stereo_model, x2, l1, K); +graph.addStereoMeasurement(gtsamStereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); +graph.addStereoMeasurement(gtsamStereoPoint2(320, 270, 115), stereo_model, x2, l3, K); + + +%% Create initial estimate for camera poses and landmarks +initialEstimate = visualSLAMValues; +initialEstimate.insertPose(x1, first_pose); +% noisy estimate for pose 2 +initialEstimate.insertPose(x2, gtsamPose3(gtsamRot3(), gtsamPoint3(0.1,-.1,1.1))); +expected_l1 = gtsamPoint3( 1, 1, 5); +initialEstimate.insertPoint(l1, expected_l1); +initialEstimate.insertPoint(l2, gtsamPoint3(-1, 1, 5)); +initialEstimate.insertPoint(l3, gtsamPoint3( 0,-.5, 5)); + +%% optimize +result = graph.optimize(initialEstimate,0); + +%% check equality for the first pose and point +pose_x1 = result.pose(x1); +CHECK('pose_x1.equals(first_pose,1e-4)',pose_x1.equals(first_pose,1e-4)); + +point_l1 = result.point(l1); +CHECK('point_1.equals(expected_l1,1e-4)',point_l1.equals(expected_l1,1e-4)); \ No newline at end of file diff --git a/matlab/tests/testVisualISAMExample.m b/matlab/tests/testVisualISAMExample.m new file mode 100644 index 000000000..c6fd46f4a --- /dev/null +++ b/matlab/tests/testVisualISAMExample.m @@ -0,0 +1,53 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief A simple visual SLAM example for structure from motion +% @author Duy-Nguyen Ta +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% Data Options +options.triangle = false; +options.nrCameras = 20; +options.showImages = false; + +% iSAM Options +options.hardConstraint = false; +options.pointPriors = false; +options.batchInitialization = true; +options.reorderInterval = 10; +options.alwaysRelinearize = false; + +% Display Options +options.saveDotFile = false; +options.printStats = false; +options.drawInterval = 5; +options.cameraInterval = 1; +options.drawTruePoses = false; +options.saveFigures = false; +options.saveDotFiles = false; + +%% Generate data +[data,truth] = VisualISAMGenerateData(options); + +%% Initialize iSAM with the first pose and points +[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); + +%% Main loop for iSAM: stepping through all poses +for frame_i=3:options.nrCameras + [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth,options); +end + +for i=1:size(truth.cameras,2) + pose_i = result.pose(symbol('x',i)); + CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5)) +end + +for j=1:size(truth.points,2) + point_j = result.point(symbol('l',j)); + CHECK('point_j.equals(truth.points{j},1e-5)',point_j.equals(truth.points{j},1e-5)) +end diff --git a/matlab/tests/test_gtsam.m b/matlab/tests/test_gtsam.m index aab3dac0f..f35c0dc73 100644 --- a/matlab/tests/test_gtsam.m +++ b/matlab/tests/test_gtsam.m @@ -6,5 +6,29 @@ testJacobianFactor display 'Starting: testKalmanFilter' testKalmanFilter +display 'Starting: testLocalizationExample' +testLocalizationExample + +display 'Starting: testPose2SLAMExample' +testPose2SLAMExample + +display 'Starting: testPose3SLAMExample' +testPose3SLAMExample + +display 'Starting: testPlanarSLAMExample' +testPlanarSLAMExample + +display 'Starting: testOdometryExample' +testOdometryExample + +display 'Starting: testSFMExample' +testSFMExample + +display 'Starting: testVisualISAMExample' +testVisualISAMExample + +display 'Starting: testStereoVOExample' +testStereoVOExample + % end of tests display 'Tests complete!' diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index b0af6c723..100a4db4c 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -37,6 +37,8 @@ using namespace std; namespace gtsam { namespace example { + using namespace gtsam::noiseModel; + typedef boost::shared_ptr shared; static SharedDiagonal sigma1_0 = noiseModel::Isotropic::Sigma(2,1.0); @@ -425,14 +427,14 @@ namespace example { NonlinearFactorGraph nlfg; // Create almost hard constraint on x11, sigma=0 will work for PCG not for normal - shared constraint(new simulated2D::Prior(Point2(1.0, 1.0), sharedSigma(2,1e-3), key(1,1))); + shared constraint(new simulated2D::Prior(Point2(1.0, 1.0), Isotropic::Sigma(2,1e-3), key(1,1))); nlfg.push_back(constraint); // Create horizontal constraints, 1...N*(N-1) Point2 z1(1.0, 0.0); // move right for (size_t x = 1; x < N; x++) for (size_t y = 1; y <= N; y++) { - shared f(new simulated2D::Odometry(z1, sharedSigma(2,0.01), key(x, y), key(x + 1, y))); + shared f(new simulated2D::Odometry(z1, Isotropic::Sigma(2,0.01), key(x, y), key(x + 1, y))); nlfg.push_back(f); } @@ -440,7 +442,7 @@ namespace example { Point2 z2(0.0, 1.0); // move up for (size_t x = 1; x <= N; x++) for (size_t y = 1; y < N; y++) { - shared f(new simulated2D::Odometry(z2, sharedSigma(2,0.01), key(x, y), key(x, y + 1))); + shared f(new simulated2D::Odometry(z2, Isotropic::Sigma(2,0.01), key(x, y), key(x, y + 1))); nlfg.push_back(f); } diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index bc0040f37..0097ec49a 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -41,7 +41,7 @@ using symbol_shorthand::X; using symbol_shorthand::L; static SharedDiagonal - sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2), + sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), constraintModel = noiseModel::Constrained::All(2); //const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // FIXME: throws exception diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 9b3f9eb0d..20972add9 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -269,7 +269,7 @@ TEST( GaussianFactorGraph, eliminateOne_x1_fast ) 0., -2.357022603955159, 7.071067811865475, 0., 0., 7.071067811865475), - Vector_(4, -0.707106781186547, 0.942809041582063, 0.707106781186547, -1.414213562373094), sharedUnit(4)); + Vector_(4, -0.707106781186547, 0.942809041582063, 0.707106781186547, -1.414213562373094), noiseModel::Unit::Create(4)); EXPECT(assert_equal(expected,*conditional,tol)); EXPECT(assert_equal((const GaussianFactor&)expectedFactor,*remaining.back(),tol)); @@ -370,7 +370,7 @@ TEST( GaussianFactorGraph, eliminateAll ) // GaussianFactorGraph expected = createGaussianFactorGraph(ordering); // Matrix A = eye(2); // Vector b = zero(2); -// SharedDiagonal sigma = sharedSigma(2,3.0); +// SharedDiagonal sigma = noiseModel::Isotropic::Sigma(2,3.0); // expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[L(1)],A,b,sigma))); // expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[X(1)],A,b,sigma))); // expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[X(2)],A,b,sigma))); @@ -768,7 +768,7 @@ TEST( GaussianFactorGraph, elimination ) GaussianFactorGraph fg; Matrix Ap = eye(1), An = eye(1) * -1; Vector b = Vector_(1, 0.0); - SharedDiagonal sigma = sharedSigma(1,2.0); + SharedDiagonal sigma = noiseModel::Isotropic::Sigma(1,2.0); fg.add(ord[X(1)], An, ord[X(2)], Ap, b, sigma); fg.add(ord[X(1)], Ap, b, sigma); fg.add(ord[X(2)], Ap, b, sigma); @@ -873,7 +873,7 @@ TEST( GaussianFactorGraph, constrained_multi1 ) /* ************************************************************************* */ -SharedDiagonal model = sharedSigma(2,1); +SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1); // SL-FIX TEST( GaussianFactorGraph, findMinimumSpanningTree ) //{ @@ -922,7 +922,7 @@ SharedDiagonal model = sharedSigma(2,1); TEST(GaussianFactorGraph, replace) { Ordering ord; ord += X(1),X(2),X(3),X(4),X(5),X(6); - SharedDiagonal noise(sharedSigma(3, 1.0)); + SharedDiagonal noise(noiseModel::Isotropic::Sigma(3, 1.0)); GaussianFactorGraph::sharedFactor f1(new JacobianFactor( ord[X(1)], eye(3,3), ord[X(2)], eye(3,3), zero(3), noise)); diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index a6eccd70f..6ae4a7b20 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -373,9 +373,9 @@ TEST_UNSAFE(BayesTree, simpleMarginal) Matrix A12 = Rot2::fromDegrees(45.0).matrix(); - gfg.add(0, eye(2), zero(2), sharedSigma(2, 1.0)); - gfg.add(0, -eye(2), 1, eye(2), ones(2), sharedSigma(2, 1.0)); - gfg.add(1, -eye(2), 2, A12, ones(2), sharedSigma(2, 1.0)); + gfg.add(0, eye(2), zero(2), noiseModel::Isotropic::Sigma(2, 1.0)); + gfg.add(0, -eye(2), 1, eye(2), ones(2), noiseModel::Isotropic::Sigma(2, 1.0)); + gfg.add(1, -eye(2), 2, A12, ones(2), noiseModel::Isotropic::Sigma(2, 1.0)); Matrix expected(GaussianSequentialSolver(gfg).marginalCovariance(2)); Matrix actual(GaussianMultifrontalSolver(gfg).marginalCovariance(2)); diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index c79e4e8fc..b5c1d4b89 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -33,8 +33,8 @@ const double tol = 1e-4; // SETDEBUG("ISAM2 recalculate", true); // Set up parameters -SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); -SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); +SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); +SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas(Vector_(2, M_PI/100.0, 0.1)); ISAM2 createSlamlikeISAM2( boost::optional init_values = boost::none, @@ -257,8 +257,8 @@ TEST_UNSAFE(ISAM2, AddVariables) { // // Ordering ordering; ordering += (0), (0), (1); // planarSLAM::Graph graph; -// graph.addPrior((0), Pose2(), sharedUnit(Pose2::dimension)); -// graph.addRange((0), (0), 1.0, sharedUnit(1)); +// graph.addPrior((0), Pose2(), noiseModel::Unit::Create(Pose2::dimension)); +// graph.addRange((0), (0), 1.0, noiseModel::Unit::Create(1)); // // FastSet expected; // expected.insert(0); @@ -844,7 +844,7 @@ TEST(ISAM2, clone) { // Modify original isam NonlinearFactorGraph factors; factors.add(BetweenFactor(0, 10, - isam.calculateEstimate(0).between(isam.calculateEstimate(10)), sharedUnit(3))); + isam.calculateEstimate(0).between(isam.calculateEstimate(10)), noiseModel::Unit::Create(3))); isam.update(factors); CHECK(assert_equal(createSlamlikeISAM2(), clone2)); diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 5b7555d37..769e95d26 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -130,8 +130,8 @@ TEST(GaussianJunctionTree, slamlike) { Values init; planarSLAM::Graph newfactors; planarSLAM::Graph fullgraph; - SharedDiagonal odoNoise = sharedSigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); - SharedDiagonal brNoise = sharedSigmas(Vector_(2, M_PI/100.0, 0.1)); + SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); + SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas(Vector_(2, M_PI/100.0, 0.1)); size_t i = 0; @@ -194,8 +194,8 @@ TEST(GaussianJunctionTree, simpleMarginal) { // Create a simple graph pose2SLAM::Graph fg; - fg.addPrior(X(0), Pose2(), sharedSigma(3, 10.0)); - fg.addOdometry(X(0), X(1), Pose2(1.0, 0.0, 0.0), sharedSigmas(Vector_(3, 10.0, 1.0, 1.0))); + fg.addPrior(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0)); + fg.addOdometry(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector_(3, 10.0, 1.0, 1.0))); Values init; init.insert(X(0), Pose2()); diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index 54130b664..34a39fdca 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -26,18 +26,18 @@ boost::tuple generateProblem() { // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise(Vector_(3, 0.3, 0.3, 0.1)); + SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); graph.addPrior(1, priorMean, priorNoise); // 2b. Add odometry factors - SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1)); + SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint - SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1)); + SharedDiagonal constraintUncertainty = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); // 3. Create the data structure to hold the initialEstimate estinmate to the solution diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index 63cbd43c8..0a3f3a562 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -76,7 +76,7 @@ TEST( Graph, predecessorMap2Graph ) TEST( Graph, composePoses ) { pose2SLAM::Graph graph; - SharedNoiseModel cov = SharedNoiseModel::Unit(3); + SharedNoiseModel cov = noiseModel::Unit::Create(3); Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9); Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3); graph.addOdometry(1,2, p12, cov); diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index 81b24a1e7..5da4ca955 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -55,8 +55,8 @@ TEST( inference, marginals ) TEST( inference, marginals2) { planarSLAM::Graph fg; - SharedDiagonal poseModel(sharedSigma(3, 0.1)); - SharedDiagonal pointModel(sharedSigma(3, 0.1)); + SharedDiagonal poseModel(noiseModel::Isotropic::Sigma(3, 0.1)); + SharedDiagonal pointModel(noiseModel::Isotropic::Sigma(3, 0.1)); fg.addPrior(X(0), Pose2(), poseModel); fg.addOdometry(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel); diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index 0a9c59f8b..b1717a79b 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -240,7 +240,7 @@ TEST( NonlinearFactor, linearize_constraint2 ) class TestFactor4 : public NoiseModelFactor4 { public: typedef NoiseModelFactor4 Base; - TestFactor4() : Base(sharedSigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4)) {} + TestFactor4() : Base(noiseModel::Diagonal::Sigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4)) {} virtual Vector evaluateError(const LieVector& x1, const LieVector& x2, const LieVector& x3, const LieVector& x4, @@ -289,7 +289,7 @@ TEST(NonlinearFactor, NoiseModelFactor4) { class TestFactor5 : public NoiseModelFactor5 { public: typedef NoiseModelFactor5 Base; - TestFactor5() : Base(sharedSigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4), X(5)) {} + TestFactor5() : Base(noiseModel::Diagonal::Sigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4), X(5)) {} virtual Vector evaluateError(const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, @@ -339,7 +339,7 @@ TEST(NonlinearFactor, NoiseModelFactor5) { class TestFactor6 : public NoiseModelFactor6 { public: typedef NoiseModelFactor6 Base; - TestFactor6() : Base(sharedSigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4), X(5), X(6)) {} + TestFactor6() : Base(noiseModel::Diagonal::Sigmas(Vector_(1, 2.0)), X(1), X(2), X(3), X(4), X(5), X(6)) {} virtual Vector evaluateError(const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index ee681db3e..f7112bb03 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -232,9 +232,9 @@ TEST(NonlinearOptimizer, NullFactor) { TEST(NonlinearOptimizer, MoreOptimization) { NonlinearFactorGraph fg; - fg.add(PriorFactor(0, Pose2(0,0,0), sharedSigma(3,1))); - fg.add(BetweenFactor(0, 1, Pose2(1,0,M_PI/2), sharedSigma(3,1))); - fg.add(BetweenFactor(1, 2, Pose2(1,0,M_PI/2), sharedSigma(3,1))); + fg.add(PriorFactor(0, Pose2(0,0,0), noiseModel::Isotropic::Sigma(3,1))); + fg.add(BetweenFactor(0, 1, Pose2(1,0,M_PI/2), noiseModel::Isotropic::Sigma(3,1))); + fg.add(BetweenFactor(1, 2, Pose2(1,0,M_PI/2), noiseModel::Isotropic::Sigma(3,1))); Values init; init.insert(0, Pose2(3,4,-M_PI)); diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp index 3e78414e9..89b621ed2 100644 --- a/tests/testRot3Optimization.cpp +++ b/tests/testRot3Optimization.cpp @@ -41,11 +41,11 @@ TEST(Rot3, optimize) { Values truth; Values initial; Graph fg; - fg.add(Prior(Symbol('r',0), Rot3(), sharedSigma(3, 0.01))); + fg.add(Prior(Symbol('r',0), Rot3(), noiseModel::Isotropic::Sigma(3, 0.01))); for(int j=0; j<6; ++j) { truth.insert(Symbol('r',j), Rot3::Rz(M_PI/3.0 * double(j))); initial.insert(Symbol('r',j), Rot3::Rz(M_PI/3.0 * double(j) + 0.1 * double(j%2))); - fg.add(Between(Symbol('r',j), Symbol('r',(j+1)%6), Rot3::Rz(M_PI/3.0), sharedSigma(3, 0.01))); + fg.add(Between(Symbol('r',j), Symbol('r',(j+1)%6), Rot3::Rz(M_PI/3.0), noiseModel::Isotropic::Sigma(3, 0.01))); } Values final = GaussNewtonOptimizer(fg, initial).optimize(); diff --git a/tests/testSimulated2DOriented.cpp b/tests/testSimulated2DOriented.cpp index 24fe6ec4e..bce932235 100644 --- a/tests/testSimulated2DOriented.cpp +++ b/tests/testSimulated2DOriented.cpp @@ -58,7 +58,7 @@ TEST( simulated2DOriented, Dprior ) TEST( simulated2DOriented, constructor ) { Pose2 measurement(0.2, 0.3, 0.1); - SharedDiagonal model(Vector_(3, 1., 1., 1.)); + SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 1., 1., 1.)); simulated2DOriented::Odometry factor(measurement, model, X(1), X(2)); simulated2DOriented::Values config; diff --git a/tests/timeMultifrontalOnDataset.cpp b/tests/timeMultifrontalOnDataset.cpp index 3d8ccf77e..05d2c9398 100644 --- a/tests/timeMultifrontalOnDataset.cpp +++ b/tests/timeMultifrontalOnDataset.cpp @@ -48,7 +48,7 @@ int main(int argc, char *argv[]) { // Add a prior on the first pose if (soft_prior) - data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005)); + data.first->addPrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005)); else data.first->addPoseConstraint(0, Pose2()); diff --git a/tests/timeSequentialOnDataset.cpp b/tests/timeSequentialOnDataset.cpp index a37b9910c..4a53737e0 100644 --- a/tests/timeSequentialOnDataset.cpp +++ b/tests/timeSequentialOnDataset.cpp @@ -48,7 +48,7 @@ int main(int argc, char *argv[]) { // Add a prior on the first pose if (soft_prior) - data.first->addPrior(0, Pose2(), sharedSigma(Pose2::Dim(), 0.0005)); + data.first->addPrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005)); else data.first->addPoseConstraint(0, Pose2()); diff --git a/wrap/matlab.h b/wrap/matlab.h index 4d98ede30..313cfaa9f 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -25,6 +25,7 @@ using gtsam::Vector; using gtsam::Matrix; +using gtsam::noiseModel::Base; using gtsam::noiseModel::Gaussian; using gtsam::noiseModel::Diagonal; using gtsam::noiseModel::Isotropic; @@ -483,7 +484,7 @@ boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); if (!isIsotropic && !isUnit) { - mexPrintf("Expected Isotropic or derived classes, got %s\n", mxGetClassName(obj)); + mexPrintf("Expected gtsamnoiseModelIsotropic or derived classes, got %s\n", mxGetClassName(obj)); error("Argument has wrong type."); } #endif @@ -501,7 +502,7 @@ boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); if (!isDiagonal && !isIsotropic && !isUnit ) { - mexPrintf("Expected Diagonal or derived classes, got %s\n", mxGetClassName(obj)); + mexPrintf("Expected gtsamnoiseModelDiagonal or derived classes, got %s\n", mxGetClassName(obj)); error("Argument has wrong type."); } #endif @@ -520,7 +521,27 @@ boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); if (!isGaussian && !isDiagonal && !isIsotropic && !isUnit) { - mexPrintf("Expected Gaussian or derived classes, got %s\n", mxGetClassName(obj)); + mexPrintf("Expected gtsamnoiseModelGaussian or derived classes, got %s\n", mxGetClassName(obj)); + error("Argument has wrong type."); + } +#endif + mxArray* mxh = mxGetProperty(obj,0,"self"); + if (mxh==NULL) error("unwrap_reference: invalid wrap object"); + ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); + return handle->get_object(); +} + +// Base +template <> +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { +#ifndef UNSAFE_WRAP + bool isBase = mxIsClass(obj, "gtsamnoiseModelBase"); + bool isGaussian = mxIsClass(obj, "gtsamnoiseModelGaussian"); + bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal"); + bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); + bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); + if (!isBase && !isGaussian && !isDiagonal && !isIsotropic && !isUnit) { + mexPrintf("Expected gtsamnoiseModelBase or derived classes, got %s\n", mxGetClassName(obj)); error("Argument has wrong type."); } #endif From e42dc5cdc978ea2a386a21af5807106cbf18b7b1 Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Fri, 22 Jun 2012 19:51:08 +0000 Subject: [PATCH 436/914] Minor updates: cachedShortcut is now protected. DeleteCachedShortcuts() are now called on the resulting orphans in the removeTop() instead of the whole tree. --- gtsam/inference/BayesTree-inl.h | 8 +++++--- gtsam/inference/BayesTreeCliqueBase.h | 10 +++++----- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index dfefd721e..5cb2c34a9 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -575,9 +575,6 @@ namespace gtsam { void BayesTree::removeTop(const CONTAINER& keys, BayesNet& bn, typename BayesTree::Cliques& orphans) { - //TODO: Improve this - deleteCachedShorcuts(this->root_); - // process each key of the new factor BOOST_FOREACH(const Index& key, keys) { @@ -590,6 +587,11 @@ namespace gtsam { } } } + + // Delete cachedShorcuts for each orphan subtree + //TODO: Consider Improving + BOOST_FOREACH(sharedClique& orphan, orphans) + deleteCachedShorcuts(orphan); } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index fa0992fbd..675215904 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -75,14 +75,14 @@ namespace gtsam { /// @} + /// This stores the Cached Shortcut value + mutable boost::optional > cachedShortcut_; + public: sharedConditional conditional_; derived_weak_ptr parent_; std::list children_; - /// This stores the Cached Shortcut value - mutable boost::optional > cachedShortcut_; - /// @name Testable /// @{ @@ -114,7 +114,7 @@ namespace gtsam { /** The arrow operator accesses the conditional */ const ConditionalType* operator->() const { return conditional_.get(); } - ///TODO: comment + /** return the const reference of children */ const std::list& children() const { return children_; } /// @} @@ -124,7 +124,7 @@ namespace gtsam { /** The arrow operator accesses the conditional */ ConditionalType* operator->() { return conditional_.get(); } - /** return the const reference of children */ + /** return the reference of children non-const version*/ std::list& children() { return children_; } /** Construct shared_ptr from a conditional, leaving parent and child pointers uninitialized */ From 617bf071cbde6d451ace4d03c4a439c4027ff2a1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 22 Jun 2012 21:44:29 +0000 Subject: [PATCH 437/914] Fixed warning by making "what" const. Please investigate warnings! --- gtsam/linear/JacobianFactor.cpp | 2 +- gtsam/linear/JacobianFactor.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index e2a582d9b..417548ed5 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -572,7 +572,7 @@ namespace gtsam { } /* ************************************************************************* */ - const char* JacobianFactor::InvalidNoiseModel::what() throw() { + const char* JacobianFactor::InvalidNoiseModel::what() const throw() { if(description_.empty()) description_ = (boost::format( "A JacobianFactor was attempted to be constructed or modified to use a\n" diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 7e1381f38..7fb4211fb 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -310,7 +310,7 @@ namespace gtsam { factorDims(factorDims), noiseModelDims(noiseModelDims) {} virtual ~InvalidNoiseModel() throw() {} - virtual const char* what() throw(); + virtual const char* what() const throw(); private: mutable std::string description_; From 0fe2d527f9980b5de2396a5a47eaeaef73ffb120 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 22 Jun 2012 21:45:36 +0000 Subject: [PATCH 438/914] Fixed warnings due to discrete. GTSAM now Wall-safe? --- gtsam/base/tests/testDebug.cpp | 1 + gtsam/discrete/DecisionTreeFactor.h | 2 +- gtsam/discrete/DiscreteFactor.h | 2 +- gtsam_unstable/discrete/AllDiff.cpp | 6 +++--- gtsam_unstable/discrete/AllDiff.h | 2 +- gtsam_unstable/discrete/BinaryAllDiff.h | 4 ++-- gtsam_unstable/discrete/Domain.cpp | 4 ++-- gtsam_unstable/discrete/Domain.h | 2 +- gtsam_unstable/discrete/SingleValue.cpp | 4 ++-- gtsam_unstable/discrete/SingleValue.h | 2 +- gtsam_unstable/discrete/tests/testCSP.cpp | 16 ++++++++-------- gtsam_unstable/nonlinear/LinearizedFactor.cpp | 2 +- tests/testOccupancyGrid.cpp | 4 ++-- 13 files changed, 26 insertions(+), 25 deletions(-) diff --git a/gtsam/base/tests/testDebug.cpp b/gtsam/base/tests/testDebug.cpp index f399dcb3b..81e4f039b 100644 --- a/gtsam/base/tests/testDebug.cpp +++ b/gtsam/base/tests/testDebug.cpp @@ -17,6 +17,7 @@ #include +#undef NDEBUG #define NDEBUG #undef GTSAM_ENABLE_DEBUG #include diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index 27c31fbb9..89bc090dc 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -94,7 +94,7 @@ namespace gtsam { } /// Convert into a decisiontree - virtual operator DecisionTreeFactor() const { + virtual DecisionTreeFactor toDecisionTreeFactor() const { return *this; } diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index 32e79568c..0bfdb3068 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -96,7 +96,7 @@ namespace gtsam { /// Multiply in a DecisionTreeFactor and return the result as DecisionTreeFactor virtual DecisionTreeFactor operator*(const DecisionTreeFactor&) const = 0; - virtual operator DecisionTreeFactor() const = 0; + virtual DecisionTreeFactor toDecisionTreeFactor() const = 0; /** * Permutes the factor, but for efficiency requires the permutation diff --git a/gtsam_unstable/discrete/AllDiff.cpp b/gtsam_unstable/discrete/AllDiff.cpp index 0cab961e1..41905f874 100644 --- a/gtsam_unstable/discrete/AllDiff.cpp +++ b/gtsam_unstable/discrete/AllDiff.cpp @@ -39,14 +39,14 @@ namespace gtsam { } /* ************************************************************************* */ - AllDiff::operator DecisionTreeFactor() const { + DecisionTreeFactor AllDiff::toDecisionTreeFactor() const { // We will do this by converting the allDif into many BinaryAllDiff constraints DecisionTreeFactor converted; size_t nrKeys = keys_.size(); for (size_t i1 = 0; i1 < nrKeys; i1++) for (size_t i2 = i1 + 1; i2 < nrKeys; i2++) { BinaryAllDiff binary12(discreteKey(i1),discreteKey(i2)); - converted = converted * binary12; + converted = converted * binary12.toDecisionTreeFactor(); } return converted; } @@ -54,7 +54,7 @@ namespace gtsam { /* ************************************************************************* */ DecisionTreeFactor AllDiff::operator*(const DecisionTreeFactor& f) const { // TODO: can we do this more efficiently? - return DecisionTreeFactor(*this) * f; + return toDecisionTreeFactor() * f; } /* ************************************************************************* */ diff --git a/gtsam_unstable/discrete/AllDiff.h b/gtsam_unstable/discrete/AllDiff.h index 4f4e10511..fb5a47a59 100644 --- a/gtsam_unstable/discrete/AllDiff.h +++ b/gtsam_unstable/discrete/AllDiff.h @@ -40,7 +40,7 @@ namespace gtsam { virtual double operator()(const Values& values) const; /// Convert into a decisiontree, can be *very* expensive ! - virtual operator DecisionTreeFactor() const; + virtual DecisionTreeFactor toDecisionTreeFactor() const; /// Multiply into a decisiontree virtual DecisionTreeFactor operator*(const DecisionTreeFactor& f) const; diff --git a/gtsam_unstable/discrete/BinaryAllDiff.h b/gtsam_unstable/discrete/BinaryAllDiff.h index 46901fc7d..a2e260bcd 100644 --- a/gtsam_unstable/discrete/BinaryAllDiff.h +++ b/gtsam_unstable/discrete/BinaryAllDiff.h @@ -44,7 +44,7 @@ namespace gtsam { } /// Convert into a decisiontree - virtual operator DecisionTreeFactor() const { + virtual DecisionTreeFactor toDecisionTreeFactor() const { DiscreteKeys keys; keys.push_back(DiscreteKey(keys_[0],cardinality0_)); keys.push_back(DiscreteKey(keys_[1],cardinality1_)); @@ -59,7 +59,7 @@ namespace gtsam { /// Multiply into a decisiontree virtual DecisionTreeFactor operator*(const DecisionTreeFactor& f) const { // TODO: can we do this more efficiently? - return DecisionTreeFactor(*this) * f; + return toDecisionTreeFactor() * f; } /* diff --git a/gtsam_unstable/discrete/Domain.cpp b/gtsam_unstable/discrete/Domain.cpp index fd2631cec..e43065f3b 100644 --- a/gtsam_unstable/discrete/Domain.cpp +++ b/gtsam_unstable/discrete/Domain.cpp @@ -29,7 +29,7 @@ namespace gtsam { } /* ************************************************************************* */ - Domain::operator DecisionTreeFactor() const { + DecisionTreeFactor Domain::toDecisionTreeFactor() const { DiscreteKeys keys; keys += DiscreteKey(keys_[0],cardinality_); vector table; @@ -42,7 +42,7 @@ namespace gtsam { /* ************************************************************************* */ DecisionTreeFactor Domain::operator*(const DecisionTreeFactor& f) const { // TODO: can we do this more efficiently? - return DecisionTreeFactor(*this) * f; + return toDecisionTreeFactor() * f; } /* ************************************************************************* */ diff --git a/gtsam_unstable/discrete/Domain.h b/gtsam_unstable/discrete/Domain.h index 50c534f8a..a4f0c8054 100644 --- a/gtsam_unstable/discrete/Domain.h +++ b/gtsam_unstable/discrete/Domain.h @@ -76,7 +76,7 @@ namespace gtsam { virtual double operator()(const Values& values) const; /// Convert into a decisiontree - virtual operator DecisionTreeFactor() const; + virtual DecisionTreeFactor toDecisionTreeFactor() const; /// Multiply into a decisiontree virtual DecisionTreeFactor operator*(const DecisionTreeFactor& f) const; diff --git a/gtsam_unstable/discrete/SingleValue.cpp b/gtsam_unstable/discrete/SingleValue.cpp index a626ecf13..6f6d5a3ff 100644 --- a/gtsam_unstable/discrete/SingleValue.cpp +++ b/gtsam_unstable/discrete/SingleValue.cpp @@ -27,7 +27,7 @@ namespace gtsam { } /* ************************************************************************* */ - SingleValue::operator DecisionTreeFactor() const { + DecisionTreeFactor SingleValue::toDecisionTreeFactor() const { DiscreteKeys keys; keys += DiscreteKey(keys_[0],cardinality_); vector table; @@ -40,7 +40,7 @@ namespace gtsam { /* ************************************************************************* */ DecisionTreeFactor SingleValue::operator*(const DecisionTreeFactor& f) const { // TODO: can we do this more efficiently? - return DecisionTreeFactor(*this) * f; + return toDecisionTreeFactor() * f; } /* ************************************************************************* */ diff --git a/gtsam_unstable/discrete/SingleValue.h b/gtsam_unstable/discrete/SingleValue.h index 3f7f3011d..b229d8b79 100644 --- a/gtsam_unstable/discrete/SingleValue.h +++ b/gtsam_unstable/discrete/SingleValue.h @@ -48,7 +48,7 @@ namespace gtsam { virtual double operator()(const Values& values) const; /// Convert into a decisiontree - virtual operator DecisionTreeFactor() const; + virtual DecisionTreeFactor toDecisionTreeFactor() const; /// Multiply into a decisiontree virtual DecisionTreeFactor operator*(const DecisionTreeFactor& f) const; diff --git a/gtsam_unstable/discrete/tests/testCSP.cpp b/gtsam_unstable/discrete/tests/testCSP.cpp index 4ab5cd361..f446932e2 100644 --- a/gtsam_unstable/discrete/tests/testCSP.cpp +++ b/gtsam_unstable/discrete/tests/testCSP.cpp @@ -27,12 +27,12 @@ TEST_UNSAFE( BinaryAllDif, allInOne) // Check construction and conversion BinaryAllDiff c1(ID, UT); DecisionTreeFactor f1(ID & UT, "0 1 1 0"); - EXPECT(assert_equal(f1,(DecisionTreeFactor)c1)); + EXPECT(assert_equal(f1,c1.toDecisionTreeFactor())); // Check construction and conversion BinaryAllDiff c2(UT, AZ); DecisionTreeFactor f2(UT & AZ, "0 1 1 0"); - EXPECT(assert_equal(f2,(DecisionTreeFactor)c2)); + EXPECT(assert_equal(f2,c2.toDecisionTreeFactor())); DecisionTreeFactor f3 = f1*f2; EXPECT(assert_equal(f3,c1*f2)); @@ -153,11 +153,11 @@ TEST_UNSAFE( CSP, AllDiff) // Check construction and conversion SingleValue s(AZ,2); DecisionTreeFactor f1(AZ,"0 0 1"); - EXPECT(assert_equal(f1,(DecisionTreeFactor)s)); + EXPECT(assert_equal(f1,s.toDecisionTreeFactor())); // Check construction and conversion AllDiff alldiff(dkeys); - DecisionTreeFactor actual = (DecisionTreeFactor)alldiff; + DecisionTreeFactor actual = alldiff.toDecisionTreeFactor(); // GTSAM_PRINT(actual); // actual.dot("actual"); DecisionTreeFactor f2(ID & AZ & UT, @@ -202,16 +202,16 @@ TEST_UNSAFE( CSP, AllDiff) known[AZ.first] = 2; DiscreteFactor::shared_ptr reduced1 = alldiff.partiallyApply(known); DecisionTreeFactor f3(ID & UT, "0 1 1 1 0 1 1 1 0"); - EXPECT(assert_equal(f3,reduced1->operator DecisionTreeFactor())); + EXPECT(assert_equal(f3,reduced1->toDecisionTreeFactor())); DiscreteFactor::shared_ptr reduced2 = singleValue.partiallyApply(known); DecisionTreeFactor f4(AZ, "0 0 1"); - EXPECT(assert_equal(f4,reduced2->operator DecisionTreeFactor())); + EXPECT(assert_equal(f4,reduced2->toDecisionTreeFactor())); // Parial application, version 2 DiscreteFactor::shared_ptr reduced3 = alldiff.partiallyApply(domains); - EXPECT(assert_equal(f3,reduced3->operator DecisionTreeFactor())); + EXPECT(assert_equal(f3,reduced3->toDecisionTreeFactor())); DiscreteFactor::shared_ptr reduced4 = singleValue.partiallyApply(domains); - EXPECT(assert_equal(f4,reduced4->operator DecisionTreeFactor())); + EXPECT(assert_equal(f4,reduced4->toDecisionTreeFactor())); // full arc-consistency test csp.runArcConsistency(nrColors); diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.cpp b/gtsam_unstable/nonlinear/LinearizedFactor.cpp index 2d3d1af72..3b989be6c 100644 --- a/gtsam_unstable/nonlinear/LinearizedFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearizedFactor.cpp @@ -139,7 +139,7 @@ bool LinearizedFactor::equals(const NonlinearFactor& other, double tol) const { return false; KeyMatrixMap::const_iterator map1 = matrices_.begin(), map2 = e->matrices_.begin(); - for (; map1 != matrices_.end(), map2 != e->matrices_.end(); ++map1, ++map2) + for (; map1 != matrices_.end() && map2 != e->matrices_.end(); ++map1, ++map2) if ((map1->first != map2->first) || !equal_with_abs_tol(map1->second, map2->second, tol)) return false; return true; diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 504d958f5..2a4405877 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -61,8 +61,8 @@ public: throw runtime_error("operator * not implemented"); } - virtual operator DecisionTreeFactor() const{ - throw runtime_error("operator DecisionTreeFactor not implemented"); + virtual DecisionTreeFactor toDecisionTreeFactor() const{ + throw runtime_error("DecisionTreeFactor toDecisionTreeFactor not implemented"); } }; From 10b4c87c0731b628398492d5f31b551540afd74f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 22 Jun 2012 21:46:19 +0000 Subject: [PATCH 439/914] Fixed duplicate path warnings. Let me know if this causes problems. Don't know exactly what the problem or correct fix was/is. --- .cproject | 4 ---- 1 file changed, 4 deletions(-) diff --git a/.cproject b/.cproject index 0b06e9601..7cf644612 100644 --- a/.cproject +++ b/.cproject @@ -35,10 +35,6 @@ From 1d95a379b7e0a2f7331c13e9dcf9e7d5ac919e22 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 22 Jun 2012 21:57:46 +0000 Subject: [PATCH 440/914] Fixed compile problem that prevented install --- examples/DiscreteBayesNet_FG.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/DiscreteBayesNet_FG.cpp b/examples/DiscreteBayesNet_FG.cpp index 136346543..6572236a0 100644 --- a/examples/DiscreteBayesNet_FG.cpp +++ b/examples/DiscreteBayesNet_FG.cpp @@ -97,7 +97,7 @@ int main(int argc, char **argv) { DecisionTreeFactor probSW = jointFG.product(); //Step2: Compute P(W) - DecisionTreeFactor probW = *solver.marginalFactor(WetGrass.first); + DiscreteFactor::shared_ptr probW = solver.marginalFactor(WetGrass.first); //Step3: Computer P(S | W=1) = P(S,W=1)/P(W=1) DiscreteFactor::Values values; @@ -105,11 +105,11 @@ int main(int argc, char **argv) { //print P(S=0|W=1) values[Sprinkler.first] = 0; - cout << "P(S=0|W=1) = " << probSW(values)/probW(values) << endl; + cout << "P(S=0|W=1) = " << probSW(values)/(*probW)(values) << endl; //print P(S=1|W=1) values[Sprinkler.first] = 1; - cout << "P(S=1|W=1) = " << probSW(values)/probW(values) << endl; + cout << "P(S=1|W=1) = " << probSW(values)/(*probW)(values) << endl; // TODO: Method 2 : One way is to modify the factor graph to // incorporate the evidence node and compute the marginal From 073369d666925353611e172dda99606eefc23404 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 22:08:48 +0000 Subject: [PATCH 441/914] Moved Doxyfile and DoxygenLayout.xml to doc folder --- Doxyfile => doc/Doxyfile | 28 +++++++++++----------- DoxygenLayout.xml => doc/DoxygenLayout.xml | 0 makedoc.sh | 2 +- 3 files changed, 15 insertions(+), 15 deletions(-) rename Doxyfile => doc/Doxyfile (99%) rename DoxygenLayout.xml => doc/DoxygenLayout.xml (100%) diff --git a/Doxyfile b/doc/Doxyfile similarity index 99% rename from Doxyfile rename to doc/Doxyfile index 2d1dab711..16940c2bd 100644 --- a/Doxyfile +++ b/doc/Doxyfile @@ -52,7 +52,7 @@ PROJECT_LOGO = # If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. -OUTPUT_DIRECTORY = doc +OUTPUT_DIRECTORY = . # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create # 4096 sub-directories (in 2 levels) under the output directory of each output @@ -638,19 +638,19 @@ WARN_LOGFILE = # directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = gtsam/base \ - gtsam/geometry \ - gtsam/inference \ - gtsam/discrete \ - gtsam/linear \ - gtsam/nonlinear \ - gtsam -# gtsam/slam \ -# gtsam_unstable/slam \ -# gtsam_unstable/base \ -# gtsam_unstable/geometry \ -# gtsam_unstable/dynamics \ -# gtsam_unstable +INPUT = ../gtsam/base \ + ../gtsam/geometry \ + ../gtsam/inference \ + ../gtsam/discrete \ + ../gtsam/linear \ + ../gtsam/nonlinear \ + ../gtsam +# ../gtsam/slam \ +# ../gtsam_unstable/slam \ +# ../gtsam_unstable/base \ +# ../gtsam_unstable/geometry \ +# ../gtsam_unstable/dynamics \ +# ../gtsam_unstable # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is diff --git a/DoxygenLayout.xml b/doc/DoxygenLayout.xml similarity index 100% rename from DoxygenLayout.xml rename to doc/DoxygenLayout.xml diff --git a/makedoc.sh b/makedoc.sh index 5acbd3d87..8de348fa5 100755 --- a/makedoc.sh +++ b/makedoc.sh @@ -9,5 +9,5 @@ PATH=$PATH:/Applications/Doxygen.app/Contents/Resources # directory, so that the output 'doc' goes in the gtsam directory. GTSAM_DIR=$(dirname "$0") -cd $GTSAM_DIR +cd $GTSAM_DIR/doc doxygen \ No newline at end of file From 0e46b023746d91c9fed7ae53cb2ab039c25e27e9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 22:51:32 +0000 Subject: [PATCH 442/914] Added >> stream operator to Matrix to easily read from input streams --- gtsam/base/Matrix.cpp | 49 +++++++++++++++++++-------------- gtsam/base/Matrix.h | 2 +- gtsam/base/tests/testMatrix.cpp | 21 ++++++++++++++ 3 files changed, 50 insertions(+), 22 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index e96d5a329..e11263d3b 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include @@ -236,27 +237,33 @@ void save(const Matrix& A, const string &s, const string& filename) { } /* ************************************************************************* */ -//istream& operator>>(istream& inputStream, Matrix& destinationMatrix) { -// destinationMatrix.resize(0,0); -// string line; -// bool first = true; -// while(getline(inputStream, line)) { -// // Read coefficients from file -// vector coeffs; -// std::copy(istream_iterator(stringstream(line)), istream_iterator(), coeffs.end()); -// if(first) { -// destinationMatrix.resize(1, -// } -// if(coeffs.size() != dimLatent()) { -// cout << "Error reading motion file, latent variable dimension does not match file" << endl; -// exit(1); -// } -// -// // Copy coefficients to alignment matrix -// alignment_.conservativeResize(alignment_.rows() + 1, dimLatent()); -// alignment_.row(alignment_.rows() - 1) = Eigen::Map(&coeffs[0], dimLatent()).transpose(); -// } -//} +istream& operator>>(istream& inputStream, Matrix& destinationMatrix) { + string line; + FastList > coeffs; + bool first = true; + size_t width = 0; + size_t height = 0; + while(getline(inputStream, line)) { + // Read coefficients from file + coeffs.push_back(vector()); + if(!first) + coeffs.back().reserve(width); + std::copy(istream_iterator(stringstream(line)), istream_iterator(), + back_insert_iterator >(coeffs.back())); + if(first) + width = coeffs.back().size(); + if(coeffs.size() != width) + throw runtime_error("Error reading matrix from input stream, inconsistent numbers of elements in rows"); + ++ height; + } + + // Copy coefficients to matrix + destinationMatrix.resize(height, width); + int row = 0; + BOOST_FOREACH(const vector& rowVec, coeffs) { + destinationMatrix.row(row) = Eigen::Map(&rowVec[0], width); + } +} /* ************************************************************************* */ void insertSub(Matrix& fullMatrix, const Matrix& subMatrix, size_t i, size_t j) { diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index adb4ee36b..2c13ee7d4 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -188,7 +188,7 @@ void save(const Matrix& A, const std::string &s, const std::string& filename); * tab-, space-, or comma-separated, similar to the format read by the MATLAB * dlmread command. */ -//istream& operator>>(istream& inputStream, Matrix& destinationMatrix); +istream& operator>>(istream& inputStream, Matrix& destinationMatrix); /** * extract submatrix, slice semantics, i.e. range = [i1,i2[ excluding i2 diff --git a/gtsam/base/tests/testMatrix.cpp b/gtsam/base/tests/testMatrix.cpp index abd71bacc..56be42c02 100644 --- a/gtsam/base/tests/testMatrix.cpp +++ b/gtsam/base/tests/testMatrix.cpp @@ -17,6 +17,7 @@ **/ #include +#include #include #include #include @@ -261,6 +262,26 @@ TEST( matrix, insert_sub ) EXPECT(assert_equal(expected, big)); } +/* ************************************************************************* */ +TEST( matrix, stream_read ) { + Matrix expected = Matrix_(3,4, + 1.1, 2.3, 4.2, 7.6, + -0.3, -8e-2, 5.1, 9.0, + 1.2, 3.4, 4.5, 6.7); + + string matrixAsString = + "1.1 2.3 4.2 7.6\n" + "-0.3 -8e-2 5.1 9.0\n\r" // Test extra spaces and windows newlines + "1.2 \t 3.4 4.5 6.7"; // Test tab as separator + + stringstream asStream(matrixAsString, ios::in); + + Matrix actual; + asStream >> actual; + + EXPECT(assert_equal(expected, actual)); +} + /* ************************************************************************* */ TEST( matrix, scale_columns ) { From 5fa1b4b00e1c6e88a9d05e8f3f601b913fd836b9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 22:51:34 +0000 Subject: [PATCH 443/914] Removed spurious print statement --- gtsam/base/tests/testLieMatrix.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/base/tests/testLieMatrix.cpp b/gtsam/base/tests/testLieMatrix.cpp index e4070d338..aad28563c 100644 --- a/gtsam/base/tests/testLieMatrix.cpp +++ b/gtsam/base/tests/testLieMatrix.cpp @@ -50,7 +50,6 @@ TEST( LieMatrix, other_constructors ) { /* ************************************************************************* */ TEST(LieMatrix, retract) { LieMatrix init(2,2, 1.0,2.0,3.0,4.0); - init.print("init: "); Vector update = Vector_(4, 3.0, 4.0, 6.0, 7.0); LieMatrix expected(2,2, 4.0, 6.0, 9.0, 11.0); From b7a13c7061c65ea0b8230454e4d14f3ed6694b2a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 22 Jun 2012 22:51:35 +0000 Subject: [PATCH 444/914] Added >> stream operator to Matrix to easily read from input streams --- gtsam/base/Matrix.cpp | 8 ++++++-- gtsam/base/Matrix.h | 2 +- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp index e11263d3b..1369f13b8 100644 --- a/gtsam/base/Matrix.cpp +++ b/gtsam/base/Matrix.cpp @@ -248,11 +248,12 @@ istream& operator>>(istream& inputStream, Matrix& destinationMatrix) { coeffs.push_back(vector()); if(!first) coeffs.back().reserve(width); - std::copy(istream_iterator(stringstream(line)), istream_iterator(), + stringstream lineStream(line); + std::copy(istream_iterator(lineStream), istream_iterator(), back_insert_iterator >(coeffs.back())); if(first) width = coeffs.back().size(); - if(coeffs.size() != width) + if(coeffs.back().size() != width) throw runtime_error("Error reading matrix from input stream, inconsistent numbers of elements in rows"); ++ height; } @@ -262,7 +263,10 @@ istream& operator>>(istream& inputStream, Matrix& destinationMatrix) { int row = 0; BOOST_FOREACH(const vector& rowVec, coeffs) { destinationMatrix.row(row) = Eigen::Map(&rowVec[0], width); + ++ row; } + + return inputStream; } /* ************************************************************************* */ diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 2c13ee7d4..e113e4cf1 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -188,7 +188,7 @@ void save(const Matrix& A, const std::string &s, const std::string& filename); * tab-, space-, or comma-separated, similar to the format read by the MATLAB * dlmread command. */ -istream& operator>>(istream& inputStream, Matrix& destinationMatrix); +std::istream& operator>>(std::istream& inputStream, Matrix& destinationMatrix); /** * extract submatrix, slice semantics, i.e. range = [i1,i2[ excluding i2 From eecafcebe74f6ed5554e198ca8541031fb6f40f9 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Fri, 22 Jun 2012 23:40:04 +0000 Subject: [PATCH 445/914] Fixing Pose2SLAMwSPCG and make a unittest in testPose2SLAM for optimizeSPCG(). Why does SPCG need a constraint between 2 poses to work? GaussNewton still works fine without the constraint! --- examples/Pose2SLAMwSPCG.cpp | 5 +++++ gtsam/slam/pose2SLAM.cpp | 2 ++ gtsam/slam/tests/testPose2SLAM.cpp | 31 +++++++++++++++++++++++++++++ matlab/tests/testPose2SLAMExample.m | 4 ++++ 4 files changed, 42 insertions(+) diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 53566e7e8..76f51e366 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -85,5 +85,10 @@ int main(void) { cout << "subgraph solver final error = " << graph.error(result) << endl; } + { + Values result = graph.optimizeSPCG(initialEstimate); + result.print("\nFinal result:\n"); + } + return 0 ; } diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index 110a50551..c0a63e53d 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -15,6 +15,7 @@ * @author Frank Dellaert **/ +#include #include #include @@ -88,6 +89,7 @@ namespace pose2SLAM { Values Graph::optimizeSPCG(const Values& initialEstimate) const { LevenbergMarquardtParams params; params.linearSolverType = SuccessiveLinearizationParams::CG; + params.iterativeParams = boost::make_shared(); return LevenbergMarquardtOptimizer(*this, initialEstimate, params).optimize(); } diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 96f5dad03..923a67031 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include #include using namespace gtsam; @@ -190,6 +191,36 @@ TEST_UNSAFE(Pose2SLAM, optimize) { EQUALITY(expectedP1, actualP1); } +/* ************************************************************************* */ +TEST_UNSAFE(Pose2SLAM, optimizeSPCG) { + + // create a Pose graph with one equality constraint and one measurement + pose2SLAM::Graph fg; + fg.addPrior(0, Pose2(0,0,0), noiseModel::Diagonal::Sigmas(Vector_(3,3.0,3.0,1.0))); + fg.addOdometry(0, 1, Pose2(1,2,M_PI_2), covariance); + + // [Duy] For some unknown reason, SPCG needs this constraint to work. GaussNewton doesn't need this. + fg.addConstraint(0, 1, Pose2(1,2,M_PI_2), noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1))); + + // Create initial config + Values initial; + initial.insert(0, Pose2(0,0,0)); + initial.insert(1, Pose2(0,0,0)); + + // Optimize using SPCG + Values actual = fg.optimizeSPCG(initial); + + // Try GaussNewton without the above constraint to see if the problem is underconstrained. Still works! + Values actual2 = GaussNewtonOptimizer(fg, initial).optimize(); + + // Check with expected config + Values expected; + expected.insert(0, Pose2(0,0,0)); + expected.insert(1, Pose2(1,2,M_PI_2)); + CHECK(assert_equal(expected, actual)); + CHECK(assert_equal(expected, actual2)); +} + /* ************************************************************************* */ // test optimization with 3 poses, note we use plain Keys here, not symbols TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) { diff --git a/matlab/tests/testPose2SLAMExample.m b/matlab/tests/testPose2SLAMExample.m index bf4f261e7..707089fea 100644 --- a/matlab/tests/testPose2SLAMExample.m +++ b/matlab/tests/testPose2SLAMExample.m @@ -49,6 +49,7 @@ initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate); +resultSPCG = graph.optimizeSPCG(initialEstimate); %% Plot Covariance Ellipses marginals = graph.marginals(result); @@ -57,4 +58,7 @@ P = marginals.marginalCovariance(1); pose_1 = result.pose(1); CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); +poseSPCG_1 = resultSPCG.pose(1); +CHECK('poseSPCG_1.equals(gtsamPose2,1e-4)',poseSPCG_1.equals(gtsamPose2,1e-4)); + From 9b473023e65c9fe6ffe52663d398e94087a04fc6 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 23 Jun 2012 18:12:15 +0000 Subject: [PATCH 446/914] Fixed warnings --- .cproject | 354 +++++++++++----------- gtsam/base/cholesky.cpp | 1 - gtsam/linear/JacobianFactor.cpp | 12 +- gtsam/linear/tests/testJacobianFactor.cpp | 8 +- gtsam/slam/GeneralSFMFactor.h | 2 +- gtsam/slam/ProjectionFactor.h | 2 +- 6 files changed, 188 insertions(+), 191 deletions(-) diff --git a/.cproject b/.cproject index 7cf644612..9e4d462a1 100644 --- a/.cproject +++ b/.cproject @@ -307,6 +307,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -333,7 +341,6 @@ make - tests/testBayesTree.run true false @@ -341,7 +348,6 @@ make - testBinaryBayesNet.run true false @@ -389,7 +395,6 @@ make - testSymbolicBayesNet.run true false @@ -397,7 +402,6 @@ make - tests/testSymbolicFactor.run true false @@ -405,7 +409,6 @@ make - testSymbolicFactorGraph.run true false @@ -421,20 +424,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -523,22 +517,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -555,6 +533,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -579,26 +573,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -683,26 +677,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -957,7 +951,6 @@ make - testGraph.run true false @@ -965,7 +958,6 @@ make - testJunctionTree.run true false @@ -973,7 +965,6 @@ make - testSymbolicBayesNetB.run true false @@ -1101,7 +1092,6 @@ make - testErrors.run true false @@ -1557,6 +1547,7 @@ make + testSimulated2DOriented.run true false @@ -1596,6 +1587,7 @@ make + testSimulated2D.run true false @@ -1603,6 +1595,7 @@ make + testSimulated3D.run true false @@ -1818,6 +1811,7 @@ make + tests/testGaussianISAM2 true false @@ -1839,6 +1833,102 @@ 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 -j2 @@ -1857,10 +1947,10 @@ make - -j5 + -j2 check true - true + false true @@ -2040,7 +2130,6 @@ cpack - -G DEB true false @@ -2048,7 +2137,6 @@ cpack - -G RPM true false @@ -2056,7 +2144,6 @@ cpack - -G TGZ true false @@ -2064,7 +2151,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2158,98 +2244,50 @@ 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 + -j5 check true true true - + make - -j2 - clean + -j5 + testSpirit.run true true true - + make - -j2 - testPoint2.run + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap true true true @@ -2293,46 +2331,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 2f93fc0fa..86114f4d8 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -32,7 +32,6 @@ namespace gtsam { static const double negativePivotThreshold = -1e-1; static const double zeroPivotThreshold = 1e-6; static const double underconstrainedPrior = 1e-5; - static const bool dampUnderconstrained = false; /* ************************************************************************* */ static inline bool choleskyStep(Matrix& ATA, size_t k, size_t order) { diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 417548ed5..f2cea028e 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -95,7 +95,7 @@ namespace gtsam { const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t dims[] = { A1.cols(), 1}; @@ -110,7 +110,7 @@ namespace gtsam { const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1,i2), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t dims[] = { A1.cols(), A2.cols(), 1}; @@ -126,7 +126,7 @@ namespace gtsam { Index i3, const Matrix& A3, const Vector& b, const SharedDiagonal& model) : GaussianFactor(i1,i2,i3), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t dims[] = { A1.cols(), A2.cols(), A3.cols(), 1}; @@ -145,7 +145,7 @@ namespace gtsam { model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t* dims = (size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. @@ -166,7 +166,7 @@ namespace gtsam { model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { - if(model->dim() != b.size()) + if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); size_t* dims=(size_t*)alloca(sizeof(size_t)*(terms.size()+1)); // FIXME: alloca is bad, just ask Google. @@ -563,7 +563,7 @@ namespace gtsam { /* ************************************************************************* */ void JacobianFactor::setModel(bool anyConstrained, const Vector& sigmas) { - if(sigmas.size() != this->rows()) + if((size_t) sigmas.size() != this->rows()) throw InvalidNoiseModel(this->rows(), sigmas.size()); if (anyConstrained) model_ = noiseModel::Constrained::MixedSigmas(sigmas); diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index af1d02d1f..9b6071935 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -26,11 +26,9 @@ using namespace std; using namespace gtsam; -static const Index _x0_=0, _x1_=1, _x2_=2, _x3_=3, _x4_=4, _x_=5, _y_=6, _l1_=7, _l11_=8; +static const Index _x0_=0, _x1_=1, _x2_=2, _x_=5, _y_=6, _l11_=8; -static SharedDiagonal - sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), - constraintModel = noiseModel::Constrained::All(2); +static SharedDiagonal constraintModel = noiseModel::Constrained::All(2); /* ************************************************************************* */ TEST(JacobianFactor, constructor) @@ -140,6 +138,8 @@ TEST(JacobianFactor, error) { #ifdef BROKEN TEST(JacobianFactor, operators ) { + SharedDiagonal sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1); + Matrix I = eye(2); Vector b = Vector_(2,0.2,-0.1); JacobianFactor lf(_x1_, -I, _x2_, I, b, sigma0_1); diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index f4615c334..9d04a2c96 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -97,8 +97,8 @@ namespace gtsam { if (H2) *H2 = zeros(2, point.dim()); // cout << e.what() << ": Landmark "<< this->key2_.index() // << " behind Camera " << this->key1_.index() << endl; - return zero(2); } + return zero(2); } /** return the measured */ diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 1b1aeb57b..e607809b0 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -101,8 +101,8 @@ namespace gtsam { if (H2) *H2 = zeros(2,3); std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; - return ones(2) * 2.0 * K_->fx(); } + return ones(2) * 2.0 * K_->fx(); } /** return the measurement */ From 188478e4edff4709c235d10264ddb52040495a0e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 23 Jun 2012 19:24:57 +0000 Subject: [PATCH 447/914] make targets for cleaning wrap, comments in gtsam.h --- .cproject | 32 ++++++++++++++++++++++++++++++++ gtsam.h | 1 + 2 files changed, 33 insertions(+) diff --git a/.cproject b/.cproject index 9e4d462a1..7feaf903a 100644 --- a/.cproject +++ b/.cproject @@ -2252,6 +2252,38 @@ true true + + make + -j5 + wrap_gtsam_distclean + true + true + true + + + make + -j5 + wrap_gtsam_unstable_distclean + true + true + true + + + make + -j5 + wrap_gtsam_clean + true + true + true + + + make + -j5 + wrap_gtsam_unstable_clean + true + true + true + make -j5 diff --git a/gtsam.h b/gtsam.h index 78607651b..6fa694330 100644 --- a/gtsam.h +++ b/gtsam.h @@ -16,6 +16,7 @@ * Limitations on methods * - Parsing does not support overloading * - There can only be one method (static or otherwise) with a given name + * - Constness has no effect * Methods must start with a lowercase letter * Static methods must start with a letter (upper or lowercase) and use the "static" keyword * Arguments to functions any of From 5acc52bbae09b4d26eb2dca80367fcd07d50a500 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sat, 23 Jun 2012 20:07:03 +0000 Subject: [PATCH 448/914] add set/get interface for LMParameters in c++ and matlab --- gtsam.h | 9 ++++ .../nonlinear/LevenbergMarquardtOptimizer.cpp | 41 +++++++++++++++++++ gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 21 ++++++---- gtsam/nonlinear/NonlinearOptimizer.cpp | 40 +++++++++++++++++- gtsam/nonlinear/NonlinearOptimizer.h | 26 +++++++----- matlab/examples/SFMExample.m | 10 ++--- 6 files changed, 123 insertions(+), 24 deletions(-) diff --git a/gtsam.h b/gtsam.h index 6fa694330..8e0aa522a 100644 --- a/gtsam.h +++ b/gtsam.h @@ -961,6 +961,15 @@ class LevenbergMarquardtParams { LevenbergMarquardtParams(); LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose); void print(string s) const; + double getlambdaInitial() const ; + double getlambdaFactor() const ; + double getlambdaUpperBound() const; + string getVerbosityLM() const ; + + void setlambdaInitial(double value); + void setlambdaFactor(double value); + void setlambdaUpperBound(double value); + void setVerbosityLM(string s); }; }///\namespace gtsam diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 5847986be..15c2262fa 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -25,11 +25,52 @@ #include #include #include +#include +#include using namespace std; namespace gtsam { +/* ************************************************************************* */ +LevenbergMarquardtParams::VerbosityLM LevenbergMarquardtParams::verbosityLMTranslator(const std::string &src) const { + std::string s = src; boost::algorithm::to_upper(s); + if (s == "SILENT") return LevenbergMarquardtParams::SILENT; + if (s == "LAMBDA") return LevenbergMarquardtParams::LAMBDA; + if (s == "TRYLAMBDA") return LevenbergMarquardtParams::TRYLAMBDA; + if (s == "TRYCONFIG") return LevenbergMarquardtParams::TRYCONFIG; + if (s == "TRYDELTA") return LevenbergMarquardtParams::TRYDELTA; + if (s == "DAMPED") return LevenbergMarquardtParams::DAMPED; + + /* default is silent */ + return LevenbergMarquardtParams::SILENT; +} + +/* ************************************************************************* */ +std::string LevenbergMarquardtParams::verbosityLMTranslator(VerbosityLM value) const { + std::string s; + switch (value) { + case LevenbergMarquardtParams::SILENT: s = "SILENT" ; break; + case LevenbergMarquardtParams::LAMBDA: s = "LAMBDA" ; break; + case LevenbergMarquardtParams::TRYLAMBDA: s = "TRYLAMBDA" ; break; + case LevenbergMarquardtParams::TRYCONFIG: s = "TRYCONFIG" ; break; + case LevenbergMarquardtParams::TRYDELTA: s = "TRYDELTA" ; break; + case LevenbergMarquardtParams::DAMPED: s = "DAMPED" ; break; + default: s = "UNDEFINED" ; break; + } + return s; +} + +/* ************************************************************************* */ +void LevenbergMarquardtParams::print(const std::string& str) const { + SuccessiveLinearizationParams::print(str); + std::cout << " lambdaInitial: " << lambdaInitial << "\n"; + std::cout << " lambdaFactor: " << lambdaFactor << "\n"; + std::cout << " lambdaUpperBound: " << lambdaUpperBound << "\n"; + std::cout << " verbosityLM: " << verbosityLMTranslator(verbosityLM) << "\n"; + std::cout.flush(); +} + /* ************************************************************************* */ void LevenbergMarquardtOptimizer::iterate() { diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 231df9f4e..f5e4195da 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -53,15 +53,20 @@ public: lambdaInitial(initial), lambdaFactor(factor), lambdaUpperBound(bound), verbosityLM(VerbosityLM(verbose)) {} virtual ~LevenbergMarquardtParams() {} + virtual void print(const std::string& str = "") const; - virtual void print(const std::string& str = "") const { - SuccessiveLinearizationParams::print(str); - std::cout << " lambdaInitial: " << lambdaInitial << "\n"; - std::cout << " lambdaFactor: " << lambdaFactor << "\n"; - std::cout << " lambdaUpperBound: " << lambdaUpperBound << "\n"; - std::cout << " verbosityLM: " << verbosityLM << "\n"; - std::cout.flush(); - } + inline double getlambdaInitial() const { return lambdaInitial; } + inline double getlambdaFactor() const { return lambdaFactor; } + inline double getlambdaUpperBound() const { return lambdaUpperBound; } + inline std::string getVerbosityLM() const { return verbosityLMTranslator(verbosityLM); } + + inline void setlambdaInitial(double value) { lambdaInitial = value; } + inline void setlambdaFactor(double value) { lambdaFactor = value; } + inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; } + inline void setVerbosityLM(const std::string &s) { verbosityLM = verbosityLMTranslator(s); } + + VerbosityLM verbosityLMTranslator(const std::string &s) const; + std::string verbosityLMTranslator(VerbosityLM value) const; }; /** diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index 76d1fe573..5f2f2d7d4 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -19,11 +19,49 @@ #include #include #include - +#include using namespace std; namespace gtsam { +/* ************************************************************************* */ +NonlinearOptimizerParams::Verbosity NonlinearOptimizerParams::verbosityTranslator(const std::string &src) const { + std::string s = src; boost::algorithm::to_upper(s); + if (s == "SILENT") return NonlinearOptimizerParams::SILENT; + if (s == "ERROR") return NonlinearOptimizerParams::ERROR; + if (s == "VALUES") return NonlinearOptimizerParams::VALUES; + if (s == "DELTA") return NonlinearOptimizerParams::DELTA; + if (s == "LINEAR") return NonlinearOptimizerParams::LINEAR; + + /* default is silent */ + return NonlinearOptimizerParams::SILENT; +} + +/* ************************************************************************* */ +std::string NonlinearOptimizerParams::verbosityTranslator(Verbosity value) const { + std::string s; + switch (value) { + case NonlinearOptimizerParams::SILENT: s = "SILENT"; break; + case NonlinearOptimizerParams::ERROR: s = "ERROR"; break; + case NonlinearOptimizerParams::VALUES: s = "VALUES"; break; + case NonlinearOptimizerParams::DELTA: s = "DELTA"; break; + case NonlinearOptimizerParams::LINEAR: s = "LINEAR"; break; + default: s = "UNDEFINED"; break; + } + return s; +} + +/* ************************************************************************* */ +void NonlinearOptimizerParams::print(const std::string& str) const { + std::cout << str << "\n"; + std::cout << "relative decrease threshold: " << relativeErrorTol << "\n"; + std::cout << "absolute decrease threshold: " << absoluteErrorTol << "\n"; + std::cout << " total error threshold: " << errorTol << "\n"; + std::cout << " maximum iterations: " << maxIterations << "\n"; + std::cout << " verbosity: " << verbosityTranslator(verbosity) << "\n"; + std::cout.flush(); +} + /* ************************************************************************* */ void NonlinearOptimizer::defaultOptimize() { diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h index 2483aa800..8a7670f85 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.h +++ b/gtsam/nonlinear/NonlinearOptimizer.h @@ -48,18 +48,24 @@ public: maxIterations(100.0), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), errorTol(0.0), verbosity(SILENT) {} - virtual void print(const std::string& str = "") const { - std::cout << str << "\n"; - std::cout << "relative decrease threshold: " << relativeErrorTol << "\n"; - std::cout << "absolute decrease threshold: " << absoluteErrorTol << "\n"; - std::cout << " total error threshold: " << errorTol << "\n"; - std::cout << " maximum iterations: " << maxIterations << "\n"; - std::cout << " verbosity level: " << verbosity << std::endl; - } - virtual ~NonlinearOptimizerParams() {} -}; + virtual void print(const std::string& str = "") const ; + inline double getMaxIterations() const { return maxIterations; } + inline double getRelativeErrorTol() const { return relativeErrorTol; } + inline double getAbsoluteErrorTol() const { return absoluteErrorTol; } + inline double getErrorTol() const { return errorTol; } + inline std::string getVerbosity() const { return verbosityTranslator(verbosity); } + + inline void setMaxIterations(double value) { maxIterations = value; } + inline void setRelativeErrorTol(double value) { relativeErrorTol = value; } + inline void setAbsoluteErrorTol(double value) { absoluteErrorTol = value; } + inline void setErrorTol(double value) { errorTol = value ; } + inline void setVerbosity(const std::string &src) { verbosity = verbosityTranslator(src); } + + Verbosity verbosityTranslator(const std::string &s) const; + std::string verbosityTranslator(Verbosity value) const; +}; /** * Base class for a nonlinear optimization state, including the current estimate diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 8aa0105b2..34682e1e6 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -61,14 +61,14 @@ for j=1:size(truth.points,2) end initialEstimate.print(sprintf('\nInitial estimate:\n ')); -%% One-shot Optimize using Levenberg-Marquardt optimization with an ordering from colamd -%result = graph.optimize(initialEstimate,1); -%result.print(sprintf('\nFinal result:\n ')); - %% Fine grain optimization, allowing user to iterate step by step -parameters = gtsamLevenbergMarquardtParams(1e-5, 1e-5, 0, 2); +parameters = gtsamLevenbergMarquardtParams(1e-5, 1e-5, 0, 0); +parameters.setlambdaInitial(1.0); +parameters.setVerbosityLM('trylambda'); + optimizer = graph.optimizer(initialEstimate, parameters); + for i=1:5 optimizer.iterate(); end From 2d0ce1c3cae0c8c33207554e0b13144239fdc2d1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 24 Jun 2012 02:48:12 +0000 Subject: [PATCH 449/914] Streamlining of SLAM namespaces: planarSLAM Values and Graph now derive from Pose3SLAM. visualSLAM Values and Graph now derive from pose3SLAM. Several methods have been renamed to make them consistent through these 4 namespaces: addPrior -> addPosePrior addHardConstraint -> addPoseConstraint addOdometry/addConstraint -> addRelativePose All gtsam and matlab examples/tests run. PS: please don't use the deprecated typedefs in these namespaces. --- examples/LocalizationExample.cpp | 4 +- examples/OdometryExample.cpp | 6 +- examples/PlanarSLAMExample.cpp | 6 +- examples/Pose2SLAMExample.cpp | 12 +- examples/Pose2SLAMExample_advanced.cpp | 6 +- examples/Pose2SLAMExample_graph.cpp | 2 +- examples/Pose2SLAMwSPCG.cpp | 12 +- examples/VisualISAMExample.cpp | 4 +- gtsam.h | 103 ++++++----- gtsam/slam/dataset.cpp | 6 +- gtsam/slam/planarSLAM.cpp | 38 ++--- gtsam/slam/planarSLAM.h | 73 +++----- gtsam/slam/pose2SLAM.cpp | 61 +++---- gtsam/slam/pose2SLAM.h | 47 +++-- gtsam/slam/pose3SLAM.cpp | 57 +++---- gtsam/slam/pose3SLAM.h | 87 +++++++--- gtsam/slam/tests/testAntiFactor.cpp | 6 +- gtsam/slam/tests/testPlanarSLAM.cpp | 18 +- gtsam/slam/tests/testPose2SLAM.cpp | 55 +++--- gtsam/slam/tests/testPose3SLAM.cpp | 16 +- gtsam/slam/tests/testProjectionFactor.cpp | 14 +- gtsam/slam/tests/testStereoFactor.cpp | 6 +- gtsam/slam/visualSLAM.cpp | 78 ++------- gtsam/slam/visualSLAM.h | 161 +++++------------- .../{examples => }/VisualISAMGenerateData.m | 0 matlab/VisualISAMInitialize.m | 2 +- matlab/VisualISAMStep.m | 2 +- matlab/examples/LocalizationExample.m | 15 +- matlab/examples/OdometryExample.m | 11 +- matlab/examples/PlanarSLAMExample.m | 8 +- matlab/examples/PlanarSLAMExample_sampling.m | 6 +- matlab/examples/Pose2SLAMExample.m | 17 +- matlab/examples/Pose2SLAMExample_advanced.m | 8 +- matlab/examples/Pose2SLAMExample_circle.m | 12 +- matlab/examples/Pose2SLAMExample_graph.m | 2 +- matlab/examples/Pose2SLAMwSPCG.m | 2 +- matlab/examples/Pose3SLAMExample.m | 19 ++- matlab/examples/StereoVOExample.m | 10 +- matlab/load3D.m | 2 +- matlab/plot3DTrajectory.m | 3 +- matlab/tests/testLocalizationExample.m | 8 +- matlab/tests/testOdometryExample.m | 8 +- matlab/tests/testPlanarSLAMExample.m | 8 +- matlab/tests/testPose2SLAMExample.m | 16 +- matlab/tests/testPose3SLAMExample.m | 16 +- tests/testGaussianISAM2.cpp | 72 ++++---- tests/testGaussianJunctionTreeB.cpp | 14 +- tests/testGradientDescentOptimizer.cpp | 12 +- tests/testGraph.cpp | 6 +- tests/testInferenceB.cpp | 6 +- tests/testNonlinearISAM.cpp | 2 +- tests/testNonlinearOptimizer.cpp | 2 +- tests/testOccupancyGrid.cpp | 4 +- tests/timeMultifrontalOnDataset.cpp | 2 +- tests/timeSequentialOnDataset.cpp | 2 +- 55 files changed, 523 insertions(+), 652 deletions(-) rename matlab/{examples => }/VisualISAMGenerateData.m (100%) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index 39f8de8a6..21fb36860 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -65,8 +65,8 @@ int main(int argc, char** argv) { // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addOdometry(1, 2, odometry, odometryNoise); - graph.addOdometry(2, 3, odometry, odometryNoise); + graph.addRelativePose(1, 2, odometry, odometryNoise); + graph.addRelativePose(2, 3, odometry, odometryNoise); // add unary measurement factors, like GPS, on all three poses SharedDiagonal noiseModel = Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 87844dfbc..36ad5f228 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -42,13 +42,13 @@ int main(int argc, char** argv) { // add a Gaussian prior on pose x_1 Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPrior(1, priorMean, priorNoise); // add directly to graph + graph.addPosePrior(1, priorMean, priorNoise); // add directly to graph // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addOdometry(1, 2, odometry, odometryNoise); - graph.addOdometry(2, 3, odometry, odometryNoise); + graph.addRelativePose(1, 2, odometry, odometryNoise); + graph.addRelativePose(2, 3, odometry, odometryNoise); // print graph.print("\nFactor graph:\n"); diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index 2d739416a..f05ffa9b2 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -46,13 +46,13 @@ int main(int argc, char** argv) { // add a Gaussian prior on pose x_1 Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPrior(i1, priorMean, priorNoise); // add directly to graph + graph.addPosePrior(i1, priorMean, priorNoise); // add directly to graph // add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addOdometry(i1, i2, odometry, odometryNoise); - graph.addOdometry(i2, i3, odometry, odometryNoise); + graph.addRelativePose(i1, i2, odometry, odometryNoise); + graph.addRelativePose(i2, i3, odometry, odometryNoise); // create a noise model for the landmark measurements SharedDiagonal measurementNoise = Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index 61bdb1bda..0777301ea 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -32,18 +32,18 @@ int main(int argc, char** argv) { // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - graph.addPrior(1, priorMean, priorNoise); + graph.addPosePrior(1, priorMean, priorNoise); // 2b. Add odometry factors SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise); - graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise); + graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint SharedDiagonal model = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), model); + graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), model); // print graph.print("\nFactor graph:\n"); diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp index f727e27e2..b5fcddfcf 100644 --- a/examples/Pose2SLAMExample_advanced.cpp +++ b/examples/Pose2SLAMExample_advanced.cpp @@ -38,13 +38,13 @@ int main(int argc, char** argv) { /* 2.a add prior */ Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPrior(1, priorMean, priorNoise); // add directly to graph + graph.addPosePrior(1, priorMean, priorNoise); // add directly to graph /* 2.b add odometry */ SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - graph.addOdometry(1, 2, odometry, odometryNoise); - graph.addOdometry(2, 3, odometry, odometryNoise); + graph.addRelativePose(1, 2, odometry, odometryNoise); + graph.addRelativePose(2, 3, odometry, odometryNoise); graph.print("full graph"); /* 3. Create the data structure to hold the initial estimate to the solution diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp index 4dcdbea08..d27e184d8 100644 --- a/examples/Pose2SLAMExample_graph.cpp +++ b/examples/Pose2SLAMExample_graph.cpp @@ -39,7 +39,7 @@ int main(int argc, char** argv) { // Add a Gaussian prior on first poses Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.01, 0.01, 0.01)); - graph->addPrior(0, priorMean, priorNoise); + graph->addPosePrior(0, priorMean, priorNoise); // Single Step Optimization using Levenberg-Marquardt pose2SLAM::Values result = graph->optimize(*initial); diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 76f51e366..e2f3801f7 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -37,18 +37,18 @@ int main(void) { // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - graph.addPrior(1, priorMean, priorNoise); + graph.addPosePrior(1, priorMean, priorNoise); // 2b. Add odometry factors SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); - graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); + graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint SharedDiagonal constraintUncertainty = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); // print graph.print("\nFactor graph:\n"); diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index c2f6f5d5b..25e993bca 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -54,7 +54,7 @@ int main(int argc, char* argv[]) { newFactors.addPosePrior(X(0), data.poses[0], data.noiseX); // Second pose with odometry measurement - newFactors.addOdometry(X(0), X(1), data.odometry, data.noiseX); + newFactors.addRelativePose(X(0), X(1), data.odometry, data.noiseX); // Visual measurements at both poses for (size_t i=0; i<2; ++i) { @@ -85,7 +85,7 @@ int main(int argc, char* argv[]) { visualSLAM::Graph newFactors; // Factor for odometry measurements, simulated by adding Gaussian noise to the ground-truth. Pose3 odoMeasurement = data.odometry; - newFactors.addOdometry(X(i-1), X(i), data.odometry, data.noiseX); + newFactors.addRelativePose(X(i-1), X(i), data.odometry, data.noiseX); // Factors for visual measurements for (size_t j=0; j load2D( poses->insert(id2, poses->at(id1) * l1Xl2); pose2SLAM::Graph::sharedFactor factor( - new pose2SLAM::Odometry(id1, id2, l1Xl2, *model)); + new BetweenFactor(id1, id2, l1Xl2, *model)); graph->push_back(factor); } is.ignore(LINESIZE, '\n'); @@ -189,8 +189,8 @@ void save2D(const pose2SLAM::Graph& graph, const Values& config, Matrix RR = trans(R) * R; //prod(trans(R),R); BOOST_FOREACH(boost::shared_ptr factor_, graph) { - boost::shared_ptr factor = - boost::dynamic_pointer_cast(factor_); + boost::shared_ptr > factor = + boost::dynamic_pointer_cast >(factor_); if (!factor) continue; diff --git a/gtsam/slam/planarSLAM.cpp b/gtsam/slam/planarSLAM.cpp index e385cb66f..20c149b66 100644 --- a/gtsam/slam/planarSLAM.cpp +++ b/gtsam/slam/planarSLAM.cpp @@ -22,49 +22,39 @@ namespace planarSLAM { /* ************************************************************************* */ - Graph::Graph(const NonlinearFactorGraph& graph) : - NonlinearFactorGraph(graph) {} - - /* ************************************************************************* */ - void Graph::addPrior(Key i, const Pose2& p, const SharedNoiseModel& model) { - sharedFactor factor(new Prior(i, p, model)); - push_back(factor); + Matrix Values::points() const { + size_t j=0; + ConstFiltered points = filter(); + Matrix result(points.size(),2); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, points) + result.row(j++) = keyValue.value.vector(); + return result; } /* ************************************************************************* */ - void Graph::addPoseConstraint(Key i, const Pose2& p) { - sharedFactor factor(new Constraint(i, p)); - push_back(factor); + void Graph::addPointConstraint(Key pointKey, const Point2& p) { + push_back(boost::make_shared >(pointKey, p)); } /* ************************************************************************* */ - void Graph::addOdometry(Key i1, Key i2, const Pose2& odometry, const SharedNoiseModel& model) { - sharedFactor factor(new Odometry(i1, i2, odometry, model)); - push_back(factor); + void Graph::addPointPrior(Key pointKey, const Point2& p, const SharedNoiseModel& model) { + push_back(boost::make_shared >(pointKey, p, model)); } /* ************************************************************************* */ void Graph::addBearing(Key i, Key j, const Rot2& z, const SharedNoiseModel& model) { - sharedFactor factor(new Bearing(i, j, z, model)); - push_back(factor); + push_back(boost::make_shared >(i, j, z, model)); } /* ************************************************************************* */ void Graph::addRange(Key i, Key j, double z, const SharedNoiseModel& model) { - sharedFactor factor(new Range(i, j, z, model)); - push_back(factor); + push_back(boost::make_shared >(i, j, z, model)); } /* ************************************************************************* */ void Graph::addBearingRange(Key i, Key j, const Rot2& z1, double z2, const SharedNoiseModel& model) { - sharedFactor factor(new BearingRange(i, j, z1, z2, model)); - push_back(factor); - } - - /* ************************************************************************* */ - Values Graph::optimize(const Values& initialEstimate) const { - return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); + push_back(boost::make_shared >(i, j, z1, z2, model)); } /* ************************************************************************* */ diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h index aecd22b75..aeb38794e 100644 --- a/gtsam/slam/planarSLAM.h +++ b/gtsam/slam/planarSLAM.h @@ -17,6 +17,7 @@ #pragma once +#include #include #include #include @@ -33,75 +34,50 @@ namespace planarSLAM { using namespace gtsam; /* - * List of typedefs for factors - */ - - /// A hard constraint for poses to enforce particular values - typedef NonlinearEquality Constraint; - /// A prior factor to bias the value of a pose - typedef PriorFactor Prior; - /// A factor between two poses set with a Pose2 - typedef BetweenFactor Odometry; - /// A factor between a pose and a point to express difference in rotation (set with a Rot2) - typedef BearingFactor Bearing; - /// A factor between a pose and a point to express distance between them (set with a double) - typedef RangeFactor Range; - /// A factor between a pose and a point to express difference in rotation and location - typedef BearingRangeFactor BearingRange; - - /* - * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + * Values class, inherited from pose2SLAM::Values, mainly used as a convenience for MATLAB wrapper * @addtogroup SLAM */ - struct Values: public gtsam::Values { + struct Values: public pose2SLAM::Values { /// Default constructor Values() {} /// Copy constructor Values(const gtsam::Values& values) : - gtsam::Values(values) { + pose2SLAM::Values(values) { } - /// get a pose - Pose2 pose(Key i) const { return at(i); } - /// get a point Point2 point(Key j) const { return at(j); } - /// insert a pose - void insertPose(Key i, const Pose2& pose) { insert(i, pose); } - /// insert a point void insertPoint(Key j, const Point2& point) { insert(j, point); } - /// update a pose - void updatePose(Key i, const Pose2& pose) { update(i, pose); } - /// update a point void updatePoint(Key j, const Point2& point) { update(j, point); } + + /// get all [x,y] coordinates in a 2*n matrix + Matrix points() const; }; /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper * @addtogroup SLAM */ - struct Graph: public NonlinearFactorGraph { + struct Graph: public pose2SLAM::Graph { /// Default constructor for a NonlinearFactorGraph Graph(){} /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph); + Graph(const NonlinearFactorGraph& graph): + pose2SLAM::Graph(graph) {} - /// Biases the value of pose key with Pose2 p given a noise model - void addPrior(Key i, const Pose2& pose, const SharedNoiseModel& noiseModel); + /// Creates a hard constraint on a point + void addPointConstraint(Key j, const Point2& p); - /// Creates a hard constraint on the ith pose - void addPoseConstraint(Key i, const Pose2& pose); - - /// Creates an odometry factor between poses with keys i1 and i2 - void addOdometry(Key i1, Key i2, const Pose2& odometry, const SharedNoiseModel& model); + /// Adds a prior with mean p and given noise model on point j + void addPointPrior(Key j, const Point2& p, const SharedNoiseModel& model); /// Creates a bearing measurement from pose i to point j void addBearing(Key i, Key j, const Rot2& bearing, const SharedNoiseModel& model); @@ -111,16 +87,21 @@ namespace planarSLAM { /// Creates a range/bearing measurement from pose i to point j void addBearingRange(Key i, Key j, const Rot2& bearing, double range, const SharedNoiseModel& model); - - /// Optimize - Values optimize(const Values& initialEstimate) const; - - /// Return a Marginals object - Marginals marginals(const Values& solution) const { - return Marginals(*this,solution); - } }; } // planarSLAM +/** + * Backwards compatibility and wrap use only, avoid using + */ +namespace planarSLAM { + typedef gtsam::NonlinearEquality Constraint; ///< \deprecated typedef for backwards compatibility + typedef gtsam::PriorFactor Prior; ///< \deprecated typedef for backwards compatibility + typedef gtsam::BetweenFactor Odometry; ///< \deprecated typedef for backwards compatibility + typedef gtsam::BearingFactor Bearing; ///< \deprecated typedef for backwards compatibility + typedef gtsam::RangeFactor Range; ///< \deprecated typedef for backwards compatibility + typedef gtsam::BearingRangeFactor BearingRange; ///< \deprecated typedef for backwards compatibility +} + + diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp index c0a63e53d..9607448c7 100644 --- a/gtsam/slam/pose2SLAM.cpp +++ b/gtsam/slam/pose2SLAM.cpp @@ -17,7 +17,6 @@ #include #include -#include // Use pose2SLAM namespace for specific SLAM instance @@ -33,67 +32,53 @@ namespace pose2SLAM { } /* ************************************************************************* */ - Vector Values::xs() const { + Matrix Values::poses() const { size_t j=0; - Vector result(size()); ConstFiltered poses = filter(); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.x(); + Matrix result(poses.size(),3); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) { + const Pose2& r = keyValue.value; + result.row(j++) = Matrix_(1,3, r.x(), r.y(), r.theta()); + } return result; } - /* ************************************************************************* */ - Vector Values::ys() const { - size_t j=0; - Vector result(size()); - ConstFiltered poses = filter(); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.y(); - return result; - } - - /* ************************************************************************* */ - Vector Values::thetas() const { - size_t j=0; - Vector result(size()); - ConstFiltered poses = filter(); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.theta (); - return result; - } - - /* ************************************************************************* */ - void Graph::addPrior(Key i, const Pose2& p, const SharedNoiseModel& model) { - sharedFactor factor(new Prior(i, p, model)); - push_back(factor); - } - /* ************************************************************************* */ void Graph::addPoseConstraint(Key i, const Pose2& p) { - sharedFactor factor(new HardConstraint(i, p)); + sharedFactor factor(new NonlinearEquality(i, p)); push_back(factor); } /* ************************************************************************* */ - void Graph::addOdometry(Key i1, Key i2, const Pose2& z, + void Graph::addPosePrior(Key i, const Pose2& p, const SharedNoiseModel& model) { + sharedFactor factor(new PriorFactor(i, p, model)); + push_back(factor); + } + + /* ************************************************************************* */ + void Graph::addRelativePose(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model) { - sharedFactor factor(new Odometry(i1, i2, z, model)); + sharedFactor factor(new BetweenFactor(i1, i2, z, model)); push_back(factor); } /* ************************************************************************* */ - Values Graph::optimize(const Values& initialEstimate) const { - return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); + Values Graph::optimize(const Values& initialEstimate, size_t verbosity) const { + LevenbergMarquardtParams params; + params.verbosity = (NonlinearOptimizerParams::Verbosity)verbosity; + LevenbergMarquardtOptimizer optimizer(*this, initialEstimate,params); + return optimizer.optimize(); } - Values Graph::optimizeSPCG(const Values& initialEstimate) const { + /* ************************************************************************* */ + Values Graph::optimizeSPCG(const Values& initialEstimate, size_t verbosity) const { LevenbergMarquardtParams params; + params.verbosity = (NonlinearOptimizerParams::Verbosity)verbosity; params.linearSolverType = SuccessiveLinearizationParams::CG; params.iterativeParams = boost::make_shared(); return LevenbergMarquardtOptimizer(*this, initialEstimate, params).optimize(); } - /* ************************************************************************* */ } // pose2SLAM diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h index 062893a9c..6349af5d5 100644 --- a/gtsam/slam/pose2SLAM.h +++ b/gtsam/slam/pose2SLAM.h @@ -22,13 +22,14 @@ #include #include #include +#include #include #include // Use pose2SLAM namespace for specific SLAM instance namespace pose2SLAM { - using namespace gtsam; + using namespace gtsam; /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper @@ -64,22 +65,14 @@ namespace pose2SLAM { /// get a pose Pose2 pose(Key i) const { return at(i); } - Vector xs() const; ///< get all x coordinates in a matrix - Vector ys() const; ///< get all y coordinates in a matrix - Vector thetas() const; ///< get all orientations in a matrix + /// get all [x,y,theta] coordinates in a 3*m matrix + Matrix poses() const; }; /** * List of typedefs for factors */ - /// A hard constraint to enforce a specific value for a pose - typedef NonlinearEquality HardConstraint; - /// A prior factor on a pose with Pose2 data type. - typedef PriorFactor Prior; - /// A factor to add an odometry measurement between two poses. - typedef BetweenFactor Odometry; - /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper * @addtogroup SLAM @@ -92,25 +85,23 @@ namespace pose2SLAM { Graph(){} /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph); - - /// Adds a Pose2 prior with mean p and given noise model on pose i - void addPrior(Key i, const Pose2& p, const SharedNoiseModel& model); + Graph(const NonlinearFactorGraph& graph): + NonlinearFactorGraph(graph) {} /// Creates a hard constraint for key i with the given Pose2 p. void addPoseConstraint(Key i, const Pose2& p); - /// Creates an odometry factor between poses with keys i1 and i2 - void addOdometry(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model); + /// Adds a Pose2 prior with mean p and given noise model on pose i + void addPosePrior(Key i, const Pose2& p, const SharedNoiseModel& model); - /// AddConstraint adds a soft constraint between factor between keys i and j - void addConstraint(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model) { - addOdometry(i1,i2,z,model); // same for now - } + /// Creates an relative pose factor between poses with keys i1 and i2 + void addRelativePose(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model); /// Optimize - Values optimize(const Values& initialEstimate) const; - Values optimizeSPCG(const Values& initialEstimate) const; + Values optimize(const Values& initialEstimate, size_t verbosity=NonlinearOptimizerParams::SILENT) const; + + /// Optimize using subgraph preconditioning + Values optimizeSPCG(const Values& initialEstimate, size_t verbosity=NonlinearOptimizerParams::SILENT) const; /// Return a Marginals object Marginals marginals(const Values& solution) const { @@ -121,5 +112,11 @@ namespace pose2SLAM { } // pose2SLAM - - +/** + * Backwards compatibility and wrap use only, avoid using + */ +namespace pose2SLAM { + typedef gtsam::NonlinearEquality HardConstraint; ///< \deprecated typedef for backwards compatibility + typedef gtsam::PriorFactor Prior; ///< \deprecated typedef for backwards compatibility + typedef gtsam::BetweenFactor Odometry; ///< \deprecated typedef for backwards compatibility +} diff --git a/gtsam/slam/pose3SLAM.cpp b/gtsam/slam/pose3SLAM.cpp index c7f8a29c5..2a5f435fc 100644 --- a/gtsam/slam/pose3SLAM.cpp +++ b/gtsam/slam/pose3SLAM.cpp @@ -42,51 +42,38 @@ namespace pose3SLAM { } /* ************************************************************************* */ - Vector Values::xs() const { - size_t j=0; - Vector result(size()); - ConstFiltered poses = filter(); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.x(); - return result; - } + Matrix Values::translations() const { + size_t j=0; + ConstFiltered poses = filter(); + Matrix result(poses.size(),3); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) + result.row(j++) = keyValue.value.translation().vector(); + return result; + } /* ************************************************************************* */ - Vector Values::ys() const { - size_t j=0; - Vector result(size()); - ConstFiltered poses = filter(); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.y(); - return result; - } - - /* ************************************************************************* */ - Vector Values::zs() const { - size_t j=0; - Vector result(size()); - ConstFiltered poses = filter(); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.z(); - return result; - } - - /* ************************************************************************* */ - void Graph::addPrior(Key i, const Pose3& p, const SharedNoiseModel& model) { - sharedFactor factor(new Prior(i, p, model)); + void Graph::addPoseConstraint(Key i, const Pose3& p) { + sharedFactor factor(new NonlinearEquality(i, p)); push_back(factor); } /* ************************************************************************* */ - void Graph::addConstraint(Key i1, Key i2, const Pose3& z, const SharedNoiseModel& model) { - sharedFactor factor(new Constraint(i1, i2, z, model)); + void Graph::addPosePrior(Key i, const Pose3& p, const SharedNoiseModel& model) { + sharedFactor factor(new PriorFactor(i, p, model)); push_back(factor); } /* ************************************************************************* */ - void Graph::addHardConstraint(Key i, const Pose3& p) { - sharedFactor factor(new HardConstraint(i, p)); - push_back(factor); + void Graph::addRelativePose(Key i1, Key i2, const Pose3& z, const SharedNoiseModel& model) { + push_back(boost::make_shared >(i1, i2, z, model)); + } + + /* ************************************************************************* */ + Values Graph::optimize(const Values& initialEstimate, size_t verbosity) const { + LevenbergMarquardtParams params; + params.verbosity = (NonlinearOptimizerParams::Verbosity)verbosity; + LevenbergMarquardtOptimizer optimizer(*this, initialEstimate,params); + return optimizer.optimize(); } /* ************************************************************************* */ diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h index 41d301e08..8e60265e8 100644 --- a/gtsam/slam/pose3SLAM.h +++ b/gtsam/slam/pose3SLAM.h @@ -19,16 +19,16 @@ #include #include +#include #include #include #include -#include #include /// Use pose3SLAM namespace for specific SLAM instance namespace pose3SLAM { - using namespace gtsam; + using namespace gtsam; /* * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper @@ -63,17 +63,11 @@ namespace pose3SLAM { /// get a pose Pose3 pose(Key i) const { return at(i); } - Vector xs() const; ///< get all x coordinates in a matrix - Vector ys() const; ///< get all y coordinates in a matrix - Vector zs() const; ///< get all z coordinates in a matrix - }; + /// check if value with specified key exists + bool exists(Key i) const { return gtsam::Values::exists(i); } - /// A prior factor on Key with Pose3 data type. - typedef PriorFactor Prior; - /// A factor to put constraints between two factors. - typedef BetweenFactor Constraint; - /// A hard constraint would enforce that the given key would have the input value in the results. - typedef NonlinearEquality HardConstraint; + Matrix translations() const; ///< get all pose translations coordinates in a matrix + }; /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper @@ -81,33 +75,70 @@ namespace pose3SLAM { */ struct Graph: public NonlinearFactorGraph { - /// Adds a factor between keys of the same type - void addPrior(Key i, const Pose3& p, const SharedNoiseModel& model); + /** + * Add a prior on a pose + * @param key variable key of the camera pose + * @param p around which soft prior is defined + * @param model uncertainty model of this prior + */ + void addPosePrior(Key poseKey, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)); - /// Creates a between factor between keys i and j with a noise model with Pos3 z in the graph - void addConstraint(Key i1, Key i2, const Pose3& z, const SharedNoiseModel& model); + /** + * Add a constraint on a pose (for now, *must* be satisfied in any Values) + * @param key variable key of the camera pose + * @param p to which pose to constrain it to + */ + void addPoseConstraint(Key poseKey, const Pose3& p = Pose3()); - /// Creates a hard constraint for key i with the given Pose3 p. - void addHardConstraint(Key i, const Pose3& p); + /** + * Add a relative pose measurement between two poses + * @param x1 variable key of the first camera pose + * @param x2 variable key of the second camera pose + * @param relative pose measurement from x1 to x2 (x1.between(x2)) + * @param model uncertainty model of this measurement + */ + void addRelativePose(Key x1, Key x2, const Pose3& z, const SharedNoiseModel& model); - /// Optimize - Values optimize(const Values& initialEstimate) { - return LevenbergMarquardtOptimizer(*this, initialEstimate).optimize(); - } + /** + * Optimize the graph + * @param initialEstimate initial estimate of all variables in the graph + * @param pointKey variable key of the landmark + * @param range approximate range to landmark + * @param model uncertainty model of this prior + */ + Values optimize(const Values& initialEstimate, size_t verbosity=NonlinearOptimizerParams::SILENT) const; + + /** + * Setup and return a LevenbargMarquardtOptimizer + * @param initialEstimate initial estimate of all variables in the graph + * @param parameters optimizer's parameters + * @return a LevenbergMarquardtOptimizer object, which you can use to control the optimization process + */ + LevenbergMarquardtOptimizer optimizer(const Values& initialEstimate, + const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) const { + return LevenbergMarquardtOptimizer((*this), initialEstimate, parameters); + } /// Return a Marginals object Marginals marginals(const Values& solution) const { - return Marginals(*this,solution); + return Marginals(*this,solution); } + }; } // pose3SLAM /** - * Backwards compatibility + * Backwards compatibility and wrap use only, avoid using */ -namespace gtsam { - typedef pose3SLAM::Prior Pose3Prior; ///< Typedef for Prior class for backwards compatibility - typedef pose3SLAM::Constraint Pose3Factor; ///< Typedef for Constraint class for backwards compatibility - typedef pose3SLAM::Graph Pose3Graph; ///< Typedef for Graph class for backwards compatibility +namespace pose3SLAM { + typedef gtsam::PriorFactor Prior; ///< \deprecated typedef for backwards compatibility + typedef gtsam::BetweenFactor Constraint; ///< \deprecated typedef for backwards compatibility + typedef gtsam::NonlinearEquality HardConstraint; ///< \deprecated typedef for backwards compatibility } +namespace gtsam { + typedef pose3SLAM::Prior Pose3Prior; ///< \deprecated typedef for backwards compatibility + typedef pose3SLAM::Constraint Pose3Factor; ///< \deprecated typedef for backwards compatibility + typedef pose3SLAM::Graph Pose3Graph; ///< \deprecated typedef for backwards compatibility +} + diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp index b73118352..d99313767 100644 --- a/gtsam/slam/tests/testAntiFactor.cpp +++ b/gtsam/slam/tests/testAntiFactor.cpp @@ -96,8 +96,8 @@ TEST( AntiFactor, EquivalentBayesNet) SharedNoiseModel sigma(noiseModel::Unit::Create(Pose3::Dim())); boost::shared_ptr graph(new pose3SLAM::Graph()); - graph->addPrior(1, pose1, sigma); - graph->addConstraint(1, 2, pose1.between(pose2), sigma); + graph->addPosePrior(1, pose1, sigma); + graph->addRelativePose(1, 2, pose1.between(pose2), sigma); // Create a configuration corresponding to the ground truth boost::shared_ptr values(new Values()); @@ -115,7 +115,7 @@ TEST( AntiFactor, EquivalentBayesNet) VectorValues expectedDeltas = optimize(*expectedBayesNet); // Add an additional factor between Pose1 and Pose2 - pose3SLAM::Constraint::shared_ptr f1(new pose3SLAM::Constraint(1, 2, z, sigma)); + BetweenFactor::shared_ptr f1(new BetweenFactor(1, 2, z, sigma)); graph->push_back(f1); // Add the corresponding AntiFactor between Pose1 and Pose2 diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp index 81a15290c..cbe33e1da 100644 --- a/gtsam/slam/tests/testPlanarSLAM.cpp +++ b/gtsam/slam/tests/testPlanarSLAM.cpp @@ -38,7 +38,7 @@ SharedNoiseModel /* ************************************************************************* */ TEST( planarSLAM, PriorFactor_equals ) { - planarSLAM::Prior factor1(i2, x1, I3), factor2(i2, x2, I3); + PriorFactor factor1(i2, x1, I3), factor2(i2, x2, I3); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -49,7 +49,7 @@ TEST( planarSLAM, BearingFactor ) { // Create factor Rot2 z = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - planarSLAM::Bearing factor(i2, j3, z, sigma); + BearingFactor factor(i2, j3, z, sigma); // create config planarSLAM::Values c; @@ -64,7 +64,7 @@ TEST( planarSLAM, BearingFactor ) /* ************************************************************************* */ TEST( planarSLAM, BearingFactor_equals ) { - planarSLAM::Bearing + BearingFactor factor1(i2, j3, Rot2::fromAngle(0.1), sigma), factor2(i2, j3, Rot2::fromAngle(2.3), sigma); EXPECT(assert_equal(factor1, factor1, 1e-5)); @@ -77,7 +77,7 @@ TEST( planarSLAM, RangeFactor ) { // Create factor double z(sqrt(2.0) - 0.22); // h(x) - z = 0.22 - planarSLAM::Range factor(i2, j3, z, sigma); + RangeFactor factor(i2, j3, z, sigma); // create config planarSLAM::Values c; @@ -92,7 +92,7 @@ TEST( planarSLAM, RangeFactor ) /* ************************************************************************* */ TEST( planarSLAM, RangeFactor_equals ) { - planarSLAM::Range factor1(i2, j3, 1.2, sigma), factor2(i2, j3, 7.2, sigma); + RangeFactor factor1(i2, j3, 1.2, sigma), factor2(i2, j3, 7.2, sigma); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -104,7 +104,7 @@ TEST( planarSLAM, BearingRangeFactor ) // Create factor Rot2 r = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 double b(sqrt(2.0) - 0.22); // h(x) - z = 0.22 - planarSLAM::BearingRange factor(i2, j3, r, b, sigma2); + BearingRangeFactor factor(i2, j3, r, b, sigma2); // create config planarSLAM::Values c; @@ -119,7 +119,7 @@ TEST( planarSLAM, BearingRangeFactor ) /* ************************************************************************* */ TEST( planarSLAM, BearingRangeFactor_equals ) { - planarSLAM::BearingRange + BearingRangeFactor factor1(i2, j3, Rot2::fromAngle(0.1), 7.3, sigma2), factor2(i2, j3, Rot2::fromAngle(3), 2.0, sigma2); EXPECT(assert_equal(factor1, factor1, 1e-5)); @@ -137,7 +137,7 @@ TEST( planarSLAM, BearingRangeFactor_poses ) /* ************************************************************************* */ TEST( planarSLAM, PoseConstraint_equals ) { - planarSLAM::Constraint factor1(i2, x2), factor2(i2, x3); + NonlinearEquality factor1(i2, x2), factor2(i2, x3); EXPECT(assert_equal(factor1, factor1, 1e-5)); EXPECT(assert_equal(factor2, factor2, 1e-5)); EXPECT(assert_inequal(factor1, factor2, 1e-5)); @@ -159,7 +159,7 @@ TEST( planarSLAM, constructor ) G.addPoseConstraint(i2, x2); // make it feasible :-) // Add odometry - G.addOdometry(i2, i3, Pose2(0, 0, M_PI_4), I3); + G.addRelativePose(i2, i3, Pose2(0, 0, M_PI_4), I3); // Create bearing factor Rot2 z1 = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index 923a67031..766d06ded 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -32,7 +32,7 @@ using namespace boost::assign; #include using namespace std; -typedef pose2SLAM::Odometry Pose2Factor; +typedef BetweenFactor Pose2Factor; // common measurement covariance static double sx=0.5, sy=0.5,st=0.1; @@ -49,9 +49,8 @@ TEST_UNSAFE( Pose2SLAM, XYT ) pose2SLAM::Values values; values.insertPose(1,Pose2(1,2,3)); values.insertPose(2,Pose2(4,5,6)); - EXPECT(assert_equal(Vector_(2,1.0,4.0),values.xs())); - EXPECT(assert_equal(Vector_(2,2.0,5.0),values.ys())); - EXPECT(assert_equal(Vector_(2,3.0,6.0-2*M_PI),values.thetas())); + Matrix expected = Matrix_(2,3, 1.0,2.0,3.0, 4.0,5.0,6.0-2*M_PI); + EXPECT(assert_equal(expected,values.poses())); } /* ************************************************************************* */ @@ -106,7 +105,7 @@ TEST_UNSAFE( Pose2SLAM, constructor ) // create a factor between unknown poses p1 and p2 Pose2 measured(2,2,M_PI_2); pose2SLAM::Graph graph; - graph.addOdometry(1,2,measured, covariance); + graph.addRelativePose(1,2,measured, covariance); // get the size of the graph size_t actual = graph.size(); // verify @@ -121,7 +120,7 @@ TEST_UNSAFE( Pose2SLAM, linearization ) Pose2 measured(2,2,M_PI_2); Pose2Factor constraint(1, 2, measured, covariance); pose2SLAM::Graph graph; - graph.addOdometry(1,2,measured, covariance); + graph.addRelativePose(1,2,measured, covariance); // Choose a linearization point Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) @@ -159,7 +158,7 @@ TEST_UNSAFE(Pose2SLAM, optimize) { // create a Pose graph with one equality constraint and one measurement pose2SLAM::Graph fg; fg.addPoseConstraint(0, Pose2(0,0,0)); - fg.addOdometry(0, 1, Pose2(1,2,M_PI_2), covariance); + fg.addRelativePose(0, 1, Pose2(1,2,M_PI_2), covariance); // Create initial config Values initial; @@ -196,11 +195,11 @@ TEST_UNSAFE(Pose2SLAM, optimizeSPCG) { // create a Pose graph with one equality constraint and one measurement pose2SLAM::Graph fg; - fg.addPrior(0, Pose2(0,0,0), noiseModel::Diagonal::Sigmas(Vector_(3,3.0,3.0,1.0))); - fg.addOdometry(0, 1, Pose2(1,2,M_PI_2), covariance); + fg.addPosePrior(0, Pose2(0,0,0), noiseModel::Diagonal::Sigmas(Vector_(3,3.0,3.0,1.0))); + fg.addRelativePose(0, 1, Pose2(1,2,M_PI_2), covariance); // [Duy] For some unknown reason, SPCG needs this constraint to work. GaussNewton doesn't need this. - fg.addConstraint(0, 1, Pose2(1,2,M_PI_2), noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1))); + fg.addRelativePose(0, 1, Pose2(1,2,M_PI_2), noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1))); // Create initial config Values initial; @@ -208,7 +207,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeSPCG) { initial.insert(1, Pose2(0,0,0)); // Optimize using SPCG - Values actual = fg.optimizeSPCG(initial); + Values actual = fg.optimizeSPCG(initial,0); // Try GaussNewton without the above constraint to see if the problem is underconstrained. Still works! Values actual2 = GaussNewtonOptimizer(fg, initial).optimize(); @@ -233,9 +232,9 @@ TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) { pose2SLAM::Graph fg; fg.addPoseConstraint(0, p0); Pose2 delta = p0.between(p1); - fg.addOdometry(0, 1, delta, covariance); - fg.addOdometry(1, 2, delta, covariance); - fg.addOdometry(2, 0, delta, covariance); + fg.addRelativePose(0, 1, delta, covariance); + fg.addRelativePose(1, 2, delta, covariance); + fg.addRelativePose(2, 0, delta, covariance); // Create initial config pose2SLAM::Values initial; @@ -269,12 +268,12 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { pose2SLAM::Graph fg; fg.addPoseConstraint(0, p0); Pose2 delta = p0.between(p1); - fg.addOdometry(0,1, delta, covariance); - fg.addOdometry(1,2, delta, covariance); - fg.addOdometry(2,3, delta, covariance); - fg.addOdometry(3,4, delta, covariance); - fg.addOdometry(4,5, delta, covariance); - fg.addOdometry(5,0, delta, covariance); + fg.addRelativePose(0,1, delta, covariance); + fg.addRelativePose(1,2, delta, covariance); + fg.addRelativePose(2,3, delta, covariance); + fg.addRelativePose(3,4, delta, covariance); + fg.addRelativePose(4,5, delta, covariance); + fg.addRelativePose(5,0, delta, covariance); // Create initial config pose2SLAM::Values initial; @@ -357,9 +356,9 @@ TEST_UNSAFE(Pose2SLAM, optimize2) { ///* ************************************************************************* */ // SL-NEEDED? TEST_UNSAFE(Pose2SLAM, findMinimumSpanningTree) { // pose2SLAM::Graph G, T, C; -// G.addConstraint(1, 2, Pose2(0.,0.,0.), I3); -// G.addConstraint(1, 3, Pose2(0.,0.,0.), I3); -// G.addConstraint(2, 3, Pose2(0.,0.,0.), I3); +// G.addPoseConstraint(1, 2, Pose2(0.,0.,0.), I3); +// G.addPoseConstraint(1, 3, Pose2(0.,0.,0.), I3); +// G.addPoseConstraint(2, 3, Pose2(0.,0.,0.), I3); // // PredecessorMap tree = // G.findMinimumSpanningTree(); @@ -371,9 +370,9 @@ TEST_UNSAFE(Pose2SLAM, optimize2) { ///* ************************************************************************* */ // SL-NEEDED? TEST_UNSAFE(Pose2SLAM, split) { // pose2SLAM::Graph G, T, C; -// G.addConstraint(1, 2, Pose2(0.,0.,0.), I3); -// G.addConstraint(1, 3, Pose2(0.,0.,0.), I3); -// G.addConstraint(2, 3, Pose2(0.,0.,0.), I3); +// G.addPoseConstraint(1, 2, Pose2(0.,0.,0.), I3); +// G.addPoseConstraint(1, 3, Pose2(0.,0.,0.), I3); +// G.addPoseConstraint(2, 3, Pose2(0.,0.,0.), I3); // // PredecessorMap tree; // tree.insert(1,2); @@ -436,7 +435,7 @@ TEST_UNSAFE( Pose2Prior, error ) x0.insert(1, p1); // Create factor - pose2SLAM::Prior factor(1, p1, sigmas); + PriorFactor factor(1, p1, sigmas); // Actual linearization Ordering ordering(*x0.orderingArbitrary()); @@ -463,7 +462,7 @@ TEST_UNSAFE( Pose2Prior, error ) /* ************************************************************************* */ // common Pose2Prior for tests below static gtsam::Pose2 priorVal(2,2,M_PI_2); -static pose2SLAM::Prior priorFactor(1, priorVal, sigmas); +static PriorFactor priorFactor(1, priorVal, sigmas); /* ************************************************************************* */ // The error |A*dx-b| approximates (h(x0+dx)-z) = -error_vector diff --git a/gtsam/slam/tests/testPose3SLAM.cpp b/gtsam/slam/tests/testPose3SLAM.cpp index 46a1c35c5..23367bd8a 100644 --- a/gtsam/slam/tests/testPose3SLAM.cpp +++ b/gtsam/slam/tests/testPose3SLAM.cpp @@ -48,16 +48,16 @@ TEST(Pose3Graph, optimizeCircle) { // create a Pose graph with one equality constraint and one measurement pose3SLAM::Graph fg; - fg.addHardConstraint(0, gT0); + fg.addPoseConstraint(0, gT0); Pose3 _0T1 = gT0.between(gT1); // inv(gT0)*gT1 double theta = M_PI/3.0; CHECK(assert_equal(Pose3(Rot3::yaw(-theta),Point3(radius*sin(theta),-radius*cos(theta),0)),_0T1)); - fg.addConstraint(0,1, _0T1, covariance); - fg.addConstraint(1,2, _0T1, covariance); - fg.addConstraint(2,3, _0T1, covariance); - fg.addConstraint(3,4, _0T1, covariance); - fg.addConstraint(4,5, _0T1, covariance); - fg.addConstraint(5,0, _0T1, covariance); + fg.addRelativePose(0,1, _0T1, covariance); + fg.addRelativePose(1,2, _0T1, covariance); + fg.addRelativePose(2,3, _0T1, covariance); + fg.addRelativePose(3,4, _0T1, covariance); + fg.addRelativePose(4,5, _0T1, covariance); + fg.addRelativePose(5,0, _0T1, covariance); // Create initial config Values initial; @@ -121,7 +121,7 @@ TEST( Pose3Factor, error ) // Create factor SharedNoiseModel I6(noiseModel::Unit::Create(6)); - pose3SLAM::Constraint factor(1, 2, z, I6); + BetweenFactor factor(1, 2, z, I6); // Create config Values x; diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index f344f98c9..ac9a6891d 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -41,6 +41,8 @@ static shared_ptrK sK(new Cal3_S2(K)); using symbol_shorthand::X; using symbol_shorthand::L; +typedef GenericProjectionFactor MyProjectionFactor; + /* ************************************************************************* */ TEST( ProjectionFactor, nonStandard ) { @@ -53,8 +55,8 @@ TEST( ProjectionFactor, error ) // Create the factor with a measurement that is 3 pixels off in x Point2 z(323.,240.); int i=1, j=1; - boost::shared_ptr - factor(new visualSLAM::ProjectionFactor(z, sigma, X(i), L(j), sK)); + boost::shared_ptr + factor(new MyProjectionFactor(z, sigma, X(i), L(j), sK)); // For the following values structure, the factor predicts 320,240 Values config; @@ -102,11 +104,11 @@ TEST( ProjectionFactor, equals ) // Create two identical factors and make sure they're equal Vector z = Vector_(2,323.,240.); int i=1, j=1; - boost::shared_ptr - factor1(new visualSLAM::ProjectionFactor(z, sigma, X(i), L(j), sK)); + boost::shared_ptr + factor1(new MyProjectionFactor(z, sigma, X(i), L(j), sK)); - boost::shared_ptr - factor2(new visualSLAM::ProjectionFactor(z, sigma, X(i), L(j), sK)); + boost::shared_ptr + factor2(new MyProjectionFactor(z, sigma, X(i), L(j), sK)); CHECK(assert_equal(*factor1, *factor2)); } diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index 35ef081bc..986538448 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -46,6 +46,8 @@ static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); using symbol_shorthand::X; using symbol_shorthand::L; +typedef GenericStereoFactor MyStereoFactor; + /* ************************************************************************* */ TEST( StereoFactor, singlePoint) { @@ -53,11 +55,11 @@ TEST( StereoFactor, singlePoint) boost::shared_ptr K(new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5)); NonlinearFactorGraph graph; - graph.add(visualSLAM::PoseConstraint(X(1),camera1)); + graph.add(NonlinearEquality(X(1),camera1)); StereoPoint2 z14(320,320.0-50, 240); // arguments: measurement, sigma, cam#, measurement #, K, baseline (m) - graph.add(visualSLAM::StereoFactor(z14,sigma, X(1), L(1), K)); + graph.add(MyStereoFactor(z14,sigma, X(1), L(1), K)); // Create a configuration corresponding to the ground truth Values values; diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index f8aef8bb9..793051370 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -38,36 +38,6 @@ namespace visualSLAM { return points.size(); } - /* ************************************************************************* */ - Vector Values::xs() const { - size_t j=0; - ConstFiltered poses = filter(); - Vector result(poses.size()); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.x(); - return result; - } - - /* ************************************************************************* */ - Vector Values::ys() const { - size_t j=0; - ConstFiltered poses = filter(); - Vector result(poses.size()); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.y(); - return result; - } - - /* ************************************************************************* */ - Vector Values::zs() const { - size_t j=0; - ConstFiltered poses = filter(); - Vector result(poses.size()); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result(j++) = keyValue.value.z(); - return result; - } - /* ************************************************************************* */ Matrix Values::points() const { size_t j=0; @@ -78,54 +48,32 @@ namespace visualSLAM { return result; } + /* ************************************************************************* */ + void Graph::addPointConstraint(Key pointKey, const Point3& p) { + push_back(make_shared >(pointKey, p)); + } + + /* ************************************************************************* */ + void Graph::addPointPrior(Key pointKey, const Point3& p, const SharedNoiseModel& model) { + push_back(make_shared >(pointKey, p, model)); + } + /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrK K) { - push_back(make_shared(measured, model, poseKey, pointKey, K)); + push_back(make_shared >(measured, model, poseKey, pointKey, K)); } /* ************************************************************************* */ void Graph::addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrKStereo K) { - push_back(make_shared(measured, model, poseKey, pointKey, K)); - } - - /* ************************************************************************* */ - void Graph::addPoseConstraint(Key poseKey, const Pose3& p) { - push_back(make_shared(poseKey, p)); - } - - /* ************************************************************************* */ - void Graph::addPointConstraint(Key pointKey, const Point3& p) { - push_back(make_shared(pointKey, p)); - } - - /* ************************************************************************* */ - void Graph::addPosePrior(Key poseKey, const Pose3& p, const SharedNoiseModel& model) { - push_back(make_shared(poseKey, p, model)); - } - - /* ************************************************************************* */ - void Graph::addPointPrior(Key pointKey, const Point3& p, const SharedNoiseModel& model) { - push_back(make_shared(pointKey, p, model)); + push_back(make_shared >(measured, model, poseKey, pointKey, K)); } /* ************************************************************************* */ void Graph::addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model) { - push_back(make_shared(poseKey, pointKey, range, model)); + push_back(make_shared >(poseKey, pointKey, range, model)); } /* ************************************************************************* */ - void Graph::addOdometry(Key x1, Key x2, const Pose3& odometry, const SharedNoiseModel& model) { - push_back(make_shared >(x1, x2, odometry, model)); - } - - /* ************************************************************************* */ - Values Graph::optimize(const Values& initialEstimate, size_t verbosity) const { - LevenbergMarquardtParams params; - params.verbosity = (NonlinearOptimizerParams::Verbosity)verbosity; - LevenbergMarquardtOptimizer optimizer(*this, initialEstimate,params); - return optimizer.optimize(); - } - /* ************************************************************************* */ } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index 3fb213ee7..dce603a03 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -19,39 +19,20 @@ #pragma once -#include +#include #include #include #include - -#include #include #include -#include -#include -#include - #include namespace visualSLAM { using namespace gtsam; - /** - * Typedefs that make up the visualSLAM namespace. - */ - typedef NonlinearEquality PoseConstraint; ///< put a hard constraint on a pose - typedef NonlinearEquality PointConstraint; ///< put a hard constraint on a point - typedef PriorFactor PosePrior; ///< put a soft prior on a Pose - typedef PriorFactor PointPrior; ///< put a soft prior on a point - typedef RangeFactor RangeFactor; ///< put a factor on the range from a pose to a point - - /// monocular and stereo camera typedefs for general use - typedef GenericProjectionFactor ProjectionFactor; - typedef GenericStereoFactor StereoFactor; - /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - struct Values: public gtsam::Values { + struct Values: public pose3SLAM::Values { typedef boost::shared_ptr shared_ptr; typedef gtsam::Values::ConstFiltered PoseFiltered; @@ -62,28 +43,22 @@ namespace visualSLAM { /// Copy constructor Values(const gtsam::Values& values) : - gtsam::Values(values) { + pose3SLAM::Values(values) { } /// Constructor from filtered values view of poses Values(const PoseFiltered& view) : - gtsam::Values(view) { + pose3SLAM::Values(view) { } /// Constructor from filtered values view of points Values(const PointFiltered& view) : - gtsam::Values(view) { + pose3SLAM::Values(view) { } - /// insert a pose - void insertPose(Key i, const Pose3& pose) { insert(i, pose); } - /// insert a point void insertPoint(Key j, const Point3& point) { insert(j, point); } - /// update a pose - void updatePose(Key i, const Pose3& pose) { update(i, pose); } - /// update a point void updatePoint(Key j, const Point3& point) { update(j, point); } @@ -93,9 +68,6 @@ namespace visualSLAM { /// get number of points size_t nrPoints() const; - /// get a pose - Pose3 pose(Key i) const { return at(i); } - /// get a point Point3 point(Key j) const { return at(j); } @@ -105,13 +77,6 @@ namespace visualSLAM { /// get a const view containing only points PointFiltered allPoints() const { return this->filter(); } - /// check if value with specified key exists - bool exists(Key i) const { return gtsam::Values::exists(i); } - - Vector xs() const; ///< get all pose x coordinates in a matrix - Vector ys() const; ///< get all pose y coordinates in a matrix - Vector zs() const; ///< get all pose z coordinates in a matrix - Matrix points() const; ///< get all point coordinates in a matrix }; @@ -119,7 +84,7 @@ namespace visualSLAM { /** * Non-linear factor graph for vanilla visual SLAM */ - class Graph: public NonlinearFactorGraph { + class Graph: public pose3SLAM::Graph { public: /// shared pointer to this type of graph @@ -139,6 +104,32 @@ namespace visualSLAM { return NonlinearFactorGraph::equals(p, tol); } + /** + * Add a constraint on a point (for now, *must* be satisfied in any Values) + * @param key variable key of the landmark + * @param p point around which soft prior is defined + */ + void addPointConstraint(Key pointKey, const Point3& p = Point3()); + + /** + * Add a prior on a landmark + * @param key variable key of the landmark + * @param p to which point to constrain it to + * @param model uncertainty model of this prior + */ + void addPointPrior(Key pointKey, const Point3& p = Point3(), + const SharedNoiseModel& model = noiseModel::Unit::Create(3)); + + /** + * Add a range prior to a landmark + * @param poseKey variable key of the camera pose + * @param pointKey variable key of the landmark + * @param range approximate range to landmark + * @param model uncertainty model of this prior + */ + void addRangeFactor(Key poseKey, Key pointKey, double range, + const SharedNoiseModel& model = noiseModel::Unit::Create(1)); + /** * Add a projection factor measurement (monocular) * @param measured the measurement @@ -161,78 +152,6 @@ namespace visualSLAM { void addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrKStereo K); - /** - * Add a constraint on a pose (for now, *must* be satisfied in any Values) - * @param key variable key of the camera pose - * @param p to which pose to constrain it to - */ - void addPoseConstraint(Key poseKey, const Pose3& p = Pose3()); - - /** - * Add a constraint on a point (for now, *must* be satisfied in any Values) - * @param key variable key of the landmark - * @param p point around which soft prior is defined - */ - void addPointConstraint(Key pointKey, const Point3& p = Point3()); - - /** - * Add a prior on a pose - * @param key variable key of the camera pose - * @param p around which soft prior is defined - * @param model uncertainty model of this prior - */ - void addPosePrior(Key poseKey, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)); - - /** - * Add a prior on a landmark - * @param key variable key of the landmark - * @param p to which point to constrain it to - * @param model uncertainty model of this prior - */ - void addPointPrior(Key pointKey, const Point3& p = Point3(), const SharedNoiseModel& model = noiseModel::Unit::Create(3)); - - /** - * Add a range prior to a landmark - * @param poseKey variable key of the camera pose - * @param pointKey variable key of the landmark - * @param range approximate range to landmark - * @param model uncertainty model of this prior - */ - void addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model = noiseModel::Unit::Create(1)); - - /** - * Add an odometry between two poses - * @param x1 variable key of the first camera pose - * @param x2 variable key of the second camera pose - * @param odometry measurement from x1 to x2 (x1.between(x2)) - * @param model uncertainty model of this measurement - */ - void addOdometry(Key x1, Key x2, const Pose3& odometry, const SharedNoiseModel& model); - - /** - * Optimize the graph - * @param initialEstimate initial estimate of all variables in the graph - * @param pointKey variable key of the landmark - * @param range approximate range to landmark - * @param model uncertainty model of this prior - */ - Values optimize(const Values& initialEstimate, size_t verbosity) const; - - /** - * Setup and return a LevenbargMarquardtOptimizer - * @param initialEstimate initial estimate of all variables in the graph - * @param parameters optimizer's parameters - * @return a LevenbergMarquardtOptimizer object, which you can use to control the optimization process - */ - LevenbergMarquardtOptimizer optimizer(const Values& initialEstimate, const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams()) const { - return LevenbergMarquardtOptimizer((*this), initialEstimate, parameters); - } - - /// Return a Marginals object - Marginals marginals(const Values& solution) const { - return Marginals(*this,solution); - } - }; // Graph /** @@ -240,4 +159,18 @@ namespace visualSLAM { */ typedef gtsam::NonlinearISAM ISAM; -} // namespaces +} // visualSLAM + +/** + * Backwards compatibility and wrap use only, avoid using + */ +namespace visualSLAM { + typedef gtsam::NonlinearEquality PoseConstraint; ///< \deprecated typedef for backwards compatibility + typedef gtsam::NonlinearEquality PointConstraint; ///< \deprecated typedef for backwards compatibility + typedef gtsam::PriorFactor PosePrior; ///< \deprecated typedef for backwards compatibility + typedef gtsam::PriorFactor PointPrior; ///< \deprecated typedef for backwards compatibility + typedef gtsam::RangeFactor RangeFactor; ///< \deprecated typedef for backwards compatibility + typedef gtsam::GenericProjectionFactor ProjectionFactor; ///< \deprecated typedef for backwards compatibility + typedef gtsam::GenericStereoFactor StereoFactor; ///< \deprecated typedef for backwards compatibility +} + diff --git a/matlab/examples/VisualISAMGenerateData.m b/matlab/VisualISAMGenerateData.m similarity index 100% rename from matlab/examples/VisualISAMGenerateData.m rename to matlab/VisualISAMGenerateData.m diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 01fdfe79c..139d40e65 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -45,7 +45,7 @@ for i=1:2 end %% Add odometry between frames 1 and 2 -newFactors.addOdometry(symbol('x',1), symbol('x',2), data.odometry{1}, noiseModels.odometry); +newFactors.addRelativePose(symbol('x',1), symbol('x',2), data.odometry{1}, noiseModels.odometry); %% Update ISAM if options.batchInitialization % Do a full optimize for first two poses diff --git a/matlab/VisualISAMStep.m b/matlab/VisualISAMStep.m index 0f87a66f0..5033a8b39 100644 --- a/matlab/VisualISAMStep.m +++ b/matlab/VisualISAMStep.m @@ -10,7 +10,7 @@ initialEstimates = visualSLAMValues; %% Add odometry i = result.nrPoses+1; odometry = data.odometry{i-1}; -newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); +newFactors.addRelativePose(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); %% Add visual measurement factors and initializations as necessary for k=1:length(data.Z{i}) diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index a523c312d..d3e563dd4 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -21,15 +21,15 @@ graph = pose2SLAMGraph; %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addOdometry(1, 2, odometry, odometryNoise); -graph.addOdometry(2, 3, odometry, odometryNoise); +graph.addRelativePose(1, 2, odometry, odometryNoise); +graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.1; 10]); -graph.addPrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel); -graph.addPrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel); -graph.addPrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel); +graph.addPosePrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel); +graph.addPosePrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel); +graph.addPosePrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel); %% print graph.print(sprintf('\nFactor graph:\n')); @@ -42,12 +42,13 @@ initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n ')); %% Plot Covariance Ellipses cla; -plot(result.xs(),result.ys(),'k*-'); hold on +X=result.poses(); +plot(X(:,1),X(:,2),'k*-'); hold on marginals = graph.marginals(result); P={}; for i=1:result.size() diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index e712e4e21..f203c858e 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -21,13 +21,13 @@ graph = pose2SLAMGraph; %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta -graph.addPrior(1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addOdometry(1, 2, odometry, odometryNoise); -graph.addOdometry(2, 3, odometry, odometryNoise); +graph.addRelativePose(1, 2, odometry, odometryNoise); +graph.addRelativePose(2, 3, odometry, odometryNoise); %% print graph.print(sprintf('\nFactor graph:\n')); @@ -40,12 +40,13 @@ initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n ')); %% Plot Covariance Ellipses cla; -plot(result.xs(),result.ys(),'k*-'); hold on +X=result.poses(); +plot(X(:,1),X(:,2),'k*-'); hold on marginals = graph.marginals(result); P={}; for i=1:result.size() diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index 27dc97a08..499845eda 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -29,13 +29,13 @@ graph = planarSLAMGraph; %% Add prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); -graph.addPrior(i1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry odometry = gtsamPose2(2.0, 0.0, 0.0); odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addOdometry(i1, i2, odometry, odometryNoise); -graph.addOdometry(i2, i3, odometry, odometryNoise); +graph.addRelativePose(i1, i2, odometry, odometryNoise); +graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors degrees = pi/180; @@ -58,7 +58,7 @@ initialEstimate.insertPoint(j2, gtsamPoint2(4.1, 1.8)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m index 99429900f..861e56db9 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/examples/PlanarSLAMExample_sampling.m @@ -16,11 +16,11 @@ i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); graph = planarSLAMGraph; priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); -graph.addPrior(i1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph odometry = gtsamPose2(2.0, 0.0, 0.0); odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addOdometry(i1, i2, odometry, odometryNoise); -graph.addOdometry(i2, i3, odometry, odometryNoise); +graph.addRelativePose(i1, i2, odometry, odometryNoise); +graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Except, for measurements we offer a choice j1 = symbol('l',1); j2 = symbol('l',2); diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index 29133031e..776260e3f 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -25,19 +25,19 @@ graph = pose2SLAMGraph; % gaussian for prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); -graph.addPrior(1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addRelativePose(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); +graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print graph.print(sprintf('\nFactor graph:\n')); @@ -52,12 +52,13 @@ initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses cla; -plot(result.xs(),result.ys(),'k*-'); hold on +X=result.poses(); +plot(X(:,1),X(:,2),'k*-'); hold on plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); marginals = graph.marginals(result); diff --git a/matlab/examples/Pose2SLAMExample_advanced.m b/matlab/examples/Pose2SLAMExample_advanced.m index fbffe9911..843ae7e1c 100644 --- a/matlab/examples/Pose2SLAMExample_advanced.m +++ b/matlab/examples/Pose2SLAMExample_advanced.m @@ -27,14 +27,14 @@ graph = pose2SLAMGraph; % gaussian for prior priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -graph.addPrior(1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addOdometry(1, 2, odometry, odometryNoise); -graph.addOdometry(2, 3, odometry, odometryNoise); +graph.addRelativePose(1, 2, odometry, odometryNoise); +graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements @@ -60,7 +60,7 @@ initialEstimate.print('initial estimate'); %result.print('final result'); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,1); result.print('final result'); %% Get the corresponding dense matrix diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index 828b6f5f6..e05a77186 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -20,12 +20,12 @@ fg = pose2SLAMGraph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 5*pi/180]); -fg.addOdometry(0,1, delta, covariance); -fg.addOdometry(1,2, delta, covariance); -fg.addOdometry(2,3, delta, covariance); -fg.addOdometry(3,4, delta, covariance); -fg.addOdometry(4,5, delta, covariance); -fg.addOdometry(5,0, delta, covariance); +fg.addRelativePose(0,1, delta, covariance); +fg.addRelativePose(1,2, delta, covariance); +fg.addRelativePose(2,3, delta, covariance); +fg.addRelativePose(3,4, delta, covariance); +fg.addRelativePose(4,5, delta, covariance); +fg.addRelativePose(5,0, delta, covariance); %% Create initial config initial = pose2SLAMValues; diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index 06a16ac55..a2645a593 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -18,7 +18,7 @@ initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.01; 0.01; 0.01]); -graph.addPrior(0, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph %% Plot Initial Estimate figure(1);clf diff --git a/matlab/examples/Pose2SLAMwSPCG.m b/matlab/examples/Pose2SLAMwSPCG.m index 3f8f8adf1..3d0ce8da7 100644 --- a/matlab/examples/Pose2SLAMwSPCG.m +++ b/matlab/examples/Pose2SLAMwSPCG.m @@ -35,7 +35,7 @@ graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); +graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print graph.print(sprintf('\nFactor graph:\n')); diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index 4cc41a4de..c335203eb 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -17,15 +17,15 @@ p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement fg = pose3SLAMGraph; -fg.addHardConstraint(0, p0); +fg.addPoseConstraint(0, p0); delta = p0.between(p1); covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -fg.addConstraint(0,1, delta, covariance); -fg.addConstraint(1,2, delta, covariance); -fg.addConstraint(2,3, delta, covariance); -fg.addConstraint(3,4, delta, covariance); -fg.addConstraint(4,5, delta, covariance); -fg.addConstraint(5,0, delta, covariance); +fg.addRelativePose(0,1, delta, covariance); +fg.addRelativePose(1,2, delta, covariance); +fg.addRelativePose(2,3, delta, covariance); +fg.addRelativePose(3,4, delta, covariance); +fg.addRelativePose(4,5, delta, covariance); +fg.addRelativePose(5,0, delta, covariance); %% Create initial config initial = pose3SLAMValues; @@ -39,10 +39,11 @@ initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); %% Plot Initial Estimate cla -plot3(initial.xs(),initial.ys(),initial.zs(),'g-*'); +T=initial.translations(); +plot3(T(:,1),T(:,2),T(:,3),'g-*'); %% optimize -result = fg.optimize(initial); +result = fg.optimize(initial,1); %% Show Result hold on; plot3DTrajectory(result,'b-*', true, 0.3); diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 980a3c5a1..99adaa82b 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -67,13 +67,15 @@ axis equal view(-38,12) % initial trajectory in red (rotated so Z is up) -plot3(initialEstimate.zs(),-initialEstimate.xs(),-initialEstimate.ys(), '-*r','LineWidth',2); +T=initialEstimate.translations; +plot3(T(:,3),-T(:,1),-T(:,2), '-*r','LineWidth',2); % final trajectory in green (rotated so Z is up) -plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2); +T=result.translations; +plot3(T(:,3),-T(:,1),-T(:,2), '-*g','LineWidth',2); xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); % optimized 3D points (rotated so Z is up) -points = result.points(); -plot3(points(:,3),-points(:,1),-points(:,2),'*'); +P = result.points(); +plot3(P(:,3),-P(:,1),-P(:,2),'*'); diff --git a/matlab/load3D.m b/matlab/load3D.m index 82ae098b9..6ba861a92 100644 --- a/matlab/load3D.m +++ b/matlab/load3D.m @@ -41,7 +41,7 @@ for i=1:n t = gtsamPoint3(e{4}, e{5}, e{6}); R = gtsamRot3_ypr(e{9}, e{8}, e{7}); dpose = gtsamPose3(R,t); - graph.addConstraint(i1, i2, dpose, model); + graph.addRelativePose(i1, i2, dpose, model); if successive if i2>i1 initial.insertPose(i2,initial.pose(i1).compose(dpose)); diff --git a/matlab/plot3DTrajectory.m b/matlab/plot3DTrajectory.m index 524b41d33..83d3d76e2 100644 --- a/matlab/plot3DTrajectory.m +++ b/matlab/plot3DTrajectory.m @@ -3,7 +3,8 @@ function plot3DTrajectory(values,style,frames,scale) if nargin<3,frames=false;end if nargin<4,scale=0;end -plot3(values.xs(),values.ys(),values.zs(),style); hold on +T=values.translations() +plot3(T(:,1),T(:,2),T(:,3),style); hold on if frames N=values.size; for i=0:N-1 diff --git a/matlab/tests/testLocalizationExample.m b/matlab/tests/testLocalizationExample.m index 07b47257b..9e28ea64b 100644 --- a/matlab/tests/testLocalizationExample.m +++ b/matlab/tests/testLocalizationExample.m @@ -16,8 +16,8 @@ graph = pose2SLAMGraph; %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addOdometry(1, 2, odometry, odometryNoise); -graph.addOdometry(2, 3, odometry, odometryNoise); +graph.addRelativePose(1, 2, odometry, odometryNoise); +graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta @@ -27,7 +27,7 @@ groundTruth.insertPose(2, gtsamPose2(2.0, 0.0, 0.0)); groundTruth.insertPose(3, gtsamPose2(4.0, 0.0, 0.0)); noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.1; 10]); for i=1:3 - graph.addPrior(i, groundTruth.pose(i), noiseModel); + graph.addPosePrior(i, groundTruth.pose(i), noiseModel); end %% Initialize to noisy points @@ -37,7 +37,7 @@ initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,0); %% Plot Covariance Ellipses marginals = graph.marginals(result); diff --git a/matlab/tests/testOdometryExample.m b/matlab/tests/testOdometryExample.m index e83d0ec0a..0056a43e8 100644 --- a/matlab/tests/testOdometryExample.m +++ b/matlab/tests/testOdometryExample.m @@ -16,13 +16,13 @@ graph = pose2SLAMGraph; %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta -graph.addPrior(1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addOdometry(1, 2, odometry, odometryNoise); -graph.addOdometry(2, 3, odometry, odometryNoise); +graph.addRelativePose(1, 2, odometry, odometryNoise); +graph.addRelativePose(2, 3, odometry, odometryNoise); %% Initialize to noisy points initialEstimate = pose2SLAMValues; @@ -31,7 +31,7 @@ initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,0); marginals = graph.marginals(result); marginals.marginalCovariance(i); diff --git a/matlab/tests/testPlanarSLAMExample.m b/matlab/tests/testPlanarSLAMExample.m index 6446da790..9747366c1 100644 --- a/matlab/tests/testPlanarSLAMExample.m +++ b/matlab/tests/testPlanarSLAMExample.m @@ -29,13 +29,13 @@ graph = planarSLAMGraph; %% Add prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); -graph.addPrior(i1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry odometry = gtsamPose2(2.0, 0.0, 0.0); odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addOdometry(i1, i2, odometry, odometryNoise); -graph.addOdometry(i2, i3, odometry, odometryNoise); +graph.addRelativePose(i1, i2, odometry, odometryNoise); +graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors degrees = pi/180; @@ -53,7 +53,7 @@ initialEstimate.insertPoint(j1, gtsamPoint2(1.8, 2.1)); initialEstimate.insertPoint(j2, gtsamPoint2(4.1, 1.8)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); +result = graph.optimize(initialEstimate,0); marginals = graph.marginals(result); %% Check first pose and point equality diff --git a/matlab/tests/testPose2SLAMExample.m b/matlab/tests/testPose2SLAMExample.m index 707089fea..4fd97e916 100644 --- a/matlab/tests/testPose2SLAMExample.m +++ b/matlab/tests/testPose2SLAMExample.m @@ -25,19 +25,19 @@ graph = pose2SLAMGraph; % gaussian for prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); -graph.addPrior(1, priorMean, priorNoise); % add directly to graph +graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addRelativePose(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); -graph.addConstraint(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); +graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); %% Initialize to noisy points initialEstimate = pose2SLAMValues; @@ -48,8 +48,8 @@ initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate); -resultSPCG = graph.optimizeSPCG(initialEstimate); +result = graph.optimize(initialEstimate,0); +resultSPCG = graph.optimizeSPCG(initialEstimate,0); %% Plot Covariance Ellipses marginals = graph.marginals(result); diff --git a/matlab/tests/testPose3SLAMExample.m b/matlab/tests/testPose3SLAMExample.m index 9d2cf4271..e63169d2b 100644 --- a/matlab/tests/testPose3SLAMExample.m +++ b/matlab/tests/testPose3SLAMExample.m @@ -17,15 +17,15 @@ p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement fg = pose3SLAMGraph; -fg.addHardConstraint(0, p0); +fg.addPoseConstraint(0, p0); delta = p0.between(p1); covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -fg.addConstraint(0,1, delta, covariance); -fg.addConstraint(1,2, delta, covariance); -fg.addConstraint(2,3, delta, covariance); -fg.addConstraint(3,4, delta, covariance); -fg.addConstraint(4,5, delta, covariance); -fg.addConstraint(5,0, delta, covariance); +fg.addRelativePose(0,1, delta, covariance); +fg.addRelativePose(1,2, delta, covariance); +fg.addRelativePose(2,3, delta, covariance); +fg.addRelativePose(3,4, delta, covariance); +fg.addRelativePose(4,5, delta, covariance); +fg.addRelativePose(5,0, delta, covariance); %% Create initial config initial = pose3SLAMValues; @@ -38,7 +38,7 @@ initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1))); initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); %% optimize -result = fg.optimize(initial); +result = fg.optimize(initial,0); pose_1 = result.pose(1); CHECK('pose_1.equals(gtsamPose3,1e-4)',pose_1.equals(p1,1e-4)); diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index b5c1d4b89..80bd651c8 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -53,7 +53,7 @@ ISAM2 createSlamlikeISAM2( // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -66,7 +66,7 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -79,7 +79,7 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -99,7 +99,7 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -112,7 +112,7 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); @@ -257,7 +257,7 @@ TEST_UNSAFE(ISAM2, AddVariables) { // // Ordering ordering; ordering += (0), (0), (1); // planarSLAM::Graph graph; -// graph.addPrior((0), Pose2(), noiseModel::Unit::Create(Pose2::dimension)); +// graph.addPosePrior((0), Pose2(), noiseModel::Unit::Create(Pose2::dimension)); // graph.addRange((0), (0), 1.0, noiseModel::Unit::Create(1)); // // FastSet expected; @@ -364,7 +364,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton) // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -379,7 +379,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -392,7 +392,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton) // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -412,7 +412,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -425,7 +425,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton) // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); @@ -484,7 +484,7 @@ TEST(ISAM2, slamlike_solution_dogleg) // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -499,7 +499,7 @@ TEST(ISAM2, slamlike_solution_dogleg) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -512,7 +512,7 @@ TEST(ISAM2, slamlike_solution_dogleg) // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -532,7 +532,7 @@ TEST(ISAM2, slamlike_solution_dogleg) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -545,7 +545,7 @@ TEST(ISAM2, slamlike_solution_dogleg) // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); @@ -604,7 +604,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -619,7 +619,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -632,7 +632,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -652,7 +652,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -665,7 +665,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); @@ -724,7 +724,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -739,7 +739,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -752,7 +752,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -772,7 +772,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -785,7 +785,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); @@ -941,7 +941,7 @@ TEST(ISAM2, removeFactors) // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -956,7 +956,7 @@ TEST(ISAM2, removeFactors) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -969,7 +969,7 @@ TEST(ISAM2, removeFactors) // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -989,7 +989,7 @@ TEST(ISAM2, removeFactors) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -1002,7 +1002,7 @@ TEST(ISAM2, removeFactors) // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors[0]); @@ -1130,7 +1130,7 @@ TEST(ISAM2, constrained_ordering) // Add a prior at time 0 and update isam { planarSLAM::Graph newfactors; - newfactors.addPrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -1145,7 +1145,7 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -1161,7 +1161,7 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 5 to 6 and landmark measurement at time 5 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); fullgraph.push_back(newfactors); @@ -1181,7 +1181,7 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); fullgraph.push_back(newfactors); Values init; @@ -1194,7 +1194,7 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 10 to 11 and landmark measurement at time 10 { planarSLAM::Graph newfactors; - newfactors.addOdometry(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); fullgraph.push_back(newfactors); diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 769e95d26..0f412a0b5 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -136,19 +136,19 @@ TEST(GaussianJunctionTree, slamlike) { size_t i = 0; newfactors = planarSLAM::Graph(); - newfactors.addPrior(X(0), Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors.addPosePrior(X(0), Pose2(0.0, 0.0, 0.0), odoNoise); init.insert(X(0), Pose2(0.01, 0.01, 0.01)); fullgraph.push_back(newfactors); for( ; i<5; ++i) { newfactors = planarSLAM::Graph(); - newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } newfactors = planarSLAM::Graph(); - newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(X(i), L(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); newfactors.addBearingRange(X(i), L(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); init.insert(X(i+1), Pose2(1.01, 0.01, 0.01)); @@ -159,13 +159,13 @@ TEST(GaussianJunctionTree, slamlike) { for( ; i<5; ++i) { newfactors = planarSLAM::Graph(); - newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } newfactors = planarSLAM::Graph(); - newfactors.addOdometry(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); newfactors.addBearingRange(X(i), L(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); newfactors.addBearingRange(X(i), L(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); init.insert(X(i+1), Pose2(6.9, 0.1, 0.01)); @@ -194,8 +194,8 @@ TEST(GaussianJunctionTree, simpleMarginal) { // Create a simple graph pose2SLAM::Graph fg; - fg.addPrior(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0)); - fg.addOdometry(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector_(3, 10.0, 1.0, 1.0))); + fg.addPosePrior(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0)); + fg.addRelativePose(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector_(3, 10.0, 1.0, 1.0))); Values init; init.insert(X(0), Pose2()); diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index 34a39fdca..fefa2a05f 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -27,18 +27,18 @@ boost::tuple generateProblem() { // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - graph.addPrior(1, priorMean, priorNoise); + graph.addPosePrior(1, priorMean, priorNoise); // 2b. Add odometry factors SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); - graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); + graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint SharedDiagonal constraintUncertainty = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); // 3. Create the data structure to hold the initialEstimate estinmate to the solution pose2SLAM::Values initialEstimate; diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index 0a3f3a562..5f99d60c6 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -79,9 +79,9 @@ TEST( Graph, composePoses ) SharedNoiseModel cov = noiseModel::Unit::Create(3); Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9); Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3); - graph.addOdometry(1,2, p12, cov); - graph.addOdometry(2,3, p23, cov); - graph.addOdometry(4,3, p43, cov); + graph.addRelativePose(1,2, p12, cov); + graph.addRelativePose(2,3, p23, cov); + graph.addRelativePose(4,3, p43, cov); PredecessorMap tree; tree.insert(1,2); diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index 5da4ca955..3e68780c4 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -58,9 +58,9 @@ TEST( inference, marginals2) SharedDiagonal poseModel(noiseModel::Isotropic::Sigma(3, 0.1)); SharedDiagonal pointModel(noiseModel::Isotropic::Sigma(3, 0.1)); - fg.addPrior(X(0), Pose2(), poseModel); - fg.addOdometry(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel); - fg.addOdometry(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel); + fg.addPosePrior(X(0), Pose2(), poseModel); + fg.addRelativePose(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel); + fg.addRelativePose(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel); fg.addBearingRange(X(0), L(0), Rot2(), 1.0, pointModel); fg.addBearingRange(X(1), L(0), Rot2(), 1.0, pointModel); fg.addBearingRange(X(2), L(0), Rot2(), 1.0, pointModel); diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index f063f9c7d..980ea8033 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -41,7 +41,7 @@ TEST(testNonlinearISAM, markov_chain ) { Pose2 z(1.0, 2.0, 0.1); for (size_t i=1; i<=nrPoses; ++i) { Graph new_factors; - new_factors.addOdometry(i-1, i, z, model); + new_factors.addRelativePose(i-1, i, z, model); planarSLAM::Values new_init; // perform a check on changing orderings diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index f7112bb03..a61b709d0 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -176,7 +176,7 @@ TEST( NonlinearOptimizer, Factorization ) pose2SLAM::Graph graph; graph.addPrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); - graph.addOdometry(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); + graph.addRelativePose(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); Ordering ordering; ordering.push_back(X(1)); diff --git a/tests/testOccupancyGrid.cpp b/tests/testOccupancyGrid.cpp index 2a4405877..86678cc12 100644 --- a/tests/testOccupancyGrid.cpp +++ b/tests/testOccupancyGrid.cpp @@ -119,7 +119,7 @@ public: } ///add a prior - void addPrior(Index cell, double prior){ + void addPosePrior(Index cell, double prior){ size_t numStates = 2; DiscreteKey key(cell, numStates); @@ -295,7 +295,7 @@ TEST_UNSAFE( OccupancyGrid, Test1) { Pose2 pose(0,0,0); double range = 1; - occupancyGrid.addPrior(0, 0.7); + occupancyGrid.addPosePrior(0, 0.7); EXPECT_LONGS_EQUAL(1, occupancyGrid.size()); occupancyGrid.addLaser(pose, range); diff --git a/tests/timeMultifrontalOnDataset.cpp b/tests/timeMultifrontalOnDataset.cpp index 05d2c9398..5bc34b386 100644 --- a/tests/timeMultifrontalOnDataset.cpp +++ b/tests/timeMultifrontalOnDataset.cpp @@ -48,7 +48,7 @@ int main(int argc, char *argv[]) { // Add a prior on the first pose if (soft_prior) - data.first->addPrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005)); + data.first->addPosePrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005)); else data.first->addPoseConstraint(0, Pose2()); diff --git a/tests/timeSequentialOnDataset.cpp b/tests/timeSequentialOnDataset.cpp index 4a53737e0..03f33d334 100644 --- a/tests/timeSequentialOnDataset.cpp +++ b/tests/timeSequentialOnDataset.cpp @@ -48,7 +48,7 @@ int main(int argc, char *argv[]) { // Add a prior on the first pose if (soft_prior) - data.first->addPrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005)); + data.first->addPosePrior(0, Pose2(), noiseModel::Isotropic::Sigma(Pose2::Dim(), 0.0005)); else data.first->addPoseConstraint(0, Pose2()); From bfc033d3f76c861e13be53a813956733053e2e1e Mon Sep 17 00:00:00 2001 From: Abhijit Kundu Date: Sun, 24 Jun 2012 04:13:49 +0000 Subject: [PATCH 450/914] Minor change to shortcut --- gtsam/inference/BayesTreeCliqueBase-inl.h | 178 +++++++++++----------- 1 file changed, 88 insertions(+), 90 deletions(-) diff --git a/gtsam/inference/BayesTreeCliqueBase-inl.h b/gtsam/inference/BayesTreeCliqueBase-inl.h index 272747126..c5851a5e4 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inl.h +++ b/gtsam/inference/BayesTreeCliqueBase-inl.h @@ -102,114 +102,112 @@ namespace gtsam { return changed; } - /* ************************************************************************* */ - // The shortcut density is a conditional P(S|R) of the separator of this - // clique on the root. We can compute it recursively from the parent shortcut - // P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p - /* ************************************************************************* */ - template - BayesNet BayesTreeCliqueBase::shortcut( - derived_ptr R, Eliminate function) const{ + /* ************************************************************************* */ + // The shortcut density is a conditional P(S|R) of the separator of this + // clique on the root. We can compute it recursively from the parent shortcut + // P(Sp|R) as \int P(Fp|Sp) P(Sp|R), where Fp are the frontal nodes in p + /* ************************************************************************* */ + template + BayesNet BayesTreeCliqueBase::shortcut( + derived_ptr R, Eliminate function) const{ - static const bool debug = false; + static const bool debug = false; - BayesNet p_S_R; //shortcut P(S|R) + BayesNet p_S_R; //shortcut P(S|R) This is empty now - //Check if the ShortCut already exists - if(!cachedShortcut_){ + //Check if the ShortCut already exists + if(!cachedShortcut_){ - // A first base case is when this clique or its parent is the root, - // in which case we return an empty Bayes net. + // A first base case is when this clique or its parent is the root, + // in which case we return an empty Bayes net. - derived_ptr parent(parent_.lock()); + derived_ptr parent(parent_.lock()); + if (R.get() != this && parent != R) { - if (R.get() == this || parent == R) { - BayesNet empty; - return empty; - } + // The root conditional + FactorGraph p_R(BayesNet(R->conditional())); - // The root conditional - FactorGraph p_R(BayesNet(R->conditional())); + // The parent clique has a ConditionalType for each frontal node in Fp + // so we can obtain P(Fp|Sp) in factor graph form + FactorGraph p_Fp_Sp(BayesNet(parent->conditional())); - // The parent clique has a ConditionalType for each frontal node in Fp - // so we can obtain P(Fp|Sp) in factor graph form - FactorGraph p_Fp_Sp(BayesNet(parent->conditional())); + // If not the base case, obtain the parent shortcut P(Sp|R) as factors + FactorGraph p_Sp_R(parent->shortcut(R, function)); - // If not the base case, obtain the parent shortcut P(Sp|R) as factors - FactorGraph p_Sp_R(parent->shortcut(R, function)); + // now combine P(Cp|R) = P(Fp|Sp) * P(Sp|R) + FactorGraph p_Cp_R; + p_Cp_R.push_back(p_R); + p_Cp_R.push_back(p_Fp_Sp); + p_Cp_R.push_back(p_Sp_R); - // now combine P(Cp|R) = P(Fp|Sp) * P(Sp|R) - FactorGraph p_Cp_R; - p_Cp_R.push_back(p_R); - p_Cp_R.push_back(p_Fp_Sp); - p_Cp_R.push_back(p_Sp_R); + // Eliminate into a Bayes net with ordering designed to integrate out + // any variables not in *our* separator. Variables to integrate out must be + // eliminated first hence the desired ordering is [Cp\S S]. + // However, an added wrinkle is that Cp might overlap with the root. + // Keys corresponding to the root should not be added to the ordering at all. - // Eliminate into a Bayes net with ordering designed to integrate out - // any variables not in *our* separator. Variables to integrate out must be - // eliminated first hence the desired ordering is [Cp\S S]. - // However, an added wrinkle is that Cp might overlap with the root. - // Keys corresponding to the root should not be added to the ordering at all. + if(debug) { + p_R.print("p_R: "); + p_Fp_Sp.print("p_Fp_Sp: "); + p_Sp_R.print("p_Sp_R: "); + } - if(debug) { - p_R.print("p_R: "); - p_Fp_Sp.print("p_Fp_Sp: "); - p_Sp_R.print("p_Sp_R: "); - } + // We want to factor into a conditional of the clique variables given the + // root and the marginal on the root, integrating out all other variables. + // The integrands include any parents of this clique and the variables of + // the parent clique. + FastSet variablesAtBack; + FastSet separator; + size_t uniqueRootVariables = 0; + BOOST_FOREACH(const Index separatorIndex, this->conditional()->parents()) { + variablesAtBack.insert(separatorIndex); + separator.insert(separatorIndex); + if(debug) std::cout << "At back (this): " << separatorIndex << std::endl; + } + BOOST_FOREACH(const Index key, R->conditional()->keys()) { + if(variablesAtBack.insert(key).second) + ++ uniqueRootVariables; + if(debug) std::cout << "At back (root): " << key << std::endl; + } - // We want to factor into a conditional of the clique variables given the - // root and the marginal on the root, integrating out all other variables. - // The integrands include any parents of this clique and the variables of - // the parent clique. - FastSet variablesAtBack; - FastSet separator; - size_t uniqueRootVariables = 0; - BOOST_FOREACH(const Index separatorIndex, this->conditional()->parents()) { - variablesAtBack.insert(separatorIndex); - separator.insert(separatorIndex); - if(debug) std::cout << "At back (this): " << separatorIndex << std::endl; - } - BOOST_FOREACH(const Index key, R->conditional()->keys()) { - if(variablesAtBack.insert(key).second) - ++ uniqueRootVariables; - if(debug) std::cout << "At back (root): " << key << std::endl; - } + Permutation toBack = Permutation::PushToBack( + std::vector(variablesAtBack.begin(), variablesAtBack.end()), + R->conditional()->lastFrontalKey() + 1); + Permutation::shared_ptr toBackInverse(toBack.inverse()); + BOOST_FOREACH(const typename FactorType::shared_ptr& factor, p_Cp_R) { + factor->permuteWithInverse(*toBackInverse); } + typename BayesNet::shared_ptr eliminated(EliminationTree< + FactorType>::Create(p_Cp_R)->eliminate(function)); - Permutation toBack = Permutation::PushToBack( - std::vector(variablesAtBack.begin(), variablesAtBack.end()), - R->conditional()->lastFrontalKey() + 1); - Permutation::shared_ptr toBackInverse(toBack.inverse()); - BOOST_FOREACH(const typename FactorType::shared_ptr& factor, p_Cp_R) { - factor->permuteWithInverse(*toBackInverse); } - typename BayesNet::shared_ptr eliminated(EliminationTree< - FactorType>::Create(p_Cp_R)->eliminate(function)); + // Take only the conditionals for p(S|R). We check for each variable being + // in the separator set because if some separator variables overlap with + // root variables, we cannot rely on the number of root variables, and also + // want to include those variables in the conditional. + BOOST_REVERSE_FOREACH(typename ConditionalType::shared_ptr conditional, *eliminated) { + assert(conditional->nrFrontals() == 1); + if(separator.find(toBack[conditional->firstFrontalKey()]) != separator.end()) { + if(debug) + conditional->print("Taking C|R conditional: "); + p_S_R.push_front(conditional); + } + if(p_S_R.size() == separator.size()) + break; + } - // Take only the conditionals for p(S|R). We check for each variable being - // in the separator set because if some separator variables overlap with - // root variables, we cannot rely on the number of root variables, and also - // want to include those variables in the conditional. - BOOST_REVERSE_FOREACH(typename ConditionalType::shared_ptr conditional, *eliminated) { - assert(conditional->nrFrontals() == 1); - if(separator.find(toBack[conditional->firstFrontalKey()]) != separator.end()) { - if(debug) - conditional->print("Taking C|R conditional: "); - p_S_R.push_front(conditional); - } - if(p_S_R.size() == separator.size()) - break; - } + // Undo the permutation + if(debug) toBack.print("toBack: "); + p_S_R.permuteWithInverse(toBack); + } - // Undo the permutation - if(debug) toBack.print("toBack: "); - p_S_R.permuteWithInverse(toBack); + cachedShortcut_ = p_S_R; + } + else + p_S_R = *cachedShortcut_; // return the cached version - assertInvariants(); - cachedShortcut_ = p_S_R; - } - else - p_S_R = *cachedShortcut_; + assertInvariants(); - // return the shortcut P(S|R) - return p_S_R; + // return the shortcut P(S|R) + return p_S_R; } /* ************************************************************************* */ From 801e0a065abb47d39a5a715b962014891d331c38 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 24 Jun 2012 04:20:16 +0000 Subject: [PATCH 451/914] sift features --- .../Balbianello/BalbianelloMedium-1.key.gz | Bin 0 -> 332878 bytes .../Balbianello/BalbianelloMedium-2.key.gz | Bin 0 -> 281303 bytes .../Balbianello/BalbianelloMedium-3.key.gz | Bin 0 -> 296236 bytes .../Balbianello/BalbianelloMedium-4.key.gz | Bin 0 -> 283418 bytes .../Balbianello/BalbianelloMedium-5.key.gz | Bin 0 -> 241361 bytes 5 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 examples/Data/Balbianello/BalbianelloMedium-1.key.gz create mode 100644 examples/Data/Balbianello/BalbianelloMedium-2.key.gz create mode 100644 examples/Data/Balbianello/BalbianelloMedium-3.key.gz create mode 100644 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\n"; + cout << "\n Output written in " << statFile << " ...\n"; + statbuf.close(); + } + + return 0; +} + + diff --git a/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h b/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h new file mode 100644 index 000000000..6d765a997 --- /dev/null +++ b/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h @@ -0,0 +1,548 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2012 Désiré Nuentsa-Wakam +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + + +#include +#include +#include "Eigen/SparseCore" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef EIGEN_CHOLMOD_SUPPORT +#include +#endif + +#ifdef EIGEN_UMFPACK_SUPPORT +#include +#endif + +#ifdef EIGEN_PARDISO_SUPPORT +#include +#endif + +#ifdef EIGEN_SUPERLU_SUPPORT +#include +#endif + +#ifdef EIGEN_PASTIX_SUPPORT +#include +#endif + +// CONSTANTS +#define EIGEN_UMFPACK 0 +#define EIGEN_SUPERLU 1 +#define EIGEN_PASTIX 2 +#define EIGEN_PARDISO 3 +#define EIGEN_BICGSTAB 4 +#define EIGEN_BICGSTAB_ILUT 5 +#define EIGEN_GMRES 6 +#define EIGEN_GMRES_ILUT 7 +#define EIGEN_SIMPLICIAL_LDLT 8 +#define EIGEN_CHOLMOD_LDLT 9 +#define EIGEN_PASTIX_LDLT 10 +#define EIGEN_PARDISO_LDLT 11 +#define EIGEN_SIMPLICIAL_LLT 12 +#define EIGEN_CHOLMOD_SUPERNODAL_LLT 13 +#define EIGEN_CHOLMOD_SIMPLICIAL_LLT 14 +#define EIGEN_PASTIX_LLT 15 +#define EIGEN_PARDISO_LLT 16 +#define EIGEN_CG 17 +#define EIGEN_CG_PRECOND 18 +#define EIGEN_ALL_SOLVERS 19 + +using namespace Eigen; +using namespace std; + +struct Stats{ + ComputationInfo info; + double total_time; + double compute_time; + double solve_time; + double rel_error; + int memory_used; + int iterations; + int isavail; + int isIterative; +}; + +// Global variables for input parameters +int MaximumIters; // Maximum number of iterations +double RelErr; // Relative error of the computed solution + +template inline typename NumTraits::Real test_precision() { return NumTraits::dummy_precision(); } +template<> inline float test_precision() { return 1e-3f; } +template<> inline double test_precision() { return 1e-6; } +template<> inline float test_precision >() { return test_precision(); } +template<> inline double test_precision >() { return test_precision(); } + +void printStatheader(std::ofstream& out) +{ + int LUcnt = 0; + string LUlist =" ", LLTlist = " LLT", LDLTlist = " LDLT "; + +#ifdef EIGEN_UMFPACK_SUPPORT + LUlist += " UMFPACK "; LUcnt++; +#endif +#ifdef EIGEN_SUPERLU_SUPPORT + LUlist += " SUPERLU "; LUcnt++; +#endif +#ifdef EIGEN_CHOLMOD_SUPPORT + LLTlist += " CHOLMOD SP LLT CHOLMOD LLT"; + LDLTlist += "CHOLMOD LDLT"; +#endif +#ifdef EIGEN_PARDISO_SUPPORT + LUlist += " PARDISO LU"; LUcnt++; + LLTlist += " PARDISO LLT"; + LDLTlist += " PARDISO LDLT"; +#endif +#ifdef EIGEN_PASTIX_SUPPORT + LUlist += " PASTIX LU"; LUcnt++; + LLTlist += " PASTIX LLT"; + LDLTlist += " PASTIX LDLT"; +#endif + + out << "\n "; + out << "
Matrix N NNZ "; + if (LUcnt) out << LUlist; + out << " BiCGSTAB BiCGSTAB+ILUT"<< "GMRES+ILUT" < CG "<< std::endl; +} + + +template +Stats call_solver(Solver &solver, const typename Solver::MatrixType& A, const Matrix& b, const Matrix& refX) +{ + Stats stat; + Matrix x; + BenchTimer timer; + timer.reset(); + timer.start(); + solver.compute(A); + if (solver.info() != Success) + { + stat.info = NumericalIssue; + std::cerr << "Solver failed ... \n"; + return stat; + } + timer.stop(); + stat.compute_time = timer.value(); + + timer.reset(); + timer.start(); + x = solver.solve(b); + if (solver.info() == NumericalIssue) + { + stat.info = NumericalIssue; + std::cerr << "Solver failed ... \n"; + return stat; + } + + timer.stop(); + stat.solve_time = timer.value(); + stat.total_time = stat.solve_time + stat.compute_time; + stat.memory_used = 0; + // Verify the relative error + if(refX.size() != 0) + stat.rel_error = (refX - x).norm()/refX.norm(); + else + { + // Compute the relative residual norm + Matrix temp; + temp = A * x; + stat.rel_error = (b-temp).norm()/b.norm(); + } + if ( stat.rel_error > RelErr ) + { + stat.info = NoConvergence; + return stat; + } + else + { + stat.info = Success; + return stat; + } +} + +template +Stats call_directsolver(Solver& solver, const typename Solver::MatrixType& A, const Matrix& b, const Matrix& refX) +{ + Stats stat; + stat = call_solver(solver, A, b, refX); + return stat; +} + +template +Stats call_itersolver(Solver &solver, const typename Solver::MatrixType& A, const Matrix& b, const Matrix& refX) +{ + Stats stat; + solver.setTolerance(RelErr); + solver.setMaxIterations(MaximumIters); + + stat = call_solver(solver, A, b, refX); + stat.iterations = solver.iterations(); + return stat; +} + +inline void printStatItem(Stats *stat, int solver_id, int& best_time_id, double& best_time_val) +{ + stat[solver_id].isavail = 1; + + if (stat[solver_id].info == NumericalIssue) + { + cout << " SOLVER FAILED ... Probably a numerical issue \n"; + return; + } + if (stat[solver_id].info == NoConvergence){ + cout << "REL. ERROR " << stat[solver_id].rel_error; + if(stat[solver_id].isIterative == 1) + cout << " (" << stat[solver_id].iterations << ") \n"; + return; + } + + // Record the best CPU time + if (!best_time_val) + { + best_time_val = stat[solver_id].total_time; + best_time_id = solver_id; + } + else if (stat[solver_id].total_time < best_time_val) + { + best_time_val = stat[solver_id].total_time; + best_time_id = solver_id; + } + // Print statistics to standard output + if (stat[solver_id].info == Success){ + cout<< "COMPUTE TIME : " << stat[solver_id].compute_time<< " \n"; + cout<< "SOLVE TIME : " << stat[solver_id].solve_time<< " \n"; + cout<< "TOTAL TIME : " << stat[solver_id].total_time<< " \n"; + cout << "REL. ERROR : " << stat[solver_id].rel_error ; + if(stat[solver_id].isIterative == 1) { + cout << " (" << stat[solver_id].iterations << ") "; + } + cout << std::endl; + } + +} + + +/* Print the results from all solvers corresponding to a particular matrix + * The best CPU time is printed in bold + */ +inline void printHtmlStatLine(Stats *stat, int best_time_id, string& statline) +{ + + string markup; + ostringstream compute,solve,total,error; + for (int i = 0; i < EIGEN_ALL_SOLVERS; i++) + { + if (stat[i].isavail == 0) continue; + if(i == best_time_id) + markup = ""; + else + markup = ""; + + if (stat[i].info == Success){ + compute << markup << stat[i].compute_time; + solve << markup << stat[i].solve_time; + total << markup << stat[i].total_time; + error << " " << stat[i].rel_error; + if(stat[i].isIterative == 1) { + error << " (" << stat[i].iterations << ") "; + } + } + else { + compute << " -" ; + solve << " -" ; + total << " -" ; + if(stat[i].info == NoConvergence){ + error << " "<< stat[i].rel_error ; + if(stat[i].isIterative == 1) + error << " (" << stat[i].iterations << ") "; + } + else error << " - "; + } + } + + statline = "Compute Time " + compute.str() + "\n" + + "
Solve Time " + solve.str() + "\n" + + "
Total Time " + total.str() + "\n" + +"
Error(Iter)" + error.str() + "\n"; + +} + +template +int SelectSolvers(const SparseMatrix&A, unsigned int sym, Matrix& b, const Matrix& refX, Stats *stat) +{ + typedef SparseMatrix SpMat; + // First, deal with Nonsymmetric and symmetric matrices + int best_time_id = 0; + double best_time_val = 0.0; + //UMFPACK + #ifdef EIGEN_UMFPACK_SUPPORT + { + cout << "Solving with UMFPACK LU ... \n"; + UmfPackLU solver; + stat[EIGEN_UMFPACK] = call_directsolver(solver, A, b, refX); + printStatItem(stat, EIGEN_UMFPACK, best_time_id, best_time_val); + } + #endif + //SuperLU + #ifdef EIGEN_SUPERLU_SUPPORT + { + cout << "\nSolving with SUPERLU ... \n"; + SuperLU solver; + stat[EIGEN_SUPERLU] = call_directsolver(solver, A, b, refX); + printStatItem(stat, EIGEN_SUPERLU, best_time_id, best_time_val); + } + #endif + + // PaStix LU + #ifdef EIGEN_PASTIX_SUPPORT + { + cout << "\nSolving with PASTIX LU ... \n"; + PastixLU solver; + stat[EIGEN_PASTIX] = call_directsolver(solver, A, b, refX) ; + printStatItem(stat, EIGEN_PASTIX, best_time_id, best_time_val); + } + #endif + + //PARDISO LU + #ifdef EIGEN_PARDISO_SUPPORT + { + cout << "\nSolving with PARDISO LU ... \n"; + PardisoLU solver; + stat[EIGEN_PARDISO] = call_directsolver(solver, A, b, refX); + printStatItem(stat, EIGEN_PARDISO, best_time_id, best_time_val); + } + #endif + + + + //BiCGSTAB + { + cout << "\nSolving with BiCGSTAB ... \n"; + BiCGSTAB solver; + stat[EIGEN_BICGSTAB] = call_itersolver(solver, A, b, refX); + stat[EIGEN_BICGSTAB].isIterative = 1; + printStatItem(stat, EIGEN_BICGSTAB, best_time_id, best_time_val); + } + //BiCGSTAB+ILUT + { + cout << "\nSolving with BiCGSTAB and ILUT ... \n"; + BiCGSTAB > solver; + stat[EIGEN_BICGSTAB_ILUT] = call_itersolver(solver, A, b, refX); + stat[EIGEN_BICGSTAB_ILUT].isIterative = 1; + printStatItem(stat, EIGEN_BICGSTAB_ILUT, best_time_id, best_time_val); + } + + + //GMRES +// { +// cout << "\nSolving with GMRES ... \n"; +// GMRES solver; +// stat[EIGEN_GMRES] = call_itersolver(solver, A, b, refX); +// stat[EIGEN_GMRES].isIterative = 1; +// printStatItem(stat, EIGEN_GMRES, best_time_id, best_time_val); +// } + //GMRES+ILUT + { + cout << "\nSolving with GMRES and ILUT ... \n"; + GMRES > solver; + stat[EIGEN_GMRES_ILUT] = call_itersolver(solver, A, b, refX); + stat[EIGEN_GMRES_ILUT].isIterative = 1; + printStatItem(stat, EIGEN_GMRES_ILUT, best_time_id, best_time_val); + } + + // Hermitian and not necessarily positive-definites + if (sym != NonSymmetric) + { + // Internal Cholesky + { + cout << "\nSolving with Simplicial LDLT ... \n"; + SimplicialLDLT solver; + stat[EIGEN_SIMPLICIAL_LDLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat, EIGEN_SIMPLICIAL_LDLT, best_time_id, best_time_val); + } + + // CHOLMOD + #ifdef EIGEN_CHOLMOD_SUPPORT + { + cout << "\nSolving with CHOLMOD LDLT ... \n"; + CholmodDecomposition solver; + solver.setMode(CholmodLDLt); + stat[EIGEN_CHOLMOD_LDLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_CHOLMOD_LDLT, best_time_id, best_time_val); + } + #endif + + //PASTIX LLT + #ifdef EIGEN_PASTIX_SUPPORT + { + cout << "\nSolving with PASTIX LDLT ... \n"; + PastixLDLT solver; + stat[EIGEN_PASTIX_LDLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_PASTIX_LDLT, best_time_id, best_time_val); + } + #endif + + //PARDISO LLT + #ifdef EIGEN_PARDISO_SUPPORT + { + cout << "\nSolving with PARDISO LDLT ... \n"; + PardisoLDLT solver; + stat[EIGEN_PARDISO_LDLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_PARDISO_LDLT, best_time_id, best_time_val); + } + #endif + } + + // Now, symmetric POSITIVE DEFINITE matrices + if (sym == SPD) + { + + //Internal Sparse Cholesky + { + cout << "\nSolving with SIMPLICIAL LLT ... \n"; + SimplicialLLT solver; + stat[EIGEN_SIMPLICIAL_LLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_SIMPLICIAL_LLT, best_time_id, best_time_val); + } + + // CHOLMOD + #ifdef EIGEN_CHOLMOD_SUPPORT + { + // CholMOD SuperNodal LLT + cout << "\nSolving with CHOLMOD LLT (Supernodal)... \n"; + CholmodDecomposition solver; + solver.setMode(CholmodSupernodalLLt); + stat[EIGEN_CHOLMOD_SUPERNODAL_LLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_CHOLMOD_SUPERNODAL_LLT, best_time_id, best_time_val); + // CholMod Simplicial LLT + cout << "\nSolving with CHOLMOD LLT (Simplicial) ... \n"; + solver.setMode(CholmodSimplicialLLt); + stat[EIGEN_CHOLMOD_SIMPLICIAL_LLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_CHOLMOD_SIMPLICIAL_LLT, best_time_id, best_time_val); + } + #endif + + //PASTIX LLT + #ifdef EIGEN_PASTIX_SUPPORT + { + cout << "\nSolving with PASTIX LLT ... \n"; + PastixLLT solver; + stat[EIGEN_PASTIX_LLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_PASTIX_LLT, best_time_id, best_time_val); + } + #endif + + //PARDISO LLT + #ifdef EIGEN_PARDISO_SUPPORT + { + cout << "\nSolving with PARDISO LLT ... \n"; + PardisoLLT solver; + stat[EIGEN_PARDISO_LLT] = call_directsolver(solver, A, b, refX); + printStatItem(stat,EIGEN_PARDISO_LLT, best_time_id, best_time_val); + } + #endif + + // Internal CG + { + cout << "\nSolving with CG ... \n"; + ConjugateGradient solver; + stat[EIGEN_CG] = call_itersolver(solver, A, b, refX); + stat[EIGEN_CG].isIterative = 1; + printStatItem(stat,EIGEN_CG, best_time_id, best_time_val); + } + //CG+IdentityPreconditioner +// { +// cout << "\nSolving with CG and IdentityPreconditioner ... \n"; +// ConjugateGradient solver; +// stat[EIGEN_CG_PRECOND] = call_itersolver(solver, A, b, refX); +// stat[EIGEN_CG_PRECOND].isIterative = 1; +// printStatItem(stat,EIGEN_CG_PRECOND, best_time_id, best_time_val); +// } + } // End SPD matrices + + return best_time_id; +} + +/* Browse all the matrices available in the specified folder + * and solve the associated linear system. + * The results of each solve are printed in the standard output + * and optionally in the provided html file + */ +template +void Browse_Matrices(const string folder, bool statFileExists, std::string& statFile, int maxiters, double tol) +{ + MaximumIters = maxiters; // Maximum number of iterations, global variable + RelErr = tol; //Relative residual error as stopping criterion for iterative solvers + MatrixMarketIterator it(folder); + Stats stat[EIGEN_ALL_SOLVERS]; + for ( ; it; ++it) + { + for (int i = 0; i < EIGEN_ALL_SOLVERS; i++) + { + stat[i].isavail = 0; + stat[i].isIterative = 0; + } + + int best_time_id; + cout<< "\n\n===================================================== \n"; + cout<< " ====== SOLVING WITH MATRIX " << it.matname() << " ====\n"; + cout<< " =================================================== \n\n"; + Matrix refX; + if(it.hasrefX()) refX = it.refX(); + best_time_id = SelectSolvers(it.matrix(), it.sym(), it.rhs(), refX, &stat[0]); + + if(statFileExists) + { + string statline; + printHtmlStatLine(&stat[0], best_time_id, statline); + std::ofstream statbuf(statFile.c_str(), std::ios::app); + statbuf << "
" << it.matname() << " " + << it.matrix().rows() << " " << it.matrix().nonZeros()<< " "<< statline ; + statbuf.close(); + } + } +} + +bool get_options(int argc, char **args, string option, string* value=0) +{ + int idx = 1, found=false; + while (idx +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_BAND_TRIANGULARSOLVER_H +#define EIGEN_BAND_TRIANGULARSOLVER_H + +namespace internal { + + /* \internal + * Solve Ax=b with A a band triangular matrix + * TODO: extend it to matrices for x abd b */ +template +struct band_solve_triangular_selector; + + +template +struct band_solve_triangular_selector +{ + typedef Map, 0, OuterStride<> > LhsMap; + typedef Map > RhsMap; + enum { IsLower = (Mode&Lower) ? 1 : 0 }; + static void run(Index size, Index k, const LhsScalar* _lhs, Index lhsStride, RhsScalar* _other) + { + const LhsMap lhs(_lhs,size,k+1,OuterStride<>(lhsStride)); + RhsMap other(_other,size,1); + typename internal::conditional< + ConjLhs, + const CwiseUnaryOp,LhsMap>, + const LhsMap&> + ::type cjLhs(lhs); + + for(int col=0 ; col0) + other.coeffRef(i,col) -= cjLhs.row(i).segment(actual_start,actual_k).transpose() + .cwiseProduct(other.col(col).segment(IsLower ? i-actual_k : i+1,actual_k)).sum(); + + if((Mode&UnitDiag)==0) + other.coeffRef(i,col) /= cjLhs(i,IsLower ? k : 0); + } + } + } + +}; + +template +struct band_solve_triangular_selector +{ + typedef Map, 0, OuterStride<> > LhsMap; + typedef Map > RhsMap; + enum { IsLower = (Mode&Lower) ? 1 : 0 }; + static void run(Index size, Index k, const LhsScalar* _lhs, Index lhsStride, RhsScalar* _other) + { + const LhsMap lhs(_lhs,k+1,size,OuterStride<>(lhsStride)); + RhsMap other(_other,size,1); + typename internal::conditional< + ConjLhs, + const CwiseUnaryOp,LhsMap>, + const LhsMap&> + ::type cjLhs(lhs); + + for(int col=0 ; col0) + other.col(col).segment(IsLower ? i+1 : i-actual_k, actual_k) + -= other.coeff(i,col) * cjLhs.col(i).segment(actual_start,actual_k); + + } + } + } +}; + + +} // end namespace internal + +#endif // EIGEN_BAND_TRIANGULARSOLVER_H diff --git a/gtsam/3rdparty/Eigen/blas/CMakeLists.txt b/gtsam/3rdparty/Eigen/blas/CMakeLists.txt index 5f2e3cd32..453d5874c 100644 --- a/gtsam/3rdparty/Eigen/blas/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/blas/CMakeLists.txt @@ -1,27 +1,34 @@ project(EigenBlas CXX) -if( NOT DEFINED EIGEN_Fortran_COMPILER_WORKS OR EIGEN_Fortran_COMPILER_WORKS) +include("../cmake/language_support.cmake") +workaround_9220(Fortran EIGEN_Fortran_COMPILER_WORKS) + +if(EIGEN_Fortran_COMPILER_WORKS) enable_language(Fortran OPTIONAL) - - if(CMAKE_Fortran_COMPILER_WORKS) - set(EIGEN_Fortran_COMPILER_WORKS TRUE CACHE INTERNAL "workaround cmake's enable_language issue") - else() - set(EIGEN_Fortran_COMPILER_WORKS FALSE CACHE INTERNAL "workaround cmake's enable_language issue") - endif() - endif() -if(CMAKE_Fortran_COMPILER_WORKS) - add_custom_target(blas) -set(EigenBlas_SRCS single.cpp double.cpp complex_single.cpp complex_double.cpp xerbla.cpp +set(EigenBlas_SRCS single.cpp double.cpp complex_single.cpp complex_double.cpp xerbla.cpp) + +if(EIGEN_Fortran_COMPILER_WORKS) + +set(EigenBlas_SRCS ${EigenBlas_SRCS} complexdots.f srotm.f srotmg.f drotm.f drotmg.f - lsame.f chpr2.f ctbsv.f dspmv.f dtbmv.f dtpsv.f ssbmv.f sspr.f stpmv.f zhpr2.f ztbsv.f chbmv.f chpr.f ctpmv.f dspr2.f dtbsv.f sspmv.f stbmv.f stpsv.f zhbmv.f zhpr.f ztpmv.f chpmv.f ctbmv.f ctpsv.f dsbmv.f dspr.f dtpmv.f sspr2.f stbsv.f zhpmv.f ztbmv.f ztpsv.f + lsame.f chpr2.f dspmv.f dtpsv.f ssbmv.f sspr.f stpmv.f + zhpr2.f chbmv.f chpr.f ctpmv.f dspr2.f sspmv.f stpsv.f + zhbmv.f zhpr.f ztpmv.f chpmv.f ctpsv.f dsbmv.f dspr.f dtpmv.f sspr2.f + zhpmv.f ztpsv.f + dtbmv.f stbmv.f ctbmv.f ztbmv.f ) +else() + +message(WARNING " No fortran compiler has been detected, the blas build will be incomplete.") + +endif() add_library(eigen_blas_static ${EigenBlas_SRCS}) add_library(eigen_blas SHARED ${EigenBlas_SRCS}) @@ -33,11 +40,12 @@ endif() add_dependencies(blas eigen_blas eigen_blas_static) -install(TARGETS eigen_blas +install(TARGETS eigen_blas eigen_blas_static RUNTIME DESTINATION bin LIBRARY DESTINATION lib ARCHIVE DESTINATION lib) +if(EIGEN_Fortran_COMPILER_WORKS) if(EIGEN_LEAVE_TEST_IN_ALL_TARGET) add_subdirectory(testing) # can't do EXCLUDE_FROM_ALL here, breaks CTest @@ -45,4 +53,5 @@ else() add_subdirectory(testing EXCLUDE_FROM_ALL) endif() -endif(CMAKE_Fortran_COMPILER_WORKS) +endif() + diff --git a/gtsam/3rdparty/Eigen/blas/common.h b/gtsam/3rdparty/Eigen/blas/common.h index ed93642f9..ada833a90 100644 --- a/gtsam/3rdparty/Eigen/blas/common.h +++ b/gtsam/3rdparty/Eigen/blas/common.h @@ -32,16 +32,8 @@ #error the token SCALAR must be defined to compile this file #endif -#ifdef __cplusplus -extern "C" -{ -#endif +#include -#include "../bench/btl/libs/C_BLAS/blas.h" - -#ifdef __cplusplus -} -#endif #define NOTR 0 #define TR 1 @@ -93,6 +85,12 @@ inline bool check_uplo(const char* uplo) #include #include + + +namespace Eigen { +#include "BandTriangularSolver.h" +} + using namespace Eigen; typedef SCALAR Scalar; diff --git a/gtsam/3rdparty/Eigen/blas/ctbsv.f b/gtsam/3rdparty/Eigen/blas/ctbsv.f deleted file mode 100644 index 853b9d75e..000000000 --- a/gtsam/3rdparty/Eigen/blas/ctbsv.f +++ /dev/null @@ -1,370 +0,0 @@ - SUBROUTINE CTBSV(UPLO,TRANS,DIAG,N,K,A,LDA,X,INCX) -* .. Scalar Arguments .. - INTEGER INCX,K,LDA,N - CHARACTER DIAG,TRANS,UPLO -* .. -* .. Array Arguments .. - COMPLEX A(LDA,*),X(*) -* .. -* -* Purpose -* ======= -* -* CTBSV solves one of the systems of equations -* -* A*x = b, or A'*x = b, or conjg( A' )*x = b, -* -* where b and x are n element vectors and A is an n by n unit, or -* non-unit, upper or lower triangular band matrix, with ( k + 1 ) -* diagonals. -* -* No test for singularity or near-singularity is included in this -* routine. Such tests must be performed before calling this routine. -* -* Arguments -* ========== -* -* UPLO - CHARACTER*1. -* On entry, UPLO specifies whether the matrix is an upper or -* lower triangular matrix as follows: -* -* UPLO = 'U' or 'u' A is an upper triangular matrix. -* -* UPLO = 'L' or 'l' A is a lower triangular matrix. -* -* Unchanged on exit. -* -* TRANS - CHARACTER*1. -* On entry, TRANS specifies the equations to be solved as -* follows: -* -* TRANS = 'N' or 'n' A*x = b. -* -* TRANS = 'T' or 't' A'*x = b. -* -* TRANS = 'C' or 'c' conjg( A' )*x = b. -* -* Unchanged on exit. -* -* DIAG - CHARACTER*1. -* On entry, DIAG specifies whether or not A is unit -* triangular as follows: -* -* DIAG = 'U' or 'u' A is assumed to be unit triangular. -* -* DIAG = 'N' or 'n' A is not assumed to be unit -* triangular. -* -* Unchanged on exit. -* -* N - INTEGER. -* On entry, N specifies the order of the matrix A. -* N must be at least zero. -* Unchanged on exit. -* -* K - INTEGER. -* On entry with UPLO = 'U' or 'u', K specifies the number of -* super-diagonals of the matrix A. -* On entry with UPLO = 'L' or 'l', K specifies the number of -* sub-diagonals of the matrix A. -* K must satisfy 0 .le. K. -* Unchanged on exit. -* -* A - COMPLEX array of DIMENSION ( LDA, n ). -* Before entry with UPLO = 'U' or 'u', the leading ( k + 1 ) -* by n part of the array A must contain the upper triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row -* ( k + 1 ) of the array, the first super-diagonal starting at -* position 2 in row k, and so on. The top left k by k triangle -* of the array A is not referenced. -* The following program segment will transfer an upper -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = K + 1 - J -* DO 10, I = MAX( 1, J - K ), J -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Before entry with UPLO = 'L' or 'l', the leading ( k + 1 ) -* by n part of the array A must contain the lower triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row 1 of -* the array, the first sub-diagonal starting at position 1 in -* row 2, and so on. The bottom right k by k triangle of the -* array A is not referenced. -* The following program segment will transfer a lower -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = 1 - J -* DO 10, I = J, MIN( N, J + K ) -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Note that when DIAG = 'U' or 'u' the elements of the array A -* corresponding to the diagonal elements of the matrix are not -* referenced, but are assumed to be unity. -* Unchanged on exit. -* -* LDA - INTEGER. -* On entry, LDA specifies the first dimension of A as declared -* in the calling (sub) program. LDA must be at least -* ( k + 1 ). -* Unchanged on exit. -* -* X - COMPLEX array of dimension at least -* ( 1 + ( n - 1 )*abs( INCX ) ). -* Before entry, the incremented array X must contain the n -* element right-hand side vector b. On exit, X is overwritten -* with the solution vector x. -* -* INCX - INTEGER. -* On entry, INCX specifies the increment for the elements of -* X. INCX must not be zero. -* Unchanged on exit. -* -* Further Details -* =============== -* -* Level 2 Blas routine. -* -* -- Written on 22-October-1986. -* Jack Dongarra, Argonne National Lab. -* Jeremy Du Croz, Nag Central Office. -* Sven Hammarling, Nag Central Office. -* Richard Hanson, Sandia National Labs. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX ZERO - PARAMETER (ZERO= (0.0E+0,0.0E+0)) -* .. -* .. Local Scalars .. - COMPLEX TEMP - INTEGER I,INFO,IX,J,JX,KPLUS1,KX,L - LOGICAL NOCONJ,NOUNIT -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. External Subroutines .. - EXTERNAL XERBLA -* .. -* .. Intrinsic Functions .. - INTRINSIC CONJG,MAX,MIN -* .. -* -* Test the input parameters. -* - INFO = 0 - IF (.NOT.LSAME(UPLO,'U') .AND. .NOT.LSAME(UPLO,'L')) THEN - INFO = 1 - ELSE IF (.NOT.LSAME(TRANS,'N') .AND. .NOT.LSAME(TRANS,'T') .AND. - + .NOT.LSAME(TRANS,'C')) THEN - INFO = 2 - ELSE IF (.NOT.LSAME(DIAG,'U') .AND. .NOT.LSAME(DIAG,'N')) THEN - INFO = 3 - ELSE IF (N.LT.0) THEN - INFO = 4 - ELSE IF (K.LT.0) THEN - INFO = 5 - ELSE IF (LDA.LT. (K+1)) THEN - INFO = 7 - ELSE IF (INCX.EQ.0) THEN - INFO = 9 - END IF - IF (INFO.NE.0) THEN - CALL XERBLA('CTBSV ',INFO) - RETURN - END IF -* -* Quick return if possible. -* - IF (N.EQ.0) RETURN -* - NOCONJ = LSAME(TRANS,'T') - NOUNIT = LSAME(DIAG,'N') -* -* Set up the start point in X if the increment is not unity. This -* will be ( N - 1 )*INCX too small for descending loops. -* - IF (INCX.LE.0) THEN - KX = 1 - (N-1)*INCX - ELSE IF (INCX.NE.1) THEN - KX = 1 - END IF -* -* Start the operations. In this version the elements of A are -* accessed by sequentially with one pass through A. -* - IF (LSAME(TRANS,'N')) THEN -* -* Form x := inv( A )*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 20 J = N,1,-1 - IF (X(J).NE.ZERO) THEN - L = KPLUS1 - J - IF (NOUNIT) X(J) = X(J)/A(KPLUS1,J) - TEMP = X(J) - DO 10 I = J - 1,MAX(1,J-K),-1 - X(I) = X(I) - TEMP*A(L+I,J) - 10 CONTINUE - END IF - 20 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 40 J = N,1,-1 - KX = KX - INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = KPLUS1 - J - IF (NOUNIT) X(JX) = X(JX)/A(KPLUS1,J) - TEMP = X(JX) - DO 30 I = J - 1,MAX(1,J-K),-1 - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX - INCX - 30 CONTINUE - END IF - JX = JX - INCX - 40 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 60 J = 1,N - IF (X(J).NE.ZERO) THEN - L = 1 - J - IF (NOUNIT) X(J) = X(J)/A(1,J) - TEMP = X(J) - DO 50 I = J + 1,MIN(N,J+K) - X(I) = X(I) - TEMP*A(L+I,J) - 50 CONTINUE - END IF - 60 CONTINUE - ELSE - JX = KX - DO 80 J = 1,N - KX = KX + INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = 1 - J - IF (NOUNIT) X(JX) = X(JX)/A(1,J) - TEMP = X(JX) - DO 70 I = J + 1,MIN(N,J+K) - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX + INCX - 70 CONTINUE - END IF - JX = JX + INCX - 80 CONTINUE - END IF - END IF - ELSE -* -* Form x := inv( A' )*x or x := inv( conjg( A') )*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 110 J = 1,N - TEMP = X(J) - L = KPLUS1 - J - IF (NOCONJ) THEN - DO 90 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(I) - 90 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - ELSE - DO 100 I = MAX(1,J-K),J - 1 - TEMP = TEMP - CONJG(A(L+I,J))*X(I) - 100 CONTINUE - IF (NOUNIT) TEMP = TEMP/CONJG(A(KPLUS1,J)) - END IF - X(J) = TEMP - 110 CONTINUE - ELSE - JX = KX - DO 140 J = 1,N - TEMP = X(JX) - IX = KX - L = KPLUS1 - J - IF (NOCONJ) THEN - DO 120 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX + INCX - 120 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - ELSE - DO 130 I = MAX(1,J-K),J - 1 - TEMP = TEMP - CONJG(A(L+I,J))*X(IX) - IX = IX + INCX - 130 CONTINUE - IF (NOUNIT) TEMP = TEMP/CONJG(A(KPLUS1,J)) - END IF - X(JX) = TEMP - JX = JX + INCX - IF (J.GT.K) KX = KX + INCX - 140 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 170 J = N,1,-1 - TEMP = X(J) - L = 1 - J - IF (NOCONJ) THEN - DO 150 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(I) - 150 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - ELSE - DO 160 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - CONJG(A(L+I,J))*X(I) - 160 CONTINUE - IF (NOUNIT) TEMP = TEMP/CONJG(A(1,J)) - END IF - X(J) = TEMP - 170 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 200 J = N,1,-1 - TEMP = X(JX) - IX = KX - L = 1 - J - IF (NOCONJ) THEN - DO 180 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX - INCX - 180 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - ELSE - DO 190 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - CONJG(A(L+I,J))*X(IX) - IX = IX - INCX - 190 CONTINUE - IF (NOUNIT) TEMP = TEMP/CONJG(A(1,J)) - END IF - X(JX) = TEMP - JX = JX - INCX - IF ((N-J).GE.K) KX = KX - INCX - 200 CONTINUE - END IF - END IF - END IF -* - RETURN -* -* End of CTBSV . -* - END diff --git a/gtsam/3rdparty/Eigen/blas/dtbsv.f b/gtsam/3rdparty/Eigen/blas/dtbsv.f deleted file mode 100644 index cfeb0b82b..000000000 --- a/gtsam/3rdparty/Eigen/blas/dtbsv.f +++ /dev/null @@ -1,339 +0,0 @@ - SUBROUTINE DTBSV(UPLO,TRANS,DIAG,N,K,A,LDA,X,INCX) -* .. Scalar Arguments .. - INTEGER INCX,K,LDA,N - CHARACTER DIAG,TRANS,UPLO -* .. -* .. Array Arguments .. - DOUBLE PRECISION A(LDA,*),X(*) -* .. -* -* Purpose -* ======= -* -* DTBSV solves one of the systems of equations -* -* A*x = b, or A'*x = b, -* -* where b and x are n element vectors and A is an n by n unit, or -* non-unit, upper or lower triangular band matrix, with ( k + 1 ) -* diagonals. -* -* No test for singularity or near-singularity is included in this -* routine. Such tests must be performed before calling this routine. -* -* Arguments -* ========== -* -* UPLO - CHARACTER*1. -* On entry, UPLO specifies whether the matrix is an upper or -* lower triangular matrix as follows: -* -* UPLO = 'U' or 'u' A is an upper triangular matrix. -* -* UPLO = 'L' or 'l' A is a lower triangular matrix. -* -* Unchanged on exit. -* -* TRANS - CHARACTER*1. -* On entry, TRANS specifies the equations to be solved as -* follows: -* -* TRANS = 'N' or 'n' A*x = b. -* -* TRANS = 'T' or 't' A'*x = b. -* -* TRANS = 'C' or 'c' A'*x = b. -* -* Unchanged on exit. -* -* DIAG - CHARACTER*1. -* On entry, DIAG specifies whether or not A is unit -* triangular as follows: -* -* DIAG = 'U' or 'u' A is assumed to be unit triangular. -* -* DIAG = 'N' or 'n' A is not assumed to be unit -* triangular. -* -* Unchanged on exit. -* -* N - INTEGER. -* On entry, N specifies the order of the matrix A. -* N must be at least zero. -* Unchanged on exit. -* -* K - INTEGER. -* On entry with UPLO = 'U' or 'u', K specifies the number of -* super-diagonals of the matrix A. -* On entry with UPLO = 'L' or 'l', K specifies the number of -* sub-diagonals of the matrix A. -* K must satisfy 0 .le. K. -* Unchanged on exit. -* -* A - DOUBLE PRECISION array of DIMENSION ( LDA, n ). -* Before entry with UPLO = 'U' or 'u', the leading ( k + 1 ) -* by n part of the array A must contain the upper triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row -* ( k + 1 ) of the array, the first super-diagonal starting at -* position 2 in row k, and so on. The top left k by k triangle -* of the array A is not referenced. -* The following program segment will transfer an upper -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = K + 1 - J -* DO 10, I = MAX( 1, J - K ), J -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Before entry with UPLO = 'L' or 'l', the leading ( k + 1 ) -* by n part of the array A must contain the lower triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row 1 of -* the array, the first sub-diagonal starting at position 1 in -* row 2, and so on. The bottom right k by k triangle of the -* array A is not referenced. -* The following program segment will transfer a lower -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = 1 - J -* DO 10, I = J, MIN( N, J + K ) -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Note that when DIAG = 'U' or 'u' the elements of the array A -* corresponding to the diagonal elements of the matrix are not -* referenced, but are assumed to be unity. -* Unchanged on exit. -* -* LDA - INTEGER. -* On entry, LDA specifies the first dimension of A as declared -* in the calling (sub) program. LDA must be at least -* ( k + 1 ). -* Unchanged on exit. -* -* X - DOUBLE PRECISION array of dimension at least -* ( 1 + ( n - 1 )*abs( INCX ) ). -* Before entry, the incremented array X must contain the n -* element right-hand side vector b. On exit, X is overwritten -* with the solution vector x. -* -* INCX - INTEGER. -* On entry, INCX specifies the increment for the elements of -* X. INCX must not be zero. -* Unchanged on exit. -* -* Further Details -* =============== -* -* Level 2 Blas routine. -* -* -- Written on 22-October-1986. -* Jack Dongarra, Argonne National Lab. -* Jeremy Du Croz, Nag Central Office. -* Sven Hammarling, Nag Central Office. -* Richard Hanson, Sandia National Labs. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ZERO - PARAMETER (ZERO=0.0D+0) -* .. -* .. Local Scalars .. - DOUBLE PRECISION TEMP - INTEGER I,INFO,IX,J,JX,KPLUS1,KX,L - LOGICAL NOUNIT -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. External Subroutines .. - EXTERNAL XERBLA -* .. -* .. Intrinsic Functions .. - INTRINSIC MAX,MIN -* .. -* -* Test the input parameters. -* - INFO = 0 - IF (.NOT.LSAME(UPLO,'U') .AND. .NOT.LSAME(UPLO,'L')) THEN - INFO = 1 - ELSE IF (.NOT.LSAME(TRANS,'N') .AND. .NOT.LSAME(TRANS,'T') .AND. - + .NOT.LSAME(TRANS,'C')) THEN - INFO = 2 - ELSE IF (.NOT.LSAME(DIAG,'U') .AND. .NOT.LSAME(DIAG,'N')) THEN - INFO = 3 - ELSE IF (N.LT.0) THEN - INFO = 4 - ELSE IF (K.LT.0) THEN - INFO = 5 - ELSE IF (LDA.LT. (K+1)) THEN - INFO = 7 - ELSE IF (INCX.EQ.0) THEN - INFO = 9 - END IF - IF (INFO.NE.0) THEN - CALL XERBLA('DTBSV ',INFO) - RETURN - END IF -* -* Quick return if possible. -* - IF (N.EQ.0) RETURN -* - NOUNIT = LSAME(DIAG,'N') -* -* Set up the start point in X if the increment is not unity. This -* will be ( N - 1 )*INCX too small for descending loops. -* - IF (INCX.LE.0) THEN - KX = 1 - (N-1)*INCX - ELSE IF (INCX.NE.1) THEN - KX = 1 - END IF -* -* Start the operations. In this version the elements of A are -* accessed by sequentially with one pass through A. -* - IF (LSAME(TRANS,'N')) THEN -* -* Form x := inv( A )*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 20 J = N,1,-1 - IF (X(J).NE.ZERO) THEN - L = KPLUS1 - J - IF (NOUNIT) X(J) = X(J)/A(KPLUS1,J) - TEMP = X(J) - DO 10 I = J - 1,MAX(1,J-K),-1 - X(I) = X(I) - TEMP*A(L+I,J) - 10 CONTINUE - END IF - 20 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 40 J = N,1,-1 - KX = KX - INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = KPLUS1 - J - IF (NOUNIT) X(JX) = X(JX)/A(KPLUS1,J) - TEMP = X(JX) - DO 30 I = J - 1,MAX(1,J-K),-1 - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX - INCX - 30 CONTINUE - END IF - JX = JX - INCX - 40 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 60 J = 1,N - IF (X(J).NE.ZERO) THEN - L = 1 - J - IF (NOUNIT) X(J) = X(J)/A(1,J) - TEMP = X(J) - DO 50 I = J + 1,MIN(N,J+K) - X(I) = X(I) - TEMP*A(L+I,J) - 50 CONTINUE - END IF - 60 CONTINUE - ELSE - JX = KX - DO 80 J = 1,N - KX = KX + INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = 1 - J - IF (NOUNIT) X(JX) = X(JX)/A(1,J) - TEMP = X(JX) - DO 70 I = J + 1,MIN(N,J+K) - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX + INCX - 70 CONTINUE - END IF - JX = JX + INCX - 80 CONTINUE - END IF - END IF - ELSE -* -* Form x := inv( A')*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 100 J = 1,N - TEMP = X(J) - L = KPLUS1 - J - DO 90 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(I) - 90 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - X(J) = TEMP - 100 CONTINUE - ELSE - JX = KX - DO 120 J = 1,N - TEMP = X(JX) - IX = KX - L = KPLUS1 - J - DO 110 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX + INCX - 110 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - X(JX) = TEMP - JX = JX + INCX - IF (J.GT.K) KX = KX + INCX - 120 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 140 J = N,1,-1 - TEMP = X(J) - L = 1 - J - DO 130 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(I) - 130 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - X(J) = TEMP - 140 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 160 J = N,1,-1 - TEMP = X(JX) - IX = KX - L = 1 - J - DO 150 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX - INCX - 150 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - X(JX) = TEMP - JX = JX - INCX - IF ((N-J).GE.K) KX = KX - INCX - 160 CONTINUE - END IF - END IF - END IF -* - RETURN -* -* End of DTBSV . -* - END diff --git a/gtsam/3rdparty/Eigen/blas/level2_impl.h b/gtsam/3rdparty/Eigen/blas/level2_impl.h index 8cbc2f424..46a3e7005 100644 --- a/gtsam/3rdparty/Eigen/blas/level2_impl.h +++ b/gtsam/3rdparty/Eigen/blas/level2_impl.h @@ -151,21 +151,21 @@ int EIGEN_BLAS_FUNC(trmv)(char *uplo, char *opa, char *diag, int *n, RealScalar for(int k=0; k<16; ++k) func[k] = 0; - func[NOTR | (UP << 2) | (NUNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[TR | (UP << 2) | (NUNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[ADJ | (UP << 2) | (NUNIT << 3)] = (internal::product_triangular_matrix_vector::run); + func[NOTR | (UP << 2) | (NUNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[TR | (UP << 2) | (NUNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[ADJ | (UP << 2) | (NUNIT << 3)] = (internal::triangular_matrix_vector_product::run); - func[NOTR | (LO << 2) | (NUNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[TR | (LO << 2) | (NUNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[ADJ | (LO << 2) | (NUNIT << 3)] = (internal::product_triangular_matrix_vector::run); + func[NOTR | (LO << 2) | (NUNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[TR | (LO << 2) | (NUNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[ADJ | (LO << 2) | (NUNIT << 3)] = (internal::triangular_matrix_vector_product::run); - func[NOTR | (UP << 2) | (UNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[TR | (UP << 2) | (UNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[ADJ | (UP << 2) | (UNIT << 3)] = (internal::product_triangular_matrix_vector::run); + func[NOTR | (UP << 2) | (UNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[TR | (UP << 2) | (UNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[ADJ | (UP << 2) | (UNIT << 3)] = (internal::triangular_matrix_vector_product::run); - func[NOTR | (LO << 2) | (UNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[TR | (LO << 2) | (UNIT << 3)] = (internal::product_triangular_matrix_vector::run); - func[ADJ | (LO << 2) | (UNIT << 3)] = (internal::product_triangular_matrix_vector::run); + func[NOTR | (LO << 2) | (UNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[TR | (LO << 2) | (UNIT << 3)] = (internal::triangular_matrix_vector_product::run); + func[ADJ | (LO << 2) | (UNIT << 3)] = (internal::triangular_matrix_vector_product::run); init = true; } @@ -271,6 +271,7 @@ int EIGEN_BLAS_FUNC(gbmv)(char *trans, int *m, int *n, int *kl, int *ku, RealSca return 0; } +#if 0 /** TBMV performs one of the matrix-vector operations * * x := A*x, or x := A'*x, @@ -278,10 +279,56 @@ int EIGEN_BLAS_FUNC(gbmv)(char *trans, int *m, int *n, int *kl, int *ku, RealSca * where x is an n element vector and A is an n by n unit, or non-unit, * upper or lower triangular band matrix, with ( k + 1 ) diagonals. */ -// int EIGEN_BLAS_FUNC(tbmv)(char *uplo, char *trans, char *diag, int *n, int *k, RealScalar *a, int *lda, RealScalar *x, int *incx) -// { -// return 1; -// } +int EIGEN_BLAS_FUNC(tbmv)(char *uplo, char *opa, char *diag, int *n, int *k, RealScalar *pa, int *lda, RealScalar *px, int *incx) +{ + Scalar* a = reinterpret_cast(pa); + Scalar* x = reinterpret_cast(px); + int coeff_rows = *k + 1; + + int info = 0; + if(UPLO(*uplo)==INVALID) info = 1; + else if(OP(*opa)==INVALID) info = 2; + else if(DIAG(*diag)==INVALID) info = 3; + else if(*n<0) info = 4; + else if(*k<0) info = 5; + else if(*lda::run); + func[TR | (UP << 2) | (NUNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[ADJ | (UP << 2) | (NUNIT << 3)] = (internal::band_solve_triangular_selector::run); + + func[NOTR | (LO << 2) | (NUNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[TR | (LO << 2) | (NUNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[ADJ | (LO << 2) | (NUNIT << 3)] = (internal::band_solve_triangular_selector::run); + + func[NOTR | (UP << 2) | (UNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[TR | (UP << 2) | (UNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[ADJ | (UP << 2) | (UNIT << 3)] = (internal::band_solve_triangular_selector::run); + + func[NOTR | (LO << 2) | (UNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[TR | (LO << 2) | (UNIT << 3)] = (internal::band_solve_triangular_selector::run); + func[ADJ | (LO << 2) | (UNIT << 3)] = (internal::band_solve_triangular_selector::run); + + init = true; + } + + Scalar* a = reinterpret_cast(pa); + Scalar* x = reinterpret_cast(px); + int coeff_rows = *k+1; + + int info = 0; + if(UPLO(*uplo)==INVALID) info = 1; + else if(OP(*op)==INVALID) info = 2; + else if(DIAG(*diag)==INVALID) info = 3; + else if(*n<0) info = 4; + else if(*k<0) info = 5; + else if(*lda=16 || func[code]==0) + return 0; + + func[code](*n, *k, a, *lda, actual_x); + + if(actual_x!=x) delete[] copy_back(actual_x,x,actual_n,*incx); + + return 0; +} /** DTPMV performs one of the matrix-vector operations * diff --git a/gtsam/3rdparty/Eigen/blas/level3_impl.h b/gtsam/3rdparty/Eigen/blas/level3_impl.h index 0a3aa98b8..4f4f39080 100644 --- a/gtsam/3rdparty/Eigen/blas/level3_impl.h +++ b/gtsam/3rdparty/Eigen/blas/level3_impl.h @@ -81,7 +81,7 @@ int EIGEN_BLAS_FUNC(gemm)(char *opa, char *opb, int *m, int *n, int *k, RealScal int EIGEN_BLAS_FUNC(trsm)(char *side, char *uplo, char *opa, char *diag, int *m, int *n, RealScalar *palpha, RealScalar *pa, int *lda, RealScalar *pb, int *ldb) { // std::cerr << "in trsm " << *side << " " << *uplo << " " << *opa << " " << *diag << " " << *m << "," << *n << " " << *palpha << " " << *lda << " " << *ldb<< "\n"; - typedef void (*functype)(DenseIndex, DenseIndex, const Scalar *, DenseIndex, Scalar *, DenseIndex); + typedef void (*functype)(DenseIndex, DenseIndex, const Scalar *, DenseIndex, Scalar *, DenseIndex, internal::level3_blocking&); static functype func[32]; static bool init = false; @@ -143,11 +143,17 @@ int EIGEN_BLAS_FUNC(trsm)(char *side, char *uplo, char *opa, char *diag, int *m, return xerbla_(SCALAR_SUFFIX_UP"TRSM ",&info,6); int code = OP(*opa) | (SIDE(*side) << 2) | (UPLO(*uplo) << 3) | (DIAG(*diag) << 4); - + if(SIDE(*side)==LEFT) - func[code](*m, *n, a, *lda, b, *ldb); + { + internal::gemm_blocking_space blocking(*m,*n,*m); + func[code](*m, *n, a, *lda, b, *ldb, blocking); + } else - func[code](*n, *m, a, *lda, b, *ldb); + { + internal::gemm_blocking_space blocking(*m,*n,*n); + func[code](*n, *m, a, *lda, b, *ldb, blocking); + } if(alpha!=Scalar(1)) matrix(b,*m,*n,*ldb) *= alpha; diff --git a/gtsam/3rdparty/Eigen/blas/stbsv.f b/gtsam/3rdparty/Eigen/blas/stbsv.f deleted file mode 100644 index b846be85c..000000000 --- a/gtsam/3rdparty/Eigen/blas/stbsv.f +++ /dev/null @@ -1,339 +0,0 @@ - SUBROUTINE STBSV(UPLO,TRANS,DIAG,N,K,A,LDA,X,INCX) -* .. Scalar Arguments .. - INTEGER INCX,K,LDA,N - CHARACTER DIAG,TRANS,UPLO -* .. -* .. Array Arguments .. - REAL A(LDA,*),X(*) -* .. -* -* Purpose -* ======= -* -* STBSV solves one of the systems of equations -* -* A*x = b, or A'*x = b, -* -* where b and x are n element vectors and A is an n by n unit, or -* non-unit, upper or lower triangular band matrix, with ( k + 1 ) -* diagonals. -* -* No test for singularity or near-singularity is included in this -* routine. Such tests must be performed before calling this routine. -* -* Arguments -* ========== -* -* UPLO - CHARACTER*1. -* On entry, UPLO specifies whether the matrix is an upper or -* lower triangular matrix as follows: -* -* UPLO = 'U' or 'u' A is an upper triangular matrix. -* -* UPLO = 'L' or 'l' A is a lower triangular matrix. -* -* Unchanged on exit. -* -* TRANS - CHARACTER*1. -* On entry, TRANS specifies the equations to be solved as -* follows: -* -* TRANS = 'N' or 'n' A*x = b. -* -* TRANS = 'T' or 't' A'*x = b. -* -* TRANS = 'C' or 'c' A'*x = b. -* -* Unchanged on exit. -* -* DIAG - CHARACTER*1. -* On entry, DIAG specifies whether or not A is unit -* triangular as follows: -* -* DIAG = 'U' or 'u' A is assumed to be unit triangular. -* -* DIAG = 'N' or 'n' A is not assumed to be unit -* triangular. -* -* Unchanged on exit. -* -* N - INTEGER. -* On entry, N specifies the order of the matrix A. -* N must be at least zero. -* Unchanged on exit. -* -* K - INTEGER. -* On entry with UPLO = 'U' or 'u', K specifies the number of -* super-diagonals of the matrix A. -* On entry with UPLO = 'L' or 'l', K specifies the number of -* sub-diagonals of the matrix A. -* K must satisfy 0 .le. K. -* Unchanged on exit. -* -* A - REAL array of DIMENSION ( LDA, n ). -* Before entry with UPLO = 'U' or 'u', the leading ( k + 1 ) -* by n part of the array A must contain the upper triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row -* ( k + 1 ) of the array, the first super-diagonal starting at -* position 2 in row k, and so on. The top left k by k triangle -* of the array A is not referenced. -* The following program segment will transfer an upper -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = K + 1 - J -* DO 10, I = MAX( 1, J - K ), J -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Before entry with UPLO = 'L' or 'l', the leading ( k + 1 ) -* by n part of the array A must contain the lower triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row 1 of -* the array, the first sub-diagonal starting at position 1 in -* row 2, and so on. The bottom right k by k triangle of the -* array A is not referenced. -* The following program segment will transfer a lower -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = 1 - J -* DO 10, I = J, MIN( N, J + K ) -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Note that when DIAG = 'U' or 'u' the elements of the array A -* corresponding to the diagonal elements of the matrix are not -* referenced, but are assumed to be unity. -* Unchanged on exit. -* -* LDA - INTEGER. -* On entry, LDA specifies the first dimension of A as declared -* in the calling (sub) program. LDA must be at least -* ( k + 1 ). -* Unchanged on exit. -* -* X - REAL array of dimension at least -* ( 1 + ( n - 1 )*abs( INCX ) ). -* Before entry, the incremented array X must contain the n -* element right-hand side vector b. On exit, X is overwritten -* with the solution vector x. -* -* INCX - INTEGER. -* On entry, INCX specifies the increment for the elements of -* X. INCX must not be zero. -* Unchanged on exit. -* -* Further Details -* =============== -* -* Level 2 Blas routine. -* -* -- Written on 22-October-1986. -* Jack Dongarra, Argonne National Lab. -* Jeremy Du Croz, Nag Central Office. -* Sven Hammarling, Nag Central Office. -* Richard Hanson, Sandia National Labs. -* -* ===================================================================== -* -* .. Parameters .. - REAL ZERO - PARAMETER (ZERO=0.0E+0) -* .. -* .. Local Scalars .. - REAL TEMP - INTEGER I,INFO,IX,J,JX,KPLUS1,KX,L - LOGICAL NOUNIT -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. External Subroutines .. - EXTERNAL XERBLA -* .. -* .. Intrinsic Functions .. - INTRINSIC MAX,MIN -* .. -* -* Test the input parameters. -* - INFO = 0 - IF (.NOT.LSAME(UPLO,'U') .AND. .NOT.LSAME(UPLO,'L')) THEN - INFO = 1 - ELSE IF (.NOT.LSAME(TRANS,'N') .AND. .NOT.LSAME(TRANS,'T') .AND. - + .NOT.LSAME(TRANS,'C')) THEN - INFO = 2 - ELSE IF (.NOT.LSAME(DIAG,'U') .AND. .NOT.LSAME(DIAG,'N')) THEN - INFO = 3 - ELSE IF (N.LT.0) THEN - INFO = 4 - ELSE IF (K.LT.0) THEN - INFO = 5 - ELSE IF (LDA.LT. (K+1)) THEN - INFO = 7 - ELSE IF (INCX.EQ.0) THEN - INFO = 9 - END IF - IF (INFO.NE.0) THEN - CALL XERBLA('STBSV ',INFO) - RETURN - END IF -* -* Quick return if possible. -* - IF (N.EQ.0) RETURN -* - NOUNIT = LSAME(DIAG,'N') -* -* Set up the start point in X if the increment is not unity. This -* will be ( N - 1 )*INCX too small for descending loops. -* - IF (INCX.LE.0) THEN - KX = 1 - (N-1)*INCX - ELSE IF (INCX.NE.1) THEN - KX = 1 - END IF -* -* Start the operations. In this version the elements of A are -* accessed by sequentially with one pass through A. -* - IF (LSAME(TRANS,'N')) THEN -* -* Form x := inv( A )*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 20 J = N,1,-1 - IF (X(J).NE.ZERO) THEN - L = KPLUS1 - J - IF (NOUNIT) X(J) = X(J)/A(KPLUS1,J) - TEMP = X(J) - DO 10 I = J - 1,MAX(1,J-K),-1 - X(I) = X(I) - TEMP*A(L+I,J) - 10 CONTINUE - END IF - 20 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 40 J = N,1,-1 - KX = KX - INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = KPLUS1 - J - IF (NOUNIT) X(JX) = X(JX)/A(KPLUS1,J) - TEMP = X(JX) - DO 30 I = J - 1,MAX(1,J-K),-1 - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX - INCX - 30 CONTINUE - END IF - JX = JX - INCX - 40 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 60 J = 1,N - IF (X(J).NE.ZERO) THEN - L = 1 - J - IF (NOUNIT) X(J) = X(J)/A(1,J) - TEMP = X(J) - DO 50 I = J + 1,MIN(N,J+K) - X(I) = X(I) - TEMP*A(L+I,J) - 50 CONTINUE - END IF - 60 CONTINUE - ELSE - JX = KX - DO 80 J = 1,N - KX = KX + INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = 1 - J - IF (NOUNIT) X(JX) = X(JX)/A(1,J) - TEMP = X(JX) - DO 70 I = J + 1,MIN(N,J+K) - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX + INCX - 70 CONTINUE - END IF - JX = JX + INCX - 80 CONTINUE - END IF - END IF - ELSE -* -* Form x := inv( A')*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 100 J = 1,N - TEMP = X(J) - L = KPLUS1 - J - DO 90 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(I) - 90 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - X(J) = TEMP - 100 CONTINUE - ELSE - JX = KX - DO 120 J = 1,N - TEMP = X(JX) - IX = KX - L = KPLUS1 - J - DO 110 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX + INCX - 110 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - X(JX) = TEMP - JX = JX + INCX - IF (J.GT.K) KX = KX + INCX - 120 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 140 J = N,1,-1 - TEMP = X(J) - L = 1 - J - DO 130 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(I) - 130 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - X(J) = TEMP - 140 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 160 J = N,1,-1 - TEMP = X(JX) - IX = KX - L = 1 - J - DO 150 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX - INCX - 150 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - X(JX) = TEMP - JX = JX - INCX - IF ((N-J).GE.K) KX = KX - INCX - 160 CONTINUE - END IF - END IF - END IF -* - RETURN -* -* End of STBSV . -* - END diff --git a/gtsam/3rdparty/Eigen/blas/testing/runblastest.sh b/gtsam/3rdparty/Eigen/blas/testing/runblastest.sh index aa634a2ce..4ffaf0111 100755 --- a/gtsam/3rdparty/Eigen/blas/testing/runblastest.sh +++ b/gtsam/3rdparty/Eigen/blas/testing/runblastest.sh @@ -27,11 +27,17 @@ else if [ -f $1.summ ]; then if [ `grep "FATAL ERROR" $1.summ | wc -l` -gt 0 ]; then echo -e $red "Test $1 failed (FATAL ERROR, read the file $1.summ for details)" $black + echo -e $blue + cat .runtest.log + echo -e $black exit 1; fi if [ `grep "FAILED THE TESTS OF ERROR-EXITS" $1.summ | wc -l` -gt 0 ]; then echo -e $red "Test $1 failed (FAILED THE TESTS OF ERROR-EXITS, read the file $1.summ for details)" $black + echo -e $blue + cat .runtest.log + echo -e $black exit 1; fi fi diff --git a/gtsam/3rdparty/Eigen/blas/xerbla.cpp b/gtsam/3rdparty/Eigen/blas/xerbla.cpp index bda1d2f46..0d57710fe 100644 --- a/gtsam/3rdparty/Eigen/blas/xerbla.cpp +++ b/gtsam/3rdparty/Eigen/blas/xerbla.cpp @@ -1,12 +1,18 @@ #include +#if (defined __GNUC__) +#define EIGEN_WEAK_LINKING __attribute__ ((weak)) +#else +#define EIGEN_WEAK_LINKING +#endif + #ifdef __cplusplus extern "C" { #endif -int xerbla_(const char * msg, int *info, int) +EIGEN_WEAK_LINKING int xerbla_(const char * msg, int *info, int) { std::cerr << "Eigen BLAS ERROR #" << *info << ": " << msg << "\n"; return 0; diff --git a/gtsam/3rdparty/Eigen/blas/ztbsv.f b/gtsam/3rdparty/Eigen/blas/ztbsv.f deleted file mode 100644 index 42b234a77..000000000 --- a/gtsam/3rdparty/Eigen/blas/ztbsv.f +++ /dev/null @@ -1,370 +0,0 @@ - SUBROUTINE ZTBSV(UPLO,TRANS,DIAG,N,K,A,LDA,X,INCX) -* .. Scalar Arguments .. - INTEGER INCX,K,LDA,N - CHARACTER DIAG,TRANS,UPLO -* .. -* .. Array Arguments .. - DOUBLE COMPLEX A(LDA,*),X(*) -* .. -* -* Purpose -* ======= -* -* ZTBSV solves one of the systems of equations -* -* A*x = b, or A'*x = b, or conjg( A' )*x = b, -* -* where b and x are n element vectors and A is an n by n unit, or -* non-unit, upper or lower triangular band matrix, with ( k + 1 ) -* diagonals. -* -* No test for singularity or near-singularity is included in this -* routine. Such tests must be performed before calling this routine. -* -* Arguments -* ========== -* -* UPLO - CHARACTER*1. -* On entry, UPLO specifies whether the matrix is an upper or -* lower triangular matrix as follows: -* -* UPLO = 'U' or 'u' A is an upper triangular matrix. -* -* UPLO = 'L' or 'l' A is a lower triangular matrix. -* -* Unchanged on exit. -* -* TRANS - CHARACTER*1. -* On entry, TRANS specifies the equations to be solved as -* follows: -* -* TRANS = 'N' or 'n' A*x = b. -* -* TRANS = 'T' or 't' A'*x = b. -* -* TRANS = 'C' or 'c' conjg( A' )*x = b. -* -* Unchanged on exit. -* -* DIAG - CHARACTER*1. -* On entry, DIAG specifies whether or not A is unit -* triangular as follows: -* -* DIAG = 'U' or 'u' A is assumed to be unit triangular. -* -* DIAG = 'N' or 'n' A is not assumed to be unit -* triangular. -* -* Unchanged on exit. -* -* N - INTEGER. -* On entry, N specifies the order of the matrix A. -* N must be at least zero. -* Unchanged on exit. -* -* K - INTEGER. -* On entry with UPLO = 'U' or 'u', K specifies the number of -* super-diagonals of the matrix A. -* On entry with UPLO = 'L' or 'l', K specifies the number of -* sub-diagonals of the matrix A. -* K must satisfy 0 .le. K. -* Unchanged on exit. -* -* A - COMPLEX*16 array of DIMENSION ( LDA, n ). -* Before entry with UPLO = 'U' or 'u', the leading ( k + 1 ) -* by n part of the array A must contain the upper triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row -* ( k + 1 ) of the array, the first super-diagonal starting at -* position 2 in row k, and so on. The top left k by k triangle -* of the array A is not referenced. -* The following program segment will transfer an upper -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = K + 1 - J -* DO 10, I = MAX( 1, J - K ), J -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Before entry with UPLO = 'L' or 'l', the leading ( k + 1 ) -* by n part of the array A must contain the lower triangular -* band part of the matrix of coefficients, supplied column by -* column, with the leading diagonal of the matrix in row 1 of -* the array, the first sub-diagonal starting at position 1 in -* row 2, and so on. The bottom right k by k triangle of the -* array A is not referenced. -* The following program segment will transfer a lower -* triangular band matrix from conventional full matrix storage -* to band storage: -* -* DO 20, J = 1, N -* M = 1 - J -* DO 10, I = J, MIN( N, J + K ) -* A( M + I, J ) = matrix( I, J ) -* 10 CONTINUE -* 20 CONTINUE -* -* Note that when DIAG = 'U' or 'u' the elements of the array A -* corresponding to the diagonal elements of the matrix are not -* referenced, but are assumed to be unity. -* Unchanged on exit. -* -* LDA - INTEGER. -* On entry, LDA specifies the first dimension of A as declared -* in the calling (sub) program. LDA must be at least -* ( k + 1 ). -* Unchanged on exit. -* -* X - COMPLEX*16 array of dimension at least -* ( 1 + ( n - 1 )*abs( INCX ) ). -* Before entry, the incremented array X must contain the n -* element right-hand side vector b. On exit, X is overwritten -* with the solution vector x. -* -* INCX - INTEGER. -* On entry, INCX specifies the increment for the elements of -* X. INCX must not be zero. -* Unchanged on exit. -* -* Further Details -* =============== -* -* Level 2 Blas routine. -* -* -- Written on 22-October-1986. -* Jack Dongarra, Argonne National Lab. -* Jeremy Du Croz, Nag Central Office. -* Sven Hammarling, Nag Central Office. -* Richard Hanson, Sandia National Labs. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE COMPLEX ZERO - PARAMETER (ZERO= (0.0D+0,0.0D+0)) -* .. -* .. Local Scalars .. - DOUBLE COMPLEX TEMP - INTEGER I,INFO,IX,J,JX,KPLUS1,KX,L - LOGICAL NOCONJ,NOUNIT -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. External Subroutines .. - EXTERNAL XERBLA -* .. -* .. Intrinsic Functions .. - INTRINSIC DCONJG,MAX,MIN -* .. -* -* Test the input parameters. -* - INFO = 0 - IF (.NOT.LSAME(UPLO,'U') .AND. .NOT.LSAME(UPLO,'L')) THEN - INFO = 1 - ELSE IF (.NOT.LSAME(TRANS,'N') .AND. .NOT.LSAME(TRANS,'T') .AND. - + .NOT.LSAME(TRANS,'C')) THEN - INFO = 2 - ELSE IF (.NOT.LSAME(DIAG,'U') .AND. .NOT.LSAME(DIAG,'N')) THEN - INFO = 3 - ELSE IF (N.LT.0) THEN - INFO = 4 - ELSE IF (K.LT.0) THEN - INFO = 5 - ELSE IF (LDA.LT. (K+1)) THEN - INFO = 7 - ELSE IF (INCX.EQ.0) THEN - INFO = 9 - END IF - IF (INFO.NE.0) THEN - CALL XERBLA('ZTBSV ',INFO) - RETURN - END IF -* -* Quick return if possible. -* - IF (N.EQ.0) RETURN -* - NOCONJ = LSAME(TRANS,'T') - NOUNIT = LSAME(DIAG,'N') -* -* Set up the start point in X if the increment is not unity. This -* will be ( N - 1 )*INCX too small for descending loops. -* - IF (INCX.LE.0) THEN - KX = 1 - (N-1)*INCX - ELSE IF (INCX.NE.1) THEN - KX = 1 - END IF -* -* Start the operations. In this version the elements of A are -* accessed by sequentially with one pass through A. -* - IF (LSAME(TRANS,'N')) THEN -* -* Form x := inv( A )*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 20 J = N,1,-1 - IF (X(J).NE.ZERO) THEN - L = KPLUS1 - J - IF (NOUNIT) X(J) = X(J)/A(KPLUS1,J) - TEMP = X(J) - DO 10 I = J - 1,MAX(1,J-K),-1 - X(I) = X(I) - TEMP*A(L+I,J) - 10 CONTINUE - END IF - 20 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 40 J = N,1,-1 - KX = KX - INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = KPLUS1 - J - IF (NOUNIT) X(JX) = X(JX)/A(KPLUS1,J) - TEMP = X(JX) - DO 30 I = J - 1,MAX(1,J-K),-1 - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX - INCX - 30 CONTINUE - END IF - JX = JX - INCX - 40 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 60 J = 1,N - IF (X(J).NE.ZERO) THEN - L = 1 - J - IF (NOUNIT) X(J) = X(J)/A(1,J) - TEMP = X(J) - DO 50 I = J + 1,MIN(N,J+K) - X(I) = X(I) - TEMP*A(L+I,J) - 50 CONTINUE - END IF - 60 CONTINUE - ELSE - JX = KX - DO 80 J = 1,N - KX = KX + INCX - IF (X(JX).NE.ZERO) THEN - IX = KX - L = 1 - J - IF (NOUNIT) X(JX) = X(JX)/A(1,J) - TEMP = X(JX) - DO 70 I = J + 1,MIN(N,J+K) - X(IX) = X(IX) - TEMP*A(L+I,J) - IX = IX + INCX - 70 CONTINUE - END IF - JX = JX + INCX - 80 CONTINUE - END IF - END IF - ELSE -* -* Form x := inv( A' )*x or x := inv( conjg( A') )*x. -* - IF (LSAME(UPLO,'U')) THEN - KPLUS1 = K + 1 - IF (INCX.EQ.1) THEN - DO 110 J = 1,N - TEMP = X(J) - L = KPLUS1 - J - IF (NOCONJ) THEN - DO 90 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(I) - 90 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - ELSE - DO 100 I = MAX(1,J-K),J - 1 - TEMP = TEMP - DCONJG(A(L+I,J))*X(I) - 100 CONTINUE - IF (NOUNIT) TEMP = TEMP/DCONJG(A(KPLUS1,J)) - END IF - X(J) = TEMP - 110 CONTINUE - ELSE - JX = KX - DO 140 J = 1,N - TEMP = X(JX) - IX = KX - L = KPLUS1 - J - IF (NOCONJ) THEN - DO 120 I = MAX(1,J-K),J - 1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX + INCX - 120 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(KPLUS1,J) - ELSE - DO 130 I = MAX(1,J-K),J - 1 - TEMP = TEMP - DCONJG(A(L+I,J))*X(IX) - IX = IX + INCX - 130 CONTINUE - IF (NOUNIT) TEMP = TEMP/DCONJG(A(KPLUS1,J)) - END IF - X(JX) = TEMP - JX = JX + INCX - IF (J.GT.K) KX = KX + INCX - 140 CONTINUE - END IF - ELSE - IF (INCX.EQ.1) THEN - DO 170 J = N,1,-1 - TEMP = X(J) - L = 1 - J - IF (NOCONJ) THEN - DO 150 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(I) - 150 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - ELSE - DO 160 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - DCONJG(A(L+I,J))*X(I) - 160 CONTINUE - IF (NOUNIT) TEMP = TEMP/DCONJG(A(1,J)) - END IF - X(J) = TEMP - 170 CONTINUE - ELSE - KX = KX + (N-1)*INCX - JX = KX - DO 200 J = N,1,-1 - TEMP = X(JX) - IX = KX - L = 1 - J - IF (NOCONJ) THEN - DO 180 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - A(L+I,J)*X(IX) - IX = IX - INCX - 180 CONTINUE - IF (NOUNIT) TEMP = TEMP/A(1,J) - ELSE - DO 190 I = MIN(N,J+K),J + 1,-1 - TEMP = TEMP - DCONJG(A(L+I,J))*X(IX) - IX = IX - INCX - 190 CONTINUE - IF (NOUNIT) TEMP = TEMP/DCONJG(A(1,J)) - END IF - X(JX) = TEMP - JX = JX - INCX - IF ((N-J).GE.K) KX = KX - INCX - 200 CONTINUE - END IF - END IF - END IF -* - RETURN -* -* End of ZTBSV . -* - END diff --git a/gtsam/3rdparty/Eigen/cmake/CMakeDetermineVSServicePack.cmake b/gtsam/3rdparty/Eigen/cmake/CMakeDetermineVSServicePack.cmake new file mode 100644 index 000000000..b89462308 --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/CMakeDetermineVSServicePack.cmake @@ -0,0 +1,103 @@ +# - Includes a public function for assisting users in trying to determine the +# Visual Studio service pack in use. +# +# Sets the passed in variable to one of the following values or an empty +# string if unknown. +# vc80 +# vc80sp1 +# vc90 +# vc90sp1 +# +# Usage: +# =========================== +# +# if(MSVC) +# include(CMakeDetermineVSServicePack) +# DetermineVSServicePack( my_service_pack ) +# +# if( my_service_pack ) +# message(STATUS "Detected: ${my_service_pack}") +# endif() +# endif() +# +# =========================== + +#============================================================================= +# Copyright 2009-2010 Kitware, Inc. +# Copyright 2009-2010 Philip Lowman +# +# Distributed under the OSI-approved BSD License (the "License"); +# see accompanying file Copyright.txt for details. +# +# This software is distributed WITHOUT ANY WARRANTY; without even the +# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. +# See the License for more information. +#============================================================================= +# (To distribute this file outside of CMake, substitute the full +# License text for the above reference.) + +# [INTERNAL] +# Please do not call this function directly +function(_DetermineVSServicePackFromCompiler _OUT_VAR _cl_version) + if (${_cl_version} VERSION_EQUAL "14.00.50727.42") + set(_version "vc80") + elseif(${_cl_version} VERSION_EQUAL "14.00.50727.762") + set(_version "vc80sp1") + elseif(${_cl_version} VERSION_EQUAL "15.00.21022.08") + set(_version "vc90") + elseif(${_cl_version} VERSION_EQUAL "15.00.30729.01") + set(_version "vc90sp1") + elseif(${_cl_version} VERSION_EQUAL "16.00.30319.01") + set(_version "vc100") + else() + set(_version "") + endif() + set(${_OUT_VAR} ${_version} PARENT_SCOPE) +endfunction() + +# +# A function to call to determine the Visual Studio service pack +# in use. See documentation above. +function(DetermineVSServicePack _pack) + if(NOT DETERMINED_VS_SERVICE_PACK OR NOT ${_pack}) + if(${CMAKE_BUILD_TOOL} STREQUAL "nmake") + EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} "/?" + ERROR_VARIABLE _output) + set(DETERMINED_VS_SERVICE_PACK ${_output}) + else() + file(WRITE "${CMAKE_BINARY_DIR}/return0.cc" + "int main() { return 0; }\n") + + try_compile(DETERMINED_VS_SERVICE_PACK + "${CMAKE_BINARY_DIR}" + "${CMAKE_BINARY_DIR}/return0.cc" + OUTPUT_VARIABLE _output + COPY_FILE "${CMAKE_BINARY_DIR}/return0.cc") + + file(REMOVE "${CMAKE_BINARY_DIR}/return0.cc") + endif() + + if(DETERMINED_VS_SERVICE_PACK AND _output) + string(REGEX MATCH "Compiler Version [0-9]+.[0-9]+.[0-9]+.[0-9]+" + _cl_version "${_output}") + if(_cl_version) + string(REGEX MATCHALL "[0-9]+" + _cl_version_list "${_cl_version}") + list(GET _cl_version_list 0 _major) + list(GET _cl_version_list 1 _minor) + list(GET _cl_version_list 2 _patch) + list(GET _cl_version_list 3 _tweak) + + set(_cl_version_string ${_major}.${_minor}.${_patch}.${_tweak}) + + # Call helper function to determine VS version + _DetermineVSServicePackFromCompiler(_sp "${_cl_version_string}") + if(_sp) + #set(${_pack} "${_sp}(${_cl_version_string})" CACHE INTERNAL + set(${_pack} "${_sp}" CACHE INTERNAL + "The Visual Studio Release with Service Pack") + endif() + endif() + endif() + endif() +endfunction() diff --git a/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake b/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake new file mode 100644 index 000000000..cf8f32c01 --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/EigenConfigureTesting.cmake @@ -0,0 +1,79 @@ +include(EigenTesting) +include(CheckCXXSourceCompiles) + +# configure the "site" and "buildname" +ei_set_sitename() + +# retrieve and store the build string +ei_set_build_string() + +add_custom_target(buildtests) +add_custom_target(check COMMAND "ctest") +add_dependencies(check buildtests) + +# check whether /bin/bash exists +find_file(EIGEN_BIN_BASH_EXISTS "/bin/bash" PATHS "/" NO_DEFAULT_PATH) + +# CMake/Ctest does not allow us to change the build command, +# so we have to workaround by directly editing the generated DartConfiguration.tcl file +# save CMAKE_MAKE_PROGRAM +set(CMAKE_MAKE_PROGRAM_SAVE ${CMAKE_MAKE_PROGRAM}) +# and set a fake one +set(CMAKE_MAKE_PROGRAM "@EIGEN_MAKECOMMAND_PLACEHOLDER@") + +# This call activates testing and generates the DartConfiguration.tcl +include(CTest) + +# overwrite default DartConfiguration.tcl +# The worarounds are different for each version of the MSVC IDE +if(MSVC_IDE) + if(MSVC_VERSION EQUAL 1600) # MSVC 2010 + set(EIGEN_MAKECOMMAND_PLACEHOLDER "${CMAKE_MAKE_PROGRAM_SAVE} buildtests.vcxproj /p:Configuration=\${CTEST_CONFIGURATION_TYPE} \n# ") + else() # MSVC 2008 (TODO check MSVC 2005) + set(EIGEN_MAKECOMMAND_PLACEHOLDER "${CMAKE_MAKE_PROGRAM_SAVE} Eigen.sln /build \"Release\" /project buildtests \n# ") + endif() +else() + # for make and nmake + set(EIGEN_MAKECOMMAND_PLACEHOLDER "${CMAKE_MAKE_PROGRAM_SAVE} buildtests") +endif() + +# copy ctest properties, which currently +# o raise the warning levels +configure_file(${CMAKE_BINARY_DIR}/DartConfiguration.tcl ${CMAKE_BINARY_DIR}/DartConfiguration.tcl) + +# restore default CMAKE_MAKE_PROGRAM +set(CMAKE_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM_SAVE}) +# un-set temporary variables so that it is like they never existed. +# CMake 2.6.3 introduces the more logical unset() syntax for this. +set(CMAKE_MAKE_PROGRAM_SAVE) +set(EIGEN_MAKECOMMAND_PLACEHOLDER) + +configure_file(${CMAKE_SOURCE_DIR}/CTestCustom.cmake.in ${CMAKE_BINARY_DIR}/CTestCustom.cmake) + +# some documentation of this function would be nice +ei_init_testing() + +# configure Eigen related testing options +option(EIGEN_NO_ASSERTION_CHECKING "Disable checking of assertions using exceptions" OFF) +option(EIGEN_DEBUG_ASSERTS "Enable advanced debuging of assertions" OFF) + +if(CMAKE_COMPILER_IS_GNUCXX) + option(EIGEN_COVERAGE_TESTING "Enable/disable gcov" OFF) + if(EIGEN_COVERAGE_TESTING) + set(COVERAGE_FLAGS "-fprofile-arcs -ftest-coverage") + set(CTEST_CUSTOM_COVERAGE_EXCLUDE "/test/") + else(EIGEN_COVERAGE_TESTING) + set(COVERAGE_FLAGS "") + endif(EIGEN_COVERAGE_TESTING) + if(EIGEN_TEST_C++0x) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++0x") + endif(EIGEN_TEST_C++0x) + if(CMAKE_SYSTEM_NAME MATCHES Linux) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_FLAGS} -g2") + set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} ${COVERAGE_FLAGS} -O2 -g2") + set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${COVERAGE_FLAGS} -fno-inline-functions") + set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${COVERAGE_FLAGS} -O0 -g3") + endif(CMAKE_SYSTEM_NAME MATCHES Linux) +elseif(MSVC) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /D_CRT_SECURE_NO_WARNINGS /D_SCL_SECURE_NO_WARNINGS") +endif(CMAKE_COMPILER_IS_GNUCXX) diff --git a/gtsam/3rdparty/Eigen/cmake/EigenDetermineOSVersion.cmake b/gtsam/3rdparty/Eigen/cmake/EigenDetermineOSVersion.cmake new file mode 100644 index 000000000..3c48d4c37 --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/EigenDetermineOSVersion.cmake @@ -0,0 +1,46 @@ +# The utility function DetermineOSVersion aims at providing an +# improved version of the CMake variable ${CMAKE_SYSTEM} on Windows +# machines. +# +# Usage: +# include(EigenDetermineOSVersion) +# DetermineOSVersion(OS_VERSION) +# message("OS: ${OS_VERSION}") + +# - A little helper variable which should not be directly called +function(DetermineShortWindowsName WIN_VERSION win_num_version) + if (${win_num_version} VERSION_EQUAL "6.1") + set(_version "win7") + elseif(${win_num_version} VERSION_EQUAL "6.0") + set(_version "winVista") + elseif(${win_num_version} VERSION_EQUAL "5.2") + set(_version "winXpProf") + elseif(${win_num_version} VERSION_EQUAL "5.1") + set(_version "winXp") + elseif(${win_num_version} VERSION_EQUAL "5.0") + set(_version "win2000Prof") + else() + set(_version "unknownWin") + endif() + set(${WIN_VERSION} ${_version} PARENT_SCOPE) +endfunction() + +function(DetermineOSVersion OS_VERSION) + if (WIN32) + file (TO_NATIVE_PATH "$ENV{COMSPEC}" SHELL) + exec_program( ${SHELL} ARGS "/c" "ver" OUTPUT_VARIABLE ver_output) + + string(REGEX MATCHALL "[0-9]+" + ver_list "${ver_output}") + list(GET ver_list 0 _major) + list(GET ver_list 1 _minor) + + set(win_num_version ${_major}.${_minor}) + DetermineShortWindowsName(win_version "${win_num_version}") + if(win_version) + set(${OS_VERSION} ${win_version} PARENT_SCOPE) + endif() + else() + set(${OS_VERSION} ${CMAKE_SYSTEM} PARENT_SCOPE) + endif() +endfunction() diff --git a/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake b/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake index 4c8039315..266043974 100644 --- a/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake +++ b/gtsam/3rdparty/Eigen/cmake/EigenTesting.cmake @@ -1,11 +1,11 @@ -option(EIGEN_NO_ASSERTION_CHECKING "Disable checking of assertions using exceptions" OFF) -option(EIGEN_DEBUG_ASSERTS "Enable advanced debuging of assertions" OFF) - -include(CheckCXXSourceCompiles) macro(ei_add_property prop value) - get_property(previous GLOBAL PROPERTY ${prop}) - set_property(GLOBAL PROPERTY ${prop} "${previous} ${value}") + get_property(previous GLOBAL PROPERTY ${prop}) + if ((NOT previous) OR (previous STREQUAL "")) + set_property(GLOBAL PROPERTY ${prop} "${value}") + else() + set_property(GLOBAL PROPERTY ${prop} "${previous} ${value}") + endif() endmacro(ei_add_property) #internal. See documentation of ei_add_test for details. @@ -27,6 +27,8 @@ macro(ei_add_test_internal testname testname_with_suffix) ei_add_target_property(${targetname} COMPILE_FLAGS "-DEIGEN_DEBUG_ASSERTS=1") endif(EIGEN_DEBUG_ASSERTS) endif(EIGEN_NO_ASSERTION_CHECKING) + + ei_add_target_property(${targetname} COMPILE_FLAGS "-DEIGEN_TEST_MAX_SIZE=${EIGEN_TEST_MAX_SIZE}") ei_add_target_property(${targetname} COMPILE_FLAGS "-DEIGEN_TEST_FUNC=${testname}") @@ -38,6 +40,10 @@ macro(ei_add_test_internal testname testname_with_suffix) if(${ARGC} GREATER 2) ei_add_target_property(${targetname} COMPILE_FLAGS "${ARGV2}") endif(${ARGC} GREATER 2) + + if(EIGEN_TEST_CUSTOM_CXX_FLAGS) + ei_add_target_property(${targetname} COMPILE_FLAGS "${EIGEN_TEST_CUSTOM_CXX_FLAGS}") + endif() if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) target_link_libraries(${targetname} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) @@ -45,6 +51,9 @@ macro(ei_add_test_internal testname testname_with_suffix) if(EXTERNAL_LIBS) target_link_libraries(${targetname} ${EXTERNAL_LIBS}) endif() + if(EIGEN_TEST_CUSTOM_LINKER_FLAGS) + target_link_libraries(${targetname} ${EIGEN_TEST_CUSTOM_LINKER_FLAGS}) + endif() if(${ARGC} GREATER 3) set(libs_to_link ${ARGV3}) @@ -59,15 +68,11 @@ macro(ei_add_test_internal testname testname_with_suffix) endif() endif() - if(WIN32) - if(CYGWIN) - add_test(${testname_with_suffix} "${Eigen_SOURCE_DIR}/test/runtest.sh" "${testname_with_suffix}") - else(CYGWIN) - add_test(${testname_with_suffix} "${targetname}") - endif(CYGWIN) - else(WIN32) + if(EIGEN_BIN_BASH_EXISTS) add_test(${testname_with_suffix} "${Eigen_SOURCE_DIR}/test/runtest.sh" "${testname_with_suffix}") - endif(WIN32) + else() + add_test(${testname_with_suffix} "${targetname}") + endif() endmacro(ei_add_test_internal) @@ -120,9 +125,9 @@ macro(ei_add_test testname) file(READ "${testname}.cpp" test_source) set(parts 0) - string(REGEX MATCHALL "CALL_SUBTEST_[0-9]+|EIGEN_TEST_PART_[0-9]+" + string(REGEX MATCHALL "CALL_SUBTEST_[0-9]+|EIGEN_TEST_PART_[0-9]+|EIGEN_SUFFIXES(;[0-9]+)+" occurences "${test_source}") - string(REGEX REPLACE "CALL_SUBTEST_|EIGEN_TEST_PART_" "" suffixes "${occurences}") + string(REGEX REPLACE "CALL_SUBTEST_|EIGEN_TEST_PART_|EIGEN_SUFFIXES" "" suffixes "${occurences}") list(REMOVE_DUPLICATES suffixes) if(EIGEN_SPLIT_LARGE_TESTS AND suffixes) add_custom_target(${testname}) @@ -181,12 +186,13 @@ endmacro(ei_add_failtest) # print a summary of the different options macro(ei_testing_print_summary) - message(STATUS "************************************************************") message(STATUS "*** Eigen's unit tests configuration summary ***") message(STATUS "************************************************************") message(STATUS "") message(STATUS "Build type: ${CMAKE_BUILD_TYPE}") + message(STATUS "Build site: ${SITE}") + message(STATUS "Build string: ${BUILDNAME}") get_property(EIGEN_TESTING_SUMMARY GLOBAL PROPERTY EIGEN_TESTING_SUMMARY) get_property(EIGEN_TESTED_BACKENDS GLOBAL PROPERTY EIGEN_TESTED_BACKENDS) get_property(EIGEN_MISSING_BACKENDS GLOBAL PROPERTY EIGEN_MISSING_BACKENDS) @@ -204,6 +210,8 @@ macro(ei_testing_print_summary) elseif(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION) message(STATUS "Explicit vectorization disabled (alignment kept enabled)") else() + + message(STATUS "Maximal matrix/vector size: ${EIGEN_TEST_MAX_SIZE}") if(EIGEN_TEST_SSE2) message(STATUS "SSE2: ON") @@ -252,7 +260,6 @@ macro(ei_testing_print_summary) message(STATUS "\n${EIGEN_TESTING_SUMMARY}") message(STATUS "************************************************************") - endmacro(ei_testing_print_summary) macro(ei_init_testing) @@ -271,25 +278,200 @@ macro(ei_init_testing) set_property(GLOBAL PROPERTY EIGEN_FAILTEST_FAILURE_COUNT "0") set_property(GLOBAL PROPERTY EIGEN_FAILTEST_COUNT "0") + + # uncomment anytime you change the ei_get_compilerver_from_cxx_version_string macro + # ei_test_get_compilerver_from_cxx_version_string() endmacro(ei_init_testing) -if(CMAKE_COMPILER_IS_GNUCXX) - option(EIGEN_COVERAGE_TESTING "Enable/disable gcov" OFF) - if(EIGEN_COVERAGE_TESTING) - set(COVERAGE_FLAGS "-fprofile-arcs -ftest-coverage") - set(CTEST_CUSTOM_COVERAGE_EXCLUDE "/test/") - else(EIGEN_COVERAGE_TESTING) - set(COVERAGE_FLAGS "") - endif(EIGEN_COVERAGE_TESTING) - if(EIGEN_TEST_C++0x) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++0x") - endif(EIGEN_TEST_C++0x) - if(CMAKE_SYSTEM_NAME MATCHES Linux) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_FLAGS} -g2") - set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} ${COVERAGE_FLAGS} -O2 -g2") - set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${COVERAGE_FLAGS} -fno-inline-functions") - set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${COVERAGE_FLAGS} -O0 -g3") - endif(CMAKE_SYSTEM_NAME MATCHES Linux) -elseif(MSVC) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /D_CRT_SECURE_NO_WARNINGS /D_SCL_SECURE_NO_WARNINGS") -endif(CMAKE_COMPILER_IS_GNUCXX) +macro(ei_set_sitename) + # if the sitename is not yet set, try to set it + if(NOT ${SITE} OR ${SITE} STREQUAL "") + set(eigen_computername $ENV{COMPUTERNAME}) + set(eigen_hostname $ENV{HOSTNAME}) + if(eigen_hostname) + set(SITE ${eigen_hostname}) + elseif(eigen_computername) + set(SITE ${eigen_computername}) + endif() + endif() + # in case it is already set, enforce lower case + if(SITE) + string(TOLOWER ${SITE} SITE) + endif() +endmacro(ei_set_sitename) + +macro(ei_get_compilerver VAR) + if(MSVC) + # on windows system, we use a modified CMake script + include(CMakeDetermineVSServicePack) + DetermineVSServicePack( my_service_pack ) + + if( my_service_pack ) + set(${VAR} ${my_service_pack}) + else() + set(${VAR} "na") + endif() + else() + # on all other system we rely on ${CMAKE_CXX_COMPILER} + # supporting a "--version" flag + execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version + COMMAND head -n 1 + OUTPUT_VARIABLE eigen_cxx_compiler_version_string OUTPUT_STRIP_TRAILING_WHITESPACE) + + ei_get_compilerver_from_cxx_version_string(${eigen_cxx_compiler_version_string} CNAME CVER) + + set(${VAR} "${CNAME}-${CVER}") + endif() +endmacro(ei_get_compilerver) + +# Extract compiler name and version from a raw version string +# WARNING: if you edit thid macro, then please test it by uncommenting +# the testing macro call in ei_init_testing() of the EigenTesting.cmake file. +# See also the ei_test_get_compilerver_from_cxx_version_string macro at the end of the file +macro(ei_get_compilerver_from_cxx_version_string VERSTRING CNAME CVER) + # extract possible compiler names + string(REGEX MATCH "g\\+\\+" ei_has_gpp ${VERSTRING}) + string(REGEX MATCH "llvm|LLVM" ei_has_llvm ${VERSTRING}) + string(REGEX MATCH "gcc|GCC" ei_has_gcc ${VERSTRING}) + string(REGEX MATCH "icpc|ICC" ei_has_icpc ${VERSTRING}) + string(REGEX MATCH "clang|CLANG" ei_has_clang ${VERSTRING}) + + # combine them + if((ei_has_llvm) AND (ei_has_gpp OR ei_has_gcc)) + set(${CNAME} "llvm-g++") + elseif((ei_has_llvm) AND (ei_has_clang)) + set(${CNAME} "llvm-clang++") + elseif(ei_has_icpc) + set(${CNAME} "icpc") + elseif(ei_has_gpp OR ei_has_gcc) + set(${CNAME} "g++") + else() + set(${CNAME} "_") + endif() + + # extract possible version numbers + # first try to extract 3 isolated numbers: + string(REGEX MATCH " [0-9]+\\.[0-9]+\\.[0-9]+" eicver ${VERSTRING}) + if(NOT eicver) + # try to extract 2 isolated ones: + string(REGEX MATCH " [0-9]+\\.[0-9]+" eicver ${VERSTRING}) + if(NOT eicver) + # try to extract 3: + string(REGEX MATCH "[^0-9][0-9]+\\.[0-9]+\\.[0-9]+" eicver ${VERSTRING}) + if(NOT eicver) + # try to extract 2: + string(REGEX MATCH "[^0-9][0-9]+\\.[0-9]+" eicver ${VERSTRING}) + else() + set(eicver " _") + endif() + endif() + endif() + + string(REGEX REPLACE ".(.*)" "\\1" ${CVER} ${eicver}) + +endmacro(ei_get_compilerver_from_cxx_version_string) + +macro(ei_get_cxxflags VAR) + set(${VAR} "") + ei_is_64bit_env(IS_64BIT_ENV) + if(EIGEN_TEST_NEON) + set(${VAR} NEON) + elseif(EIGEN_TEST_ALTIVEC) + set(${VAR} ALVEC) + elseif(EIGEN_TEST_SSE4_2) + set(${VAR} SSE42) + elseif(EIGEN_TEST_SSE4_1) + set(${VAR} SSE41) + elseif(EIGEN_TEST_SSSE3) + set(${VAR} SSSE3) + elseif(EIGEN_TEST_SSE3) + set(${VAR} SSE3) + elseif(EIGEN_TEST_SSE2 OR IS_64BIT_ENV) + set(${VAR} SSE2) + endif() + + if(EIGEN_TEST_OPENMP) + if (${VAR} STREQUAL "") + set(${VAR} OMP) + else() + set(${VAR} ${${VAR}}-OMP) + endif() + endif() + + if(EIGEN_DEFAULT_TO_ROW_MAJOR) + if (${VAR} STREQUAL "") + set(${VAR} ROW) + else() + set(${VAR} ${${VAR}}-ROWMAJ) + endif() + endif() +endmacro(ei_get_cxxflags) + +macro(ei_set_build_string) + ei_get_compilerver(LOCAL_COMPILER_VERSION) + ei_get_cxxflags(LOCAL_COMPILER_FLAGS) + + include(EigenDetermineOSVersion) + DetermineOSVersion(OS_VERSION) + + set(TMP_BUILD_STRING ${OS_VERSION}-${LOCAL_COMPILER_VERSION}) + + if (NOT ${LOCAL_COMPILER_FLAGS} STREQUAL "") + set(TMP_BUILD_STRING ${TMP_BUILD_STRING}-${LOCAL_COMPILER_FLAGS}) + endif() + + ei_is_64bit_env(IS_64BIT_ENV) + if(NOT IS_64BIT_ENV) + set(TMP_BUILD_STRING ${TMP_BUILD_STRING}-32bit) + else() + set(TMP_BUILD_STRING ${TMP_BUILD_STRING}-64bit) + endif() + + string(TOLOWER ${TMP_BUILD_STRING} BUILDNAME) +endmacro(ei_set_build_string) + +macro(ei_is_64bit_env VAR) + + file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/is64.cpp" + "int main() { return (sizeof(int*) == 8 ? 1 : 0); } + ") + try_run(run_res compile_res + ${CMAKE_CURRENT_BINARY_DIR} "${CMAKE_CURRENT_BINARY_DIR}/is64.cpp" + RUN_OUTPUT_VARIABLE run_output) + + if(compile_res AND run_res) + set(${VAR} ${run_res}) + elseif(CMAKE_CL_64) + set(${VAR} 1) + elseif("$ENV{Platform}" STREQUAL "X64") # nmake 64 bit + set(${VAR} 1) + endif() +endmacro(ei_is_64bit_env) + + +# helper macro for testing ei_get_compilerver_from_cxx_version_string +# STR: raw version string +# REFNAME: expected compiler name +# REFVER: expected compiler version +macro(ei_test1_get_compilerver_from_cxx_version_string STR REFNAME REFVER) + ei_get_compilerver_from_cxx_version_string(${STR} CNAME CVER) + if((NOT ${REFNAME} STREQUAL ${CNAME}) OR (NOT ${REFVER} STREQUAL ${CVER})) + message("STATUS ei_get_compilerver_from_cxx_version_string error:") + message("Expected \"${REFNAME}-${REFVER}\", got \"${CNAME}-${CVER}\"") + endif() +endmacro(ei_test1_get_compilerver_from_cxx_version_string) + +# macro for testing ei_get_compilerver_from_cxx_version_string +# feel free to add more version strings +macro(ei_test_get_compilerver_from_cxx_version_string) + ei_test1_get_compilerver_from_cxx_version_string("g++ (SUSE Linux) 4.5.3 20110428 [gcc-4_5-branch revision 173117]" "g++" "4.5.3") + ei_test1_get_compilerver_from_cxx_version_string("c++ (GCC) 4.5.1 20100924 (Red Hat 4.5.1-4)" "g++" "4.5.1") + ei_test1_get_compilerver_from_cxx_version_string("icpc (ICC) 11.0 20081105" "icpc" "11.0") + ei_test1_get_compilerver_from_cxx_version_string("g++-3.4 (GCC) 3.4.6" "g++" "3.4.6") + ei_test1_get_compilerver_from_cxx_version_string("SUSE Linux clang version 3.0 (branches/release_30 145598) (based on LLVM 3.0)" "llvm-clang++" "3.0") + ei_test1_get_compilerver_from_cxx_version_string("icpc (ICC) 12.0.5 20110719" "icpc" "12.0.5") + ei_test1_get_compilerver_from_cxx_version_string("Apple clang version 2.1 (tags/Apple/clang-163.7.1) (based on LLVM 3.0svn)" "llvm-clang++" "2.1") + ei_test1_get_compilerver_from_cxx_version_string("i686-apple-darwin11-llvm-g++-4.2 (GCC) 4.2.1 (Based on Apple Inc. build 5658) (LLVM build 2335.15.00)" "llvm-g++" "4.2.1") + ei_test1_get_compilerver_from_cxx_version_string("g++-mp-4.4 (GCC) 4.4.6" "g++" "4.4.6") + ei_test1_get_compilerver_from_cxx_version_string("g++-mp-4.4 (GCC) 2011" "g++" "4.4") +endmacro(ei_test_get_compilerver_from_cxx_version_string) diff --git a/gtsam/3rdparty/Eigen/cmake/FindCholmod.cmake b/gtsam/3rdparty/Eigen/cmake/FindCholmod.cmake index a5e132b64..9095bea31 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindCholmod.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindCholmod.cmake @@ -13,6 +13,7 @@ find_path(CHOLMOD_INCLUDES ${INCLUDE_INSTALL_DIR} PATH_SUFFIXES suitesparse + ufsparse ) find_library(CHOLMOD_LIBRARIES cholmod PATHS $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR}) diff --git a/gtsam/3rdparty/Eigen/cmake/FindEigen2.cmake b/gtsam/3rdparty/Eigen/cmake/FindEigen2.cmake index da95bb0f5..a834b8872 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindEigen2.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindEigen2.cmake @@ -39,11 +39,11 @@ macro(_eigen2_check_version) set(EIGEN2_MINOR_VERSION "${CMAKE_MATCH_1}") set(EIGEN2_VERSION ${EIGEN2_WORLD_VERSION}.${EIGEN2_MAJOR_VERSION}.${EIGEN2_MINOR_VERSION}) - if(${EIGEN2_VERSION} VERSION_LESS ${Eigen2_FIND_VERSION}) + if((${EIGEN2_WORLD_VERSION} NOTEQUAL 2) OR (${EIGEN2_MAJOR_VERSION} GREATER 10) OR (${EIGEN2_VERSION} VERSION_LESS ${Eigen2_FIND_VERSION})) set(EIGEN2_VERSION_OK FALSE) - else(${EIGEN2_VERSION} VERSION_LESS ${Eigen2_FIND_VERSION}) + else() set(EIGEN2_VERSION_OK TRUE) - endif(${EIGEN2_VERSION} VERSION_LESS ${Eigen2_FIND_VERSION}) + endif() if(NOT EIGEN2_VERSION_OK) diff --git a/gtsam/3rdparty/Eigen/cmake/FindFFTW.cmake b/gtsam/3rdparty/Eigen/cmake/FindFFTW.cmake index 58b10ea11..a9e9925e7 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindFFTW.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindFFTW.cmake @@ -1,31 +1,119 @@ +# - Find the FFTW library +# +# Usage: +# find_package(FFTW [REQUIRED] [QUIET] ) +# +# It sets the following variables: +# FFTW_FOUND ... true if fftw is found on the system +# FFTW_LIBRARIES ... full path to fftw library +# FFTW_INCLUDES ... fftw include directory +# +# The following variables will be checked by the function +# FFTW_USE_STATIC_LIBS ... if true, only static libraries are found +# FFTW_ROOT ... if set, the libraries are exclusively searched +# under this path +# FFTW_LIBRARY ... fftw library to use +# FFTW_INCLUDE_DIR ... fftw include directory +# -if (FFTW_INCLUDES AND FFTW_LIBRARIES) - set(FFTW_FIND_QUIETLY TRUE) -endif (FFTW_INCLUDES AND FFTW_LIBRARIES) - -find_path(FFTW_INCLUDES - NAMES - fftw3.h - PATHS - $ENV{FFTWDIR} - ${INCLUDE_INSTALL_DIR} -) - -find_library(FFTWF_LIB NAMES fftw3f PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR}) -find_library(FFTW_LIB NAMES fftw3 PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR}) -set(FFTW_LIBRARIES "${FFTWF_LIB} ${FFTW_LIB}" ) - -find_library(FFTWL_LIB NAMES fftw3l PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR}) - -if(FFTWL_LIB) -set(FFTW_LIBRARIES "${FFTW_LIBRARIES} ${FFTWL_LIB}") +#If environment variable FFTWDIR is specified, it has same effect as FFTW_ROOT +if( NOT FFTW_ROOT AND ENV{FFTWDIR} ) + set( FFTW_ROOT $ENV{FFTWDIR} ) endif() +# Check if we can use PkgConfig +find_package(PkgConfig) -message(STATUS "FFTW ${FFTW_LIBRARIES}" ) +#Determine from PKG +if( PKG_CONFIG_FOUND AND NOT FFTW_ROOT ) + pkg_check_modules( PKG_FFTW QUIET "fftw3" ) +endif() + +#Check whether to search static or dynamic libs +set( CMAKE_FIND_LIBRARY_SUFFIXES_SAV ${CMAKE_FIND_LIBRARY_SUFFIXES} ) + +if( ${FFTW_USE_STATIC_LIBS} ) + set( CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_STATIC_LIBRARY_SUFFIX} ) +else() + set( CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_SHARED_LIBRARY_SUFFIX} ) +endif() + +if( FFTW_ROOT ) + + #find libs + find_library( + FFTW_LIB + NAMES "fftw3" + PATHS ${FFTW_ROOT} + PATH_SUFFIXES "lib" "lib64" + NO_DEFAULT_PATH + ) + + find_library( + FFTWF_LIB + NAMES "fftw3f" + PATHS ${FFTW_ROOT} + PATH_SUFFIXES "lib" "lib64" + NO_DEFAULT_PATH + ) + + find_library( + FFTWL_LIB + NAMES "fftw3l" + PATHS ${FFTW_ROOT} + PATH_SUFFIXES "lib" "lib64" + NO_DEFAULT_PATH + ) + + #find includes + find_path( + FFTW_INCLUDES + NAMES "fftw3.h" + PATHS ${FFTW_ROOT} + PATH_SUFFIXES "include" + NO_DEFAULT_PATH + ) + +else() + + find_library( + FFTW_LIB + NAMES "fftw3" + PATHS ${PKG_FFTW_LIBRARY_DIRS} ${LIB_INSTALL_DIR} + ) + + find_library( + FFTWF_LIB + NAMES "fftw3f" + PATHS ${PKG_FFTW_LIBRARY_DIRS} ${LIB_INSTALL_DIR} + ) + + + find_library( + FFTWL_LIB + NAMES "fftw3l" + PATHS ${PKG_FFTW_LIBRARY_DIRS} ${LIB_INSTALL_DIR} + ) + + find_path( + FFTW_INCLUDES + NAMES "fftw3.h" + PATHS ${PKG_FFTW_INCLUDE_DIRS} ${INCLUDE_INSTALL_DIR} + ) + +endif( FFTW_ROOT ) + +set(FFTW_LIBRARIES ${FFTW_LIB} ${FFTWF_LIB}) + +if(FFTWL_LIB) + set(FFTW_LIBRARIES ${FFTW_LIBRARIES} ${FFTWL_LIB}) +endif() + +set( CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_FIND_LIBRARY_SUFFIXES_SAV} ) include(FindPackageHandleStandardArgs) find_package_handle_standard_args(FFTW DEFAULT_MSG FFTW_INCLUDES FFTW_LIBRARIES) mark_as_advanced(FFTW_INCLUDES FFTW_LIBRARIES) + diff --git a/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake b/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake new file mode 100644 index 000000000..e4d6ef258 --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/FindMetis.cmake @@ -0,0 +1,24 @@ +# Pastix requires METIS or METIS (partitioning and reordering tools) + +if (METIS_INCLUDES AND METIS_LIBRARIES) + set(METIS_FIND_QUIETLY TRUE) +endif (METIS_INCLUDES AND METIS_LIBRARIES) + +find_path(METIS_INCLUDES + NAMES + metis.h + PATHS + $ENV{METISDIR} + ${INCLUDE_INSTALL_DIR} + PATH_SUFFIXES + metis +) + + +find_library(METIS_LIBRARIES metis PATHS $ENV{METISDIR} ${LIB_INSTALL_DIR}) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(METIS DEFAULT_MSG + METIS_INCLUDES METIS_LIBRARIES) + +mark_as_advanced(METIS_INCLUDES METIS_LIBRARIES) diff --git a/gtsam/3rdparty/Eigen/cmake/FindPastix.cmake b/gtsam/3rdparty/Eigen/cmake/FindPastix.cmake new file mode 100644 index 000000000..e2e6c810d --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/FindPastix.cmake @@ -0,0 +1,25 @@ +# Pastix lib requires linking to a blas library. +# It is up to the user of this module to find a BLAS and link to it. +# Pastix requires SCOTCH or METIS (partitioning and reordering tools) as well + +if (PASTIX_INCLUDES AND PASTIX_LIBRARIES) + set(PASTIX_FIND_QUIETLY TRUE) +endif (PASTIX_INCLUDES AND PASTIX_LIBRARIES) + +find_path(PASTIX_INCLUDES + NAMES + pastix_nompi.h + PATHS + $ENV{PASTIXDIR} + ${INCLUDE_INSTALL_DIR} +) + +find_library(PASTIX_LIBRARIES pastix PATHS $ENV{PASTIXDIR} ${LIB_INSTALL_DIR}) + + + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(PASTIX DEFAULT_MSG + PASTIX_INCLUDES PASTIX_LIBRARIES) + +mark_as_advanced(PASTIX_INCLUDES PASTIX_LIBRARIES) diff --git a/gtsam/3rdparty/Eigen/cmake/FindScotch.cmake b/gtsam/3rdparty/Eigen/cmake/FindScotch.cmake new file mode 100644 index 000000000..530340b16 --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/FindScotch.cmake @@ -0,0 +1,24 @@ +# Pastix requires SCOTCH or METIS (partitioning and reordering tools) + +if (SCOTCH_INCLUDES AND SCOTCH_LIBRARIES) + set(SCOTCH_FIND_QUIETLY TRUE) +endif (SCOTCH_INCLUDES AND SCOTCH_LIBRARIES) + +find_path(SCOTCH_INCLUDES + NAMES + scotch.h + PATHS + $ENV{SCOTCHDIR} + ${INCLUDE_INSTALL_DIR} + PATH_SUFFIXES + scotch +) + + +find_library(SCOTCH_LIBRARIES scotch PATHS $ENV{SCOTCHDIR} ${LIB_INSTALL_DIR}) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(SCOTCH DEFAULT_MSG + SCOTCH_INCLUDES SCOTCH_LIBRARIES) + +mark_as_advanced(SCOTCH_INCLUDES SCOTCH_LIBRARIES) diff --git a/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake b/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake index 4b6f24f93..d42c3c4a2 100644 --- a/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake +++ b/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake @@ -13,6 +13,7 @@ find_path(UMFPACK_INCLUDES ${INCLUDE_INSTALL_DIR} PATH_SUFFIXES suitesparse + ufsparse ) find_library(UMFPACK_LIBRARIES umfpack PATHS $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR}) diff --git a/gtsam/3rdparty/Eigen/cmake/language_support.cmake b/gtsam/3rdparty/Eigen/cmake/language_support.cmake new file mode 100644 index 000000000..3414e6ea6 --- /dev/null +++ b/gtsam/3rdparty/Eigen/cmake/language_support.cmake @@ -0,0 +1,64 @@ +# cmake/modules/language_support.cmake +# +# Temporary additional general language support is contained within this +# file. + +# This additional function definition is needed to provide a workaround for +# CMake bug 9220. + +# On debian testing (cmake 2.6.2), I get return code zero when calling +# cmake the first time, but cmake crashes when running a second time +# as follows: +# +# -- The Fortran compiler identification is unknown +# CMake Error at /usr/share/cmake-2.6/Modules/CMakeFortranInformation.cmake:7 (GET_FILENAME_COMPONENT): +# get_filename_component called with incorrect number of arguments +# Call Stack (most recent call first): +# CMakeLists.txt:3 (enable_language) +# +# My workaround is to invoke cmake twice. If both return codes are zero, +# it is safe to invoke ENABLE_LANGUAGE(Fortran OPTIONAL) + +function(workaround_9220 language language_works) + #message("DEBUG: language = ${language}") + set(text + "project(test NONE) + cmake_minimum_required(VERSION 2.6.0) + enable_language(${language} OPTIONAL) + ") + file(REMOVE_RECURSE ${CMAKE_BINARY_DIR}/language_tests/${language}) + file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language}) + file(WRITE ${CMAKE_BINARY_DIR}/language_tests/${language}/CMakeLists.txt + ${text}) + execute_process( + COMMAND ${CMAKE_COMMAND} . + WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language} + RESULT_VARIABLE return_code + OUTPUT_QUIET + ERROR_QUIET + ) + + if(return_code EQUAL 0) + # Second run + execute_process ( + COMMAND ${CMAKE_COMMAND} . + WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/language_tests/${language} + RESULT_VARIABLE return_code + OUTPUT_QUIET + ERROR_QUIET + ) + if(return_code EQUAL 0) + set(${language_works} ON PARENT_SCOPE) + else(return_code EQUAL 0) + set(${language_works} OFF PARENT_SCOPE) + endif(return_code EQUAL 0) + else(return_code EQUAL 0) + set(${language_works} OFF PARENT_SCOPE) + endif(return_code EQUAL 0) +endfunction(workaround_9220) + +# Temporary tests of the above function. +#workaround_9220(CXX CXX_language_works) +#message("CXX_language_works = ${CXX_language_works}") +#workaround_9220(CXXp CXXp_language_works) +#message("CXXp_language_works = ${CXXp_language_works}") diff --git a/gtsam/3rdparty/Eigen/debug/gdb/printers.py b/gtsam/3rdparty/Eigen/debug/gdb/printers.py index 02823b8a2..8dab8fffb 100644 --- a/gtsam/3rdparty/Eigen/debug/gdb/printers.py +++ b/gtsam/3rdparty/Eigen/debug/gdb/printers.py @@ -31,9 +31,15 @@ # To use it: # -# * create a directory and put the file as well as an empty __init__.py in that directory +# * Create a directory and put the file as well as an empty __init__.py in +# that directory. # * Create a ~/.gdbinit file, that contains the following: - +# python +# import sys +# sys.path.insert(0, '/path/to/eigen/printer/directory') +# from printers import register_eigen_printers +# register_eigen_printers (None) +# end import gdb import re @@ -41,10 +47,14 @@ import itertools class EigenMatrixPrinter: - "Print Eigen Matrix of some kind" + "Print Eigen Matrix or Array of some kind" - def __init__(self, val): + def __init__(self, variety, val): "Extract all the necessary information" + + # Save the variety (presumably "Matrix" or "Array") for later usage + self.variety = variety + # The gdb extension does not support value template arguments - need to extract them by hand type = val.type if type.code == gdb.TYPE_CODE_REF: @@ -55,7 +65,7 @@ class EigenMatrixPrinter: m = regex.findall(tag)[0][1:-1] template_params = m.split(',') template_params = map(lambda x:x.replace(" ", ""), template_params) - + if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001': self.rows = val['m_storage']['m_rows'] else: @@ -71,9 +81,9 @@ class EigenMatrixPrinter: self.options = template_params[3]; self.rowMajor = (int(self.options) & 0x1) - + self.innerType = self.type.template_argument(0) - + self.val = val # Fixed size matrices have a struct as their storage, so we need to walk through this @@ -90,12 +100,12 @@ class EigenMatrixPrinter: self.currentRow = 0 self.currentCol = 0 self.rowMajor = rowMajor - + def __iter__ (self): return self - + def next(self): - + row = self.currentRow col = self.currentCol if self.rowMajor == 0: @@ -115,7 +125,7 @@ class EigenMatrixPrinter: self.currentCol = 0 self.currentRow = self.currentRow + 1 - + item = self.dataPtr.dereference() self.dataPtr = self.dataPtr + 1 if (self.cols == 1): #if it's a column vector @@ -123,17 +133,17 @@ class EigenMatrixPrinter: elif (self.rows == 1): #if it's a row vector return ('[%d]' % (col,), item) return ('[%d,%d]' % (row, col), item) - + def children(self): return self._iterator(self.rows, self.cols, self.data, self.rowMajor) - + def to_string(self): - return "Eigen::Matrix<%s,%d,%d,%s> (data ptr: %s)" % (self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data) + return "Eigen::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data) class EigenQuaternionPrinter: "Print an Eigen Quaternion" - + def __init__(self, val): "Extract all the necessary information" # The gdb extension does not support value template arguments - need to extract them by hand @@ -153,18 +163,18 @@ class EigenQuaternionPrinter: self.dataPtr = dataPtr self.currentElement = 0 self.elementNames = ['x', 'y', 'z', 'w'] - + def __iter__ (self): return self - + def next(self): element = self.currentElement - + if self.currentElement >= 4: #there are 4 elements in a quanternion raise StopIteration self.currentElement = self.currentElement + 1 - + item = self.dataPtr.dereference() self.dataPtr = self.dataPtr + 1 return ('[%s]' % (self.elementNames[element],), item) @@ -172,13 +182,14 @@ class EigenQuaternionPrinter: def children(self): return self._iterator(self.data) - + def to_string(self): return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data) def build_eigen_dictionary (): pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val) - pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter(val) + pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter("Matrix", val) + pretty_printers_dict[re.compile('^Eigen::Array<.*>$')] = lambda val: EigenMatrixPrinter("Array", val) def register_eigen_printers(obj): "Register eigen pretty-printers with objfile Obj" @@ -189,22 +200,22 @@ def register_eigen_printers(obj): def lookup_function(val): "Look-up and return a pretty-printer that can print va." - + type = val.type - + if type.code == gdb.TYPE_CODE_REF: type = type.target() type = type.unqualified().strip_typedefs() - + typename = type.tag if typename == None: return None - + for function in pretty_printers_dict: if function.search(typename): return pretty_printers_dict[function](val) - + return None pretty_printers_dict = {} diff --git a/gtsam/3rdparty/Eigen/debug/msvc/eigen_autoexp_part.dat b/gtsam/3rdparty/Eigen/debug/msvc/eigen_autoexp_part.dat index ba7eefc8e..07aa43739 100644 --- a/gtsam/3rdparty/Eigen/debug/msvc/eigen_autoexp_part.dat +++ b/gtsam/3rdparty/Eigen/debug/msvc/eigen_autoexp_part.dat @@ -1,295 +1,295 @@ -; *************************************************************** -; * Eigen Visualizer -; * -; * Author: Hauke Heibel -; * -; * Support the enhanced debugging of the following Eigen -; * types (*: any, +:fixed dimension) : -; * -; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*> -; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*> -; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*> -; * - Eigen::Matrix<*,-1,-1,*,*,*> -; * - Eigen::Matrix<*,+,-1,*,*,*> -; * - Eigen::Matrix<*,-1,+,*,*,*> -; * - Eigen::Matrix<*,+,+,*,*,*> -; * -; * Matrices are displayed properly independantly of the memory -; * alignment (RowMajor vs. ColMajor). -; * -; * This file is distributed WITHOUT ANY WARRANTY. Please ensure -; * that your original autoexp.dat file is copied to a safe -; * place before proceeding with its modification. -; *************************************************************** - -[Visualizer] - -; Fixed size 4-vectors -Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0], - y : ($c.m_storage.m_data.array)[1], - z : ($c.m_storage.m_data.array)[2], - w : ($c.m_storage.m_data.array)[3] - ) - ) - - preview - ( - #( - "[", - 4, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 4), - ")" - ) - ) -} - -; Fixed size 3-vectors -Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0], - y : ($c.m_storage.m_data.array)[1], - z : ($c.m_storage.m_data.array)[2] - ) - ) - - preview - ( - #( - "[", - 3, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 3), - ")" - ) - ) -} - -; Fixed size 2-vectors -Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0], - y : ($c.m_storage.m_data.array)[1] - ) - ) - - preview - ( - #( - "[", - 2, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 2), - ")" - ) - ) -} - -; Fixed size 1-vectors -Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0] - ) - ) - - preview - ( - #( - "[", - 1, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 1), - ")" - ) - ) -} - -; Dynamic matrices (ColMajor and RowMajor support) -Eigen::Matrix<*,-1,-1,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.m_storage.m_rows, - cols: $c.m_storage.m_cols, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[$i], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.m_storage.m_rows, - ",", - $c.m_storage.m_cols, - "](", - #array( - expr : [($c.m_storage.m_data)[$i],g], - size : $c.m_storage.m_rows*$c.m_storage.m_cols - ), - ")" - ) - ) -} - -; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support) -Eigen::Matrix<*,*,-1,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.RowsAtCompileTime, - cols: $c.m_storage.m_cols, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[$i], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.RowsAtCompileTime, - ",", - $c.m_storage.m_cols, - "](", - #array( - expr : [($c.m_storage.m_data)[$i],g], - size : $c.RowsAtCompileTime*$c.m_storage.m_cols - ), - ")" - ) - ) -} - -; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support) -Eigen::Matrix<*,-1,*,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.m_storage.m_rows, - cols: $c.ColsAtCompileTime, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[$i], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.m_storage.m_rows, - ",", - $c.ColsAtCompileTime, - "](", - #array( - expr : [($c.m_storage.m_data)[$i],g], - size : $c.m_storage.m_rows*$c.ColsAtCompileTime - ), - ")" - ) - ) -} - -; Fixed size matrix (ColMajor and RowMajor support) -Eigen::Matrix<*,*,*,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.RowsAtCompileTime, - cols: $c.ColsAtCompileTime, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data.array)[$i], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.RowsAtCompileTime, - ",", - $c.ColsAtCompileTime, - "](", - #array( - expr : [($c.m_storage.m_data.array)[$i],g], - size : $c.RowsAtCompileTime*$c.ColsAtCompileTime - ), - ")" - ) - ) -} +; *************************************************************** +; * Eigen Visualizer +; * +; * Author: Hauke Heibel +; * +; * Support the enhanced debugging of the following Eigen +; * types (*: any, +:fixed dimension) : +; * +; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*> +; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*> +; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*> +; * - Eigen::Matrix<*,-1,-1,*,*,*> +; * - Eigen::Matrix<*,+,-1,*,*,*> +; * - Eigen::Matrix<*,-1,+,*,*,*> +; * - Eigen::Matrix<*,+,+,*,*,*> +; * +; * Matrices are displayed properly independantly of the memory +; * alignment (RowMajor vs. ColMajor). +; * +; * This file is distributed WITHOUT ANY WARRANTY. Please ensure +; * that your original autoexp.dat file is copied to a safe +; * place before proceeding with its modification. +; *************************************************************** + +[Visualizer] + +; Fixed size 4-vectors +Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + x : ($c.m_storage.m_data.array)[0], + y : ($c.m_storage.m_data.array)[1], + z : ($c.m_storage.m_data.array)[2], + w : ($c.m_storage.m_data.array)[3] + ) + ) + + preview + ( + #( + "[", + 4, + "](", + #array(expr: $e.m_storage.m_data.array[$i], size: 4), + ")" + ) + ) +} + +; Fixed size 3-vectors +Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + x : ($c.m_storage.m_data.array)[0], + y : ($c.m_storage.m_data.array)[1], + z : ($c.m_storage.m_data.array)[2] + ) + ) + + preview + ( + #( + "[", + 3, + "](", + #array(expr: $e.m_storage.m_data.array[$i], size: 3), + ")" + ) + ) +} + +; Fixed size 2-vectors +Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + x : ($c.m_storage.m_data.array)[0], + y : ($c.m_storage.m_data.array)[1] + ) + ) + + preview + ( + #( + "[", + 2, + "](", + #array(expr: $e.m_storage.m_data.array[$i], size: 2), + ")" + ) + ) +} + +; Fixed size 1-vectors +Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + x : ($c.m_storage.m_data.array)[0] + ) + ) + + preview + ( + #( + "[", + 1, + "](", + #array(expr: $e.m_storage.m_data.array[$i], size: 1), + ")" + ) + ) +} + +; Dynamic matrices (ColMajor and RowMajor support) +Eigen::Matrix<*,-1,-1,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + rows: $c.m_storage.m_rows, + cols: $c.m_storage.m_cols, + ; Check for RowMajorBit + #if ($c.Flags & 0x1) ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], + size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols + ) + ) #else ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data)[$i], + size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols + ) + ) + ) + ) + + preview + ( + #( + "[", + $c.m_storage.m_rows, + ",", + $c.m_storage.m_cols, + "](", + #array( + expr : [($c.m_storage.m_data)[$i],g], + size : $c.m_storage.m_rows*$c.m_storage.m_cols + ), + ")" + ) + ) +} + +; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support) +Eigen::Matrix<*,*,-1,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + rows: $c.RowsAtCompileTime, + cols: $c.m_storage.m_cols, + ; Check for RowMajorBit + #if ($c.Flags & 0x1) ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], + size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols + ) + ) #else ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data)[$i], + size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols + ) + ) + ) + ) + + preview + ( + #( + "[", + $c.RowsAtCompileTime, + ",", + $c.m_storage.m_cols, + "](", + #array( + expr : [($c.m_storage.m_data)[$i],g], + size : $c.RowsAtCompileTime*$c.m_storage.m_cols + ), + ")" + ) + ) +} + +; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support) +Eigen::Matrix<*,-1,*,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + rows: $c.m_storage.m_rows, + cols: $c.ColsAtCompileTime, + ; Check for RowMajorBit + #if ($c.Flags & 0x1) ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], + size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime + ) + ) #else ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data)[$i], + size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime + ) + ) + ) + ) + + preview + ( + #( + "[", + $c.m_storage.m_rows, + ",", + $c.ColsAtCompileTime, + "](", + #array( + expr : [($c.m_storage.m_data)[$i],g], + size : $c.m_storage.m_rows*$c.ColsAtCompileTime + ), + ")" + ) + ) +} + +; Fixed size matrix (ColMajor and RowMajor support) +Eigen::Matrix<*,*,*,*,*,*>{ + children + ( + #( + [internals]: [$c,!], + rows: $c.RowsAtCompileTime, + cols: $c.ColsAtCompileTime, + ; Check for RowMajorBit + #if ($c.Flags & 0x1) ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], + size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime + ) + ) #else ( + #array( + rank: 2, + base: 0, + expr: ($c.m_storage.m_data.array)[$i], + size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime + ) + ) + ) + ) + + preview + ( + #( + "[", + $c.RowsAtCompileTime, + ",", + $c.ColsAtCompileTime, + "](", + #array( + expr : [($c.m_storage.m_data.array)[$i],g], + size : $c.RowsAtCompileTime*$c.ColsAtCompileTime + ), + ")" + ) + ) +} diff --git a/gtsam/3rdparty/Eigen/doc/C00_QuickStartGuide.dox b/gtsam/3rdparty/Eigen/doc/C00_QuickStartGuide.dox index ad772b2e1..8534cb0c3 100644 --- a/gtsam/3rdparty/Eigen/doc/C00_QuickStartGuide.dox +++ b/gtsam/3rdparty/Eigen/doc/C00_QuickStartGuide.dox @@ -25,6 +25,10 @@ There is no library to link to. The only thing that you need to keep in mind whe \code g++ -I /path/to/eigen/ my_program.cpp -o my_program \endcode +On Linux or Mac OS X, another option is to symlink or copy the Eigen folder into /usr/local/include/. This way, you can compile the program with: + +\code g++ my_program.cpp -o my_program \endcode + When you run the program, it produces the following output: \include QuickStart_example.out diff --git a/gtsam/3rdparty/Eigen/doc/C06_TutorialLinearAlgebra.dox b/gtsam/3rdparty/Eigen/doc/C06_TutorialLinearAlgebra.dox index 77f13f4a0..e8b3b7953 100644 --- a/gtsam/3rdparty/Eigen/doc/C06_TutorialLinearAlgebra.dox +++ b/gtsam/3rdparty/Eigen/doc/C06_TutorialLinearAlgebra.dox @@ -144,6 +144,9 @@ You need an eigendecomposition here, see available such decompositions on \ref T Make sure to check if your matrix is self-adjoint, as is often the case in these problems. Here's an example using SelfAdjointEigenSolver, it could easily be adapted to general matrices using EigenSolver or ComplexEigenSolver. +The computation of eigenvalues and eigenvectors does not necessarily converge, but such failure to converge is +very rare. The call to info() is to check for this possibility. + diff --git a/gtsam/3rdparty/Eigen/doc/C07_TutorialReductionsVisitorsBroadcasting.dox b/gtsam/3rdparty/Eigen/doc/C07_TutorialReductionsVisitorsBroadcasting.dox index e58ff6e2c..f3879b8b9 100644 --- a/gtsam/3rdparty/Eigen/doc/C07_TutorialReductionsVisitorsBroadcasting.dox +++ b/gtsam/3rdparty/Eigen/doc/C07_TutorialReductionsVisitorsBroadcasting.dox @@ -191,12 +191,27 @@ This can be accomplished with: \verbinclude Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.out
Example:Output:
+We can interpret the instruction mat.colwise() += v in two equivalent ways. It adds the vector \c v +to every column of the matrix. Alternatively, it can be interpreted as repeating the vector \c v four times to +form a four-by-two matrix which is then added to \c mat: +\f[ +\begin{bmatrix} 1 & 2 & 6 & 9 \\ 3 & 1 & 7 & 2 \end{bmatrix} ++ \begin{bmatrix} 0 & 0 & 0 & 0 \\ 1 & 1 & 1 & 1 \end{bmatrix} += \begin{bmatrix} 1 & 2 & 6 & 9 \\ 4 & 2 & 8 & 3 \end{bmatrix}. +\f] +The operators -=, + and - can also be used column-wise and row-wise. On arrays, we +can also use the operators *=, /=, * and / to perform coefficient-wise +multiplication and division column-wise or row-wise. These operators are not available on matrices because it +is not clear what they would do. If you want multiply column 0 of a matrix \c mat with \c v(0), column 1 with +\c v(1), and so on, then use mat = mat * v.asDiagonal(). + It is important to point out that the vector to be added column-wise or row-wise must be of type Vector, and cannot be a Matrix. If this is not met then you will get compile-time error. This also means that broadcasting operations can only be applied with an object of type Vector, when operating with Matrix. -The same applies for the Array class, where the equivalent for VectorXf is ArrayXf. +The same applies for the Array class, where the equivalent for VectorXf is ArrayXf. As always, you should +not mix arrays and matrices in the same expression. -Therefore, to perform the same operation row-wise we can do: +To perform the same operation row-wise we can do: diff --git a/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox b/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox index 452abda10..b9e9eba12 100644 --- a/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox +++ b/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox @@ -45,16 +45,17 @@ But note that unfortunately, because of how C++ works, you can \b not do this: Rotation2D rot2(angle_in_radian);\endcode +AngleAxis aa(angle_in_radian, Vector3f(ax,ay,az));\endcode +The axis vector must be normalized. +Scaling(sx, sy) +Scaling(sx, sy, sz) +Scaling(s) +Scaling(vecN)\endcode +Transform t = Translation3f(p) * AngleAxisf(a,axis) * Scaling(s);\endcode +Matrix t = Rotation2Df(a) * Scaling(s); +Matrix t = AngleAxisf(a,axis) * Scaling(s);\endcode
Example:Output:
3D rotation as an \ref AngleAxis "angle + axis"\code -AngleAxis aa(angle_in_radian, Vector3f(ax,ay,az));\endcode
3D rotation as a \ref Quaternion "quaternion"\code Quaternion q; q = AngleAxis(angle_in_radian, axis);\endcode
N-D Scaling\code -Scaling(sx, sy) -Scaling(sx, sy, sz) -Scaling(s) -Scaling(vecN)\endcode
N-D Translation\code Translation(tx, ty) @@ -64,13 +65,13 @@ Translation(vecN)\endcode
N-D \ref TutorialGeoTransform "Affine transformation"\code Transform t = concatenation_of_any_transformations; -Transform t = Translation3f(p) * AngleAxisf(a,axis) * Scaling3f(s);\endcode
N-D Linear transformations \n (pure rotations, \n scaling, etc.)\code Matrix t = concatenation_of_rotations_and_scalings; -Matrix t = Rotation2Df(a) * Scaling2f(s); -Matrix t = AngleAxisf(a,axis) * Scaling3f(s);\endcode
Notes on rotations\n To transform more than a single vector the preferred @@ -92,8 +93,8 @@ Rotation2Df r; r = Matrix2f(..); // assumes a pure rotation matrix AngleAxisf aa; aa = Quaternionf(..); AngleAxisf aa; aa = Matrix3f(..); // assumes a pure rotation matrix Matrix2f m; m = Rotation2Df(..); -Matrix3f m; m = Quaternionf(..); Matrix3f m; m = Scaling3f(..); -Affine3f m; m = AngleAxis3f(..); Affine3f m; m = Scaling3f(..); +Matrix3f m; m = Quaternionf(..); Matrix3f m; m = Scaling(..); +Affine3f m; m = AngleAxis3f(..); Affine3f m; m = Scaling(..); Affine3f m; m = Translation3f(..); Affine3f m; m = Matrix3f(..); \endcode
@@ -207,10 +208,10 @@ t.scale(s); t.prescale(Vector_(sx,sy,..)); t.prescale(s); \endcode\code -t *= Scaling_(sx,sy,..); -t *= Scaling_(s); -t = Scaling_(sx,sy,..) * t; -t = Scaling_(s) * t; +t *= Scaling(sx,sy,..); +t *= Scaling(s); +t = Scaling(sx,sy,..) * t; +t = Scaling(s) * t; \endcode Shear transformation \n ( \b 2D \b only ! )\code t.shear(sx,sy); @@ -224,7 +225,7 @@ Note that in both API, any many transformations can be concatenated in a single t.pretranslate(..).rotate(..).translate(..).scale(..); \endcode \code -t = Translation_(..) * t * RotationType(..) * Translation_(..) * Scaling_(..); +t = Translation_(..) * t * RotationType(..) * Translation_(..) * Scaling(..); \endcode diff --git a/gtsam/3rdparty/Eigen/doc/C09_TutorialSparse.dox b/gtsam/3rdparty/Eigen/doc/C09_TutorialSparse.dox index 737f4cc09..34154bd0d 100644 --- a/gtsam/3rdparty/Eigen/doc/C09_TutorialSparse.dox +++ b/gtsam/3rdparty/Eigen/doc/C09_TutorialSparse.dox @@ -8,82 +8,144 @@ namespace Eigen { \b Table \b of \b contents \n - \ref TutorialSparseIntro + - \ref TutorialSparseExample "Example" + - \ref TutorialSparseSparseMatrix - \ref TutorialSparseFilling - - \ref TutorialSparseFeatureSet - \ref TutorialSparseDirectSolvers + - \ref TutorialSparseFeatureSet + - \ref TutorialSparse_BasicOps + - \ref TutorialSparse_Products + - \ref TutorialSparse_TriangularSelfadjoint + - \ref TutorialSparse_Submat + +
-\section TutorialSparseIntro Sparse matrix representations +Manipulating and solving sparse problems involves various modules which are summarized below: -In many applications (e.g., finite element methods) it is common to deal with very large matrices where only a few coefficients are different than zero. Both in term of memory consumption and performance, it is fundamental to use an adequate representation storing only nonzero coefficients. Such a matrix is called a sparse matrix. - -\b Declaring \b sparse \b matrices \b and \b vectors \n -The SparseMatrix class is the main sparse matrix representation of the Eigen's sparse module which offers high performance, low memory usage, and compatibility with most of sparse linear algebra packages. Because of its limited flexibility, we also provide a DynamicSparseMatrix variante taillored for low-level sparse matrix assembly. Both of them can be either row major or column major: - -\code -#include -SparseMatrix > m1(1000,2000); // declare a 1000x2000 col-major compressed sparse matrix of complex -SparseMatrix m2(1000,2000); // declare a 1000x2000 row-major compressed sparse matrix of double -DynamicSparseMatrix > m1(1000,2000); // declare a 1000x2000 col-major dynamic sparse matrix of complex -DynamicSparseMatrix m2(1000,2000); // declare a 1000x2000 row-major dynamic sparse matrix of double -\endcode - -Although a sparse matrix could also be used to represent a sparse vector, for that purpose it is better to use the specialized SparseVector class: -\code -SparseVector > v1(1000); // declare a column sparse vector of complex of size 1000 -SparseVector v2(1000); // declare a row sparse vector of double of size 1000 -\endcode -Note that here the size of a vector denotes its dimension and not the number of nonzero coefficients which is initially zero (like sparse matrices). - - -\b Overview \b of \b the \b internal \b sparse \b storage \n -In order to get the best of the Eigen's sparse objects, it is important to have a rough idea of the way they are internally stored. The SparseMatrix class implements the common and generic Compressed Column/Row Storage scheme. It consists of three compact arrays storing the values with their respective inner coordinates, and pointer indices to the begining of each outer vector. For instance, let \c m be a column-major sparse matrix. Then its nonzero coefficients are sequentially stored in memory in a column-major order (\em values). A second array of integer stores the respective row index of each coefficient (\em inner \em indices). Finally, a third array of integer, having the same length than the number of columns, stores the index in the previous arrays of the first element of each column (\em outer \em indices). - -Here is an example, with the matrix: - - - - - + + + + +
03000
2200017
75010
00000
001408
ModuleHeader fileContents
\link Sparse_Module SparseCore \endlink\code#include \endcodeSparseMatrix and SparseVector classes, matrix assembly, basic sparse linear algebra (including sparse triangular solvers)
\link SparseCholesky_Module SparseCholesky \endlink\code#include \endcodeDirect sparse LLT and LDLT Cholesky factorization to solve sparse self-adjoint positive definite problems
\link IterativeLinearSolvers_Module IterativeLinearSolvers \endlink\code#include \endcodeIterative solvers to solve large general linear square problems (including self-adjoint positive definite problems)
\code#include \endcodeIncludes all the above modules
-and its internal representation using the Compressed Column Storage format: +\section TutorialSparseIntro Sparse matrix representation + +In many applications (e.g., finite element methods) it is common to deal with very large matrices where only a few coefficients are different from zero. In such cases, memory consumption can be reduced and performance increased by using a specialized representation storing only the nonzero coefficients. Such a matrix is called a sparse matrix. + +\b The \b %SparseMatrix \b class + +The class SparseMatrix is the main sparse matrix representation of Eigen's sparse module; it offers high performance and low memory usage. +It implements a more versatile variant of the widely-used Compressed Column (or Row) Storage scheme. +It consists of four compact arrays: + - \c Values: stores the coefficient values of the non-zeros. + - \c InnerIndices: stores the row (resp. column) indices of the non-zeros. + - \c OuterStarts: stores for each column (resp. row) the index of the first non-zero in the previous two arrays. + - \c InnerNNZs: stores the number of non-zeros of each column (resp. row). +The word \c inner refers to an \em inner \em vector that is a column for a column-major matrix, or a row for a row-major matrix. +The word \c outer refers to the other direction. + +This storage scheme is better explained on an example. The following matrix + + + + + + +
03 00 0
220 0017
75 01 0
00 00 0
00140 8
+ +and one of its possible sparse, \b column \b major representation: + + + +
Values: 227_3514__1_178
InnerIndices: 12_02 4__2_ 14
+ + + +
OuterStarts:035810\em 12
InnerNNZs: 2211 2
+ +Currently the elements of a given inner vector are guaranteed to be always sorted by increasing inner indices. +The \c "_" indicates available free space to quickly insert new elements. +Assuming no reallocation is needed, the insertion of a random element is therefore in O(nnz_j) where nnz_j is the number of nonzeros of the respective inner vector. +On the other hand, inserting elements with increasing inner indices in a given inner vector is much more efficient since this only requires to increase the respective \c InnerNNZs entry that is a O(1) operation. + +The case where no empty space is available is a special case, and is refered as the \em compressed mode. +It corresponds to the widely used Compressed Column (or Row) Storage schemes (CCS or CRS). +Any SparseMatrix can be turned to this form by calling the SparseMatrix::makeCompressed() function. +In this case, one can remark that the \c InnerNNZs array is redundant with \c OuterStarts because we the equality: \c InnerNNZs[j] = \c OuterStarts[j+1]-\c OuterStarts[j]. +Therefore, in practice a call to SparseMatrix::makeCompressed() frees this buffer. + +It is worth noting that most of our wrappers to external libraries requires compressed matrices as inputs. + +The results of %Eigen's operations always produces \b compressed sparse matrices. +On the other hand, the insertion of a new element into a SparseMatrix converts this later to the \b uncompressed mode. + +Here is the previous matrix represented in compressed mode: - + +
Values: 22735141178
Inner indices: 1202 42 14
InnerIndices: 1202 42 14
+ +
OuterStarts:02456\em 8
-Outer indices:
02456\em 7
-As you might guess, here the storage order is even more important than with dense matrices. We will therefore often make a clear difference between the \em inner and \em outer dimensions. For instance, it is efficient to loop over the coefficients of an \em inner \em vector (e.g., a column of a column-major matrix), but completely inefficient to do the same for an \em outer \em vector (e.g., a row of a column-major matrix). +A SparseVector is a special case of a SparseMatrix where only the \c Values and \c InnerIndices arrays are stored. +There is no notion of compressed/uncompressed mode for a SparseVector. -The SparseVector class implements the same compressed storage scheme but, of course, without any outer index buffer. -Since all nonzero coefficients of such a matrix are sequentially stored in memory, inserting a new nonzero near the "beginning" of the matrix can be extremely costly. As described below (\ref TutorialSparseFilling), one strategy is to fill nonzero coefficients in order. In cases where this is not possible, Eigen's sparse module also provides a DynamicSparseMatrix class which allows efficient random insertion. DynamicSparseMatrix is essentially implemented as an array of SparseVector, where the values and inner-indices arrays have been split into multiple small and resizable arrays. Assuming the number of nonzeros per inner vector is relatively small, this modification allows for very fast random insertion at the cost of a slight memory overhead (due to extra memory preallocated by each inner vector to avoid an expensive memory reallocation at every insertion) and a loss of compatibility with other sparse libraries used by some of our high-level solvers. Once complete, a DynamicSparseMatrix can be converted to a SparseMatrix to permit usage of these sparse libraries. +\section TutorialSparseExample First example -To summarize, it is recommended to use SparseMatrix whenever possible, and reserve the use of DynamicSparseMatrix to assemble a sparse matrix in cases when a SparseMatrix is not flexible enough. The respective pros/cons of both representations are summarized in the following table: +Before describing each individual class, let's start with the following typical example: solving the Lapace equation \f$ \nabla u = 0 \f$ on a regular 2D grid using a finite difference scheme and Dirichlet boundary conditions. +Such problem can be mathematically expressed as a linear problem of the form \f$ Ax=b \f$ where \f$ x \f$ is the vector of \c m unknowns (in our case, the values of the pixels), \f$ b \f$ is the right hand side vector resulting from the boundary conditions, and \f$ A \f$ is an \f$ m \times m \f$ matrix containing only a few non-zero elements resulting from the discretization of the Laplacian operator. - - - - - - - - - - - - - -
SparseMatrixDynamicSparseMatrix
memory efficiency*****
sorted insertion******
random insertion \n in sorted inner vector****
sorted insertion \n in random inner vector-***
random insertion-**
coeff wise unary operators******
coeff wise binary operators******
matrix products*****(*)
transpose*****
redux*****
*= scalar*****
Compatibility with highlevel solvers \n (TAUCS, Cholmod, SuperLU, UmfPack)***-
+ +\include Tutorial_sparse_example.cpp + + +\image html Tutorial_sparse_example.jpeg + + +In this example, we start by defining a column-major sparse matrix type of double \c SparseMatrix, and a triplet list of the same scalar type \c Triplet. A triplet is a simple object representing a non-zero entry as the triplet: \c row index, \c column index, \c value. + +In the main function, we declare a list \c coefficients of triplets (as a std vector) and the right hand side vector \f$ b \f$ which are filled by the \a buildProblem function. +The raw and flat list of non-zero entries is then converted to a true SparseMatrix object \c A. +Note that the elements of the list do not have to be sorted, and possible duplicate entries will be summed up. + +The last step consists of effectively solving the assembled problem. +Since the resulting matrix \c A is symmetric by construction, we can perform a direct Cholesky factorization via the SimplicialLDLT class which behaves like its LDLT counterpart for dense objects. + +The resulting vector \c x contains the pixel values as a 1D array which is saved to a jpeg file shown on the right of the code above. + +Describing the \a buildProblem and \a save functions is out of the scope of this tutorial. They are given \ref TutorialSparse_example_details "here" for the curious and reproducibility purpose. -\b Matrix \b and \b vector \b properties \n -Here mat and vec represent any sparse-matrix and sparse-vector type, respectively. +\section TutorialSparseSparseMatrix The SparseMatrix class + +\b %Matrix \b and \b vector \b properties \n + +The SparseMatrix and SparseVector classes take three template arguments: + * the scalar type (e.g., double) + * the storage order (ColMajor or RowMajor, the default is RowMajor) + * the inner index type (default is \c int). + +As for dense Matrix objects, constructors takes the size of the object. +Here are some examples: + +\code +SparseMatrix > mat(1000,2000); // declares a 1000x2000 column-major compressed sparse matrix of complex +SparseMatrix mat(1000,2000); // declares a 1000x2000 row-major compressed sparse matrix of double +SparseVector > vec(1000); // declares a column sparse vector of complex of size 1000 +SparseVector vec(1000); // declares a row sparse vector of double of size 1000 +\endcode + +In the rest of the tutorial, \c mat and \c vec represent any sparse-matrix and sparse-vector objects, respectively. + +The dimensions of a matrix can be queried using the following functions: \b Iterating \b over \b the \b nonzero \b coefficients \n -Iterating over the coefficients of a sparse matrix can be done only in the same order as the storage order. Here is an example: +Random access to the elements of a sparse object can be done through the \c coeffRef(i,j) function. +However, this function involves a quite expensive binary search. +In most cases, one only wants to iterate over the non-zeros elements. This is achieved by a standard loop over the outer dimension, and then by iterating over the non-zeros of the current inner vector via an InnerIterator. Thus, the non-zero entries have to be visited in the same order than the storage order. +Here is an example:
Standard \n dimensions\code mat.rows() @@ -105,13 +167,16 @@ vec.nonZeros() \endcode
\code -SparseMatrixType mat(rows,cols); -for (int k=0; k mat(rows,cols); +for (int k=0; k::InnerIterator it(mat,k); it; ++it) { it.value(); it.row(); // row index @@ -130,129 +195,258 @@ for (SparseVector::InnerIterator it(vec); it; ++it) \endcode
+For a writable expression, the referenced value can be modified using the valueRef() function. +If the type of the sparse matrix or vector depends on a template parameter, then the \c typename keyword is +required to indicate that \c InnerIterator denotes a type; see \ref TopicTemplateKeyword for details. \section TutorialSparseFilling Filling a sparse matrix -Owing to the special storage scheme of a SparseMatrix, it is obvious that for performance reasons a sparse matrix cannot be filled as easily as a dense matrix. For instance the cost of a purely random insertion into a SparseMatrix is in O(nnz) where nnz is the current number of non zeros. In order to cover all uses cases with best efficiency, Eigen provides various mechanisms, from the easiest but slowest, to the fastest but restrictive one. +Because of the special storage scheme of a SparseMatrix, special care has to be taken when adding new nonzero entries. +For instance, the cost of a single purely random insertion into a SparseMatrix is \c O(nnz), where \c nnz is the current number of non-zero coefficients. -If you don't have any prior knowledge about the order your matrix will be filled, then the best choice is to use a DynamicSparseMatrix. With a DynamicSparseMatrix, you can add or modify any coefficients at any time using the coeffRef(row,col) method. Here is an example: +The simplest way to create a sparse matrix while guaranteeing good performance is thus to first build a list of so-called \em triplets, and then convert it to a SparseMatrix. + +Here is a typical usage example: \code -DynamicSparseMatrix aux(1000,1000); -aux.reserve(estimated_number_of_non_zero); // optional -for (...) - for each j // the j can be random - for each i interacting with j // the i can be random - aux.coeffRef(i,j) += foo(i,j); -\endcode -Then the DynamicSparseMatrix object can be converted to a compact SparseMatrix to be used, e.g., by one of our supported solver: -\code -SparseMatrix mat(aux); -\endcode - -In order to optimize this process, instead of the generic coeffRef(i,j) method one can also use: - - \code m.insert(i,j) = value; \endcode which assumes the coefficient of coordinate (row,col) does not already exist (otherwise this is a programming error and your program will stop). - - \code m.insertBack(i,j) = value; \endcode which, in addition to the requirements of insert(), also assumes that the coefficient of coordinate (row,col) will be inserted at the end of the target inner-vector. More precisely, if the matrix m is column major, then the row index of the last non zero coefficient of the j-th column must be smaller than i. - - -Actually, the SparseMatrix class also supports random insertion via the insert() method. However, its uses should be reserved in cases where the inserted non zero is nearly the last one of the compact storage array. In practice, this means it should be used only to perform random (or sorted) insertion into the current inner-vector while filling the inner-vectors in an increasing order. Moreover, with a SparseMatrix an insertion session must be closed by a call to finalize() before any use of the matrix. Here is an example for a column major matrix: - -\code -SparseMatrix mat(1000,1000); -mat.reserve(estimated_number_of_non_zero); // optional -for each j // should be in increasing order for performance reasons - for each i interacting with j // the i can be random - mat.insert(i,j) = foo(i,j); // optional for a DynamicSparseMatrix -mat.finalize(); -\endcode - -Finally, the fastest way to fill a SparseMatrix object is to insert the elements in a purely coherence order (increasing inner index per increasing outer index). To this end, Eigen provides a very low but optimal API and illustrated below: - -\code -SparseMatrix mat(1000,1000); -mat.reserve(estimated_number_of_non_zero); // optional -for(int j=0; j<1000; ++j) +typedef Eigen::Triplet T; +std::vector tripletList; +triplets.reserve(estimation_of_entries); +for(...) { - mat.startVec(j); // optional for a DynamicSparseMatrix - for each i interacting with j // with increasing i - mat.insertBack(i,j) = foo(i,j); + // ... + tripletList.push_back(T(i,j,v_ij)); } -mat.finalize(); // optional for a DynamicSparseMatrix +SparseMatrixType mat(rows,cols); +mat.setFromTriplets(tripletList.begin(), tripletList.end()); +// mat is ready to go! \endcode -Note that there also exist the insertBackByOuterInner(Index outer, Index, inner) function which allows to write code agnostic to the storage order. +The \c std::vector of triplets might contain the elements in arbitrary order, and might even contain duplicated elements that will be summed up by setFromTriplets(). +See the SparseMatrix::setFromTriplets() function and class Triplet for more details. -\section TutorialSparseFeatureSet Supported operators and functions -In the following \em sm denote a sparse matrix, \em sv a sparse vector, \em dm a dense matrix, and \em dv a dense vector. -In Eigen's sparse module we chose to expose only the subset of the dense matrix API which can be efficiently implemented. Moreover, all combinations are not always possible. For instance, it is not possible to add two sparse matrices having two different storage order. On the other hand it is perfectly fine to evaluate a sparse matrix/expression to a matrix having a different storage order: +In some cases, however, slightly higher performance, and lower memory consumption can be reached by directly inserting the non-zeros into the destination matrix. +A typical scenario of this approach is illustrated bellow: \code -SparseMatrixType sm1, sm2, sm3; -sm3 = sm1.transpose() + sm2; // invalid -sm3 = SparseMatrixType(sm1.transpose()) + sm2; // correct +1: SparseMatrix mat(rows,cols); // default is column major +2: mat.reserve(VectorXi::Constant(cols,6)); +3: for each i,j such that v_ij != 0 +4: mat.insert(i,j) = v_ij; // alternative: mat.coeffRef(i,j) += v_ij; +5: mat.makeCompressed(); // optional \endcode -Here are some examples of the supported operations: +- The key ingredient here is the line 2 where we reserve room for 6 non-zeros per column. In many cases, the number of non-zeros per column or row can easily be known in advance. If it varies significantly for each inner vector, then it is possible to specify a reserve size for each inner vector by providing a vector object with an operator[](int j) returning the reserve size of the \c j-th inner vector (e.g., via a VectorXi or std::vector). If only a rought estimate of the number of nonzeros per inner-vector can be obtained, it is highly recommended to overestimate it rather than the opposite. If this line is omitted, then the first insertion of a new element will reserve room for 2 elements per inner vector. +- The line 4 performs a sorted insertion. In this example, the ideal case is when the \c j-th column is not full and contains non-zeros whose inner-indices are smaller than \c i. In this case, this operation boils down to trivial O(1) operation. +- When calling insert(i,j) the element \c i \c ,j must not already exists, otherwise use the coeffRef(i,j) method that will allow to, e.g., accumulate values. This method first performs a binary search and finally calls insert(i,j) if the element does not already exist. It is more flexible than insert() but also more costly. +- The line 5 suppresses the remaining empty space and transforms the matrix into a compressed column storage. + + +\section TutorialSparseDirectSolvers Solving linear problems + +%Eigen currently provides a limited set of built-in solvers, as well as wrappers to external solver libraries. +They are summarized in the following table: + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ClassModuleSolver kindMatrix kindFeatures related to performanceDependencies,License

Notes

SimplicialLLT \link SparseCholesky_Module SparseCholesky \endlinkDirect LLt factorizationSPDFill-in reducingbuilt-in, LGPLSimplicialLDLT is often preferable
SimplicialLDLT \link SparseCholesky_Module SparseCholesky \endlinkDirect LDLt factorizationSPDFill-in reducingbuilt-in, LGPLRecommended for very sparse and not too large problems (e.g., 2D Poisson eq.)
ConjugateGradient\link IterativeLinearSolvers_Module IterativeLinearSolvers \endlinkClassic iterative CGSPDPreconditionningbuilt-in, LGPLRecommended for large symmetric problems (e.g., 3D Poisson eq.)
BiCGSTAB\link IterativeLinearSolvers_Module IterativeLinearSolvers \endlinkIterative stabilized bi-conjugate gradientSquarePreconditionningbuilt-in, LGPLMight not always converge
PastixLLT \n PastixLDLT \n PastixLU\link PaStiXSupport_Module PaStiXSupport \endlinkDirect LLt, LDLt, LU factorizationsSPD \n SPD \n SquareFill-in reducing, Leverage fast dense algebra, MultithreadingRequires the PaStiX package, \b CeCILL-C optimized for tough problems and symmetric patterns
CholmodSupernodalLLT\link CholmodSupport_Module CholmodSupport \endlinkDirect LLt factorizationSPDFill-in reducing, Leverage fast dense algebraRequires the SuiteSparse package, \b GPL
UmfPackLU\link UmfPackSupport_Module UmfPackSupport \endlinkDirect LU factorizationSquareFill-in reducing, Leverage fast dense algebraRequires the SuiteSparse package, \b GPL
SuperLU\link SuperLUSupport_Module SuperLUSupport \endlinkDirect LU factorizationSquareFill-in reducing, Leverage fast dense algebraRequires the SuperLU library, (BSD-like)
+ +Here \c SPD means symmetric positive definite. + +All these solvers follow the same general concept. +Here is a typical and general example: \code -s_1 *= 0.5; -sm4 = sm1 + sm2 + sm3; // only if s_1, s_2 and s_3 have the same storage order -sm3 = sm1 * sm2; -dv3 = sm1 * dv2; -dm3 = sm1 * dm2; -dm3 = dm2 * sm1; -sm3 = sm1.cwiseProduct(sm2); // only if s_1 and s_2 have the same storage order -dv2 = sm1.triangularView().solve(dv2); -\endcode - -The product of a sparse matrix A by a dense matrix/vector dv with A symmetric can be optimized by telling that to Eigen: -\code -res = A.selfadjointView<>() * dv; // if all coefficients of A are stored -res = A.selfadjointView() * dv; // if only the upper part of A is stored -res = A.selfadjointView() * dv; // if only the lower part of A is stored -\endcode - - -\section TutorialSparseDirectSolvers Using the direct solvers - -To solve a sparse problem you currently have to use one or multiple of the following "unsupported" module: -- \ref SparseExtra_Module - - \b solvers: SparseLLT, SparseLDLT (\#include ) - - \b notes: built-in basic LLT and LDLT solvers -- \ref CholmodSupport_Module - - \b solver: SparseLLT (\#include ) - - \b notes: LLT solving using Cholmod, requires a SparseMatrix object. (recommended for symmetric/selfadjoint problems) -- \ref UmfPackSupport_Module - - \b solver: SparseLU (\#include ) - - \b notes: LU solving using UmfPack, requires a SparseMatrix object (recommended for squared matrices) -- \ref SuperLUSupport_Module - - \b solver: SparseLU (\#include ) - - \b notes: (LU solving using SuperLU, requires a SparseMatrix object, recommended for squared matrices) -- \ref TaucsSupport_Module - - \b solver: SparseLLT (\#include ) - - \b notes: LLT solving using Taucs, requires a SparseMatrix object (not recommended) - -\warning Those modules are currently considered to be "unsupported" because 1) they are not documented, and 2) their API is likely to change in the future. - -Here is a typical example: -\code -#include +#include // ... SparseMatrix A; // fill A VectorXd b, x; // fill b -// solve Ax = b using UmfPack: -SparseLU,UmfPack> lu_of_A(A); -if(!lu_of_A.succeeded()) { - // decomposiiton failed +// solve Ax = b +SolverClassName > solver; +solver.compute(A); +if(solver.info()!=Succeeded) { + // decomposition failed return; } -if(!lu_of_A.solve(b,&x)) { +x = solver.solve(b); +if(solver.info()!=Succeeded) { // solving failed return; } +// solve for another right hand side: +x1 = solver.solve(b1); \endcode -See also the class SparseLLT, class SparseLU, and class SparseLDLT. +For \c SPD solvers, a second optional template argument allows to specify which triangular part have to be used, e.g.: + +\code +#include + +ConjugateGradient, Eigen::Upper> solver; +x = solver.compute(A).solve(b); +\endcode +In the above example, only the upper triangular part of the input matrix A is considered for solving. The opposite triangle might either be empty or contain arbitrary values. + +In the case where multiple problems with the same sparcity pattern have to be solved, then the "compute" step can be decomposed as follow: +\code +SolverClassName > solver; +solver.analyzePattern(A); // for this step the numerical values of A are not used +solver.factorize(A); +x1 = solver.solve(b1); +x2 = solver.solve(b2); +... +A = ...; // modify the values of the nonzeros of A, the nonzeros pattern must stay unchanged +solver.factorize(A); +x1 = solver.solve(b1); +x2 = solver.solve(b2); +... +\endcode +The compute() method is equivalent to calling both analyzePattern() and factorize(). + +Finally, each solver provides some specific features, such as determinant, access to the factors, controls of the iterations, and so on. +More details are availble in the documentations of the respective classes. + + +\section TutorialSparseFeatureSet Supported operators and functions + +Because of their special storage format, sparse matrices cannot offer the same level of flexbility than dense matrices. +In Eigen's sparse module we chose to expose only the subset of the dense matrix API which can be efficiently implemented. +In the following \em sm denotes a sparse matrix, \em sv a sparse vector, \em dm a dense matrix, and \em dv a dense vector. + +\subsection TutorialSparse_BasicOps Basic operations + +%Sparse expressions support most of the unary and binary coefficient wise operations: +\code +sm1.real() sm1.imag() -sm1 0.5*sm1 +sm1+sm2 sm1-sm2 sm1.cwiseProduct(sm2) +\endcode +However, a strong restriction is that the storage orders must match. For instance, in the following example: +\code +sm4 = sm1 + sm2 + sm3; +\endcode +sm1, sm2, and sm3 must all be row-major or all column major. +On the other hand, there is no restriction on the target matrix sm4. +For instance, this means that for computing \f$ A^T + A \f$, the matrix \f$ A^T \f$ must be evaluated into a temporary matrix of compatible storage order: +\code +SparseMatrix A, B; +B = SparseMatrix(A.transpose()) + A; +\endcode + +Binary coefficient wise operators can also mix sparse and dense expressions: +\code +sm2 = sm1.cwiseProduct(dm1); +dm2 = sm1 + dm1; +\endcode + + +%Sparse expressions also support transposition: +\code +sm1 = sm2.transpose(); +sm1 = sm2.adjoint(); +\endcode +However, there is no transposeInPlace() method. + + +\subsection TutorialSparse_Products Matrix products + +%Eigen supports various kind of sparse matrix products which are summarize below: + - \b sparse-dense: + \code +dv2 = sm1 * dv1; +dm2 = dm1 * sm1.adjoint(); +dm2 = 2. * sm1 * dm1; + \endcode + - \b symmetric \b sparse-dense. The product of a sparse symmetric matrix with a dense matrix (or vector) can also be optimized by specifying the symmetry with selfadjointView(): + \code +dm2 = sm1.selfadjointView<>() * dm1; // if all coefficients of A are stored +dm2 = A.selfadjointView() * dm1; // if only the upper part of A is stored +dm2 = A.selfadjointView() * dm1; // if only the lower part of A is stored + \endcode + - \b sparse-sparse. For sparse-sparse products, two different algorithms are available. The default one is conservative and preserve the explicit zeros that might appear: + \code +sm3 = sm1 * sm2; +sm3 = 4 * sm1.adjoint() * sm2; + \endcode + The second algorithm prunes on the fly the explicit zeros, or the values smaller than a given threshold. It is enabled and controlled through the prune() functions: + \code +sm3 = (sm1 * sm2).prune(); // removes numerical zeros +sm3 = (sm1 * sm2).prune(ref); // removes elements much smaller than ref +sm3 = (sm1 * sm2).prune(ref,epsilon); // removes elements smaller than ref*epsilon + \endcode + + - \b permutations. Finally, permutations can be applied to sparse matrices too: + \code +PermutationMatrix P = ...; +sm2 = P * sm1; +sm2 = sm1 * P.inverse(); +sm2 = sm1.transpose() * P; + \endcode + + +\subsection TutorialSparse_TriangularSelfadjoint Triangular and selfadjoint views + +Just as with dense matrices, the triangularView() function can be used to address a triangular part of the matrix, and perform triangular solves with a dense right hand side: +\code +dm2 = sm1.triangularView(dm1); +dv2 = sm1.transpose().triangularView(dv1); +\endcode + +The selfadjointView() function permits various operations: + - optimized sparse-dense matrix products: + \code +dm2 = sm1.selfadjointView<>() * dm1; // if all coefficients of A are stored +dm2 = A.selfadjointView() * dm1; // if only the upper part of A is stored +dm2 = A.selfadjointView() * dm1; // if only the lower part of A is stored + \endcode + - copy of triangular parts: + \code +sm2 = sm1.selfadjointView(); // makes a full selfadjoint matrix from the upper triangular part +sm2.selfadjointView() = sm1.selfadjointView(); // copies the upper triangular part to the lower triangular part + \endcode + - application of symmetric permutations: + \code +PermutationMatrix P = ...; +sm2 = A.selfadjointView().twistedBy(P); // compute P S P' from the upper triangular part of A, and make it a full matrix +sm2.selfadjointView() = A.selfadjointView().twistedBy(P); // compute P S P' from the lower triangular part of A, and then only compute the lower part + \endcode + +\subsection TutorialSparse_Submat Sub-matrices + +%Sparse matrices does not support yet the addressing of arbitrary sub matrices. Currently, one can only reference a set of contiguous \em inner vectors, i.e., a set of contiguous rows for a row-major matrix, or a set of contiguous columns for a column major matrix: +\code + sm1.innerVector(j); // returns an expression of the j-th column (resp. row) of the matrix if sm1 is col-major (resp. row-major) + sm1.innerVectors(j, nb); // returns an expression of the nb columns (resp. row) starting from the j-th column (resp. row) + // of the matrix if sm1 is col-major (resp. row-major) + sm1.middleRows(j, nb); // for row major matrices only, get a range of nb rows + sm1.middleCols(j, nb); // for column major matrices only, get a range of nb columns +\endcode \li \b Next: \ref TutorialMapClass diff --git a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt index 50ce7ee0c..96bff41bf 100644 --- a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt @@ -36,6 +36,7 @@ set(snippets_targets "") add_definitions("-DEIGEN_MAKING_DOCS") add_subdirectory(examples) +add_subdirectory(special_examples) add_subdirectory(snippets) add_custom_target( diff --git a/gtsam/3rdparty/Eigen/doc/D09_StructHavingEigenMembers.dox b/gtsam/3rdparty/Eigen/doc/D09_StructHavingEigenMembers.dox index d6a24d951..51789ca9c 100644 --- a/gtsam/3rdparty/Eigen/doc/D09_StructHavingEigenMembers.dox +++ b/gtsam/3rdparty/Eigen/doc/D09_StructHavingEigenMembers.dox @@ -10,6 +10,7 @@ namespace Eigen { - \ref movetotop - \ref bugineigen - \ref conditional + - \ref othersolutions \section summary Executive Summary @@ -55,6 +56,8 @@ Foo *foo = new Foo; This macro makes "new Foo" always return an aligned pointer. +If this approach is too intrusive, see also the \ref othersolutions. + \section why Why is this needed? OK let's say that your code looks like this: @@ -132,6 +135,64 @@ Foo<4> *foo4 = new Foo<4>; // foo4 is guaranteed to be 128bit-aligned Foo<3> *foo3 = new Foo<3>; // foo3 has only the system default alignment guarantee \endcode + +\section othersolutions Other solutions + +In case putting the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro everywhere is too intrusive, there exists at least two other solutions. + +\subsection othersolutions1 Disabling alignment + +The first is to disable alignment requirement for the fixed size members: +\code +class Foo +{ + ... + Eigen::Matrix v; + ... +}; +\endcode +This has for effect to disable vectorization when using \c v. +If a function of Foo uses it several times, then it still possible to re-enable vectorization by copying it into an aligned temporary vector: +\code +void Foo::bar() +{ + Eigen::Vector2d av(v); + // use av instead of v + ... + // if av changed, then do: + v = av; +} +\endcode + +\subsection othersolutions2 Private structure + +The second consist in storing the fixed-size objects into a private struct which will be dynamically allocated at the construction time of the main object: + +\code +struct Foo_d +{ + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Vector2d v; + ... +}; + + +struct Foo { + Foo() { init_d(); } + ~Foo() { delete d; } + void bar() + { + // use d->v instead of v + ... + } +private: + void init_d() { d = new Foo_d; } + Foo_d* d; +}; +\endcode + +The clear advantage here is that the class Foo remains unchanged regarding alignment issues. The drawback is that a heap allocation will be required whatsoever. + */ } diff --git a/gtsam/3rdparty/Eigen/doc/Doxyfile.in b/gtsam/3rdparty/Eigen/doc/Doxyfile.in index 6a659d9c2..e9e89d486 100644 --- a/gtsam/3rdparty/Eigen/doc/Doxyfile.in +++ b/gtsam/3rdparty/Eigen/doc/Doxyfile.in @@ -108,7 +108,7 @@ ALWAYS_DETAILED_SEC = NO # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. -INLINE_INHERITED_MEMB = NO +INLINE_INHERITED_MEMB = YES # If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full # path before files name in the file list and in the header files. If set @@ -206,7 +206,6 @@ ALIASES = "only_for_vectors=This is only for vectors (either row- "qr_module=This is defined in the %QR module. \code #include \endcode" \ "svd_module=This is defined in the %SVD module. \code #include \endcode" \ "label=\bug" \ - "redstar=*" \ "matrixworld=*" \ "arrayworld=*" \ "note_about_arbitrary_choice_of_solution=If there exists more than one solution, this method will arbitrarily choose one." \ @@ -303,7 +302,7 @@ TYPEDEF_HIDES_STRUCT = NO # Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES -EXTRACT_ALL = NO +EXTRACT_ALL = YES # If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. @@ -561,8 +560,7 @@ WARN_LOGFILE = # with spaces. INPUT = "${Eigen_SOURCE_DIR}/Eigen" \ - "${Eigen_SOURCE_DIR}/doc" \ - "${Eigen_BINARY_DIR}/doc" + "${Eigen_SOURCE_DIR}/doc" # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is @@ -585,13 +583,17 @@ FILE_PATTERNS = * # should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. -RECURSIVE = NO +RECURSIVE = YES # The EXCLUDE tag can be used to specify files and/or directories that should # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. -EXCLUDE = +EXCLUDE = "${Eigen_SOURCE_DIR}/Eigen/Eigen2Support" \ + "${Eigen_SOURCE_DIR}/Eigen/src/Eigen2Support" \ + "${Eigen_SOURCE_DIR}/doc/examples" \ + "${Eigen_SOURCE_DIR}/doc/special_examples" \ + "${Eigen_SOURCE_DIR}/doc/snippets" # The EXCLUDE_SYMLINKS tag can be used select whether or not files or # directories that are symbolic links (a Unix filesystem feature) are excluded @@ -627,10 +629,8 @@ EXCLUDE_PATTERNS = CMake* \ # wildcard * is used, a substring. Examples: ANamespace, AClass, # AClass::ANamespace, ANamespace::*Test -# This is used to clean up the "class hierarchy" page - -EXCLUDE_SYMBOLS = EigenBase<* SparseMatrixBase<* DenseBase<* MatrixBase<* Matrix<* \ - ProductReturnType<* RotationBase<* Stride<* BandMatrix<* Block<* +# This could used to clean up the "class hierarchy" page +EXCLUDE_SYMBOLS = internal::* Flagged* *InnerIterator* DenseStorage<* # The EXAMPLE_PATH tag can be used to specify one or more files or # directories that contain example code fragments that are included (see @@ -639,7 +639,9 @@ EXCLUDE_SYMBOLS = EigenBase<* SparseMatrixBase<* DenseBase<* MatrixBase<* EXAMPLE_PATH = "${Eigen_SOURCE_DIR}/doc/snippets" \ "${Eigen_BINARY_DIR}/doc/snippets" \ "${Eigen_SOURCE_DIR}/doc/examples" \ - "${Eigen_BINARY_DIR}/doc/examples" + "${Eigen_BINARY_DIR}/doc/examples" \ + "${Eigen_SOURCE_DIR}/doc/special_examples" \ + "${Eigen_BINARY_DIR}/doc/special_examples" # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp @@ -1229,7 +1231,8 @@ EXPAND_AS_DEFINED = EIGEN_MAKE_TYPEDEFS \ EIGEN_CWISE_BINOP_RETURN_TYPE \ EIGEN_CWISE_PRODUCT_RETURN_TYPE \ EIGEN_CURRENT_STORAGE_BASE_CLASS \ - _EIGEN_GENERIC_PUBLIC_INTERFACE + _EIGEN_GENERIC_PUBLIC_INTERFACE \ + EIGEN2_SUPPORT # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then # doxygen's preprocessor will remove all function-like macros that are alone diff --git a/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox b/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox index 766ff6f95..623ef31e1 100644 --- a/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox +++ b/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox @@ -120,19 +120,22 @@ Eigen::MatrixBase, 10000, 1, 2, 10000, 1> \anchor user_defined_scalars \section CustomScalarType Using custom scalar types -By default, Eigen currently supports the following scalar types: \c int, \c float, \c double, \c std::complex, \c std::complex, \c long \c double, \c long \c long \c int (64 bits integers), and \c bool. The \c long \c double is especially useful on x86-64 systems or when the SSE2 instruction set is enabled because it enforces the use of x87 registers with extended accuracy. +By default, Eigen currently supports standard floating-point types (\c float, \c double, \c std::complex, \c std::complex, \c long \c double), as well as all integrale types (e.g., \c int, \c unsigned \c int, \c short, etc.), and \c bool. +On x86-64 systems, \c long \c double permits to locally enforces the use of x87 registers with extended accuracy (in comparison to SSE). In order to add support for a custom type \c T you need: - 1 - make sure the common operator (+,-,*,/,etc.) are supported by the type \c T - 2 - add a specialization of struct Eigen::NumTraits (see \ref NumTraits) - 3 - define a couple of math functions for your type such as: internal::sqrt, internal::abs, etc... +-# make sure the common operator (+,-,*,/,etc.) are supported by the type \c T +-# add a specialization of struct Eigen::NumTraits (see \ref NumTraits) +-# define the math functions that makes sense for your type. This includes standard ones like sqrt, pow, sin, tan, conj, real, imag, etc, as well as abs2 which is Eigen specific. (see the file Eigen/src/Core/MathFunctions.h) +The math function should be defined in the same namespace than \c T, or in the \c std namespace though that second appraoch is not recommended. + Here is a concrete example adding support for the Adolc's \c adouble type. Adolc is an automatic differentiation library. The type \c adouble is basically a real value tracking the values of any number of partial derivatives. \code -#ifndef ADLOCSUPPORT_H -#define ADLOCSUPPORT_H +#ifndef ADOLCSUPPORT_H +#define ADOLCSUPPORT_H #define ADOLC_TAPELESS #include @@ -141,6 +144,7 @@ Here is a concrete example adding support for the Adolc's \c adouble type. struct NumTraits + : NumTraits // permits to get the epsilon, dummy_precision, lowest, highest functions { typedef adtl::adouble Real; typedef adtl::adouble NonInteger; @@ -149,35 +153,27 @@ template<> struct NumTraits enum { IsComplex = 0, IsInteger = 0, - IsSigned, + IsSigned = 1, + RequireInitialization = 1, ReadCost = 1, - AddCost = 1, - MulCost = 1 + AddCost = 3, + MulCost = 3 }; }; } -// the Adolc's type adouble is defined in the adtl namespace -// therefore, the following internal::* functions *must* be defined -// in the same namespace namespace adtl { - inline const adouble& internal::conj(const adouble& x) { return x; } - inline const adouble& internal::real(const adouble& x) { return x; } - inline adouble internal::imag(const adouble&) { return 0.; } - inline adouble internal::abs(const adouble& x) { return fabs(x); } - inline adouble internal::abs2(const adouble& x) { return x*x; } - inline adouble internal::sqrt(const adouble& x) { return sqrt(x); } - inline adouble internal::exp(const adouble& x) { return exp(x); } - inline adouble internal::log(const adouble& x) { return log(x); } - inline adouble internal::sin(const adouble& x) { return sin(x); } - inline adouble internal::cos(const adouble& x) { return cos(x); } - inline adouble internal::pow(const adouble& x, adouble y) { return pow(x, y); } +inline const adouble& conj(const adouble& x) { return x; } +inline const adouble& real(const adouble& x) { return x; } +inline adouble imag(const adouble&) { return 0.; } +inline adouble abs(const adouble& x) { return fabs(x); } +inline adouble abs2(const adouble& x) { return x*x; } } -#endif // ADLOCSUPPORT_H +#endif // ADOLCSUPPORT_H \endcode diff --git a/gtsam/3rdparty/Eigen/doc/I09_Vectorization.dox b/gtsam/3rdparty/Eigen/doc/I09_Vectorization.dox index 63831e59f..274d0451b 100644 --- a/gtsam/3rdparty/Eigen/doc/I09_Vectorization.dox +++ b/gtsam/3rdparty/Eigen/doc/I09_Vectorization.dox @@ -1,6 +1,6 @@ namespace Eigen { -/** \page TopicVectorization Vectorizaion +/** \page TopicVectorization Vectorization TODO: write this dox page! diff --git a/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox b/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox index b34fc84cf..2826a7f50 100644 --- a/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox +++ b/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox @@ -2,66 +2,75 @@ namespace Eigen { /** \page TopicPreprocessorDirectives Preprocessor directives -You can control some aspects of Eigen by defining the preprocessor tokens using \c \#define. These macros -should be defined before any Eigen headers are included. Often they are best set in the project options. +You can control some aspects of %Eigen by defining the preprocessor tokens using \c \#define. These macros +should be defined before any %Eigen headers are included. Often they are best set in the project options. -This page lists the preprocesor tokens recognised by Eigen. +This page lists the preprocesor tokens recognised by %Eigen. Table of contents - \ref TopicPreprocessorDirectivesMajor - \ref TopicPreprocessorDirectivesAssertions - \ref TopicPreprocessorDirectivesPerformance - \ref TopicPreprocessorDirectivesPlugins + - \ref TopicPreprocessorDirectivesDevelopers \section TopicPreprocessorDirectivesMajor Macros with major effects +These macros have a major effect and typically break the API (Application Programming Interface) and/or the +ABI (Application Binary Interface). This can be rather dangerous: if parts of your program are compiled with +one option, and other parts (or libraries that you use) are compiled with another option, your program may +fail to link or exhibit subtle bugs. Nevertheless, these options can be useful for people who know what they +are doing. + - \b EIGEN2_SUPPORT - if defined, enables the Eigen2 compatibility mode. This is meant to ease the transition of Eigen2 to Eigen3 (see \ref Eigen2ToEigen3). Not defined by default. - \b EIGEN2_SUPPORT_STAGEnn_xxx (for various values of nn and xxx) - staged migration path from Eigen2 to Eigen3; see \ref Eigen2SupportModes. - - \b EIGEN_DEFAULT_TO_ROW_MAJOR - when defined, the default storage order for matrices becomes row-major - instead of column-major. Not defined by default. - \b EIGEN_DEFAULT_DENSE_INDEX_TYPE - the type for column and row indices in matrices, vectors and array (DenseBase::Index). Set to \c std::ptrdiff_t by default. - \b EIGEN_DEFAULT_IO_FORMAT - the IOFormat to use when printing a matrix if no #IOFormat is specified. Defaults to the #IOFormat constructed by the default constructor IOFormat(). - \b EIGEN_INITIALIZE_MATRICES_BY_ZERO - if defined, all entries of newly constructed matrices and arrays are initializes to zero, as are new entries in matrices and arrays after resizing. Not defined by default. + - \b EIGEN_NO_AUTOMATIC_RESIZING - if defined, the matrices (or arrays) on both sides of an assignment + a = b have to be of the same size; otherwise, %Eigen automatically resizes \c a so that it is of + the correct size. Not defined by default. \section TopicPreprocessorDirectivesAssertions Assertions -The Eigen library contains many assertions to guard against programming errors, both at compile time and at +The %Eigen library contains many assertions to guard against programming errors, both at compile time and at run time. However, these assertions do cost time and can thus be turned off. - - \b EIGEN_NO_DEBUG - disables Eigen's assertions if defined. Not defined by default, unless the + - \b EIGEN_NO_DEBUG - disables %Eigen's assertions if defined. Not defined by default, unless the \c NDEBUG macro is defined (this is a standard C++ macro which disables all asserts). - \b EIGEN_NO_STATIC_ASSERT - if defined, compile-time static assertions are replaced by runtime assertions; this saves compilation time. Not defined by default. - - \b EIGEN_INTERNAL_DEBUGGING - if defined, enables assertions in Eigen's internal routines. This is useful - for debugging Eigen itself. Not defined by default. + - \b eigen_assert - macro with one argument that is used inside %Eigen for assertions. By default, it is + basically defined to be \c assert, which aborts the program if the assertion is violated. Redefine this + macro if you want to do something else, like throwing an exception. \section TopicPreprocessorDirectivesPerformance Alignment, vectorization and performance tweaking - - \b EIGEN_DONT_ALIGN - disables alignment completely. Eigen will not try to align its objects and does not + - \b EIGEN_DONT_ALIGN - disables alignment completely. %Eigen will not try to align its objects and does not expect that any objects passed to it are aligned. This will turn off vectorization. Not defined by default. - \b EIGEN_DONT_ALIGN_STATICALLY - disables alignment of arrays on the stack. Not defined by default, unless \c EIGEN_DONT_ALIGN is defined. - \b EIGEN_DONT_VECTORIZE - disables explicit vectorization when defined. Not defined by default, unless - alignment is disabled by Eigen's platform test or the user defining \c EIGEN_DONT_ALIGN. + alignment is disabled by %Eigen's platform test or the user defining \c EIGEN_DONT_ALIGN. - \b EIGEN_FAST_MATH - enables some optimizations which might affect the accuracy of the result. The only optimization this currently includes is single precision sin() and cos() in the present of SSE vectorization. Defined by default. - \b EIGEN_UNROLLING_LIMIT - defines the size of a loop to enable meta unrolling. Set it to zero to disable - unrolling. The size of a loop here is expressed in Eigen's own notion of "number of FLOPS", it does not + unrolling. The size of a loop here is expressed in %Eigen's own notion of "number of FLOPS", it does not correspond to the number of iterations or the number of instructions. The default is value 100. \section TopicPreprocessorDirectivesPlugins Plugins -It is possible to add new methods to many fundamental classes in Eigen by writing a plugin. As explained in +It is possible to add new methods to many fundamental classes in %Eigen by writing a plugin. As explained in the section \ref ExtendingMatrixBase, the plugin is specified by defining a \c EIGEN_xxx_PLUGIN macro. The following macros are supported; none of them are defined by default. @@ -81,6 +90,21 @@ following macros are supported; none of them are defined by default. - \b EIGEN_FUNCTORS_PLUGIN - filename of plugin for adding new functors and specializations of functor_traits. +\section TopicPreprocessorDirectivesDevelopers Macros for Eigen developers + +These macros are mainly meant for people developing %Eigen and for testing purposes. Even though, they might be useful for power users and the curious for debugging and testing purpose, they \b should \b not \b be \b used by real-word code. + + - \b EIGEN_DEFAULT_TO_ROW_MAJOR - when defined, the default storage order for matrices becomes row-major + instead of column-major. Not defined by default. + - \b EIGEN_INTERNAL_DEBUGGING - if defined, enables assertions in %Eigen's internal routines. This is useful + for debugging %Eigen itself. Not defined by default. + - \b EIGEN_NO_MALLOC - if defined, any request from inside the %Eigen to allocate memory from the heap + results in an assertion failure. This is useful to check that some routine does not allocate memory + dynamically. Not defined by default. + - \b EIGEN_RUNTIME_NO_MALLOC - if defined, a new switch is introduced which can be turned on and off by + calling set_is_malloc_allowed(bool). If malloc is not allowed and %Eigen tries to allocate memory + dynamically anyway, an assertion failure results. Not defined by default. + */ } diff --git a/gtsam/3rdparty/Eigen/doc/I15_StorageOrders.dox b/gtsam/3rdparty/Eigen/doc/I15_StorageOrders.dox index 6b56ca8f8..7418912a6 100644 --- a/gtsam/3rdparty/Eigen/doc/I15_StorageOrders.dox +++ b/gtsam/3rdparty/Eigen/doc/I15_StorageOrders.dox @@ -60,10 +60,8 @@ parameter is set to \c RowMajor, then the matrix or array is stored in row-major \c ColMajor, then it is stored in column-major order. This mechanism is used in the above Eigen program to specify the storage order. -If the storage order is not specified, then Eigen normally defaults to storing the entry in column-major -order. This is also the case if one of the convenience typedefs (\c Matrix3f, \c ArrayXXd, etc.) is -used. However, it is possible to change the default to row-major order by defining the -\c EIGEN_DEFAULT_TO_ROW_MAJOR \ref TopicPreprocessorDirectives "preprocessor directive". +If the storage order is not specified, then Eigen defaults to storing the entry in column-major. This is also +the case if one of the convenience typedefs (\c Matrix3f, \c ArrayXXd, etc.) is used. Matrices and arrays using one storage order can be assigned to matrices and arrays using the other storage order, as happens in the above program when \c Arowmajor is initialized using \c Acolmajor. Eigen will reorder diff --git a/gtsam/3rdparty/Eigen/doc/I16_TemplateKeyword.dox b/gtsam/3rdparty/Eigen/doc/I16_TemplateKeyword.dox new file mode 100644 index 000000000..324532310 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/I16_TemplateKeyword.dox @@ -0,0 +1,136 @@ +namespace Eigen { + +/** \page TopicTemplateKeyword The template and typename keywords in C++ + +There are two uses for the \c template and \c typename keywords in C++. One of them is fairly well known +amongst programmers: to define templates. The other use is more obscure: to specify that an expression refers +to a template function or a type. This regularly trips up programmers that use the %Eigen library, often +leading to error messages from the compiler that are difficult to understand. + +Table of contents + - \ref TopicTemplateKeywordToDefineTemplates + - \ref TopicTemplateKeywordExample + - \ref TopicTemplateKeywordExplanation + - \ref TopicTemplateKeywordResources + + +\section TopicTemplateKeywordToDefineTemplates Using the template and typename keywords to define templates + +The \c template and \c typename keywords are routinely used to define templates. This is not the topic of this +page as we assume that the reader is aware of this (otherwise consult a C++ book). The following example +should illustrate this use of the \c template keyword. + +\code +template +bool isPositive(T x) +{ + return x > 0; +} +\endcode + +We could just as well have written template <class T>; the keywords \c typename and \c class have the +same meaning in this context. + + +\section TopicTemplateKeywordExample An example showing the second use of the template keyword + +Let us illustrate the second use of the \c template keyword with an example. Suppose we want to write a +function which copies all entries in the upper triangular part of a matrix into another matrix, while keeping +the lower triangular part unchanged. A straightforward implementation would be as follows: + + + + +
Example:Output:
+\include TemplateKeyword_simple.cpp + +\verbinclude TemplateKeyword_simple.out +
+ +That works fine, but it is not very flexible. First, it only works with dynamic-size matrices of +single-precision floats; the function \c copyUpperTriangularPart() does not accept static-size matrices or +matrices with double-precision numbers. Second, if you use an expression such as +mat.topLeftCorner(3,3) as the parameter \c src, then this is copied into a temporary variable of type +MatrixXf; this copy can be avoided. + +As explained in \ref TopicFunctionTakingEigenTypes, both issues can be resolved by making +\c copyUpperTriangularPart() accept any object of type MatrixBase. This leads to the following code: + + + + +
Example:Output:
+\include TemplateKeyword_flexible.cpp + +\verbinclude TemplateKeyword_flexible.out +
+ +The one line in the body of the function \c copyUpperTriangularPart() shows the second, more obscure use of +the \c template keyword in C++. Even though it may look strange, the \c template keywords are necessary +according to the standard. Without it, the compiler may reject the code with an error message like "no match +for operator<". + + +\section TopicTemplateKeywordExplanation Explanation + +The reason that the \c template keyword is necessary in the last example has to do with the rules for how +templates are supposed to be compiled in C++. The compiler has to check the code for correct syntax at the +point where the template is defined, without knowing the actual value of the template arguments (\c Derived1 +and \c Derived2 in the example). That means that the compiler cannot know that dst.triangularPart is +a member template and that the following < symbol is part of the delimiter for the template +parameter. Another possibility would be that dst.triangularPart is a member variable with the < +symbol refering to the operator<() function. In fact, the compiler should choose the second +possibility, according to the standard. If dst.triangularPart is a member template (as in our case), +the programmer should specify this explicitly with the \c template keyword and write dst.template +triangularPart. + +The precise rules are rather complicated, but ignoring some subtleties we can summarize them as follows: +- A dependent name is name that depends (directly or indirectly) on a template parameter. In the + example, \c dst is a dependent name because it is of type MatrixBase<Derived1> which depends + on the template parameter \c Derived1. +- If the code contains either one of the contructions xxx.yyy or xxx->yyy and \c xxx is a + dependent name and \c yyy refers to a member template, then the \c template keyword must be used before + \c yyy, leading to xxx.template yyy or xxx->template yyy. +- If the code contains the contruction xxx::yyy and \c xxx is a dependent name and \c yyy refers to a + member typedef, then the \c typename keyword must be used before the whole construction, leading to + typename xxx::yyy. + +As an example where the \c typename keyword is required, consider the following code in \ref TutorialSparse +for iterating over the non-zero entries of a sparse matrix type: + +\code +SparseMatrixType mat(rows,cols); +for (int k=0; k +void iterateOverSparseMatrix(const SparseMatrix& mat; +{ + for (int k=0; k::InnerIterator it(mat,k); it; ++it) + { + /* ... */ + } +} +\endcode + + +\section TopicTemplateKeywordResources Resources for further reading + +For more information and a fuller explanation of this topic, the reader may consult the following sources: +- The book "C++ Template Metaprogramming" by David Abrahams and Aleksey Gurtovoy contains a very good + explanation in Appendix B ("The typename and template Keywords") which formed the basis for this page. +- http://pages.cs.wisc.edu/~driscoll/typename.html +- http://www.parashift.com/c++-faq-lite/templates.html#faq-35.18 +- http://www.comeaucomputing.com/techtalk/templates/#templateprefix +- http://www.comeaucomputing.com/techtalk/templates/#typename + +*/ +} diff --git a/gtsam/3rdparty/Eigen/doc/Overview.dox b/gtsam/3rdparty/Eigen/doc/Overview.dox index 68e07ad63..2657c85bc 100644 --- a/gtsam/3rdparty/Eigen/doc/Overview.dox +++ b/gtsam/3rdparty/Eigen/doc/Overview.dox @@ -34,12 +34,15 @@ For a first contact with Eigen, the best place is to have a look at the \ref Get - \ref TopicLazyEvaluation - \ref TopicLinearAlgebraDecompositions - \ref TopicCustomizingEigen + - \ref TopicMultiThreading - \ref TopicPreprocessorDirectives - \ref TopicStorageOrders - \ref TopicInsideEigenExample - \ref TopicWritingEfficientProductExpression - \ref TopicClassHierarchy - \ref TopicFunctionTakingEigenTypes + - \ref TopicTemplateKeyword + - \ref TopicUsingIntelMKL - Topics related to alignment issues - \ref TopicUnalignedArrayAssert - \ref TopicFixedSizeVectorizable diff --git a/gtsam/3rdparty/Eigen/doc/QuickReference.dox b/gtsam/3rdparty/Eigen/doc/QuickReference.dox index e23ff7ce5..3310d390a 100644 --- a/gtsam/3rdparty/Eigen/doc/QuickReference.dox +++ b/gtsam/3rdparty/Eigen/doc/QuickReference.dox @@ -412,8 +412,8 @@ array1 <= array2 array1 >= array2 array1 <= scalar array1 >= scalar array1 == array2 array1 != array2 array1 == scalar array1 != scalar \endcode Trigo, power, and \n misc functions \n and the STL variants\code -array1.min(array2) std::min(array1,array2) -array1.max(array2) std::max(array1,array2) +array1.min(array2) +array1.max(array2) array1.abs2() array1.abs() std::abs(array1) array1.sqrt() std::sqrt(array1) @@ -440,10 +440,10 @@ Eigen provides several reduction methods such as: \link DenseBase::sum() sum() \endlink, \link DenseBase::prod() prod() \endlink, \link MatrixBase::trace() trace() \endlink \matrixworld, \link MatrixBase::norm() norm() \endlink \matrixworld, \link MatrixBase::squaredNorm() squaredNorm() \endlink \matrixworld, -\link DenseBase::all() all() \endlink \redstar,and \link DenseBase::any() any() \endlink \redstar. +\link DenseBase::all() all() \endlink, and \link DenseBase::any() any() \endlink. All reduction operations can be done matrix-wise, -\link DenseBase::colwise() column-wise \endlink \redstar or -\link DenseBase::rowwise() row-wise \endlink \redstar. Usage example: +\link DenseBase::colwise() column-wise \endlink or +\link DenseBase::rowwise() row-wise \endlink. Usage example:
\code 5 3 1 @@ -586,6 +586,9 @@ mat3 = mat1 * diag1.inverse() TriangularView gives a view on a triangular part of a dense matrix and allows to perform optimized operations on it. The opposite triangular part is never referenced and can be used to store other information. +\note The .triangularView() template member function requires the \c template keyword if it is used on an +object of a type that depends on a template parameter; see \ref TopicTemplateKeyword for details. +
OperationCode
@@ -630,6 +633,9 @@ Just as for triangular matrix, you can reference any triangular part of a square matrix and perform special and optimized operations. Again the opposite triangular part is never referenced and can be used to store other information. +\note The .selfadjointView() template member function requires the \c template keyword if it is used on an +object of a type that depends on a template parameter; see \ref TopicTemplateKeyword for details. + - + @@ -94,7 +94,7 @@ namespace Eigen { - + @@ -132,7 +132,7 @@ namespace Eigen { - + @@ -245,6 +245,10 @@ namespace Eigen {
Blocking
Means the algorithm can work per block, whence guaranteeing a good scaling of the performance for large matrices.
+
Implicit Multi Threading (MT)
+
Means the algorithm can take advantage of multicore processors via OpenMP. "Implicit" means the algortihm itself is not parallelized, but that it relies on parallelized matrix-matrix product rountines.
+
Explicit Multi Threading (MT)
+
Means the algorithm is explicitely parallelized to take advantage of multicore processors via OpenMP.
Meta-unroller
Means the algorithm is automatically and explicitly unrolled for very small fixed size matrices.
diff --git a/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox b/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox new file mode 100644 index 000000000..f7d082668 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/TopicMultithreading.dox @@ -0,0 +1,46 @@ +namespace Eigen { + +/** \page TopicMultiThreading Eigen and multi-threading + +\section TopicMultiThreading_MakingEigenMT Make Eigen run in parallel + +Some Eigen's algorithms can exploit the multiple cores present in your hardware. To this end, it is enough to enable OpenMP on your compiler, for instance: + * GCC: \c -fopenmp + * ICC: \c -openmp + * MSVC: check the respective option in the build properties. +You can control the number of thread that will be used using either the OpenMP API or Eiegn's API using the following priority: +\code + OMP_NUM_THREADS=n ./my_program + omp_set_num_threads(n); + Eigen::setNbThreads(n); +\endcode +Unless setNbThreads has been called, Eigen uses the number of threads specified by OpenMP. You can restore this bahavior by calling \code setNbThreads(0); \endcode +You can query the number of threads that will be used with: +\code +n = Eigen::nbThreads(n); +\endcode +You can disable Eigen's multi threading at compile time by defining the EIGEN_DONT_PARALLELIZE preprocessor token. + +Currently, the following algorithms can make use of multi-threading: + * general matrix - matrix products + * PartialPivLU + +\section TopicMultiThreading_UsingEigenWithMT Using Eigen in a multi-threaded application + +In the case your own application is multithreaded, and multiple threads make calls to Eigen, then you have to initialize Eigen by calling the following routine \b before creating the threads: +\code +#include + +int main(int argc, char** argv) +{ + Eigen::initParallel(); + + ... +} +\endcode + +In the case your application is parallelized with OpenMP, you might want to disable Eigen's own parallization as detailed in the previous section. + +*/ + +} diff --git a/gtsam/3rdparty/Eigen/doc/TutorialSparse_example_details.dox b/gtsam/3rdparty/Eigen/doc/TutorialSparse_example_details.dox new file mode 100644 index 000000000..0438da8bb --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/TutorialSparse_example_details.dox @@ -0,0 +1,4 @@ +/** +\page TutorialSparse_example_details +\include Tutorial_sparse_example_details.cpp +*/ diff --git a/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox b/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox new file mode 100644 index 000000000..379ee3ffd --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/UsingIntelMKL.dox @@ -0,0 +1,168 @@ +/* + Copyright (c) 2011, Intel Corporation. All rights reserved. + Copyright (C) 2011 Gael Guennebaud + + Redistribution and use in source and binary forms, with or without modification, + are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + * 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. + * Neither the name of Intel Corporation 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 OWNER 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. + + ******************************************************************************** + * Content : Documentation on the use of Intel MKL through Eigen + ******************************************************************************** +*/ + +namespace Eigen { + +/** \page TopicUsingIntelMKL Using Intel® Math Kernel Library from Eigen + +\section TopicUsingIntelMKL_Intro Eigen and Intel® Math Kernel Library (Intel® MKL) + +Since Eigen version 3.1 and later, users can benefit from built-in Intel MKL optimizations with an installed copy of Intel MKL 10.3 (or later). + Intel MKL provides highly optimized multi-threaded mathematical routines for x86-compatible architectures. +Intel MKL is available on Linux, Mac and Windows for both Intel64 and IA32 architectures. + +\warning Be aware that Intel® MKL is a proprietary software. It is the responsibility of the users to buy MKL licenses for their products. Moreover, the license of the user product has to allow linking to proprietary software that excludes any unmodified versions of the GPL. As a consequence, this also means that Eigen has to be used through the LGPL3+ license. + +Using Intel MKL through Eigen is easy: +-# define the \c EIGEN_USE_MKL_ALL macro before including any Eigen's header +-# link your program to MKL libraries (see the MKL linking advisor) +-# on a 64bits system, you must use the LP64 interface (not the ILP64 one) + +When doing so, a number of Eigen's algorithms are silently substituted with calls to Intel MKL routines. +These substitutions apply only for \b Dynamic \b or \b large enough objects with one of the following four standard scalar types: \c float, \c double, \c complex, and \c complex. +Operations on other scalar types or mixing reals and complexes will continue to use the built-in algorithms. + +In addition you can coarsely select choose which parts will be substituted by defining one or multiple of the following macros: + +
OperationCode
diff --git a/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox b/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox new file mode 100644 index 000000000..7d6eb0fa9 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/SparseQuickReference.dox @@ -0,0 +1,198 @@ +namespace Eigen { +/** \page SparseQuickRefPage Quick reference guide for sparse matrices + +\b Table \b of \b contents + - \ref Constructors + - \ref SparseMatrixInsertion + - \ref SparseBasicInfos + - \ref SparseBasicOps + - \ref SparseInterops + - \ref sparsepermutation + - \ref sparsesubmatrices + - \ref sparseselfadjointview +\n + +
+ +In this page, we give a quick summary of the main operations available for sparse matrices in the class SparseMatrix. First, it is recommended to read first the introductory tutorial at \ref TutorialSparse. The important point to have in mind when working on sparse matrices is how they are stored : +i.e either row major or column major. The default is column major. Most arithmetic operations on sparse matrices will assert that they have the same storage order. Moreover, when interacting with external libraries that are not yet supported by Eigen, it is important to know how to send the required matrix pointers. + +\section Constructors Constructors and assignments +SparseMatrix is the core class to build and manipulate sparse matrices in Eigen. It takes as template parameters the Scalar type and the storage order, either RowMajor or ColumnMajor. The default is ColumnMajor. + +\code + SparseMatrix sm1(1000,1000); // 1000x1000 compressed sparse matrix of double. + SparseMatrix,RowMajor> sm2; // Compressed row major matrix of complex double. +\endcode +The copy constructor and assignment can be used to convert matrices from a storage order to another +\code + SparseMatrix sm1; + // Eventually fill the matrix sm1 ... + SparseMatrix sm2(sm1), sm3; // Initialize sm2 with sm1. + sm3 = sm1; // Assignment and evaluations modify the storage order. + \endcode + +\section SparseMatrixInsertion Allocating and inserting values +resize() and reserve() are used to set the size and allocate space for nonzero elements + \code + sm1.resize(m,n); //Change sm to a mxn matrix. + sm1.reserve(nnz); // Allocate room for nnz nonzeros elements. + \endcode +Note that when calling reserve(), it is not required that nnz is the exact number of nonzero elements in the final matrix. However, an exact estimation will avoid multiple reallocations during the insertion phase. + +Insertions of values in the sparse matrix can be done directly by looping over nonzero elements and use the insert() function +\code +// Direct insertion of the value v_ij; + sm1.insert(i, j) = v_ij; // It is assumed that v_ij does not already exist in the matrix. +\endcode + +After insertion, a value at (i,j) can be modified using coeffRef() +\code + // Update the value v_ij + sm1.coeffRef(i,j) = v_ij; + sm1.coeffRef(i,j) += v_ij; + sm1.coeffRef(i,j) -= v_ij; + ... +\endcode + +The recommended way to insert values is to build a list of triplets (row, col, val) and then call setFromTriplets(). +\code + sm1.setFromTriplets(TripletList.begin(), TripletList.end()); +\endcode +A complete example is available at \ref TutorialSparseFilling. + +The following functions can be used to set constant or random values in the matrix. +\code + sm1.setZero(); // Reset the matrix with zero elements + ... +\endcode + +\section SparseBasicInfos Matrix properties +Beyond the functions rows() and cols() that are used to get the number of rows and columns, there are some useful functions that are available to easily get some informations from the matrix. + + + + +
\code + sm1.rows(); // Number of rows + sm1.cols(); // Number of columns + sm1.nonZeros(); // Number of non zero values + sm1.outerSize(); // Number of columns (resp. rows) for a column major (resp. row major ) + sm1.innerSize(); // Number of rows (resp. columns) for a row major (resp. column major) + sm1.norm(); // (Euclidian ??) norm of the matrix + sm1.squaredNorm(); // + sm1.isVector(); // Check if sm1 is a sparse vector or a sparse matrix + ... + \endcode
+ +\section SparseBasicOps Arithmetic operations +It is easy to perform arithmetic operations on sparse matrices provided that the dimensions are adequate and that the matrices have the same storage order. Note that the evaluation can always be done in a matrix with a different storage order. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Operations Code Notes
add subtract \code + sm3 = sm1 + sm2; + sm3 = sm1 - sm2; + sm2 += sm1; + sm2 -= sm1; \endcode + + sm1 and sm2 should have the same storage order +
+ scalar product\code + sm3 = sm1 * s1; sm3 *= s1; + sm3 = s1 * sm1 + s2 * sm2; sm3 /= s1;\endcode + + Many combinations are possible if the dimensions and the storage order agree. +
Product \code + sm3 = sm1 * sm2; + dm2 = sm1 * dm1; + dv2 = sm1 * dv1; + \endcode +
transposition, adjoint \code + sm2 = sm1.transpose(); + sm2 = sm1.adjoint(); + \endcode + Note that the transposition change the storage order. There is no support for transposeInPlace(). +
+ Component-wise ops + \code + sm1.cwiseProduct(sm2); + sm1.cwiseQuotient(sm2); + sm1.cwiseMin(sm2); + sm1.cwiseMax(sm2); + sm1.cwiseAbs(); + sm1.cwiseSqrt(); + \endcode + sm1 and sm2 should have the same storage order +
+ + +\section SparseInterops Low-level storage +There are a set of low-levels functions to get the standard compressed storage pointers. The matrix should be in compressed mode which can be checked by calling isCompressed(); makeCompressed() should do the job otherwise. +\code + // Scalar pointer to the values of the matrix, size nnz + sm1.valuePtr(); + // Index pointer to get the row indices (resp. column indices) for column major (resp. row major) matrix, size nnz + sm1.innerIndexPtr(); + // Index pointer to the beginning of each row (resp. column) in valuePtr() and innerIndexPtr() for column major (row major). The size is outersize()+1; + sm1.outerIndexPtr(); +\endcode +These pointers can therefore be easily used to send the matrix to some external libraries/solvers that are not yet supported by Eigen. + +\section sparsepermutation Permutations, submatrices and Selfadjoint Views +In many cases, it is necessary to reorder the rows and/or the columns of the sparse matrix for several purposes : fill-in reducing during matrix decomposition, better data locality for sparse matrix-vector products... The class PermutationMatrix is available to this end. + \code + PermutationMatrix perm; + // Reserve and fill the values of perm; + perm.inverse(n); // Compute eventually the inverse permutation + sm1.twistedBy(perm) //Apply the permutation on rows and columns + sm2 = sm1 * perm; // ??? Apply the permutation on columns ???; + sm2 = perm * sm1; // ??? Apply the permutation on rows ???; + \endcode + +\section sparsesubmatrices Sub-matrices +The following functions are useful to extract a block of rows (resp. columns) from a row-major (resp. column major) sparse matrix. Note that because of the particular storage, it is not ?? efficient ?? to extract a submatrix comprising a certain number of subrows and subcolumns. + \code + sm1.innerVector(outer); // Returns the outer -th column (resp. row) of the matrix if sm is col-major (resp. row-major) + sm1.innerVectors(outer); // Returns the outer -th column (resp. row) of the matrix if mat is col-major (resp. row-major) + sm1.middleRows(start, numRows); // For row major matrices, get a range of numRows rows + sm1.middleCols(start, numCols); // For column major matrices, get a range of numCols cols + \endcode + Examples : + +\section sparseselfadjointview Sparse triangular and selfadjoint Views + \code + sm2 = sm1.triangularview(); // Get the lower triangular part of the matrix. + dv2 = sm1.triangularView().solve(dv1); // Solve the linear system with the uppper triangular part. + sm2 = sm1.selfadjointview(); // Build a selfadjoint matrix from the lower part of sm1. + \endcode + + +*/ +} diff --git a/gtsam/3rdparty/Eigen/doc/TopicLinearAlgebraDecompositions.dox b/gtsam/3rdparty/Eigen/doc/TopicLinearAlgebraDecompositions.dox index 5684a495f..faa564b93 100644 --- a/gtsam/3rdparty/Eigen/doc/TopicLinearAlgebraDecompositions.dox +++ b/gtsam/3rdparty/Eigen/doc/TopicLinearAlgebraDecompositions.dox @@ -34,7 +34,7 @@ namespace Eigen { 		- Yes ExcellentBlockingBlocking, Implicit MT
- Yes ExcellentBlocking \n Soon: meta unrollerBlocking
Eigenvalues/vectors - GoodSoon: specializations for 2x2 and 3x3Closed forms for 2x2 and 3x3
+ + + + + +
\c EIGEN_USE_BLAS Enables the use of external BLAS level 2 and 3 routines (currently works with Intel MKL only)
\c EIGEN_USE_LAPACKE Enables the use of external Lapack routines via the Intel Lapacke C interface to Lapack (currently works with Intel MKL only)
\c EIGEN_USE_LAPACKE_STRICT Same as \c EIGEN_USE_LAPACKE but algorithm of lower robustness are disabled. This currently concerns only JacobiSVD which otherwise would be replaced by \c gesvd that is less robust than Jacobi rotations.
\c EIGEN_USE_MKL_VML Enables the use of Intel VML (vector operations)
\c EIGEN_USE_MKL_ALL Defines \c EIGEN_USE_BLAS, \c EIGEN_USE_LAPACKE, and \c EIGEN_USE_MKL_VML
+ +Finally, the PARDISO sparse solver shipped with Intel MKL can be used through the \ref PardisoLU, \ref PardisoLLT and \ref PardisoLDLT classes of the \ref PARDISOSupport_Module. + + +\section TopicUsingIntelMKL_SupportedFeatures List of supported features + +The breadth of Eigen functionality covered by Intel MKL is listed in the table below. + + + + + + + + + + + +
Functional domainCode exampleMKL routines
Matrix-matrix operations \n \c EIGEN_USE_BLAS \code +m1*m2.transpose(); +m1.selfadjointView()*m2; +m1*m2.triangularView(); +m1.selfadjointView().rankUpdate(m2,1.0); +\endcode\code +?gemm +?symm/?hemm +?trmm +dsyrk/ssyrk +\endcode
Matrix-vector operations \n \c EIGEN_USE_BLAS \code +m1.adjoint()*b; +m1.selfadjointView()*b; +m1.triangularView()*b; +\endcode\code +?gemv +?symv/?hemv +?trmv +\endcode
LU decomposition \n \c EIGEN_USE_LAPACKE \n \c EIGEN_USE_LAPACKE_STRICT \code +v1 = m1.lu().solve(v2); +\endcode\code +?getrf +\endcode
Cholesky decomposition \n \c EIGEN_USE_LAPACKE \n \c EIGEN_USE_LAPACKE_STRICT \code +v1 = m2.selfadjointView().llt().solve(v2); +\endcode\code +?potrf +\endcode
QR decomposition \n \c EIGEN_USE_LAPACKE \n \c EIGEN_USE_LAPACKE_STRICT \code +m1.householderQr(); +m1.colPivHouseholderQr(); +\endcode\code +?geqrf +?geqp3 +\endcode
Singular value decomposition \n \c EIGEN_USE_LAPACKE \code +JacobiSVD svd; +svd.compute(m1, ComputeThinV); +\endcode\code +?gesvd +\endcode
Eigen-value decompositions \n \c EIGEN_USE_LAPACKE \n \c EIGEN_USE_LAPACKE_STRICT \code +EigenSolver es(m1); +ComplexEigenSolver ces(m1); +SelfAdjointEigenSolver saes(m1+m1.transpose()); +GeneralizedSelfAdjointEigenSolver + gsaes(m1+m1.transpose(),m2+m2.transpose()); +\endcode\code +?gees +?gees +?syev/?heev +?syev/?heev, +?potrf +\endcode
Schur decomposition \n \c EIGEN_USE_LAPACKE \n \c EIGEN_USE_LAPACKE_STRICT \code +RealSchur schurR(m1); +ComplexSchur schurC(m1); +\endcode\code +?gees +\endcode
Vector Math \n \c EIGEN_USE_MKL_VML \code +v2=v1.array().sin(); +v2=v1.array().asin(); +v2=v1.array().cos(); +v2=v1.array().acos(); +v2=v1.array().tan(); +v2=v1.array().exp(); +v2=v1.array().log(); +v2=v1.array().sqrt(); +v2=v1.array().square(); +v2=v1.array().pow(1.5); +\endcode\code +v?Sin +v?Asin +v?Cos +v?Acos +v?Tan +v?Exp +v?Ln +v?Sqrt +v?Sqr +v?Powx +\endcode
+In the examples, m1 and m2 are dense matrices and v1 and v2 are dense vectors. + + +\section TopicUsingIntelMKL_Links Links +- Intel MKL can be purchased and downloaded here. +- Intel MKL is also bundled with Intel Composer XE. + + +*/ + +} \ No newline at end of file diff --git a/gtsam/3rdparty/Eigen/doc/eigendoxy.css b/gtsam/3rdparty/Eigen/doc/eigendoxy.css index e62958831..c6c16286d 100644 --- a/gtsam/3rdparty/Eigen/doc/eigendoxy.css +++ b/gtsam/3rdparty/Eigen/doc/eigendoxy.css @@ -904,3 +904,8 @@ div.eimainmenu { h3.version { text-align: center; } + + +td.width20em p.endtd { + width: 20em; +} diff --git a/gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_flexible.cpp b/gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_flexible.cpp new file mode 100644 index 000000000..9d85292dd --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_flexible.cpp @@ -0,0 +1,22 @@ +#include +#include + +using namespace Eigen; + +template +void copyUpperTriangularPart(MatrixBase& dst, const MatrixBase& src) +{ + /* Note the 'template' keywords in the following line! */ + dst.template triangularView() = src.template triangularView(); +} + +int main() +{ + MatrixXi m1 = MatrixXi::Ones(5,5); + MatrixXi m2 = MatrixXi::Random(4,4); + std::cout << "m2 before copy:" << std::endl; + std::cout << m2 << std::endl << std::endl; + copyUpperTriangularPart(m2, m1.topLeftCorner(4,4)); + std::cout << "m2 after copy:" << std::endl; + std::cout << m2 << std::endl << std::endl; +} diff --git a/gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_simple.cpp b/gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_simple.cpp new file mode 100644 index 000000000..6998c1769 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/examples/TemplateKeyword_simple.cpp @@ -0,0 +1,20 @@ +#include +#include + +using namespace Eigen; + +void copyUpperTriangularPart(MatrixXf& dst, const MatrixXf& src) +{ + dst.triangularView() = src.triangularView(); +} + +int main() +{ + MatrixXf m1 = MatrixXf::Ones(4,4); + MatrixXf m2 = MatrixXf::Random(4,4); + std::cout << "m2 before copy:" << std::endl; + std::cout << m2 << std::endl << std::endl; + copyUpperTriangularPart(m2, m1); + std::cout << "m2 after copy:" << std::endl; + std::cout << m2 << std::endl << std::endl; +} diff --git a/gtsam/3rdparty/Eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp b/gtsam/3rdparty/Eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp index 9959c7909..d87c96ab1 100644 --- a/gtsam/3rdparty/Eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp +++ b/gtsam/3rdparty/Eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp @@ -13,7 +13,7 @@ int main() v << 0,1,2,3; //add v to each row of m - mat.rowwise() += v; + mat.rowwise() += v.transpose(); std::cout << "Broadcasting result: " << std::endl; std::cout << mat << std::endl; diff --git a/gtsam/3rdparty/Eigen/doc/snippets/Cwise_boolean_and.cpp b/gtsam/3rdparty/Eigen/doc/snippets/Cwise_boolean_and.cpp new file mode 100644 index 000000000..df6b60d92 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/snippets/Cwise_boolean_and.cpp @@ -0,0 +1,2 @@ +Array3d v(-1,2,1), w(-3,2,3); +cout << ((v lltOfA(A); // compute the Cholesky decomposition of A +MatrixXd L = lltOfA.matrixL(); // retrieve factor L in the decomposition +// The previous two lines can also be written as "L = A.llt().matrixL()" + +cout << "The Cholesky factor L is" << endl << L << endl; +cout << "To check this, let us compute L * L.transpose()" << endl; +cout << L * L.transpose() << endl; +cout << "This should equal the matrix A" << endl; diff --git a/gtsam/3rdparty/Eigen/doc/snippets/compile_snippet.cpp.in b/gtsam/3rdparty/Eigen/doc/snippets/compile_snippet.cpp.in index 474542380..894cd526c 100644 --- a/gtsam/3rdparty/Eigen/doc/snippets/compile_snippet.cpp.in +++ b/gtsam/3rdparty/Eigen/doc/snippets/compile_snippet.cpp.in @@ -1,10 +1,4 @@ -#include -#include -#include -#include -#include -#include -#include +#include #include using namespace Eigen; diff --git a/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt new file mode 100644 index 000000000..eeeae1d2a --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt @@ -0,0 +1,20 @@ + +if(NOT EIGEN_TEST_NOQT) + find_package(Qt4) + if(QT4_FOUND) + include(${QT_USE_FILE}) + endif() +endif(NOT EIGEN_TEST_NOQT) + + +if(QT4_FOUND) + add_executable(Tutorial_sparse_example Tutorial_sparse_example.cpp Tutorial_sparse_example_details.cpp) + target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY}) + + add_custom_command( + TARGET Tutorial_sparse_example + POST_BUILD + COMMAND Tutorial_sparse_example + ARGS ${CMAKE_CURRENT_BINARY_DIR}/../html/Tutorial_sparse_example.jpeg + ) +endif(QT4_FOUND) diff --git a/gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example.cpp b/gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example.cpp new file mode 100644 index 000000000..002f19f01 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example.cpp @@ -0,0 +1,32 @@ +#include +#include + +typedef Eigen::SparseMatrix SpMat; // declares a column-major sparse matrix type of double +typedef Eigen::Triplet T; + +void buildProblem(std::vector& coefficients, Eigen::VectorXd& b, int n); +void saveAsBitmap(const Eigen::VectorXd& x, int n, const char* filename); + +int main(int argc, char** argv) +{ + int n = 300; // size of the image + int m = n*n; // number of unknows (=number of pixels) + + // Assembly: + std::vector coefficients; // list of non-zeros coefficients + Eigen::VectorXd b(m); // the right hand side-vector resulting from the constraints + buildProblem(coefficients, b, n); + + SpMat A(m,m); + A.setFromTriplets(coefficients.begin(), coefficients.end()); + + // Solving: + Eigen::SimplicialCholesky chol(A); // performs a Cholesky factorization of A + Eigen::VectorXd x = chol.solve(b); // use the factorization to solve for the given right hand side + + // Export the result to a file: + saveAsBitmap(x, n, argv[1]); + + return 0; +} + diff --git a/gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example_details.cpp b/gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example_details.cpp new file mode 100644 index 000000000..8c3020b63 --- /dev/null +++ b/gtsam/3rdparty/Eigen/doc/special_examples/Tutorial_sparse_example_details.cpp @@ -0,0 +1,44 @@ +#include +#include +#include + +typedef Eigen::SparseMatrix SpMat; // declares a column-major sparse matrix type of double +typedef Eigen::Triplet T; + +void insertCoefficient(int id, int i, int j, double w, std::vector& coeffs, + Eigen::VectorXd& b, const Eigen::VectorXd& boundary) +{ + int n = boundary.size(); + int id1 = i+j*n; + + if(i==-1 || i==n) b(id) -= w * boundary(j); // constrained coeffcieint + else if(j==-1 || j==n) b(id) -= w * boundary(i); // constrained coeffcieint + else coeffs.push_back(T(id,id1,w)); // unknown coefficient +} + +void buildProblem(std::vector& coefficients, Eigen::VectorXd& b, int n) +{ + b.setZero(); + Eigen::ArrayXd boundary = Eigen::ArrayXd::LinSpaced(n, 0,M_PI).sin().pow(2); + for(int j=0; j bits = (x*255).cast(); + QImage img(bits.data(), n,n,QImage::Format_Indexed8); + img.setColorCount(256); + for(int i=0;i<256;i++) img.setColor(i,qRgb(i,i,i)); + img.save(filename); +} diff --git a/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt b/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt index 96d6a416d..062845a3f 100644 --- a/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt @@ -1,27 +1,23 @@ project(EigenLapack CXX) -if( NOT DEFINED EIGEN_Fortran_COMPILER_WORKS OR EIGEN_Fortran_COMPILER_WORKS) +include("../cmake/language_support.cmake") +workaround_9220(Fortran EIGEN_Fortran_COMPILER_WORKS) + +if(EIGEN_Fortran_COMPILER_WORKS) enable_language(Fortran OPTIONAL) - - if(CMAKE_Fortran_COMPILER_WORKS) - set(EIGEN_Fortran_COMPILER_WORKS TRUE CACHE INTERNAL "workaround cmake's enable_language issue") - else() - set(EIGEN_Fortran_COMPILER_WORKS FALSE CACHE INTERNAL "workaround cmake's enable_language issue") - endif() - endif() -if(CMAKE_Fortran_COMPILER_WORKS) - add_custom_target(lapack) include_directories(../blas) set(EigenLapack_SRCS -single.cpp double.cpp complex_single.cpp complex_double.cpp +single.cpp double.cpp complex_single.cpp complex_double.cpp ../blas/xerbla.cpp ) +if(EIGEN_Fortran_COMPILER_WORKS) + get_filename_component(eigen_full_path_to_reference_to_reference_lapack "./reference/" ABSOLUTE) if(EXISTS ${eigen_full_path_to_reference_to_reference_lapack}) set(EigenLapack_SRCS ${EigenLapack_SRCS} @@ -357,6 +353,8 @@ reference/ctbcon.f reference/dormhr.f reference/sla_ ) endif() +endif(EIGEN_Fortran_COMPILER_WORKS) + add_library(eigen_lapack_static ${EigenLapack_SRCS}) add_library(eigen_lapack SHARED ${EigenLapack_SRCS}) @@ -365,14 +363,12 @@ if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) target_link_libraries(eigen_lapack ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) endif() -# add_dependencies(lapack eigen_lapack eigen_lapack_static) -add_dependencies(lapack eigen_lapack_static) - -# install(TARGETS eigen_lapack -# RUNTIME DESTINATION bin -# LIBRARY DESTINATION lib -# ARCHIVE DESTINATION lib) +add_dependencies(lapack eigen_lapack eigen_lapack_static) +install(TARGETS eigen_lapack eigen_lapack_static + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib) # add_subdirectory(testing) -endif(CMAKE_Fortran_COMPILER_WORKS) + diff --git a/gtsam/3rdparty/Eigen/lapack/cholesky.cpp b/gtsam/3rdparty/Eigen/lapack/cholesky.cpp index c3a72c3c5..c51a8a29b 100644 --- a/gtsam/3rdparty/Eigen/lapack/cholesky.cpp +++ b/gtsam/3rdparty/Eigen/lapack/cholesky.cpp @@ -41,8 +41,8 @@ EIGEN_LAPACK_FUNC(potrf,(char* uplo, int *n, RealScalar *pa, int *lda, int *info Scalar* a = reinterpret_cast(pa); MatrixType A(a,*n,*n,*lda); int ret; - if(UPLO(*uplo)==UP) ret = internal::llt_inplace::blocked(A); - else ret = internal::llt_inplace::blocked(A); + if(UPLO(*uplo)==UP) ret = internal::llt_inplace::blocked(A); + else ret = internal::llt_inplace::blocked(A); if(ret>=0) *info = ret+1; diff --git a/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs b/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs index e97e9ab8f..921d600ed 100644 --- a/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs +++ b/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs @@ -8,14 +8,15 @@ USER=${USER:-'orzel'} #ulimit -v 1024000 # step 1 : build -# todo if 'build is not there, create one: mkdir build -p (cd build && cmake .. && make doc) || { echo "make failed"; exit 1; } -#todo: n+1 where n = number of cpus #step 2 : upload -# (the '/' at the end of path are very important, see rsync documentation) -rsync -az --no-p build/doc/html/ $USER@ssh.tuxfamily.org:eigen/eigen.tuxfamily.org-web/htdocs/dox-3.0/ || { echo "upload failed"; exit 1; } +# (the '/' at the end of path is very important, see rsync documentation) +rsync -az --no-p --delete build/doc/html/ $USER@ssh.tuxfamily.org:eigen/eigen.tuxfamily.org-web/htdocs/dox-devel/ || { echo "upload failed"; exit 1; } + +#step 3 : fix the perm +ssh $USER@ssh.tuxfamily.org 'chmod -R g+w /home/eigen/eigen.tuxfamily.org-web/htdocs/dox-devel' || { echo "perm failed"; exit 1; } echo "Uploaded successfully" diff --git a/gtsam/3rdparty/Eigen/test/CMakeLists.txt b/gtsam/3rdparty/Eigen/test/CMakeLists.txt index fab7de0d4..6f8fc4ae3 100644 --- a/gtsam/3rdparty/Eigen/test/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/test/CMakeLists.txt @@ -1,17 +1,90 @@ -find_package(GSL) -if(GSL_FOUND AND GSL_VERSION_MINOR LESS 9) - set(GSL_FOUND "") -endif(GSL_FOUND AND GSL_VERSION_MINOR LESS 9) -if(GSL_FOUND) - add_definitions("-DHAS_GSL" ${GSL_DEFINITIONS}) - include_directories(${GSL_INCLUDE_DIR}) - ei_add_property(EIGEN_TESTED_BACKENDS "GSL, ") -else(GSL_FOUND) - ei_add_property(EIGEN_MISSING_BACKENDS "GSL, ") - set(GSL_LIBRARIES "") -endif(GSL_FOUND) +# generate split test header file +message(STATUS ${CMAKE_CURRENT_BINARY_DIR}) +file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/split_test_helper.h "") +foreach(i RANGE 1 999) + file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/split_test_helper.h + "#ifdef EIGEN_TEST_PART_${i}\n" + "#define CALL_SUBTEST_${i}(FUNC) CALL_SUBTEST(FUNC)\n" + "#else\n" + "#define CALL_SUBTEST_${i}(FUNC)\n" + "#endif\n\n" + ) +endforeach() +# configure blas/lapack (use Eigen's ones) +set(BLAS_FOUND TRUE) +set(LAPACK_FOUND TRUE) +set(BLAS_LIBRARIES eigen_blas) +set(LAPACK_LIBRARIES eigen_lapack) + +set(EIGEN_TEST_MATRIX_DIR "" CACHE STRING "Enable testing of realword sparse matrices contained in the specified path") +if(EIGEN_TEST_MATRIX_DIR) + if(NOT WIN32) + message(STATUS "Test realworld sparse matrices: ${EIGEN_TEST_MATRIX_DIR}") + add_definitions( -DTEST_REAL_CASES="${EIGEN_TEST_MATRIX_DIR}" ) + else(NOT WIN32) + message(STATUS "REAL CASES CAN NOT BE CURRENTLY TESTED ON WIN32") + endif(NOT WIN32) +endif(EIGEN_TEST_MATRIX_DIR) + +set(SPARSE_LIBS " ") + +find_package(Cholmod) +if(CHOLMOD_FOUND AND BLAS_FOUND AND LAPACK_FOUND) + add_definitions("-DEIGEN_CHOLMOD_SUPPORT") + include_directories(${CHOLMOD_INCLUDES}) + set(SPARSE_LIBS ${SPARSE_LIBS} ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES}) + set(CHOLMOD_ALL_LIBS ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES}) + ei_add_property(EIGEN_TESTED_BACKENDS "Cholmod, ") +else() + ei_add_property(EIGEN_MISSING_BACKENDS "Cholmod, ") +endif() + +find_package(Umfpack) +if(UMFPACK_FOUND AND BLAS_FOUND) + add_definitions("-DEIGEN_UMFPACK_SUPPORT") + include_directories(${UMFPACK_INCLUDES}) + set(SPARSE_LIBS ${SPARSE_LIBS} ${UMFPACK_LIBRARIES} ${BLAS_LIBRARIES}) + set(UMFPACK_ALL_LIBS ${UMFPACK_LIBRARIES} ${BLAS_LIBRARIES}) + ei_add_property(EIGEN_TESTED_BACKENDS "UmfPack, ") +else() + ei_add_property(EIGEN_MISSING_BACKENDS "UmfPack, ") +endif() + +find_package(SuperLU) +if(SUPERLU_FOUND AND BLAS_FOUND) + add_definitions("-DEIGEN_SUPERLU_SUPPORT") + include_directories(${SUPERLU_INCLUDES}) + set(SPARSE_LIBS ${SPARSE_LIBS} ${SUPERLU_LIBRARIES} ${BLAS_LIBRARIES}) + set(SUPERLU_ALL_LIBS ${SUPERLU_LIBRARIES} ${BLAS_LIBRARIES}) + ei_add_property(EIGEN_TESTED_BACKENDS "SuperLU, ") +else() + ei_add_property(EIGEN_MISSING_BACKENDS "SuperLU, ") +endif() + + +find_package(Pastix) +find_package(Scotch) +find_package(Metis) +if(PASTIX_FOUND AND BLAS_FOUND) + add_definitions("-DEIGEN_PASTIX_SUPPORT") + include_directories(${PASTIX_INCLUDES}) + if(SCOTCH_FOUND) + include_directories(${SCOTCH_INCLUDES}) + set(PASTIX_LIBRARIES ${PASTIX_LIBRARIES} ${SCOTCH_LIBRARIES}) + elseif(METIS_FOUND) + include_directories(${METIS_INCLUDES}) + set(PASTIX_LIBRARIES ${PASTIX_LIBRARIES} ${METIS_LIBRARIES}) + else(SCOTCH_FOUND) + ei_add_property(EIGEN_MISSING_BACKENDS "PaStiX, ") + endif(SCOTCH_FOUND) + set(SPARSE_LIBS ${SPARSE_LIBS} ${PASTIX_LIBRARIES} ${ORDERING_LIBRARIES} ${BLAS_LIBRARIES}) + set(PASTIX_ALL_LIBS ${PASTIX_LIBRARIES} ${BLAS_LIBRARIES}) + ei_add_property(EIGEN_TESTED_BACKENDS "PaStiX, ") +else() + ei_add_property(EIGEN_MISSING_BACKENDS "PaStiX, ") +endif() option(EIGEN_TEST_NOQT "Disable Qt support in unit tests" OFF) if(NOT EIGEN_TEST_NOQT) @@ -75,7 +148,7 @@ ei_add_test(product_mmtr) ei_add_test(product_notemporary) ei_add_test(stable_norm) ei_add_test(bandmatrix) -ei_add_test(cholesky "" "${GSL_LIBRARIES}") +ei_add_test(cholesky) ei_add_test(lu) ei_add_test(determinant) ei_add_test(inverse) @@ -86,8 +159,8 @@ ei_add_test(upperbidiagonalization) ei_add_test(hessenberg) ei_add_test(schur_real) ei_add_test(schur_complex) -ei_add_test(eigensolver_selfadjoint "" "${GSL_LIBRARIES}") -ei_add_test(eigensolver_generic "" "${GSL_LIBRARIES}") +ei_add_test(eigensolver_selfadjoint) +ei_add_test(eigensolver_generic) ei_add_test(eigensolver_complex) ei_add_test(jacobi) ei_add_test(jacobisvd) @@ -110,12 +183,13 @@ endif(QT4_FOUND) ei_add_test(sparse_vector) ei_add_test(sparse_basic) ei_add_test(sparse_product) -ei_add_test(sparse_solvers "" "${SPARSE_LIBS}") +ei_add_test(sparse_solvers) ei_add_test(umeyama) ei_add_test(householder) ei_add_test(swap) ei_add_test(conservative_resize) ei_add_test(permutationmatrices) +ei_add_test(sparse_permutations) ei_add_test(eigen2support) ei_add_test(nullary) ei_add_test(nesting_ops "${CMAKE_CXX_FLAGS_DEBUG}") @@ -123,6 +197,32 @@ ei_add_test(zerosized) ei_add_test(dontalign) ei_add_test(sizeoverflow) ei_add_test(prec_inverse_4x4) +ei_add_test(vectorwiseop) + +ei_add_test(simplicial_cholesky) +ei_add_test(conjugate_gradient) +ei_add_test(bicgstab) + + +if(UMFPACK_FOUND) + ei_add_test(umfpack_support "" "${UMFPACK_ALL_LIBS}") +endif() + +if(SUPERLU_FOUND) + ei_add_test(superlu_support "" "${SUPERLU_ALL_LIBS}") +endif() + +if(CHOLMOD_FOUND) + ei_add_test(cholmod_support "" "${CHOLMOD_ALL_LIBS}") +endif() + +if(PARDISO_FOUND) + ei_add_test(pardiso_support "" "${PARDISO_ALL_LIBS}") +endif() + +if(PASTIX_FOUND AND (SCOTCH_FOUND OR METIS_FOUND)) + ei_add_test(pastix_support "" "${PASTIX_ALL_LIBS}") +endif() string(TOLOWER "${CMAKE_CXX_COMPILER}" cmake_cxx_compiler_tolower) if(cmake_cxx_compiler_tolower MATCHES "qcc") diff --git a/gtsam/3rdparty/Eigen/test/adjoint.cpp b/gtsam/3rdparty/Eigen/test/adjoint.cpp index d8d2aaa1b..140283477 100644 --- a/gtsam/3rdparty/Eigen/test/adjoint.cpp +++ b/gtsam/3rdparty/Eigen/test/adjoint.cpp @@ -43,8 +43,6 @@ template void adjoint(const MatrixType& m) MatrixType m1 = MatrixType::Random(rows, cols), m2 = MatrixType::Random(rows, cols), m3(rows, cols), - mzero = MatrixType::Zero(rows, cols), - identity = SquareMatrixType::Identity(rows, rows), square = SquareMatrixType::Random(rows, rows); VectorType v1 = VectorType::Random(rows), v2 = VectorType::Random(rows), @@ -65,15 +63,23 @@ template void adjoint(const MatrixType& m) // check basic properties of dot, norm, norm2 typedef typename NumTraits::Real RealScalar; - RealScalar ref = NumTraits::IsInteger ? 0 : (std::max)((s1 * v1 + s2 * v2).norm(),v3.norm()); + RealScalar ref = NumTraits::IsInteger ? RealScalar(0) : (std::max)((s1 * v1 + s2 * v2).norm(),v3.norm()); VERIFY(test_isApproxWithRef((s1 * v1 + s2 * v2).dot(v3), internal::conj(s1) * v1.dot(v3) + internal::conj(s2) * v2.dot(v3), ref)); VERIFY(test_isApproxWithRef(v3.dot(s1 * v1 + s2 * v2), s1*v3.dot(v1)+s2*v3.dot(v2), ref)); VERIFY_IS_APPROX(internal::conj(v1.dot(v2)), v2.dot(v1)); VERIFY_IS_APPROX(internal::real(v1.dot(v1)), v1.squaredNorm()); - if(!NumTraits::IsInteger) + if(!NumTraits::IsInteger) { VERIFY_IS_APPROX(v1.squaredNorm(), v1.norm() * v1.norm()); + // check normalized() and normalize() + VERIFY_IS_APPROX(v1, v1.norm() * v1.normalized()); + v3 = v1; + v3.normalize(); + VERIFY_IS_APPROX(v1, v1.norm() * v3); + VERIFY_IS_APPROX(v3, v1.normalized()); + VERIFY_IS_APPROX(v3.norm(), RealScalar(1)); + } VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(vzero.dot(v1)), static_cast(1)); - + // check compatibility of dot and adjoint ref = NumTraits::IsInteger ? 0 : (std::max)((std::max)(v1.norm(),v2.norm()),(std::max)((square * v2).norm(),(square.adjoint() * v1).norm())); @@ -119,11 +125,11 @@ void test_adjoint() CALL_SUBTEST_1( adjoint(Matrix()) ); CALL_SUBTEST_2( adjoint(Matrix3d()) ); CALL_SUBTEST_3( adjoint(Matrix4f()) ); - CALL_SUBTEST_4( adjoint(MatrixXcf(internal::random(1,50), internal::random(1,50))) ); - CALL_SUBTEST_5( adjoint(MatrixXi(internal::random(1,50), internal::random(1,50))) ); - CALL_SUBTEST_6( adjoint(MatrixXf(internal::random(1,50), internal::random(1,50))) ); + CALL_SUBTEST_4( adjoint(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); + CALL_SUBTEST_5( adjoint(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( adjoint(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } - // test a large matrix only once + // test a large static matrix only once CALL_SUBTEST_7( adjoint(Matrix()) ); #ifdef EIGEN_TEST_PART_4 diff --git a/gtsam/3rdparty/Eigen/test/array.cpp b/gtsam/3rdparty/Eigen/test/array.cpp index 6964075ea..912c28c88 100644 --- a/gtsam/3rdparty/Eigen/test/array.cpp +++ b/gtsam/3rdparty/Eigen/test/array.cpp @@ -43,7 +43,7 @@ template void array(const ArrayType& m) RowVectorType rv1 = RowVectorType::Random(cols); Scalar s1 = internal::random(), - s2 = internal::random(); + s2 = internal::random(); // scalar addition VERIFY_IS_APPROX(m1 + s1, s1 + m1); @@ -149,6 +149,12 @@ template void comparisons(const ArrayType& m) // count VERIFY(((m1.abs()+1)>RealScalar(0.1)).count() == rows*cols); + // and/or + VERIFY( (m1RealScalar(0)).count() == 0); + VERIFY( (m1=RealScalar(0)).count() == rows*cols); + RealScalar a = m1.abs().mean(); + VERIFY( (m1<-a || m1>a).count() == (m1.abs()>a).count()); + typedef Array ArrayOfIndices; // TODO allows colwise/rowwise for array @@ -169,7 +175,9 @@ template void array_real(const ArrayType& m) m2 = ArrayType::Random(rows, cols), m3(rows, cols); - // these these are mostly to check possible compilation issues. + Scalar s1 = internal::random(); + + // these tests are mostly to check possible compilation issues. VERIFY_IS_APPROX(m1.sin(), std::sin(m1)); VERIFY_IS_APPROX(m1.sin(), internal::sin(m1)); VERIFY_IS_APPROX(m1.cos(), std::cos(m1)); @@ -180,7 +188,7 @@ template void array_real(const ArrayType& m) VERIFY_IS_APPROX(m1.acos(), internal::acos(m1)); VERIFY_IS_APPROX(m1.tan(), std::tan(m1)); VERIFY_IS_APPROX(m1.tan(), internal::tan(m1)); - + VERIFY_IS_APPROX(internal::cos(m1+RealScalar(3)*m2), internal::cos((m1+RealScalar(3)*m2).eval())); VERIFY_IS_APPROX(std::cos(m1+RealScalar(3)*m2), std::cos((m1+RealScalar(3)*m2).eval())); @@ -203,9 +211,67 @@ template void array_real(const ArrayType& m) VERIFY_IS_APPROX(m1.pow(2), m1.square()); VERIFY_IS_APPROX(std::pow(m1,2), m1.square()); + + ArrayType exponents = ArrayType::Constant(rows, cols, RealScalar(2)); + VERIFY_IS_APPROX(std::pow(m1,exponents), m1.square()); + m3 = m1.abs(); VERIFY_IS_APPROX(m3.pow(RealScalar(0.5)), m3.sqrt()); VERIFY_IS_APPROX(std::pow(m3,RealScalar(0.5)), m3.sqrt()); + + // scalar by array division + const RealScalar tiny = std::sqrt(std::numeric_limits::epsilon()); + s1 += Scalar(tiny); + m1 += ArrayType::Constant(rows,cols,Scalar(tiny)); + VERIFY_IS_APPROX(s1/m1, s1 * m1.inverse()); +} + +template void array_complex(const ArrayType& m) +{ + typedef typename ArrayType::Index Index; + + Index rows = m.rows(); + Index cols = m.cols(); + + ArrayType m1 = ArrayType::Random(rows, cols), + m2(rows, cols); + + for (Index i = 0; i < m.rows(); ++i) + for (Index j = 0; j < m.cols(); ++j) + m2(i,j) = std::sqrt(m1(i,j)); + + VERIFY_IS_APPROX(m1.sqrt(), m2); + VERIFY_IS_APPROX(m1.sqrt(), std::sqrt(m1)); + VERIFY_IS_APPROX(m1.sqrt(), internal::sqrt(m1)); +} + +template void min_max(const ArrayType& m) +{ + typedef typename ArrayType::Index Index; + typedef typename ArrayType::Scalar Scalar; + + Index rows = m.rows(); + Index cols = m.cols(); + + ArrayType m1 = ArrayType::Random(rows, cols); + + // min/max with array + Scalar maxM1 = m1.maxCoeff(); + Scalar minM1 = m1.minCoeff(); + + VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, minM1), (m1.min)(ArrayType::Constant(rows,cols, minM1))); + VERIFY_IS_APPROX(m1, (m1.min)(ArrayType::Constant(rows,cols, maxM1))); + + VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, maxM1), (m1.max)(ArrayType::Constant(rows,cols, maxM1))); + VERIFY_IS_APPROX(m1, (m1.max)(ArrayType::Constant(rows,cols, minM1))); + + // min/max with scalar input + VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, minM1), (m1.min)( minM1)); + VERIFY_IS_APPROX(m1, (m1.min)( maxM1)); + + VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, maxM1), (m1.max)( maxM1)); + VERIFY_IS_APPROX(m1, (m1.max)( minM1)); + } void test_array() @@ -214,22 +280,32 @@ void test_array() CALL_SUBTEST_1( array(Array()) ); CALL_SUBTEST_2( array(Array22f()) ); CALL_SUBTEST_3( array(Array44d()) ); - CALL_SUBTEST_4( array(ArrayXXcf(3, 3)) ); - CALL_SUBTEST_5( array(ArrayXXf(8, 12)) ); - CALL_SUBTEST_6( array(ArrayXXi(8, 12)) ); + CALL_SUBTEST_4( array(ArrayXXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_5( array(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( array(ArrayXXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( comparisons(Array()) ); CALL_SUBTEST_2( comparisons(Array22f()) ); CALL_SUBTEST_3( comparisons(Array44d()) ); - CALL_SUBTEST_5( comparisons(ArrayXXf(8, 12)) ); - CALL_SUBTEST_6( comparisons(ArrayXXi(8, 12)) ); + CALL_SUBTEST_5( comparisons(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( comparisons(ArrayXXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + } + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_1( min_max(Array()) ); + CALL_SUBTEST_2( min_max(Array22f()) ); + CALL_SUBTEST_3( min_max(Array44d()) ); + CALL_SUBTEST_5( min_max(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( min_max(ArrayXXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( array_real(Array()) ); CALL_SUBTEST_2( array_real(Array22f()) ); CALL_SUBTEST_3( array_real(Array44d()) ); - CALL_SUBTEST_5( array_real(ArrayXXf(8, 12)) ); + CALL_SUBTEST_5( array_real(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + } + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_4( array_complex(ArrayXXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } VERIFY((internal::is_same< internal::global_math_functions_filtering_base::type, int >::value)); diff --git a/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp b/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp index 45e0930ce..465b8998b 100644 --- a/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp +++ b/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp @@ -156,30 +156,65 @@ template void lpNorm(const VectorType& v) VERIFY_IS_APPROX(internal::pow(u.template lpNorm<5>(), typename VectorType::RealScalar(5)), u.array().abs().pow(5).sum()); } +template void cwise_min_max(const MatrixType& m) +{ + typedef typename MatrixType::Index Index; + typedef typename MatrixType::Scalar Scalar; + + Index rows = m.rows(); + Index cols = m.cols(); + + MatrixType m1 = MatrixType::Random(rows, cols); + + // min/max with array + Scalar maxM1 = m1.maxCoeff(); + Scalar minM1 = m1.minCoeff(); + + VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, minM1), m1.cwiseMin(MatrixType::Constant(rows,cols, minM1))); + VERIFY_IS_APPROX(m1, m1.cwiseMin(MatrixType::Constant(rows,cols, maxM1))); + + VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1), m1.cwiseMax(MatrixType::Constant(rows,cols, maxM1))); + VERIFY_IS_APPROX(m1, m1.cwiseMax(MatrixType::Constant(rows,cols, minM1))); + + // min/max with scalar input + VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, minM1), m1.cwiseMin( minM1)); + VERIFY_IS_APPROX(m1, m1.cwiseMin( maxM1)); + + VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1), m1.cwiseMax( maxM1)); + VERIFY_IS_APPROX(m1, m1.cwiseMax( minM1)); + +} + void test_array_for_matrix() { - int maxsize = 40; for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( array_for_matrix(Matrix()) ); CALL_SUBTEST_2( array_for_matrix(Matrix2f()) ); CALL_SUBTEST_3( array_for_matrix(Matrix4d()) ); - CALL_SUBTEST_4( array_for_matrix(MatrixXcf(internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_5( array_for_matrix(MatrixXf(internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_6( array_for_matrix(MatrixXi(internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_4( array_for_matrix(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_5( array_for_matrix(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( array_for_matrix(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( comparisons(Matrix()) ); CALL_SUBTEST_2( comparisons(Matrix2f()) ); CALL_SUBTEST_3( comparisons(Matrix4d()) ); - CALL_SUBTEST_5( comparisons(MatrixXf(internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_6( comparisons(MatrixXi(internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_5( comparisons(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( comparisons(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + } + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_1( cwise_min_max(Matrix()) ); + CALL_SUBTEST_2( cwise_min_max(Matrix2f()) ); + CALL_SUBTEST_3( cwise_min_max(Matrix4d()) ); + CALL_SUBTEST_5( cwise_min_max(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( cwise_min_max(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( lpNorm(Matrix()) ); CALL_SUBTEST_2( lpNorm(Vector2f()) ); CALL_SUBTEST_7( lpNorm(Vector3d()) ); CALL_SUBTEST_8( lpNorm(Vector4f()) ); - CALL_SUBTEST_5( lpNorm(VectorXf(internal::random(1,maxsize))) ); - CALL_SUBTEST_4( lpNorm(VectorXcf(internal::random(1,maxsize))) ); + CALL_SUBTEST_5( lpNorm(VectorXf(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_4( lpNorm(VectorXcf(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } } diff --git a/gtsam/3rdparty/Eigen/test/basicstuff.cpp b/gtsam/3rdparty/Eigen/test/basicstuff.cpp index 9f3966818..76ecffd68 100644 --- a/gtsam/3rdparty/Eigen/test/basicstuff.cpp +++ b/gtsam/3rdparty/Eigen/test/basicstuff.cpp @@ -42,11 +42,8 @@ template void basicStuff(const MatrixType& m) m2 = MatrixType::Random(rows, cols), m3(rows, cols), mzero = MatrixType::Zero(rows, cols), - identity = Matrix - ::Identity(rows, rows), square = Matrix::Random(rows, rows); VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), vzero = VectorType::Zero(rows); SquareMatrixType sm1 = SquareMatrixType::Random(rows,rows), sm2(rows,rows); @@ -215,14 +212,14 @@ void test_basicstuff() for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( basicStuff(Matrix()) ); CALL_SUBTEST_2( basicStuff(Matrix4d()) ); - CALL_SUBTEST_3( basicStuff(MatrixXcf(internal::random(1,100), internal::random(1,100))) ); - CALL_SUBTEST_4( basicStuff(MatrixXi(internal::random(1,100), internal::random(1,100))) ); - CALL_SUBTEST_5( basicStuff(MatrixXcd(internal::random(1,100), internal::random(1,100))) ); + CALL_SUBTEST_3( basicStuff(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_4( basicStuff(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_5( basicStuff(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_6( basicStuff(Matrix()) ); - CALL_SUBTEST_7( basicStuff(Matrix(internal::random(1,100),internal::random(1,100))) ); + CALL_SUBTEST_7( basicStuff(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_3( basicStuffComplex(MatrixXcf(internal::random(1,100), internal::random(1,100))) ); - CALL_SUBTEST_5( basicStuffComplex(MatrixXcd(internal::random(1,100), internal::random(1,100))) ); + CALL_SUBTEST_3( basicStuffComplex(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_5( basicStuffComplex(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } CALL_SUBTEST_1(fixedSizeMatrixConstruction()); diff --git a/gtsam/3rdparty/Eigen/test/bicgstab.cpp b/gtsam/3rdparty/Eigen/test/bicgstab.cpp new file mode 100644 index 000000000..2b6403583 --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/bicgstab.cpp @@ -0,0 +1,45 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse_solver.h" +#include + +template void test_bicgstab_T() +{ + BiCGSTAB, DiagonalPreconditioner > bicgstab_colmajor_diag; + BiCGSTAB, IdentityPreconditioner > bicgstab_colmajor_I; + BiCGSTAB, IncompleteLUT > bicgstab_colmajor_ilut; + //BiCGSTAB, SSORPreconditioner > bicgstab_colmajor_ssor; + + CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_diag) ); +// CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_I) ); + CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_ilut) ); + //CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_ssor) ); +} + +void test_bicgstab() +{ + CALL_SUBTEST_1(test_bicgstab_T()); + CALL_SUBTEST_2(test_bicgstab_T >()); +} diff --git a/gtsam/3rdparty/Eigen/test/block.cpp b/gtsam/3rdparty/Eigen/test/block.cpp index 70852ee48..07d5ce792 100644 --- a/gtsam/3rdparty/Eigen/test/block.cpp +++ b/gtsam/3rdparty/Eigen/test/block.cpp @@ -42,12 +42,8 @@ template void block(const MatrixType& m) m1_copy = m1, m2 = MatrixType::Random(rows, cols), m3(rows, cols), - mzero = MatrixType::Zero(rows, cols), ones = MatrixType::Ones(rows, cols); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - v3 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); + VectorType v1 = VectorType::Random(rows); Scalar s1 = internal::random(); diff --git a/gtsam/3rdparty/Eigen/test/cholesky.cpp b/gtsam/3rdparty/Eigen/test/cholesky.cpp index ae4342cee..4f2516d26 100644 --- a/gtsam/3rdparty/Eigen/test/cholesky.cpp +++ b/gtsam/3rdparty/Eigen/test/cholesky.cpp @@ -41,9 +41,37 @@ static int nb_temporaries; VERIFY( (#XPR) && nb_temporaries==N ); \ } -#ifdef HAS_GSL -#include "gsl_helper.h" -#endif +template class CholType> void test_chol_update(const MatrixType& symm) +{ + typedef typename MatrixType::Scalar Scalar; + typedef typename MatrixType::RealScalar RealScalar; + typedef Matrix VectorType; + + MatrixType symmLo = symm.template triangularView(); + MatrixType symmUp = symm.template triangularView(); + MatrixType symmCpy = symm; + + CholType chollo(symmLo); + CholType cholup(symmUp); + + for (int k=0; k<10; ++k) + { + VectorType vec = VectorType::Random(symm.rows()); + RealScalar sigma = internal::random(); + symmCpy += sigma * vec * vec.adjoint(); + + // we are doing some downdates, so it might be the case that the matrix is not SPD anymore + CholType chol(symmCpy); + if(chol.info()!=Success) + break; + + chollo.rankUpdate(vec, sigma); + VERIFY_IS_APPROX(symmCpy, chollo.reconstructedMatrix()); + + cholup.rankUpdate(vec, sigma); + VERIFY_IS_APPROX(symmCpy, cholup.reconstructedMatrix()); + } +} template void cholesky(const MatrixType& m) { @@ -77,34 +105,6 @@ template void cholesky(const MatrixType& m) // FIXME: currently that fails !! //symm.template part().setZero(); - #ifdef HAS_GSL -// if (internal::is_same::value) -// { -// typedef GslTraits Gsl; -// typename Gsl::Matrix gMatA=0, gSymm=0; -// typename Gsl::Vector gVecB=0, gVecX=0; -// convert(symm, gSymm); -// convert(symm, gMatA); -// convert(vecB, gVecB); -// convert(vecB, gVecX); -// Gsl::cholesky(gMatA); -// Gsl::cholesky_solve(gMatA, gVecB, gVecX); -// VectorType vecX(rows), _vecX, _vecB; -// convert(gVecX, _vecX); -// symm.llt().solve(vecB, &vecX); -// Gsl::prod(gSymm, gVecX, gVecB); -// convert(gVecB, _vecB); -// // test gsl itself ! -// VERIFY_IS_APPROX(vecB, _vecB); -// VERIFY_IS_APPROX(vecX, _vecX); -// -// Gsl::free(gMatA); -// Gsl::free(gSymm); -// Gsl::free(gVecB); -// Gsl::free(gVecX); -// } - #endif - { LLT chollo(symmLo); VERIFY_IS_APPROX(symm, chollo.reconstructedMatrix()); @@ -124,6 +124,11 @@ template void cholesky(const MatrixType& m) MatrixType neg = -symmLo; chollo.compute(neg); VERIFY(chollo.info()==NumericalIssue); + + VERIFY_IS_APPROX(MatrixType(chollo.matrixL().transpose().conjugate()), MatrixType(chollo.matrixU())); + VERIFY_IS_APPROX(MatrixType(chollo.matrixU().transpose().conjugate()), MatrixType(chollo.matrixL())); + VERIFY_IS_APPROX(MatrixType(cholup.matrixL().transpose().conjugate()), MatrixType(cholup.matrixU())); + VERIFY_IS_APPROX(MatrixType(cholup.matrixU().transpose().conjugate()), MatrixType(cholup.matrixL())); } // LDLT @@ -152,6 +157,11 @@ template void cholesky(const MatrixType& m) matX = ldltup.solve(matB); VERIFY_IS_APPROX(symm * matX, matB); + VERIFY_IS_APPROX(MatrixType(ldltlo.matrixL().transpose().conjugate()), MatrixType(ldltlo.matrixU())); + VERIFY_IS_APPROX(MatrixType(ldltlo.matrixU().transpose().conjugate()), MatrixType(ldltlo.matrixL())); + VERIFY_IS_APPROX(MatrixType(ldltup.matrixL().transpose().conjugate()), MatrixType(ldltup.matrixU())); + VERIFY_IS_APPROX(MatrixType(ldltup.matrixU().transpose().conjugate()), MatrixType(ldltup.matrixL())); + if(MatrixType::RowsAtCompileTime==Dynamic) { // note : each inplace permutation requires a small temporary vector (mask) @@ -166,6 +176,10 @@ template void cholesky(const MatrixType& m) VERIFY_EVALUATION_COUNT(matX = ldltup.solve(matX), 0); VERIFY_IS_APPROX(matX, ldltup.solve(matB).eval()); } + + // restore + if(sign == -1) + symm = -symm; } // test some special use cases of SelfCwiseBinaryOp: @@ -182,7 +196,10 @@ template void cholesky(const MatrixType& m) m2 = m1; m2.noalias() -= symmLo.template selfadjointView().llt().solve(matB); VERIFY_IS_APPROX(m2, m1 - symmLo.template selfadjointView().llt().solve(matB)); - + + // update/downdate + CALL_SUBTEST(( test_chol_update(symm) )); + CALL_SUBTEST(( test_chol_update(symm) )); } template void cholesky_cplx(const MatrixType& m) @@ -242,7 +259,6 @@ template void cholesky_cplx(const MatrixType& m) // matX = ldltlo.solve(matB); // VERIFY_IS_APPROX(symm * matX, matB); } - } // regression test for bug 241 @@ -290,9 +306,9 @@ void test_cholesky() CALL_SUBTEST_3( cholesky_bug241(Matrix2d()) ); CALL_SUBTEST_4( cholesky(Matrix3f()) ); CALL_SUBTEST_5( cholesky(Matrix4d()) ); - s = internal::random(1,200); + s = internal::random(1,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_2( cholesky(MatrixXd(s,s)) ); - s = internal::random(1,100); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_6( cholesky_cplx(MatrixXcd(s,s)) ); } @@ -304,4 +320,6 @@ void test_cholesky() // Test problem size constructors CALL_SUBTEST_9( LLT(10) ); CALL_SUBTEST_9( LDLT(10) ); + + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/cholmod_support.cpp b/gtsam/3rdparty/Eigen/test/cholmod_support.cpp new file mode 100644 index 000000000..1ebba2438 --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/cholmod_support.cpp @@ -0,0 +1,71 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse_solver.h" + +#include + +template void test_cholmod_T() +{ + CholmodDecomposition, Lower> g_chol_colmajor_lower; g_chol_colmajor_lower.setMode(CholmodSupernodalLLt); + CholmodDecomposition, Upper> g_chol_colmajor_upper; g_chol_colmajor_upper.setMode(CholmodSupernodalLLt); + CholmodDecomposition, Lower> g_llt_colmajor_lower; g_llt_colmajor_lower.setMode(CholmodSimplicialLLt); + CholmodDecomposition, Upper> g_llt_colmajor_upper; g_llt_colmajor_upper.setMode(CholmodSimplicialLLt); + CholmodDecomposition, Lower> g_ldlt_colmajor_lower; g_ldlt_colmajor_lower.setMode(CholmodLDLt); + CholmodDecomposition, Upper> g_ldlt_colmajor_upper; g_ldlt_colmajor_upper.setMode(CholmodLDLt); + + CholmodSupernodalLLT, Lower> chol_colmajor_lower; + CholmodSupernodalLLT, Upper> chol_colmajor_upper; + CholmodSimplicialLLT, Lower> llt_colmajor_lower; + CholmodSimplicialLLT, Upper> llt_colmajor_upper; + CholmodSimplicialLDLT, Lower> ldlt_colmajor_lower; + CholmodSimplicialLDLT, Upper> ldlt_colmajor_upper; + + check_sparse_spd_solving(g_chol_colmajor_lower); + check_sparse_spd_solving(g_chol_colmajor_upper); + check_sparse_spd_solving(g_llt_colmajor_lower); + check_sparse_spd_solving(g_llt_colmajor_upper); + check_sparse_spd_solving(g_ldlt_colmajor_lower); + check_sparse_spd_solving(g_ldlt_colmajor_upper); + + check_sparse_spd_solving(chol_colmajor_lower); + check_sparse_spd_solving(chol_colmajor_upper); + check_sparse_spd_solving(llt_colmajor_lower); + check_sparse_spd_solving(llt_colmajor_upper); + check_sparse_spd_solving(ldlt_colmajor_lower); + check_sparse_spd_solving(ldlt_colmajor_upper); + +// check_sparse_spd_determinant(chol_colmajor_lower); +// check_sparse_spd_determinant(chol_colmajor_upper); +// check_sparse_spd_determinant(llt_colmajor_lower); +// check_sparse_spd_determinant(llt_colmajor_upper); +// check_sparse_spd_determinant(ldlt_colmajor_lower); +// check_sparse_spd_determinant(ldlt_colmajor_upper); +} + +void test_cholmod_support() +{ + CALL_SUBTEST_1(test_cholmod_T()); + CALL_SUBTEST_2(test_cholmod_T >()); +} diff --git a/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp b/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp new file mode 100644 index 000000000..f24f35817 --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp @@ -0,0 +1,45 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse_solver.h" +#include + +template void test_conjugate_gradient_T() +{ + ConjugateGradient, Lower> cg_colmajor_lower_diag; + ConjugateGradient, Upper> cg_colmajor_upper_diag; + ConjugateGradient, Lower, IdentityPreconditioner> cg_colmajor_lower_I; + ConjugateGradient, Upper, IdentityPreconditioner> cg_colmajor_upper_I; + + CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_lower_diag) ); + CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_upper_diag) ); + CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_lower_I) ); + CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_upper_I) ); +} + +void test_conjugate_gradient() +{ + CALL_SUBTEST_1(test_conjugate_gradient_T()); + CALL_SUBTEST_2(test_conjugate_gradient_T >()); +} diff --git a/gtsam/3rdparty/Eigen/test/cwiseop.cpp b/gtsam/3rdparty/Eigen/test/cwiseop.cpp index 07ef599be..b3ca94e3a 100644 --- a/gtsam/3rdparty/Eigen/test/cwiseop.cpp +++ b/gtsam/3rdparty/Eigen/test/cwiseop.cpp @@ -60,11 +60,8 @@ template void cwiseops(const MatrixType& m) mzero = MatrixType::Zero(rows, cols), mones = MatrixType::Ones(rows, cols), identity = Matrix - ::Identity(rows, rows), - square = Matrix::Random(rows, rows); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - vzero = VectorType::Zero(rows), + ::Identity(rows, rows); + VectorType vzero = VectorType::Zero(rows), vones = VectorType::Ones(rows), v3(rows); @@ -175,9 +172,9 @@ void test_cwiseop() for(int i = 0; i < g_repeat ; i++) { CALL_SUBTEST_1( cwiseops(Matrix()) ); CALL_SUBTEST_2( cwiseops(Matrix4d()) ); - CALL_SUBTEST_3( cwiseops(MatrixXf(3, 3)) ); - CALL_SUBTEST_4( cwiseops(MatrixXf(22, 22)) ); - CALL_SUBTEST_5( cwiseops(MatrixXi(8, 12)) ); - CALL_SUBTEST_6( cwiseops(MatrixXd(20, 20)) ); + CALL_SUBTEST_3( cwiseops(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_4( cwiseops(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_5( cwiseops(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( cwiseops(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } } diff --git a/gtsam/3rdparty/Eigen/test/determinant.cpp b/gtsam/3rdparty/Eigen/test/determinant.cpp index dcf64387d..6c8d3baab 100644 --- a/gtsam/3rdparty/Eigen/test/determinant.cpp +++ b/gtsam/3rdparty/Eigen/test/determinant.cpp @@ -68,13 +68,15 @@ template void determinant(const MatrixType& m) void test_determinant() { + int s; for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( determinant(Matrix()) ); CALL_SUBTEST_2( determinant(Matrix()) ); CALL_SUBTEST_3( determinant(Matrix()) ); CALL_SUBTEST_4( determinant(Matrix()) ); CALL_SUBTEST_5( determinant(Matrix, 10, 10>()) ); - CALL_SUBTEST_6( determinant(MatrixXd(20, 20)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_6( determinant(MatrixXd(s, s)) ); } - CALL_SUBTEST_6( determinant(MatrixXd(200, 200)) ); + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/diagonal.cpp b/gtsam/3rdparty/Eigen/test/diagonal.cpp index 50b341dfe..94a30e2f4 100644 --- a/gtsam/3rdparty/Eigen/test/diagonal.cpp +++ b/gtsam/3rdparty/Eigen/test/diagonal.cpp @@ -74,10 +74,10 @@ void test_diagonal() for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( diagonal(Matrix()) ); CALL_SUBTEST_2( diagonal(Matrix4d()) ); - CALL_SUBTEST_2( diagonal(MatrixXcf(3, 3)) ); - CALL_SUBTEST_2( diagonal(MatrixXi(8, 12)) ); - CALL_SUBTEST_2( diagonal(MatrixXcd(20, 20)) ); - CALL_SUBTEST_1( diagonal(MatrixXf(21, 19)) ); + CALL_SUBTEST_2( diagonal(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_2( diagonal(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_2( diagonal(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_1( diagonal(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_1( diagonal(Matrix(3, 4)) ); } } diff --git a/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp b/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp index 9d6f069c6..d84f4e9f3 100644 --- a/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp +++ b/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp @@ -101,9 +101,9 @@ void test_diagonalmatrices() CALL_SUBTEST_3( diagonalmatrices(Matrix()) ); CALL_SUBTEST_4( diagonalmatrices(Matrix4d()) ); CALL_SUBTEST_5( diagonalmatrices(Matrix()) ); - CALL_SUBTEST_6( diagonalmatrices(MatrixXcf(3, 5)) ); - CALL_SUBTEST_7( diagonalmatrices(MatrixXi(10, 8)) ); - CALL_SUBTEST_8( diagonalmatrices(Matrix(20, 20)) ); - CALL_SUBTEST_9( diagonalmatrices(MatrixXf(21, 24)) ); + CALL_SUBTEST_6( diagonalmatrices(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_7( diagonalmatrices(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_8( diagonalmatrices(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_9( diagonalmatrices(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } } diff --git a/gtsam/3rdparty/Eigen/test/eigen2/main.h b/gtsam/3rdparty/Eigen/test/eigen2/main.h index b361a44d9..9d0defa39 100644 --- a/gtsam/3rdparty/Eigen/test/eigen2/main.h +++ b/gtsam/3rdparty/Eigen/test/eigen2/main.h @@ -29,10 +29,6 @@ #include #include -#ifdef NDEBUG -#undef NDEBUG -#endif - #ifndef EIGEN_TEST_FUNC #error EIGEN_TEST_FUNC must be defined #endif diff --git a/gtsam/3rdparty/Eigen/test/eigen2support.cpp b/gtsam/3rdparty/Eigen/test/eigen2support.cpp index a7269fed5..5d0202e34 100644 --- a/gtsam/3rdparty/Eigen/test/eigen2support.cpp +++ b/gtsam/3rdparty/Eigen/test/eigen2support.cpp @@ -35,7 +35,6 @@ template void eigen2support(const MatrixType& m) Index cols = m.cols(); MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), m3(rows, cols); Scalar s1 = internal::random(), diff --git a/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp b/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp index 99e9ee864..1cd55a2cd 100644 --- a/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp +++ b/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp @@ -108,18 +108,23 @@ template void eigensolver_verify_assert(const MatrixType& m void test_eigensolver_complex() { + int s; for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( eigensolver(Matrix4cf()) ); - CALL_SUBTEST_2( eigensolver(MatrixXcd(14,14)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_2( eigensolver(MatrixXcd(s,s)) ); CALL_SUBTEST_3( eigensolver(Matrix, 1, 1>()) ); CALL_SUBTEST_4( eigensolver(Matrix3f()) ); } CALL_SUBTEST_1( eigensolver_verify_assert(Matrix4cf()) ); - CALL_SUBTEST_2( eigensolver_verify_assert(MatrixXcd(14,14)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_2( eigensolver_verify_assert(MatrixXcd(s,s)) ); CALL_SUBTEST_3( eigensolver_verify_assert(Matrix, 1, 1>()) ); CALL_SUBTEST_4( eigensolver_verify_assert(Matrix3f()) ); // Test problem size constructors - CALL_SUBTEST_5(ComplexEigenSolver(10)); + CALL_SUBTEST_5(ComplexEigenSolver(s)); + + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp b/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp index 8476f026d..2e9cdc7a5 100644 --- a/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp +++ b/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp @@ -27,10 +27,6 @@ #include #include -#ifdef HAS_GSL -#include "gsl_helper.h" -#endif - template void eigensolver(const MatrixType& m) { typedef typename MatrixType::Index Index; @@ -97,9 +93,11 @@ template void eigensolver_verify_assert(const MatrixType& m void test_eigensolver_generic() { + int s; for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( eigensolver(Matrix4f()) ); - CALL_SUBTEST_2( eigensolver(MatrixXd(17,17)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_2( eigensolver(MatrixXd(s,s)) ); // some trivial but implementation-wise tricky cases CALL_SUBTEST_2( eigensolver(MatrixXd(1,1)) ); @@ -109,10 +107,24 @@ void test_eigensolver_generic() } CALL_SUBTEST_1( eigensolver_verify_assert(Matrix4f()) ); - CALL_SUBTEST_2( eigensolver_verify_assert(MatrixXd(17,17)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_2( eigensolver_verify_assert(MatrixXd(s,s)) ); CALL_SUBTEST_3( eigensolver_verify_assert(Matrix()) ); CALL_SUBTEST_4( eigensolver_verify_assert(Matrix2d()) ); // Test problem size constructors - CALL_SUBTEST_5(EigenSolver(10)); + CALL_SUBTEST_5(EigenSolver(s)); + + // regression test for bug 410 + CALL_SUBTEST_2( + { + MatrixXd A(1,1); + A(0,0) = std::sqrt(-1.); + Eigen::EigenSolver solver(A); + MatrixXd V(1, 1); + V(0,0) = solver.eigenvectors()(0,0).real(); + } + ); + + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp b/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp index b85bcc289..26d3d1f70 100644 --- a/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp +++ b/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp @@ -27,10 +27,6 @@ #include #include -#ifdef HAS_GSL -#include "gsl_helper.h" -#endif - template void selfadjointeigensolver(const MatrixType& m) { typedef typename MatrixType::Index Index; @@ -59,64 +55,25 @@ template void selfadjointeigensolver(const MatrixType& m) symmB.template triangularView().setZero(); SelfAdjointEigenSolver eiSymm(symmA); + SelfAdjointEigenSolver eiDirect; + eiDirect.computeDirect(symmA); // generalized eigen pb GeneralizedSelfAdjointEigenSolver eiSymmGen(symmA, symmB); - #ifdef HAS_GSL - if (internal::is_same::value) - { - // restore symmA and symmB. - symmA = MatrixType(symmA.template selfadjointView()); - symmB = MatrixType(symmB.template selfadjointView()); - typedef GslTraits Gsl; - typename Gsl::Matrix gEvec=0, gSymmA=0, gSymmB=0; - typename GslTraits::Vector gEval=0; - RealVectorType _eval; - MatrixType _evec; - convert(symmA, gSymmA); - convert(symmB, gSymmB); - convert(symmA, gEvec); - gEval = GslTraits::createVector(rows); - - Gsl::eigen_symm(gSymmA, gEval, gEvec); - convert(gEval, _eval); - convert(gEvec, _evec); - - // test gsl itself ! - VERIFY((symmA * _evec).isApprox(_evec * _eval.asDiagonal(), largerEps)); - - // compare with eigen - VERIFY_IS_APPROX(_eval, eiSymm.eigenvalues()); - VERIFY_IS_APPROX(_evec.cwiseAbs(), eiSymm.eigenvectors().cwiseAbs()); - - // generalized pb - Gsl::eigen_symm_gen(gSymmA, gSymmB, gEval, gEvec); - convert(gEval, _eval); - convert(gEvec, _evec); - // test GSL itself: - VERIFY((symmA * _evec).isApprox(symmB * (_evec * _eval.asDiagonal()), largerEps)); - - // compare with eigen - MatrixType normalized_eivec = eiSymmGen.eigenvectors()*eiSymmGen.eigenvectors().colwise().norm().asDiagonal().inverse(); - VERIFY_IS_APPROX(_eval, eiSymmGen.eigenvalues()); - VERIFY_IS_APPROX(_evec.cwiseAbs(), normalized_eivec.cwiseAbs()); - - Gsl::free(gSymmA); - Gsl::free(gSymmB); - GslTraits::free(gEval); - Gsl::free(gEvec); - } - #endif - VERIFY_IS_EQUAL(eiSymm.info(), Success); VERIFY((symmA.template selfadjointView() * eiSymm.eigenvectors()).isApprox( eiSymm.eigenvectors() * eiSymm.eigenvalues().asDiagonal(), largerEps)); VERIFY_IS_APPROX(symmA.template selfadjointView().eigenvalues(), eiSymm.eigenvalues()); + + VERIFY_IS_EQUAL(eiDirect.info(), Success); + VERIFY((symmA.template selfadjointView() * eiDirect.eigenvectors()).isApprox( + eiDirect.eigenvectors() * eiDirect.eigenvalues().asDiagonal(), largerEps)); + VERIFY_IS_APPROX(symmA.template selfadjointView().eigenvalues(), eiDirect.eigenvalues()); SelfAdjointEigenSolver eiSymmNoEivecs(symmA, false); VERIFY_IS_EQUAL(eiSymmNoEivecs.info(), Success); VERIFY_IS_APPROX(eiSymm.eigenvalues(), eiSymmNoEivecs.eigenvalues()); - + // generalized eigen problem Ax = lBx eiSymmGen.compute(symmA, symmB,Ax_lBx); VERIFY_IS_EQUAL(eiSymmGen.info(), Success); @@ -171,15 +128,21 @@ template void selfadjointeigensolver(const MatrixType& m) void test_eigensolver_selfadjoint() { + int s; for(int i = 0; i < g_repeat; i++) { - // very important to test a 3x3 matrix since we provide a special path for it + // very important to test 3x3 and 2x2 matrices since we provide special paths for them + CALL_SUBTEST_1( selfadjointeigensolver(Matrix2d()) ); CALL_SUBTEST_1( selfadjointeigensolver(Matrix3f()) ); CALL_SUBTEST_2( selfadjointeigensolver(Matrix4d()) ); - CALL_SUBTEST_3( selfadjointeigensolver(MatrixXf(10,10)) ); - CALL_SUBTEST_4( selfadjointeigensolver(MatrixXd(19,19)) ); - CALL_SUBTEST_5( selfadjointeigensolver(MatrixXcd(17,17)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_3( selfadjointeigensolver(MatrixXf(s,s)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_4( selfadjointeigensolver(MatrixXd(s,s)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_5( selfadjointeigensolver(MatrixXcd(s,s)) ); - CALL_SUBTEST_9( selfadjointeigensolver(Matrix,Dynamic,Dynamic,RowMajor>(17,17)) ); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_9( selfadjointeigensolver(Matrix,Dynamic,Dynamic,RowMajor>(s,s)) ); // some trivial but implementation-wise tricky cases CALL_SUBTEST_4( selfadjointeigensolver(MatrixXd(1,1)) ); @@ -189,7 +152,10 @@ void test_eigensolver_selfadjoint() } // Test problem size constructors - CALL_SUBTEST_8(SelfAdjointEigenSolver(10)); - CALL_SUBTEST_8(Tridiagonalization(10)); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); + CALL_SUBTEST_8(SelfAdjointEigenSolver(s)); + CALL_SUBTEST_8(Tridiagonalization(s)); + + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp b/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp index 738ca3150..724133725 100644 --- a/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp @@ -113,7 +113,7 @@ void specificTest1() Vector2f m; m << -1.0f, -2.0f; Vector2f M; M << 1.0f, 5.0f; - typedef AlignedBox BoxType; + typedef AlignedBox2f BoxType; BoxType box( m, M ); Vector2f sides = M-m; @@ -140,7 +140,7 @@ void specificTest2() Vector3i m; m << -1, -2, 0; Vector3i M; M << 1, 5, 3; - typedef AlignedBox BoxType; + typedef AlignedBox3i BoxType; BoxType box( m, M ); Vector3i sides = M-m; @@ -165,21 +165,21 @@ void test_geo_alignedbox() { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( alignedbox(AlignedBox()) ); - CALL_SUBTEST_2( alignedboxCastTests(AlignedBox()) ); + CALL_SUBTEST_1( alignedbox(AlignedBox2f()) ); + CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); - CALL_SUBTEST_3( alignedbox(AlignedBox()) ); - CALL_SUBTEST_4( alignedboxCastTests(AlignedBox()) ); + CALL_SUBTEST_3( alignedbox(AlignedBox3f()) ); + CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); - CALL_SUBTEST_5( alignedbox(AlignedBox()) ); - CALL_SUBTEST_6( alignedboxCastTests(AlignedBox()) ); + CALL_SUBTEST_5( alignedbox(AlignedBox4d()) ); + CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); - CALL_SUBTEST_7( alignedbox(AlignedBox()) ); - CALL_SUBTEST_8( alignedboxCastTests(AlignedBox()) ); + CALL_SUBTEST_7( alignedbox(AlignedBox1d()) ); + CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); - CALL_SUBTEST_9( alignedbox(AlignedBox()) ); - CALL_SUBTEST_10( alignedbox(AlignedBox()) ); - CALL_SUBTEST_11( alignedbox(AlignedBox()) ); + CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); + CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); + CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); } CALL_SUBTEST_12( specificTest1() ); CALL_SUBTEST_13( specificTest2() ); diff --git a/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp b/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp index f82cb8fbe..8029a694e 100644 --- a/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp @@ -42,7 +42,6 @@ template void eulerangles(void) #define VERIFY_EULER(I,J,K, X,Y,Z) { \ Vector3 ea = m.eulerAngles(I,J,K); \ - Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \ VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \ } VERIFY_EULER(0,1,2, X,Y,Z); diff --git a/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp b/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp index 26254b757..3efcb77db 100644 --- a/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp @@ -42,17 +42,13 @@ template void homogeneous(void) typedef Matrix T3MatrixType; VectorType v0 = VectorType::Random(), - v1 = VectorType::Random(), ones = VectorType::Ones(); - HVectorType hv0 = HVectorType::Random(), - hv1 = HVectorType::Random(); + HVectorType hv0 = HVectorType::Random(); - MatrixType m0 = MatrixType::Random(), - m1 = MatrixType::Random(); + MatrixType m0 = MatrixType::Random(); - HMatrixType hm0 = HMatrixType::Random(), - hm1 = HMatrixType::Random(); + HMatrixType hm0 = HMatrixType::Random(); hv0 << v0, 1; VERIFY_IS_APPROX(v0.homogeneous(), hv0); diff --git a/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp b/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp index 020ae7103..aa3c8b61d 100644 --- a/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp @@ -88,9 +88,7 @@ template void orthomethods(int size=Size) typedef Matrix MatrixN3; typedef Matrix Vector3; - VectorType v0 = VectorType::Random(size), - v1 = VectorType::Random(size), - v2 = VectorType::Random(size); + VectorType v0 = VectorType::Random(size); // unitOrthogonal VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1)); diff --git a/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp b/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp index 13f98fdd6..a289e70de 100644 --- a/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp @@ -40,6 +40,7 @@ template void parametrizedline(const LineType& _line) typedef Matrix VectorType; typedef Matrix MatrixType; + typedef Hyperplane HyperplaneType; VectorType p0 = VectorType::Random(dim); VectorType p1 = VectorType::Random(dim); @@ -64,6 +65,16 @@ template void parametrizedline(const LineType& _line) VERIFY_IS_APPROX(hp1f.template cast(),l0); ParametrizedLine hp1d = l0.template cast(); VERIFY_IS_APPROX(hp1d.template cast(),l0); + + // intersections + VectorType p2 = VectorType::Random(dim); + VectorType n2 = VectorType::Random(dim).normalized(); + HyperplaneType hp(p2,n2); + Scalar t = l0.intersectionParameter(hp); + VectorType pi = l0.pointAt(t); + VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1)); + VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1)); + VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi); } template void parametrizedline_alignment() diff --git a/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp b/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp index 7adbe0b3d..b73ae9cd4 100644 --- a/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp @@ -142,6 +142,17 @@ template void quaternion(void) VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized()); } + // from two vector creation static function + VERIFY_IS_APPROX( v2.normalized(),(Quaternionx::FromTwoVectors(v1, v2)*v1).normalized()); + VERIFY_IS_APPROX( v1.normalized(),(Quaternionx::FromTwoVectors(v1, v1)*v1).normalized()); + VERIFY_IS_APPROX(-v1.normalized(),(Quaternionx::FromTwoVectors(v1,-v1)*v1).normalized()); + if (internal::is_same::value) + { + v3 = (v1.array()+eps).matrix(); + VERIFY_IS_APPROX( v3.normalized(),(Quaternionx::FromTwoVectors(v1, v3)*v1).normalized()); + VERIFY_IS_APPROX(-v3.normalized(),(Quaternionx::FromTwoVectors(v1,-v3)*v1).normalized()); + } + // inverse and conjugate VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1); VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1); diff --git a/gtsam/3rdparty/Eigen/test/geo_transformations.cpp b/gtsam/3rdparty/Eigen/test/geo_transformations.cpp index b606de2fb..e9f05cfb6 100644 --- a/gtsam/3rdparty/Eigen/test/geo_transformations.cpp +++ b/gtsam/3rdparty/Eigen/test/geo_transformations.cpp @@ -122,9 +122,7 @@ template void transformations() typedef Translation Translation3; Vector3 v0 = Vector3::Random(), - v1 = Vector3::Random(), - v2 = Vector3::Random(); - Vector2 u0 = Vector2::Random(); + v1 = Vector3::Random(); Matrix3 matrot1, m; Scalar a = internal::random(-Scalar(M_PI), Scalar(M_PI)); @@ -284,9 +282,9 @@ template void transformations() // mat * aligned scaling and mat * translation t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t1 = (Matrix3(q1) * Scaling(v0)) * Translation3(v0); + t1 = (Matrix3(q1) * Eigen::Scaling(v0)) * Translation3(v0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t1 = (q1 * Scaling(v0)) * Translation3(v0); + t1 = (q1 * Eigen::Scaling(v0)) * Translation3(v0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); // mat * transformation and aligned scaling * translation t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); @@ -295,18 +293,18 @@ template void transformations() t0.setIdentity(); t0.scale(s0).translate(v0); - t1 = Scaling(s0) * Translation3(v0); + t1 = Eigen::Scaling(s0) * Translation3(v0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); t0.prescale(s0); - t1 = Scaling(s0) * t1; + t1 = Eigen::Scaling(s0) * t1; VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); t0 = t3; t0.scale(s0); - t1 = t3 * Scaling(s0,s0,s0); + t1 = t3 * Eigen::Scaling(s0,s0,s0); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); t0.prescale(s0); - t1 = Scaling(s0,s0,s0) * t1; + t1 = Eigen::Scaling(s0,s0,s0) * t1; VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); @@ -448,6 +446,29 @@ template void transform_alignment() #endif } +template void transform_products() +{ + typedef Matrix Mat; + typedef Transform Proj; + typedef Transform Aff; + typedef Transform AffC; + + Proj p; p.matrix().setRandom(); + Aff a; a.linear().setRandom(); a.translation().setRandom(); + AffC ac = a; + + Mat p_m(p.matrix()), a_m(a.matrix()); + + VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m); + VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m); + VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m); + VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m); + VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m); + VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m); + VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m); + VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); +} + void test_geo_transformations() { for(int i = 0; i < g_repeat; i++) { @@ -470,5 +491,9 @@ void test_geo_transformations() CALL_SUBTEST_6(( transformations() )); CALL_SUBTEST_6(( transformations() )); + + + CALL_SUBTEST_7(( transform_products() )); + CALL_SUBTEST_7(( transform_products() )); } } diff --git a/gtsam/3rdparty/Eigen/test/gsl_helper.h b/gtsam/3rdparty/Eigen/test/gsl_helper.h deleted file mode 100644 index d6172d2ff..000000000 --- a/gtsam/3rdparty/Eigen/test/gsl_helper.h +++ /dev/null @@ -1,212 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#ifndef EIGEN_GSL_HELPER -#define EIGEN_GSL_HELPER - -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace Eigen { - -template::IsComplex> struct GslTraits -{ - typedef gsl_matrix* Matrix; - typedef gsl_vector* Vector; - static Matrix createMatrix(int rows, int cols) { return gsl_matrix_alloc(rows,cols); } - static Vector createVector(int size) { return gsl_vector_alloc(size); } - static void free(Matrix& m) { gsl_matrix_free(m); m=0; } - static void free(Vector& m) { gsl_vector_free(m); m=0; } - static void prod(const Matrix& m, const Vector& v, Vector& x) { gsl_blas_dgemv(CblasNoTrans,1,m,v,0,x); } - static void cholesky(Matrix& m) { gsl_linalg_cholesky_decomp(m); } - static void cholesky_solve(const Matrix& m, const Vector& b, Vector& x) { gsl_linalg_cholesky_solve(m,b,x); } - static void eigen_symm(const Matrix& m, Vector& eval, Matrix& evec) - { - gsl_eigen_symmv_workspace * w = gsl_eigen_symmv_alloc(m->size1); - Matrix a = createMatrix(m->size1, m->size2); - gsl_matrix_memcpy(a, m); - gsl_eigen_symmv(a,eval,evec,w); - gsl_eigen_symmv_sort(eval, evec, GSL_EIGEN_SORT_VAL_ASC); - gsl_eigen_symmv_free(w); - free(a); - } - static void eigen_symm_gen(const Matrix& m, const Matrix& _b, Vector& eval, Matrix& evec) - { - gsl_eigen_gensymmv_workspace * w = gsl_eigen_gensymmv_alloc(m->size1); - Matrix a = createMatrix(m->size1, m->size2); - Matrix b = createMatrix(_b->size1, _b->size2); - gsl_matrix_memcpy(a, m); - gsl_matrix_memcpy(b, _b); - gsl_eigen_gensymmv(a,b,eval,evec,w); - gsl_eigen_symmv_sort(eval, evec, GSL_EIGEN_SORT_VAL_ASC); - gsl_eigen_gensymmv_free(w); - free(a); - } - - template - static void eigen_poly_solve(const EIGEN_VECTOR& poly, EIGEN_ROOTS& roots ) - { - const int deg = poly.size()-1; - double *z = new double[2*deg]; - double *a = new double[poly.size()]; - for( int i=0; i struct GslTraits -{ - typedef gsl_matrix_complex* Matrix; - typedef gsl_vector_complex* Vector; - static Matrix createMatrix(int rows, int cols) { return gsl_matrix_complex_alloc(rows,cols); } - static Vector createVector(int size) { return gsl_vector_complex_alloc(size); } - static void free(Matrix& m) { gsl_matrix_complex_free(m); m=0; } - static void free(Vector& m) { gsl_vector_complex_free(m); m=0; } - static void cholesky(Matrix& m) { gsl_linalg_complex_cholesky_decomp(m); } - static void cholesky_solve(const Matrix& m, const Vector& b, Vector& x) { gsl_linalg_complex_cholesky_solve(m,b,x); } - static void prod(const Matrix& m, const Vector& v, Vector& x) - { gsl_blas_zgemv(CblasNoTrans,gsl_complex_rect(1,0),m,v,gsl_complex_rect(0,0),x); } - static void eigen_symm(const Matrix& m, gsl_vector* &eval, Matrix& evec) - { - gsl_eigen_hermv_workspace * w = gsl_eigen_hermv_alloc(m->size1); - Matrix a = createMatrix(m->size1, m->size2); - gsl_matrix_complex_memcpy(a, m); - gsl_eigen_hermv(a,eval,evec,w); - gsl_eigen_hermv_sort(eval, evec, GSL_EIGEN_SORT_VAL_ASC); - gsl_eigen_hermv_free(w); - free(a); - } - static void eigen_symm_gen(const Matrix& m, const Matrix& _b, gsl_vector* &eval, Matrix& evec) - { - gsl_eigen_genhermv_workspace * w = gsl_eigen_genhermv_alloc(m->size1); - Matrix a = createMatrix(m->size1, m->size2); - Matrix b = createMatrix(_b->size1, _b->size2); - gsl_matrix_complex_memcpy(a, m); - gsl_matrix_complex_memcpy(b, _b); - gsl_eigen_genhermv(a,b,eval,evec,w); - gsl_eigen_hermv_sort(eval, evec, GSL_EIGEN_SORT_VAL_ASC); - gsl_eigen_genhermv_free(w); - free(a); - } -}; - -template -void convert(const MatrixType& m, gsl_matrix* &res) -{ -// if (res) -// gsl_matrix_free(res); - res = gsl_matrix_alloc(m.rows(), m.cols()); - for (int i=0 ; i -void convert(const gsl_matrix* m, MatrixType& res) -{ - res.resize(int(m->size1), int(m->size2)); - for (int i=0 ; i -void convert(const VectorType& m, gsl_vector* &res) -{ - if (res) gsl_vector_free(res); - res = gsl_vector_alloc(m.size()); - for (int i=0 ; i -void convert(const gsl_vector* m, VectorType& res) -{ - res.resize (m->size); - for (int i=0 ; i -void convert(const MatrixType& m, gsl_matrix_complex* &res) -{ - res = gsl_matrix_complex_alloc(m.rows(), m.cols()); - for (int i=0 ; i -void convert(const gsl_matrix_complex* m, MatrixType& res) -{ - res.resize(int(m->size1), int(m->size2)); - for (int i=0 ; i -void convert(const VectorType& m, gsl_vector_complex* &res) -{ - res = gsl_vector_complex_alloc(m.size()); - for (int i=0 ; i -void convert(const gsl_vector_complex* m, VectorType& res) -{ - res.resize(m->size); - for (int i=0 ; i,1>() )); CALL_SUBTEST_2(( hessenberg,2>() )); CALL_SUBTEST_3(( hessenberg,4>() )); - CALL_SUBTEST_4(( hessenberg(internal::random(1,320)) )); - CALL_SUBTEST_5(( hessenberg,Dynamic>(internal::random(1,320)) )); + CALL_SUBTEST_4(( hessenberg(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); + CALL_SUBTEST_5(( hessenberg,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); // Test problem size constructors CALL_SUBTEST_6(HessenbergDecomposition(10)); diff --git a/gtsam/3rdparty/Eigen/test/householder.cpp b/gtsam/3rdparty/Eigen/test/householder.cpp index e77fa7ad0..6f6f317ea 100644 --- a/gtsam/3rdparty/Eigen/test/householder.cpp +++ b/gtsam/3rdparty/Eigen/test/householder.cpp @@ -130,9 +130,9 @@ void test_householder() CALL_SUBTEST_2( householder(Matrix()) ); CALL_SUBTEST_3( householder(Matrix()) ); CALL_SUBTEST_4( householder(Matrix()) ); - CALL_SUBTEST_5( householder(MatrixXd(10,12)) ); - CALL_SUBTEST_6( householder(MatrixXcf(16,17)) ); - CALL_SUBTEST_7( householder(MatrixXf(25,7)) ); + CALL_SUBTEST_5( householder(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( householder(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_7( householder(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_8( householder(Matrix()) ); } } diff --git a/gtsam/3rdparty/Eigen/test/inverse.cpp b/gtsam/3rdparty/Eigen/test/inverse.cpp index f0c69e78c..81702432f 100644 --- a/gtsam/3rdparty/Eigen/test/inverse.cpp +++ b/gtsam/3rdparty/Eigen/test/inverse.cpp @@ -41,7 +41,6 @@ template void inverse(const MatrixType& m) MatrixType m1(rows, cols), m2(rows, cols), - mzero = MatrixType::Zero(rows, cols), identity = MatrixType::Identity(rows, rows); createRandomPIMatrixOfRank(rows,rows,rows,m1); m2 = m1.inverse(); @@ -114,4 +113,5 @@ void test_inverse() CALL_SUBTEST_7( inverse(Matrix4d()) ); CALL_SUBTEST_7( inverse(Matrix()) ); } + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/jacobi.cpp b/gtsam/3rdparty/Eigen/test/jacobi.cpp index 6464c63c5..4d462226c 100644 --- a/gtsam/3rdparty/Eigen/test/jacobi.cpp +++ b/gtsam/3rdparty/Eigen/test/jacobi.cpp @@ -82,8 +82,8 @@ void test_jacobi() CALL_SUBTEST_3(( jacobi() )); CALL_SUBTEST_3(( jacobi >() )); - int r = internal::random(2, 20), - c = internal::random(2, 20); + int r = internal::random(2, internal::random(1,EIGEN_TEST_MAX_SIZE)/2), + c = internal::random(2, internal::random(1,EIGEN_TEST_MAX_SIZE)/2); CALL_SUBTEST_4(( jacobi(MatrixXf(r,c)) )); CALL_SUBTEST_5(( jacobi(MatrixXcd(r,c)) )); CALL_SUBTEST_5(( jacobi >(MatrixXcd(r,c)) )); diff --git a/gtsam/3rdparty/Eigen/test/jacobisvd.cpp b/gtsam/3rdparty/Eigen/test/jacobisvd.cpp index 45873832a..3012fbe75 100644 --- a/gtsam/3rdparty/Eigen/test/jacobisvd.cpp +++ b/gtsam/3rdparty/Eigen/test/jacobisvd.cpp @@ -131,6 +131,12 @@ void jacobisvd_test_all_computation_options(const MatrixType& m) jacobisvd_solve(m, ComputeFullU | ComputeThinV); jacobisvd_solve(m, ComputeThinU | ComputeFullV); jacobisvd_solve(m, ComputeThinU | ComputeThinV); + + // test reconstruction + typedef typename MatrixType::Index Index; + Index diagSize = (std::min)(m.rows(), m.cols()); + JacobiSVD svd(m, ComputeThinU | ComputeThinV); + VERIFY_IS_APPROX(m, svd.matrixU().leftCols(diagSize) * svd.singularValues().asDiagonal() * svd.matrixV().leftCols(diagSize).adjoint()); } } @@ -248,9 +254,17 @@ void jacobisvd_inf_nan() // matrices containing denormal numbers. void jacobisvd_bug286() { +#if defined __INTEL_COMPILER +// shut up warning #239: floating point underflow +#pragma warning push +#pragma warning disable 239 +#endif Matrix2d M; M << -7.90884e-313, -4.94e-324, 0, 5.60844e-313; +#if defined __INTEL_COMPILER +#pragma warning pop +#endif JacobiSVD svd; svd.compute(M); // just check we don't loop indefinitely } @@ -333,8 +347,8 @@ void test_jacobisvd() CALL_SUBTEST_7( jacobisvd_inf_nan() ); } - CALL_SUBTEST_7(( jacobisvd(MatrixXf(internal::random(100, 150), internal::random(100, 150))) )); - CALL_SUBTEST_8(( jacobisvd(MatrixXcd(internal::random(80, 100), internal::random(80, 100))) )); + CALL_SUBTEST_7(( jacobisvd(MatrixXf(internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2), internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2))) )); + CALL_SUBTEST_8(( jacobisvd(MatrixXcd(internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3), internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3))) )); // test matrixbase method CALL_SUBTEST_1(( jacobisvd_method() )); diff --git a/gtsam/3rdparty/Eigen/test/linearstructure.cpp b/gtsam/3rdparty/Eigen/test/linearstructure.cpp index 312102701..bbfdaacc1 100644 --- a/gtsam/3rdparty/Eigen/test/linearstructure.cpp +++ b/gtsam/3rdparty/Eigen/test/linearstructure.cpp @@ -39,8 +39,7 @@ template void linearStructure(const MatrixType& m) // to test it, hence I consider that we will have tested Random.h MatrixType m1 = MatrixType::Random(rows, cols), m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - mzero = MatrixType::Zero(rows, cols); + m3(rows, cols); Scalar s1 = internal::random(); while (internal::abs(s1)<1e-3) s1 = internal::random(); @@ -90,10 +89,10 @@ void test_linearstructure() CALL_SUBTEST_2( linearStructure(Matrix2f()) ); CALL_SUBTEST_3( linearStructure(Vector3d()) ); CALL_SUBTEST_4( linearStructure(Matrix4d()) ); - CALL_SUBTEST_5( linearStructure(MatrixXcf(3, 3)) ); - CALL_SUBTEST_6( linearStructure(MatrixXf(8, 12)) ); - CALL_SUBTEST_7( linearStructure(MatrixXi(8, 12)) ); - CALL_SUBTEST_8( linearStructure(MatrixXcd(20, 20)) ); - CALL_SUBTEST_9( linearStructure(ArrayXXf(12, 8)) ); + CALL_SUBTEST_5( linearStructure(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); + CALL_SUBTEST_6( linearStructure(MatrixXf (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_7( linearStructure(MatrixXi (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_8( linearStructure(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); + CALL_SUBTEST_9( linearStructure(ArrayXXf (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } } diff --git a/gtsam/3rdparty/Eigen/test/lu.cpp b/gtsam/3rdparty/Eigen/test/lu.cpp index 552364d29..253f68542 100644 --- a/gtsam/3rdparty/Eigen/test/lu.cpp +++ b/gtsam/3rdparty/Eigen/test/lu.cpp @@ -37,7 +37,7 @@ template void lu_non_invertible() Index rows, cols, cols2; if(MatrixType::RowsAtCompileTime==Dynamic) { - rows = internal::random(2,200); + rows = internal::random(2,EIGEN_TEST_MAX_SIZE); } else { @@ -45,8 +45,8 @@ template void lu_non_invertible() } if(MatrixType::ColsAtCompileTime==Dynamic) { - cols = internal::random(2,200); - cols2 = internal::random(2,200); + cols = internal::random(2,EIGEN_TEST_MAX_SIZE); + cols2 = internal::random(2,EIGEN_TEST_MAX_SIZE); } else { @@ -117,7 +117,7 @@ template void lu_invertible() */ typedef typename MatrixType::Scalar Scalar; typedef typename NumTraits::Real RealScalar; - int size = internal::random(1,200); + int size = internal::random(1,EIGEN_TEST_MAX_SIZE); MatrixType m1(size, size), m2(size, size), m3(size, size); FullPivLU lu; diff --git a/gtsam/3rdparty/Eigen/test/main.h b/gtsam/3rdparty/Eigen/test/main.h index 4510c1905..991194e30 100644 --- a/gtsam/3rdparty/Eigen/test/main.h +++ b/gtsam/3rdparty/Eigen/test/main.h @@ -27,6 +27,7 @@ #include #include #include +#include #include #include #include @@ -40,6 +41,13 @@ #define min(A,B) please_protect_your_min_with_parentheses #define max(A,B) please_protect_your_max_with_parentheses +#define FORBIDDEN_IDENTIFIER (this_identifier_is_forbidden_to_avoid_clashes) this_identifier_is_forbidden_to_avoid_clashes +// B0 is defined in POSIX header termios.h +#define B0 FORBIDDEN_IDENTIFIER + +// the following file is automatically generated by cmake +#include "split_test_helper.h" + #ifdef NDEBUG #undef NDEBUG #endif @@ -186,7 +194,7 @@ static void verify_impl(bool condition, const char *testname, const char *file, } } -#define VERIFY(a) verify_impl(a, g_test_stack.back().c_str(), __FILE__, __LINE__, EI_PP_MAKE_STRING(a)) +#define VERIFY(a) ::verify_impl(a, g_test_stack.back().c_str(), __FILE__, __LINE__, EI_PP_MAKE_STRING(a)) #define VERIFY_IS_EQUAL(a, b) VERIFY(test_is_equal(a, b)) #define VERIFY_IS_APPROX(a, b) VERIFY(test_isApprox(a, b)) @@ -204,101 +212,6 @@ static void verify_impl(bool condition, const char *testname, const char *file, g_test_stack.pop_back(); \ } while (0) -#ifdef EIGEN_TEST_PART_1 -#define CALL_SUBTEST_1(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_1(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_2 -#define CALL_SUBTEST_2(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_2(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_3 -#define CALL_SUBTEST_3(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_3(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_4 -#define CALL_SUBTEST_4(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_4(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_5 -#define CALL_SUBTEST_5(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_5(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_6 -#define CALL_SUBTEST_6(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_6(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_7 -#define CALL_SUBTEST_7(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_7(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_8 -#define CALL_SUBTEST_8(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_8(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_9 -#define CALL_SUBTEST_9(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_9(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_10 -#define CALL_SUBTEST_10(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_10(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_11 -#define CALL_SUBTEST_11(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_11(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_12 -#define CALL_SUBTEST_12(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_12(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_13 -#define CALL_SUBTEST_13(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_13(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_14 -#define CALL_SUBTEST_14(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_14(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_15 -#define CALL_SUBTEST_15(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_15(FUNC) -#endif - -#ifdef EIGEN_TEST_PART_16 -#define CALL_SUBTEST_16(FUNC) CALL_SUBTEST(FUNC) -#else -#define CALL_SUBTEST_16(FUNC) -#endif namespace Eigen { @@ -447,6 +360,23 @@ void createRandomPIMatrixOfRank(typename MatrixType::Index desired_rank, typenam m = qra.householderQ() * d * qrb.householderQ(); } +template +void randomPermutationVector(PermutationVectorType& v, typename PermutationVectorType::Index size) +{ + typedef typename PermutationVectorType::Index Index; + typedef typename PermutationVectorType::Scalar Scalar; + v.resize(size); + for(Index i = 0; i < size; ++i) v(i) = Scalar(i); + if(size == 1) return; + for(Index n = 0; n < 3 * size; ++n) + { + Index i = internal::random(0, size-1); + Index j; + do j = internal::random(0, size-1); while(j==i); + std::swap(v(i), v(j)); + } +} + } // end namespace Eigen template struct GetDifferentType; diff --git a/gtsam/3rdparty/Eigen/test/mixingtypes.cpp b/gtsam/3rdparty/Eigen/test/mixingtypes.cpp index 8afb733cd..6819f934e 100644 --- a/gtsam/3rdparty/Eigen/test/mixingtypes.cpp +++ b/gtsam/3rdparty/Eigen/test/mixingtypes.cpp @@ -143,5 +143,5 @@ void test_mixingtypes() { CALL_SUBTEST_1(mixingtypes<3>()); CALL_SUBTEST_2(mixingtypes<4>()); - CALL_SUBTEST_3(mixingtypes(internal::random(1,310))); + CALL_SUBTEST_3(mixingtypes(internal::random(1,EIGEN_TEST_MAX_SIZE))); } diff --git a/gtsam/3rdparty/Eigen/test/nomalloc.cpp b/gtsam/3rdparty/Eigen/test/nomalloc.cpp index 96ff16dae..1feeff4bc 100644 --- a/gtsam/3rdparty/Eigen/test/nomalloc.cpp +++ b/gtsam/3rdparty/Eigen/test/nomalloc.cpp @@ -52,15 +52,7 @@ template void nomalloc(const MatrixType& m) MatrixType m1 = MatrixType::Random(rows, cols), m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - mzero = MatrixType::Zero(rows, cols), - identity = Matrix - ::Identity(rows, rows), - square = Matrix - ::Random(rows, rows); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); + m3(rows, cols); Scalar s1 = internal::random(); @@ -137,13 +129,20 @@ void ctms_decompositions() 0, maxSize, maxSize> ComplexMatrix; - const Matrix A(Matrix::Random(size, size)); + const Matrix A(Matrix::Random(size, size)), B(Matrix::Random(size, size)); + Matrix X(size,size); const ComplexMatrix complexA(ComplexMatrix::Random(size, size)); const Matrix saA = A.adjoint() * A; + const Vector b(Vector::Random(size)); + Vector x(size); // Cholesky module Eigen::LLT LLT; LLT.compute(A); + X = LLT.solve(B); + x = LLT.solve(b); Eigen::LDLT LDLT; LDLT.compute(A); + X = LDLT.solve(B); + x = LDLT.solve(b); // Eigenvalues module Eigen::HessenbergDecomposition hessDecomp; hessDecomp.compute(complexA); @@ -155,12 +154,22 @@ void ctms_decompositions() // LU module Eigen::PartialPivLU ppLU; ppLU.compute(A); + X = ppLU.solve(B); + x = ppLU.solve(b); Eigen::FullPivLU fpLU; fpLU.compute(A); + X = fpLU.solve(B); + x = fpLU.solve(b); // QR module Eigen::HouseholderQR hQR; hQR.compute(A); + X = hQR.solve(B); + x = hQR.solve(b); Eigen::ColPivHouseholderQR cpQR; cpQR.compute(A); + // FIXME X = cpQR.solve(B); + x = cpQR.solve(b); Eigen::FullPivHouseholderQR fpQR; fpQR.compute(A); + // FIXME X = fpQR.solve(B); + x = fpQR.solve(b); // SVD module Eigen::JacobiSVD jSVD; jSVD.compute(A, ComputeFullU | ComputeFullV); diff --git a/gtsam/3rdparty/Eigen/test/nullary.cpp b/gtsam/3rdparty/Eigen/test/nullary.cpp index 0df15c081..6c9ee5f34 100644 --- a/gtsam/3rdparty/Eigen/test/nullary.cpp +++ b/gtsam/3rdparty/Eigen/test/nullary.cpp @@ -52,11 +52,14 @@ void testVectorType(const VectorType& base) { typedef typename internal::traits::Index Index; typedef typename internal::traits::Scalar Scalar; - Scalar low = internal::random(-500,500); - Scalar high = internal::random(-500,500); - if (low>high) std::swap(low,high); + const Index size = base.size(); - const Scalar step = (high-low)/(size-1); + + Scalar high = internal::random(-500,500); + Scalar low = (size == 1 ? high : internal::random(-500,500)); + if (low>high) std::swap(low,high); + + const Scalar step = ((size == 1) ? 1 : (high-low)/(size-1)); // check whether the result yields what we expect it to do VectorType m(base); @@ -76,8 +79,8 @@ void testVectorType(const VectorType& base) VERIFY( (MatrixXd(RowVectorXd::LinSpaced(3, 0, 1)) - RowVector3d(0, 0.5, 1)).norm() < std::numeric_limits::epsilon() ); // These guys sometimes fail! This is not good. Any ideas how to fix them!? -// VERIFY( m(m.size()-1) == high ); -// VERIFY( m(0) == low ); + //VERIFY( m(m.size()-1) == high ); + //VERIFY( m(0) == low ); // sequential access version m = VectorType::LinSpaced(Sequential,size,low,high); @@ -97,6 +100,12 @@ void testVectorType(const VectorType& base) Matrix size_changer(size+50); size_changer.setLinSpaced(size,low,high); VERIFY( size_changer.size() == size ); + + typedef Matrix ScalarMatrix; + ScalarMatrix scalar; + scalar.setLinSpaced(1,low,high); + VERIFY_IS_APPROX( scalar, ScalarMatrix::Constant(high) ); + VERIFY_IS_APPROX( ScalarMatrix::LinSpaced(1,low,high), ScalarMatrix::Constant(high) ); } template @@ -124,5 +133,6 @@ void test_nullary() CALL_SUBTEST_6( testVectorType(Vector3d()) ); CALL_SUBTEST_7( testVectorType(VectorXf(internal::random(1,300))) ); CALL_SUBTEST_8( testVectorType(Vector3f()) ); + CALL_SUBTEST_8( testVectorType(Matrix()) ); } } diff --git a/gtsam/3rdparty/Eigen/test/pardiso_support.cpp b/gtsam/3rdparty/Eigen/test/pardiso_support.cpp new file mode 100644 index 000000000..67efad6d8 --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/pardiso_support.cpp @@ -0,0 +1,29 @@ +/* + Intel Copyright (C) .... +*/ + +#include "sparse_solver.h" +#include + +template void test_pardiso_T() +{ + PardisoLLT < SparseMatrix, Lower> pardiso_llt_lower; + PardisoLLT < SparseMatrix, Upper> pardiso_llt_upper; + PardisoLDLT < SparseMatrix, Lower> pardiso_ldlt_lower; + PardisoLDLT < SparseMatrix, Upper> pardiso_ldlt_upper; + PardisoLU < SparseMatrix > pardiso_lu; + + check_sparse_spd_solving(pardiso_llt_lower); + check_sparse_spd_solving(pardiso_llt_upper); + check_sparse_spd_solving(pardiso_ldlt_lower); + check_sparse_spd_solving(pardiso_ldlt_upper); + check_sparse_square_solving(pardiso_lu); +} + +void test_pardiso_support() +{ + CALL_SUBTEST_1(test_pardiso_T()); + CALL_SUBTEST_2(test_pardiso_T()); + CALL_SUBTEST_3(test_pardiso_T< std::complex >()); + CALL_SUBTEST_4(test_pardiso_T< std::complex >()); +} diff --git a/gtsam/3rdparty/Eigen/test/pastix_support.cpp b/gtsam/3rdparty/Eigen/test/pastix_support.cpp new file mode 100644 index 000000000..dbce30d1c --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/pastix_support.cpp @@ -0,0 +1,59 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2008-2012 Gael Guennebaud +// Copyright (C) 2012 Désiré Nuentsa-Wakam +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . +#include "sparse_solver.h" +#include +#include + + +template void test_pastix_T() +{ + PastixLLT< SparseMatrix, Eigen::Lower > pastix_llt_lower; + PastixLDLT< SparseMatrix, Eigen::Lower > pastix_ldlt_lower; + PastixLLT< SparseMatrix, Eigen::Upper > pastix_llt_upper; + PastixLDLT< SparseMatrix, Eigen::Upper > pastix_ldlt_upper; + PastixLU< SparseMatrix > pastix_lu; + + check_sparse_spd_solving(pastix_llt_lower); + check_sparse_spd_solving(pastix_ldlt_lower); + check_sparse_spd_solving(pastix_llt_upper); + check_sparse_spd_solving(pastix_ldlt_upper); + check_sparse_square_solving(pastix_lu); +} + +// There is no support for selfadjoint matrices with PaStiX. +// Complex symmetric matrices should pass though +template void test_pastix_T_LU() +{ + PastixLU< SparseMatrix > pastix_lu; + check_sparse_square_solving(pastix_lu); +} + +void test_pastix_support() +{ + CALL_SUBTEST_1(test_pastix_T()); + CALL_SUBTEST_2(test_pastix_T()); + CALL_SUBTEST_3( (test_pastix_T_LU >()) ); + CALL_SUBTEST_4(test_pastix_T_LU >()); +} \ No newline at end of file diff --git a/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp b/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp index d0fa01310..308838c70 100644 --- a/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp +++ b/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp @@ -24,23 +24,6 @@ #include "main.h" -template -void randomPermutationVector(PermutationVectorType& v, typename PermutationVectorType::Index size) -{ - typedef typename PermutationVectorType::Index Index; - typedef typename PermutationVectorType::Scalar Scalar; - v.resize(size); - for(Index i = 0; i < size; ++i) v(i) = Scalar(i); - if(size == 1) return; - for(Index n = 0; n < 3 * size; ++n) - { - Index i = internal::random(0, size-1); - Index j; - do j = internal::random(0, size-1); while(j==i); - std::swap(v(i), v(j)); - } -} - using namespace std; template void permutationmatrices(const MatrixType& m) { diff --git a/gtsam/3rdparty/Eigen/test/product.h b/gtsam/3rdparty/Eigen/test/product.h index 40ae4d51b..e77f8c41e 100644 --- a/gtsam/3rdparty/Eigen/test/product.h +++ b/gtsam/3rdparty/Eigen/test/product.h @@ -54,8 +54,7 @@ template void product(const MatrixType& m) // to test it, hence I consider that we will have tested Random.h MatrixType m1 = MatrixType::Random(rows, cols), m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - mzero = MatrixType::Zero(rows, cols); + m3(rows, cols); RowSquareMatrixType identity = RowSquareMatrixType::Identity(rows, rows), square = RowSquareMatrixType::Random(rows, rows), @@ -63,9 +62,7 @@ template void product(const MatrixType& m) ColSquareMatrixType square2 = ColSquareMatrixType::Random(cols, cols), res2 = ColSquareMatrixType::Random(cols, cols); - RowVectorType v1 = RowVectorType::Random(rows), - v2 = RowVectorType::Random(rows), - vzero = RowVectorType::Zero(rows); + RowVectorType v1 = RowVectorType::Random(rows); ColVectorType vc2 = ColVectorType::Random(cols), vcres(cols); OtherMajorMatrixType tm1 = m1; diff --git a/gtsam/3rdparty/Eigen/test/product_extra.cpp b/gtsam/3rdparty/Eigen/test/product_extra.cpp index 15dc5ab96..ca302b469 100644 --- a/gtsam/3rdparty/Eigen/test/product_extra.cpp +++ b/gtsam/3rdparty/Eigen/test/product_extra.cpp @@ -153,11 +153,11 @@ void zero_sized_objects() void test_product_extra() { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( product_extra(MatrixXf(internal::random(1,320), internal::random(1,320))) ); - CALL_SUBTEST_2( product_extra(MatrixXd(internal::random(1,320), internal::random(1,320))) ); + CALL_SUBTEST_1( product_extra(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_2( product_extra(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_2( mat_mat_scalar_scalar_product() ); - CALL_SUBTEST_3( product_extra(MatrixXcf(internal::random(1,150), internal::random(1,150))) ); - CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random(1,150), internal::random(1,150))) ); + CALL_SUBTEST_3( product_extra(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); + CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); CALL_SUBTEST_5( zero_sized_objects() ); } } diff --git a/gtsam/3rdparty/Eigen/test/product_large.cpp b/gtsam/3rdparty/Eigen/test/product_large.cpp index 8ed937068..6f7a91b84 100644 --- a/gtsam/3rdparty/Eigen/test/product_large.cpp +++ b/gtsam/3rdparty/Eigen/test/product_large.cpp @@ -27,11 +27,11 @@ void test_product_large() { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( product(MatrixXf(internal::random(1,320), internal::random(1,320))) ); - CALL_SUBTEST_2( product(MatrixXd(internal::random(1,320), internal::random(1,320))) ); - CALL_SUBTEST_3( product(MatrixXi(internal::random(1,320), internal::random(1,320))) ); - CALL_SUBTEST_4( product(MatrixXcf(internal::random(1,150), internal::random(1,150))) ); - CALL_SUBTEST_5( product(Matrix(internal::random(1,320), internal::random(1,320))) ); + CALL_SUBTEST_1( product(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_2( product(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_3( product(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_4( product(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); + CALL_SUBTEST_5( product(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } #if defined EIGEN_TEST_PART_6 diff --git a/gtsam/3rdparty/Eigen/test/product_mmtr.cpp b/gtsam/3rdparty/Eigen/test/product_mmtr.cpp index 1048a894d..c6ceb487f 100644 --- a/gtsam/3rdparty/Eigen/test/product_mmtr.cpp +++ b/gtsam/3rdparty/Eigen/test/product_mmtr.cpp @@ -72,9 +72,9 @@ void test_product_mmtr() { for(int i = 0; i < g_repeat ; i++) { - CALL_SUBTEST_1((mmtr(internal::random(1,320)))); - CALL_SUBTEST_2((mmtr(internal::random(1,320)))); - CALL_SUBTEST_3((mmtr >(internal::random(1,200)))); - CALL_SUBTEST_4((mmtr >(internal::random(1,200)))); + CALL_SUBTEST_1((mmtr(internal::random(1,EIGEN_TEST_MAX_SIZE)))); + CALL_SUBTEST_2((mmtr(internal::random(1,EIGEN_TEST_MAX_SIZE)))); + CALL_SUBTEST_3((mmtr >(internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); + CALL_SUBTEST_4((mmtr >(internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); } } diff --git a/gtsam/3rdparty/Eigen/test/product_notemporary.cpp b/gtsam/3rdparty/Eigen/test/product_notemporary.cpp index 980e2bbaf..1a9dc14d9 100644 --- a/gtsam/3rdparty/Eigen/test/product_notemporary.cpp +++ b/gtsam/3rdparty/Eigen/test/product_notemporary.cpp @@ -141,13 +141,13 @@ void test_product_notemporary() { int s; for(int i = 0; i < g_repeat; i++) { - s = internal::random(16,320); + s = internal::random(16,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_1( product_notemporary(MatrixXf(s, s)) ); - s = internal::random(16,320); + s = internal::random(16,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_2( product_notemporary(MatrixXd(s, s)) ); - s = internal::random(16,120); + s = internal::random(16,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_3( product_notemporary(MatrixXcf(s,s)) ); - s = internal::random(16,120); + s = internal::random(16,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_4( product_notemporary(MatrixXcd(s,s)) ); } } diff --git a/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp b/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp index ca84969eb..6c1d83bf2 100644 --- a/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp +++ b/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp @@ -83,13 +83,14 @@ void test_product_selfadjoint() CALL_SUBTEST_1( product_selfadjoint(Matrix()) ); CALL_SUBTEST_2( product_selfadjoint(Matrix()) ); CALL_SUBTEST_3( product_selfadjoint(Matrix3d()) ); - s = internal::random(1,150); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_4( product_selfadjoint(MatrixXcf(s, s)) ); - s = internal::random(1,150); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_5( product_selfadjoint(MatrixXcd(s,s)) ); - s = internal::random(1,320); + s = internal::random(1,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_6( product_selfadjoint(MatrixXd(s,s)) ); - s = internal::random(1,320); + s = internal::random(1,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_7( product_selfadjoint(Matrix(s,s)) ); } + EIGEN_UNUSED_VARIABLE(s) } diff --git a/gtsam/3rdparty/Eigen/test/product_small.cpp b/gtsam/3rdparty/Eigen/test/product_small.cpp index d7f1c09ff..cf430a2d3 100644 --- a/gtsam/3rdparty/Eigen/test/product_small.cpp +++ b/gtsam/3rdparty/Eigen/test/product_small.cpp @@ -25,6 +25,25 @@ #define EIGEN_NO_STATIC_ASSERT #include "product.h" +// regression test for bug 447 +void product1x1() +{ + Matrix matAstatic; + Matrix matBstatic; + matAstatic.setRandom(); + matBstatic.setRandom(); + VERIFY_IS_APPROX( (matAstatic * matBstatic).coeff(0,0), + matAstatic.cwiseProduct(matBstatic.transpose()).sum() ); + + MatrixXf matAdynamic(1,3); + MatrixXf matBdynamic(3,1); + matAdynamic.setRandom(); + matBdynamic.setRandom(); + VERIFY_IS_APPROX( (matAdynamic * matBdynamic).coeff(0,0), + matAdynamic.cwiseProduct(matBdynamic.transpose()).sum() ); +} + + void test_product_small() { for(int i = 0; i < g_repeat; i++) { @@ -33,6 +52,7 @@ void test_product_small() CALL_SUBTEST_3( product(Matrix3d()) ); CALL_SUBTEST_4( product(Matrix4d()) ); CALL_SUBTEST_5( product(Matrix4f()) ); + CALL_SUBTEST_6( product1x1() ); } #ifdef EIGEN_TEST_PART_6 diff --git a/gtsam/3rdparty/Eigen/test/product_symm.cpp b/gtsam/3rdparty/Eigen/test/product_symm.cpp index 21c2f605b..4585c3b6a 100644 --- a/gtsam/3rdparty/Eigen/test/product_symm.cpp +++ b/gtsam/3rdparty/Eigen/test/product_symm.cpp @@ -98,14 +98,14 @@ void test_product_symm() { for(int i = 0; i < g_repeat ; i++) { - CALL_SUBTEST_1(( symm(internal::random(1,320),internal::random(1,320)) )); - CALL_SUBTEST_2(( symm(internal::random(1,320),internal::random(1,320)) )); - CALL_SUBTEST_3(( symm,Dynamic,Dynamic>(internal::random(1,200),internal::random(1,200)) )); - CALL_SUBTEST_4(( symm,Dynamic,Dynamic>(internal::random(1,200),internal::random(1,200)) )); + CALL_SUBTEST_1(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)) )); + CALL_SUBTEST_2(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)) )); + CALL_SUBTEST_3(( symm,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)) )); + CALL_SUBTEST_4(( symm,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)) )); - CALL_SUBTEST_5(( symm(internal::random(1,320)) )); - CALL_SUBTEST_6(( symm(internal::random(1,320)) )); - CALL_SUBTEST_7(( symm,Dynamic,1>(internal::random(1,320)) )); - CALL_SUBTEST_8(( symm,Dynamic,1>(internal::random(1,320)) )); + CALL_SUBTEST_5(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); + CALL_SUBTEST_6(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); + CALL_SUBTEST_7(( symm,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); + CALL_SUBTEST_8(( symm,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); } } diff --git a/gtsam/3rdparty/Eigen/test/product_syrk.cpp b/gtsam/3rdparty/Eigen/test/product_syrk.cpp index 553410b9b..71285acb1 100644 --- a/gtsam/3rdparty/Eigen/test/product_syrk.cpp +++ b/gtsam/3rdparty/Eigen/test/product_syrk.cpp @@ -101,13 +101,13 @@ void test_product_syrk() for(int i = 0; i < g_repeat ; i++) { int s; - s = internal::random(1,320); + s = internal::random(1,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_1( syrk(MatrixXf(s, s)) ); - s = internal::random(1,320); + s = internal::random(1,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_2( syrk(MatrixXd(s, s)) ); - s = internal::random(1,200); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_3( syrk(MatrixXcf(s, s)) ); - s = internal::random(1,200); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_4( syrk(MatrixXcd(s, s)) ); } } diff --git a/gtsam/3rdparty/Eigen/test/product_trmm.cpp b/gtsam/3rdparty/Eigen/test/product_trmm.cpp index e117f6931..dab05d8b0 100644 --- a/gtsam/3rdparty/Eigen/test/product_trmm.cpp +++ b/gtsam/3rdparty/Eigen/test/product_trmm.cpp @@ -24,70 +24,100 @@ #include "main.h" -template void trmm(int size,int /*othersize*/) +template +void trmm(int rows=internal::random(1,EIGEN_TEST_MAX_SIZE), + int cols=internal::random(1,EIGEN_TEST_MAX_SIZE), + int otherCols = OtherCols==Dynamic?internal::random(1,EIGEN_TEST_MAX_SIZE):OtherCols) { typedef typename NumTraits::Real RealScalar; - typedef Matrix MatrixColMaj; - typedef Matrix MatrixRowMaj; + typedef Matrix TriMatrix; + typedef Matrix OnTheRight; + typedef Matrix OnTheLeft; + + typedef Matrix ResXS; + typedef Matrix ResSX; - DenseIndex rows = size; - DenseIndex cols = internal::random(1,size); - - MatrixColMaj triV(rows,cols), triH(cols,rows), upTri(cols,rows), loTri(rows,cols), - unitUpTri(cols,rows), unitLoTri(rows,cols), strictlyUpTri(cols,rows), strictlyLoTri(rows,cols); - MatrixColMaj ge1(rows,cols), ge2(cols,rows), ge3; - MatrixRowMaj rge3; + TriMatrix mat(rows,cols), tri(rows,cols), triTr(cols,rows); + + OnTheRight ge_right(cols,otherCols); + OnTheLeft ge_left(otherCols,rows); + ResSX ge_sx, ge_sx_save; + ResXS ge_xs, ge_xs_save; Scalar s1 = internal::random(), s2 = internal::random(); - triV.setRandom(); - triH.setRandom(); - loTri = triV.template triangularView(); - upTri = triH.template triangularView(); - unitLoTri = triV.template triangularView(); - unitUpTri = triH.template triangularView(); - strictlyLoTri = triV.template triangularView(); - strictlyUpTri = triH.template triangularView(); - ge1.setRandom(); - ge2.setRandom(); + mat.setRandom(); + tri = mat.template triangularView(); + triTr = mat.transpose().template triangularView(); + ge_right.setRandom(); + ge_left.setRandom(); - VERIFY_IS_APPROX( ge3 = triV.template triangularView() * ge2, loTri * ge2); - VERIFY_IS_APPROX( ge3 = ge2 * triV.template triangularView(), ge2 * loTri); - VERIFY_IS_APPROX( ge3 = triH.template triangularView() * ge1, upTri * ge1); - VERIFY_IS_APPROX( ge3 = ge1 * triH.template triangularView(), ge1 * upTri); - VERIFY_IS_APPROX( ge3 = (s1*triV.adjoint()).template triangularView() * (s2*ge1), s1*loTri.adjoint() * (s2*ge1)); - VERIFY_IS_APPROX( ge3 = ge1 * triV.adjoint().template triangularView(), ge1 * loTri.adjoint()); - VERIFY_IS_APPROX( ge3 = triH.adjoint().template triangularView() * ge2, upTri.adjoint() * ge2); - VERIFY_IS_APPROX( ge3 = ge2 * triH.adjoint().template triangularView(), ge2 * upTri.adjoint()); - VERIFY_IS_APPROX( ge3 = triV.template triangularView() * ge1.adjoint(), loTri * ge1.adjoint()); - VERIFY_IS_APPROX( ge3 = ge1.adjoint() * triV.template triangularView(), ge1.adjoint() * loTri); - VERIFY_IS_APPROX( ge3 = triH.template triangularView() * ge2.adjoint(), upTri * ge2.adjoint()); - VERIFY_IS_APPROX(rge3.noalias() = triH.template triangularView() * ge2.adjoint(), upTri * ge2.adjoint()); - VERIFY_IS_APPROX( ge3 = (s1*triV).adjoint().template triangularView() * ge2.adjoint(), internal::conj(s1) * loTri.adjoint() * ge2.adjoint()); - VERIFY_IS_APPROX(rge3.noalias() = triV.adjoint().template triangularView() * ge2.adjoint(), loTri.adjoint() * ge2.adjoint()); - VERIFY_IS_APPROX( ge3 = triH.adjoint().template triangularView() * ge1.adjoint(), upTri.adjoint() * ge1.adjoint()); - VERIFY_IS_APPROX(rge3.noalias() = triH.adjoint().template triangularView() * ge1.adjoint(), upTri.adjoint() * ge1.adjoint()); - - VERIFY_IS_APPROX( ge3 = triV.template triangularView() * ge2, unitLoTri * ge2); - VERIFY_IS_APPROX( rge3.noalias() = ge2 * triV.template triangularView(), ge2 * unitLoTri); - VERIFY_IS_APPROX( ge3 = ge2 * triV.template triangularView(), ge2 * unitLoTri); - VERIFY_IS_APPROX( ge3 = (s1*triV).adjoint().template triangularView() * ge2.adjoint(), internal::conj(s1) * unitLoTri.adjoint() * ge2.adjoint()); - - VERIFY_IS_APPROX( ge3 = triV.template triangularView() * ge2, strictlyLoTri * ge2); - VERIFY_IS_APPROX( rge3.noalias() = ge2 * triV.template triangularView(), ge2 * strictlyLoTri); - VERIFY_IS_APPROX( ge3 = ge2 * triV.template triangularView(), ge2 * strictlyLoTri); - VERIFY_IS_APPROX( ge3 = (s1*triV).adjoint().template triangularView() * ge2.adjoint(), internal::conj(s1) * strictlyLoTri.adjoint() * ge2.adjoint()); + VERIFY_IS_APPROX( ge_xs = mat.template triangularView() * ge_right, tri * ge_right); + VERIFY_IS_APPROX( ge_sx = ge_left * mat.template triangularView(), ge_left * tri); + + VERIFY_IS_APPROX( ge_xs.noalias() = mat.template triangularView() * ge_right, tri * ge_right); + VERIFY_IS_APPROX( ge_sx.noalias() = ge_left * mat.template triangularView(), ge_left * tri); + + VERIFY_IS_APPROX( ge_xs.noalias() = (s1*mat.adjoint()).template triangularView() * (s2*ge_left.transpose()), s1*triTr.conjugate() * (s2*ge_left.transpose())); + VERIFY_IS_APPROX( ge_sx.noalias() = ge_right.transpose() * mat.adjoint().template triangularView(), ge_right.transpose() * triTr.conjugate()); + + VERIFY_IS_APPROX( ge_xs.noalias() = (s1*mat.adjoint()).template triangularView() * (s2*ge_left.adjoint()), s1*triTr.conjugate() * (s2*ge_left.adjoint())); + VERIFY_IS_APPROX( ge_sx.noalias() = ge_right.adjoint() * mat.adjoint().template triangularView(), ge_right.adjoint() * triTr.conjugate()); + + ge_xs_save = ge_xs; + VERIFY_IS_APPROX( (ge_xs_save + s1*triTr.conjugate() * (s2*ge_left.adjoint())).eval(), ge_xs.noalias() += (s1*mat.adjoint()).template triangularView() * (s2*ge_left.adjoint()) ); + ge_sx_save = ge_sx; + VERIFY_IS_APPROX( ge_sx_save - (ge_right.adjoint() * (-s1 * triTr).conjugate()).eval(), ge_sx.noalias() -= (ge_right.adjoint() * (-s1 * mat).adjoint().template triangularView()).eval()); + + VERIFY_IS_APPROX( ge_xs = (s1*mat).adjoint().template triangularView() * ge_left.adjoint(), internal::conj(s1) * triTr.conjugate() * ge_left.adjoint()); + + // TODO check with sub-matrix expressions ? } +template +void trmv(int rows=internal::random(1,EIGEN_TEST_MAX_SIZE), int cols=internal::random(1,EIGEN_TEST_MAX_SIZE)) +{ + trmm(rows,cols,1); +} + +template +void trmm(int rows=internal::random(1,EIGEN_TEST_MAX_SIZE), int cols=internal::random(1,EIGEN_TEST_MAX_SIZE), int otherCols = internal::random(1,EIGEN_TEST_MAX_SIZE)) +{ + trmm(rows,cols,otherCols); +} + +#define CALL_ALL_ORDERS(NB,SCALAR,MODE) \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ + \ + EIGEN_CAT(CALL_SUBTEST_1,NB)((trmv())); \ + EIGEN_CAT(CALL_SUBTEST_1,NB)((trmv())); + + +#define CALL_ALL(NB,SCALAR) \ + CALL_ALL_ORDERS(EIGEN_CAT(1,NB),SCALAR,Upper) \ + CALL_ALL_ORDERS(EIGEN_CAT(2,NB),SCALAR,UnitUpper) \ + CALL_ALL_ORDERS(EIGEN_CAT(3,NB),SCALAR,StrictlyUpper) \ + CALL_ALL_ORDERS(EIGEN_CAT(1,NB),SCALAR,Lower) \ + CALL_ALL_ORDERS(EIGEN_CAT(2,NB),SCALAR,UnitLower) \ + CALL_ALL_ORDERS(EIGEN_CAT(3,NB),SCALAR,StrictlyLower) + + void test_product_trmm() { for(int i = 0; i < g_repeat ; i++) { - CALL_SUBTEST_1((trmm(internal::random(1,320),internal::random(1,320)))); - CALL_SUBTEST_2((trmm(internal::random(1,320),internal::random(1,320)))); - CALL_SUBTEST_3((trmm >(internal::random(1,200),internal::random(1,200)))); - CALL_SUBTEST_4((trmm >(internal::random(1,200),internal::random(1,200)))); + CALL_ALL(1,float); // EIGEN_SUFFIXES;11;111;21;121;31;131 + CALL_ALL(2,double); // EIGEN_SUFFIXES;12;112;22;122;32;132 + CALL_ALL(3,std::complex); // EIGEN_SUFFIXES;13;113;23;123;33;133 + CALL_ALL(4,std::complex); // EIGEN_SUFFIXES;14;114;24;124;34;134 } } diff --git a/gtsam/3rdparty/Eigen/test/product_trmv.cpp b/gtsam/3rdparty/Eigen/test/product_trmv.cpp index cfb7355ff..52707d22b 100644 --- a/gtsam/3rdparty/Eigen/test/product_trmv.cpp +++ b/gtsam/3rdparty/Eigen/test/product_trmv.cpp @@ -93,11 +93,12 @@ void test_product_trmv() CALL_SUBTEST_1( trmv(Matrix()) ); CALL_SUBTEST_2( trmv(Matrix()) ); CALL_SUBTEST_3( trmv(Matrix3d()) ); - s = internal::random(1,200); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_4( trmv(MatrixXcf(s,s)) ); - s = internal::random(1,200); + s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); CALL_SUBTEST_5( trmv(MatrixXcd(s,s)) ); - s = internal::random(1,320); + s = internal::random(1,EIGEN_TEST_MAX_SIZE); CALL_SUBTEST_6( trmv(Matrix(s, s)) ); } + EIGEN_UNUSED_VARIABLE(s); } diff --git a/gtsam/3rdparty/Eigen/test/product_trsolve.cpp b/gtsam/3rdparty/Eigen/test/product_trsolve.cpp index c207cc500..20380accd 100644 --- a/gtsam/3rdparty/Eigen/test/product_trsolve.cpp +++ b/gtsam/3rdparty/Eigen/test/product_trsolve.cpp @@ -93,14 +93,14 @@ void test_product_trsolve() for(int i = 0; i < g_repeat ; i++) { // matrices - CALL_SUBTEST_1((trsolve(internal::random(1,320),internal::random(1,320)))); - CALL_SUBTEST_2((trsolve(internal::random(1,320),internal::random(1,320)))); - CALL_SUBTEST_3((trsolve,Dynamic,Dynamic>(internal::random(1,200),internal::random(1,200)))); - CALL_SUBTEST_4((trsolve,Dynamic,Dynamic>(internal::random(1,200),internal::random(1,200)))); + CALL_SUBTEST_1((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)))); + CALL_SUBTEST_2((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)))); + CALL_SUBTEST_3((trsolve,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); + CALL_SUBTEST_4((trsolve,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); // vectors - CALL_SUBTEST_1((trsolve(internal::random(1,320)))); - CALL_SUBTEST_5((trsolve,Dynamic,1>(internal::random(1,320)))); + CALL_SUBTEST_1((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE)))); + CALL_SUBTEST_5((trsolve,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)))); CALL_SUBTEST_6((trsolve())); CALL_SUBTEST_7((trsolve())); CALL_SUBTEST_8((trsolve,4,1>())); diff --git a/gtsam/3rdparty/Eigen/test/qr.cpp b/gtsam/3rdparty/Eigen/test/qr.cpp index 7e9ac9df9..6005c0e27 100644 --- a/gtsam/3rdparty/Eigen/test/qr.cpp +++ b/gtsam/3rdparty/Eigen/test/qr.cpp @@ -114,8 +114,8 @@ template void qr_verify_assert() void test_qr() { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( qr(MatrixXf(internal::random(1,200),internal::random(1,200))) ); - CALL_SUBTEST_2( qr(MatrixXcd(internal::random(1,200),internal::random(1,200))) ); + CALL_SUBTEST_1( qr(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_2( qr(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); CALL_SUBTEST_3(( qr_fixedsize, 2 >() )); CALL_SUBTEST_4(( qr_fixedsize, 4 >() )); CALL_SUBTEST_5(( qr_fixedsize, 7 >() )); diff --git a/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp b/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp index 3cf651fa7..cdcf060ef 100644 --- a/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp +++ b/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp @@ -30,7 +30,7 @@ template void qr() { typedef typename MatrixType::Index Index; - Index rows = internal::random(2,200), cols = internal::random(2,200), cols2 = internal::random(2,200); + Index rows = internal::random(2,EIGEN_TEST_MAX_SIZE), cols = internal::random(2,EIGEN_TEST_MAX_SIZE), cols2 = internal::random(2,EIGEN_TEST_MAX_SIZE); Index rank = internal::random(1, (std::min)(rows, cols)-1); typedef typename MatrixType::Scalar Scalar; diff --git a/gtsam/3rdparty/Eigen/test/redux.cpp b/gtsam/3rdparty/Eigen/test/redux.cpp index a8bcf3b51..61d1bf911 100644 --- a/gtsam/3rdparty/Eigen/test/redux.cpp +++ b/gtsam/3rdparty/Eigen/test/redux.cpp @@ -35,6 +35,10 @@ template void matrixRedux(const MatrixType& m) MatrixType m1 = MatrixType::Random(rows, cols); + // The entries of m1 are uniformly distributed in [0,1], so m1.prod() is very small. This may lead to test + // failures if we underflow into denormals. Thus, we scale so that entires are close to 1. + MatrixType m1_for_prod = MatrixType::Ones(rows, cols) + Scalar(0.2) * m1; + VERIFY_IS_MUCH_SMALLER_THAN(MatrixType::Zero(rows, cols).sum(), Scalar(1)); VERIFY_IS_APPROX(MatrixType::Ones(rows, cols).sum(), Scalar(float(rows*cols))); // the float() here to shut up excessive MSVC warning about int->complex conversion being lossy Scalar s(0), p(1), minc(internal::real(m1.coeff(0))), maxc(internal::real(m1.coeff(0))); @@ -42,7 +46,7 @@ template void matrixRedux(const MatrixType& m) for(int i = 0; i < rows; i++) { s += m1(i,j); - p *= m1(i,j); + p *= m1_for_prod(i,j); minc = (std::min)(internal::real(minc), internal::real(m1(i,j))); maxc = (std::max)(internal::real(maxc), internal::real(m1(i,j))); } @@ -50,7 +54,7 @@ template void matrixRedux(const MatrixType& m) VERIFY_IS_APPROX(m1.sum(), s); VERIFY_IS_APPROX(m1.mean(), mean); - VERIFY_IS_APPROX(m1.prod(), p); + VERIFY_IS_APPROX(m1_for_prod.prod(), p); VERIFY_IS_APPROX(m1.real().minCoeff(), internal::real(minc)); VERIFY_IS_APPROX(m1.real().maxCoeff(), internal::real(maxc)); @@ -61,7 +65,7 @@ template void matrixRedux(const MatrixType& m) Index c1 = internal::random(c0+1,cols)-c0; VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).sum(), m1.block(r0,c0,r1,c1).eval().sum()); VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).mean(), m1.block(r0,c0,r1,c1).eval().mean()); - VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).prod(), m1.block(r0,c0,r1,c1).eval().prod()); + VERIFY_IS_APPROX(m1_for_prod.block(r0,c0,r1,c1).prod(), m1_for_prod.block(r0,c0,r1,c1).eval().prod()); VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).real().minCoeff(), m1.block(r0,c0,r1,c1).real().eval().minCoeff()); VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).real().maxCoeff(), m1.block(r0,c0,r1,c1).real().eval().maxCoeff()); @@ -78,6 +82,8 @@ template void vectorRedux(const VectorType& w) Index size = w.size(); VectorType v = VectorType::Random(size); + VectorType v_for_prod = VectorType::Ones(size) + Scalar(0.2) * v; // see comment above declaration of m1_for_prod + for(int i = 1; i < size; i++) { Scalar s(0), p(1); @@ -85,12 +91,12 @@ template void vectorRedux(const VectorType& w) for(int j = 0; j < i; j++) { s += v[j]; - p *= v[j]; + p *= v_for_prod[j]; minc = (std::min)(minc, internal::real(v[j])); maxc = (std::max)(maxc, internal::real(v[j])); } VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(s - v.head(i).sum()), Scalar(1)); - VERIFY_IS_APPROX(p, v.head(i).prod()); + VERIFY_IS_APPROX(p, v_for_prod.head(i).prod()); VERIFY_IS_APPROX(minc, v.real().head(i).minCoeff()); VERIFY_IS_APPROX(maxc, v.real().head(i).maxCoeff()); } @@ -102,12 +108,12 @@ template void vectorRedux(const VectorType& w) for(int j = i; j < size; j++) { s += v[j]; - p *= v[j]; + p *= v_for_prod[j]; minc = (std::min)(minc, internal::real(v[j])); maxc = (std::max)(maxc, internal::real(v[j])); } VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(s - v.tail(size-i).sum()), Scalar(1)); - VERIFY_IS_APPROX(p, v.tail(size-i).prod()); + VERIFY_IS_APPROX(p, v_for_prod.tail(size-i).prod()); VERIFY_IS_APPROX(minc, v.real().tail(size-i).minCoeff()); VERIFY_IS_APPROX(maxc, v.real().tail(size-i).maxCoeff()); } @@ -119,12 +125,12 @@ template void vectorRedux(const VectorType& w) for(int j = i; j < size-i; j++) { s += v[j]; - p *= v[j]; + p *= v_for_prod[j]; minc = (std::min)(minc, internal::real(v[j])); maxc = (std::max)(maxc, internal::real(v[j])); } VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(s - v.segment(i, size-2*i).sum()), Scalar(1)); - VERIFY_IS_APPROX(p, v.segment(i, size-2*i).prod()); + VERIFY_IS_APPROX(p, v_for_prod.segment(i, size-2*i).prod()); VERIFY_IS_APPROX(minc, v.real().segment(i, size-2*i).minCoeff()); VERIFY_IS_APPROX(maxc, v.real().segment(i, size-2*i).maxCoeff()); } @@ -139,6 +145,9 @@ template void vectorRedux(const VectorType& w) void test_redux() { + // the max size cannot be too large, otherwise reduxion operations obviously generate large errors. + int maxsize = (std::min)(100,EIGEN_TEST_MAX_SIZE); + EIGEN_UNUSED_VARIABLE(maxsize); for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_1( matrixRedux(Matrix()) ); CALL_SUBTEST_1( matrixRedux(Array()) ); @@ -146,19 +155,19 @@ void test_redux() CALL_SUBTEST_2( matrixRedux(Array2f()) ); CALL_SUBTEST_3( matrixRedux(Matrix4d()) ); CALL_SUBTEST_3( matrixRedux(Array4d()) ); - CALL_SUBTEST_4( matrixRedux(MatrixXcf(3, 3)) ); - CALL_SUBTEST_4( matrixRedux(ArrayXXcf(3, 3)) ); - CALL_SUBTEST_5( matrixRedux(MatrixXd(8, 12)) ); - CALL_SUBTEST_5( matrixRedux(ArrayXXd(8, 12)) ); - CALL_SUBTEST_6( matrixRedux(MatrixXi(8, 12)) ); - CALL_SUBTEST_6( matrixRedux(ArrayXXi(8, 12)) ); + CALL_SUBTEST_4( matrixRedux(MatrixXcf(internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_4( matrixRedux(ArrayXXcf(internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_5( matrixRedux(MatrixXd (internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_5( matrixRedux(ArrayXXd (internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_6( matrixRedux(MatrixXi (internal::random(1,maxsize), internal::random(1,maxsize))) ); + CALL_SUBTEST_6( matrixRedux(ArrayXXi (internal::random(1,maxsize), internal::random(1,maxsize))) ); } for(int i = 0; i < g_repeat; i++) { CALL_SUBTEST_7( vectorRedux(Vector4f()) ); CALL_SUBTEST_7( vectorRedux(Array4f()) ); - CALL_SUBTEST_5( vectorRedux(VectorXd(10)) ); - CALL_SUBTEST_5( vectorRedux(ArrayXd(10)) ); - CALL_SUBTEST_8( vectorRedux(VectorXf(33)) ); - CALL_SUBTEST_8( vectorRedux(ArrayXf(33)) ); + CALL_SUBTEST_5( vectorRedux(VectorXd(internal::random(1,maxsize))) ); + CALL_SUBTEST_5( vectorRedux(ArrayXd(internal::random(1,maxsize))) ); + CALL_SUBTEST_8( vectorRedux(VectorXf(internal::random(1,maxsize))) ); + CALL_SUBTEST_8( vectorRedux(ArrayXf(internal::random(1,maxsize))) ); } } diff --git a/gtsam/3rdparty/Eigen/test/schur_complex.cpp b/gtsam/3rdparty/Eigen/test/schur_complex.cpp index a2a89fd67..15532e2cc 100644 --- a/gtsam/3rdparty/Eigen/test/schur_complex.cpp +++ b/gtsam/3rdparty/Eigen/test/schur_complex.cpp @@ -80,7 +80,7 @@ template void schur(int size = MatrixType::ColsAtCompileTim void test_schur_complex() { CALL_SUBTEST_1(( schur() )); - CALL_SUBTEST_2(( schur(internal::random(1,50)) )); + CALL_SUBTEST_2(( schur(internal::random(1,EIGEN_TEST_MAX_SIZE/4)) )); CALL_SUBTEST_3(( schur, 1, 1> >() )); CALL_SUBTEST_4(( schur >() )); diff --git a/gtsam/3rdparty/Eigen/test/schur_real.cpp b/gtsam/3rdparty/Eigen/test/schur_real.cpp index 58717fa1a..ba0947d8c 100644 --- a/gtsam/3rdparty/Eigen/test/schur_real.cpp +++ b/gtsam/3rdparty/Eigen/test/schur_real.cpp @@ -99,7 +99,7 @@ template void schur(int size = MatrixType::ColsAtCompileTim void test_schur_real() { CALL_SUBTEST_1(( schur() )); - CALL_SUBTEST_2(( schur(internal::random(1,50)) )); + CALL_SUBTEST_2(( schur(internal::random(1,EIGEN_TEST_MAX_SIZE/4)) )); CALL_SUBTEST_3(( schur >() )); CALL_SUBTEST_4(( schur >() )); diff --git a/gtsam/3rdparty/Eigen/test/selfadjoint.cpp b/gtsam/3rdparty/Eigen/test/selfadjoint.cpp index 622045f20..db66017c1 100644 --- a/gtsam/3rdparty/Eigen/test/selfadjoint.cpp +++ b/gtsam/3rdparty/Eigen/test/selfadjoint.cpp @@ -54,20 +54,23 @@ template void selfadjoint(const MatrixType& m) void bug_159() { - Matrix3d m = Matrix3d::Random().selfadjointView(); + Matrix3d m = Matrix3d::Random().selfadjointView(); + EIGEN_UNUSED_VARIABLE(m) } void test_selfadjoint() { for(int i = 0; i < g_repeat ; i++) { - int s = internal::random(1,20); EIGEN_UNUSED_VARIABLE(s); + int s = internal::random(1,EIGEN_TEST_MAX_SIZE); EIGEN_UNUSED_VARIABLE(s); CALL_SUBTEST_1( selfadjoint(Matrix()) ); CALL_SUBTEST_2( selfadjoint(Matrix()) ); CALL_SUBTEST_3( selfadjoint(Matrix3cf()) ); CALL_SUBTEST_4( selfadjoint(MatrixXcd(s,s)) ); CALL_SUBTEST_5( selfadjoint(Matrix(s, s)) ); + + EIGEN_UNUSED_VARIABLE(s) } CALL_SUBTEST_1( bug_159() ); diff --git a/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp b/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp new file mode 100644 index 000000000..f1af0e467 --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp @@ -0,0 +1,55 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse_solver.h" + +template void test_simplicial_cholesky_T() +{ + SimplicialCholesky, Lower> chol_colmajor_lower; + SimplicialCholesky, Upper> chol_colmajor_upper; + SimplicialLLT, Lower> llt_colmajor_lower; + SimplicialLDLT, Upper> llt_colmajor_upper; + SimplicialLDLT, Lower> ldlt_colmajor_lower; + SimplicialLDLT, Upper> ldlt_colmajor_upper; + + check_sparse_spd_solving(chol_colmajor_lower); + check_sparse_spd_solving(chol_colmajor_upper); + check_sparse_spd_solving(llt_colmajor_lower); + check_sparse_spd_solving(llt_colmajor_upper); + check_sparse_spd_solving(ldlt_colmajor_lower); + check_sparse_spd_solving(ldlt_colmajor_upper); + + check_sparse_spd_determinant(chol_colmajor_lower); + check_sparse_spd_determinant(chol_colmajor_upper); + check_sparse_spd_determinant(llt_colmajor_lower); + check_sparse_spd_determinant(llt_colmajor_upper); + check_sparse_spd_determinant(ldlt_colmajor_lower); + check_sparse_spd_determinant(ldlt_colmajor_upper); +} + +void test_simplicial_cholesky() +{ + CALL_SUBTEST_1(test_simplicial_cholesky_T()); + CALL_SUBTEST_2(test_simplicial_cholesky_T >()); +} diff --git a/gtsam/3rdparty/Eigen/test/smallvectors.cpp b/gtsam/3rdparty/Eigen/test/smallvectors.cpp index 144944162..4c09d4ec6 100644 --- a/gtsam/3rdparty/Eigen/test/smallvectors.cpp +++ b/gtsam/3rdparty/Eigen/test/smallvectors.cpp @@ -22,6 +22,7 @@ // License and a copy of the GNU General Public License along with // Eigen. If not, see . +#define EIGEN_NO_STATIC_ASSERT #include "main.h" template void smallVectors() @@ -29,6 +30,7 @@ template void smallVectors() typedef Matrix V2; typedef Matrix V3; typedef Matrix V4; + typedef Matrix VX; Scalar x1 = internal::random(), x2 = internal::random(), x3 = internal::random(), @@ -45,6 +47,29 @@ template void smallVectors() VERIFY_IS_APPROX(x3, v3.z()); VERIFY_IS_APPROX(x3, v4.z()); VERIFY_IS_APPROX(x4, v4.w()); + + if (!NumTraits::IsInteger) + { + VERIFY_RAISES_ASSERT(V3(2, 1)) + VERIFY_RAISES_ASSERT(V3(3, 2)) + VERIFY_RAISES_ASSERT(V3(Scalar(3), 1)) + VERIFY_RAISES_ASSERT(V3(3, Scalar(1))) + VERIFY_RAISES_ASSERT(V3(Scalar(3), Scalar(1))) + VERIFY_RAISES_ASSERT(V3(Scalar(123), Scalar(123))) + + VERIFY_RAISES_ASSERT(V4(1, 3)) + VERIFY_RAISES_ASSERT(V4(2, 4)) + VERIFY_RAISES_ASSERT(V4(1, Scalar(4))) + VERIFY_RAISES_ASSERT(V4(Scalar(1), 4)) + VERIFY_RAISES_ASSERT(V4(Scalar(1), Scalar(4))) + VERIFY_RAISES_ASSERT(V4(Scalar(123), Scalar(123))) + + VERIFY_RAISES_ASSERT(VX(3, 2)) + VERIFY_RAISES_ASSERT(VX(Scalar(3), 1)) + VERIFY_RAISES_ASSERT(VX(3, Scalar(1))) + VERIFY_RAISES_ASSERT(VX(Scalar(3), Scalar(1))) + VERIFY_RAISES_ASSERT(VX(Scalar(123), Scalar(123))) + } } void test_smallvectors() diff --git a/gtsam/3rdparty/Eigen/test/sparse.h b/gtsam/3rdparty/Eigen/test/sparse.h index cc9da4855..860d9ad9c 100644 --- a/gtsam/3rdparty/Eigen/test/sparse.h +++ b/gtsam/3rdparty/Eigen/test/sparse.h @@ -1,7 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // -// Copyright (C) 2008 Daniel Gomez Ferro +// Copyright (C) 2008-2011 Gael Guennebaud // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -23,6 +23,7 @@ // Eigen. If not, see . #ifndef EIGEN_TESTSPARSE_H +#define EIGEN_TESTSPARSE_H #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET @@ -67,30 +68,36 @@ enum { * \param zeroCoords and nonzeroCoords allows to get the coordinate lists of the non zero, * and zero coefficients respectively. */ -template void +template void initSparse(double density, - Matrix& refMat, - SparseMatrix& sparseMat, + Matrix& refMat, + SparseMatrix& sparseMat, int flags = 0, std::vector* zeroCoords = 0, std::vector* nonzeroCoords = 0) { + enum { IsRowMajor = SparseMatrix::IsRowMajor }; sparseMat.setZero(); - sparseMat.reserve(int(refMat.rows()*refMat.cols()*density)); - for(int j=0; j(0,1) < density) ? internal::random() : Scalar(0); if ((flags&ForceNonZeroDiag) && (i==j)) { v = internal::random()*Scalar(3.); v = v*v + Scalar(5.); } - if ((flags & MakeLowerTriangular) && j>i) + if ((flags & MakeLowerTriangular) && aj>ai) v = Scalar(0); - else if ((flags & MakeUpperTriangular) && jpush_back(Vector2i(i,j)); + nonzeroCoords->push_back(Vector2i(ai,aj)); } else if (zeroCoords) { - zeroCoords->push_back(Vector2i(i,j)); + zeroCoords->push_back(Vector2i(ai,aj)); } - refMat(i,j) = v; + refMat(ai,aj) = v; } } - sparseMat.finalize(); + //sparseMat.finalize(); } -template void +template void initSparse(double density, - Matrix& refMat, - DynamicSparseMatrix& sparseMat, + Matrix& refMat, + DynamicSparseMatrix& sparseMat, int flags = 0, std::vector* zeroCoords = 0, std::vector* nonzeroCoords = 0) { + enum { IsRowMajor = DynamicSparseMatrix::IsRowMajor }; sparseMat.setZero(); sparseMat.reserve(int(refMat.rows()*refMat.cols()*density)); - for(int j=0; j(0,1) < density) ? internal::random() : Scalar(0); if ((flags&ForceNonZeroDiag) && (i==j)) { v = internal::random()*Scalar(3.); v = v*v + Scalar(5.); } - if ((flags & MakeLowerTriangular) && j>i) + if ((flags & MakeLowerTriangular) && aj>ai) v = Scalar(0); - else if ((flags & MakeUpperTriangular) && jpush_back(Vector2i(i,j)); + nonzeroCoords->push_back(Vector2i(ai,aj)); } else if (zeroCoords) { - zeroCoords->push_back(Vector2i(i,j)); + zeroCoords->push_back(Vector2i(ai,aj)); } - refMat(i,j) = v; + refMat(ai,aj) = v; } } sparseMat.finalize(); @@ -181,4 +193,5 @@ initSparse(double density, } } +#include #endif // EIGEN_TESTSPARSE_H diff --git a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp index 6f54d2ebc..637c5db51 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp +++ b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp @@ -1,6 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // +// Copyright (C) 2008-2011 Gael Guennebaud // Copyright (C) 2008 Daniel Gomez Ferro // // Eigen is free software; you can redistribute it and/or @@ -109,7 +110,8 @@ template void sparse_basic(const SparseMatrixType& re DenseMatrix m1(rows,cols); m1.setZero(); SparseMatrixType m2(rows,cols); - m2.reserve(10); + if(internal::random()%2) + m2.reserve(VectorXi::Constant(m2.outerSize(), 2)); for (int j=0; j void sparse_basic(const SparseMatrixType& re DenseMatrix m1(rows,cols); m1.setZero(); SparseMatrixType m2(rows,cols); - m2.reserve(10); + if(internal::random()%2) + m2.reserve(VectorXi::Constant(m2.outerSize(), 2)); + for (int k=0; k(0,rows-1); + int j = internal::random(0,cols-1); + if ((m1.coeff(i,j)==Scalar(0)) && (internal::random()%2)) + m2.insert(i,j) = m1(i,j) = internal::random(); + else + { + Scalar v = internal::random(); + m2.coeffRef(i,j) += v; + m1(i,j) += v; + } + } + VERIFY_IS_APPROX(m2,m1); + } + + // test insert (un-compressed) + for(int mode=0;mode<4;++mode) + { + DenseMatrix m1(rows,cols); + m1.setZero(); + SparseMatrixType m2(rows,cols); + VectorXi r(VectorXi::Constant(m2.outerSize(), ((mode%2)==0) ? m2.innerSize() : std::max(1,m2.innerSize()/8))); + m2.reserve(r); for (int k=0; k(0,rows-1); int j = internal::random(0,cols-1); if (m1.coeff(i,j)==Scalar(0)) m2.insert(i,j) = m1(i,j) = internal::random(); + if(mode==3) + m2.reserve(r); } - m2.finalize(); + if(internal::random()%2) + m2.makeCompressed(); VERIFY_IS_APPROX(m2,m1); } @@ -166,7 +196,13 @@ template void sparse_basic(const SparseMatrixType& re VERIFY_IS_APPROX(m1+=m2, refM1+=refM2); VERIFY_IS_APPROX(m1-=m2, refM1-=refM2); - VERIFY_IS_APPROX(m1.col(0).dot(refM2.row(0)), refM1.col(0).dot(refM2.row(0))); + if(SparseMatrixType::IsRowMajor) + VERIFY_IS_APPROX(m1.innerVector(0).dot(refM2.row(0)), refM1.row(0).dot(refM2.row(0))); + else + VERIFY_IS_APPROX(m1.innerVector(0).dot(refM2.row(0)), refM1.col(0).dot(refM2.row(0))); + + VERIFY_IS_APPROX(m1.conjugate(), refM1.conjugate()); + VERIFY_IS_APPROX(m1.real(), refM1.real()); refM4.setRandom(); // sparse cwise* dense @@ -190,10 +226,37 @@ template void sparse_basic(const SparseMatrixType& re DenseMatrix refMat2 = DenseMatrix::Zero(rows, rows); SparseMatrixType m2(rows, rows); initSparse(density, refMat2, m2); - int j0 = internal::random(0,rows-1); - int j1 = internal::random(0,rows-1); - VERIFY_IS_APPROX(m2.innerVector(j0), refMat2.col(j0)); - VERIFY_IS_APPROX(m2.innerVector(j0)+m2.innerVector(j1), refMat2.col(j0)+refMat2.col(j1)); + int j0 = internal::random(0,rows-1); + int j1 = internal::random(0,rows-1); + if(SparseMatrixType::IsRowMajor) + VERIFY_IS_APPROX(m2.innerVector(j0), refMat2.row(j0)); + else + VERIFY_IS_APPROX(m2.innerVector(j0), refMat2.col(j0)); + + if(SparseMatrixType::IsRowMajor) + VERIFY_IS_APPROX(m2.innerVector(j0)+m2.innerVector(j1), refMat2.row(j0)+refMat2.row(j1)); + else + VERIFY_IS_APPROX(m2.innerVector(j0)+m2.innerVector(j1), refMat2.col(j0)+refMat2.col(j1)); + + SparseMatrixType m3(rows,rows); + m3.reserve(VectorXi::Constant(rows,rows/2)); + for(int j=0; j0) + VERIFY(j==internal::real(m3.innerVector(j).lastCoeff())); + } + m3.makeCompressed(); + for(int j=0; j0) + VERIFY(j==internal::real(m3.innerVector(j).lastCoeff())); + } + //m2.innerVector(j0) = 2*m2.innerVector(j1); //refMat2.col(j0) = 2*refMat2.col(j1); //VERIFY_IS_APPROX(m2, refMat2); @@ -204,12 +267,19 @@ template void sparse_basic(const SparseMatrixType& re DenseMatrix refMat2 = DenseMatrix::Zero(rows, rows); SparseMatrixType m2(rows, rows); initSparse(density, refMat2, m2); - int j0 = internal::random(0,rows-2); - int j1 = internal::random(0,rows-2); + int j0 = internal::random(0,rows-2); + int j1 = internal::random(0,rows-2); int n0 = internal::random(1,rows-(std::max)(j0,j1)); - VERIFY_IS_APPROX(m2.innerVectors(j0,n0), refMat2.block(0,j0,rows,n0)); - VERIFY_IS_APPROX(m2.innerVectors(j0,n0)+m2.innerVectors(j1,n0), - refMat2.block(0,j0,rows,n0)+refMat2.block(0,j1,rows,n0)); + if(SparseMatrixType::IsRowMajor) + VERIFY_IS_APPROX(m2.innerVectors(j0,n0), refMat2.block(j0,0,n0,cols)); + else + VERIFY_IS_APPROX(m2.innerVectors(j0,n0), refMat2.block(0,j0,rows,n0)); + if(SparseMatrixType::IsRowMajor) + VERIFY_IS_APPROX(m2.innerVectors(j0,n0)+m2.innerVectors(j1,n0), + refMat2.block(j0,0,n0,cols)+refMat2.block(j1,0,n0,cols)); + else + VERIFY_IS_APPROX(m2.innerVectors(j0,n0)+m2.innerVectors(j1,n0), + refMat2.block(0,j0,rows,n0)+refMat2.block(0,j1,rows,n0)); //m2.innerVectors(j0,n0) = m2.innerVectors(j0,n0) + m2.innerVectors(j1,n0); //refMat2.block(0,j0,rows,n0) = refMat2.block(0,j0,rows,n0) + refMat2.block(0,j1,rows,n0); } @@ -239,7 +309,11 @@ template void sparse_basic(const SparseMatrixType& re else { countTrueNonZero++; - m2.insertBackByOuterInner(j,i) = refM2(i,j) = Scalar(1); + m2.insertBackByOuterInner(j,i) = Scalar(1); + if(SparseMatrixType::IsRowMajor) + refM2(j,i) = Scalar(1); + else + refM2(i,j) = Scalar(1); } } } @@ -250,8 +324,52 @@ template void sparse_basic(const SparseMatrixType& re VERIFY(countTrueNonZero==m2.nonZeros()); VERIFY_IS_APPROX(m2, refM2); } + + // test setFromTriplets + { + typedef Triplet TripletType; + std::vector triplets; + int ntriplets = rows*cols; + triplets.reserve(ntriplets); + DenseMatrix refMat(rows,cols); + refMat.setZero(); + for(int i=0;i(0,rows-1); + int c = internal::random(0,cols-1); + Scalar v = internal::random(); + triplets.push_back(TripletType(r,c,v)); + refMat(r,c) += v; + } + SparseMatrixType m(rows,cols); + m.setFromTriplets(triplets.begin(), triplets.end()); + VERIFY_IS_APPROX(m, refMat); + } + + // test triangularView + { + DenseMatrix refMat2(rows, rows), refMat3(rows, rows); + SparseMatrixType m2(rows, rows), m3(rows, rows); + initSparse(density, refMat2, m2); + refMat3 = refMat2.template triangularView(); + m3 = m2.template triangularView(); + VERIFY_IS_APPROX(m3, refMat3); + + refMat3 = refMat2.template triangularView(); + m3 = m2.template triangularView(); + VERIFY_IS_APPROX(m3, refMat3); + + refMat3 = refMat2.template triangularView(); + m3 = m2.template triangularView(); + VERIFY_IS_APPROX(m3, refMat3); + + refMat3 = refMat2.template triangularView(); + m3 = m2.template triangularView(); + VERIFY_IS_APPROX(m3, refMat3); + } // test selfadjointView + if(!SparseMatrixType::IsRowMajor) { DenseMatrix refMat2(rows, rows), refMat3(rows, rows); SparseMatrixType m2(rows, rows), m3(rows, rows); @@ -268,15 +386,25 @@ template void sparse_basic(const SparseMatrixType& re initSparse(density, refMat2, m2); VERIFY_IS_APPROX(m2.eval(), refMat2.sparseView().eval()); } + + // test diagonal + { + DenseMatrix refMat2 = DenseMatrix::Zero(rows, rows); + SparseMatrixType m2(rows, rows); + initSparse(density, refMat2, m2); + VERIFY_IS_APPROX(m2.diagonal(), refMat2.diagonal().eval()); + } } void test_sparse_basic() { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( sparse_basic(SparseMatrix(8, 8)) ); - CALL_SUBTEST_2( sparse_basic(SparseMatrix >(16, 16)) ); - CALL_SUBTEST_1( sparse_basic(SparseMatrix(33, 33)) ); - - CALL_SUBTEST_3( sparse_basic(DynamicSparseMatrix(8, 8)) ); + int s = Eigen::internal::random(1,50); + CALL_SUBTEST_1(( sparse_basic(SparseMatrix(8, 8)) )); + CALL_SUBTEST_2(( sparse_basic(SparseMatrix, ColMajor>(s, s)) )); + CALL_SUBTEST_2(( sparse_basic(SparseMatrix, RowMajor>(s, s)) )); + CALL_SUBTEST_1(( sparse_basic(SparseMatrix(s, s)) )); + CALL_SUBTEST_1(( sparse_basic(SparseMatrix(s, s)) )); + CALL_SUBTEST_1(( sparse_basic(SparseMatrix(s, s)) )); } } diff --git a/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp b/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp new file mode 100644 index 000000000..4d22e358e --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp @@ -0,0 +1,202 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse.h" + +template void sparse_permutations(const SparseMatrixType& ref) +{ + typedef typename SparseMatrixType::Index Index; + + const Index rows = ref.rows(); + const Index cols = ref.cols(); + typedef typename SparseMatrixType::Scalar Scalar; + typedef typename SparseMatrixType::Index Index; + typedef SparseMatrix OtherSparseMatrixType; + typedef Matrix DenseMatrix; + typedef Matrix VectorI; + + double density = (std::max)(8./(rows*cols), 0.01); + + SparseMatrixType mat(rows, cols), up(rows,cols), lo(rows,cols); + OtherSparseMatrixType res; + DenseMatrix mat_d = DenseMatrix::Zero(rows, cols), up_sym_d, lo_sym_d, res_d; + + initSparse(density, mat_d, mat, 0); + + up = mat.template triangularView(); + lo = mat.template triangularView(); + + up_sym_d = mat_d.template selfadjointView(); + lo_sym_d = mat_d.template selfadjointView(); + + VERIFY_IS_APPROX(mat, mat_d); + VERIFY_IS_APPROX(up, DenseMatrix(mat_d.template triangularView())); + VERIFY_IS_APPROX(lo, DenseMatrix(mat_d.template triangularView())); + + PermutationMatrix p, p_null; + VectorI pi; + randomPermutationVector(pi, cols); + p.indices() = pi; + + res = mat*p; + res_d = mat_d*p; + VERIFY(res.isApprox(res_d) && "mat*p"); + + res = p*mat; + res_d = p*mat_d; + VERIFY(res.isApprox(res_d) && "p*mat"); + + res = mat*p.inverse(); + res_d = mat*p.inverse(); + VERIFY(res.isApprox(res_d) && "mat*inv(p)"); + + res = p.inverse()*mat; + res_d = p.inverse()*mat_d; + VERIFY(res.isApprox(res_d) && "inv(p)*mat"); + + res = mat.twistedBy(p); + res_d = (p * mat_d) * p.inverse(); + VERIFY(res.isApprox(res_d) && "p*mat*inv(p)"); + + + res = mat.template selfadjointView().twistedBy(p_null); + res_d = up_sym_d; + VERIFY(res.isApprox(res_d) && "full selfadjoint upper to full"); + + res = mat.template selfadjointView().twistedBy(p_null); + res_d = lo_sym_d; + VERIFY(res.isApprox(res_d) && "full selfadjoint lower to full"); + + + res = up.template selfadjointView().twistedBy(p_null); + res_d = up_sym_d; + VERIFY(res.isApprox(res_d) && "upper selfadjoint to full"); + + res = lo.template selfadjointView().twistedBy(p_null); + res_d = lo_sym_d; + VERIFY(res.isApprox(res_d) && "lower selfadjoint full"); + + + res = mat.template selfadjointView(); + res_d = up_sym_d; + VERIFY(res.isApprox(res_d) && "full selfadjoint upper to full"); + + res = mat.template selfadjointView(); + res_d = lo_sym_d; + VERIFY(res.isApprox(res_d) && "full selfadjoint lower to full"); + + res = up.template selfadjointView(); + res_d = up_sym_d; + VERIFY(res.isApprox(res_d) && "upper selfadjoint to full"); + + res = lo.template selfadjointView(); + res_d = lo_sym_d; + VERIFY(res.isApprox(res_d) && "lower selfadjoint full"); + + + res.template selfadjointView() = mat.template selfadjointView(); + res_d = up_sym_d.template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint upper to upper"); + + res.template selfadjointView() = mat.template selfadjointView(); + res_d = up_sym_d.template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint upper to lower"); + + res.template selfadjointView() = mat.template selfadjointView(); + res_d = lo_sym_d.template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint lower to upper"); + + res.template selfadjointView() = mat.template selfadjointView(); + res_d = lo_sym_d.template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint lower to lower"); + + + + res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); + res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint upper twisted to upper"); + + res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); + res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint lower twisted to upper"); + + res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); + res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint lower twisted to lower"); + + res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); + res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "full selfadjoint upper twisted to lower"); + + + res.template selfadjointView() = up.template selfadjointView().twistedBy(p); + res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "upper selfadjoint twisted to upper"); + + res.template selfadjointView() = lo.template selfadjointView().twistedBy(p); + res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "lower selfadjoint twisted to upper"); + + res.template selfadjointView() = lo.template selfadjointView().twistedBy(p); + res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "lower selfadjoint twisted to lower"); + + res.template selfadjointView() = up.template selfadjointView().twistedBy(p); + res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); + VERIFY(res.isApprox(res_d) && "upper selfadjoint twisted to lower"); + + + res = mat.template selfadjointView().twistedBy(p); + res_d = (p * up_sym_d) * p.inverse(); + VERIFY(res.isApprox(res_d) && "full selfadjoint upper twisted to full"); + + res = mat.template selfadjointView().twistedBy(p); + res_d = (p * lo_sym_d) * p.inverse(); + VERIFY(res.isApprox(res_d) && "full selfadjoint lower twisted to full"); + + res = up.template selfadjointView().twistedBy(p); + res_d = (p * up_sym_d) * p.inverse(); + VERIFY(res.isApprox(res_d) && "upper selfadjoint twisted to full"); + + res = lo.template selfadjointView().twistedBy(p); + res_d = (p * lo_sym_d) * p.inverse(); + VERIFY(res.isApprox(res_d) && "lower selfadjoint twisted to full"); +} + +template void sparse_permutations_all(int size) +{ + CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); + CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); + CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); + CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); +} + +void test_sparse_permutations() +{ + for(int i = 0; i < g_repeat; i++) { + int s = Eigen::internal::random(1,50); + CALL_SUBTEST_1(( sparse_permutations_all(s) )); + CALL_SUBTEST_2(( sparse_permutations_all >(s) )); + } +} diff --git a/gtsam/3rdparty/Eigen/test/sparse_product.cpp b/gtsam/3rdparty/Eigen/test/sparse_product.cpp index a53ab3f1b..2c28d1131 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_product.cpp +++ b/gtsam/3rdparty/Eigen/test/sparse_product.cpp @@ -1,7 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // -// Copyright (C) 2008 Daniel Gomez Ferro +// Copyright (C) 2008-2011 Gael Guennebaud // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -24,11 +24,37 @@ #include "sparse.h" -template void sparse_product(const SparseMatrixType& ref) +template struct test_outer; + +template struct test_outer { + static void run(SparseMatrixType& m2, SparseMatrixType& m4, DenseMatrix& refMat2, DenseMatrix& refMat4) { + int c = internal::random(0,m2.cols()-1); + int c1 = internal::random(0,m2.cols()-1); + VERIFY_IS_APPROX(m4=m2.col(c)*refMat2.col(c1).transpose(), refMat4=refMat2.col(c)*refMat2.col(c1).transpose()); + VERIFY_IS_APPROX(m4=refMat2.col(c1)*m2.col(c).transpose(), refMat4=refMat2.col(c1)*refMat2.col(c).transpose()); + } +}; + +template struct test_outer { + static void run(SparseMatrixType& m2, SparseMatrixType& m4, DenseMatrix& refMat2, DenseMatrix& refMat4) { + int r = internal::random(0,m2.rows()-1); + int c1 = internal::random(0,m2.cols()-1); + VERIFY_IS_APPROX(m4=m2.row(r).transpose()*refMat2.col(c1).transpose(), refMat4=refMat2.row(r).transpose()*refMat2.col(c1).transpose()); + VERIFY_IS_APPROX(m4=refMat2.col(c1)*m2.row(r), refMat4=refMat2.col(c1)*refMat2.row(r)); + } +}; + +// (m2,m4,refMat2,refMat4,dv1); +// VERIFY_IS_APPROX(m4=m2.innerVector(c)*dv1.transpose(), refMat4=refMat2.colVector(c)*dv1.transpose()); +// VERIFY_IS_APPROX(m4=dv1*mcm.col(c).transpose(), refMat4=dv1*refMat2.col(c).transpose()); + +template void sparse_product() { typedef typename SparseMatrixType::Index Index; - const Index rows = ref.rows(); - const Index cols = ref.cols(); + Index n = 100; + const Index rows = internal::random(1,n); + const Index cols = internal::random(1,n); + const Index depth = internal::random(1,n); typedef typename SparseMatrixType::Scalar Scalar; enum { Flags = SparseMatrixType::Flags }; @@ -41,50 +67,71 @@ template void sparse_product(const SparseMatrixType& // test matrix-matrix product { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, rows); - DenseMatrix refMat3 = DenseMatrix::Zero(rows, rows); - DenseMatrix refMat4 = DenseMatrix::Zero(rows, rows); - DenseMatrix refMat5 = DenseMatrix::Random(rows, rows); + DenseMatrix refMat2 = DenseMatrix::Zero(rows, depth); + DenseMatrix refMat2t = DenseMatrix::Zero(depth, rows); + DenseMatrix refMat3 = DenseMatrix::Zero(depth, cols); + DenseMatrix refMat3t = DenseMatrix::Zero(cols, depth); + DenseMatrix refMat4 = DenseMatrix::Zero(rows, cols); + DenseMatrix refMat4t = DenseMatrix::Zero(cols, rows); + DenseMatrix refMat5 = DenseMatrix::Random(depth, cols); + DenseMatrix refMat6 = DenseMatrix::Random(rows, rows); DenseMatrix dm4 = DenseMatrix::Zero(rows, rows); - DenseVector dv1 = DenseVector::Random(rows); - SparseMatrixType m2(rows, rows); - SparseMatrixType m3(rows, rows); - SparseMatrixType m4(rows, rows); - initSparse(density, refMat2, m2); - initSparse(density, refMat3, m3); - initSparse(density, refMat4, m4); +// DenseVector dv1 = DenseVector::Random(rows); + SparseMatrixType m2 (rows, depth); + SparseMatrixType m2t(depth, rows); + SparseMatrixType m3 (depth, cols); + SparseMatrixType m3t(cols, depth); + SparseMatrixType m4 (rows, cols); + SparseMatrixType m4t(cols, rows); + SparseMatrixType m6(rows, rows); + initSparse(density, refMat2, m2); + initSparse(density, refMat2t, m2t); + initSparse(density, refMat3, m3); + initSparse(density, refMat3t, m3t); + initSparse(density, refMat4, m4); + initSparse(density, refMat4t, m4t); + initSparse(density, refMat6, m6); - int c = internal::random(0,rows-1); +// int c = internal::random(0,depth-1); + // sparse * sparse VERIFY_IS_APPROX(m4=m2*m3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(m4=m2.transpose()*m3, refMat4=refMat2.transpose()*refMat3); - VERIFY_IS_APPROX(m4=m2.transpose()*m3.transpose(), refMat4=refMat2.transpose()*refMat3.transpose()); - VERIFY_IS_APPROX(m4=m2*m3.transpose(), refMat4=refMat2*refMat3.transpose()); + VERIFY_IS_APPROX(m4=m2t.transpose()*m3, refMat4=refMat2t.transpose()*refMat3); + VERIFY_IS_APPROX(m4=m2t.transpose()*m3t.transpose(), refMat4=refMat2t.transpose()*refMat3t.transpose()); + VERIFY_IS_APPROX(m4=m2*m3t.transpose(), refMat4=refMat2*refMat3t.transpose()); VERIFY_IS_APPROX(m4 = m2*m3/s1, refMat4 = refMat2*refMat3/s1); VERIFY_IS_APPROX(m4 = m2*m3*s1, refMat4 = refMat2*refMat3*s1); VERIFY_IS_APPROX(m4 = s2*m2*m3*s1, refMat4 = s2*refMat2*refMat3*s1); + VERIFY_IS_APPROX(m4=(m2*m3).pruned(0), refMat4=refMat2*refMat3); + VERIFY_IS_APPROX(m4=(m2t.transpose()*m3).pruned(0), refMat4=refMat2t.transpose()*refMat3); + VERIFY_IS_APPROX(m4=(m2t.transpose()*m3t.transpose()).pruned(0), refMat4=refMat2t.transpose()*refMat3t.transpose()); + VERIFY_IS_APPROX(m4=(m2*m3t.transpose()).pruned(0), refMat4=refMat2*refMat3t.transpose()); + + // test aliasing + m4 = m2; refMat4 = refMat2; + VERIFY_IS_APPROX(m4=m4*m3, refMat4=refMat4*refMat3); + // sparse * dense VERIFY_IS_APPROX(dm4=m2*refMat3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=m2*refMat3.transpose(), refMat4=refMat2*refMat3.transpose()); - VERIFY_IS_APPROX(dm4=m2.transpose()*refMat3, refMat4=refMat2.transpose()*refMat3); - VERIFY_IS_APPROX(dm4=m2.transpose()*refMat3.transpose(), refMat4=refMat2.transpose()*refMat3.transpose()); + VERIFY_IS_APPROX(dm4=m2*refMat3t.transpose(), refMat4=refMat2*refMat3t.transpose()); + VERIFY_IS_APPROX(dm4=m2t.transpose()*refMat3, refMat4=refMat2t.transpose()*refMat3); + VERIFY_IS_APPROX(dm4=m2t.transpose()*refMat3t.transpose(), refMat4=refMat2t.transpose()*refMat3t.transpose()); VERIFY_IS_APPROX(dm4=m2*(refMat3+refMat3), refMat4=refMat2*(refMat3+refMat3)); - VERIFY_IS_APPROX(dm4=m2.transpose()*(refMat3+refMat5)*0.5, refMat4=refMat2.transpose()*(refMat3+refMat5)*0.5); + VERIFY_IS_APPROX(dm4=m2t.transpose()*(refMat3+refMat5)*0.5, refMat4=refMat2t.transpose()*(refMat3+refMat5)*0.5); // dense * sparse VERIFY_IS_APPROX(dm4=refMat2*m3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=refMat2*m3.transpose(), refMat4=refMat2*refMat3.transpose()); - VERIFY_IS_APPROX(dm4=refMat2.transpose()*m3, refMat4=refMat2.transpose()*refMat3); - VERIFY_IS_APPROX(dm4=refMat2.transpose()*m3.transpose(), refMat4=refMat2.transpose()*refMat3.transpose()); + VERIFY_IS_APPROX(dm4=refMat2*m3t.transpose(), refMat4=refMat2*refMat3t.transpose()); + VERIFY_IS_APPROX(dm4=refMat2t.transpose()*m3, refMat4=refMat2t.transpose()*refMat3); + VERIFY_IS_APPROX(dm4=refMat2t.transpose()*m3t.transpose(), refMat4=refMat2t.transpose()*refMat3t.transpose()); // sparse * dense and dense * sparse outer product - VERIFY_IS_APPROX(m4=m2.col(c)*dv1.transpose(), refMat4=refMat2.col(c)*dv1.transpose()); - VERIFY_IS_APPROX(m4=dv1*m2.col(c).transpose(), refMat4=dv1*refMat2.col(c).transpose()); + test_outer::run(m2,m4,refMat2,refMat4); - VERIFY_IS_APPROX(m3=m3*m3, refMat3=refMat3*refMat3); + VERIFY_IS_APPROX(m6=m6*m6, refMat6=refMat6*refMat6); } // test matrix - diagonal product @@ -116,18 +163,19 @@ template void sparse_product(const SparseMatrixType& do { initSparse(density, refUp, mUp, ForceRealDiag|/*ForceNonZeroDiag|*/MakeUpperTriangular); } while (refUp.isZero()); - refLo = refUp.transpose().conjugate(); - mLo = mUp.transpose().conjugate(); + refLo = refUp.adjoint(); + mLo = mUp.adjoint(); refS = refUp + refLo; refS.diagonal() *= 0.5; mS = mUp + mLo; + // TODO be able to address the diagonal.... for (int k=0; k void sparse_produc void test_sparse_product() { for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( sparse_product(SparseMatrix(8, 8)) ); - CALL_SUBTEST_2( sparse_product(SparseMatrix >(16, 16)) ); - CALL_SUBTEST_1( sparse_product(SparseMatrix(33, 33)) ); - - CALL_SUBTEST_3( sparse_product(DynamicSparseMatrix(8, 8)) ); - + CALL_SUBTEST_1( (sparse_product >()) ); + CALL_SUBTEST_1( (sparse_product >()) ); + CALL_SUBTEST_2( (sparse_product, ColMajor > >()) ); + CALL_SUBTEST_2( (sparse_product, RowMajor > >()) ); CALL_SUBTEST_4( (sparse_product_regression_test, Matrix >()) ); } } diff --git a/gtsam/3rdparty/Eigen/test/sparse_solver.h b/gtsam/3rdparty/Eigen/test/sparse_solver.h new file mode 100644 index 000000000..69bf716ed --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/sparse_solver.h @@ -0,0 +1,324 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse.h" +#include + +template +void check_sparse_solving(Solver& solver, const typename Solver::MatrixType& A, const Rhs& b, const DenseMat& dA, const DenseRhs& db) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + + DenseRhs refX = dA.lu().solve(db); + + Rhs x(b.rows(), b.cols()); + Rhs oldb = b; + + solver.compute(A); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: factorization failed (check_sparse_solving)\n"; + exit(0); + return; + } + x = solver.solve(b); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: solving failed\n"; + return; + } + VERIFY(oldb.isApprox(b) && "sparse solver testing: the rhs should not be modified!"); + + VERIFY(x.isApprox(refX,test_precision())); + + x.setZero(); + // test the analyze/factorize API + solver.analyzePattern(A); + solver.factorize(A); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: factorization failed (check_sparse_solving)\n"; + exit(0); + return; + } + x = solver.solve(b); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: solving failed\n"; + return; + } + VERIFY(oldb.isApprox(b) && "sparse solver testing: the rhs should not be modified!"); + + VERIFY(x.isApprox(refX,test_precision())); + + // test Block as the result and rhs: + { + DenseRhs x(db.rows(), db.cols()); + DenseRhs b(db), oldb(db); + x.setZero(); + x.block(0,0,x.rows(),x.cols()) = solver.solve(b.block(0,0,b.rows(),b.cols())); + VERIFY(oldb.isApprox(b) && "sparse solver testing: the rhs should not be modified!"); + VERIFY(x.isApprox(refX,test_precision())); + } +} + +template +void check_sparse_solving_real_cases(Solver& solver, const typename Solver::MatrixType& A, const Rhs& b, const Rhs& refX) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef typename Mat::RealScalar RealScalar; + + Rhs x(b.rows(), b.cols()); + + solver.compute(A); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: factorization failed (check_sparse_solving_real_cases)\n"; + exit(0); + return; + } + x = solver.solve(b); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: solving failed\n"; + return; + } + + RealScalar res_error; + // Compute the norm of the relative error + if(refX.size() != 0) + res_error = (refX - x).norm()/refX.norm(); + else + { + // Compute the relative residual norm + res_error = (b - A * x).norm()/b.norm(); + } + if (res_error > test_precision() ){ + std::cerr << "Test " << g_test_stack.back() << " failed in "EI_PP_MAKE_STRING(__FILE__) + << " (" << EI_PP_MAKE_STRING(__LINE__) << ")" << std::endl << std::endl; + abort(); + } + +} +template +void check_sparse_determinant(Solver& solver, const typename Solver::MatrixType& A, const DenseMat& dA) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef typename Mat::RealScalar RealScalar; + + solver.compute(A); + if (solver.info() != Success) + { + std::cerr << "sparse solver testing: factorization failed (check_sparse_determinant)\n"; + return; + } + + Scalar refDet = dA.determinant(); + VERIFY_IS_APPROX(refDet,solver.determinant()); +} + + +template +int generate_sparse_spd_problem(Solver& , typename Solver::MatrixType& A, typename Solver::MatrixType& halfA, DenseMat& dA, int maxSize = 300) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef Matrix DenseMatrix; + + int size = internal::random(1,maxSize); + double density = (std::max)(8./(size*size), 0.01); + + Mat M(size, size); + DenseMatrix dM(size, size); + + initSparse(density, dM, M, ForceNonZeroDiag); + + A = M * M.adjoint(); + dA = dM * dM.adjoint(); + + halfA.resize(size,size); + halfA.template selfadjointView().rankUpdate(M); + + return size; +} + + +#ifdef TEST_REAL_CASES +template +inline std::string get_matrixfolder() +{ + std::string mat_folder = TEST_REAL_CASES; + if( internal::is_same >::value || internal::is_same >::value ) + mat_folder = mat_folder + static_cast("/complex/"); + else + mat_folder = mat_folder + static_cast("/real/"); + return mat_folder; +} +#endif + +template void check_sparse_spd_solving(Solver& solver) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef typename Mat::Index Index; + typedef SparseMatrix SpMat; + typedef Matrix DenseMatrix; + typedef Matrix DenseVector; + + // generate the problem + Mat A, halfA; + DenseMatrix dA; + int size = generate_sparse_spd_problem(solver, A, halfA, dA); + + // generate the right hand sides + int rhsCols = internal::random(1,16); + double density = (std::max)(8./(size*rhsCols), 0.1); + SpMat B(size,rhsCols); + DenseVector b = DenseVector::Random(size); + DenseMatrix dB(size,rhsCols); + initSparse(density, dB, B, ForceNonZeroDiag); + + for (int i = 0; i < g_repeat; i++) { + check_sparse_solving(solver, A, b, dA, b); + check_sparse_solving(solver, halfA, b, dA, b); + check_sparse_solving(solver, A, dB, dA, dB); + check_sparse_solving(solver, halfA, dB, dA, dB); + check_sparse_solving(solver, A, B, dA, dB); + check_sparse_solving(solver, halfA, B, dA, dB); + } + + // First, get the folder +#ifdef TEST_REAL_CASES + if (internal::is_same::value + || internal::is_same >::value) + return ; + + std::string mat_folder = get_matrixfolder(); + MatrixMarketIterator it(mat_folder); + for (; it; ++it) + { + if (it.sym() == SPD){ + Mat halfA; + PermutationMatrix pnull; + halfA.template selfadjointView() = it.matrix().template triangularView().twistedBy(pnull); + + std::cout<< " ==== SOLVING WITH MATRIX " << it.matname() << " ==== \n"; + check_sparse_solving_real_cases(solver, it.matrix(), it.rhs(), it.refX()); + check_sparse_solving_real_cases(solver, halfA, it.rhs(), it.refX()); + } + } +#endif +} + +template void check_sparse_spd_determinant(Solver& solver) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef Matrix DenseMatrix; + + // generate the problem + Mat A, halfA; + DenseMatrix dA; + generate_sparse_spd_problem(solver, A, halfA, dA, 30); + + for (int i = 0; i < g_repeat; i++) { + check_sparse_determinant(solver, A, dA); + check_sparse_determinant(solver, halfA, dA ); + } +} + +template +int generate_sparse_square_problem(Solver&, typename Solver::MatrixType& A, DenseMat& dA, int maxSize = 300) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef Matrix DenseMatrix; + + int size = internal::random(1,maxSize); + double density = (std::max)(8./(size*size), 0.01); + + A.resize(size,size); + dA.resize(size,size); + + initSparse(density, dA, A, ForceNonZeroDiag); + + return size; +} + +template void check_sparse_square_solving(Solver& solver) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef Matrix DenseMatrix; + typedef Matrix DenseVector; + + int rhsCols = internal::random(1,16); + + Mat A; + DenseMatrix dA; + int size = generate_sparse_square_problem(solver, A, dA); + + DenseVector b = DenseVector::Random(size); + DenseMatrix dB = DenseMatrix::Random(size,rhsCols); + A.makeCompressed(); + for (int i = 0; i < g_repeat; i++) { + check_sparse_solving(solver, A, b, dA, b); + check_sparse_solving(solver, A, dB, dA, dB); + } + + // First, get the folder +#ifdef TEST_REAL_CASES + if (internal::is_same::value + || internal::is_same >::value) + return ; + + std::string mat_folder = get_matrixfolder(); + MatrixMarketIterator it(mat_folder); + for (; it; ++it) + { + std::cout<< " ==== SOLVING WITH MATRIX " << it.matname() << " ==== \n"; + check_sparse_solving_real_cases(solver, it.matrix(), it.rhs(), it.refX()); + } +#endif + +} + +template void check_sparse_square_determinant(Solver& solver) +{ + typedef typename Solver::MatrixType Mat; + typedef typename Mat::Scalar Scalar; + typedef Matrix DenseMatrix; + + // generate the problem + Mat A; + DenseMatrix dA; + generate_sparse_square_problem(solver, A, dA, 30); + A.makeCompressed(); + for (int i = 0; i < g_repeat; i++) { + check_sparse_determinant(solver, A, dA); + } +} diff --git a/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp b/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp index 12a1cb9b6..a3d79b0ea 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp +++ b/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp @@ -72,6 +72,15 @@ template void sparse_solvers(int rows, int cols) initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeUpperTriangular, &zeroCoords, &nonzeroCoords); VERIFY_IS_APPROX(refMat2.template triangularView().solve(vec2), m2.template triangularView().solve(vec3)); + VERIFY_IS_APPROX(refMat2.conjugate().template triangularView().solve(vec2), + m2.conjugate().template triangularView().solve(vec3)); + { + SparseMatrix cm2(m2); + //Index rows, Index cols, Index nnz, Index* outerIndexPtr, Index* innerIndexPtr, Scalar* valuePtr + MappedSparseMatrix mm2(rows, cols, cm2.nonZeros(), cm2.outerIndexPtr(), cm2.innerIndexPtr(), cm2.valuePtr()); + VERIFY_IS_APPROX(refMat2.conjugate().template triangularView().solve(vec2), + mm2.conjugate().template triangularView().solve(vec3)); + } // lower - transpose initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular, &zeroCoords, &nonzeroCoords); diff --git a/gtsam/3rdparty/Eigen/test/sparse_vector.cpp b/gtsam/3rdparty/Eigen/test/sparse_vector.cpp index e0c281c83..09d36a51b 100644 --- a/gtsam/3rdparty/Eigen/test/sparse_vector.cpp +++ b/gtsam/3rdparty/Eigen/test/sparse_vector.cpp @@ -1,7 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // -// Copyright (C) 2008 Daniel Gomez Ferro +// Copyright (C) 2008-2011 Gael Guennebaud // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -34,9 +34,9 @@ template void sparse_vector(int rows, int cols) typedef SparseMatrix SparseMatrixType; Scalar eps = 1e-6; - SparseMatrixType m1(rows,cols); + SparseMatrixType m1(rows,rows); SparseVectorType v1(rows), v2(rows), v3(rows); - DenseMatrix refM1 = DenseMatrix::Zero(rows, cols); + DenseMatrix refM1 = DenseMatrix::Zero(rows, rows); DenseVector refV1 = DenseVector::Random(rows), refV2 = DenseVector::Random(rows), refV3 = DenseVector::Random(rows); @@ -86,6 +86,11 @@ template void sparse_vector(int rows, int cols) VERIFY_IS_APPROX(v1.dot(v2), refV1.dot(refV2)); VERIFY_IS_APPROX(v1.dot(refV2), refV1.dot(refV2)); + VERIFY_IS_APPROX(v1.dot(m1*v2), refV1.dot(refM1*refV2)); + int i = internal::random(0,rows-1); + VERIFY_IS_APPROX(v1.dot(m1.col(i)), refV1.dot(refM1.col(i))); + + VERIFY_IS_APPROX(v1.squaredNorm(), refV1.squaredNorm()); } diff --git a/gtsam/3rdparty/Eigen/test/superlu_support.cpp b/gtsam/3rdparty/Eigen/test/superlu_support.cpp new file mode 100644 index 000000000..ad435943b --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/superlu_support.cpp @@ -0,0 +1,37 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse_solver.h" + +#include + +void test_superlu_support() +{ + SuperLU > superlu_double_colmajor; + SuperLU > > superlu_cplxdouble_colmajor; + CALL_SUBTEST_1( check_sparse_square_solving(superlu_double_colmajor) ); + CALL_SUBTEST_2( check_sparse_square_solving(superlu_cplxdouble_colmajor) ); + CALL_SUBTEST_1( check_sparse_square_determinant(superlu_double_colmajor) ); + CALL_SUBTEST_2( check_sparse_square_determinant(superlu_cplxdouble_colmajor) ); +} diff --git a/gtsam/3rdparty/Eigen/test/triangular.cpp b/gtsam/3rdparty/Eigen/test/triangular.cpp index 69decb793..4db8f8482 100644 --- a/gtsam/3rdparty/Eigen/test/triangular.cpp +++ b/gtsam/3rdparty/Eigen/test/triangular.cpp @@ -42,16 +42,8 @@ template void triangular_square(const MatrixType& m) m3(rows, cols), m4(rows, cols), r1(rows, cols), - r2(rows, cols), - mzero = MatrixType::Zero(rows, cols), - mones = MatrixType::Ones(rows, cols), - identity = Matrix - ::Identity(rows, rows), - square = Matrix - ::Random(rows, rows); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); + r2(rows, cols); + VectorType v2 = VectorType::Random(rows); MatrixType m1up = m1.template triangularView(); MatrixType m2up = m2.template triangularView(); @@ -113,14 +105,14 @@ template void triangular_square(const MatrixType& m) // check M * inv(L) using in place API m4 = m3; - m3.transpose().template triangularView().solveInPlace(trm4); - VERIFY(m4.cwiseAbs().isIdentity(test_precision())); + m1.transpose().template triangularView().solveInPlace(trm4); + VERIFY_IS_APPROX(m4 * m1.template triangularView(), m3); // check M * inv(U) using in place API m3 = m1.template triangularView(); m4 = m3; m3.transpose().template triangularView().solveInPlace(trm4); - VERIFY(m4.cwiseAbs().isIdentity(test_precision())); + VERIFY_IS_APPROX(m4 * m1.template triangularView(), m3); // check solve with unit diagonal m3 = m1.template triangularView(); @@ -158,21 +150,12 @@ template void triangular_rect(const MatrixType& m) m3(rows, cols), m4(rows, cols), r1(rows, cols), - r2(rows, cols), - mzero = MatrixType::Zero(rows, cols), - mones = MatrixType::Ones(rows, cols); - RMatrixType identity = Matrix - ::Identity(rows, rows), - square = Matrix - ::Random(rows, rows); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); + r2(rows, cols); MatrixType m1up = m1.template triangularView(); MatrixType m2up = m2.template triangularView(); - if (rows*cols>1) + if (rows>1 && cols>1) { VERIFY(m1up.isUpperTriangular()); VERIFY(m2up.transpose().isLowerTriangular()); @@ -237,15 +220,17 @@ template void triangular_rect(const MatrixType& m) void bug_159() { - Matrix3d m = Matrix3d::Random().triangularView(); + Matrix3d m = Matrix3d::Random().triangularView(); + EIGEN_UNUSED_VARIABLE(m) } void test_triangular() { + int maxsize = (std::min)(EIGEN_TEST_MAX_SIZE,20); for(int i = 0; i < g_repeat ; i++) { - int r = internal::random(2,20); EIGEN_UNUSED_VARIABLE(r); - int c = internal::random(2,20); EIGEN_UNUSED_VARIABLE(c); + int r = internal::random(2,maxsize); EIGEN_UNUSED_VARIABLE(r); + int c = internal::random(2,maxsize); EIGEN_UNUSED_VARIABLE(c); CALL_SUBTEST_1( triangular_square(Matrix()) ); CALL_SUBTEST_2( triangular_square(Matrix()) ); diff --git a/gtsam/3rdparty/Eigen/test/umfpack_support.cpp b/gtsam/3rdparty/Eigen/test/umfpack_support.cpp new file mode 100644 index 000000000..1922aa959 --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/umfpack_support.cpp @@ -0,0 +1,46 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "sparse_solver.h" + +#include + +template void test_umfpack_support_T() +{ + UmfPackLU > umfpack_colmajor; + UmfPackLU > umfpack_rowmajor; + + check_sparse_square_solving(umfpack_colmajor); + check_sparse_square_solving(umfpack_rowmajor); + + check_sparse_square_determinant(umfpack_colmajor); + check_sparse_square_determinant(umfpack_rowmajor); +} + +void test_umfpack_support() +{ + CALL_SUBTEST_1(test_umfpack_support_T()); + CALL_SUBTEST_2(test_umfpack_support_T >()); +} + diff --git a/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp b/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp new file mode 100644 index 000000000..d3518b7ec --- /dev/null +++ b/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp @@ -0,0 +1,187 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Benoit Jacob +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#define EIGEN_NO_STATIC_ASSERT + +#include "main.h" + +template void vectorwiseop_array(const ArrayType& m) +{ + typedef typename ArrayType::Index Index; + typedef typename ArrayType::Scalar Scalar; + typedef typename NumTraits::Real RealScalar; + typedef Array ColVectorType; + typedef Array RowVectorType; + + Index rows = m.rows(); + Index cols = m.cols(); + Index r = internal::random(0, rows-1), + c = internal::random(0, cols-1); + + ArrayType m1 = ArrayType::Random(rows, cols), + m2(rows, cols), + m3(rows, cols); + + ColVectorType colvec = ColVectorType::Random(rows); + RowVectorType rowvec = RowVectorType::Random(cols); + + // test addition + + m2 = m1; + m2.colwise() += colvec; + VERIFY_IS_APPROX(m2, m1.colwise() + colvec); + VERIFY_IS_APPROX(m2.col(c), m1.col(c) + colvec); + + VERIFY_RAISES_ASSERT(m2.colwise() += colvec.transpose()); + VERIFY_RAISES_ASSERT(m1.colwise() + colvec.transpose()); + + m2 = m1; + m2.rowwise() += rowvec; + VERIFY_IS_APPROX(m2, m1.rowwise() + rowvec); + VERIFY_IS_APPROX(m2.row(r), m1.row(r) + rowvec); + + VERIFY_RAISES_ASSERT(m2.rowwise() += rowvec.transpose()); + VERIFY_RAISES_ASSERT(m1.rowwise() + rowvec.transpose()); + + // test substraction + + m2 = m1; + m2.colwise() -= colvec; + VERIFY_IS_APPROX(m2, m1.colwise() - colvec); + VERIFY_IS_APPROX(m2.col(c), m1.col(c) - colvec); + + VERIFY_RAISES_ASSERT(m2.colwise() -= colvec.transpose()); + VERIFY_RAISES_ASSERT(m1.colwise() - colvec.transpose()); + + m2 = m1; + m2.rowwise() -= rowvec; + VERIFY_IS_APPROX(m2, m1.rowwise() - rowvec); + VERIFY_IS_APPROX(m2.row(r), m1.row(r) - rowvec); + + VERIFY_RAISES_ASSERT(m2.rowwise() -= rowvec.transpose()); + VERIFY_RAISES_ASSERT(m1.rowwise() - rowvec.transpose()); + + // test multiplication + + m2 = m1; + m2.colwise() *= colvec; + VERIFY_IS_APPROX(m2, m1.colwise() * colvec); + VERIFY_IS_APPROX(m2.col(c), m1.col(c) * colvec); + + VERIFY_RAISES_ASSERT(m2.colwise() *= colvec.transpose()); + VERIFY_RAISES_ASSERT(m1.colwise() * colvec.transpose()); + + m2 = m1; + m2.rowwise() *= rowvec; + VERIFY_IS_APPROX(m2, m1.rowwise() * rowvec); + VERIFY_IS_APPROX(m2.row(r), m1.row(r) * rowvec); + + VERIFY_RAISES_ASSERT(m2.rowwise() *= rowvec.transpose()); + VERIFY_RAISES_ASSERT(m1.rowwise() * rowvec.transpose()); + + // test quotient + + m2 = m1; + m2.colwise() /= colvec; + VERIFY_IS_APPROX(m2, m1.colwise() / colvec); + VERIFY_IS_APPROX(m2.col(c), m1.col(c) / colvec); + + VERIFY_RAISES_ASSERT(m2.colwise() /= colvec.transpose()); + VERIFY_RAISES_ASSERT(m1.colwise() / colvec.transpose()); + + m2 = m1; + m2.rowwise() /= rowvec; + VERIFY_IS_APPROX(m2, m1.rowwise() / rowvec); + VERIFY_IS_APPROX(m2.row(r), m1.row(r) / rowvec); + + VERIFY_RAISES_ASSERT(m2.rowwise() /= rowvec.transpose()); + VERIFY_RAISES_ASSERT(m1.rowwise() / rowvec.transpose()); +} + +template void vectorwiseop_matrix(const MatrixType& m) +{ + typedef typename MatrixType::Index Index; + typedef typename MatrixType::Scalar Scalar; + typedef typename NumTraits::Real RealScalar; + typedef Matrix ColVectorType; + typedef Matrix RowVectorType; + + Index rows = m.rows(); + Index cols = m.cols(); + Index r = internal::random(0, rows-1), + c = internal::random(0, cols-1); + + MatrixType m1 = MatrixType::Random(rows, cols), + m2(rows, cols), + m3(rows, cols); + + ColVectorType colvec = ColVectorType::Random(rows); + RowVectorType rowvec = RowVectorType::Random(cols); + + // test addition + + m2 = m1; + m2.colwise() += colvec; + VERIFY_IS_APPROX(m2, m1.colwise() + colvec); + VERIFY_IS_APPROX(m2.col(c), m1.col(c) + colvec); + + VERIFY_RAISES_ASSERT(m2.colwise() += colvec.transpose()); + VERIFY_RAISES_ASSERT(m1.colwise() + colvec.transpose()); + + m2 = m1; + m2.rowwise() += rowvec; + VERIFY_IS_APPROX(m2, m1.rowwise() + rowvec); + VERIFY_IS_APPROX(m2.row(r), m1.row(r) + rowvec); + + VERIFY_RAISES_ASSERT(m2.rowwise() += rowvec.transpose()); + VERIFY_RAISES_ASSERT(m1.rowwise() + rowvec.transpose()); + + // test substraction + + m2 = m1; + m2.colwise() -= colvec; + VERIFY_IS_APPROX(m2, m1.colwise() - colvec); + VERIFY_IS_APPROX(m2.col(c), m1.col(c) - colvec); + + VERIFY_RAISES_ASSERT(m2.colwise() -= colvec.transpose()); + VERIFY_RAISES_ASSERT(m1.colwise() - colvec.transpose()); + + m2 = m1; + m2.rowwise() -= rowvec; + VERIFY_IS_APPROX(m2, m1.rowwise() - rowvec); + VERIFY_IS_APPROX(m2.row(r), m1.row(r) - rowvec); + + VERIFY_RAISES_ASSERT(m2.rowwise() -= rowvec.transpose()); + VERIFY_RAISES_ASSERT(m1.rowwise() - rowvec.transpose()); +} + +void test_vectorwiseop() +{ + CALL_SUBTEST_1(vectorwiseop_array(Array22cd())); + CALL_SUBTEST_2(vectorwiseop_array(Array())); + CALL_SUBTEST_3(vectorwiseop_array(ArrayXXf(3, 4))); + CALL_SUBTEST_4(vectorwiseop_matrix(Matrix4cf())); + CALL_SUBTEST_5(vectorwiseop_matrix(Matrix())); + CALL_SUBTEST_6(vectorwiseop_matrix(MatrixXd(7,2))); +} diff --git a/gtsam/3rdparty/Eigen/test/zerosized.cpp b/gtsam/3rdparty/Eigen/test/zerosized.cpp index 06e31cc09..c5d2cc6ed 100644 --- a/gtsam/3rdparty/Eigen/test/zerosized.cpp +++ b/gtsam/3rdparty/Eigen/test/zerosized.cpp @@ -62,8 +62,13 @@ void test_zerosized() zeroSizedMatrix(); zeroSizedMatrix >(); zeroSizedMatrix(); + zeroSizedMatrix >(); + zeroSizedMatrix >(); + zeroSizedMatrix >(); + zeroSizedMatrix >(); zeroSizedVector(); zeroSizedVector(); zeroSizedVector(); + zeroSizedVector >(); } diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward b/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward index 6c0a68d67..477c75378 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward @@ -79,33 +79,22 @@ namespace Eigen { } // namespace Eigen -// the Adolc's type adouble is defined in the adtl namespace -// therefore, the following internal::* functions *must* be defined -// in the same namespace -namespace Eigen { +// Eigen's require a few additional functions which must be defined in the same namespace +// than the custom scalar type own namespace +namespace adtl { - namespace internal { - - inline const adtl::adouble& conj(const adtl::adouble& x) { return x; } - inline const adtl::adouble& real(const adtl::adouble& x) { return x; } - inline adtl::adouble imag(const adtl::adouble&) { return 0.; } - inline adtl::adouble abs(const adtl::adouble& x) { return adtl::fabs(x); } - inline adtl::adouble abs2(const adtl::adouble& x) { return x*x; } - - using adtl::sqrt; - using adtl::exp; - using adtl::log; - using adtl::sin; - using adtl::cos; - using adtl::pow; - - } +inline const adouble& conj(const adouble& x) { return x; } +inline const adouble& real(const adouble& x) { return x; } +inline adouble imag(const adouble&) { return 0.; } +inline adouble abs(const adouble& x) { return fabs(x); } +inline adouble abs2(const adouble& x) { return x*x; } } namespace Eigen { template<> struct NumTraits + : NumTraits { typedef adtl::adouble Real; typedef adtl::adouble NonInteger; diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH b/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH index f307da2f7..d50b2bdab 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH @@ -97,8 +97,9 @@ namespace Eigen { * The following is a simple but complete example for how to use the BVH to accelerate the search for a closest red-blue point pair: * \include BVH_Example.cpp * Output: \verbinclude BVH_Example.out - */ +} + //@{ #include "src/BVH/BVAlgorithms.h" @@ -106,6 +107,4 @@ namespace Eigen { //@} -} - #endif // EIGEN_BVH_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt index 219ec8ead..e961e72c5 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/CMakeLists.txt @@ -1,6 +1,6 @@ set(Eigen_HEADERS AdolcForward BVH IterativeSolvers MatrixFunctions MoreVectorization AutoDiff AlignedVector3 Polynomials - CholmodSupport FFT NonLinearOptimization SparseExtra SuperLUSupport UmfPackSupport IterativeSolvers - NumericalDiff Skyline MPRealSupport OpenGLSupport + FFT NonLinearOptimization SparseExtra IterativeSolvers + NumericalDiff Skyline MPRealSupport OpenGLSupport KroneckerProduct Splines ) install(FILES diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/CholmodSupport b/gtsam/3rdparty/Eigen/unsupported/Eigen/CholmodSupport deleted file mode 100644 index 8a4a130c3..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/CholmodSupport +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef EIGEN_CHOLMODSUPPORT_MODULE_H -#define EIGEN_CHOLMODSUPPORT_MODULE_H - -#include "SparseExtra" - -#include "../../Eigen/src/Core/util/DisableStupidWarnings.h" - -extern "C" { - #include -} - -namespace Eigen { - -/** \ingroup Unsupported_modules - * \defgroup CholmodSupport_Module Cholmod Support module - * - * - * \code - * #include - * \endcode - */ - -struct Cholmod {}; -#include "src/SparseExtra/CholmodSupportLegacy.h" -#include "src/SparseExtra/CholmodSupport.h" - - -} // namespace Eigen - -#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_CHOLMODSUPPORT_MODULE_H - diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT b/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT index c56bd63d6..e2ec71307 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT @@ -86,23 +86,23 @@ #ifdef EIGEN_FFTW_DEFAULT // FFTW: faster, GPL -- incompatible with Eigen in LGPL form, bigger code size # include +# include "src/FFT/ei_fftw_impl.h" namespace Eigen { -# include "src/FFT/ei_fftw_impl.h" //template typedef struct internal::fftw_impl default_fft_impl; this does not work template struct default_fft_impl : public internal::fftw_impl {}; } #elif defined EIGEN_MKL_DEFAULT // TODO // intel Math Kernel Library: fastest, commercial -- may be incompatible with Eigen in GPL form +# include "src/FFT/ei_imklfft_impl.h" namespace Eigen { -# include "src/FFT/ei_imklfft_impl.h" template struct default_fft_impl : public internal::imklfft_impl {}; } #else // internal::kissfft_impl: small, free, reasonably efficient default, derived from kissfft // +# include "src/FFT/ei_kissfft_impl.h" namespace Eigen { -# include "src/FFT/ei_kissfft_impl.h" template struct default_fft_impl : public internal::kissfft_impl {}; } diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers b/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers index bf1a9460b..4645153aa 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers @@ -25,27 +25,31 @@ #ifndef EIGEN_ITERATIVE_SOLVERS_MODULE_H #define EIGEN_ITERATIVE_SOLVERS_MODULE_H -#include - -namespace Eigen { +#include /** \ingroup Unsupported_modules * \defgroup IterativeSolvers_Module Iterative solvers module * This module aims to provide various iterative linear and non linear solver algorithms. * It currently provides: * - a constrained conjugate gradient - * + * - a Householder GMRES implementation * \code * #include * \endcode */ //@{ +#include "../../Eigen/src/misc/Solve.h" +#include "../../Eigen/src/misc/SparseSolve.h" + #include "src/IterativeSolvers/IterationController.h" #include "src/IterativeSolvers/ConstrainedConjGrad.h" +#include "src/IterativeSolvers/IncompleteLU.h" +#include "../../Eigen/Jacobi" +#include "../../Eigen/Householder" +#include "src/IterativeSolvers/GMRES.h" +//#include "src/IterativeSolvers/SSORPreconditioner.h" //@} -} - #endif // EIGEN_ITERATIVE_SOLVERS_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/KroneckerProduct b/gtsam/3rdparty/Eigen/unsupported/Eigen/KroneckerProduct new file mode 100644 index 000000000..796e386ad --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/KroneckerProduct @@ -0,0 +1,26 @@ +#ifndef EIGEN_KRONECKER_PRODUCT_MODULE_H +#define EIGEN_KRONECKER_PRODUCT_MODULE_H + +#include "../../Eigen/Core" + +#include "../../Eigen/src/Core/util/DisableStupidWarnings.h" + +namespace Eigen { + +/** \ingroup Unsupported_modules + * \defgroup KroneckerProduct_Module KroneckerProduct module + * + * This module contains an experimental Kronecker product implementation. + * + * \code + * #include + * \endcode + */ + +} // namespace Eigen + +#include "src/KroneckerProduct/KroneckerTensorProduct.h" + +#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h" + +#endif // EIGEN_KRONECKER_PRODUCT_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport b/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport index 8f2396353..b5fe5e404 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport @@ -30,11 +30,12 @@ #ifndef EIGEN_MPREALSUPPORT_MODULE_H #define EIGEN_MPREALSUPPORT_MODULE_H +#include #include #include namespace Eigen { - + /** \ingroup Unsupported_modules * \defgroup MPRealSupport_Module MPFRC++ Support module * @@ -43,7 +44,7 @@ namespace Eigen { * \endcode * * This module provides support for multi precision floating point numbers - * via the MPFR C++ + * via the MPFR C++ * library which itself is built upon MPFR/GMP. * * You can find a copy of MPFR C++ that is known to be compatible in the unsupported/test/mpreal folder. @@ -52,7 +53,7 @@ namespace Eigen { * \code #include -#include +#include #include using namespace mpfr; using namespace Eigen; @@ -106,7 +107,7 @@ int main() } }; - namespace internal { +namespace internal { template<> mpfr::mpreal random() { @@ -146,8 +147,17 @@ int main() { return a <= b || isApprox(a, b, prec); } + + template<> inline long double cast(const mpfr::mpreal& x) + { return x.toLDouble(); } + template<> inline double cast(const mpfr::mpreal& x) + { return x.toDouble(); } + template<> inline long cast(const mpfr::mpreal& x) + { return x.toLong(); } + template<> inline int cast(const mpfr::mpreal& x) + { return int(x.toLong()); } - } // end namespace internal +} // end namespace internal } #endif // EIGEN_MPREALSUPPORT_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions b/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions index d39c49e53..13eda8fc8 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions @@ -25,6 +25,7 @@ #ifndef EIGEN_MATRIX_FUNCTIONS #define EIGEN_MATRIX_FUNCTIONS +#include #include #include #include @@ -33,8 +34,6 @@ #include #include -namespace Eigen { - /** \ingroup Unsupported_modules * \defgroup MatrixFunctions_Module Matrix functions module * \brief This module aims to provide various methods for the computation of @@ -50,9 +49,11 @@ namespace Eigen { * - \ref matrixbase_cos "MatrixBase::cos()", for computing the matrix cosine * - \ref matrixbase_cosh "MatrixBase::cosh()", for computing the matrix hyperbolic cosine * - \ref matrixbase_exp "MatrixBase::exp()", for computing the matrix exponential + * - \ref matrixbase_log "MatrixBase::log()", for computing the matrix logarithm * - \ref matrixbase_matrixfunction "MatrixBase::matrixFunction()", for computing general matrix functions * - \ref matrixbase_sin "MatrixBase::sin()", for computing the matrix sine * - \ref matrixbase_sinh "MatrixBase::sinh()", for computing the matrix hyperbolic sine + * - \ref matrixbase_sqrt "MatrixBase::sqrt()", for computing the matrix square root * * These methods are the main entry points to this module. * @@ -69,6 +70,8 @@ namespace Eigen { #include "src/MatrixFunctions/MatrixExponential.h" #include "src/MatrixFunctions/MatrixFunction.h" +#include "src/MatrixFunctions/MatrixSquareRoot.h" +#include "src/MatrixFunctions/MatrixLogarithm.h" @@ -166,10 +169,67 @@ the z-axis. \include MatrixExponential.cpp Output: \verbinclude MatrixExponential.out -\note \p M has to be a matrix of \c float, \c double, -\c complex or \c complex . +\note \p M has to be a matrix of \c float, \c double, \c long double +\c complex, \c complex, or \c complex . +\section matrixbase_log MatrixBase::log() + +Compute the matrix logarithm. + +\code +const MatrixLogarithmReturnValue MatrixBase::log() const +\endcode + +\param[in] M invertible matrix whose logarithm is to be computed. +\returns expression representing the matrix logarithm root of \p M. + +The matrix logarithm of \f$ M \f$ is a matrix \f$ X \f$ such that +\f$ \exp(X) = M \f$ where exp denotes the matrix exponential. As for +the scalar logarithm, the equation \f$ \exp(X) = M \f$ may have +multiple solutions; this function returns a matrix whose eigenvalues +have imaginary part in the interval \f$ (-\pi,\pi] \f$. + +In the real case, the matrix \f$ M \f$ should be invertible and +it should have no eigenvalues which are real and negative (pairs of +complex conjugate eigenvalues are allowed). In the complex case, it +only needs to be invertible. + +This function computes the matrix logarithm using the Schur-Parlett +algorithm as implemented by MatrixBase::matrixFunction(). The +logarithm of an atomic block is computed by MatrixLogarithmAtomic, +which uses direct computation for 1-by-1 and 2-by-2 blocks and an +inverse scaling-and-squaring algorithm for bigger blocks, with the +square roots computed by MatrixBase::sqrt(). + +Details of the algorithm can be found in Section 11.6.2 of: +Nicholas J. Higham, +Functions of Matrices: Theory and Computation, +SIAM 2008. ISBN 978-0-898716-46-7. + +Example: The following program checks that +\f[ \log \left[ \begin{array}{ccc} + \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\ + \frac12\sqrt2 & \frac12\sqrt2 & 0 \\ + 0 & 0 & 1 + \end{array} \right] = \left[ \begin{array}{ccc} + 0 & \frac14\pi & 0 \\ + -\frac14\pi & 0 & 0 \\ + 0 & 0 & 0 + \end{array} \right]. \f] +This corresponds to a rotation of \f$ \frac14\pi \f$ radians around +the z-axis. This is the inverse of the example used in the +documentation of \ref matrixbase_exp "exp()". + +\include MatrixLogarithm.cpp +Output: \verbinclude MatrixLogarithm.out + +\note \p M has to be a matrix of \c float, \c double, \c long double +\c complex, \c complex, or \c complex . + +\sa MatrixBase::exp(), MatrixBase::matrixFunction(), + class MatrixLogarithmAtomic, MatrixBase::sqrt(). + \section matrixbase_matrixfunction MatrixBase::matrixFunction() @@ -245,7 +305,7 @@ Output: \verbinclude MatrixSine.out -\section matrixbase_sinh const MatrixBase::sinh() +\section matrixbase_sinh MatrixBase::sinh() Compute the matrix hyperbolic sine. @@ -261,9 +321,75 @@ This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdSt Example: \include MatrixSinh.cpp Output: \verbinclude MatrixSinh.out -*/ -} +\section matrixbase_sqrt MatrixBase::sqrt() + +Compute the matrix square root. + +\code +const MatrixSquareRootReturnValue MatrixBase::sqrt() const +\endcode + +\param[in] M invertible matrix whose square root is to be computed. +\returns expression representing the matrix square root of \p M. + +The matrix square root of \f$ M \f$ is the matrix \f$ M^{1/2} \f$ +whose square is the original matrix; so if \f$ S = M^{1/2} \f$ then +\f$ S^2 = M \f$. + +In the real case, the matrix \f$ M \f$ should be invertible and +it should have no eigenvalues which are real and negative (pairs of +complex conjugate eigenvalues are allowed). In that case, the matrix +has a square root which is also real, and this is the square root +computed by this function. + +The matrix square root is computed by first reducing the matrix to +quasi-triangular form with the real Schur decomposition. The square +root of the quasi-triangular matrix can then be computed directly. The +cost is approximately \f$ 25 n^3 \f$ real flops for the real Schur +decomposition and \f$ 3\frac13 n^3 \f$ real flops for the remainder +(though the computation time in practice is likely more than this +indicates). + +Details of the algorithm can be found in: Nicholas J. Highan, +"Computing real square roots of a real matrix", Linear Algebra +Appl., 88/89:405–430, 1987. + +If the matrix is positive-definite symmetric, then the square +root is also positive-definite symmetric. In this case, it is best to +use SelfAdjointEigenSolver::operatorSqrt() to compute it. + +In the complex case, the matrix \f$ M \f$ should be invertible; +this is a restriction of the algorithm. The square root computed by +this algorithm is the one whose eigenvalues have an argument in the +interval \f$ (-\frac12\pi, \frac12\pi] \f$. This is the usual branch +cut. + +The computation is the same as in the real case, except that the +complex Schur decomposition is used to reduce the matrix to a +triangular matrix. The theoretical cost is the same. Details are in: +Åke Björck and Sven Hammarling, "A Schur method for the +square root of a matrix", Linear Algebra Appl., +52/53:127–140, 1983. + +Example: The following program checks that the square root of +\f[ \left[ \begin{array}{cc} + \cos(\frac13\pi) & -\sin(\frac13\pi) \\ + \sin(\frac13\pi) & \cos(\frac13\pi) + \end{array} \right], \f] +corresponding to a rotation over 60 degrees, is a rotation over 30 degrees: +\f[ \left[ \begin{array}{cc} + \cos(\frac16\pi) & -\sin(\frac16\pi) \\ + \sin(\frac16\pi) & \cos(\frac16\pi) + \end{array} \right]. \f] + +\include MatrixSquareRoot.cpp +Output: \verbinclude MatrixSquareRoot.out + +\sa class RealSchur, class ComplexSchur, class MatrixSquareRoot, + SelfAdjointEigenSolver::operatorSqrt(). + +*/ #endif // EIGEN_MATRIX_FUNCTIONS diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/MoreVectorization b/gtsam/3rdparty/Eigen/unsupported/Eigen/MoreVectorization index 26a01cd29..9f0a39f75 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/MoreVectorization +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/MoreVectorization @@ -9,8 +9,8 @@ namespace Eigen { * \defgroup MoreVectorization More vectorization module */ -#include "src/MoreVectorization/MathFunctions.h" - } +#include "src/MoreVectorization/MathFunctions.h" + #endif // EIGEN_MOREVECTORIZATION_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization b/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization index e19db33cc..0a384d649 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization @@ -32,8 +32,6 @@ #include #include -namespace Eigen { - /** \ingroup Unsupported_modules * \defgroup NonLinearOptimization_Module Non linear optimization module * @@ -147,8 +145,5 @@ namespace Eigen { #include "src/NonLinearOptimization/HybridNonLinearSolver.h" #include "src/NonLinearOptimization/LevenbergMarquardt.h" -} - - #endif // EIGEN_NONLINEAROPTIMIZATION_MODULE diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff b/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff index 2a59c14d5..eebee076d 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff @@ -59,12 +59,13 @@ namespace Eigen { * package. * */ +} + //@{ #include "src/NumericalDiff/NumericalDiff.h" //@} -} #endif // EIGEN_NUMERICALDIFF_MODULE diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/Polynomials b/gtsam/3rdparty/Eigen/unsupported/Eigen/Polynomials index 2c2f3e100..fa58b006d 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/Polynomials +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/Polynomials @@ -16,8 +16,6 @@ #undef EIGEN_HIDE_HEAVY_CODE #endif -namespace Eigen { - /** \ingroup Unsupported_modules * \defgroup Polynomials_Module Polynomials module * @@ -129,8 +127,6 @@ namespace Eigen { Output: \verbinclude PolynomialSolver1.out */ -} // namespace Eigen - #include #endif // EIGEN_POLYNOMIALS_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/Skyline b/gtsam/3rdparty/Eigen/unsupported/Eigen/Skyline index 5247b2eab..c9823f358 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/Skyline +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/Skyline @@ -11,15 +11,13 @@ #include #include -namespace Eigen { - - /** \ingroup Unsupported_modules - * \defgroup Skyline_Module Skyline module - * - * - * - * - */ +/** \ingroup Unsupported_modules + * \defgroup Skyline_Module Skyline module + * + * + * + * + */ #include "src/Skyline/SkylineUtil.h" #include "src/Skyline/SkylineMatrixBase.h" @@ -28,8 +26,6 @@ namespace Eigen { #include "src/Skyline/SkylineInplaceLU.h" #include "src/Skyline/SkylineProduct.h" -} // namespace Eigen - #include "Eigen/src/Core/util/ReenableStupidWarnings.h" #endif // EIGEN_SKYLINE_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/SparseExtra b/gtsam/3rdparty/Eigen/unsupported/Eigen/SparseExtra index 7bab7c72b..340c34736 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/SparseExtra +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/SparseExtra @@ -10,13 +10,13 @@ #include #include #include +#include +#include #ifdef EIGEN_GOOGLEHASH_SUPPORT #include #endif -namespace Eigen { - /** \ingroup Unsupported_modules * \defgroup SparseExtra_Module SparseExtra module * @@ -27,42 +27,20 @@ namespace Eigen { * \endcode */ -struct DefaultBackend {}; - - -// solver flags -enum { - CompleteFactorization = 0x0000, // the default - IncompleteFactorization = 0x0001, - MemoryEfficient = 0x0002, - - // For LLT Cholesky: - SupernodalMultifrontal = 0x0010, - SupernodalLeftLooking = 0x0020, - - // Ordering methods: - NaturalOrdering = 0x0100, // the default - MinimumDegree_AT_PLUS_A = 0x0200, - MinimumDegree_ATA = 0x0300, - ColApproxMinimumDegree = 0x0400, - Metis = 0x0500, - Scotch = 0x0600, - Chaco = 0x0700, - OrderingMask = 0x0f00 -}; #include "../../Eigen/src/misc/Solve.h" +#include "../../Eigen/src/misc/SparseSolve.h" +#include "src/SparseExtra/DynamicSparseMatrix.h" +#include "src/SparseExtra/BlockOfDynamicSparseMatrix.h" #include "src/SparseExtra/RandomSetter.h" -#include "src/SparseExtra/Solve.h" -#include "src/SparseExtra/Amd.h" -#include "src/SparseExtra/SimplicialCholesky.h" -#include "src/SparseExtra/SparseLLT.h" -#include "src/SparseExtra/SparseLDLTLegacy.h" -#include "src/SparseExtra/SparseLU.h" +#include "src/SparseExtra/MarketIO.h" -} // namespace Eigen +#if !defined(_WIN32) +#include +#include "src/SparseExtra/MatrixMarketIterator.h" +#endif #include "../../Eigen/src/Core/util/ReenableStupidWarnings.h" diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenvaluesCommon.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/Splines similarity index 63% rename from gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenvaluesCommon.h rename to gtsam/3rdparty/Eigen/unsupported/Eigen/Splines index 749bea795..33769b0e4 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenvaluesCommon.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/Splines @@ -1,7 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // -// Copyright (C) 2010 Jitse Niesen +// Copyright (C) 20010-2011 Hauke Heibel // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -22,10 +22,25 @@ // License and a copy of the GNU General Public License along with // Eigen. If not, see . -#ifndef EIGEN_EIGENVALUES_COMMON_H -#define EIGEN_EIGENVALUES_COMMON_H +#ifndef EIGEN_SPLINES_MODULE_H +#define EIGEN_SPLINES_MODULE_H +namespace Eigen +{ +/** \ingroup Unsupported_modules + * \defgroup Splines_Module Spline and spline fitting module + * + * This module provides a simple multi-dimensional spline class while + * offering most basic functionality to fit a spline to point sets. + * + * \code + * #include + * \endcode + */ +} +#include "src/Splines/SplineFwd.h" +#include "src/Splines/Spline.h" +#include "src/Splines/SplineFitting.h" -#endif // EIGEN_EIGENVALUES_COMMON_H - +#endif // EIGEN_SPLINES_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/SuperLUSupport b/gtsam/3rdparty/Eigen/unsupported/Eigen/SuperLUSupport deleted file mode 100644 index 89cb649b2..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/SuperLUSupport +++ /dev/null @@ -1,35 +0,0 @@ -#ifndef EIGEN_SUPERLUSUPPORT_MODULE_H -#define EIGEN_SUPERLUSUPPORT_MODULE_H - -#include "SparseExtra" - -#include "../../Eigen/src/Core/util/DisableStupidWarnings.h" - -typedef int int_t; -#include -#include -#include - -namespace Eigen { struct SluMatrix; } - -namespace Eigen { - -/** \ingroup Unsupported_modules - * \defgroup SuperLUSupport_Module Super LU support - * - * - * - * \code - * #include - * \endcode - */ - -struct SuperLU {}; - -#include "src/SparseExtra/SuperLUSupport.h" - -} // namespace Eigen - -#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_SUPERLUSUPPORT_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/UmfPackSupport b/gtsam/3rdparty/Eigen/unsupported/Eigen/UmfPackSupport deleted file mode 100644 index c8b1e7c1f..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/UmfPackSupport +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef EIGEN_UMFPACKSUPPORT_MODULE_H -#define EIGEN_UMFPACKSUPPORT_MODULE_H - -#include "SparseExtra" - -#include "../../Eigen/src/Core/util/DisableStupidWarnings.h" - -extern "C" { -#include -} - -namespace Eigen { - -/** \ingroup Unsupported_modules - * \defgroup UmfPackSupport_Module UmfPack support module - * - * - * - * - * \code - * #include - * \endcode - */ - -struct UmfPack {}; - -#include "src/SparseExtra/UmfPackSupport.h" - -} // namespace Eigen - -#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_UMFPACKSUPPORT_MODULE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h index 4fe168a88..e5442a5ef 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h @@ -40,7 +40,7 @@ public: template AutoDiffJacobian(const T0& a0, const T1& a1) : Functor(a0, a1) {} template - AutoDiffJacobian(const T0& a0, const T1& a1, const T1& a2) : Functor(a0, a1, a2) {} + AutoDiffJacobian(const T0& a0, const T1& a1, const T2& a2) : Functor(a0, a1, a2) {} enum { InputsAtCompileTime = Functor::InputsAtCompileTime, diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h index 7517035d9..70d3222f5 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h @@ -101,7 +101,7 @@ class AutoDiffScalar /** Conversion from a scalar constant to an active scalar. * The derivatives are set to zero. */ - explicit AutoDiffScalar(const Real& value) + /*explicit*/ AutoDiffScalar(const Real& value) : m_value(value) { if(m_derivatives.size()>0) @@ -151,6 +151,27 @@ class AutoDiffScalar inline const DerType& derivatives() const { return m_derivatives; } inline DerType& derivatives() { return m_derivatives; } + inline bool operator< (const Scalar& other) const { return m_value < other; } + inline bool operator<=(const Scalar& other) const { return m_value <= other; } + inline bool operator> (const Scalar& other) const { return m_value > other; } + inline bool operator>=(const Scalar& other) const { return m_value >= other; } + inline bool operator==(const Scalar& other) const { return m_value == other; } + inline bool operator!=(const Scalar& other) const { return m_value != other; } + + friend inline bool operator< (const Scalar& a, const AutoDiffScalar& b) { return a < b.value(); } + friend inline bool operator<=(const Scalar& a, const AutoDiffScalar& b) { return a <= b.value(); } + friend inline bool operator> (const Scalar& a, const AutoDiffScalar& b) { return a > b.value(); } + friend inline bool operator>=(const Scalar& a, const AutoDiffScalar& b) { return a >= b.value(); } + friend inline bool operator==(const Scalar& a, const AutoDiffScalar& b) { return a == b.value(); } + friend inline bool operator!=(const Scalar& a, const AutoDiffScalar& b) { return a != b.value(); } + + template inline bool operator< (const AutoDiffScalar& b) const { return m_value < b.value(); } + template inline bool operator<=(const AutoDiffScalar& b) const { return m_value <= b.value(); } + template inline bool operator> (const AutoDiffScalar& b) const { return m_value > b.value(); } + template inline bool operator>=(const AutoDiffScalar& b) const { return m_value >= b.value(); } + template inline bool operator==(const AutoDiffScalar& b) const { return m_value == b.value(); } + template inline bool operator!=(const AutoDiffScalar& b) const { return m_value != b.value(); } + inline const AutoDiffScalar operator+(const Scalar& other) const { return AutoDiffScalar(m_value + other, m_derivatives); @@ -195,6 +216,24 @@ class AutoDiffScalar return *this; } + inline const AutoDiffScalar operator-(const Scalar& b) const + { + return AutoDiffScalar(m_value - b, m_derivatives); + } + + friend inline const AutoDiffScalar, const DerType> > + operator-(const Scalar& a, const AutoDiffScalar& b) + { + return AutoDiffScalar, const DerType> > + (a - b.value(), -b.derivatives()); + } + + inline AutoDiffScalar& operator-=(const Scalar& other) + { + value() -= other; + return *this; + } + template inline const AutoDiffScalar, const DerType,const typename internal::remove_all::type> > operator-(const AutoDiffScalar& other) const @@ -213,7 +252,6 @@ class AutoDiffScalar return *this; } - template inline const AutoDiffScalar, const DerType> > operator-() const { @@ -267,7 +305,7 @@ class AutoDiffScalar { return AutoDiffScalar, const DerType> >( other / a.value(), - a.derivatives() * (-Scalar(1)/other)); + a.derivatives() * (Scalar(-other) / (a.value()*a.value()))); } // inline const AutoDiffScalar, DerType>::Type > @@ -330,6 +368,19 @@ class AutoDiffScalar return *this; } + inline AutoDiffScalar& operator/=(const Scalar& other) + { + *this = *this / other; + return *this; + } + + template + inline AutoDiffScalar& operator/=(const AutoDiffScalar& other) + { + *this = *this / other; + return *this; + } + protected: Scalar m_value; DerType m_derivatives; @@ -463,16 +514,14 @@ template ReturnType; }; -template -struct scalar_product_traits,T> +template +struct scalar_product_traits,typename DerType::Scalar> { typedef AutoDiffScalar ReturnType; }; } // end namespace internal -} // end namespace Eigen - #define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \ template \ inline const Eigen::AutoDiffScalar::type>::Scalar>, const typename Eigen::internal::remove_all::type> > \ @@ -483,87 +532,109 @@ struct scalar_product_traits,T> CODE; \ } -namespace std -{ - EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs, - return ReturnType(std::abs(x.value()), x.derivatives() * (sign(x.value())));) - - EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt, - Scalar sqrtx = std::sqrt(x.value()); - return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));) - - EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos, - return ReturnType(std::cos(x.value()), x.derivatives() * (-std::sin(x.value())));) - - EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin, - return ReturnType(std::sin(x.value()),x.derivatives() * std::cos(x.value()));) - - EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp, - Scalar expx = std::exp(x.value()); - return ReturnType(expx,x.derivatives() * expx);) - - EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(log, - return ReturnType(std::log(x.value()),x.derivatives() * (Scalar(1)/x.value()));) - - template - inline const Eigen::AutoDiffScalar::Scalar>, const DerType> > - pow(const Eigen::AutoDiffScalar& x, typename Eigen::internal::traits::Scalar y) - { - using namespace Eigen; - typedef typename Eigen::internal::traits::Scalar Scalar; - return AutoDiffScalar, const DerType> >( - std::pow(x.value(),y), - x.derivatives() * (y * std::pow(x.value(),y-1))); - } - -} - -namespace Eigen { - -namespace internal { - template inline const AutoDiffScalar& conj(const AutoDiffScalar& x) { return x; } template inline const AutoDiffScalar& real(const AutoDiffScalar& x) { return x; } template inline typename DerType::Scalar imag(const AutoDiffScalar&) { return 0.; } +template +inline AutoDiffScalar (min)(const AutoDiffScalar& x, const T& y) { return (x <= y ? x : y); } +template +inline AutoDiffScalar (max)(const AutoDiffScalar& x, const T& y) { return (x >= y ? x : y); } +template +inline AutoDiffScalar (min)(const T& x, const AutoDiffScalar& y) { return (x < y ? x : y); } +template +inline AutoDiffScalar (max)(const T& x, const AutoDiffScalar& y) { return (x > y ? x : y); } +#define sign(x) x >= 0 ? 1 : -1 // required for abs function below + EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs, + using std::abs; return ReturnType(abs(x.value()), x.derivatives() * (sign(x.value())));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2, + using internal::abs2; return ReturnType(abs2(x.value()), x.derivatives() * (Scalar(2)*x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt, + using std::sqrt; Scalar sqrtx = sqrt(x.value()); return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos, + using std::cos; + using std::sin; return ReturnType(cos(x.value()), x.derivatives() * (-sin(x.value())));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin, + using std::sin; + using std::cos; return ReturnType(sin(x.value()),x.derivatives() * cos(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp, + using std::exp; Scalar expx = exp(x.value()); return ReturnType(expx,x.derivatives() * expx);) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(log, + using std::log; return ReturnType(log(x.value()),x.derivatives() * (Scalar(1)/x.value()));) template -inline const AutoDiffScalar::Scalar>, DerType> > -pow(const AutoDiffScalar& x, typename traits::Scalar y) -{ return std::pow(x,y);} +inline const Eigen::AutoDiffScalar::Scalar>, const DerType> > +pow(const Eigen::AutoDiffScalar& x, typename Eigen::internal::traits::Scalar y) +{ + using namespace Eigen; + typedef typename Eigen::internal::traits::Scalar Scalar; + return AutoDiffScalar, const DerType> >( + std::pow(x.value(),y), + x.derivatives() * (y * std::pow(x.value(),y-1))); +} -} // end namespace internal + +template +inline const AutoDiffScalar::Scalar,Dynamic,1> > +atan2(const AutoDiffScalar& a, const AutoDiffScalar& b) +{ + using std::atan2; + using std::max; + typedef typename internal::traits::Scalar Scalar; + typedef AutoDiffScalar > PlainADS; + PlainADS ret; + ret.value() = atan2(a.value(), b.value()); + + Scalar tmp2 = a.value() * a.value(); + Scalar tmp3 = b.value() * b.value(); + Scalar tmp4 = tmp3/(tmp2+tmp3); + + if (tmp4!=0) + ret.derivatives() = (a.derivatives() * b.value() - a.value() * b.derivatives()) * (tmp2+tmp3); + + return ret; +} + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tan, + using std::tan; + using std::cos; + return ReturnType(tan(x.value()),x.derivatives() * (Scalar(1)/internal::abs2(cos(x.value()))));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin, + using std::sqrt; + using std::asin; + return ReturnType(asin(x.value()),x.derivatives() * (Scalar(1)/sqrt(1-internal::abs2(x.value()))));) + +EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(acos, + using std::sqrt; + using std::acos; + return ReturnType(acos(x.value()),x.derivatives() * (Scalar(-1)/sqrt(1-internal::abs2(x.value()))));) #undef EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY template struct NumTraits > : NumTraits< typename NumTraits::Real > { + typedef AutoDiffScalar::Real,DerType::RowsAtCompileTime,DerType::ColsAtCompileTime> > Real; typedef AutoDiffScalar NonInteger; typedef AutoDiffScalar& Nested; enum{ diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h index d65a97740..6cba656ff 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h @@ -25,6 +25,8 @@ #ifndef EIGEN_BVALGORITHMS_H #define EIGEN_BVALGORITHMS_H +namespace Eigen { + namespace internal { #ifndef EIGEN_PARSED_BY_DOXYGEN @@ -301,4 +303,6 @@ typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Mini return minimum; } +} // end namespace Eigen + #endif // EIGEN_BVALGORITHMS_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h index 028b4811e..13a154d5c 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h @@ -25,6 +25,8 @@ #ifndef KDBVH_H_INCLUDED #define KDBVH_H_INCLUDED +namespace Eigen { + namespace internal { //internal pair class for the BVH--used instead of std::pair because of alignment @@ -69,7 +71,7 @@ struct get_boxes_helper { * * \param _Scalar The underlying scalar type of the bounding boxes * \param _Dim The dimension of the space in which the hierarchy lives - * \param _Object The object type that lives in the hierarchy. It must have value semantics. Either internal::bounding_box(_Object) must + * \param _Object The object type that lives in the hierarchy. It must have value semantics. Either bounding_box(_Object) must * be defined and return an AlignedBox<_Scalar, _Dim> or bounding boxes must be provided to the tree initializer. * * This class provides a simple (as opposed to optimized) implementation of a bounding volume hierarchy analogous to a Kd-tree. @@ -92,14 +94,14 @@ public: KdBVH() {} - /** Given an iterator range over \a Object references, constructs the BVH. Requires that internal::bounding_box(Object) return a Volume. */ + /** Given an iterator range over \a Object references, constructs the BVH. Requires that bounding_box(Object) return a Volume. */ template KdBVH(Iter begin, Iter end) { init(begin, end, 0, 0); } //int is recognized by init as not being an iterator type /** Given an iterator range over \a Object references and an iterator range over their bounding boxes, constructs the BVH */ template KdBVH(OIter begin, OIter end, BIter boxBegin, BIter boxEnd) { init(begin, end, boxBegin, boxEnd); } /** Given an iterator range over \a Object references, constructs the BVH, overwriting whatever is in there currently. - * Requires that internal::bounding_box(Object) return a Volume. */ + * Requires that bounding_box(Object) return a Volume. */ template void init(Iter begin, Iter end) { init(begin, end, 0, 0); } /** Given an iterator range over \a Object references and an iterator range over their bounding boxes, @@ -230,4 +232,6 @@ private: ObjectList objects; }; +} // end namespace Eigen + #endif //KDBVH_H_INCLUDED diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt index cd442cefa..f3180b52b 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/CMakeLists.txt @@ -9,3 +9,5 @@ ADD_SUBDIRECTORY(NumericalDiff) ADD_SUBDIRECTORY(Polynomials) ADD_SUBDIRECTORY(Skyline) ADD_SUBDIRECTORY(SparseExtra) +ADD_SUBDIRECTORY(KroneckerProduct) +ADD_SUBDIRECTORY(Splines) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h index a06f6739e..5c36db70c 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h @@ -22,6 +22,8 @@ // License and a copy of the GNU General Public License along with // Eigen. If not, see . +namespace Eigen { + namespace internal { // FFTW uses non-const arguments @@ -269,4 +271,6 @@ namespace internal { } // end namespace internal +} // end namespace Eigen + /* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h index 04b98b083..c3cbb7f01 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h @@ -22,6 +22,8 @@ // License and a copy of the GNU General Public License along with // Eigen. If not, see . +namespace Eigen { + namespace internal { // This FFT implementation was derived from kissfft http:sourceforge.net/projects/kissfft @@ -426,5 +428,6 @@ struct kissfft_impl } // end namespace internal -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ +} // end namespace Eigen +/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h index 4d8e183ee..f8a550553 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h @@ -50,6 +50,8 @@ #include +namespace Eigen { + namespace internal { /** \ingroup IterativeSolvers_Module @@ -195,4 +197,6 @@ void constrained_cg(const TMatrix& A, const CMatrix& C, VectorX& x, } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_CONSTRAINEDCG_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h new file mode 100644 index 000000000..e100617d1 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h @@ -0,0 +1,394 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// Copyright (C) 2012 Kolja Brix +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_GMRES_H +#define EIGEN_GMRES_H + +namespace Eigen { + +namespace internal { + +/** + * Generalized Minimal Residual Algorithm based on the + * Arnoldi algorithm implemented with Householder reflections. + * + * Parameters: + * \param mat matrix of linear system of equations + * \param Rhs right hand side vector of linear system of equations + * \param x on input: initial guess, on output: solution + * \param precond preconditioner used + * \param iters on input: maximum number of iterations to perform + * on output: number of iterations performed + * \param restart number of iterations for a restart + * \param tol_error on input: residual tolerance + * on output: residuum achieved + * + * \sa IterativeMethods::bicgstab() + * + * + * For references, please see: + * + * Saad, Y. and Schultz, M. H. + * GMRES: A Generalized Minimal Residual Algorithm for Solving Nonsymmetric Linear Systems. + * SIAM J.Sci.Stat.Comp. 7, 1986, pp. 856 - 869. + * + * Saad, Y. + * Iterative Methods for Sparse Linear Systems. + * Society for Industrial and Applied Mathematics, Philadelphia, 2003. + * + * Walker, H. F. + * Implementations of the GMRES method. + * Comput.Phys.Comm. 53, 1989, pp. 311 - 320. + * + * Walker, H. F. + * Implementation of the GMRES Method using Householder Transformations. + * SIAM J.Sci.Stat.Comp. 9, 1988, pp. 152 - 163. + * + */ +template +bool gmres(const MatrixType & mat, const Rhs & rhs, Dest & x, const Preconditioner & precond, + int &iters, const int &restart, typename Dest::RealScalar & tol_error) { + + using std::sqrt; + using std::abs; + + typedef typename Dest::RealScalar RealScalar; + typedef typename Dest::Scalar Scalar; + typedef Matrix < RealScalar, Dynamic, 1 > RealVectorType; + typedef Matrix < Scalar, Dynamic, 1 > VectorType; + typedef Matrix < Scalar, Dynamic, Dynamic > FMatrixType; + + RealScalar tol = tol_error; + const int maxIters = iters; + iters = 0; + + const int m = mat.rows(); + + VectorType p0 = rhs - mat*x; + VectorType r0 = precond.solve(p0); +// RealScalar r0_sqnorm = r0.squaredNorm(); + + VectorType w = VectorType::Zero(restart + 1); + + FMatrixType H = FMatrixType::Zero(m, restart + 1); + VectorType tau = VectorType::Zero(restart + 1); + std::vector < JacobiRotation < Scalar > > G(restart); + + // generate first Householder vector + VectorType e; + RealScalar beta; + r0.makeHouseholder(e, tau.coeffRef(0), beta); + w(0)=(Scalar) beta; + H.bottomLeftCorner(m - 1, 1) = e; + + for (int k = 1; k <= restart; ++k) { + + ++iters; + + VectorType v = VectorType::Unit(m, k - 1), workspace(m); + + // apply Householder reflections H_{1} ... H_{k-1} to v + for (int i = k - 1; i >= 0; --i) { + v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data()); + } + + // apply matrix M to v: v = mat * v; + VectorType t=mat*v; + v=precond.solve(t); + + // apply Householder reflections H_{k-1} ... H_{1} to v + for (int i = 0; i < k; ++i) { + v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data()); + } + + if (v.tail(m - k).norm() != 0.0) { + + if (k <= restart) { + + // generate new Householder vector + VectorType e(m - k - 1); + RealScalar beta; + v.tail(m - k).makeHouseholder(e, tau.coeffRef(k), beta); + H.col(k).tail(m - k - 1) = e; + + // apply Householder reflection H_{k} to v + v.tail(m - k).applyHouseholderOnTheLeft(H.col(k).tail(m - k - 1), tau.coeffRef(k), workspace.data()); + + } + } + + if (k > 1) { + for (int i = 0; i < k - 1; ++i) { + // apply old Givens rotations to v + v.applyOnTheLeft(i, i + 1, G[i].adjoint()); + } + } + + if (k ().solveInPlace(y); + + // use Horner-like scheme to calculate solution vector + VectorType x_new = y(k - 1) * VectorType::Unit(m, k - 1); + + // apply Householder reflection H_{k} to x_new + x_new.tail(m - k + 1).applyHouseholderOnTheLeft(H.col(k - 1).tail(m - k), tau.coeffRef(k - 1), workspace.data()); + + for (int i = k - 2; i >= 0; --i) { + x_new += y(i) * VectorType::Unit(m, i); + // apply Householder reflection H_{i} to x_new + x_new.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data()); + } + + x += x_new; + + if (stop) { + return true; + } else { + k=0; + + // reset data for a restart r0 = rhs - mat * x; + VectorType p0=mat*x; + VectorType p1=precond.solve(p0); + r0 = rhs - p1; +// r0_sqnorm = r0.squaredNorm(); + w = VectorType::Zero(restart + 1); + H = FMatrixType::Zero(m, restart + 1); + tau = VectorType::Zero(restart + 1); + + // generate first Householder vector + RealScalar beta; + r0.makeHouseholder(e, tau.coeffRef(0), beta); + w(0)=(Scalar) beta; + H.bottomLeftCorner(m - 1, 1) = e; + + } + + } + + + + } + + return false; + +} + +} + +template< typename _MatrixType, + typename _Preconditioner = DiagonalPreconditioner > +class GMRES; + +namespace internal { + +template< typename _MatrixType, typename _Preconditioner> +struct traits > +{ + typedef _MatrixType MatrixType; + typedef _Preconditioner Preconditioner; +}; + +} + +/** \ingroup IterativeLinearSolvers_Module + * \brief A GMRES solver for sparse square problems + * + * This class allows to solve for A.x = b sparse linear problems using a generalized minimal + * residual method. The vectors x and b can be either dense or sparse. + * + * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix. + * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner + * + * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations() + * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations + * and NumTraits::epsilon() for the tolerance. + * + * This class can be used as the direct solver classes. Here is a typical usage example: + * \code + * int n = 10000; + * VectorXd x(n), b(n); + * SparseMatrix A(n,n); + * // fill A and b + * GMRES > solver(A); + * x = solver.solve(b); + * std::cout << "#iterations: " << solver.iterations() << std::endl; + * std::cout << "estimated error: " << solver.error() << std::endl; + * // update b, and solve again + * x = solver.solve(b); + * \endcode + * + * By default the iterations start with x=0 as an initial guess of the solution. + * One can control the start using the solveWithGuess() method. Here is a step by + * step execution example starting with a random guess and printing the evolution + * of the estimated error: + * * \code + * x = VectorXd::Random(n); + * solver.setMaxIterations(1); + * int i = 0; + * do { + * x = solver.solveWithGuess(b,x); + * std::cout << i << " : " << solver.error() << std::endl; + * ++i; + * } while (solver.info()!=Success && i<100); + * \endcode + * Note that such a step by step excution is slightly slower. + * + * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner + */ +template< typename _MatrixType, typename _Preconditioner> +class GMRES : public IterativeSolverBase > +{ + typedef IterativeSolverBase Base; + using Base::mp_matrix; + using Base::m_error; + using Base::m_iterations; + using Base::m_info; + using Base::m_isInitialized; + +private: + int m_restart; + +public: + typedef _MatrixType MatrixType; + typedef typename MatrixType::Scalar Scalar; + typedef typename MatrixType::Index Index; + typedef typename MatrixType::RealScalar RealScalar; + typedef _Preconditioner Preconditioner; + +public: + + /** Default constructor. */ + GMRES() : Base(), m_restart(30) {} + + /** Initialize the solver with matrix \a A for further \c Ax=b solving. + * + * This constructor is a shortcut for the default constructor followed + * by a call to compute(). + * + * \warning this class stores a reference to the matrix A as well as some + * precomputed values that depend on it. Therefore, if \a A is changed + * this class becomes invalid. Call compute() to update it with the new + * matrix A, or modify a copy of A. + */ + GMRES(const MatrixType& A) : Base(A), m_restart(30) {} + + ~GMRES() {} + + /** Get the number of iterations after that a restart is performed. + */ + int get_restart() { return m_restart; } + + /** Set the number of iterations after that a restart is performed. + * \param restart number of iterations for a restarti, default is 30. + */ + void set_restart(const int restart) { m_restart=restart; } + + /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A + * \a x0 as an initial solution. + * + * \sa compute() + */ + template + inline const internal::solve_retval_with_guess + solveWithGuess(const MatrixBase& b, const Guess& x0) const + { + eigen_assert(m_isInitialized && "GMRES is not initialized."); + eigen_assert(Base::rows()==b.rows() + && "GMRES::solve(): invalid number of rows of the right hand side matrix b"); + return internal::solve_retval_with_guess + (*this, b.derived(), x0); + } + + /** \internal */ + template + void _solveWithGuess(const Rhs& b, Dest& x) const + { + bool failed = false; + for(int j=0; j + void _solve(const Rhs& b, Dest& x) const + { + x.setZero(); + _solveWithGuess(b,x); + } + +protected: + +}; + + +namespace internal { + + template +struct solve_retval, Rhs> + : solve_retval_base, Rhs> +{ + typedef GMRES<_MatrixType, _Preconditioner> Dec; + EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs) + + template void evalTo(Dest& dst) const + { + dec()._solve(rhs(),dst); + } +}; + +} // end namespace internal + +} // end namespace Eigen + +#endif // EIGEN_GMRES_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h new file mode 100644 index 000000000..e02f1f0c8 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h @@ -0,0 +1,128 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_INCOMPLETE_LU_H +#define EIGEN_INCOMPLETE_LU_H + +namespace Eigen { + +template +class IncompleteLU +{ + typedef _Scalar Scalar; + typedef Matrix Vector; + typedef typename Vector::Index Index; + typedef SparseMatrix FactorType; + + public: + typedef Matrix MatrixType; + + IncompleteLU() : m_isInitialized(false) {} + + template + IncompleteLU(const MatrixType& mat) : m_isInitialized(false) + { + compute(mat); + } + + Index rows() const { return m_lu.rows(); } + Index cols() const { return m_lu.cols(); } + + template + IncompleteLU& compute(const MatrixType& mat) + { + m_lu = mat; + int size = mat.cols(); + Vector diag(size); + for(int i=0; i + void _solve(const Rhs& b, Dest& x) const + { + x = m_lu.template triangularView().solve(b); + x = m_lu.template triangularView().solve(x); + } + + template inline const internal::solve_retval + solve(const MatrixBase& b) const + { + eigen_assert(m_isInitialized && "IncompleteLU is not initialized."); + eigen_assert(cols()==b.rows() + && "IncompleteLU::solve(): invalid number of rows of the right hand side matrix b"); + return internal::solve_retval(*this, b.derived()); + } + + protected: + FactorType m_lu; + bool m_isInitialized; +}; + +namespace internal { + +template +struct solve_retval, Rhs> + : solve_retval_base, Rhs> +{ + typedef IncompleteLU<_MatrixType> Dec; + EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs) + + template void evalTo(Dest& dst) const + { + dec()._solve(rhs(),dst); + } +}; + +} // end namespace internal + +} // end namespace Eigen + +#endif // EIGEN_INCOMPLETE_LU_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h index a65793cd5..dfb97e239 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h @@ -75,6 +75,8 @@ #ifndef EIGEN_ITERATION_CONTROLLER_H #define EIGEN_ITERATION_CONTROLLER_H +namespace Eigen { + /** \ingroup IterativeSolvers_Module * \class IterationController * @@ -163,4 +165,6 @@ class IterationController }; +} // end namespace Eigen + #endif // EIGEN_ITERATION_CONTROLLER_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h new file mode 100644 index 000000000..4aad69d0e --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h @@ -0,0 +1,200 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2012 Desire NUENTSA WAKAM . + +#ifndef EIGEN_SCALING_H +#define EIGEN_SCALING_H +/** + * \ingroup IterativeSolvers_Module + * \brief iterative scaling algorithm to equilibrate rows and column norms in matrices + * + * This class can be used as a preprocessing tool to accelerate the convergence of iterative methods + * + * This feature is useful to limit the pivoting amount during LU/ILU factorization + * The scaling strategy as presented here preserves the symmetry of the problem + * NOTE It is assumed that the matrix does not have empty row or column, + * + * Example with key steps + * \code + * VectorXd x(n), b(n); + * SparseMatrix A; + * // fill A and b; + * Scaling > scal; + * // Compute the left and right scaling vectors. The matrix is equilibrated at output + * scal.computeRef(A); + * // Scale the right hand side + * b = scal.LeftScaling().cwiseProduct(b); + * // Now, solve the equilibrated linear system with any available solver + * + * // Scale back the computed solution + * x = scal.RightScaling().cwiseProduct(x); + * \endcode + * + * \tparam _MatrixType the type of the matrix. It should be a real square sparsematrix + * + * References : D. Ruiz and B. Ucar, A Symmetry Preserving Algorithm for Matrix Scaling, INRIA Research report RR-7552 + * + * \sa \ref IncompleteLUT + */ +using std::abs; +using namespace Eigen; +template +class Scaling +{ + public: + typedef _MatrixType MatrixType; + typedef typename MatrixType::Scalar Scalar; + typedef typename MatrixType::Index Index; + + public: + Scaling() { init(); } + + Scaling(const MatrixType& matrix) + { + init(); + compute(matrix); + } + + ~Scaling() { } + + /** + * Compute the left and right diagonal matrices to scale the input matrix @p mat + * + * FIXME This algorithm will be modified such that the diagonal elements are permuted on the diagonal. + * + * \sa LeftScaling() RightScaling() + */ + void compute (const MatrixType& mat) + { + int m = mat.rows(); + int n = mat.cols(); + assert((m>0 && m == n) && "Please give a non - empty matrix"); + m_left.resize(m); + m_right.resize(n); + m_left.setOnes(); + m_right.setOnes(); + m_matrix = mat; + VectorXd Dr, Dc, DrRes, DcRes; // Temporary Left and right scaling vectors + Dr.resize(m); Dc.resize(n); + DrRes.resize(m); DcRes.resize(n); + double EpsRow = 1.0, EpsCol = 1.0; + int its = 0; + do + { // Iterate until the infinite norm of each row and column is approximately 1 + // Get the maximum value in each row and column + Dr.setZero(); Dc.setZero(); + for (int k=0; km_tol || EpsCol > m_tol) && (its < m_maxits) ); + m_isInitialized = true; + } + /** Compute the left and right vectors to scale the vectors + * the input matrix is scaled with the computed vectors at output + * + * \sa compute() + */ + void computeRef (MatrixType& mat) + { + compute (mat); + mat = m_matrix; + } + /** Get the vector to scale the rows of the matrix + */ + VectorXd& LeftScaling() + { + return m_left; + } + + /** Get the vector to scale the columns of the matrix + */ + VectorXd& RightScaling() + { + return m_right; + } + + /** Set the tolerance for the convergence of the iterative scaling algorithm + */ + void setTolerance(double tol) + { + m_tol = tol; + } + + protected: + + void init() + { + m_tol = 1e-10; + m_maxits = 5; + m_isInitialized = false; + } + + MatrixType m_matrix; + mutable ComputationInfo m_info; + bool m_isInitialized; + VectorXd m_left; // Left scaling vector + VectorXd m_right; // m_right scaling vector + double m_tol; + int m_maxits; // Maximum number of iterations allowed +}; + +#endif \ No newline at end of file diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/CMakeLists.txt new file mode 100644 index 000000000..4daefebee --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/CMakeLists.txt @@ -0,0 +1,6 @@ +FILE(GLOB Eigen_KroneckerProduct_SRCS "*.h") + +INSTALL(FILES + ${Eigen_KroneckerProduct_SRCS} + DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/KroneckerProduct COMPONENT Devel + ) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h new file mode 100644 index 000000000..4627705ce --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h @@ -0,0 +1,172 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Kolja Brix +// Copyright (C) 2011 Andreas Platen +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + + +#ifndef KRONECKER_TENSOR_PRODUCT_H +#define KRONECKER_TENSOR_PRODUCT_H + + +namespace Eigen { + +namespace internal { + +/*! + * Kronecker tensor product helper function for dense matrices + * + * \param A Dense matrix A + * \param B Dense matrix B + * \param AB_ Kronecker tensor product of A and B + */ +template +void kroneckerProduct_full(const Derived_A& A, const Derived_B& B, Derived_AB & AB) +{ + const unsigned int Ar = A.rows(), + Ac = A.cols(), + Br = B.rows(), + Bc = B.cols(); + for (unsigned int i=0; i +void kroneckerProduct_sparse(const Derived_A &A, const Derived_B &B, Derived_AB &AB) +{ + const unsigned int Ar = A.rows(), + Ac = A.cols(), + Br = B.rows(), + Bc = B.cols(); + AB.resize(Ar*Br,Ac*Bc); + AB.resizeNonZeros(0); + AB.reserve(A.nonZeros()*B.nonZeros()); + + for (int kA=0; kA +void kroneckerProduct(const MatrixBase& a, const MatrixBase& b, Matrix& c) +{ + c.resize(a.rows()*b.rows(),a.cols()*b.cols()); + internal::kroneckerProduct_full(a.derived(), b.derived(), c); +} + +/*! + * Computes Kronecker tensor product of two dense matrices + * + * Remark: this function uses the const cast hack and has been + * implemented to make the function call possible, where the + * output matrix is a submatrix, e.g. + * kroneckerProduct(A,B,AB.block(2,5,6,6)); + * + * \param a Dense matrix a + * \param b Dense matrix b + * \param c Kronecker tensor product of a and b + */ +template +void kroneckerProduct(const MatrixBase& a, const MatrixBase& b, MatrixBase const & c_) +{ + MatrixBase& c = const_cast& >(c_); + internal::kroneckerProduct_full(a.derived(), b.derived(), c.derived()); +} + +/*! + * Computes Kronecker tensor product of a dense and a sparse matrix + * + * \param a Dense matrix a + * \param b Sparse matrix b + * \param c Kronecker tensor product of a and b + */ +template +void kroneckerProduct(const MatrixBase& a, const SparseMatrixBase& b, SparseMatrixBase& c) +{ + internal::kroneckerProduct_sparse(a.derived(), b.derived(), c.derived()); +} + +/*! + * Computes Kronecker tensor product of a sparse and a dense matrix + * + * \param a Sparse matrix a + * \param b Dense matrix b + * \param c Kronecker tensor product of a and b + */ +template +void kroneckerProduct(const SparseMatrixBase& a, const MatrixBase& b, SparseMatrixBase& c) +{ + internal::kroneckerProduct_sparse(a.derived(), b.derived(), c.derived()); +} + +/*! + * Computes Kronecker tensor product of two sparse matrices + * + * \param a Sparse matrix a + * \param b Sparse matrix b + * \param c Kronecker tensor product of a and b + */ +template +void kroneckerProduct(const SparseMatrixBase& a, const SparseMatrixBase& b, SparseMatrixBase& c) +{ + internal::kroneckerProduct_sparse(a.derived(), b.derived(), c.derived()); +} + +} // end namespace Eigen + +#endif // KRONECKER_TENSOR_PRODUCT_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h index 50c0ca84e..6cdd65748 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h @@ -2,6 +2,7 @@ // for linear algebra. // // Copyright (C) 2009, 2010 Jitse Niesen +// Copyright (C) 2011 Chen-Pang He // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -25,7 +26,11 @@ #ifndef EIGEN_MATRIX_EXPONENTIAL #define EIGEN_MATRIX_EXPONENTIAL -#ifdef _MSC_VER +#include "StemFunction.h" + +namespace Eigen { + +#if defined(_MSC_VER) || defined(__FreeBSD__) template Scalar log2(Scalar v) { using std::log; return log(v)/log(Scalar(2)); } #endif @@ -107,6 +112,17 @@ class MatrixExponential { */ void pade13(const MatrixType &A); + /** \brief Compute the (17,17)-Padé approximant to the exponential. + * + * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé + * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$. + * + * This function activates only if your long double is double-double or quadruple. + * + * \param[in] A Argument of matrix exponential + */ + void pade17(const MatrixType &A); + /** \brief Compute Padé approximant to the exponential. * * Computes \c m_U, \c m_V and \c m_squarings such that @@ -127,17 +143,24 @@ class MatrixExponential { * \sa computeUV(double); */ void computeUV(float); + + /** \brief Compute Padé approximant to the exponential. + * + * \sa computeUV(double); + */ + void computeUV(long double); typedef typename internal::traits::Scalar Scalar; typedef typename NumTraits::Real RealScalar; + typedef typename std::complex ComplexScalar; /** \brief Reference to matrix whose exponential is to be computed. */ typename internal::nested::type m_M; - /** \brief Even-degree terms in numerator of Padé approximant. */ + /** \brief Odd-degree terms in numerator of Padé approximant. */ MatrixType m_U; - /** \brief Odd-degree terms in numerator of Padé approximant. */ + /** \brief Even-degree terms in numerator of Padé approximant. */ MatrixType m_V; /** \brief Used for temporary storage. */ @@ -153,7 +176,7 @@ class MatrixExponential { int m_squarings; /** \brief L1 norm of m_M. */ - float m_l1norm; + RealScalar m_l1norm; }; template @@ -165,7 +188,7 @@ MatrixExponential::MatrixExponential(const MatrixType &M) : m_tmp2(M.rows(),M.cols()), m_Id(MatrixType::Identity(M.rows(), M.cols())), m_squarings(0), - m_l1norm(static_cast(M.cwiseAbs().colwise().sum().maxCoeff())) + m_l1norm(M.cwiseAbs().colwise().sum().maxCoeff()) { /* empty body */ } @@ -174,18 +197,24 @@ template template void MatrixExponential::compute(ResultType &result) { +#if LDBL_MANT_DIG > 112 // rarely happens + if(sizeof(RealScalar) > 14) { + result = m_M.matrixFunction(StdStemFunctions::exp); + return; + } +#endif computeUV(RealScalar()); - m_tmp1 = m_U + m_V; // numerator of Pade approximant - m_tmp2 = -m_U + m_V; // denominator of Pade approximant + m_tmp1 = m_U + m_V; // numerator of Pade approximant + m_tmp2 = -m_U + m_V; // denominator of Pade approximant result = m_tmp2.partialPivLu().solve(m_tmp1); for (int i=0; i EIGEN_STRONG_INLINE void MatrixExponential::pade3(const MatrixType &A) { - const Scalar b[] = {120., 60., 12., 1.}; + const RealScalar b[] = {120., 60., 12., 1.}; m_tmp1.noalias() = A * A; m_tmp2 = b[3]*m_tmp1 + b[1]*m_Id; m_U.noalias() = A * m_tmp2; @@ -195,7 +224,7 @@ EIGEN_STRONG_INLINE void MatrixExponential::pade3(const MatrixType & template EIGEN_STRONG_INLINE void MatrixExponential::pade5(const MatrixType &A) { - const Scalar b[] = {30240., 15120., 3360., 420., 30., 1.}; + const RealScalar b[] = {30240., 15120., 3360., 420., 30., 1.}; MatrixType A2 = A * A; m_tmp1.noalias() = A2 * A2; m_tmp2 = b[5]*m_tmp1 + b[3]*A2 + b[1]*m_Id; @@ -206,7 +235,7 @@ EIGEN_STRONG_INLINE void MatrixExponential::pade5(const MatrixType & template EIGEN_STRONG_INLINE void MatrixExponential::pade7(const MatrixType &A) { - const Scalar b[] = {17297280., 8648640., 1995840., 277200., 25200., 1512., 56., 1.}; + const RealScalar b[] = {17297280., 8648640., 1995840., 277200., 25200., 1512., 56., 1.}; MatrixType A2 = A * A; MatrixType A4 = A2 * A2; m_tmp1.noalias() = A4 * A2; @@ -218,7 +247,7 @@ EIGEN_STRONG_INLINE void MatrixExponential::pade7(const MatrixType & template EIGEN_STRONG_INLINE void MatrixExponential::pade9(const MatrixType &A) { - const Scalar b[] = {17643225600., 8821612800., 2075673600., 302702400., 30270240., + const RealScalar b[] = {17643225600., 8821612800., 2075673600., 302702400., 30270240., 2162160., 110880., 3960., 90., 1.}; MatrixType A2 = A * A; MatrixType A4 = A2 * A2; @@ -232,7 +261,7 @@ EIGEN_STRONG_INLINE void MatrixExponential::pade9(const MatrixType & template EIGEN_STRONG_INLINE void MatrixExponential::pade13(const MatrixType &A) { - const Scalar b[] = {64764752532480000., 32382376266240000., 7771770303897600., + const RealScalar b[] = {64764752532480000., 32382376266240000., 7771770303897600., 1187353796428800., 129060195264000., 10559470521600., 670442572800., 33522128640., 1323241920., 40840800., 960960., 16380., 182., 1.}; MatrixType A2 = A * A; @@ -247,6 +276,30 @@ EIGEN_STRONG_INLINE void MatrixExponential::pade13(const MatrixType m_V += b[6]*m_tmp1 + b[4]*A4 + b[2]*A2 + b[0]*m_Id; } +#if LDBL_MANT_DIG > 64 +template +EIGEN_STRONG_INLINE void MatrixExponential::pade17(const MatrixType &A) +{ + const RealScalar b[] = {830034394580628357120000.L, 415017197290314178560000.L, + 100610229646136770560000.L, 15720348382208870400000.L, + 1774878043152614400000.L, 153822763739893248000.L, 10608466464820224000.L, + 595373117923584000.L, 27563570274240000.L, 1060137318240000.L, + 33924394183680.L, 899510451840.L, 19554575040.L, 341863200.L, 4651200.L, + 46512.L, 306.L, 1.L}; + MatrixType A2 = A * A; + MatrixType A4 = A2 * A2; + MatrixType A6 = A4 * A2; + m_tmp1.noalias() = A4 * A4; + m_V = b[17]*m_tmp1 + b[15]*A6 + b[13]*A4 + b[11]*A2; // used for temporary storage + m_tmp2.noalias() = m_tmp1 * m_V; + m_tmp2 += b[9]*m_tmp1 + b[7]*A6 + b[5]*A4 + b[3]*A2 + b[1]*m_Id; + m_U.noalias() = A * m_tmp2; + m_tmp2 = b[16]*m_tmp1 + b[14]*A6 + b[12]*A4 + b[10]*A2; + m_V.noalias() = m_tmp1 * m_tmp2; + m_V += b[8]*m_tmp1 + b[6]*A6 + b[4]*A4 + b[2]*A2 + b[0]*m_Id; +} +#endif + template void MatrixExponential::computeUV(float) { @@ -260,7 +313,7 @@ void MatrixExponential::computeUV(float) } else { const float maxnorm = 3.925724783138660f; m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm))); - MatrixType A = m_M / pow(Scalar(2), Scalar(static_cast(m_squarings))); + MatrixType A = m_M / pow(Scalar(2), m_squarings); pade7(A); } } @@ -282,11 +335,74 @@ void MatrixExponential::computeUV(double) } else { const double maxnorm = 5.371920351148152; m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm))); - MatrixType A = m_M / pow(Scalar(2), Scalar(m_squarings)); + MatrixType A = m_M / pow(Scalar(2), m_squarings); pade13(A); } } +template +void MatrixExponential::computeUV(long double) +{ + using std::max; + using std::pow; + using std::ceil; +#if LDBL_MANT_DIG == 53 // double precision + computeUV(double()); +#elif LDBL_MANT_DIG <= 64 // extended precision + if (m_l1norm < 4.1968497232266989671e-003L) { + pade3(m_M); + } else if (m_l1norm < 1.1848116734693823091e-001L) { + pade5(m_M); + } else if (m_l1norm < 5.5170388480686700274e-001L) { + pade7(m_M); + } else if (m_l1norm < 1.3759868875587845383e+000L) { + pade9(m_M); + } else { + const long double maxnorm = 4.0246098906697353063L; + m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm))); + MatrixType A = m_M / pow(Scalar(2), m_squarings); + pade13(A); + } +#elif LDBL_MANT_DIG <= 106 // double-double + if (m_l1norm < 3.2787892205607026992947488108213e-005L) { + pade3(m_M); + } else if (m_l1norm < 6.4467025060072760084130906076332e-003L) { + pade5(m_M); + } else if (m_l1norm < 6.8988028496595374751374122881143e-002L) { + pade7(m_M); + } else if (m_l1norm < 2.7339737518502231741495857201670e-001L) { + pade9(m_M); + } else if (m_l1norm < 1.3203382096514474905666448850278e+000L) { + pade13(m_M); + } else { + const long double maxnorm = 3.2579440895405400856599663723517L; + m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm))); + MatrixType A = m_M / pow(Scalar(2), m_squarings); + pade17(A); + } +#elif LDBL_MANT_DIG <= 112 // quadruple precison + if (m_l1norm < 1.639394610288918690547467954466970e-005L) { + pade3(m_M); + } else if (m_l1norm < 4.253237712165275566025884344433009e-003L) { + pade5(m_M); + } else if (m_l1norm < 5.125804063165764409885122032933142e-002L) { + pade7(m_M); + } else if (m_l1norm < 2.170000765161155195453205651889853e-001L) { + pade9(m_M); + } else if (m_l1norm < 1.125358383453143065081397882891878e+000L) { + pade13(m_M); + } else { + const long double maxnorm = 2.884233277829519311757165057717815L; + m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm))); + MatrixType A = m_M / pow(Scalar(2), m_squarings); + pade17(A); + } +#else + // this case should be handled in compute() + eigen_assert(false && "Bug in MatrixExponential"); +#endif // LDBL_MANT_DIG +} + /** \ingroup MatrixFunctions_Module * * \brief Proxy for the matrix exponential of some matrix (expression). @@ -348,4 +464,6 @@ const MatrixExponentialReturnValue MatrixBase::exp() const return MatrixExponentialReturnValue(derived()); } +} // end namespace Eigen + #endif // EIGEN_MATRIX_EXPONENTIAL diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h index 4b9d8a102..859de7288 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h @@ -1,7 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // -// Copyright (C) 2009, 2010 Jitse Niesen +// Copyright (C) 2009-2011 Jitse Niesen // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -29,31 +29,39 @@ #include "MatrixFunctionAtomic.h" +namespace Eigen { + /** \ingroup MatrixFunctions_Module - * \brief Class for computing matrix exponentials. - * \tparam MatrixType type of the argument of the matrix function, - * expected to be an instantiation of the Matrix class template. + * \brief Class for computing matrix functions. + * \tparam MatrixType type of the argument of the matrix function, + * expected to be an instantiation of the Matrix class template. + * \tparam AtomicType type for computing matrix function of atomic blocks. + * \tparam IsComplex used internally to select correct specialization. + * + * This class implements the Schur-Parlett algorithm for computing matrix functions. The spectrum of the + * matrix is divided in clustered of eigenvalues that lies close together. This class delegates the + * computation of the matrix function on every block corresponding to these clusters to an object of type + * \p AtomicType and uses these results to compute the matrix function of the whole matrix. The class + * \p AtomicType should have a \p compute() member function for computing the matrix function of a block. + * + * \sa class MatrixFunctionAtomic, class MatrixLogarithmAtomic */ -template ::Scalar>::IsComplex> +template ::Scalar>::IsComplex> class MatrixFunction { - private: - - typedef typename internal::traits::Index Index; - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::stem_function::type StemFunction; - public: /** \brief Constructor. * - * \param[in] A argument of matrix function, should be a square matrix. - * \param[in] f an entire function; \c f(x,n) should compute the n-th derivative of f at x. + * \param[in] A argument of matrix function, should be a square matrix. + * \param[in] atomic class for computing matrix function of atomic blocks. * - * The class stores a reference to \p A, so it should not be + * The class stores references to \p A and \p atomic, so they should not be * changed (or destroyed) before compute() is called. */ - MatrixFunction(const MatrixType& A, StemFunction f); + MatrixFunction(const MatrixType& A, AtomicType& atomic); /** \brief Compute the matrix function. * @@ -68,11 +76,11 @@ class MatrixFunction }; -/** \ingroup MatrixFunctions_Module - * \brief Partial specialization of MatrixFunction for real matrices \internal +/** \internal \ingroup MatrixFunctions_Module + * \brief Partial specialization of MatrixFunction for real matrices */ -template -class MatrixFunction +template +class MatrixFunction { private: @@ -86,16 +94,15 @@ class MatrixFunction typedef std::complex ComplexScalar; typedef Matrix ComplexMatrix; - typedef typename internal::stem_function::type StemFunction; public: /** \brief Constructor. * - * \param[in] A argument of matrix function, should be a square matrix. - * \param[in] f an entire function; \c f(x,n) should compute the n-th derivative of f at x. + * \param[in] A argument of matrix function, should be a square matrix. + * \param[in] atomic class for computing matrix function of atomic blocks. */ - MatrixFunction(const MatrixType& A, StemFunction f) : m_A(A), m_f(f) { } + MatrixFunction(const MatrixType& A, AtomicType& atomic) : m_A(A), m_atomic(atomic) { } /** \brief Compute the matrix function. * @@ -111,24 +118,24 @@ class MatrixFunction { ComplexMatrix CA = m_A.template cast(); ComplexMatrix Cresult; - MatrixFunction mf(CA, m_f); + MatrixFunction mf(CA, m_atomic); mf.compute(Cresult); result = Cresult.real(); } private: typename internal::nested::type m_A; /**< \brief Reference to argument of matrix function. */ - StemFunction *m_f; /**< \brief Stem function for matrix function under consideration */ + AtomicType& m_atomic; /**< \brief Class for computing matrix function of atomic blocks. */ MatrixFunction& operator=(const MatrixFunction&); }; -/** \ingroup MatrixFunctions_Module - * \brief Partial specialization of MatrixFunction for complex matrices \internal +/** \internal \ingroup MatrixFunctions_Module + * \brief Partial specialization of MatrixFunction for complex matrices */ -template -class MatrixFunction +template +class MatrixFunction { private: @@ -139,7 +146,6 @@ class MatrixFunction static const int ColsAtCompileTime = Traits::ColsAtCompileTime; static const int Options = MatrixType::Options; typedef typename NumTraits::Real RealScalar; - typedef typename internal::stem_function::type StemFunction; typedef Matrix VectorType; typedef Matrix IntVectorType; typedef Matrix DynamicIntVectorType; @@ -149,7 +155,7 @@ class MatrixFunction public: - MatrixFunction(const MatrixType& A, StemFunction f); + MatrixFunction(const MatrixType& A, AtomicType& atomic); template void compute(ResultType& result); private: @@ -168,7 +174,7 @@ class MatrixFunction DynMatrixType solveTriangularSylvester(const DynMatrixType& A, const DynMatrixType& B, const DynMatrixType& C); typename internal::nested::type m_A; /**< \brief Reference to argument of matrix function. */ - StemFunction *m_f; /**< \brief Stem function for matrix function under consideration */ + AtomicType& m_atomic; /**< \brief Class for computing matrix function of atomic blocks. */ MatrixType m_T; /**< \brief Triangular part of Schur decomposition */ MatrixType m_U; /**< \brief Unitary part of Schur decomposition */ MatrixType m_fT; /**< \brief %Matrix function applied to #m_T */ @@ -191,12 +197,12 @@ class MatrixFunction /** \brief Constructor. * - * \param[in] A argument of matrix function, should be a square matrix. - * \param[in] f an entire function; \c f(x,n) should compute the n-th derivative of f at x. + * \param[in] A argument of matrix function, should be a square matrix. + * \param[in] atomic class for computing matrix function of atomic blocks. */ -template -MatrixFunction::MatrixFunction(const MatrixType& A, StemFunction f) : - m_A(A), m_f(f) +template +MatrixFunction::MatrixFunction(const MatrixType& A, AtomicType& atomic) + : m_A(A), m_atomic(atomic) { /* empty body */ } @@ -206,9 +212,9 @@ MatrixFunction::MatrixFunction(const MatrixType& A, StemFunction f * \param[out] result the function \p f applied to \p A, as * specified in the constructor. */ -template +template template -void MatrixFunction::compute(ResultType& result) +void MatrixFunction::compute(ResultType& result) { computeSchurDecomposition(); partitionEigenvalues(); @@ -222,8 +228,8 @@ void MatrixFunction::compute(ResultType& result) } /** \brief Store the Schur decomposition of #m_A in #m_T and #m_U */ -template -void MatrixFunction::computeSchurDecomposition() +template +void MatrixFunction::computeSchurDecomposition() { const ComplexSchur schurOfA(m_A); m_T = schurOfA.matrixT(); @@ -241,8 +247,8 @@ void MatrixFunction::computeSchurDecomposition() * The implementation follows Algorithm 4.1 in the paper of Davies * and Higham. */ -template -void MatrixFunction::partitionEigenvalues() +template +void MatrixFunction::partitionEigenvalues() { const Index rows = m_T.rows(); VectorType diag = m_T.diagonal(); // contains eigenvalues of A @@ -278,8 +284,8 @@ void MatrixFunction::partitionEigenvalues() * \returns Iterator to cluster containing \c key, or * \c m_clusters.end() if no cluster in m_clusters contains \c key. */ -template -typename MatrixFunction::ListOfClusters::iterator MatrixFunction::findCluster(Scalar key) +template +typename MatrixFunction::ListOfClusters::iterator MatrixFunction::findCluster(Scalar key) { typename Cluster::iterator j; for (typename ListOfClusters::iterator i = m_clusters.begin(); i != m_clusters.end(); ++i) { @@ -291,8 +297,8 @@ typename MatrixFunction::ListOfClusters::iterator MatrixFunction -void MatrixFunction::computeClusterSize() +template +void MatrixFunction::computeClusterSize() { const Index rows = m_T.rows(); VectorType diag = m_T.diagonal(); @@ -313,8 +319,8 @@ void MatrixFunction::computeClusterSize() } /** \brief Compute #m_blockStart using #m_clusterSize */ -template -void MatrixFunction::computeBlockStart() +template +void MatrixFunction::computeBlockStart() { m_blockStart.resize(m_clusterSize.rows()); m_blockStart(0) = 0; @@ -324,8 +330,8 @@ void MatrixFunction::computeBlockStart() } /** \brief Compute #m_permutation using #m_eivalToCluster and #m_blockStart */ -template -void MatrixFunction::constructPermutation() +template +void MatrixFunction::constructPermutation() { DynamicIntVectorType indexNextEntry = m_blockStart; m_permutation.resize(m_T.rows()); @@ -337,8 +343,8 @@ void MatrixFunction::constructPermutation() } /** \brief Permute Schur decomposition in #m_U and #m_T according to #m_permutation */ -template -void MatrixFunction::permuteSchur() +template +void MatrixFunction::permuteSchur() { IntVectorType p = m_permutation; for (Index i = 0; i < p.rows() - 1; i++) { @@ -355,8 +361,8 @@ void MatrixFunction::permuteSchur() } /** \brief Swap rows \a index and \a index+1 in Schur decomposition in #m_U and #m_T */ -template -void MatrixFunction::swapEntriesInSchur(Index index) +template +void MatrixFunction::swapEntriesInSchur(Index index) { JacobiRotation rotation; rotation.makeGivens(m_T(index, index+1), m_T(index+1, index+1) - m_T(index, index)); @@ -367,25 +373,23 @@ void MatrixFunction::swapEntriesInSchur(Index index) /** \brief Compute block diagonal part of #m_fT. * - * This routine computes the matrix function #m_f applied to the block - * diagonal part of #m_T, with the blocking given by #m_blockStart. The - * result is stored in #m_fT. The off-diagonal parts of #m_fT are set - * to zero. + * This routine computes the matrix function applied to the block diagonal part of #m_T, with the blocking + * given by #m_blockStart. The matrix function of each diagonal block is computed by #m_atomic. The + * off-diagonal parts of #m_fT are set to zero. */ -template -void MatrixFunction::computeBlockAtomic() +template +void MatrixFunction::computeBlockAtomic() { m_fT.resize(m_T.rows(), m_T.cols()); m_fT.setZero(); - MatrixFunctionAtomic mfa(m_f); for (Index i = 0; i < m_clusterSize.rows(); ++i) { - block(m_fT, i, i) = mfa.compute(block(m_T, i, i)); + block(m_fT, i, i) = m_atomic.compute(block(m_T, i, i)); } } /** \brief Return block of matrix according to blocking given by #m_blockStart */ -template -Block MatrixFunction::block(MatrixType& A, Index i, Index j) +template +Block MatrixFunction::block(MatrixType& A, Index i, Index j) { return A.block(m_blockStart(i), m_blockStart(j), m_clusterSize(i), m_clusterSize(j)); } @@ -393,12 +397,12 @@ Block MatrixFunction::block(MatrixType& A, Index i, In /** \brief Compute part of #m_fT above block diagonal. * * This routine assumes that the block diagonal part of #m_fT (which - * equals #m_f applied to #m_T) has already been computed and computes + * equals the matrix function applied to #m_T) has already been computed and computes * the part above the block diagonal. The part below the diagonal is * zero, because #m_T is upper triangular. */ -template -void MatrixFunction::computeOffDiagonal() +template +void MatrixFunction::computeOffDiagonal() { for (Index diagIndex = 1; diagIndex < m_clusterSize.rows(); diagIndex++) { for (Index blockIndex = 0; blockIndex < m_clusterSize.rows() - diagIndex; blockIndex++) { @@ -439,8 +443,8 @@ void MatrixFunction::computeOffDiagonal() * solution). In that case, these equations can be evaluated in the * order \f$ i=m,\ldots,1 \f$ and \f$ j=1,\ldots,n \f$. */ -template -typename MatrixFunction::DynMatrixType MatrixFunction::solveTriangularSylvester( +template +typename MatrixFunction::DynMatrixType MatrixFunction::solveTriangularSylvester( const DynMatrixType& A, const DynMatrixType& B, const DynMatrixType& C) @@ -520,8 +524,18 @@ template class MatrixFunctionReturnValue template inline void evalTo(ResultType& result) const { - const typename Derived::PlainObject Aevaluated = m_A.eval(); - MatrixFunction mf(Aevaluated, m_f); + typedef typename Derived::PlainObject PlainObject; + typedef internal::traits Traits; + static const int RowsAtCompileTime = Traits::RowsAtCompileTime; + static const int ColsAtCompileTime = Traits::ColsAtCompileTime; + static const int Options = PlainObject::Options; + typedef std::complex::Real> ComplexScalar; + typedef Matrix DynMatrixType; + typedef MatrixFunctionAtomic AtomicType; + AtomicType atomic(m_f); + + const PlainObject Aevaluated = m_A.eval(); + MatrixFunction mf(Aevaluated, atomic); mf.compute(result); } @@ -586,4 +600,6 @@ const MatrixFunctionReturnValue MatrixBase::cosh() const return MatrixFunctionReturnValue(derived(), StdStemFunctions::cosh); } +} // end namespace Eigen + #endif // EIGEN_MATRIX_FUNCTION diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h index d08766921..97ab662fe 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h @@ -25,6 +25,8 @@ #ifndef EIGEN_MATRIX_FUNCTION_ATOMIC #define EIGEN_MATRIX_FUNCTION_ATOMIC +namespace Eigen { + /** \ingroup MatrixFunctions_Module * \class MatrixFunctionAtomic * \brief Helper class for computing matrix functions of atomic matrices. @@ -139,4 +141,6 @@ bool MatrixFunctionAtomic::taylorConverged(Index s, const MatrixType return false; } +} // end namespace Eigen + #endif // EIGEN_MATRIX_FUNCTION_ATOMIC diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h new file mode 100644 index 000000000..e6f25b73c --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h @@ -0,0 +1,510 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Jitse Niesen +// Copyright (C) 2011 Chen-Pang He +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_MATRIX_LOGARITHM +#define EIGEN_MATRIX_LOGARITHM + +#ifndef M_PI +#define M_PI 3.141592653589793238462643383279503L +#endif + +namespace Eigen { + +/** \ingroup MatrixFunctions_Module + * \class MatrixLogarithmAtomic + * \brief Helper class for computing matrix logarithm of atomic matrices. + * + * \internal + * Here, an atomic matrix is a triangular matrix whose diagonal + * entries are close to each other. + * + * \sa class MatrixFunctionAtomic, MatrixBase::log() + */ +template +class MatrixLogarithmAtomic +{ +public: + + typedef typename MatrixType::Scalar Scalar; + // typedef typename MatrixType::Index Index; + typedef typename NumTraits::Real RealScalar; + // typedef typename internal::stem_function::type StemFunction; + // typedef Matrix VectorType; + + /** \brief Constructor. */ + MatrixLogarithmAtomic() { } + + /** \brief Compute matrix logarithm of atomic matrix + * \param[in] A argument of matrix logarithm, should be upper triangular and atomic + * \returns The logarithm of \p A. + */ + MatrixType compute(const MatrixType& A); + +private: + + void compute2x2(const MatrixType& A, MatrixType& result); + void computeBig(const MatrixType& A, MatrixType& result); + static Scalar atanh(Scalar x); + int getPadeDegree(float normTminusI); + int getPadeDegree(double normTminusI); + int getPadeDegree(long double normTminusI); + void computePade(MatrixType& result, const MatrixType& T, int degree); + void computePade3(MatrixType& result, const MatrixType& T); + void computePade4(MatrixType& result, const MatrixType& T); + void computePade5(MatrixType& result, const MatrixType& T); + void computePade6(MatrixType& result, const MatrixType& T); + void computePade7(MatrixType& result, const MatrixType& T); + void computePade8(MatrixType& result, const MatrixType& T); + void computePade9(MatrixType& result, const MatrixType& T); + void computePade10(MatrixType& result, const MatrixType& T); + void computePade11(MatrixType& result, const MatrixType& T); + + static const int minPadeDegree = 3; + static const int maxPadeDegree = std::numeric_limits::digits<= 24? 5: // single precision + std::numeric_limits::digits<= 53? 7: // double precision + std::numeric_limits::digits<= 64? 8: // extended precision + std::numeric_limits::digits<=106? 10: 11; // double-double or quadruple precision + + // Prevent copying + MatrixLogarithmAtomic(const MatrixLogarithmAtomic&); + MatrixLogarithmAtomic& operator=(const MatrixLogarithmAtomic&); +}; + +/** \brief Compute logarithm of triangular matrix with clustered eigenvalues. */ +template +MatrixType MatrixLogarithmAtomic::compute(const MatrixType& A) +{ + using std::log; + MatrixType result(A.rows(), A.rows()); + if (A.rows() == 1) + result(0,0) = log(A(0,0)); + else if (A.rows() == 2) + compute2x2(A, result); + else + computeBig(A, result); + return result; +} + +/** \brief Compute atanh (inverse hyperbolic tangent). */ +template +typename MatrixType::Scalar MatrixLogarithmAtomic::atanh(typename MatrixType::Scalar x) +{ + using std::abs; + using std::sqrt; + if (abs(x) > sqrt(NumTraits::epsilon())) + return Scalar(0.5) * log((Scalar(1) + x) / (Scalar(1) - x)); + else + return x + x*x*x / Scalar(3); +} + +/** \brief Compute logarithm of 2x2 triangular matrix. */ +template +void MatrixLogarithmAtomic::compute2x2(const MatrixType& A, MatrixType& result) +{ + using std::abs; + using std::ceil; + using std::imag; + using std::log; + + Scalar logA00 = log(A(0,0)); + Scalar logA11 = log(A(1,1)); + + result(0,0) = logA00; + result(1,0) = Scalar(0); + result(1,1) = logA11; + + if (A(0,0) == A(1,1)) { + result(0,1) = A(0,1) / A(0,0); + } else if ((abs(A(0,0)) < 0.5*abs(A(1,1))) || (abs(A(0,0)) > 2*abs(A(1,1)))) { + result(0,1) = A(0,1) * (logA11 - logA00) / (A(1,1) - A(0,0)); + } else { + // computation in previous branch is inaccurate if A(1,1) \approx A(0,0) + int unwindingNumber = static_cast(ceil((imag(logA11 - logA00) - M_PI) / (2*M_PI))); + Scalar z = (A(1,1) - A(0,0)) / (A(1,1) + A(0,0)); + result(0,1) = A(0,1) * (Scalar(2) * atanh(z) + Scalar(0,2*M_PI*unwindingNumber)) / (A(1,1) - A(0,0)); + } +} + +/** \brief Compute logarithm of triangular matrices with size > 2. + * \details This uses a inverse scale-and-square algorithm. */ +template +void MatrixLogarithmAtomic::computeBig(const MatrixType& A, MatrixType& result) +{ + int numberOfSquareRoots = 0; + int numberOfExtraSquareRoots = 0; + int degree; + MatrixType T = A; + const RealScalar maxNormForPade = maxPadeDegree<= 5? 5.3149729967117310e-1: // single precision + maxPadeDegree<= 7? 2.6429608311114350e-1: // double precision + maxPadeDegree<= 8? 2.32777776523703892094e-1L: // extended precision + maxPadeDegree<=10? 1.05026503471351080481093652651105e-1L: // double-double + 1.1880960220216759245467951592883642e-1L; // quadruple precision + + while (true) { + RealScalar normTminusI = (T - MatrixType::Identity(T.rows(), T.rows())).cwiseAbs().colwise().sum().maxCoeff(); + if (normTminusI < maxNormForPade) { + degree = getPadeDegree(normTminusI); + int degree2 = getPadeDegree(normTminusI / RealScalar(2)); + if ((degree - degree2 <= 1) || (numberOfExtraSquareRoots == 1)) + break; + ++numberOfExtraSquareRoots; + } + MatrixType sqrtT; + MatrixSquareRootTriangular(T).compute(sqrtT); + T = sqrtT; + ++numberOfSquareRoots; + } + + computePade(result, T, degree); + result *= pow(RealScalar(2), numberOfSquareRoots); +} + +/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = float) */ +template +int MatrixLogarithmAtomic::getPadeDegree(float normTminusI) +{ + const float maxNormForPade[] = { 2.5111573934555054e-1 /* degree = 3 */ , 4.0535837411880493e-1, + 5.3149729967117310e-1 }; + for (int degree = 3; degree <= maxPadeDegree; ++degree) + if (normTminusI <= maxNormForPade[degree - minPadeDegree]) + return degree; + assert(false); // this line should never be reached +} + +/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = double) */ +template +int MatrixLogarithmAtomic::getPadeDegree(double normTminusI) +{ + const double maxNormForPade[] = { 1.6206284795015624e-2 /* degree = 3 */ , 5.3873532631381171e-2, + 1.1352802267628681e-1, 1.8662860613541288e-1, 2.642960831111435e-1 }; + for (int degree = 3; degree <= maxPadeDegree; ++degree) + if (normTminusI <= maxNormForPade[degree - minPadeDegree]) + return degree; + assert(false); // this line should never be reached +} + +/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = long double) */ +template +int MatrixLogarithmAtomic::getPadeDegree(long double normTminusI) +{ +#if LDBL_MANT_DIG == 53 // double precision + const double maxNormForPade[] = { 1.6206284795015624e-2 /* degree = 3 */ , 5.3873532631381171e-2, + 1.1352802267628681e-1, 1.8662860613541288e-1, 2.642960831111435e-1 }; +#elif LDBL_MANT_DIG <= 64 // extended precision + const double maxNormForPade[] = { 5.48256690357782863103e-3 /* degree = 3 */, 2.34559162387971167321e-2, + 5.84603923897347449857e-2, 1.08486423756725170223e-1, 1.68385767881294446649e-1, + 2.32777776523703892094e-1 }; +#elif LDBL_MANT_DIG <= 106 // double-double + const double maxNormForPade[] = { 8.58970550342939562202529664318890e-5 /* degree = 3 */, + 9.34074328446359654039446552677759e-4, 4.26117194647672175773064114582860e-3, + 1.21546224740281848743149666560464e-2, 2.61100544998339436713088248557444e-2, + 4.66170074627052749243018566390567e-2, 7.32585144444135027565872014932387e-2, + 1.05026503471351080481093652651105e-1 }; +#else // quadruple precision + const double maxNormForPade[] = { 4.7419931187193005048501568167858103e-5 /* degree = 3 */, + 5.8853168473544560470387769480192666e-4, 2.9216120366601315391789493628113520e-3, + 8.8415758124319434347116734705174308e-3, 1.9850836029449446668518049562565291e-2, + 3.6688019729653446926585242192447447e-2, 5.9290962294020186998954055264528393e-2, + 8.6998436081634343903250580992127677e-2, 1.1880960220216759245467951592883642e-1 }; +#endif + for (int degree = 3; degree <= maxPadeDegree; ++degree) + if (normTminusI <= maxNormForPade[degree - minPadeDegree]) + return degree; + assert(false); // this line should never be reached +} + +/* \brief Compute Pade approximation to matrix logarithm */ +template +void MatrixLogarithmAtomic::computePade(MatrixType& result, const MatrixType& T, int degree) +{ + switch (degree) { + case 3: computePade3(result, T); break; + case 4: computePade4(result, T); break; + case 5: computePade5(result, T); break; + case 6: computePade6(result, T); break; + case 7: computePade7(result, T); break; + case 8: computePade8(result, T); break; + case 9: computePade9(result, T); break; + case 10: computePade10(result, T); break; + case 11: computePade11(result, T); break; + default: assert(false); // should never happen + } +} + +template +void MatrixLogarithmAtomic::computePade3(MatrixType& result, const MatrixType& T) +{ + const int degree = 3; + const RealScalar nodes[] = { 0.1127016653792583114820734600217600L, 0.5000000000000000000000000000000000L, + 0.8872983346207416885179265399782400L }; + const RealScalar weights[] = { 0.2777777777777777777777777777777778L, 0.4444444444444444444444444444444444L, + 0.2777777777777777777777777777777778L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade4(MatrixType& result, const MatrixType& T) +{ + const int degree = 4; + const RealScalar nodes[] = { 0.0694318442029737123880267555535953L, 0.3300094782075718675986671204483777L, + 0.6699905217924281324013328795516223L, 0.9305681557970262876119732444464048L }; + const RealScalar weights[] = { 0.1739274225687269286865319746109997L, 0.3260725774312730713134680253890003L, + 0.3260725774312730713134680253890003L, 0.1739274225687269286865319746109997L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade5(MatrixType& result, const MatrixType& T) +{ + const int degree = 5; + const RealScalar nodes[] = { 0.0469100770306680036011865608503035L, 0.2307653449471584544818427896498956L, + 0.5000000000000000000000000000000000L, 0.7692346550528415455181572103501044L, + 0.9530899229693319963988134391496965L }; + const RealScalar weights[] = { 0.1184634425280945437571320203599587L, 0.2393143352496832340206457574178191L, + 0.2844444444444444444444444444444444L, 0.2393143352496832340206457574178191L, + 0.1184634425280945437571320203599587L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade6(MatrixType& result, const MatrixType& T) +{ + const int degree = 6; + const RealScalar nodes[] = { 0.0337652428984239860938492227530027L, 0.1693953067668677431693002024900473L, + 0.3806904069584015456847491391596440L, 0.6193095930415984543152508608403560L, + 0.8306046932331322568306997975099527L, 0.9662347571015760139061507772469973L }; + const RealScalar weights[] = { 0.0856622461895851725201480710863665L, 0.1803807865240693037849167569188581L, + 0.2339569672863455236949351719947755L, 0.2339569672863455236949351719947755L, + 0.1803807865240693037849167569188581L, 0.0856622461895851725201480710863665L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade7(MatrixType& result, const MatrixType& T) +{ + const int degree = 7; + const RealScalar nodes[] = { 0.0254460438286207377369051579760744L, 0.1292344072003027800680676133596058L, + 0.2970774243113014165466967939615193L, 0.5000000000000000000000000000000000L, + 0.7029225756886985834533032060384807L, 0.8707655927996972199319323866403942L, + 0.9745539561713792622630948420239256L }; + const RealScalar weights[] = { 0.0647424830844348466353057163395410L, 0.1398526957446383339507338857118898L, + 0.1909150252525594724751848877444876L, 0.2089795918367346938775510204081633L, + 0.1909150252525594724751848877444876L, 0.1398526957446383339507338857118898L, + 0.0647424830844348466353057163395410L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade8(MatrixType& result, const MatrixType& T) +{ + const int degree = 8; + const RealScalar nodes[] = { 0.0198550717512318841582195657152635L, 0.1016667612931866302042230317620848L, + 0.2372337950418355070911304754053768L, 0.4082826787521750975302619288199080L, + 0.5917173212478249024697380711800920L, 0.7627662049581644929088695245946232L, + 0.8983332387068133697957769682379152L, 0.9801449282487681158417804342847365L }; + const RealScalar weights[] = { 0.0506142681451881295762656771549811L, 0.1111905172266872352721779972131204L, + 0.1568533229389436436689811009933007L, 0.1813418916891809914825752246385978L, + 0.1813418916891809914825752246385978L, 0.1568533229389436436689811009933007L, + 0.1111905172266872352721779972131204L, 0.0506142681451881295762656771549811L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade9(MatrixType& result, const MatrixType& T) +{ + const int degree = 9; + const RealScalar nodes[] = { 0.0159198802461869550822118985481636L, 0.0819844463366821028502851059651326L, + 0.1933142836497048013456489803292629L, 0.3378732882980955354807309926783317L, + 0.5000000000000000000000000000000000L, 0.6621267117019044645192690073216683L, + 0.8066857163502951986543510196707371L, 0.9180155536633178971497148940348674L, + 0.9840801197538130449177881014518364L }; + const RealScalar weights[] = { 0.0406371941807872059859460790552618L, 0.0903240803474287020292360156214564L, + 0.1303053482014677311593714347093164L, 0.1561735385200014200343152032922218L, + 0.1651196775006298815822625346434870L, 0.1561735385200014200343152032922218L, + 0.1303053482014677311593714347093164L, 0.0903240803474287020292360156214564L, + 0.0406371941807872059859460790552618L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade10(MatrixType& result, const MatrixType& T) +{ + const int degree = 10; + const RealScalar nodes[] = { 0.0130467357414141399610179939577740L, 0.0674683166555077446339516557882535L, + 0.1602952158504877968828363174425632L, 0.2833023029353764046003670284171079L, + 0.4255628305091843945575869994351400L, 0.5744371694908156054424130005648600L, + 0.7166976970646235953996329715828921L, 0.8397047841495122031171636825574368L, + 0.9325316833444922553660483442117465L, 0.9869532642585858600389820060422260L }; + const RealScalar weights[] = { 0.0333356721543440687967844049466659L, 0.0747256745752902965728881698288487L, + 0.1095431812579910219977674671140816L, 0.1346333596549981775456134607847347L, + 0.1477621123573764350869464973256692L, 0.1477621123573764350869464973256692L, + 0.1346333596549981775456134607847347L, 0.1095431812579910219977674671140816L, + 0.0747256745752902965728881698288487L, 0.0333356721543440687967844049466659L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +template +void MatrixLogarithmAtomic::computePade11(MatrixType& result, const MatrixType& T) +{ + const int degree = 11; + const RealScalar nodes[] = { 0.0108856709269715035980309994385713L, 0.0564687001159523504624211153480364L, + 0.1349239972129753379532918739844233L, 0.2404519353965940920371371652706952L, + 0.3652284220238275138342340072995692L, 0.5000000000000000000000000000000000L, + 0.6347715779761724861657659927004308L, 0.7595480646034059079628628347293048L, + 0.8650760027870246620467081260155767L, 0.9435312998840476495375788846519636L, + 0.9891143290730284964019690005614287L }; + const RealScalar weights[] = { 0.0278342835580868332413768602212743L, 0.0627901847324523123173471496119701L, + 0.0931451054638671257130488207158280L, 0.1165968822959952399592618524215876L, + 0.1314022722551233310903444349452546L, 0.1364625433889503153572417641681711L, + 0.1314022722551233310903444349452546L, 0.1165968822959952399592618524215876L, + 0.0931451054638671257130488207158280L, 0.0627901847324523123173471496119701L, + 0.0278342835580868332413768602212743L }; + assert(degree <= maxPadeDegree); + MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows()); + result.setZero(T.rows(), T.rows()); + for (int k = 0; k < degree; ++k) + result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI) + .template triangularView().solve(TminusI); +} + +/** \ingroup MatrixFunctions_Module + * + * \brief Proxy for the matrix logarithm of some matrix (expression). + * + * \tparam Derived Type of the argument to the matrix function. + * + * This class holds the argument to the matrix function until it is + * assigned or evaluated for some other reason (so the argument + * should not be changed in the meantime). It is the return type of + * matrixBase::matrixLogarithm() and most of the time this is the + * only way it is used. + */ +template class MatrixLogarithmReturnValue +: public ReturnByValue > +{ +public: + + typedef typename Derived::Scalar Scalar; + typedef typename Derived::Index Index; + + /** \brief Constructor. + * + * \param[in] A %Matrix (expression) forming the argument of the matrix logarithm. + */ + MatrixLogarithmReturnValue(const Derived& A) : m_A(A) { } + + /** \brief Compute the matrix logarithm. + * + * \param[out] result Logarithm of \p A, where \A is as specified in the constructor. + */ + template + inline void evalTo(ResultType& result) const + { + typedef typename Derived::PlainObject PlainObject; + typedef internal::traits Traits; + static const int RowsAtCompileTime = Traits::RowsAtCompileTime; + static const int ColsAtCompileTime = Traits::ColsAtCompileTime; + static const int Options = PlainObject::Options; + typedef std::complex::Real> ComplexScalar; + typedef Matrix DynMatrixType; + typedef MatrixLogarithmAtomic AtomicType; + AtomicType atomic; + + const PlainObject Aevaluated = m_A.eval(); + MatrixFunction mf(Aevaluated, atomic); + mf.compute(result); + } + + Index rows() const { return m_A.rows(); } + Index cols() const { return m_A.cols(); } + +private: + typename internal::nested::type m_A; + + MatrixLogarithmReturnValue& operator=(const MatrixLogarithmReturnValue&); +}; + +namespace internal { + template + struct traits > + { + typedef typename Derived::PlainObject ReturnType; + }; +} + + +/********** MatrixBase method **********/ + + +template +const MatrixLogarithmReturnValue MatrixBase::log() const +{ + eigen_assert(rows() == cols()); + return MatrixLogarithmReturnValue(derived()); +} + +} // end namespace Eigen + +#endif // EIGEN_MATRIX_LOGARITHM diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h new file mode 100644 index 000000000..658cd334c --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h @@ -0,0 +1,499 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Jitse Niesen +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_MATRIX_SQUARE_ROOT +#define EIGEN_MATRIX_SQUARE_ROOT + +namespace Eigen { + +/** \ingroup MatrixFunctions_Module + * \brief Class for computing matrix square roots of upper quasi-triangular matrices. + * \tparam MatrixType type of the argument of the matrix square root, + * expected to be an instantiation of the Matrix class template. + * + * This class computes the square root of the upper quasi-triangular + * matrix stored in the upper Hessenberg part of the matrix passed to + * the constructor. + * + * \sa MatrixSquareRoot, MatrixSquareRootTriangular + */ +template +class MatrixSquareRootQuasiTriangular +{ + public: + + /** \brief Constructor. + * + * \param[in] A upper quasi-triangular matrix whose square root + * is to be computed. + * + * The class stores a reference to \p A, so it should not be + * changed (or destroyed) before compute() is called. + */ + MatrixSquareRootQuasiTriangular(const MatrixType& A) + : m_A(A) + { + eigen_assert(A.rows() == A.cols()); + } + + /** \brief Compute the matrix square root + * + * \param[out] result square root of \p A, as specified in the constructor. + * + * Only the upper Hessenberg part of \p result is updated, the + * rest is not touched. See MatrixBase::sqrt() for details on + * how this computation is implemented. + */ + template void compute(ResultType &result); + + private: + typedef typename MatrixType::Index Index; + typedef typename MatrixType::Scalar Scalar; + + void computeDiagonalPartOfSqrt(MatrixType& sqrtT, const MatrixType& T); + void computeOffDiagonalPartOfSqrt(MatrixType& sqrtT, const MatrixType& T); + void compute2x2diagonalBlock(MatrixType& sqrtT, const MatrixType& T, typename MatrixType::Index i); + void compute1x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j); + void compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j); + void compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j); + void compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j); + + template + static void solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A, + const SmallMatrixType& B, const SmallMatrixType& C); + + const MatrixType& m_A; +}; + +template +template +void MatrixSquareRootQuasiTriangular::compute(ResultType &result) +{ + // Compute Schur decomposition of m_A + const RealSchur schurOfA(m_A); + const MatrixType& T = schurOfA.matrixT(); + const MatrixType& U = schurOfA.matrixU(); + + // Compute square root of T + MatrixType sqrtT = MatrixType::Zero(m_A.rows(), m_A.rows()); + computeDiagonalPartOfSqrt(sqrtT, T); + computeOffDiagonalPartOfSqrt(sqrtT, T); + + // Compute square root of m_A + result = U * sqrtT * U.adjoint(); +} + +// pre: T is quasi-upper-triangular and sqrtT is a zero matrix of the same size +// post: the diagonal blocks of sqrtT are the square roots of the diagonal blocks of T +template +void MatrixSquareRootQuasiTriangular::computeDiagonalPartOfSqrt(MatrixType& sqrtT, + const MatrixType& T) +{ + const Index size = m_A.rows(); + for (Index i = 0; i < size; i++) { + if (i == size - 1 || T.coeff(i+1, i) == 0) { + eigen_assert(T(i,i) > 0); + sqrtT.coeffRef(i,i) = internal::sqrt(T.coeff(i,i)); + } + else { + compute2x2diagonalBlock(sqrtT, T, i); + ++i; + } + } +} + +// pre: T is quasi-upper-triangular and diagonal blocks of sqrtT are square root of diagonal blocks of T. +// post: sqrtT is the square root of T. +template +void MatrixSquareRootQuasiTriangular::computeOffDiagonalPartOfSqrt(MatrixType& sqrtT, + const MatrixType& T) +{ + const Index size = m_A.rows(); + for (Index j = 1; j < size; j++) { + if (T.coeff(j, j-1) != 0) // if T(j-1:j, j-1:j) is a 2-by-2 block + continue; + for (Index i = j-1; i >= 0; i--) { + if (i > 0 && T.coeff(i, i-1) != 0) // if T(i-1:i, i-1:i) is a 2-by-2 block + continue; + bool iBlockIs2x2 = (i < size - 1) && (T.coeff(i+1, i) != 0); + bool jBlockIs2x2 = (j < size - 1) && (T.coeff(j+1, j) != 0); + if (iBlockIs2x2 && jBlockIs2x2) + compute2x2offDiagonalBlock(sqrtT, T, i, j); + else if (iBlockIs2x2 && !jBlockIs2x2) + compute2x1offDiagonalBlock(sqrtT, T, i, j); + else if (!iBlockIs2x2 && jBlockIs2x2) + compute1x2offDiagonalBlock(sqrtT, T, i, j); + else if (!iBlockIs2x2 && !jBlockIs2x2) + compute1x1offDiagonalBlock(sqrtT, T, i, j); + } + } +} + +// pre: T.block(i,i,2,2) has complex conjugate eigenvalues +// post: sqrtT.block(i,i,2,2) is square root of T.block(i,i,2,2) +template +void MatrixSquareRootQuasiTriangular + ::compute2x2diagonalBlock(MatrixType& sqrtT, const MatrixType& T, typename MatrixType::Index i) +{ + // TODO: This case (2-by-2 blocks with complex conjugate eigenvalues) is probably hidden somewhere + // in EigenSolver. If we expose it, we could call it directly from here. + Matrix block = T.template block<2,2>(i,i); + EigenSolver > es(block); + sqrtT.template block<2,2>(i,i) + = (es.eigenvectors() * es.eigenvalues().cwiseSqrt().asDiagonal() * es.eigenvectors().inverse()).real(); +} + +// pre: block structure of T is such that (i,j) is a 1x1 block, +// all blocks of sqrtT to left of and below (i,j) are correct +// post: sqrtT(i,j) has the correct value +template +void MatrixSquareRootQuasiTriangular + ::compute1x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j) +{ + Scalar tmp = (sqrtT.row(i).segment(i+1,j-i-1) * sqrtT.col(j).segment(i+1,j-i-1)).value(); + sqrtT.coeffRef(i,j) = (T.coeff(i,j) - tmp) / (sqrtT.coeff(i,i) + sqrtT.coeff(j,j)); +} + +// similar to compute1x1offDiagonalBlock() +template +void MatrixSquareRootQuasiTriangular + ::compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j) +{ + Matrix rhs = T.template block<1,2>(i,j); + if (j-i > 1) + rhs -= sqrtT.block(i, i+1, 1, j-i-1) * sqrtT.block(i+1, j, j-i-1, 2); + Matrix A = sqrtT.coeff(i,i) * Matrix::Identity(); + A += sqrtT.template block<2,2>(j,j).transpose(); + sqrtT.template block<1,2>(i,j).transpose() = A.fullPivLu().solve(rhs.transpose()); +} + +// similar to compute1x1offDiagonalBlock() +template +void MatrixSquareRootQuasiTriangular + ::compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j) +{ + Matrix rhs = T.template block<2,1>(i,j); + if (j-i > 2) + rhs -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 1); + Matrix A = sqrtT.coeff(j,j) * Matrix::Identity(); + A += sqrtT.template block<2,2>(i,i); + sqrtT.template block<2,1>(i,j) = A.fullPivLu().solve(rhs); +} + +// similar to compute1x1offDiagonalBlock() +template +void MatrixSquareRootQuasiTriangular + ::compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, + typename MatrixType::Index i, typename MatrixType::Index j) +{ + Matrix A = sqrtT.template block<2,2>(i,i); + Matrix B = sqrtT.template block<2,2>(j,j); + Matrix C = T.template block<2,2>(i,j); + if (j-i > 2) + C -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 2); + Matrix X; + solveAuxiliaryEquation(X, A, B, C); + sqrtT.template block<2,2>(i,j) = X; +} + +// solves the equation A X + X B = C where all matrices are 2-by-2 +template +template +void MatrixSquareRootQuasiTriangular + ::solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A, + const SmallMatrixType& B, const SmallMatrixType& C) +{ + EIGEN_STATIC_ASSERT((internal::is_same >::value), + EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT); + + Matrix coeffMatrix = Matrix::Zero(); + coeffMatrix.coeffRef(0,0) = A.coeff(0,0) + B.coeff(0,0); + coeffMatrix.coeffRef(1,1) = A.coeff(0,0) + B.coeff(1,1); + coeffMatrix.coeffRef(2,2) = A.coeff(1,1) + B.coeff(0,0); + coeffMatrix.coeffRef(3,3) = A.coeff(1,1) + B.coeff(1,1); + coeffMatrix.coeffRef(0,1) = B.coeff(1,0); + coeffMatrix.coeffRef(0,2) = A.coeff(0,1); + coeffMatrix.coeffRef(1,0) = B.coeff(0,1); + coeffMatrix.coeffRef(1,3) = A.coeff(0,1); + coeffMatrix.coeffRef(2,0) = A.coeff(1,0); + coeffMatrix.coeffRef(2,3) = B.coeff(1,0); + coeffMatrix.coeffRef(3,1) = A.coeff(1,0); + coeffMatrix.coeffRef(3,2) = B.coeff(0,1); + + Matrix rhs; + rhs.coeffRef(0) = C.coeff(0,0); + rhs.coeffRef(1) = C.coeff(0,1); + rhs.coeffRef(2) = C.coeff(1,0); + rhs.coeffRef(3) = C.coeff(1,1); + + Matrix result; + result = coeffMatrix.fullPivLu().solve(rhs); + + X.coeffRef(0,0) = result.coeff(0); + X.coeffRef(0,1) = result.coeff(1); + X.coeffRef(1,0) = result.coeff(2); + X.coeffRef(1,1) = result.coeff(3); +} + + +/** \ingroup MatrixFunctions_Module + * \brief Class for computing matrix square roots of upper triangular matrices. + * \tparam MatrixType type of the argument of the matrix square root, + * expected to be an instantiation of the Matrix class template. + * + * This class computes the square root of the upper triangular matrix + * stored in the upper triangular part (including the diagonal) of + * the matrix passed to the constructor. + * + * \sa MatrixSquareRoot, MatrixSquareRootQuasiTriangular + */ +template +class MatrixSquareRootTriangular +{ + public: + MatrixSquareRootTriangular(const MatrixType& A) + : m_A(A) + { + eigen_assert(A.rows() == A.cols()); + } + + /** \brief Compute the matrix square root + * + * \param[out] result square root of \p A, as specified in the constructor. + * + * Only the upper triangular part (including the diagonal) of + * \p result is updated, the rest is not touched. See + * MatrixBase::sqrt() for details on how this computation is + * implemented. + */ + template void compute(ResultType &result); + + private: + const MatrixType& m_A; +}; + +template +template +void MatrixSquareRootTriangular::compute(ResultType &result) +{ + // Compute Schur decomposition of m_A + const ComplexSchur schurOfA(m_A); + const MatrixType& T = schurOfA.matrixT(); + const MatrixType& U = schurOfA.matrixU(); + + // Compute square root of T and store it in upper triangular part of result + // This uses that the square root of triangular matrices can be computed directly. + result.resize(m_A.rows(), m_A.cols()); + typedef typename MatrixType::Index Index; + for (Index i = 0; i < m_A.rows(); i++) { + result.coeffRef(i,i) = internal::sqrt(T.coeff(i,i)); + } + for (Index j = 1; j < m_A.cols(); j++) { + for (Index i = j-1; i >= 0; i--) { + typedef typename MatrixType::Scalar Scalar; + // if i = j-1, then segment has length 0 so tmp = 0 + Scalar tmp = (result.row(i).segment(i+1,j-i-1) * result.col(j).segment(i+1,j-i-1)).value(); + // denominator may be zero if original matrix is singular + result.coeffRef(i,j) = (T.coeff(i,j) - tmp) / (result.coeff(i,i) + result.coeff(j,j)); + } + } + + // Compute square root of m_A as U * result * U.adjoint() + MatrixType tmp; + tmp.noalias() = U * result.template triangularView(); + result.noalias() = tmp * U.adjoint(); +} + + +/** \ingroup MatrixFunctions_Module + * \brief Class for computing matrix square roots of general matrices. + * \tparam MatrixType type of the argument of the matrix square root, + * expected to be an instantiation of the Matrix class template. + * + * \sa MatrixSquareRootTriangular, MatrixSquareRootQuasiTriangular, MatrixBase::sqrt() + */ +template ::Scalar>::IsComplex> +class MatrixSquareRoot +{ + public: + + /** \brief Constructor. + * + * \param[in] A matrix whose square root is to be computed. + * + * The class stores a reference to \p A, so it should not be + * changed (or destroyed) before compute() is called. + */ + MatrixSquareRoot(const MatrixType& A); + + /** \brief Compute the matrix square root + * + * \param[out] result square root of \p A, as specified in the constructor. + * + * See MatrixBase::sqrt() for details on how this computation is + * implemented. + */ + template void compute(ResultType &result); +}; + + +// ********** Partial specialization for real matrices ********** + +template +class MatrixSquareRoot +{ + public: + + MatrixSquareRoot(const MatrixType& A) + : m_A(A) + { + eigen_assert(A.rows() == A.cols()); + } + + template void compute(ResultType &result) + { + // Compute Schur decomposition of m_A + const RealSchur schurOfA(m_A); + const MatrixType& T = schurOfA.matrixT(); + const MatrixType& U = schurOfA.matrixU(); + + // Compute square root of T + MatrixSquareRootQuasiTriangular tmp(T); + MatrixType sqrtT = MatrixType::Zero(m_A.rows(), m_A.rows()); + tmp.compute(sqrtT); + + // Compute square root of m_A + result = U * sqrtT * U.adjoint(); + } + + private: + const MatrixType& m_A; +}; + + +// ********** Partial specialization for complex matrices ********** + +template +class MatrixSquareRoot +{ + public: + + MatrixSquareRoot(const MatrixType& A) + : m_A(A) + { + eigen_assert(A.rows() == A.cols()); + } + + template void compute(ResultType &result) + { + // Compute Schur decomposition of m_A + const ComplexSchur schurOfA(m_A); + const MatrixType& T = schurOfA.matrixT(); + const MatrixType& U = schurOfA.matrixU(); + + // Compute square root of T + MatrixSquareRootTriangular tmp(T); + MatrixType sqrtT = MatrixType::Zero(m_A.rows(), m_A.rows()); + tmp.compute(sqrtT); + + // Compute square root of m_A + result = U * sqrtT * U.adjoint(); + } + + private: + const MatrixType& m_A; +}; + + +/** \ingroup MatrixFunctions_Module + * + * \brief Proxy for the matrix square root of some matrix (expression). + * + * \tparam Derived Type of the argument to the matrix square root. + * + * This class holds the argument to the matrix square root until it + * is assigned or evaluated for some other reason (so the argument + * should not be changed in the meantime). It is the return type of + * MatrixBase::sqrt() and most of the time this is the only way it is + * used. + */ +template class MatrixSquareRootReturnValue +: public ReturnByValue > +{ + typedef typename Derived::Index Index; + public: + /** \brief Constructor. + * + * \param[in] src %Matrix (expression) forming the argument of the + * matrix square root. + */ + MatrixSquareRootReturnValue(const Derived& src) : m_src(src) { } + + /** \brief Compute the matrix square root. + * + * \param[out] result the matrix square root of \p src in the + * constructor. + */ + template + inline void evalTo(ResultType& result) const + { + const typename Derived::PlainObject srcEvaluated = m_src.eval(); + MatrixSquareRoot me(srcEvaluated); + me.compute(result); + } + + Index rows() const { return m_src.rows(); } + Index cols() const { return m_src.cols(); } + + protected: + const Derived& m_src; + private: + MatrixSquareRootReturnValue& operator=(const MatrixSquareRootReturnValue&); +}; + +namespace internal { +template +struct traits > +{ + typedef typename Derived::PlainObject ReturnType; +}; +} + +template +const MatrixSquareRootReturnValue MatrixBase::sqrt() const +{ + eigen_assert(rows() == cols()); + return MatrixSquareRootReturnValue(derived()); +} + +} // end namespace Eigen + +#endif // EIGEN_MATRIX_FUNCTION diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h index 260690b63..3de68ec3a 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h @@ -25,6 +25,8 @@ #ifndef EIGEN_STEM_FUNCTION #define EIGEN_STEM_FUNCTION +namespace Eigen { + /** \ingroup MatrixFunctions_Module * \brief Stem functions corresponding to standard mathematical functions. */ @@ -113,4 +115,6 @@ class StdStemFunctions }; // end of class StdStemFunctions +} // end namespace Eigen + #endif // EIGEN_STEM_FUNCTION diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h index bc948d0bd..123f4016e 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h @@ -26,6 +26,8 @@ #ifndef EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H #define EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H +namespace Eigen { + namespace internal { /** \internal \returns the arcsin of \a a (coeff-wise) */ @@ -99,8 +101,10 @@ template<> EIGEN_DONT_INLINE Packet4f pasin(Packet4f x) return _mm_xor_ps(z, sign_bit); } +#endif // EIGEN_VECTORIZE_SSE + } // end namespace internal -#endif +} // end namespace Eigen #endif // EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h index 37abb6117..aa9430359 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h @@ -28,6 +28,8 @@ #ifndef EIGEN_HYBRIDNONLINEARSOLVER_H #define EIGEN_HYBRIDNONLINEARSOLVER_H +namespace Eigen { + namespace HybridNonLinearSolverSpace { enum Status { Running = -1, @@ -602,6 +604,8 @@ HybridNonLinearSolver::solveNumericalDiff(FVectorType &x) return status; } -//vim: ai ts=4 sts=4 et sw=4 +} // end namespace Eigen + #endif // EIGEN_HYBRIDNONLINEARSOLVER_H +//vim: ai ts=4 sts=4 et sw=4 diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h index 0ae681b1c..1cb501a66 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h @@ -28,6 +28,7 @@ #ifndef EIGEN_LEVENBERGMARQUARDT__H #define EIGEN_LEVENBERGMARQUARDT__H +namespace Eigen { namespace LevenbergMarquardtSpace { enum Status { @@ -640,7 +641,7 @@ LevenbergMarquardt::lmdif1( NumericalDiff numDiff(functor); // embedded LevenbergMarquardt - LevenbergMarquardt > lm(numDiff); + LevenbergMarquardt, Scalar > lm(numDiff); lm.parameters.ftol = tol; lm.parameters.xtol = tol; lm.parameters.maxfev = 200*(n+1); @@ -651,6 +652,8 @@ LevenbergMarquardt::lmdif1( return info; } -//vim: ai ts=4 sts=4 et sw=4 +} // end namespace Eigen + #endif // EIGEN_LEVENBERGMARQUARDT__H +//vim: ai ts=4 sts=4 et sw=4 diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h index bc0cb1880..fd3e0bc4a 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h @@ -2,6 +2,8 @@ #define chkder_log10e 0.43429448190325182765 #define chkder_factor 100. +namespace Eigen { + namespace internal { template @@ -58,3 +60,4 @@ void chkder( } // end namespace internal +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h index 6c77916f5..c73a09645 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { template @@ -63,3 +65,5 @@ void covar( } } // end namespace internal + +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h index cbdcf4b71..4fbc98bfc 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { template @@ -98,3 +100,5 @@ algo_end: } } // end namespace internal + +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h index 0a26c2061..1cabe69ae 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { template @@ -70,3 +72,5 @@ DenseIndex fdjac1( } } // end namespace internal + +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h index 62f4aabc9..cc1ca530f 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { template @@ -288,3 +290,5 @@ void lmpar2( } } // end namespace internal + +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h index cb1764a41..feafd62a8 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { // TODO : once qrsolv2 is removed, use ColPivHouseholderQR or PermutationMatrix instead of ipvt @@ -85,3 +87,5 @@ void qrsolv( } } // end namespace internal + +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h index ffe505cd5..36ff700e9 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { // TODO : move this to GivensQR once there's such a thing in Eigen @@ -24,3 +26,5 @@ void r1mpyq(DenseIndex m, DenseIndex n, Scalar *a, const std::vector @@ -93,3 +95,5 @@ void r1updt( } } // end namespace internal + +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h index ab83f9b25..9ce079e22 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h @@ -1,3 +1,5 @@ +namespace Eigen { + namespace internal { template @@ -44,3 +46,4 @@ void rwupdt( } // end namespace internal +} // end namespace Eigen diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h index 52dc0ec01..8651585f2 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h @@ -28,6 +28,8 @@ #ifndef EIGEN_NUMERICAL_DIFF_H #define EIGEN_NUMERICAL_DIFF_H +namespace Eigen { + enum NumericalDiffMode { Forward, Central @@ -64,7 +66,7 @@ public: template NumericalDiff(const T0& a0, const T1& a1) : Functor(a0, a1), epsfcn(0) {} template - NumericalDiff(const T0& a0, const T1& a1, const T1& a2) : Functor(a0, a1, a2), epsfcn(0) {} + NumericalDiff(const T0& a0, const T1& a1, const T2& a2) : Functor(a0, a1, a2), epsfcn(0) {} enum { InputsAtCompileTime = Functor::InputsAtCompileTime, @@ -134,6 +136,8 @@ private: NumericalDiff& operator=(const NumericalDiff&); }; +} // end namespace Eigen + //vim: ai ts=4 sts=4 et sw=4 #endif // EIGEN_NUMERICAL_DIFF_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h index 608951d3c..8936b8fad 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h @@ -29,10 +29,12 @@ // * Eigen/Core // * Eigen/src/PolynomialSolver.h -#ifndef EIGEN_PARSED_BY_DOXYGEN +namespace Eigen { namespace internal { +#ifndef EIGEN_PARSED_BY_DOXYGEN + template T radix(){ return 2; } @@ -283,4 +285,6 @@ void companion<_Scalar,_Deg>::balance() } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_COMPANION_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h index 417b93df2..71295a105 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h @@ -25,6 +25,8 @@ #ifndef EIGEN_POLYNOMIAL_SOLVER_H #define EIGEN_POLYNOMIAL_SOLVER_H +namespace Eigen { + /** \ingroup Polynomials_Module * \class PolynomialSolverBase. * @@ -394,4 +396,6 @@ class PolynomialSolver<_Scalar,1> : public PolynomialSolverBase<_Scalar,1> using PS_Base::m_roots; }; +} // end namespace Eigen + #endif // EIGEN_POLYNOMIAL_SOLVER_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h index 65942c52a..1fb1ed139 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h @@ -25,6 +25,8 @@ #ifndef EIGEN_POLYNOMIAL_UTILS_H #define EIGEN_POLYNOMIAL_UTILS_H +namespace Eigen { + /** \ingroup Polynomials_Module * \returns the evaluation of the polynomial at x using Horner algorithm. * @@ -149,5 +151,6 @@ void roots_to_monicPolynomial( const RootVector& rv, Polynomial& poly ) } } +} // end namespace Eigen #endif // EIGEN_POLYNOMIAL_UTILS_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h index 51537402e..ef36ac9b6 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h @@ -25,6 +25,8 @@ #ifndef EIGEN_SKYLINEINPLACELU_H #define EIGEN_SKYLINEINPLACELU_H +namespace Eigen { + /** \ingroup Skyline_Module * * \class SkylineInplaceLU @@ -360,4 +362,6 @@ bool SkylineInplaceLU::solve(const MatrixBase &b, MatrixBa return true; } +} // end namespace Eigen + #endif // EIGEN_SKYLINELU_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h index 31810df08..98a19ce53 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h @@ -28,6 +28,8 @@ #include "SkylineStorage.h" #include "SkylineMatrixBase.h" +namespace Eigen { + /** \ingroup Skyline_Module * * \class SkylineMatrix @@ -870,4 +872,6 @@ protected: const Index m_end; }; +} // end namespace Eigen + #endif // EIGEN_SkylineMatrix_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h index 4d0c2397c..72131eb3f 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h @@ -27,6 +27,8 @@ #include "SkylineUtil.h" +namespace Eigen { + /** \ingroup Skyline_Module * * \class SkylineMatrixBase @@ -220,4 +222,6 @@ protected: bool m_isRValue; }; +} // end namespace Eigen + #endif // EIGEN_SkylineMatrixBase_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h index aeedc47ec..fb653b446 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h @@ -25,6 +25,8 @@ #ifndef EIGEN_SKYLINEPRODUCT_H #define EIGEN_SKYLINEPRODUCT_H +namespace Eigen { + template struct SkylineProductReturnType { typedef const typename internal::nested::type LhsNested; @@ -303,4 +305,6 @@ SkylineMatrixBase::operator*(const MatrixBase &other) con return typename SkylineProductReturnType::Type(derived(), other.derived()); } +} // end namespace Eigen + #endif // EIGEN_SKYLINEPRODUCT_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h index 62806bfb6..5721dee90 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h @@ -25,6 +25,8 @@ #ifndef EIGEN_SKYLINE_STORAGE_H #define EIGEN_SKYLINE_STORAGE_H +namespace Eigen { + /** Stores a skyline set of values in three structures : * The diagonal elements * The upper elements @@ -267,4 +269,6 @@ public: }; +} // end namespace Eigen + #endif // EIGEN_COMPRESSED_STORAGE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h index e0512476f..5c5bd8bda 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h @@ -25,6 +25,8 @@ #ifndef EIGEN_SKYLINEUTIL_H #define EIGEN_SKYLINEUTIL_H +namespace Eigen { + #ifdef NDEBUG #define EIGEN_DBG_SKYLINE(X) #else @@ -97,5 +99,6 @@ template class eval } // end namespace internal +} // end namespace Eigen #endif // EIGEN_SKYLINEUTIL_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h new file mode 100644 index 000000000..0cc6e3a06 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h @@ -0,0 +1,129 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2008-2009 Gael Guennebaud +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H +#define EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H + +namespace Eigen { + +/*************************************************************************** +* specialisation for DynamicSparseMatrix +***************************************************************************/ + +template +class SparseInnerVectorSet, Size> + : public SparseMatrixBase, Size> > +{ + typedef DynamicSparseMatrix<_Scalar, _Options, _Index> MatrixType; + public: + + enum { IsRowMajor = internal::traits::IsRowMajor }; + + EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet) + class InnerIterator: public MatrixType::InnerIterator + { + public: + inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer) + : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer) + {} + inline Index row() const { return IsRowMajor ? m_outer : this->index(); } + inline Index col() const { return IsRowMajor ? this->index() : m_outer; } + protected: + Index m_outer; + }; + + inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize) + : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize) + { + eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) ); + } + + inline SparseInnerVectorSet(const MatrixType& matrix, Index outer) + : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size) + { + eigen_assert(Size!=Dynamic); + eigen_assert( (outer>=0) && (outer + inline SparseInnerVectorSet& operator=(const SparseMatrixBase& other) + { + if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit)) + { + // need to transpose => perform a block evaluation followed by a big swap + DynamicSparseMatrix aux(other); + *this = aux.markAsRValue(); + } + else + { + // evaluate/copy vector per vector + for (Index j=0; j aux(other.innerVector(j)); + m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data()); + } + } + return *this; + } + + inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other) + { + return operator=(other); + } + + Index nonZeros() const + { + Index count = 0; + for (Index j=0; j0); + return m_matrix.data()[m_outerStart].vale(m_matrix.data()[m_outerStart].size()-1); + } + +// template +// inline SparseInnerVectorSet& operator=(const SparseMatrixBase& other) +// { +// return *this; +// } + + EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); } + EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); } + + protected: + + const typename MatrixType::Nested m_matrix; + Index m_outerStart; + const internal::variable_if_dynamic m_outerSize; + +}; + +} // end namespace Eigen + +#endif // EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/CholmodSupportLegacy.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/CholmodSupportLegacy.h deleted file mode 100644 index 676cd8574..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/CholmodSupportLegacy.h +++ /dev/null @@ -1,517 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#ifndef EIGEN_CHOLMODSUPPORT_LEGACY_H -#define EIGEN_CHOLMODSUPPORT_LEGACY_H - -namespace internal { - -template -void cholmod_configure_matrix_legacy(CholmodType& mat) -{ - if (internal::is_same::value) - { - mat.xtype = CHOLMOD_REAL; - mat.dtype = CHOLMOD_SINGLE; - } - else if (internal::is_same::value) - { - mat.xtype = CHOLMOD_REAL; - mat.dtype = CHOLMOD_DOUBLE; - } - else if (internal::is_same >::value) - { - mat.xtype = CHOLMOD_COMPLEX; - mat.dtype = CHOLMOD_SINGLE; - } - else if (internal::is_same >::value) - { - mat.xtype = CHOLMOD_COMPLEX; - mat.dtype = CHOLMOD_DOUBLE; - } - else - { - eigen_assert(false && "Scalar type not supported by CHOLMOD"); - } -} - -template -cholmod_sparse cholmod_map_eigen_to_sparse(_MatrixType& mat) -{ - typedef typename _MatrixType::Scalar Scalar; - cholmod_sparse res; - res.nzmax = mat.nonZeros(); - res.nrow = mat.rows();; - res.ncol = mat.cols(); - res.p = mat._outerIndexPtr(); - res.i = mat._innerIndexPtr(); - res.x = mat._valuePtr(); - res.xtype = CHOLMOD_REAL; - res.itype = CHOLMOD_INT; - res.sorted = 1; - res.packed = 1; - res.dtype = 0; - res.stype = -1; - - internal::cholmod_configure_matrix_legacy(res); - - - if (_MatrixType::Flags & SelfAdjoint) - { - if (_MatrixType::Flags & Upper) - res.stype = 1; - else if (_MatrixType::Flags & Lower) - res.stype = -1; - else - res.stype = 0; - } - else - res.stype = -1; // by default we consider the lower part - - return res; -} - -template -cholmod_dense cholmod_map_eigen_to_dense(MatrixBase& mat) -{ - EIGEN_STATIC_ASSERT((internal::traits::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES); - typedef typename Derived::Scalar Scalar; - - cholmod_dense res; - res.nrow = mat.rows(); - res.ncol = mat.cols(); - res.nzmax = res.nrow * res.ncol; - res.d = Derived::IsVectorAtCompileTime ? mat.derived().size() : mat.derived().outerStride(); - res.x = mat.derived().data(); - res.z = 0; - - internal::cholmod_configure_matrix_legacy(res); - - return res; -} - -template -MappedSparseMatrix map_cholmod_sparse_to_eigen(cholmod_sparse& cm) -{ - return MappedSparseMatrix - (cm.nrow, cm.ncol, reinterpret_cast(cm.p)[cm.ncol], - reinterpret_cast(cm.p), reinterpret_cast(cm.i),reinterpret_cast(cm.x) ); -} - -} // namespace internal - -template -class SparseLLT<_MatrixType, Cholmod> : public SparseLLT<_MatrixType> -{ - protected: - typedef SparseLLT<_MatrixType> Base; - typedef typename Base::Scalar Scalar; - typedef typename Base::RealScalar RealScalar; - typedef typename Base::CholMatrixType CholMatrixType; - using Base::MatrixLIsDirty; - using Base::SupernodalFactorIsDirty; - using Base::m_flags; - using Base::m_matrix; - using Base::m_status; - - public: - typedef _MatrixType MatrixType; - typedef typename MatrixType::Index Index; - - SparseLLT(int flags = 0) - : Base(flags), m_cholmodFactor(0) - { - cholmod_start(&m_cholmod); - } - - SparseLLT(const MatrixType& matrix, int flags = 0) - : Base(flags), m_cholmodFactor(0) - { - cholmod_start(&m_cholmod); - compute(matrix); - } - - ~SparseLLT() - { - if (m_cholmodFactor) - cholmod_free_factor(&m_cholmodFactor, &m_cholmod); - cholmod_finish(&m_cholmod); - } - - inline const CholMatrixType& matrixL() const; - - template - bool solveInPlace(MatrixBase &b) const; - - template - inline const internal::solve_retval, Rhs> - solve(const MatrixBase& b) const - { - eigen_assert(true && "SparseLLT is not initialized."); - return internal::solve_retval, Rhs>(*this, b.derived()); - } - - void compute(const MatrixType& matrix); - - inline Index cols() const { return m_matrix.cols(); } - inline Index rows() const { return m_matrix.rows(); } - - inline const cholmod_factor* cholmodFactor() const - { return m_cholmodFactor; } - - inline cholmod_common* cholmodCommon() const - { return &m_cholmod; } - - bool succeeded() const; - - protected: - mutable cholmod_common m_cholmod; - cholmod_factor* m_cholmodFactor; -}; - - -namespace internal { - -template - struct solve_retval, Rhs> - : solve_retval_base, Rhs> -{ - typedef SparseLLT<_MatrixType, Cholmod> SpLLTDecType; - EIGEN_MAKE_SOLVE_HELPERS(SpLLTDecType,Rhs) - - template void evalTo(Dest& dst) const - { - //Index size = dec().cholmodFactor()->n; - eigen_assert((Index)dec().cholmodFactor()->n==rhs().rows()); - - cholmod_factor* cholmodFactor = const_cast(dec().cholmodFactor()); - cholmod_common* cholmodCommon = const_cast(dec().cholmodCommon()); - // this uses Eigen's triangular sparse solver - // if (m_status & MatrixLIsDirty) - // matrixL(); - // Base::solveInPlace(b); - // as long as our own triangular sparse solver is not fully optimal, - // let's use CHOLMOD's one: - cholmod_dense cdb = internal::cholmod_map_eigen_to_dense(rhs().const_cast_derived()); - cholmod_dense* x = cholmod_solve(CHOLMOD_A, cholmodFactor, &cdb, cholmodCommon); - - dst = Matrix::Map(reinterpret_cast(x->x), rhs().rows()); - - cholmod_free_dense(&x, cholmodCommon); - - } - -}; - -} // namespace internal - - - -template -void SparseLLT<_MatrixType,Cholmod>::compute(const _MatrixType& a) -{ - if (m_cholmodFactor) - { - cholmod_free_factor(&m_cholmodFactor, &m_cholmod); - m_cholmodFactor = 0; - } - - cholmod_sparse A = internal::cholmod_map_eigen_to_sparse(const_cast<_MatrixType&>(a)); -// m_cholmod.supernodal = CHOLMOD_AUTO; - // TODO -// if (m_flags&IncompleteFactorization) -// { -// m_cholmod.nmethods = 1; -// m_cholmod.method[0].ordering = CHOLMOD_NATURAL; -// m_cholmod.postorder = 0; -// } -// else -// { -// m_cholmod.nmethods = 1; -// m_cholmod.method[0].ordering = CHOLMOD_NATURAL; -// m_cholmod.postorder = 0; -// } -// m_cholmod.final_ll = 1; - m_cholmodFactor = cholmod_analyze(&A, &m_cholmod); - cholmod_factorize(&A, m_cholmodFactor, &m_cholmod); - - this->m_status = (this->m_status & ~Base::SupernodalFactorIsDirty) | Base::MatrixLIsDirty; -} - - -// TODO -template -bool SparseLLT<_MatrixType,Cholmod>::succeeded() const -{ return true; } - - - -template -inline const typename SparseLLT<_MatrixType,Cholmod>::CholMatrixType& -SparseLLT<_MatrixType,Cholmod>::matrixL() const -{ - if (this->m_status & Base::MatrixLIsDirty) - { - eigen_assert(!(this->m_status & Base::SupernodalFactorIsDirty)); - - cholmod_sparse* cmRes = cholmod_factor_to_sparse(m_cholmodFactor, &m_cholmod); - const_cast(this->m_matrix) = - internal::map_cholmod_sparse_to_eigen(*cmRes); - free(cmRes); - - this->m_status = (this->m_status & ~Base::MatrixLIsDirty); - } - return this->m_matrix; -} - - - - -template -template -bool SparseLLT<_MatrixType,Cholmod>::solveInPlace(MatrixBase &b) const -{ - //Index size = m_cholmodFactor->n; - eigen_assert((Index)m_cholmodFactor->n==b.rows()); - - // this uses Eigen's triangular sparse solver - // if (m_status & MatrixLIsDirty) - // matrixL(); - // Base::solveInPlace(b); - // as long as our own triangular sparse solver is not fully optimal, - // let's use CHOLMOD's one: - cholmod_dense cdb = internal::cholmod_map_eigen_to_dense(b); - - cholmod_dense* x = cholmod_solve(CHOLMOD_A, m_cholmodFactor, &cdb, &m_cholmod); - eigen_assert(x && "Eigen: cholmod_solve failed."); - - b = Matrix::Map(reinterpret_cast(x->x),b.rows()); - cholmod_free_dense(&x, &m_cholmod); - return true; -} - - - - - - - - - - - -template -class SparseLDLT<_MatrixType,Cholmod> : public SparseLDLT<_MatrixType> -{ - protected: - typedef SparseLDLT<_MatrixType> Base; - typedef typename Base::Scalar Scalar; - typedef typename Base::RealScalar RealScalar; - using Base::MatrixLIsDirty; - using Base::SupernodalFactorIsDirty; - using Base::m_flags; - using Base::m_matrix; - using Base::m_status; - - public: - typedef _MatrixType MatrixType; - typedef typename MatrixType::Index Index; - - SparseLDLT(int flags = 0) - : Base(flags), m_cholmodFactor(0) - { - cholmod_start(&m_cholmod); - } - - SparseLDLT(const _MatrixType& matrix, int flags = 0) - : Base(flags), m_cholmodFactor(0) - { - cholmod_start(&m_cholmod); - compute(matrix); - } - - ~SparseLDLT() - { - if (m_cholmodFactor) - cholmod_free_factor(&m_cholmodFactor, &m_cholmod); - cholmod_finish(&m_cholmod); - } - - inline const typename Base::CholMatrixType& matrixL(void) const; - - template - void solveInPlace(MatrixBase &b) const; - - template - inline const internal::solve_retval, Rhs> - solve(const MatrixBase& b) const - { - eigen_assert(true && "SparseLDLT is not initialized."); - return internal::solve_retval, Rhs>(*this, b.derived()); - } - - void compute(const _MatrixType& matrix); - - inline Index cols() const { return m_matrix.cols(); } - inline Index rows() const { return m_matrix.rows(); } - - inline const cholmod_factor* cholmodFactor() const - { return m_cholmodFactor; } - - inline cholmod_common* cholmodCommon() const - { return &m_cholmod; } - - bool succeeded() const; - - protected: - mutable cholmod_common m_cholmod; - cholmod_factor* m_cholmodFactor; -}; - - - -namespace internal { - -template - struct solve_retval, Rhs> - : solve_retval_base, Rhs> -{ - typedef SparseLDLT<_MatrixType, Cholmod> SpLDLTDecType; - EIGEN_MAKE_SOLVE_HELPERS(SpLDLTDecType,Rhs) - - template void evalTo(Dest& dst) const - { - //Index size = dec().cholmodFactor()->n; - eigen_assert((Index)dec().cholmodFactor()->n==rhs().rows()); - - cholmod_factor* cholmodFactor = const_cast(dec().cholmodFactor()); - cholmod_common* cholmodCommon = const_cast(dec().cholmodCommon()); - // this uses Eigen's triangular sparse solver - // if (m_status & MatrixLIsDirty) - // matrixL(); - // Base::solveInPlace(b); - // as long as our own triangular sparse solver is not fully optimal, - // let's use CHOLMOD's one: - cholmod_dense cdb = internal::cholmod_map_eigen_to_dense(rhs().const_cast_derived()); - cholmod_dense* x = cholmod_solve(CHOLMOD_LDLt, cholmodFactor, &cdb, cholmodCommon); - - dst = Matrix::Map(reinterpret_cast(x->x), rhs().rows()); - cholmod_free_dense(&x, cholmodCommon); - - } - -}; - - -} // namespace internal - -template -void SparseLDLT<_MatrixType,Cholmod>::compute(const _MatrixType& a) -{ - if (m_cholmodFactor) - { - cholmod_free_factor(&m_cholmodFactor, &m_cholmod); - m_cholmodFactor = 0; - } - - cholmod_sparse A = internal::cholmod_map_eigen_to_sparse(const_cast<_MatrixType&>(a)); - - //m_cholmod.supernodal = CHOLMOD_AUTO; - m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; - //m_cholmod.supernodal = CHOLMOD_SUPERNODAL; - // TODO - if (this->m_flags & IncompleteFactorization) - { - m_cholmod.nmethods = 1; - //m_cholmod.method[0].ordering = CHOLMOD_NATURAL; - m_cholmod.method[0].ordering = CHOLMOD_COLAMD; - m_cholmod.postorder = 1; - } - else - { - m_cholmod.nmethods = 1; - m_cholmod.method[0].ordering = CHOLMOD_NATURAL; - m_cholmod.postorder = 0; - } - m_cholmod.final_ll = 0; - m_cholmodFactor = cholmod_analyze(&A, &m_cholmod); - cholmod_factorize(&A, m_cholmodFactor, &m_cholmod); - - this->m_status = (this->m_status & ~Base::SupernodalFactorIsDirty) | Base::MatrixLIsDirty; -} - - -// TODO -template -bool SparseLDLT<_MatrixType,Cholmod>::succeeded() const -{ return true; } - - -template -inline const typename SparseLDLT<_MatrixType>::CholMatrixType& -SparseLDLT<_MatrixType,Cholmod>::matrixL() const -{ - if (this->m_status & Base::MatrixLIsDirty) - { - eigen_assert(!(this->m_status & Base::SupernodalFactorIsDirty)); - - cholmod_sparse* cmRes = cholmod_factor_to_sparse(m_cholmodFactor, &m_cholmod); - const_cast(this->m_matrix) = MappedSparseMatrix(*cmRes); - free(cmRes); - - this->m_status = (this->m_status & ~Base::MatrixLIsDirty); - } - return this->m_matrix; -} - - - - - - -template -template -void SparseLDLT<_MatrixType,Cholmod>::solveInPlace(MatrixBase &b) const -{ - //Index size = m_cholmodFactor->n; - eigen_assert((Index)m_cholmodFactor->n == b.rows()); - - // this uses Eigen's triangular sparse solver - // if (m_status & MatrixLIsDirty) - // matrixL(); - // Base::solveInPlace(b); - // as long as our own triangular sparse solver is not fully optimal, - // let's use CHOLMOD's one: - cholmod_dense cdb = internal::cholmod_map_eigen_to_dense(b); - cholmod_dense* x = cholmod_solve(CHOLMOD_A, m_cholmodFactor, &cdb, &m_cholmod); - b = Matrix::Map(reinterpret_cast(x->x),b.rows()); - cholmod_free_dense(&x, &m_cholmod); -} - - - - - - -#endif // EIGEN_CHOLMODSUPPORT_LEGACY_H diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Sparse/DynamicSparseMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h similarity index 87% rename from gtsam/3rdparty/Eigen/Eigen/src/Sparse/DynamicSparseMatrix.h rename to gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h index 93e75f4c6..151d46538 100644 --- a/gtsam/3rdparty/Eigen/Eigen/src/Sparse/DynamicSparseMatrix.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h @@ -25,7 +25,11 @@ #ifndef EIGEN_DYNAMIC_SPARSEMATRIX_H #define EIGEN_DYNAMIC_SPARSEMATRIX_H -/** \class DynamicSparseMatrix +namespace Eigen { + +/** \deprecated use a SparseMatrix in an uncompressed mode + * + * \class DynamicSparseMatrix * * \brief A sparse matrix class designed for matrix assembly purpose * @@ -64,7 +68,7 @@ struct traits > } template -class DynamicSparseMatrix + class DynamicSparseMatrix : public SparseMatrixBase > { public: @@ -84,7 +88,7 @@ class DynamicSparseMatrix typedef DynamicSparseMatrix TransposedSparseMatrix; Index m_innerSize; - std::vector > m_data; + std::vector > m_data; public: @@ -94,8 +98,8 @@ class DynamicSparseMatrix inline Index outerSize() const { return static_cast(m_data.size()); } inline Index innerNonZeros(Index j) const { return m_data[j].size(); } - std::vector >& _data() { return m_data; } - const std::vector >& _data() const { return m_data; } + std::vector >& _data() { return m_data; } + const std::vector >& _data() const { return m_data; } /** \returns the coefficient value at given position \a row, \a col * This operation involes a log(rho*outer_size) binary search. @@ -119,6 +123,7 @@ class DynamicSparseMatrix } class InnerIterator; + class ReverseInnerIterator; void setZero() { @@ -232,20 +237,23 @@ class DynamicSparseMatrix } } - inline DynamicSparseMatrix() + /** The class DynamicSparseMatrix is deprectaed */ + EIGEN_DEPRECATED inline DynamicSparseMatrix() : m_innerSize(0), m_data(0) { eigen_assert(innerSize()==0 && outerSize()==0); } - inline DynamicSparseMatrix(Index rows, Index cols) + /** The class DynamicSparseMatrix is deprectaed */ + EIGEN_DEPRECATED inline DynamicSparseMatrix(Index rows, Index cols) : m_innerSize(0) { resize(rows, cols); } + /** The class DynamicSparseMatrix is deprectaed */ template - explicit inline DynamicSparseMatrix(const SparseMatrixBase& other) + EIGEN_DEPRECATED explicit inline DynamicSparseMatrix(const SparseMatrixBase& other) : m_innerSize(0) { Base::operator=(other.derived()); @@ -325,12 +333,12 @@ class DynamicSparseMatrix # ifdef EIGEN_DYNAMICSPARSEMATRIX_PLUGIN # include EIGEN_DYNAMICSPARSEMATRIX_PLUGIN # endif -}; + }; template -class DynamicSparseMatrix::InnerIterator : public SparseVector::InnerIterator +class DynamicSparseMatrix::InnerIterator : public SparseVector::InnerIterator { - typedef typename SparseVector::InnerIterator Base; + typedef typename SparseVector::InnerIterator Base; public: InnerIterator(const DynamicSparseMatrix& mat, Index outer) : Base(mat.m_data[outer]), m_outer(outer) @@ -343,4 +351,22 @@ class DynamicSparseMatrix::InnerIterator : public Sparse const Index m_outer; }; +template +class DynamicSparseMatrix::ReverseInnerIterator : public SparseVector::ReverseInnerIterator +{ + typedef typename SparseVector::ReverseInnerIterator Base; + public: + ReverseInnerIterator(const DynamicSparseMatrix& mat, Index outer) + : Base(mat.m_data[outer]), m_outer(outer) + {} + + inline Index row() const { return IsRowMajor ? m_outer : Base::index(); } + inline Index col() const { return IsRowMajor ? Base::index() : m_outer; } + + protected: + const Index m_outer; +}; + +} // end namespace Eigen + #endif // EIGEN_DYNAMIC_SPARSEMATRIX_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h new file mode 100644 index 000000000..9cfe1d9f5 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h @@ -0,0 +1,288 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// Copyright (C) 2012 Desire NUENTSA WAKAM +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_SPARSE_MARKET_IO_H +#define EIGEN_SPARSE_MARKET_IO_H + +#include + +namespace Eigen { + +namespace internal +{ + template + inline bool GetMarketLine (std::stringstream& line, int& M, int& N, int& i, int& j, Scalar& value) + { + line >> i >> j >> value; + i--; + j--; + if(i>=0 && j>=0 && i + inline bool GetMarketLine (std::stringstream& line, int& M, int& N, int& i, int& j, std::complex& value) + { + Scalar valR, valI; + line >> i >> j >> valR >> valI; + i--; + j--; + if(i>=0 && j>=0 && i(valR, valI); + return true; + } + else + return false; + } + + template + inline void GetVectorElt (const std::string& line, RealScalar& val) + { + std::istringstream newline(line); + newline >> val; + } + + template + inline void GetVectorElt (const std::string& line, std::complex& val) + { + RealScalar valR, valI; + std::istringstream newline(line); + newline >> valR >> valI; + val = std::complex(valR, valI); + } + + template + inline void putMarketHeader(std::string& header,int sym) + { + header= "%%MatrixMarket matrix coordinate "; + if(internal::is_same >::value || internal::is_same >::value) + { + header += " complex"; + if(sym == Symmetric) header += " symmetric"; + else if (sym == SelfAdjoint) header += " Hermitian"; + else header += " general"; + } + else + { + header += " real"; + if(sym == Symmetric) header += " symmetric"; + else header += " general"; + } + } + + template + inline void PutMatrixElt(Scalar value, int row, int col, std::ofstream& out) + { + out << row << " "<< col << " " << value << "\n"; + } + template + inline void PutMatrixElt(std::complex value, int row, int col, std::ofstream& out) + { + out << row << " " << col << " " << value.real() << " " << value.imag() << "\n"; + } + + + template + inline void putVectorElt(Scalar value, std::ofstream& out) + { + out << value << "\n"; + } + template + inline void putVectorElt(std::complex value, std::ofstream& out) + { + out << value.real << " " << value.imag()<< "\n"; + } + +} // end namepsace internal + +inline bool getMarketHeader(const std::string& filename, int& sym, bool& iscomplex, bool& isvector) +{ + sym = 0; + isvector = false; + std::ifstream in(filename.c_str(),std::ios::in); + if(!in) + return false; + + std::string line; + // The matrix header is always the first line in the file + std::getline(in, line); assert(in.good()); + + std::stringstream fmtline(line); + std::string substr[5]; + fmtline>> substr[0] >> substr[1] >> substr[2] >> substr[3] >> substr[4]; + if(substr[2].compare("array") == 0) isvector = true; + if(substr[3].compare("complex") == 0) iscomplex = true; + if(substr[4].compare("symmetric") == 0) sym = Symmetric; + else if (substr[4].compare("Hermitian") == 0) sym = SelfAdjoint; + + return true; +} + +template +bool loadMarket(SparseMatrixType& mat, const std::string& filename) +{ + typedef typename SparseMatrixType::Scalar Scalar; + std::ifstream input(filename.c_str(),std::ios::in); + if(!input) + return false; + + const int maxBuffersize = 2048; + char buffer[maxBuffersize]; + + bool readsizes = false; + + typedef Triplet T; + std::vector elements; + + int M(-1), N(-1), NNZ(-1); + int count = 0; + while(input.getline(buffer, maxBuffersize)) + { + // skip comments + //NOTE An appropriate test should be done on the header to get the symmetry + if(buffer[0]=='%') + continue; + + std::stringstream line(buffer); + + if(!readsizes) + { + line >> M >> N >> NNZ; + if(M > 0 && N > 0 && NNZ > 0) + { + readsizes = true; + std::cout << "sizes: " << M << "," << N << "," << NNZ << "\n"; + mat.resize(M,N); + mat.reserve(NNZ); + } + } + else + { + int i(-1), j(-1); + Scalar value; + if( internal::GetMarketLine(line, M, N, i, j, value) ) + { + ++ count; + elements.push_back(T(i,j,value)); + } + else + std::cerr << "Invalid read: " << i << "," << j << "\n"; + } + } + mat.setFromTriplets(elements.begin(), elements.end()); + if(count!=NNZ) + std::cerr << count << "!=" << NNZ << "\n"; + + input.close(); + return true; +} + +template +bool loadMarketVector(VectorType& vec, const std::string& filename) +{ + typedef typename VectorType::Scalar Scalar; + std::ifstream in(filename.c_str(), std::ios::in); + if(!in) + return false; + + std::string line; + int n(0), col(0); + do + { // Skip comments + std::getline(in, line); assert(in.good()); + } while (line[0] == '%'); + std::istringstream newline(line); + newline >> n >> col; + assert(n>0 && col>0); + vec.resize(n); + int i = 0; + Scalar value; + while ( std::getline(in, line) && (i < n) ){ + internal::GetVectorElt(line, value); + vec(i++) = value; + } + in.close(); + if (i!=n){ + std::cerr<< "Unable to read all elements from file " << filename << "\n"; + return false; + } + return true; +} + +template +bool saveMarket(const SparseMatrixType& mat, const std::string& filename, int sym = 0) +{ + typedef typename SparseMatrixType::Scalar Scalar; + std::ofstream out(filename.c_str(),std::ios::out); + if(!out) + return false; + + out.flags(std::ios_base::scientific); + out.precision(64); + std::string header; + internal::putMarketHeader(header, sym); + out << header << std::endl; + out << mat.rows() << " " << mat.cols() << " " << mat.nonZeros() << "\n"; + int count = 0; + for(int j=0; j +bool saveMarketVector (const VectorType& vec, const std::string& filename) +{ + typedef typename VectorType::Scalar Scalar; + std::ofstream out(filename.c_str(),std::ios::out); + if(!out) + return false; + + out.flags(std::ios_base::scientific); + out.precision(64); + if(internal::is_same >::value || internal::is_same >::value) + out << "%%MatrixMarket matrix array complex general\n"; + else + out << "%%MatrixMarket matrix array real general\n"; + out << vec.size() << " "<< 1 << "\n"; + for (int i=0; i < vec.size(); i++){ + internal::putVectorElt(vec(i), out); + } + out.close(); + return true; +} + +} // end namespace Eigen + +#endif // EIGEN_SPARSE_MARKET_IO_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h new file mode 100644 index 000000000..3c34effca --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h @@ -0,0 +1,236 @@ + +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2012 Desire NUENTSA WAKAM +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_BROWSE_MATRICES_H +#define EIGEN_BROWSE_MATRICES_H + +namespace Eigen { + +enum { + SPD = 0x100, + NonSymmetric = 0x0 +}; + +/** + * @brief Iterator to browse matrices from a specified folder + * + * This is used to load all the matrices from a folder. + * The matrices should be in Matrix Market format + * It is assumed that the matrices are named as matname.mtx + * and matname_SPD.mtx if the matrix is Symmetric and positive definite (or Hermitian) + * The right hand side vectors are loaded as well, if they exist. + * They should be named as matname_b.mtx. + * Note that the right hand side for a SPD matrix is named as matname_SPD_b.mtx + * + * Sometimes a reference solution is available. In this case, it should be named as matname_x.mtx + * + * Sample code + * \code + * + * \endcode + * + * \tparam Scalar The scalar type + */ +template +class MatrixMarketIterator +{ + public: + typedef Matrix VectorType; + typedef SparseMatrix MatrixType; + + public: + MatrixMarketIterator(const std::string folder):m_sym(0),m_isvalid(false),m_matIsLoaded(false),m_hasRhs(false),m_hasrefX(false),m_folder(folder) + { + m_folder_id = opendir(folder.c_str()); + if (!m_folder_id){ + m_isvalid = false; + std::cerr << "The provided Matrix folder could not be opened \n\n"; + abort(); + } + Getnextvalidmatrix(); + } + + ~MatrixMarketIterator() + { + if (m_folder_id) closedir(m_folder_id); + } + + inline MatrixMarketIterator& operator++() + { + m_matIsLoaded = false; + m_hasrefX = false; + m_hasRhs = false; + Getnextvalidmatrix(); + return *this; + } + inline operator bool() const { return m_isvalid;} + + /** Return the sparse matrix corresponding to the current file */ + inline MatrixType& matrix() + { + // Read the matrix + if (m_matIsLoaded) return m_mat; + + std::string matrix_file = m_folder + "/" + m_matname + ".mtx"; + if ( !loadMarket(m_mat, matrix_file)) + { + m_matIsLoaded = false; + return m_mat; + } + m_matIsLoaded = true; + + if (m_sym != NonSymmetric) + { // Store the upper part of the matrix. It is needed by the solvers dealing with nonsymmetric matrices ?? + MatrixType B; + B = m_mat; + m_mat = B.template selfadjointView(); + } + return m_mat; + } + + /** Return the right hand side corresponding to the current matrix. + * If the rhs file is not provided, a random rhs is generated + */ + inline VectorType& rhs() + { + // Get the right hand side + if (m_hasRhs) return m_rhs; + + std::string rhs_file; + rhs_file = m_folder + "/" + m_matname + "_b.mtx"; // The pattern is matname_b.mtx + m_hasRhs = Fileexists(rhs_file); + if (m_hasRhs) + { + m_rhs.resize(m_mat.cols()); + m_hasRhs = loadMarketVector(m_rhs, rhs_file); + } + if (!m_hasRhs) + { + // Generate a random right hand side + if (!m_matIsLoaded) this->matrix(); + m_refX.resize(m_mat.cols()); + m_refX.setRandom(); + m_rhs = m_mat * m_refX; + m_hasrefX = true; + m_hasRhs = true; + } + return m_rhs; + } + + /** Return a reference solution + * If it is not provided and if the right hand side is not available + * then refX is randomly generated such that A*refX = b + * where A and b are the matrix and the rhs. + * Note that when a rhs is provided, refX is not available + */ + inline VectorType& refX() + { + // Check if a reference solution is provided + if (m_hasrefX) return m_refX; + + std::string lhs_file; + lhs_file = m_folder + "/" + m_matname + "_x.mtx"; + m_hasrefX = Fileexists(lhs_file); + if (m_hasrefX) + { + m_refX.resize(m_mat.cols()); + m_hasrefX = loadMarketVector(m_refX, lhs_file); + } + return m_refX; + } + + inline std::string& matname() { return m_matname; } + + inline int sym() { return m_sym; } + + inline bool hasRhs() {return m_hasRhs; } + inline bool hasrefX() {return m_hasrefX; } + + protected: + + inline bool Fileexists(std::string file) + { + std::ifstream file_id(file.c_str()); + if (!file_id.good() ) + { + return false; + } + else + { + file_id.close(); + return true; + } + } + + void Getnextvalidmatrix( ) + { + m_isvalid = false; + // Here, we return with the next valid matrix in the folder + while ( (m_curs_id = readdir(m_folder_id)) != NULL) { + m_isvalid = false; + std::string curfile; + curfile = m_folder + "/" + m_curs_id->d_name; + // Discard if it is a folder + if (m_curs_id->d_type == DT_DIR) continue; //FIXME This may not be available on non BSD systems +// struct stat st_buf; +// stat (curfile.c_str(), &st_buf); +// if (S_ISDIR(st_buf.st_mode)) continue; + + // Determine from the header if it is a matrix or a right hand side + bool isvector,iscomplex; + if(!getMarketHeader(curfile,m_sym,iscomplex,isvector)) continue; + if(isvector) continue; + + // Get the matrix name + std::string filename = m_curs_id->d_name; + m_matname = filename.substr(0, filename.length()-4); + + // Find if the matrix is SPD + size_t found = m_matname.find("SPD"); + if( (found!=std::string::npos) && (m_sym != NonSymmetric) ) + m_sym = SPD; + + m_isvalid = true; + break; + } + } + int m_sym; // Symmetry of the matrix + MatrixType m_mat; // Current matrix + VectorType m_rhs; // Current vector + VectorType m_refX; // The reference solution, if exists + std::string m_matname; // Matrix Name + bool m_isvalid; + bool m_matIsLoaded; // Determine if the matrix has already been loaded from the file + bool m_hasRhs; // The right hand side exists + bool m_hasrefX; // A reference solution is provided + std::string m_folder; + DIR * m_folder_id; + struct dirent *m_curs_id; + +}; + +} // end namespace Eigen + +#endif diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h index 4ea41af85..9328c60cf 100644 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h @@ -25,6 +25,8 @@ #ifndef EIGEN_RANDOMSETTER_H #define EIGEN_RANDOMSETTER_H +namespace Eigen { + /** Represents a std::map * * \see RandomSetter @@ -180,9 +182,7 @@ class RandomSetter enum { SwapStorage = 1 - MapTraits::IsSorted, TargetRowMajor = (SparseMatrixType::Flags & RowMajorBit) ? 1 : 0, - SetterRowMajor = SwapStorage ? 1-TargetRowMajor : TargetRowMajor, - IsUpper = SparseMatrixType::Flags & Upper, - IsLower = SparseMatrixType::Flags & Lower + SetterRowMajor = SwapStorage ? 1-TargetRowMajor : TargetRowMajor }; public: @@ -227,6 +227,7 @@ class RandomSetter if (!SwapStorage) // also means the map is sorted { mp_target->setZero(); + mp_target->makeCompressed(); mp_target->reserve(nonZeros()); Index prevOuter = -1; for (Index k=0; kouterSize(); ++j) { Index tmp = positions[j]; - mp_target->_outerIndexPtr()[j] = count; + mp_target->outerIndexPtr()[j] = count; positions[j] = count; count += tmp; } - mp_target->_outerIndexPtr()[mp_target->outerSize()] = count; + mp_target->makeCompressed(); + mp_target->outerIndexPtr()[mp_target->outerSize()] = count; mp_target->resizeNonZeros(count); // pass 2 for (Index k=0; k_outerIndexPtr()[outer]; + Index posStart = mp_target->outerIndexPtr()[outer]; Index i = (positions[outer]++) - 1; - while ( (i >= posStart) && (mp_target->_innerIndexPtr()[i] > inner) ) + while ( (i >= posStart) && (mp_target->innerIndexPtr()[i] > inner) ) { - mp_target->_valuePtr()[i+1] = mp_target->_valuePtr()[i]; - mp_target->_innerIndexPtr()[i+1] = mp_target->_innerIndexPtr()[i]; + mp_target->valuePtr()[i+1] = mp_target->valuePtr()[i]; + mp_target->innerIndexPtr()[i+1] = mp_target->innerIndexPtr()[i]; --i; } - mp_target->_innerIndexPtr()[i+1] = inner; - mp_target->_valuePtr()[i+1] = it->second.value; + mp_target->innerIndexPtr()[i+1] = inner; + mp_target->valuePtr()[i+1] = it->second.value; } } } @@ -305,8 +307,6 @@ class RandomSetter /** \returns a reference to the coefficient at given coordinates \a row, \a col */ Scalar& operator() (Index row, Index col) { - eigen_assert(((!IsUpper) || (row<=col)) && "Invalid access to an upper triangular matrix"); - eigen_assert(((!IsLower) || (col<=row)) && "Invalid access to an upper triangular matrix"); const Index outer = SetterRowMajor ? row : col; const Index inner = SetterRowMajor ? col : row; const Index outerMajor = outer >> OuterPacketBits; // index of the packet/map @@ -337,4 +337,6 @@ class RandomSetter unsigned char m_keyBitsOffset; }; +} // end namespace Eigen + #endif // EIGEN_RANDOMSETTER_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SimplicialCholesky.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SimplicialCholesky.h deleted file mode 100644 index 6af6407c7..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SimplicialCholesky.h +++ /dev/null @@ -1,477 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -/* - -NOTE: the _symbolic, and _numeric functions has been adapted from - the LDL library: - -LDL Copyright (c) 2005 by Timothy A. Davis. All Rights Reserved. - -LDL License: - - Your use or distribution of LDL or any modified version of - LDL implies that you agree to this License. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 - USA - - Permission is hereby granted to use or copy this program under the - terms of the GNU LGPL, provided that the Copyright, this License, - and the Availability of the original version is retained on all copies. - User documentation of any code that uses this code or any modified - version of this code must cite the Copyright, this License, the - Availability note, and "Used by permission." Permission to modify - the code and to distribute modified code is granted, provided the - Copyright, this License, and the Availability note are retained, - and a notice that the code was modified is included. - */ - -#ifndef EIGEN_SIMPLICIAL_CHOLESKY_H -#define EIGEN_SIMPLICIAL_CHOLESKY_H - -enum SimplicialCholeskyMode { - SimplicialCholeskyLLt, - SimplicialCholeskyLDLt -}; - -/** \brief A direct sparse Cholesky factorization - * - * This class allows to solve for A.X = B sparse linear problems via a LL^T or LDL^T Cholesky factorization. - * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices - * X and B can be either dense or sparse. - * - * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. - * - */ -template -class SimplicialCholesky -{ - public: - typedef _MatrixType MatrixType; - enum { UpLo = _UpLo }; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef typename MatrixType::Index Index; - typedef SparseMatrix CholMatrixType; - typedef Matrix VectorType; - - public: - - SimplicialCholesky() - : m_info(Success), m_isInitialized(false), m_LDLt(true) - {} - - SimplicialCholesky(const MatrixType& matrix) - : m_info(Success), m_isInitialized(false), m_LDLt(true) - { - compute(matrix); - } - - ~SimplicialCholesky() - { - } - - inline Index cols() const { return m_matrix.cols(); } - inline Index rows() const { return m_matrix.rows(); } - - SimplicialCholesky& setMode(SimplicialCholeskyMode mode) - { - switch(mode) - { - case SimplicialCholeskyLLt: - m_LDLt = false; - break; - case SimplicialCholeskyLDLt: - m_LDLt = true; - break; - default: - break; - } - - return *this; - } - - /** \brief Reports whether previous computation was successful. - * - * \returns \c Success if computation was succesful, - * \c NumericalIssue if the matrix.appears to be negative. - */ - ComputationInfo info() const - { - eigen_assert(m_isInitialized && "Decomposition is not initialized."); - return m_info; - } - - /** Computes the sparse Cholesky decomposition of \a matrix */ - SimplicialCholesky& compute(const MatrixType& matrix) - { - analyzePattern(matrix); - factorize(matrix); - return *this; - } - - /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A. - * - * \sa compute() - */ - template - inline const internal::solve_retval - solve(const MatrixBase& b) const - { - eigen_assert(m_isInitialized && "SimplicialCholesky is not initialized."); - eigen_assert(rows()==b.rows() - && "SimplicialCholesky::solve(): invalid number of rows of the right hand side matrix b"); - return internal::solve_retval(*this, b.derived()); - } - - /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A. - * - * \sa compute() - */ -// template -// inline const internal::sparse_solve_retval -// solve(const SparseMatrixBase& b) const -// { -// eigen_assert(m_isInitialized && "SimplicialCholesky is not initialized."); -// eigen_assert(rows()==b.rows() -// && "SimplicialCholesky::solve(): invalid number of rows of the right hand side matrix b"); -// return internal::sparse_solve_retval(*this, b.derived()); -// } - - /** Performs a symbolic decomposition on the sparcity of \a matrix. - * - * This function is particularly useful when solving for several problems having the same structure. - * - * \sa factorize() - */ - void analyzePattern(const MatrixType& a); - - - /** Performs a numeric decomposition of \a matrix - * - * The given matrix must has the same sparcity than the matrix on which the symbolic decomposition has been performed. - * - * \sa analyzePattern() - */ - void factorize(const MatrixType& a); - - /** \returns the permutation P - * \sa permutationPinv() */ - const PermutationMatrix& permutationP() const - { return m_P; } - - /** \returns the inverse P^-1 of the permutation P - * \sa permutationP() */ - const PermutationMatrix& permutationPinv() const - { return m_Pinv; } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** \internal */ - template - void _solve(const MatrixBase &b, MatrixBase &dest) const - { - eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); - eigen_assert(m_matrix.rows()==b.rows()); - - if(m_info!=Success) - return; - - if(m_P.size()>0) - dest = m_Pinv * b; - else - dest = b; - - if(m_LDLt) - { - if(m_matrix.nonZeros()>0) // otherwise L==I - m_matrix.template triangularView().solveInPlace(dest); - - dest = m_diag.asDiagonal().inverse() * dest; - - if (m_matrix.nonZeros()>0) // otherwise L==I - m_matrix.adjoint().template triangularView().solveInPlace(dest); - } - else - { - if(m_matrix.nonZeros()>0) // otherwise L==I - m_matrix.template triangularView().solveInPlace(dest); - - if (m_matrix.nonZeros()>0) // otherwise L==I - m_matrix.adjoint().template triangularView().solveInPlace(dest); - } - - if(m_P.size()>0) - dest = m_P * dest; - } - - /** \internal */ - /* - template - void _solve(const SparseMatrix &b, SparseMatrix &dest) const - { - // TODO - } - */ - #endif // EIGEN_PARSED_BY_DOXYGEN - - template - void dumpMemory(Stream& s) - { - int total = 0; - s << " L: " << ((total+=(m_matrix.cols()+1) * sizeof(int) + m_matrix.nonZeros()*(sizeof(int)+sizeof(Scalar))) >> 20) << "Mb" << "\n"; - s << " diag: " << ((total+=m_diag.size() * sizeof(Scalar)) >> 20) << "Mb" << "\n"; - s << " tree: " << ((total+=m_parent.size() * sizeof(int)) >> 20) << "Mb" << "\n"; - s << " nonzeros: " << ((total+=m_nonZerosPerCol.size() * sizeof(int)) >> 20) << "Mb" << "\n"; - s << " perm: " << ((total+=m_P.size() * sizeof(int)) >> 20) << "Mb" << "\n"; - s << " perm^-1: " << ((total+=m_Pinv.size() * sizeof(int)) >> 20) << "Mb" << "\n"; - s << " TOTAL: " << (total>> 20) << "Mb" << "\n"; - } - - protected: - /** keeps off-diagonal entries; drops diagonal entries */ - struct keep_diag { - inline bool operator() (const Index& row, const Index& col, const Scalar&) const - { - return row!=col; - } - }; - - mutable ComputationInfo m_info; - bool m_isInitialized; - bool m_factorizationIsOk; - bool m_analysisIsOk; - bool m_LDLt; - - CholMatrixType m_matrix; - VectorType m_diag; // the diagonal coefficients in case of a LDLt decomposition - VectorXi m_parent; // elimination tree - VectorXi m_nonZerosPerCol; - PermutationMatrix m_P; // the permutation - PermutationMatrix m_Pinv; // the inverse permutation -}; - -template -void SimplicialCholesky<_MatrixType,_UpLo>::analyzePattern(const MatrixType& a) -{ - eigen_assert(a.rows()==a.cols()); - const Index size = a.rows(); - m_matrix.resize(size, size); - m_parent.resize(size); - m_nonZerosPerCol.resize(size); - - ei_declare_aligned_stack_constructed_variable(Index, tags, size, 0); - - // TODO allows to configure the permutation - { - CholMatrixType C; - C = a.template selfadjointView(); - // remove diagonal entries: - C.prune(keep_diag()); - internal::minimum_degree_ordering(C, m_P); - } - - if(m_P.size()>0) - m_Pinv = m_P.inverse(); - else - m_Pinv.resize(0); - - SparseMatrix ap(size,size); - ap.template selfadjointView() = a.template selfadjointView().twistedBy(m_Pinv); - - for(Index k = 0; k < size; ++k) - { - /* L(k,:) pattern: all nodes reachable in etree from nz in A(0:k-1,k) */ - m_parent[k] = -1; /* parent of k is not yet known */ - tags[k] = k; /* mark node k as visited */ - m_nonZerosPerCol[k] = 0; /* count of nonzeros in column k of L */ - for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it) - { - Index i = it.index(); - if(i < k) - { - /* follow path from i to root of etree, stop at flagged node */ - for(; tags[i] != k; i = m_parent[i]) - { - /* find parent of i if not yet determined */ - if (m_parent[i] == -1) - m_parent[i] = k; - m_nonZerosPerCol[i]++; /* L (k,i) is nonzero */ - tags[i] = k; /* mark i as visited */ - } - } - } - } - - /* construct Lp index array from m_nonZerosPerCol column counts */ - Index* Lp = m_matrix._outerIndexPtr(); - Lp[0] = 0; - for(Index k = 0; k < size; ++k) - Lp[k+1] = Lp[k] + m_nonZerosPerCol[k] + (m_LDLt ? 0 : 1); - - m_matrix.resizeNonZeros(Lp[size]); - - m_isInitialized = true; - m_info = Success; - m_analysisIsOk = true; - m_factorizationIsOk = false; -} - - -template -void SimplicialCholesky<_MatrixType,_UpLo>::factorize(const MatrixType& a) -{ - eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); - eigen_assert(a.rows()==a.cols()); - const Index size = a.rows(); - eigen_assert(m_parent.size()==size); - eigen_assert(m_nonZerosPerCol.size()==size); - - const Index* Lp = m_matrix._outerIndexPtr(); - Index* Li = m_matrix._innerIndexPtr(); - Scalar* Lx = m_matrix._valuePtr(); - - ei_declare_aligned_stack_constructed_variable(Scalar, y, size, 0); - ei_declare_aligned_stack_constructed_variable(Index, pattern, size, 0); - ei_declare_aligned_stack_constructed_variable(Index, tags, size, 0); - - SparseMatrix ap(size,size); - ap.template selfadjointView() = a.template selfadjointView().twistedBy(m_Pinv); - - bool ok = true; - m_diag.resize(m_LDLt ? size : 0); - - for(Index k = 0; k < size; ++k) - { - // compute nonzero pattern of kth row of L, in topological order - y[k] = 0.0; // Y(0:k) is now all zero - Index top = size; // stack for pattern is empty - tags[k] = k; // mark node k as visited - m_nonZerosPerCol[k] = 0; // count of nonzeros in column k of L - for(typename MatrixType::InnerIterator it(ap,k); it; ++it) - { - Index i = it.index(); - if(i <= k) - { - y[i] += internal::conj(it.value()); /* scatter A(i,k) into Y (sum duplicates) */ - Index len; - for(len = 0; tags[i] != k; i = m_parent[i]) - { - pattern[len++] = i; /* L(k,i) is nonzero */ - tags[i] = k; /* mark i as visited */ - } - while(len > 0) - pattern[--top] = pattern[--len]; - } - } - - /* compute numerical values kth row of L (a sparse triangular solve) */ - Scalar d = y[k]; // get D(k,k) and clear Y(k) - y[k] = 0.0; - for(; top < size; ++top) - { - Index i = pattern[top]; /* pattern[top:n-1] is pattern of L(:,k) */ - Scalar yi = y[i]; /* get and clear Y(i) */ - y[i] = 0.0; - - /* the nonzero entry L(k,i) */ - Scalar l_ki; - if(m_LDLt) - l_ki = yi / m_diag[i]; - else - yi = l_ki = yi / Lx[Lp[i]]; - - Index p2 = Lp[i] + m_nonZerosPerCol[i]; - Index p; - for(p = Lp[i] + (m_LDLt ? 0 : 1); p < p2; ++p) - y[Li[p]] -= internal::conj(Lx[p]) * yi; - d -= l_ki * internal::conj(yi); - Li[p] = k; /* store L(k,i) in column form of L */ - Lx[p] = l_ki; - ++m_nonZerosPerCol[i]; /* increment count of nonzeros in col i */ - } - if(m_LDLt) - m_diag[k] = d; - else - { - Index p = Lp[k]+m_nonZerosPerCol[k]++; - Li[p] = k ; /* store L(k,k) = sqrt (d) in column k */ - Lx[p] = internal::sqrt(d) ; - } - if(d == Scalar(0)) - { - ok = false; /* failure, D(k,k) is zero */ - break; - } - } - - m_info = ok ? Success : NumericalIssue; - m_factorizationIsOk = true; -} - -namespace internal { - -template -struct solve_retval, Rhs> - : solve_retval_base, Rhs> -{ - typedef SimplicialCholesky<_MatrixType,_UpLo> Dec; - EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs) - - template void evalTo(Dest& dst) const - { - dec()._solve(rhs(),dst); - } -}; - -template -struct sparse_solve_retval, Rhs> - : sparse_solve_retval_base, Rhs> -{ - typedef SimplicialCholesky<_MatrixType,_UpLo> Dec; - EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs) - - template void evalTo(Dest& dst) const - { - dec()._solve(rhs(),dst); - } -}; - -} - -#endif // EIGEN_SIMPLICIAL_CHOLESKY_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLDLTLegacy.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLDLTLegacy.h deleted file mode 100644 index 14283c117..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLDLTLegacy.h +++ /dev/null @@ -1,414 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -/* - -NOTE: the _symbolic, and _numeric functions has been adapted from - the LDL library: - -LDL Copyright (c) 2005 by Timothy A. Davis. All Rights Reserved. - -LDL License: - - Your use or distribution of LDL or any modified version of - LDL implies that you agree to this License. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 - USA - - Permission is hereby granted to use or copy this program under the - terms of the GNU LGPL, provided that the Copyright, this License, - and the Availability of the original version is retained on all copies. - User documentation of any code that uses this code or any modified - version of this code must cite the Copyright, this License, the - Availability note, and "Used by permission." Permission to modify - the code and to distribute modified code is granted, provided the - Copyright, this License, and the Availability note are retained, - and a notice that the code was modified is included. - */ - -#ifndef EIGEN_SPARSELDLT_LEGACY_H -#define EIGEN_SPARSELDLT_LEGACY_H - -/** \ingroup Sparse_Module - * - * \class SparseLDLT - * - * \brief LDLT Cholesky decomposition of a sparse matrix and associated features - * - * \param MatrixType the type of the matrix of which we are computing the LDLT Cholesky decomposition - * - * \warning the upper triangular part has to be specified. The rest of the matrix is not used. The input matrix must be column major. - * - * \sa class LDLT, class LDLT - */ -template -class SparseLDLT -{ - protected: - typedef typename _MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - typedef Matrix VectorType; - - enum { - SupernodalFactorIsDirty = 0x10000, - MatrixLIsDirty = 0x20000 - }; - - public: - typedef SparseMatrix CholMatrixType; - typedef _MatrixType MatrixType; - typedef typename MatrixType::Index Index; - - - /** Creates a dummy LDLT factorization object with flags \a flags. */ - SparseLDLT(int flags = 0) - : m_flags(flags), m_status(0) - { - eigen_assert((MatrixType::Flags&RowMajorBit)==0); - m_precision = RealScalar(0.1) * Eigen::NumTraits::dummy_precision(); - } - - /** Creates a LDLT object and compute the respective factorization of \a matrix using - * flags \a flags. */ - SparseLDLT(const MatrixType& matrix, int flags = 0) - : m_matrix(matrix.rows(), matrix.cols()), m_flags(flags), m_status(0) - { - eigen_assert((MatrixType::Flags&RowMajorBit)==0); - m_precision = RealScalar(0.1) * Eigen::NumTraits::dummy_precision(); - compute(matrix); - } - - /** Sets the relative threshold value used to prune zero coefficients during the decomposition. - * - * Setting a value greater than zero speeds up computation, and yields to an imcomplete - * factorization with fewer non zero coefficients. Such approximate factors are especially - * useful to initialize an iterative solver. - * - * \warning if precision is greater that zero, the LDLT factorization is not guaranteed to succeed - * even if the matrix is positive definite. - * - * Note that the exact meaning of this parameter might depends on the actual - * backend. Moreover, not all backends support this feature. - * - * \sa precision() */ - void setPrecision(RealScalar v) { m_precision = v; } - - /** \returns the current precision. - * - * \sa setPrecision() */ - RealScalar precision() const { return m_precision; } - - /** Sets the flags. Possible values are: - * - CompleteFactorization - * - IncompleteFactorization - * - MemoryEfficient (hint to use the memory most efficient method offered by the backend) - * - SupernodalMultifrontal (implies a complete factorization if supported by the backend, - * overloads the MemoryEfficient flags) - * - SupernodalLeftLooking (implies a complete factorization if supported by the backend, - * overloads the MemoryEfficient flags) - * - * \sa flags() */ - void settags(int f) { m_flags = f; } - /** \returns the current flags */ - int flags() const { return m_flags; } - - /** Computes/re-computes the LDLT factorization */ - void compute(const MatrixType& matrix); - - /** Perform a symbolic factorization */ - void _symbolic(const MatrixType& matrix); - /** Perform the actual factorization using the previously - * computed symbolic factorization */ - bool _numeric(const MatrixType& matrix); - - /** \returns the lower triangular matrix L */ - inline const CholMatrixType& matrixL(void) const { return m_matrix; } - - /** \returns the coefficients of the diagonal matrix D */ - inline VectorType vectorD(void) const { return m_diag; } - - template - bool solveInPlace(MatrixBase &b) const; - - template - inline const internal::solve_retval, Rhs> - solve(const MatrixBase& b) const - { - eigen_assert(true && "SparseLDLT is not initialized."); - return internal::solve_retval, Rhs>(*this, b.derived()); - } - - inline Index cols() const { return m_matrix.cols(); } - inline Index rows() const { return m_matrix.rows(); } - - inline const VectorType& diag() const { return m_diag; } - - /** \returns true if the factorization succeeded */ - inline bool succeeded(void) const { return m_succeeded; } - - protected: - CholMatrixType m_matrix; - VectorType m_diag; - VectorXi m_parent; // elimination tree - VectorXi m_nonZerosPerCol; -// VectorXi m_w; // workspace - PermutationMatrix m_P; - PermutationMatrix m_Pinv; - RealScalar m_precision; - int m_flags; - mutable int m_status; - bool m_succeeded; -}; - -namespace internal { - -template -struct solve_retval, Rhs> - : solve_retval_base, Rhs> -{ - typedef SparseLDLT<_MatrixType> SpLDLTDecType; - EIGEN_MAKE_SOLVE_HELPERS(SpLDLTDecType,Rhs) - - template void evalTo(Dest& dst) const - { - //Index size = dec().matrixL().rows(); - eigen_assert(dec().matrixL().rows()==rhs().rows()); - - Rhs b(rhs().rows(), rhs().cols()); - b = rhs(); - - if (dec().matrixL().nonZeros()>0) // otherwise L==I - dec().matrixL().template triangularView().solveInPlace(b); - - b = b.cwiseQuotient(dec().diag()); - if (dec().matrixL().nonZeros()>0) // otherwise L==I - dec().matrixL().adjoint().template triangularView().solveInPlace(b); - - dst = b; - - } - -}; - -} // end namespace internal - -/** Computes / recomputes the LDLT decomposition of matrix \a a - * using the default algorithm. - */ -template -void SparseLDLT<_MatrixType,Backend>::compute(const _MatrixType& a) -{ - _symbolic(a); - m_succeeded = _numeric(a); -} - -template -void SparseLDLT<_MatrixType,Backend>::_symbolic(const _MatrixType& a) -{ - assert(a.rows()==a.cols()); - const Index size = a.rows(); - m_matrix.resize(size, size); - m_parent.resize(size); - m_nonZerosPerCol.resize(size); - - ei_declare_aligned_stack_constructed_variable(Index, tags, size, 0); - - const Index* Ap = a._outerIndexPtr(); - const Index* Ai = a._innerIndexPtr(); - Index* Lp = m_matrix._outerIndexPtr(); - - const Index* P = 0; - Index* Pinv = 0; - - if(P) - { - m_P.indices() = VectorXi::Map(P,size); - m_Pinv = m_P.inverse(); - Pinv = m_Pinv.indices().data(); - } - else - { - m_P.resize(0); - m_Pinv.resize(0); - } - - for (Index k = 0; k < size; ++k) - { - /* L(k,:) pattern: all nodes reachable in etree from nz in A(0:k-1,k) */ - m_parent[k] = -1; /* parent of k is not yet known */ - tags[k] = k; /* mark node k as visited */ - m_nonZerosPerCol[k] = 0; /* count of nonzeros in column k of L */ - Index kk = P ? P[k] : k; /* kth original, or permuted, column */ - Index p2 = Ap[kk+1]; - for (Index p = Ap[kk]; p < p2; ++p) - { - /* A (i,k) is nonzero (original or permuted A) */ - Index i = Pinv ? Pinv[Ai[p]] : Ai[p]; - if (i < k) - { - /* follow path from i to root of etree, stop at flagged node */ - for (; tags[i] != k; i = m_parent[i]) - { - /* find parent of i if not yet determined */ - if (m_parent[i] == -1) - m_parent[i] = k; - ++m_nonZerosPerCol[i]; /* L (k,i) is nonzero */ - tags[i] = k; /* mark i as visited */ - } - } - } - } - /* construct Lp index array from m_nonZerosPerCol column counts */ - Lp[0] = 0; - for (Index k = 0; k < size; ++k) - Lp[k+1] = Lp[k] + m_nonZerosPerCol[k]; - - m_matrix.resizeNonZeros(Lp[size]); -} - -template -bool SparseLDLT<_MatrixType,Backend>::_numeric(const _MatrixType& a) -{ - assert(a.rows()==a.cols()); - const Index size = a.rows(); - assert(m_parent.size()==size); - assert(m_nonZerosPerCol.size()==size); - - const Index* Ap = a._outerIndexPtr(); - const Index* Ai = a._innerIndexPtr(); - const Scalar* Ax = a._valuePtr(); - const Index* Lp = m_matrix._outerIndexPtr(); - Index* Li = m_matrix._innerIndexPtr(); - Scalar* Lx = m_matrix._valuePtr(); - m_diag.resize(size); - - ei_declare_aligned_stack_constructed_variable(Scalar, y, size, 0); - ei_declare_aligned_stack_constructed_variable(Index, pattern, size, 0); - ei_declare_aligned_stack_constructed_variable(Index, tags, size, 0); - - Index* P = 0; - Index* Pinv = 0; - - if(m_P.size()==size) - { - P = m_P.indices().data(); - Pinv = m_Pinv.indices().data(); - } - - bool ok = true; - - for (Index k = 0; k < size; ++k) - { - /* compute nonzero pattern of kth row of L, in topological order */ - y[k] = 0.0; /* Y(0:k) is now all zero */ - Index top = size; /* stack for pattern is empty */ - tags[k] = k; /* mark node k as visited */ - m_nonZerosPerCol[k] = 0; /* count of nonzeros in column k of L */ - Index kk = (P) ? (P[k]) : (k); /* kth original, or permuted, column */ - Index p2 = Ap[kk+1]; - for (Index p = Ap[kk]; p < p2; ++p) - { - Index i = Pinv ? Pinv[Ai[p]] : Ai[p]; /* get A(i,k) */ - if (i <= k) - { - y[i] += internal::conj(Ax[p]); /* scatter A(i,k) into Y (sum duplicates) */ - Index len; - for (len = 0; tags[i] != k; i = m_parent[i]) - { - pattern[len++] = i; /* L(k,i) is nonzero */ - tags[i] = k; /* mark i as visited */ - } - while (len > 0) - pattern[--top] = pattern[--len]; - } - } - - /* compute numerical values kth row of L (a sparse triangular solve) */ - m_diag[k] = y[k]; /* get D(k,k) and clear Y(k) */ - y[k] = 0.0; - for (; top < size; ++top) - { - Index i = pattern[top]; /* pattern[top:n-1] is pattern of L(:,k) */ - Scalar yi = (y[i]); /* get and clear Y(i) */ - y[i] = 0.0; - Index p2 = Lp[i] + m_nonZerosPerCol[i]; - Index p; - for (p = Lp[i]; p < p2; ++p) - y[Li[p]] -= internal::conj(Lx[p]) * (yi); - Scalar l_ki = yi / m_diag[i]; /* the nonzero entry L(k,i) */ - m_diag[k] -= l_ki * internal::conj(yi); - Li[p] = k; /* store L(k,i) in column form of L */ - Lx[p] = (l_ki); - ++m_nonZerosPerCol[i]; /* increment count of nonzeros in col i */ - } - if (m_diag[k] == 0.0) - { - ok = false; /* failure, D(k,k) is zero */ - break; - } - } - - return ok; /* success, diagonal of D is all nonzero */ -} - -/** Computes b = L^-T D^-1 L^-1 b */ -template -template -bool SparseLDLT<_MatrixType, Backend>::solveInPlace(MatrixBase &b) const -{ - //Index size = m_matrix.rows(); - eigen_assert(m_matrix.rows()==b.rows()); - if (!m_succeeded) - return false; - - if(m_P.size()>0) - b = m_Pinv * b; - - if (m_matrix.nonZeros()>0) // otherwise L==I - m_matrix.template triangularView().solveInPlace(b); - b = b.cwiseQuotient(m_diag); - if (m_matrix.nonZeros()>0) // otherwise L==I - m_matrix.adjoint().template triangularView().solveInPlace(b); - - if(m_P.size()>0) - b = m_P * b; - - return true; -} - -#endif // EIGEN_SPARSELDLT_LEGACY_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLLT.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLLT.h deleted file mode 100644 index ac042217b..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLLT.h +++ /dev/null @@ -1,245 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#ifndef EIGEN_SPARSELLT_H -#define EIGEN_SPARSELLT_H - -/** \ingroup Sparse_Module - * - * \class SparseLLT - * - * \brief LLT Cholesky decomposition of a sparse matrix and associated features - * - * \param MatrixType the type of the matrix of which we are computing the LLT Cholesky decomposition - * - * \sa class LLT, class LDLT - */ -template -class SparseLLT -{ - protected: - typedef typename _MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - enum { - SupernodalFactorIsDirty = 0x10000, - MatrixLIsDirty = 0x20000 - }; - - public: - typedef SparseMatrix CholMatrixType; - typedef _MatrixType MatrixType; - typedef typename MatrixType::Index Index; - - /** Creates a dummy LLT factorization object with flags \a flags. */ - SparseLLT(int flags = 0) - : m_flags(flags), m_status(0) - { - m_precision = RealScalar(0.1) * Eigen::NumTraits::dummy_precision(); - } - - /** Creates a LLT object and compute the respective factorization of \a matrix using - * flags \a flags. */ - SparseLLT(const MatrixType& matrix, int flags = 0) - : m_matrix(matrix.rows(), matrix.cols()), m_flags(flags), m_status(0) - { - m_precision = RealScalar(0.1) * Eigen::NumTraits::dummy_precision(); - compute(matrix); - } - - /** Sets the relative threshold value used to prune zero coefficients during the decomposition. - * - * Setting a value greater than zero speeds up computation, and yields to an imcomplete - * factorization with fewer non zero coefficients. Such approximate factors are especially - * useful to initialize an iterative solver. - * - * \warning if precision is greater that zero, the LLT factorization is not guaranteed to succeed - * even if the matrix is positive definite. - * - * Note that the exact meaning of this parameter might depends on the actual - * backend. Moreover, not all backends support this feature. - * - * \sa precision() */ - void setPrecision(RealScalar v) { m_precision = v; } - - /** \returns the current precision. - * - * \sa setPrecision() */ - RealScalar precision() const { return m_precision; } - - /** Sets the flags. Possible values are: - * - CompleteFactorization - * - IncompleteFactorization - * - MemoryEfficient (hint to use the memory most efficient method offered by the backend) - * - SupernodalMultifrontal (implies a complete factorization if supported by the backend, - * overloads the MemoryEfficient flags) - * - SupernodalLeftLooking (implies a complete factorization if supported by the backend, - * overloads the MemoryEfficient flags) - * - * \sa flags() */ - void setFlags(int f) { m_flags = f; } - /** \returns the current flags */ - int flags() const { return m_flags; } - - /** Computes/re-computes the LLT factorization */ - void compute(const MatrixType& matrix); - - /** \returns the lower triangular matrix L */ - inline const CholMatrixType& matrixL(void) const { return m_matrix; } - - template - bool solveInPlace(MatrixBase &b) const; - - template - inline const internal::solve_retval, Rhs> - solve(const MatrixBase& b) const - { - eigen_assert(true && "SparseLLT is not initialized."); - return internal::solve_retval, Rhs>(*this, b.derived()); - } - - inline Index cols() const { return m_matrix.cols(); } - inline Index rows() const { return m_matrix.rows(); } - - /** \returns true if the factorization succeeded */ - inline bool succeeded(void) const { return m_succeeded; } - - protected: - CholMatrixType m_matrix; - RealScalar m_precision; - int m_flags; - mutable int m_status; - bool m_succeeded; -}; - - -namespace internal { - -template -struct solve_retval, Rhs> - : solve_retval_base, Rhs> -{ - typedef SparseLLT<_MatrixType> SpLLTDecType; - EIGEN_MAKE_SOLVE_HELPERS(SpLLTDecType,Rhs) - - template void evalTo(Dest& dst) const - { - const Index size = dec().matrixL().rows(); - eigen_assert(size==rhs().rows()); - - Rhs b(rhs().rows(), rhs().cols()); - b = rhs(); - - dec().matrixL().template triangularView().solveInPlace(b); - dec().matrixL().adjoint().template triangularView().solveInPlace(b); - - dst = b; - - } - -}; - -} // end namespace internal - - -/** Computes / recomputes the LLT decomposition of matrix \a a - * using the default algorithm. - */ -template -void SparseLLT<_MatrixType,Backend>::compute(const _MatrixType& a) -{ - assert(a.rows()==a.cols()); - const Index size = a.rows(); - m_matrix.resize(size, size); - - // allocate a temporary vector for accumulations - AmbiVector tempVector(size); - RealScalar density = a.nonZeros()/RealScalar(size*size); - - // TODO estimate the number of non zeros - m_matrix.setZero(); - m_matrix.reserve(a.nonZeros()*2); - for (Index j = 0; j < size; ++j) - { - Scalar x = internal::real(a.coeff(j,j)); - - // TODO better estimate of the density ! - tempVector.init(density>0.001? IsDense : IsSparse); - tempVector.setBounds(j+1,size); - tempVector.setZero(); - // init with current matrix a - { - typename _MatrixType::InnerIterator it(a,j); - eigen_assert(it.index()==j && - "matrix must has non zero diagonal entries and only the lower triangular part must be stored"); - ++it; // skip diagonal element - for (; it; ++it) - tempVector.coeffRef(it.index()) = it.value(); - } - for (Index k=0; k::Iterator it(tempVector, m_precision*rx); it; ++it) - { - // FIXME use insertBack - m_matrix.insert(it.index(), j) = it.value() * y; - } - } - m_matrix.finalize(); -} - -/** Computes b = L^-T L^-1 b */ -template -template -bool SparseLLT<_MatrixType, Backend>::solveInPlace(MatrixBase &b) const -{ - const Index size = m_matrix.rows(); - eigen_assert(size==b.rows()); - - m_matrix.template triangularView().solveInPlace(b); - m_matrix.adjoint().template triangularView().solveInPlace(b); - - return true; -} - -#endif // EIGEN_SPARSELLT_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLU.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLU.h deleted file mode 100644 index 3d10dbbee..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SparseLU.h +++ /dev/null @@ -1,163 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#ifndef EIGEN_SPARSELU_H -#define EIGEN_SPARSELU_H - -enum { - SvNoTrans = 0, - SvTranspose = 1, - SvAdjoint = 2 -}; - -/** \ingroup Sparse_Module - * - * \class SparseLU - * - * \brief LU decomposition of a sparse matrix and associated features - * - * \param _MatrixType the type of the matrix of which we are computing the LU factorization - * - * \sa class FullPivLU, class SparseLLT - */ -template -class SparseLU - { - protected: - typedef typename _MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef SparseMatrix LUMatrixType; - - enum { - MatrixLUIsDirty = 0x10000 - }; - - public: - typedef _MatrixType MatrixType; - - /** Creates a dummy LU factorization object with flags \a flags. */ - SparseLU(int flags = 0) - : m_flags(flags), m_status(0) - { - m_precision = RealScalar(0.1) * Eigen::NumTraits::dummy_precision(); - } - - /** Creates a LU object and compute the respective factorization of \a matrix using - * flags \a flags. */ - SparseLU(const _MatrixType& matrix, int flags = 0) - : /*m_matrix(matrix.rows(), matrix.cols()),*/ m_flags(flags), m_status(0) - { - m_precision = RealScalar(0.1) * Eigen::NumTraits::dummy_precision(); - compute(matrix); - } - - /** Sets the relative threshold value used to prune zero coefficients during the decomposition. - * - * Setting a value greater than zero speeds up computation, and yields to an imcomplete - * factorization with fewer non zero coefficients. Such approximate factors are especially - * useful to initialize an iterative solver. - * - * Note that the exact meaning of this parameter might depends on the actual - * backend. Moreover, not all backends support this feature. - * - * \sa precision() */ - void setPrecision(RealScalar v) { m_precision = v; } - - /** \returns the current precision. - * - * \sa setPrecision() */ - RealScalar precision() const { return m_precision; } - - /** Sets the flags. Possible values are: - * - CompleteFactorization - * - IncompleteFactorization - * - MemoryEfficient - * - one of the ordering methods - * - etc... - * - * \sa flags() */ - void setFlags(int f) { m_flags = f; } - /** \returns the current flags */ - int flags() const { return m_flags; } - - void setOrderingMethod(int m) - { - eigen_assert( (m&~OrderingMask) == 0 && m!=0 && "invalid ordering method"); - m_flags = m_flags&~OrderingMask | m&OrderingMask; - } - - int orderingMethod() const - { - return m_flags&OrderingMask; - } - - /** Computes/re-computes the LU factorization */ - void compute(const _MatrixType& matrix); - - /** \returns the lower triangular matrix L */ - //inline const _MatrixType& matrixL() const { return m_matrixL; } - - /** \returns the upper triangular matrix U */ - //inline const _MatrixType& matrixU() const { return m_matrixU; } - - template - bool solve(const MatrixBase &b, MatrixBase* x, - const int transposed = SvNoTrans) const; - - /** \returns true if the factorization succeeded */ - inline bool succeeded(void) const { return m_succeeded; } - - protected: - RealScalar m_precision; - int m_flags; - mutable int m_status; - bool m_succeeded; -}; - -/** Computes / recomputes the LU decomposition of matrix \a a - * using the default algorithm. - */ -template -void SparseLU<_MatrixType,Backend>::compute(const _MatrixType& ) -{ - eigen_assert(false && "not implemented yet"); -} - -/** Computes *x = U^-1 L^-1 b - * - * If \a transpose is set to SvTranspose or SvAdjoint, the solution - * of the transposed/adjoint system is computed instead. - * - * Not all backends implement the solution of the transposed or - * adjoint system. - */ -template -template -bool SparseLU<_MatrixType,Backend>::solve(const MatrixBase &, MatrixBase* , const int ) const -{ - eigen_assert(false && "not implemented yet"); - return false; -} - -#endif // EIGEN_SPARSELU_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SuperLUSupport.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SuperLUSupport.h deleted file mode 100644 index bb7312190..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/SuperLUSupport.h +++ /dev/null @@ -1,667 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#ifndef EIGEN_SUPERLUSUPPORT_H -#define EIGEN_SUPERLUSUPPORT_H - -#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE) \ - extern "C" { \ - typedef struct { FLOATTYPE for_lu; FLOATTYPE total_needed; int expansions; } PREFIX##mem_usage_t; \ - extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *, \ - char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *, \ - void *, int, SuperMatrix *, SuperMatrix *, \ - FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, \ - PREFIX##mem_usage_t *, SuperLUStat_t *, int *); \ - } \ - inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A, \ - int *perm_c, int *perm_r, int *etree, char *equed, \ - FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L, \ - SuperMatrix *U, void *work, int lwork, \ - SuperMatrix *B, SuperMatrix *X, \ - FLOATTYPE *recip_pivot_growth, \ - FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr, \ - SuperLUStat_t *stats, int *info, KEYTYPE) { \ - PREFIX##mem_usage_t mem_usage; \ - PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L, \ - U, work, lwork, B, X, recip_pivot_growth, rcond, \ - ferr, berr, &mem_usage, stats, info); \ - return mem_usage.for_lu; /* bytes used by the factor storage */ \ - } - -DECL_GSSVX(s,float,float) -DECL_GSSVX(c,float,std::complex) -DECL_GSSVX(d,double,double) -DECL_GSSVX(z,double,std::complex) - -#ifdef MILU_ALPHA -#define EIGEN_SUPERLU_HAS_ILU -#endif - -#ifdef EIGEN_SUPERLU_HAS_ILU - -// similarly for the incomplete factorization using gsisx -#define DECL_GSISX(PREFIX,FLOATTYPE,KEYTYPE) \ - extern "C" { \ - extern void PREFIX##gsisx(superlu_options_t *, SuperMatrix *, int *, int *, int *, \ - char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *, \ - void *, int, SuperMatrix *, SuperMatrix *, FLOATTYPE *, FLOATTYPE *, \ - PREFIX##mem_usage_t *, SuperLUStat_t *, int *); \ - } \ - inline float SuperLU_gsisx(superlu_options_t *options, SuperMatrix *A, \ - int *perm_c, int *perm_r, int *etree, char *equed, \ - FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L, \ - SuperMatrix *U, void *work, int lwork, \ - SuperMatrix *B, SuperMatrix *X, \ - FLOATTYPE *recip_pivot_growth, \ - FLOATTYPE *rcond, \ - SuperLUStat_t *stats, int *info, KEYTYPE) { \ - PREFIX##mem_usage_t mem_usage; \ - PREFIX##gsisx(options, A, perm_c, perm_r, etree, equed, R, C, L, \ - U, work, lwork, B, X, recip_pivot_growth, rcond, \ - &mem_usage, stats, info); \ - return mem_usage.for_lu; /* bytes used by the factor storage */ \ - } - -DECL_GSISX(s,float,float) -DECL_GSISX(c,float,std::complex) -DECL_GSISX(d,double,double) -DECL_GSISX(z,double,std::complex) - -#endif - -template -struct SluMatrixMapHelper; - -/** \internal - * - * A wrapper class for SuperLU matrices. It supports only compressed sparse matrices - * and dense matrices. Supernodal and other fancy format are not supported by this wrapper. - * - * This wrapper class mainly aims to avoids the need of dynamic allocation of the storage structure. - */ -struct SluMatrix : SuperMatrix -{ - SluMatrix() - { - Store = &storage; - } - - SluMatrix(const SluMatrix& other) - : SuperMatrix(other) - { - Store = &storage; - storage = other.storage; - } - - SluMatrix& operator=(const SluMatrix& other) - { - SuperMatrix::operator=(static_cast(other)); - Store = &storage; - storage = other.storage; - return *this; - } - - struct - { - union {int nnz;int lda;}; - void *values; - int *innerInd; - int *outerInd; - } storage; - - void setStorageType(Stype_t t) - { - Stype = t; - if (t==SLU_NC || t==SLU_NR || t==SLU_DN) - Store = &storage; - else - { - eigen_assert(false && "storage type not supported"); - Store = 0; - } - } - - template - void setScalarType() - { - if (internal::is_same::value) - Dtype = SLU_S; - else if (internal::is_same::value) - Dtype = SLU_D; - else if (internal::is_same >::value) - Dtype = SLU_C; - else if (internal::is_same >::value) - Dtype = SLU_Z; - else - { - eigen_assert(false && "Scalar type not supported by SuperLU"); - } - } - - template - static SluMatrix Map(Matrix& mat) - { - typedef Matrix MatrixType; - eigen_assert( ((Options&RowMajor)!=RowMajor) && "row-major dense matrices is not supported by SuperLU"); - SluMatrix res; - res.setStorageType(SLU_DN); - res.setScalarType(); - res.Mtype = SLU_GE; - - res.nrow = mat.rows(); - res.ncol = mat.cols(); - - res.storage.lda = MatrixType::IsVectorAtCompileTime ? mat.size() : mat.outerStride(); - res.storage.values = mat.data(); - return res; - } - - template - static SluMatrix Map(SparseMatrixBase& mat) - { - SluMatrix res; - if ((MatrixType::Flags&RowMajorBit)==RowMajorBit) - { - res.setStorageType(SLU_NR); - res.nrow = mat.cols(); - res.ncol = mat.rows(); - } - else - { - res.setStorageType(SLU_NC); - res.nrow = mat.rows(); - res.ncol = mat.cols(); - } - - res.Mtype = SLU_GE; - - res.storage.nnz = mat.nonZeros(); - res.storage.values = mat.derived()._valuePtr(); - res.storage.innerInd = mat.derived()._innerIndexPtr(); - res.storage.outerInd = mat.derived()._outerIndexPtr(); - - res.setScalarType(); - - // FIXME the following is not very accurate - if (MatrixType::Flags & Upper) - res.Mtype = SLU_TRU; - if (MatrixType::Flags & Lower) - res.Mtype = SLU_TRL; - if (MatrixType::Flags & SelfAdjoint) - eigen_assert(false && "SelfAdjoint matrix shape not supported by SuperLU"); - return res; - } -}; - -template -struct SluMatrixMapHelper > -{ - typedef Matrix MatrixType; - static void run(MatrixType& mat, SluMatrix& res) - { - eigen_assert( ((Options&RowMajor)!=RowMajor) && "row-major dense matrices is not supported by SuperLU"); - res.setStorageType(SLU_DN); - res.setScalarType(); - res.Mtype = SLU_GE; - - res.nrow = mat.rows(); - res.ncol = mat.cols(); - - res.storage.lda = mat.outerStride(); - res.storage.values = mat.data(); - } -}; - -template -struct SluMatrixMapHelper > -{ - typedef Derived MatrixType; - static void run(MatrixType& mat, SluMatrix& res) - { - if ((MatrixType::Flags&RowMajorBit)==RowMajorBit) - { - res.setStorageType(SLU_NR); - res.nrow = mat.cols(); - res.ncol = mat.rows(); - } - else - { - res.setStorageType(SLU_NC); - res.nrow = mat.rows(); - res.ncol = mat.cols(); - } - - res.Mtype = SLU_GE; - - res.storage.nnz = mat.nonZeros(); - res.storage.values = mat._valuePtr(); - res.storage.innerInd = mat._innerIndexPtr(); - res.storage.outerInd = mat._outerIndexPtr(); - - res.setScalarType(); - - // FIXME the following is not very accurate - if (MatrixType::Flags & Upper) - res.Mtype = SLU_TRU; - if (MatrixType::Flags & Lower) - res.Mtype = SLU_TRL; - if (MatrixType::Flags & SelfAdjoint) - eigen_assert(false && "SelfAdjoint matrix shape not supported by SuperLU"); - } -}; - -namespace internal { - -template -SluMatrix asSluMatrix(MatrixType& mat) -{ - return SluMatrix::Map(mat); -} - -/** View a Super LU matrix as an Eigen expression */ -template -MappedSparseMatrix map_superlu(SluMatrix& sluMat) -{ - eigen_assert((Flags&RowMajor)==RowMajor && sluMat.Stype == SLU_NR - || (Flags&ColMajor)==ColMajor && sluMat.Stype == SLU_NC); - - Index outerSize = (Flags&RowMajor)==RowMajor ? sluMat.ncol : sluMat.nrow; - - return MappedSparseMatrix( - sluMat.nrow, sluMat.ncol, sluMat.storage.outerInd[outerSize], - sluMat.storage.outerInd, sluMat.storage.innerInd, reinterpret_cast(sluMat.storage.values) ); -} - -} // end namespace internal - -template -class SparseLU : public SparseLU -{ - protected: - typedef SparseLU Base; - typedef typename Base::Scalar Scalar; - typedef typename Base::RealScalar RealScalar; - typedef Matrix Vector; - typedef Matrix IntRowVectorType; - typedef Matrix IntColVectorType; - typedef SparseMatrix LMatrixType; - typedef SparseMatrix UMatrixType; - using Base::m_flags; - using Base::m_status; - - public: - - SparseLU(int flags = NaturalOrdering) - : Base(flags) - { - } - - SparseLU(const MatrixType& matrix, int flags = NaturalOrdering) - : Base(flags) - { - compute(matrix); - } - - ~SparseLU() - { - Destroy_SuperNode_Matrix(&m_sluL); - Destroy_CompCol_Matrix(&m_sluU); - } - - inline const LMatrixType& matrixL() const - { - if (m_extractedDataAreDirty) extractData(); - return m_l; - } - - inline const UMatrixType& matrixU() const - { - if (m_extractedDataAreDirty) extractData(); - return m_u; - } - - inline const IntColVectorType& permutationP() const - { - if (m_extractedDataAreDirty) extractData(); - return m_p; - } - - inline const IntRowVectorType& permutationQ() const - { - if (m_extractedDataAreDirty) extractData(); - return m_q; - } - - Scalar determinant() const; - - template - bool solve(const MatrixBase &b, MatrixBase* x, const int transposed = SvNoTrans) const; - - void compute(const MatrixType& matrix); - - protected: - - void extractData() const; - - protected: - // cached data to reduce reallocation, etc. - mutable LMatrixType m_l; - mutable UMatrixType m_u; - mutable IntColVectorType m_p; - mutable IntRowVectorType m_q; - - mutable SparseMatrix m_matrix; - mutable SluMatrix m_sluA; - mutable SuperMatrix m_sluL, m_sluU; - mutable SluMatrix m_sluB, m_sluX; - mutable SuperLUStat_t m_sluStat; - mutable superlu_options_t m_sluOptions; - mutable std::vector m_sluEtree; - mutable std::vector m_sluRscale, m_sluCscale; - mutable std::vector m_sluFerr, m_sluBerr; - mutable char m_sluEqued; - mutable bool m_extractedDataAreDirty; -}; - -template -void SparseLU::compute(const MatrixType& a) -{ - const int size = a.rows(); - m_matrix = a; - - set_default_options(&m_sluOptions); - m_sluOptions.ColPerm = NATURAL; - m_sluOptions.PrintStat = NO; - m_sluOptions.ConditionNumber = NO; - m_sluOptions.Trans = NOTRANS; - // m_sluOptions.Equil = NO; - - switch (Base::orderingMethod()) - { - case NaturalOrdering : m_sluOptions.ColPerm = NATURAL; break; - case MinimumDegree_AT_PLUS_A : m_sluOptions.ColPerm = MMD_AT_PLUS_A; break; - case MinimumDegree_ATA : m_sluOptions.ColPerm = MMD_ATA; break; - case ColApproxMinimumDegree : m_sluOptions.ColPerm = COLAMD; break; - default: - //std::cerr << "Eigen: ordering method \"" << Base::orderingMethod() << "\" not supported by the SuperLU backend\n"; - m_sluOptions.ColPerm = NATURAL; - }; - - m_sluA = internal::asSluMatrix(m_matrix); - memset(&m_sluL,0,sizeof m_sluL); - memset(&m_sluU,0,sizeof m_sluU); - //m_sluEqued = 'B'; - int info = 0; - - m_p.resize(size); - m_q.resize(size); - m_sluRscale.resize(size); - m_sluCscale.resize(size); - m_sluEtree.resize(size); - - RealScalar recip_pivot_gross, rcond; - RealScalar ferr, berr; - - // set empty B and X - m_sluB.setStorageType(SLU_DN); - m_sluB.setScalarType(); - m_sluB.Mtype = SLU_GE; - m_sluB.storage.values = 0; - m_sluB.nrow = m_sluB.ncol = 0; - m_sluB.storage.lda = size; - m_sluX = m_sluB; - - StatInit(&m_sluStat); - if (m_flags&IncompleteFactorization) - { - #ifdef EIGEN_SUPERLU_HAS_ILU - ilu_set_default_options(&m_sluOptions); - - // no attempt to preserve column sum - m_sluOptions.ILU_MILU = SILU; - - // only basic ILU(k) support -- no direct control over memory consumption - // better to use ILU_DropRule = DROP_BASIC | DROP_AREA - // and set ILU_FillFactor to max memory growth - m_sluOptions.ILU_DropRule = DROP_BASIC; - m_sluOptions.ILU_DropTol = Base::m_precision; - - SuperLU_gsisx(&m_sluOptions, &m_sluA, m_q.data(), m_p.data(), &m_sluEtree[0], - &m_sluEqued, &m_sluRscale[0], &m_sluCscale[0], - &m_sluL, &m_sluU, - NULL, 0, - &m_sluB, &m_sluX, - &recip_pivot_gross, &rcond, - &m_sluStat, &info, Scalar()); - #else - //std::cerr << "Incomplete factorization is only available in SuperLU v4\n"; - Base::m_succeeded = false; - return; - #endif - } - else - { - SuperLU_gssvx(&m_sluOptions, &m_sluA, m_q.data(), m_p.data(), &m_sluEtree[0], - &m_sluEqued, &m_sluRscale[0], &m_sluCscale[0], - &m_sluL, &m_sluU, - NULL, 0, - &m_sluB, &m_sluX, - &recip_pivot_gross, &rcond, - &ferr, &berr, - &m_sluStat, &info, Scalar()); - } - StatFree(&m_sluStat); - - m_extractedDataAreDirty = true; - - // FIXME how to better check for errors ??? - Base::m_succeeded = (info == 0); -} - -template -template -bool SparseLU::solve(const MatrixBase &b, - MatrixBase *x, const int transposed) const -{ - const int size = m_matrix.rows(); - const int rhsCols = b.cols(); - eigen_assert(size==b.rows()); - - switch (transposed) { - case SvNoTrans : m_sluOptions.Trans = NOTRANS; break; - case SvTranspose : m_sluOptions.Trans = TRANS; break; - case SvAdjoint : m_sluOptions.Trans = CONJ; break; - default: - //std::cerr << "Eigen: transposition option \"" << transposed << "\" not supported by the SuperLU backend\n"; - m_sluOptions.Trans = NOTRANS; - } - - m_sluOptions.Fact = FACTORED; - m_sluOptions.IterRefine = NOREFINE; - - m_sluFerr.resize(rhsCols); - m_sluBerr.resize(rhsCols); - m_sluB = SluMatrix::Map(b.const_cast_derived()); - m_sluX = SluMatrix::Map(x->derived()); - - StatInit(&m_sluStat); - int info = 0; - RealScalar recip_pivot_gross, rcond; - - if (m_flags&IncompleteFactorization) - { - #ifdef EIGEN_SUPERLU_HAS_ILU - SuperLU_gsisx(&m_sluOptions, &m_sluA, m_q.data(), m_p.data(), &m_sluEtree[0], - &m_sluEqued, &m_sluRscale[0], &m_sluCscale[0], - &m_sluL, &m_sluU, - NULL, 0, - &m_sluB, &m_sluX, - &recip_pivot_gross, &rcond, - &m_sluStat, &info, Scalar()); - #else - //std::cerr << "Incomplete factorization is only available in SuperLU v4\n"; - return false; - #endif - } - else - { - SuperLU_gssvx( - &m_sluOptions, &m_sluA, - m_q.data(), m_p.data(), - &m_sluEtree[0], &m_sluEqued, - &m_sluRscale[0], &m_sluCscale[0], - &m_sluL, &m_sluU, - NULL, 0, - &m_sluB, &m_sluX, - &recip_pivot_gross, &rcond, - &m_sluFerr[0], &m_sluBerr[0], - &m_sluStat, &info, Scalar()); - } - StatFree(&m_sluStat); - - // reset to previous state - m_sluOptions.Trans = NOTRANS; - return info==0; -} - -// -// the code of this extractData() function has been adapted from the SuperLU's Matlab support code, -// -// Copyright (c) 1994 by Xerox Corporation. All rights reserved. -// -// THIS MATERIAL IS PROVIDED AS IS, WITH ABSOLUTELY NO WARRANTY -// EXPRESSED OR IMPLIED. ANY USE IS AT YOUR OWN RISK. -// -template -void SparseLU::extractData() const -{ - if (m_extractedDataAreDirty) - { - int upper; - int fsupc, istart, nsupr; - int lastl = 0, lastu = 0; - SCformat *Lstore = static_cast(m_sluL.Store); - NCformat *Ustore = static_cast(m_sluU.Store); - Scalar *SNptr; - - const int size = m_matrix.rows(); - m_l.resize(size,size); - m_l.resizeNonZeros(Lstore->nnz); - m_u.resize(size,size); - m_u.resizeNonZeros(Ustore->nnz); - - int* Lcol = m_l._outerIndexPtr(); - int* Lrow = m_l._innerIndexPtr(); - Scalar* Lval = m_l._valuePtr(); - - int* Ucol = m_u._outerIndexPtr(); - int* Urow = m_u._innerIndexPtr(); - Scalar* Uval = m_u._valuePtr(); - - Ucol[0] = 0; - Ucol[0] = 0; - - /* for each supernode */ - for (int k = 0; k <= Lstore->nsuper; ++k) - { - fsupc = L_FST_SUPC(k); - istart = L_SUB_START(fsupc); - nsupr = L_SUB_START(fsupc+1) - istart; - upper = 1; - - /* for each column in the supernode */ - for (int j = fsupc; j < L_FST_SUPC(k+1); ++j) - { - SNptr = &((Scalar*)Lstore->nzval)[L_NZ_START(j)]; - - /* Extract U */ - for (int i = U_NZ_START(j); i < U_NZ_START(j+1); ++i) - { - Uval[lastu] = ((Scalar*)Ustore->nzval)[i]; - /* Matlab doesn't like explicit zero. */ - if (Uval[lastu] != 0.0) - Urow[lastu++] = U_SUB(i); - } - for (int i = 0; i < upper; ++i) - { - /* upper triangle in the supernode */ - Uval[lastu] = SNptr[i]; - /* Matlab doesn't like explicit zero. */ - if (Uval[lastu] != 0.0) - Urow[lastu++] = L_SUB(istart+i); - } - Ucol[j+1] = lastu; - - /* Extract L */ - Lval[lastl] = 1.0; /* unit diagonal */ - Lrow[lastl++] = L_SUB(istart + upper - 1); - for (int i = upper; i < nsupr; ++i) - { - Lval[lastl] = SNptr[i]; - /* Matlab doesn't like explicit zero. */ - if (Lval[lastl] != 0.0) - Lrow[lastl++] = L_SUB(istart+i); - } - Lcol[j+1] = lastl; - - ++upper; - } /* for j ... */ - - } /* for k ... */ - - // squeeze the matrices : - m_l.resizeNonZeros(lastl); - m_u.resizeNonZeros(lastu); - - m_extractedDataAreDirty = false; - } -} - -template -typename SparseLU::Scalar SparseLU::determinant() const -{ - assert((!NumTraits::IsComplex) && "This function is not implemented for complex yet"); - if (m_extractedDataAreDirty) - extractData(); - - // TODO this code could be moved to the default/base backend - // FIXME perhaps we have to take into account the scale factors m_sluRscale and m_sluCscale ??? - Scalar det = Scalar(1); - for (int j=0; j 0) - { - int lastId = m_u._outerIndexPtr()[j+1]-1; - eigen_assert(m_u._innerIndexPtr()[lastId]<=j); - if (m_u._innerIndexPtr()[lastId]==j) - { - det *= m_u._valuePtr()[lastId]; - } - } -// std::cout << m_sluRscale[j] << " " << m_sluCscale[j] << " \n"; - } - return det; -} - -#endif // EIGEN_SUPERLUSUPPORT_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/UmfPackSupport.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/UmfPackSupport.h deleted file mode 100644 index beb18f6cd..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/UmfPackSupport.h +++ /dev/null @@ -1,350 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#ifndef EIGEN_UMFPACKSUPPORT_H -#define EIGEN_UMFPACKSUPPORT_H - -/* TODO extract L, extract U, compute det, etc... */ - -// generic double/complex wrapper functions: - -inline void umfpack_free_numeric(void **Numeric, double) -{ umfpack_di_free_numeric(Numeric); } - -inline void umfpack_free_numeric(void **Numeric, std::complex) -{ umfpack_zi_free_numeric(Numeric); } - -inline void umfpack_free_symbolic(void **Symbolic, double) -{ umfpack_di_free_symbolic(Symbolic); } - -inline void umfpack_free_symbolic(void **Symbolic, std::complex) -{ umfpack_zi_free_symbolic(Symbolic); } - -inline int umfpack_symbolic(int n_row,int n_col, - const int Ap[], const int Ai[], const double Ax[], void **Symbolic, - const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO]) -{ - return umfpack_di_symbolic(n_row,n_col,Ap,Ai,Ax,Symbolic,Control,Info); -} - -inline int umfpack_symbolic(int n_row,int n_col, - const int Ap[], const int Ai[], const std::complex Ax[], void **Symbolic, - const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO]) -{ - return umfpack_zi_symbolic(n_row,n_col,Ap,Ai,&internal::real_ref(Ax[0]),0,Symbolic,Control,Info); -} - -inline int umfpack_numeric( const int Ap[], const int Ai[], const double Ax[], - void *Symbolic, void **Numeric, - const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO]) -{ - return umfpack_di_numeric(Ap,Ai,Ax,Symbolic,Numeric,Control,Info); -} - -inline int umfpack_numeric( const int Ap[], const int Ai[], const std::complex Ax[], - void *Symbolic, void **Numeric, - const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO]) -{ - return umfpack_zi_numeric(Ap,Ai,&internal::real_ref(Ax[0]),0,Symbolic,Numeric,Control,Info); -} - -inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const double Ax[], - double X[], const double B[], void *Numeric, - const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO]) -{ - return umfpack_di_solve(sys,Ap,Ai,Ax,X,B,Numeric,Control,Info); -} - -inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const std::complex Ax[], - std::complex X[], const std::complex B[], void *Numeric, - const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO]) -{ - return umfpack_zi_solve(sys,Ap,Ai,&internal::real_ref(Ax[0]),0,&internal::real_ref(X[0]),0,&internal::real_ref(B[0]),0,Numeric,Control,Info); -} - -inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_udiag, void *Numeric, double) -{ - return umfpack_di_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric); -} - -inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_udiag, void *Numeric, std::complex) -{ - return umfpack_zi_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric); -} - -inline int umfpack_get_numeric(int Lp[], int Lj[], double Lx[], int Up[], int Ui[], double Ux[], - int P[], int Q[], double Dx[], int *do_recip, double Rs[], void *Numeric) -{ - return umfpack_di_get_numeric(Lp,Lj,Lx,Up,Ui,Ux,P,Q,Dx,do_recip,Rs,Numeric); -} - -inline int umfpack_get_numeric(int Lp[], int Lj[], std::complex Lx[], int Up[], int Ui[], std::complex Ux[], - int P[], int Q[], std::complex Dx[], int *do_recip, double Rs[], void *Numeric) -{ - double& lx0_real = internal::real_ref(Lx[0]); - double& ux0_real = internal::real_ref(Ux[0]); - double& dx0_real = internal::real_ref(Dx[0]); - return umfpack_zi_get_numeric(Lp,Lj,Lx?&lx0_real:0,0,Up,Ui,Ux?&ux0_real:0,0,P,Q, - Dx?&dx0_real:0,0,do_recip,Rs,Numeric); -} - -inline int umfpack_get_determinant(double *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO]) -{ - return umfpack_di_get_determinant(Mx,Ex,NumericHandle,User_Info); -} - -inline int umfpack_get_determinant(std::complex *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO]) -{ - double& mx_real = internal::real_ref(*Mx); - return umfpack_zi_get_determinant(&mx_real,0,Ex,NumericHandle,User_Info); -} - - -template -class SparseLU<_MatrixType,UmfPack> : public SparseLU<_MatrixType> -{ - protected: - typedef SparseLU<_MatrixType> Base; - typedef typename Base::Scalar Scalar; - typedef typename Base::RealScalar RealScalar; - typedef Matrix Vector; - typedef Matrix IntRowVectorType; - typedef Matrix IntColVectorType; - typedef SparseMatrix LMatrixType; - typedef SparseMatrix UMatrixType; - using Base::m_flags; - using Base::m_status; - - public: - typedef _MatrixType MatrixType; - typedef typename MatrixType::Index Index; - - SparseLU(int flags = NaturalOrdering) - : Base(flags), m_numeric(0) - { - } - - SparseLU(const MatrixType& matrix, int flags = NaturalOrdering) - : Base(flags), m_numeric(0) - { - compute(matrix); - } - - ~SparseLU() - { - if (m_numeric) - umfpack_free_numeric(&m_numeric,Scalar()); - } - - inline const LMatrixType& matrixL() const - { - if (m_extractedDataAreDirty) extractData(); - return m_l; - } - - inline const UMatrixType& matrixU() const - { - if (m_extractedDataAreDirty) extractData(); - return m_u; - } - - inline const IntColVectorType& permutationP() const - { - if (m_extractedDataAreDirty) extractData(); - return m_p; - } - - inline const IntRowVectorType& permutationQ() const - { - if (m_extractedDataAreDirty) extractData(); - return m_q; - } - - Scalar determinant() const; - - template - bool solve(const MatrixBase &b, MatrixBase* x) const; - - template - inline const internal::solve_retval, Rhs> - solve(const MatrixBase& b) const - { - eigen_assert(true && "SparseLU is not initialized."); - return internal::solve_retval, Rhs>(*this, b.derived()); - } - - void compute(const MatrixType& matrix); - - inline Index cols() const { return m_matrixRef->cols(); } - inline Index rows() const { return m_matrixRef->rows(); } - - inline const MatrixType& matrixLU() const - { - //eigen_assert(m_isInitialized && "LU is not initialized."); - return *m_matrixRef; - } - - const void* numeric() const - { - return m_numeric; - } - - protected: - - void extractData() const; - - protected: - // cached data: - void* m_numeric; - const MatrixType* m_matrixRef; - mutable LMatrixType m_l; - mutable UMatrixType m_u; - mutable IntColVectorType m_p; - mutable IntRowVectorType m_q; - mutable bool m_extractedDataAreDirty; -}; - -namespace internal { - -template - struct solve_retval, Rhs> - : solve_retval_base, Rhs> -{ - typedef SparseLU<_MatrixType, UmfPack> SpLUDecType; - EIGEN_MAKE_SOLVE_HELPERS(SpLUDecType,Rhs) - - template void evalTo(Dest& dst) const - { - const int rhsCols = rhs().cols(); - - eigen_assert((Rhs::Flags&RowMajorBit)==0 && "UmfPack backend does not support non col-major rhs yet"); - eigen_assert((Dest::Flags&RowMajorBit)==0 && "UmfPack backend does not support non col-major result yet"); - - void* numeric = const_cast(dec().numeric()); - - EIGEN_UNUSED int errorCode = 0; - for (int j=0; j -void SparseLU::compute(const MatrixType& a) -{ - typedef typename MatrixType::Index Index; - const Index rows = a.rows(); - const Index cols = a.cols(); - eigen_assert((MatrixType::Flags&RowMajorBit)==0 && "Row major matrices are not supported yet"); - - m_matrixRef = &a; - - if (m_numeric) - umfpack_free_numeric(&m_numeric,Scalar()); - - void* symbolic; - int errorCode = 0; - errorCode = umfpack_symbolic(rows, cols, a._outerIndexPtr(), a._innerIndexPtr(), a._valuePtr(), - &symbolic, 0, 0); - if (errorCode==0) - errorCode = umfpack_numeric(a._outerIndexPtr(), a._innerIndexPtr(), a._valuePtr(), - symbolic, &m_numeric, 0, 0); - - umfpack_free_symbolic(&symbolic,Scalar()); - - m_extractedDataAreDirty = true; - - Base::m_succeeded = (errorCode==0); -} - -template -void SparseLU::extractData() const -{ - if (m_extractedDataAreDirty) - { - // get size of the data - int lnz, unz, rows, cols, nz_udiag; - umfpack_get_lunz(&lnz, &unz, &rows, &cols, &nz_udiag, m_numeric, Scalar()); - - // allocate data - m_l.resize(rows,(std::min)(rows,cols)); - m_l.resizeNonZeros(lnz); - - m_u.resize((std::min)(rows,cols),cols); - m_u.resizeNonZeros(unz); - - m_p.resize(rows); - m_q.resize(cols); - - // extract - umfpack_get_numeric(m_l._outerIndexPtr(), m_l._innerIndexPtr(), m_l._valuePtr(), - m_u._outerIndexPtr(), m_u._innerIndexPtr(), m_u._valuePtr(), - m_p.data(), m_q.data(), 0, 0, 0, m_numeric); - - m_extractedDataAreDirty = false; - } -} - -template -typename SparseLU::Scalar SparseLU::determinant() const -{ - Scalar det; - umfpack_get_determinant(&det, 0, m_numeric, 0); - return det; -} - -template -template -bool SparseLU::solve(const MatrixBase &b, MatrixBase *x) const -{ - //const int size = m_matrix.rows(); - const int rhsCols = b.cols(); -// eigen_assert(size==b.rows()); - eigen_assert((BDerived::Flags&RowMajorBit)==0 && "UmfPack backend does not support non col-major rhs yet"); - eigen_assert((XDerived::Flags&RowMajorBit)==0 && "UmfPack backend does not support non col-major result yet"); - - int errorCode; - for (int j=0; j_outerIndexPtr(), m_matrixRef->_innerIndexPtr(), m_matrixRef->_valuePtr(), - &x->col(j).coeffRef(0), &b.const_cast_derived().col(j).coeffRef(0), m_numeric, 0, 0); - if (errorCode!=0) - return false; - } -// errorCode = umfpack_di_solve(UMFPACK_A, -// m_matrixRef._outerIndexPtr(), m_matrixRef._innerIndexPtr(), m_matrixRef._valuePtr(), -// x->derived().data(), b.derived().data(), m_numeric, 0, 0); - - return true; -} - -#endif // EIGEN_UMFPACKSUPPORT_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/CMakeLists.txt new file mode 100644 index 000000000..55c6271e9 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/CMakeLists.txt @@ -0,0 +1,6 @@ +FILE(GLOB Eigen_Splines_SRCS "*.h") + +INSTALL(FILES + ${Eigen_Splines_SRCS} + DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/Splines COMPONENT Devel + ) diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h new file mode 100644 index 000000000..4c06453f7 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h @@ -0,0 +1,479 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 20010-2011 Hauke Heibel +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_SPLINE_H +#define EIGEN_SPLINE_H + +#include "SplineFwd.h" + +namespace Eigen +{ + /** + * \ingroup Splines_Module + * \class Spline class + * \brief A class representing multi-dimensional spline curves. + * + * The class represents B-splines with non-uniform knot vectors. Each control + * point of the B-spline is associated with a basis function + * \f{align*} + * C(u) & = \sum_{i=0}^{n}N_{i,p}(u)P_i + * \f} + * + * \tparam _Scalar The underlying data type (typically float or double) + * \tparam _Dim The curve dimension (e.g. 2 or 3) + * \tparam _Degree Per default set to Dynamic; could be set to the actual desired + * degree for optimization purposes (would result in stack allocation + * of several temporary variables). + **/ + template + class Spline + { + public: + typedef _Scalar Scalar; /*!< The spline curve's scalar type. */ + enum { Dimension = _Dim /*!< The spline curve's dimension. */ }; + enum { Degree = _Degree /*!< The spline curve's degree. */ }; + + /** \brief The point type the spline is representing. */ + typedef typename SplineTraits::PointType PointType; + + /** \brief The data type used to store knot vectors. */ + typedef typename SplineTraits::KnotVectorType KnotVectorType; + + /** \brief The data type used to store non-zero basis functions. */ + typedef typename SplineTraits::BasisVectorType BasisVectorType; + + /** \brief The data type representing the spline's control points. */ + typedef typename SplineTraits::ControlPointVectorType ControlPointVectorType; + + /** + * \brief Creates a spline from a knot vector and control points. + * \param knots The spline's knot vector. + * \param ctrls The spline's control point vector. + **/ + template + Spline(const OtherVectorType& knots, const OtherArrayType& ctrls) : m_knots(knots), m_ctrls(ctrls) {} + + /** + * \brief Copy constructor for splines. + * \param spline The input spline. + **/ + template + Spline(const Spline& spline) : + m_knots(spline.knots()), m_ctrls(spline.ctrls()) {} + + /** + * \brief Returns the knots of the underlying spline. + **/ + const KnotVectorType& knots() const { return m_knots; } + + /** + * \brief Returns the knots of the underlying spline. + **/ + const ControlPointVectorType& ctrls() const { return m_ctrls; } + + /** + * \brief Returns the spline value at a given site \f$u\f$. + * + * The function returns + * \f{align*} + * C(u) & = \sum_{i=0}^{n}N_{i,p}P_i + * \f} + * + * \param u Parameter \f$u \in [0;1]\f$ at which the spline is evaluated. + * \return The spline value at the given location \f$u\f$. + **/ + PointType operator()(Scalar u) const; + + /** + * \brief Evaluation of spline derivatives of up-to given order. + * + * The function returns + * \f{align*} + * \frac{d^i}{du^i}C(u) & = \sum_{i=0}^{n} \frac{d^i}{du^i} N_{i,p}(u)P_i + * \f} + * for i ranging between 0 and order. + * + * \param u Parameter \f$u \in [0;1]\f$ at which the spline derivative is evaluated. + * \param order The order up to which the derivatives are computed. + **/ + typename SplineTraits::DerivativeType + derivatives(Scalar u, DenseIndex order) const; + + /** + * \copydoc Spline::derivatives + * Using the template version of this function is more efficieent since + * temporary objects are allocated on the stack whenever this is possible. + **/ + template + typename SplineTraits::DerivativeType + derivatives(Scalar u, DenseIndex order = DerivativeOrder) const; + + /** + * \brief Computes the non-zero basis functions at the given site. + * + * Splines have local support and a point from their image is defined + * by exactly \f$p+1\f$ control points \f$P_i\f$ where \f$p\f$ is the + * spline degree. + * + * This function computes the \f$p+1\f$ non-zero basis function values + * for a given parameter value \f$u\f$. It returns + * \f{align*}{ + * N_{i,p}(u), \hdots, N_{i+p+1,p}(u) + * \f} + * + * \param u Parameter \f$u \in [0;1]\f$ at which the non-zero basis functions + * are computed. + **/ + typename SplineTraits::BasisVectorType + basisFunctions(Scalar u) const; + + /** + * \brief Computes the non-zero spline basis function derivatives up to given order. + * + * The function computes + * \f{align*}{ + * \frac{d^i}{du^i} N_{i,p}(u), \hdots, \frac{d^i}{du^i} N_{i+p+1,p}(u) + * \f} + * with i ranging from 0 up to the specified order. + * + * \param u Parameter \f$u \in [0;1]\f$ at which the non-zero basis function + * derivatives are computed. + * \param order The order up to which the basis function derivatives are computes. + **/ + typename SplineTraits::BasisDerivativeType + basisFunctionDerivatives(Scalar u, DenseIndex order) const; + + /** + * \copydoc Spline::basisFunctionDerivatives + * Using the template version of this function is more efficieent since + * temporary objects are allocated on the stack whenever this is possible. + **/ + template + typename SplineTraits::BasisDerivativeType + basisFunctionDerivatives(Scalar u, DenseIndex order = DerivativeOrder) const; + + /** + * \brief Returns the spline degree. + **/ + DenseIndex degree() const; + + /** + * \brief Returns the span within the knot vector in which u is falling. + * \param u The site for which the span is determined. + **/ + DenseIndex span(Scalar u) const; + + /** + * \brief Computes the spang within the provided knot vector in which u is falling. + **/ + static DenseIndex Span(typename SplineTraits::Scalar u, DenseIndex degree, const typename SplineTraits::KnotVectorType& knots); + + /** + * \brief Returns the spline's non-zero basis functions. + * + * The function computes and returns + * \f{align*}{ + * N_{i,p}(u), \hdots, N_{i+p+1,p}(u) + * \f} + * + * \param u The site at which the basis functions are computed. + * \param degree The degree of the underlying spline. + * \param knots The underlying spline's knot vector. + **/ + static BasisVectorType BasisFunctions(Scalar u, DenseIndex degree, const KnotVectorType& knots); + + + private: + KnotVectorType m_knots; /*!< Knot vector. */ + ControlPointVectorType m_ctrls; /*!< Control points. */ + }; + + template + DenseIndex Spline<_Scalar, _Dim, _Degree>::Span( + typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::Scalar u, + DenseIndex degree, + const typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::KnotVectorType& knots) + { + // Piegl & Tiller, "The NURBS Book", A2.1 (p. 68) + if (u <= knots(0)) return degree; + const Scalar* pos = std::upper_bound(knots.data()+degree-1, knots.data()+knots.size()-degree-1, u); + return static_cast( std::distance(knots.data(), pos) - 1 ); + } + + template + typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType + Spline<_Scalar, _Dim, _Degree>::BasisFunctions( + typename Spline<_Scalar, _Dim, _Degree>::Scalar u, + DenseIndex degree, + const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots) + { + typedef typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType BasisVectorType; + + const DenseIndex p = degree; + const DenseIndex i = Spline::Span(u, degree, knots); + + const KnotVectorType& U = knots; + + BasisVectorType left(p+1); left(0) = Scalar(0); + BasisVectorType right(p+1); right(0) = Scalar(0); + + VectorBlock(left,1,p) = u - VectorBlock(U,i+1-p,p).reverse(); + VectorBlock(right,1,p) = VectorBlock(U,i+1,p) - u; + + BasisVectorType N(1,p+1); + N(0) = Scalar(1); + for (DenseIndex j=1; j<=p; ++j) + { + Scalar saved = Scalar(0); + for (DenseIndex r=0; r + DenseIndex Spline<_Scalar, _Dim, _Degree>::degree() const + { + if (_Degree == Dynamic) + return m_knots.size() - m_ctrls.cols() - 1; + else + return _Degree; + } + + template + DenseIndex Spline<_Scalar, _Dim, _Degree>::span(Scalar u) const + { + return Spline::Span(u, degree(), knots()); + } + + template + typename Spline<_Scalar, _Dim, _Degree>::PointType Spline<_Scalar, _Dim, _Degree>::operator()(Scalar u) const + { + enum { Order = SplineTraits::OrderAtCompileTime }; + + const DenseIndex span = this->span(u); + const DenseIndex p = degree(); + const BasisVectorType basis_funcs = basisFunctions(u); + + const Replicate ctrl_weights(basis_funcs); + const Block ctrl_pts(ctrls(),0,span-p,Dimension,p+1); + return (ctrl_weights * ctrl_pts).rowwise().sum(); + } + + /* --------------------------------------------------------------------------------------------- */ + + template + void derivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& der) + { + enum { Dimension = SplineTraits::Dimension }; + enum { Order = SplineTraits::OrderAtCompileTime }; + enum { DerivativeOrder = DerivativeType::ColsAtCompileTime }; + + typedef typename SplineTraits::Scalar Scalar; + + typedef typename SplineTraits::BasisVectorType BasisVectorType; + typedef typename SplineTraits::ControlPointVectorType ControlPointVectorType; + + typedef typename SplineTraits::BasisDerivativeType BasisDerivativeType; + typedef typename BasisDerivativeType::ConstRowXpr BasisDerivativeRowXpr; + + const DenseIndex p = spline.degree(); + const DenseIndex span = spline.span(u); + + const DenseIndex n = (std::min)(p, order); + + der.resize(Dimension,n+1); + + // Retrieve the basis function derivatives up to the desired order... + const BasisDerivativeType basis_func_ders = spline.template basisFunctionDerivatives(u, n+1); + + // ... and perform the linear combinations of the control points. + for (DenseIndex der_order=0; der_order ctrl_weights( basis_func_ders.row(der_order) ); + const Block ctrl_pts(spline.ctrls(),0,span-p,Dimension,p+1); + der.col(der_order) = (ctrl_weights * ctrl_pts).rowwise().sum(); + } + } + + template + typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::DerivativeType + Spline<_Scalar, _Dim, _Degree>::derivatives(Scalar u, DenseIndex order) const + { + typename SplineTraits< Spline >::DerivativeType res; + derivativesImpl(*this, u, order, res); + return res; + } + + template + template + typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::DerivativeType + Spline<_Scalar, _Dim, _Degree>::derivatives(Scalar u, DenseIndex order) const + { + typename SplineTraits< Spline, DerivativeOrder >::DerivativeType res; + derivativesImpl(*this, u, order, res); + return res; + } + + template + typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisVectorType + Spline<_Scalar, _Dim, _Degree>::basisFunctions(Scalar u) const + { + return Spline::BasisFunctions(u, degree(), knots()); + } + + /* --------------------------------------------------------------------------------------------- */ + + template + void basisFunctionDerivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& N_) + { + enum { Order = SplineTraits::OrderAtCompileTime }; + + typedef typename SplineTraits::Scalar Scalar; + typedef typename SplineTraits::BasisVectorType BasisVectorType; + typedef typename SplineTraits::KnotVectorType KnotVectorType; + typedef typename SplineTraits::ControlPointVectorType ControlPointVectorType; + + const KnotVectorType& U = spline.knots(); + + const DenseIndex p = spline.degree(); + const DenseIndex span = spline.span(u); + + const DenseIndex n = (std::min)(p, order); + + N_.resize(n+1, p+1); + + BasisVectorType left = BasisVectorType::Zero(p+1); + BasisVectorType right = BasisVectorType::Zero(p+1); + + Matrix ndu(p+1,p+1); + + double saved, temp; + + ndu(0,0) = 1.0; + + DenseIndex j; + for (j=1; j<=p; ++j) + { + left[j] = u-U[span+1-j]; + right[j] = U[span+j]-u; + saved = 0.0; + + for (DenseIndex r=0; r(saved+right[r+1] * temp); + saved = left[j-r] * temp; + } + + ndu(j,j) = static_cast(saved); + } + + for (j = p; j>=0; --j) + N_(0,j) = ndu(j,p); + + // Compute the derivatives + DerivativeType a(n+1,p+1); + DenseIndex r=0; + for (; r<=p; ++r) + { + DenseIndex s1,s2; + s1 = 0; s2 = 1; // alternate rows in array a + a(0,0) = 1.0; + + // Compute the k-th derivative + for (DenseIndex k=1; k<=static_cast(n); ++k) + { + double d = 0.0; + DenseIndex rk,pk,j1,j2; + rk = r-k; pk = p-k; + + if (r>=k) + { + a(s2,0) = a(s1,0)/ndu(pk+1,rk); + d = a(s2,0)*ndu(rk,pk); + } + + if (rk>=-1) j1 = 1; + else j1 = -rk; + + if (r-1 <= pk) j2 = k-1; + else j2 = p-r; + + for (j=j1; j<=j2; ++j) + { + a(s2,j) = (a(s1,j)-a(s1,j-1))/ndu(pk+1,rk+j); + d += a(s2,j)*ndu(rk+j,pk); + } + + if (r<=pk) + { + a(s2,k) = -a(s1,k-1)/ndu(pk+1,r); + d += a(s2,k)*ndu(r,pk); + } + + N_(k,r) = static_cast(d); + j = s1; s1 = s2; s2 = j; // Switch rows + } + } + + /* Multiply through by the correct factors */ + /* (Eq. [2.9]) */ + r = p; + for (DenseIndex k=1; k<=static_cast(n); ++k) + { + for (DenseIndex j=p; j>=0; --j) N_(k,j) *= r; + r *= p-k; + } + } + + template + typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType + Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const + { + typename SplineTraits< Spline >::BasisDerivativeType der; + basisFunctionDerivativesImpl(*this, u, order, der); + return der; + } + + template + template + typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType + Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const + { + typename SplineTraits< Spline, DerivativeOrder >::BasisDerivativeType der; + basisFunctionDerivativesImpl(*this, u, order, der); + return der; + } +} + +#endif // EIGEN_SPLINE_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h new file mode 100644 index 000000000..3e8abbbce --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h @@ -0,0 +1,174 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 20010-2011 Hauke Heibel +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_SPLINE_FITTING_H +#define EIGEN_SPLINE_FITTING_H + +#include + +#include "SplineFwd.h" + +#include + +namespace Eigen +{ + /** + * \brief Computes knot averages. + * \ingroup Splines_Module + * + * The knots are computed as + * \f{align*} + * u_0 & = \hdots = u_p = 0 \\ + * u_{m-p} & = \hdots = u_{m} = 1 \\ + * u_{j+p} & = \frac{1}{p}\sum_{i=j}^{j+p-1}\bar{u}_i \quad\quad j=1,\hdots,n-p + * \f} + * where \f$p\f$ is the degree and \f$m+1\f$ the number knots + * of the desired interpolating spline. + * + * \param[in] parameters The input parameters. During interpolation one for each data point. + * \param[in] degree The spline degree which is used during the interpolation. + * \param[out] knots The output knot vector. + * + * \sa Les Piegl and Wayne Tiller, The NURBS book (2nd ed.), 1997, 9.2.1 Global Curve Interpolation to Point Data + **/ + template + void KnotAveraging(const KnotVectorType& parameters, DenseIndex degree, KnotVectorType& knots) + { + typedef typename KnotVectorType::Scalar Scalar; + + knots.resize(parameters.size()+degree+1); + + for (DenseIndex j=1; j + void ChordLengths(const PointArrayType& pts, KnotVectorType& chord_lengths) + { + typedef typename KnotVectorType::Scalar Scalar; + + const DenseIndex n = pts.cols(); + + // 1. compute the column-wise norms + chord_lengths.resize(pts.cols()); + chord_lengths[0] = 0; + chord_lengths.rightCols(n-1) = (pts.array().leftCols(n-1) - pts.array().rightCols(n-1)).matrix().colwise().norm(); + + // 2. compute the partial sums + std::partial_sum(chord_lengths.data(), chord_lengths.data()+n, chord_lengths.data()); + + // 3. normalize the data + chord_lengths /= chord_lengths(n-1); + chord_lengths(n-1) = Scalar(1); + } + + /** + * \brief Spline fitting methods. + * \ingroup Splines_Module + **/ + template + struct SplineFitting + { + typedef typename SplineType::KnotVectorType KnotVectorType; + + /** + * \brief Fits an interpolating Spline to the given data points. + * + * \param pts The points for which an interpolating spline will be computed. + * \param degree The degree of the interpolating spline. + * + * \returns A spline interpolating the initially provided points. + **/ + template + static SplineType Interpolate(const PointArrayType& pts, DenseIndex degree); + + /** + * \brief Fits an interpolating Spline to the given data points. + * + * \param pts The points for which an interpolating spline will be computed. + * \param degree The degree of the interpolating spline. + * \param knot_parameters The knot parameters for the interpolation. + * + * \returns A spline interpolating the initially provided points. + **/ + template + static SplineType Interpolate(const PointArrayType& pts, DenseIndex degree, const KnotVectorType& knot_parameters); + }; + + template + template + SplineType SplineFitting::Interpolate(const PointArrayType& pts, DenseIndex degree, const KnotVectorType& knot_parameters) + { + typedef typename SplineType::KnotVectorType::Scalar Scalar; + typedef typename SplineType::BasisVectorType BasisVectorType; + typedef typename SplineType::ControlPointVectorType ControlPointVectorType; + + typedef Matrix MatrixType; + + KnotVectorType knots; + KnotAveraging(knot_parameters, degree, knots); + + DenseIndex n = pts.cols(); + MatrixType A = MatrixType::Zero(n,n); + for (DenseIndex i=1; i qr(A); + + // Here, we are creating a temporary due to an Eigen issue. + ControlPointVectorType ctrls = qr.solve(MatrixType(pts.transpose())).transpose(); + + return SplineType(knots, ctrls); + } + + template + template + SplineType SplineFitting::Interpolate(const PointArrayType& pts, DenseIndex degree) + { + KnotVectorType chord_lengths; // knot parameters + ChordLengths(pts, chord_lengths); + return Interpolate(pts, degree, chord_lengths); + } +} + +#endif // EIGEN_SPLINE_FITTING_H diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h new file mode 100644 index 000000000..0119115a6 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h @@ -0,0 +1,101 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 20010-2011 Hauke Heibel +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#ifndef EIGEN_SPLINES_FWD_H +#define EIGEN_SPLINES_FWD_H + +#include + +namespace Eigen +{ + template class Spline; + + template < typename SplineType, int DerivativeOrder = Dynamic > struct SplineTraits {}; + + /** + * \ingroup Splines_Module + * \brief Compile-time attributes of the Spline class for Dynamic degree. + **/ + template + struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, Dynamic > + { + typedef _Scalar Scalar; /*!< The spline curve's scalar type. */ + enum { Dimension = _Dim /*!< The spline curve's dimension. */ }; + enum { Degree = _Degree /*!< The spline curve's degree. */ }; + + enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1 /*!< The spline curve's order at compile-time. */ }; + enum { NumOfDerivativesAtCompileTime = OrderAtCompileTime /*!< The number of derivatives defined for the current spline. */ }; + + /** \brief The data type used to store non-zero basis functions. */ + typedef Array BasisVectorType; + + /** \brief The data type used to store the values of the basis function derivatives. */ + typedef Array BasisDerivativeType; + + /** \brief The data type used to store the spline's derivative values. */ + typedef Array DerivativeType; + + /** \brief The point type the spline is representing. */ + typedef Array PointType; + + /** \brief The data type used to store knot vectors. */ + typedef Array KnotVectorType; + + /** \brief The data type representing the spline's control points. */ + typedef Array ControlPointVectorType; + }; + + /** + * \ingroup Splines_Module + * \brief Compile-time attributes of the Spline class for fixed degree. + * + * The traits class inherits all attributes from the SplineTraits of Dynamic degree. + **/ + template < typename _Scalar, int _Dim, int _Degree, int _DerivativeOrder > + struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, _DerivativeOrder > : public SplineTraits< Spline<_Scalar, _Dim, _Degree> > + { + enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1 /*!< The spline curve's order at compile-time. */ }; + enum { NumOfDerivativesAtCompileTime = _DerivativeOrder==Dynamic ? Dynamic : _DerivativeOrder+1 /*!< The number of derivatives defined for the current spline. */ }; + + /** \brief The data type used to store the values of the basis function derivatives. */ + typedef Array<_Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType; + + /** \brief The data type used to store the spline's derivative values. */ + typedef Array<_Scalar,_Dim,Dynamic,ColMajor,_Dim,NumOfDerivativesAtCompileTime> DerivativeType; + }; + + /** \brief 2D float B-spline with dynamic degree. */ + typedef Spline Spline2f; + + /** \brief 3D float B-spline with dynamic degree. */ + typedef Spline Spline3f; + + /** \brief 2D double B-spline with dynamic degree. */ + typedef Spline Spline2d; + + /** \brief 3D double B-spline with dynamic degree. */ + typedef Spline Spline3d; +} + +#endif // EIGEN_SPLINES_FWD_H diff --git a/gtsam/3rdparty/Eigen/unsupported/doc/Doxyfile.in b/gtsam/3rdparty/Eigen/unsupported/doc/Doxyfile.in index 7d5f24b4e..1facf2985 100644 --- a/gtsam/3rdparty/Eigen/unsupported/doc/Doxyfile.in +++ b/gtsam/3rdparty/Eigen/unsupported/doc/Doxyfile.in @@ -203,7 +203,6 @@ ALIASES = "only_for_vectors=This is only for vectors (either row- "svd_module=This is defined in the %SVD module. \code #include \endcode" \ "geometry_module=This is defined in the %Geometry module. \code #include \endcode" \ "label=\bug" \ - "redstar=*" \ "nonstableyet=\warning This is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\"" # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C @@ -576,13 +575,14 @@ FILE_PATTERNS = * # should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. -RECURSIVE = NO +RECURSIVE = YES # The EXCLUDE tag can be used to specify files and/or directories that should # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. -EXCLUDE = +EXCLUDE = "${Eigen_SOURCE_DIR}/unsupported/doc/examples" \ + "${Eigen_SOURCE_DIR}/unsupported/doc/snippets" # The EXCLUDE_SYMLINKS tag can be used select whether or not files or # directories that are symbolic links (a Unix filesystem feature) are excluded @@ -958,7 +958,8 @@ PAPER_TYPE = a4wide # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. -EXTRA_PACKAGES = amssymb +EXTRA_PACKAGES = amssymb \ + amsmath # The LATEX_HEADER tag can be used to specify a personal LaTeX header for # the generated latex document. The header should contain everything until diff --git a/gtsam/3rdparty/Eigen/unsupported/doc/examples/MatrixLogarithm.cpp b/gtsam/3rdparty/Eigen/unsupported/doc/examples/MatrixLogarithm.cpp new file mode 100644 index 000000000..8c5d97054 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/doc/examples/MatrixLogarithm.cpp @@ -0,0 +1,15 @@ +#include +#include + +using namespace Eigen; + +int main() +{ + using std::sqrt; + MatrixXd A(3,3); + A << 0.5*sqrt(2), -0.5*sqrt(2), 0, + 0.5*sqrt(2), 0.5*sqrt(2), 0, + 0, 0, 1; + std::cout << "The matrix A is:\n" << A << "\n\n"; + std::cout << "The matrix logarithm of A is:\n" << A.log() << "\n"; +} diff --git a/gtsam/3rdparty/Eigen/unsupported/doc/examples/MatrixSquareRoot.cpp b/gtsam/3rdparty/Eigen/unsupported/doc/examples/MatrixSquareRoot.cpp new file mode 100644 index 000000000..88e7557d7 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/doc/examples/MatrixSquareRoot.cpp @@ -0,0 +1,16 @@ +#include +#include + +using namespace Eigen; + +int main() +{ + const double pi = std::acos(-1.0); + + MatrixXd A(2,2); + A << cos(pi/3), -sin(pi/3), + sin(pi/3), cos(pi/3); + std::cout << "The matrix A is:\n" << A << "\n\n"; + std::cout << "The matrix square root of A is:\n" << A.sqrt() << "\n\n"; + std::cout << "The square of the last matrix is:\n" << A.sqrt() * A.sqrt() << "\n"; +} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp b/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp index e77e84b6d..3f9d108de 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp @@ -24,9 +24,15 @@ #include "main.h" #include +#include #include -inline double SQR(double x) { return x * x; } +namespace Eigen { + +template AlignedBox bounding_box(const Matrix &v) { return AlignedBox(v); } + +} + template struct Ball @@ -41,16 +47,10 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(double, Dim) VectorType center; double radius; }; - -namespace Eigen { -namespace internal { - -template AlignedBox bounding_box(const Matrix &v) { return AlignedBox(v); } template AlignedBox bounding_box(const Ball &b) { return AlignedBox(b.center.array() - b.radius, b.center.array() + b.radius); } -} // end namespace internal -} +inline double SQR(double x) { return x * x; } template struct BallPointStuff //this class provides functions to be both an intersector and a minimizer, both for a ball and a point and for two trees diff --git a/gtsam/3rdparty/Eigen/unsupported/test/CMakeLists.txt b/gtsam/3rdparty/Eigen/unsupported/test/CMakeLists.txt index f8c0ff486..b34b151b1 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/CMakeLists.txt +++ b/gtsam/3rdparty/Eigen/unsupported/test/CMakeLists.txt @@ -1,47 +1,6 @@ -include_directories(../../test ../../unsupported ../../Eigen) - -set(SPARSE_LIBS "") - -# configure blas/lapack -if(CMAKE_Fortran_COMPILER_WORKS) - set(BLAS_FOUND TRUE) - set(LAPACK_FOUND TRUE) - set(BLAS_LIBRARIES eigen_blas_static) - set(LAPACK_LIBRARIES eigen_lapack_static) -else() - # TODO search for default blas/lapack -endif() - -find_package(Cholmod) -if(CHOLMOD_FOUND AND BLAS_FOUND AND LAPACK_FOUND) - add_definitions("-DEIGEN_CHOLMOD_SUPPORT") - include_directories(${CHOLMOD_INCLUDES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "Cholmod, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "Cholmod, ") -endif() - -find_package(Umfpack) -if(UMFPACK_FOUND AND BLAS_FOUND) - add_definitions("-DEIGEN_UMFPACK_SUPPORT") - include_directories(${UMFPACK_INCLUDES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${UMFPACK_LIBRARIES} ${BLAS_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "UmfPack, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "UmfPack, ") -endif() - -find_package(SuperLU) -if(SUPERLU_FOUND AND BLAS_FOUND) - add_definitions("-DEIGEN_SUPERLU_SUPPORT") - include_directories(${SUPERLU_INCLUDES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${SUPERLU_LIBRARIES} ${BLAS_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "SuperLU, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "SuperLU, ") -endif() +include_directories(../../test ../../unsupported ../../Eigen + ${CMAKE_CURRENT_BINARY_DIR}/../../test) find_package(GoogleHash) if(GOOGLEHASH_FOUND) @@ -74,6 +33,7 @@ endif() ei_add_test(matrix_exponential) ei_add_test(matrix_function) +ei_add_test(matrix_square_root) ei_add_test(alignedvector3) ei_add_test(FFT) @@ -88,18 +48,16 @@ else() ei_add_property(EIGEN_MISSING_BACKENDS "MPFR C++, ") endif() -ei_add_test(sparse_llt "" "${SPARSE_LIBS}") -ei_add_test(sparse_ldlt "" "${SPARSE_LIBS}") -ei_add_test(sparse_lu "" "${SPARSE_LIBS}") ei_add_test(sparse_extra "" "") find_package(FFTW) if(FFTW_FOUND) ei_add_property(EIGEN_TESTED_BACKENDS "fftw, ") + include_directories( ${FFTW_INCLUDES} ) if(FFTWL_LIB) - ei_add_test(FFTW "-DEIGEN_FFTW_DEFAULT -DEIGEN_HAS_FFTWL" "fftw3;fftw3f;fftw3l" ) + ei_add_test(FFTW "-DEIGEN_FFTW_DEFAULT -DEIGEN_HAS_FFTWL" "${FFTW_LIBRARIES}" ) else() - ei_add_test(FFTW "-DEIGEN_FFTW_DEFAULT " "fftw3;fftw3f" ) + ei_add_test(FFTW "-DEIGEN_FFTW_DEFAULT" "${FFTW_LIBRARIES}" ) endif() else() ei_add_property(EIGEN_MISSING_BACKENDS "fftw, ") @@ -121,18 +79,9 @@ else() ei_add_property(EIGEN_MISSING_BACKENDS "OpenGL, ") endif() -find_package(GSL) -if(GSL_FOUND AND GSL_VERSION_MINOR LESS 9) - set(GSL_FOUND "") -endif(GSL_FOUND AND GSL_VERSION_MINOR LESS 9) -if(GSL_FOUND) - add_definitions("-DHAS_GSL" ${GSL_DEFINITIONS}) - include_directories(${GSL_INCLUDE_DIR}) - ei_add_property(EIGEN_TESTED_BACKENDS "GSL, ") -else(GSL_FOUND) - ei_add_property(EIGEN_MISSING_BACKENDS "GSL, ") - set(GSL_LIBRARIES " ") -endif(GSL_FOUND) - -ei_add_test(polynomialsolver " " "${GSL_LIBRARIES}" ) +ei_add_test(polynomialsolver) ei_add_test(polynomialutils) +ei_add_test(kronecker_product) +ei_add_test(splines) +ei_add_test(gmres) + diff --git a/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp b/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp index a32d85829..7ce4b4dee 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp @@ -28,13 +28,21 @@ template EIGEN_DONT_INLINE Scalar foo(const Scalar& x, const Scalar& y) { + using namespace std; // return x+std::sin(y); EIGEN_ASM_COMMENT("mybegin"); - return static_cast(x*2 - std::pow(x,2) + 2*std::sqrt(y*y) - 4 * std::sin(x) + 2 * std::cos(y) - std::exp(-0.5*x*x)); + return static_cast(x*2 - pow(x,2) + 2*sqrt(y*y) - 4 * sin(x) + 2 * cos(y) - exp(-0.5*x*x)); //return x+2*y*x;//x*2 -std::pow(x,2);//(2*y/x);// - y*2; EIGEN_ASM_COMMENT("myend"); } +template +EIGEN_DONT_INLINE typename Vector::Scalar foo(const Vector& p) +{ + typedef typename Vector::Scalar Scalar; + return (p-Vector(Scalar(-1),Scalar(1.))).norm() + (p.array() * p.array()).sum() + p.dot(p); +} + template struct TestFunc1 { @@ -140,9 +148,23 @@ void test_autodiff_scalar() typedef AutoDiffScalar AD; AD ax(1,Vector2f::UnitX()); AD ay(2,Vector2f::UnitY()); - foo(ax,ay); - std::cerr << foo(ax,ay).value() << " <> " - << foo(ax,ay).derivatives().transpose() << "\n\n"; + AD res = foo(ax,ay); + std::cerr << res.value() << " <> " + << res.derivatives().transpose() << "\n\n"; +} + +void test_autodiff_vector() +{ + std::cerr << foo(Vector2f(1,2)) << "\n"; + typedef AutoDiffScalar AD; + typedef Matrix VectorAD; + VectorAD p(AD(1),AD(-1)); + p.x().derivatives() = Vector2f::UnitX(); + p.y().derivatives() = Vector2f::UnitY(); + + AD res = foo(p); + std::cerr << res.value() << " <> " + << res.derivatives().transpose() << "\n\n"; } void test_autodiff_jacobian() @@ -159,6 +181,7 @@ void test_autodiff_jacobian() void test_autodiff() { test_autodiff_scalar(); - test_autodiff_jacobian(); + test_autodiff_vector(); +// test_autodiff_jacobian(); } diff --git a/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp b/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp index 1971d883b..07959a668 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp @@ -23,11 +23,20 @@ // Eigen. If not, see . #include "main.h" +#include + #define NUMBER_DIRECTIONS 16 #include int adtl::ADOLC_numDir; +template +EIGEN_DONT_INLINE typename Vector::Scalar foo(const Vector& p) +{ + typedef typename Vector::Scalar Scalar; + return (p-Vector(Scalar(-1),Scalar(1.))).norm() + (p.array().sqrt().abs() * p.array().sin()).sum() + p.dot(p); +} + template struct TestFunc1 { @@ -138,4 +147,12 @@ void test_forward_adolc() CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1()) )); CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1(3,3)) )); } + + { + // simple instanciation tests + Matrix x; + foo(x); + Matrix A(4,4);; + A.selfadjointView().eigenvalues(); + } } diff --git a/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp b/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp new file mode 100644 index 000000000..30ebe8979 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp @@ -0,0 +1,48 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Gael Guennebaud +// Copyright (C) 2012 Kolja Brix +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "../../test/sparse_solver.h" +#include + +template void test_gmres_T() +{ + GMRES, DiagonalPreconditioner > gmres_colmajor_diag; + GMRES, IdentityPreconditioner > gmres_colmajor_I; + GMRES, IncompleteLUT > gmres_colmajor_ilut; + //GMRES, SSORPreconditioner > gmres_colmajor_ssor; + + CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_diag) ); +// CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_I) ); + CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_ilut) ); + //CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_ssor) ); +} + +void test_gmres() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_1(test_gmres_T()); + CALL_SUBTEST_2(test_gmres_T >()); + } +} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp b/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp new file mode 100644 index 000000000..3c7a6629f --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp @@ -0,0 +1,194 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Kolja Brix +// Copyright (C) 2011 Andreas Platen +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + + +#include "sparse.h" +#include +#include + + +template +void check_dimension(const MatrixType& ab, const unsigned int rows, const unsigned int cols) +{ + VERIFY_IS_EQUAL(ab.rows(), rows); + VERIFY_IS_EQUAL(ab.cols(), cols); +} + + +template +void check_kronecker_product(const MatrixType& ab) +{ + VERIFY_IS_EQUAL(ab.rows(), 6); + VERIFY_IS_EQUAL(ab.cols(), 6); + VERIFY_IS_EQUAL(ab.nonZeros(), 36); + VERIFY_IS_APPROX(ab.coeff(0,0), -0.4017367630386106); + VERIFY_IS_APPROX(ab.coeff(0,1), 0.1056863433932735); + VERIFY_IS_APPROX(ab.coeff(0,2), -0.7255206194554212); + VERIFY_IS_APPROX(ab.coeff(0,3), 0.1908653336744706); + VERIFY_IS_APPROX(ab.coeff(0,4), 0.350864567234111); + VERIFY_IS_APPROX(ab.coeff(0,5), -0.0923032108308013); + VERIFY_IS_APPROX(ab.coeff(1,0), 0.415417514804677); + VERIFY_IS_APPROX(ab.coeff(1,1), -0.2369227701722048); + VERIFY_IS_APPROX(ab.coeff(1,2), 0.7502275131458511); + VERIFY_IS_APPROX(ab.coeff(1,3), -0.4278731019742696); + VERIFY_IS_APPROX(ab.coeff(1,4), -0.3628129162264507); + VERIFY_IS_APPROX(ab.coeff(1,5), 0.2069210808481275); + VERIFY_IS_APPROX(ab.coeff(2,0), 0.05465890160863986); + VERIFY_IS_APPROX(ab.coeff(2,1), -0.2634092511419858); + VERIFY_IS_APPROX(ab.coeff(2,2), 0.09871180285793758); + VERIFY_IS_APPROX(ab.coeff(2,3), -0.4757066334017702); + VERIFY_IS_APPROX(ab.coeff(2,4), -0.04773740823058334); + VERIFY_IS_APPROX(ab.coeff(2,5), 0.2300535609645254); + VERIFY_IS_APPROX(ab.coeff(3,0), -0.8172945853260133); + VERIFY_IS_APPROX(ab.coeff(3,1), 0.2150086428359221); + VERIFY_IS_APPROX(ab.coeff(3,2), 0.5825113847292743); + VERIFY_IS_APPROX(ab.coeff(3,3), -0.1532433770097174); + VERIFY_IS_APPROX(ab.coeff(3,4), -0.329383387282399); + VERIFY_IS_APPROX(ab.coeff(3,5), 0.08665207912033064); + VERIFY_IS_APPROX(ab.coeff(4,0), 0.8451267514863225); + VERIFY_IS_APPROX(ab.coeff(4,1), -0.481996458918977); + VERIFY_IS_APPROX(ab.coeff(4,2), -0.6023482390791535); + VERIFY_IS_APPROX(ab.coeff(4,3), 0.3435339347164565); + VERIFY_IS_APPROX(ab.coeff(4,4), 0.3406002157428891); + VERIFY_IS_APPROX(ab.coeff(4,5), -0.1942526344200915); + VERIFY_IS_APPROX(ab.coeff(5,0), 0.1111982482925399); + VERIFY_IS_APPROX(ab.coeff(5,1), -0.5358806424754169); + VERIFY_IS_APPROX(ab.coeff(5,2), -0.07925446559335647); + VERIFY_IS_APPROX(ab.coeff(5,3), 0.3819388757769038); + VERIFY_IS_APPROX(ab.coeff(5,4), 0.04481475387219876); + VERIFY_IS_APPROX(ab.coeff(5,5), -0.2159688616158057); +} + + +template +void check_sparse_kronecker_product(const MatrixType& ab) +{ + VERIFY_IS_EQUAL(ab.rows(), 12); + VERIFY_IS_EQUAL(ab.cols(), 10); + VERIFY_IS_EQUAL(ab.nonZeros(), 3*2); + VERIFY_IS_APPROX(ab.coeff(3,0), -0.04); + VERIFY_IS_APPROX(ab.coeff(5,1), 0.05); + VERIFY_IS_APPROX(ab.coeff(0,6), -0.08); + VERIFY_IS_APPROX(ab.coeff(2,7), 0.10); + VERIFY_IS_APPROX(ab.coeff(6,8), 0.12); + VERIFY_IS_APPROX(ab.coeff(8,9), -0.15); +} + + +void test_kronecker_product() +{ + // DM = dense matrix; SM = sparse matrix + Matrix DM_a; + MatrixXd DM_b(3,2); + SparseMatrix SM_a(2,3); + SparseMatrix SM_b(3,2); + SM_a.insert(0,0) = DM_a(0,0) = -0.4461540300782201; + SM_a.insert(0,1) = DM_a(0,1) = -0.8057364375283049; + SM_a.insert(0,2) = DM_a(0,2) = 0.3896572459516341; + SM_a.insert(1,0) = DM_a(1,0) = -0.9076572187376921; + SM_a.insert(1,1) = DM_a(1,1) = 0.6469156566545853; + SM_a.insert(1,2) = DM_a(1,2) = -0.3658010398782789; + SM_b.insert(0,0) = DM_b(0,0) = 0.9004440976767099; + SM_b.insert(0,1) = DM_b(0,1) = -0.2368830858139832; + SM_b.insert(1,0) = DM_b(1,0) = -0.9311078389941825; + SM_b.insert(1,1) = DM_b(1,1) = 0.5310335762980047; + SM_b.insert(2,0) = DM_b(2,0) = -0.1225112806872035; + SM_b.insert(2,1) = DM_b(2,1) = 0.5903998022741264; + SparseMatrix SM_row_a(SM_a), SM_row_b(SM_b); + + // test kroneckerProduct(DM_block,DM,DM_fixedSize) + Matrix DM_fix_ab; + DM_fix_ab(0,0)=37.0; + kroneckerProduct(DM_a.block(0,0,2,3),DM_b,DM_fix_ab); + CALL_SUBTEST(check_kronecker_product(DM_fix_ab)); + + // test kroneckerProduct(DM,DM,DM_block) + MatrixXd DM_block_ab(10,15); + DM_block_ab(0,0)=37.0; + kroneckerProduct(DM_a,DM_b,DM_block_ab.block(2,5,6,6)); + CALL_SUBTEST(check_kronecker_product(DM_block_ab.block(2,5,6,6))); + + // test kroneckerProduct(DM,DM,DM) + MatrixXd DM_ab(1,5); + DM_ab(0,0)=37.0; + kroneckerProduct(DM_a,DM_b,DM_ab); + CALL_SUBTEST(check_kronecker_product(DM_ab)); + + // test kroneckerProduct(SM,DM,SM) + SparseMatrix SM_ab(1,20); + SM_ab.insert(0,0)=37.0; + kroneckerProduct(SM_a,DM_b,SM_ab); + CALL_SUBTEST(check_kronecker_product(SM_ab)); + SparseMatrix SM_ab2(10,3); + SM_ab2.insert(0,0)=37.0; + kroneckerProduct(SM_a,DM_b,SM_ab2); + CALL_SUBTEST(check_kronecker_product(SM_ab2)); + + // test kroneckerProduct(DM,SM,SM) + SM_ab.insert(0,0)=37.0; + kroneckerProduct(DM_a,SM_b,SM_ab); + CALL_SUBTEST(check_kronecker_product(SM_ab)); + SM_ab2.insert(0,0)=37.0; + kroneckerProduct(DM_a,SM_b,SM_ab2); + CALL_SUBTEST(check_kronecker_product(SM_ab2)); + + // test kroneckerProduct(SM,SM,SM) + SM_ab.resize(2,33); + SM_ab.insert(0,0)=37.0; + kroneckerProduct(SM_a,SM_b,SM_ab); + CALL_SUBTEST(check_kronecker_product(SM_ab)); + SM_ab2.resize(5,11); + SM_ab2.insert(0,0)=37.0; + kroneckerProduct(SM_a,SM_b,SM_ab2); + CALL_SUBTEST(check_kronecker_product(SM_ab2)); + + // test kroneckerProduct(SM,SM,SM) with sparse pattern + SM_a.resize(4,5); + SM_b.resize(3,2); + SM_a.resizeNonZeros(0); + SM_b.resizeNonZeros(0); + SM_a.insert(1,0) = -0.1; + SM_a.insert(0,3) = -0.2; + SM_a.insert(2,4) = 0.3; + SM_a.finalize(); + SM_b.insert(0,0) = 0.4; + SM_b.insert(2,1) = -0.5; + SM_b.finalize(); + SM_ab.resize(1,1); + SM_ab.insert(0,0)=37.0; + kroneckerProduct(SM_a,SM_b,SM_ab); + CALL_SUBTEST(check_sparse_kronecker_product(SM_ab)); + + // test dimension of result of kroneckerProduct(DM,DM,DM) + MatrixXd DM_a2(2,1); + MatrixXd DM_b2(5,4); + MatrixXd DM_ab2; + kroneckerProduct(DM_a2,DM_b2,DM_ab2); + CALL_SUBTEST(check_dimension(DM_ab2,2*5,1*4)); + DM_a2.resize(10,9); + DM_b2.resize(4,8); + kroneckerProduct(DM_a2,DM_b2,DM_ab2); + CALL_SUBTEST(check_dimension(DM_ab2,10*4,9*8)); +} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp index 996b42a7f..26403c4e6 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp @@ -55,7 +55,7 @@ void test2dRotation(double tol) for (int i=0; i<=20; i++) { angle = static_cast(pow(10, i / 5. - 2)); - B << cos(angle), sin(angle), -sin(angle), cos(angle); + B << std::cos(angle), std::sin(angle), -std::sin(angle), std::cos(angle); C = (angle*A).matrixFunction(expfn); std::cout << "test2dRotation: i = " << i << " error funm = " << relerr(C, B); @@ -146,8 +146,10 @@ void test_matrix_exponential() { CALL_SUBTEST_2(test2dRotation(1e-13)); CALL_SUBTEST_1(test2dRotation(2e-5)); // was 1e-5, relaxed for clang 2.8 / linux / x86-64 + CALL_SUBTEST_8(test2dRotation(1e-13)); CALL_SUBTEST_2(test2dHyperbolicRotation(1e-14)); CALL_SUBTEST_1(test2dHyperbolicRotation(1e-5)); + CALL_SUBTEST_8(test2dHyperbolicRotation(1e-14)); CALL_SUBTEST_6(testPascal(1e-6)); CALL_SUBTEST_5(testPascal(1e-15)); CALL_SUBTEST_2(randomTest(Matrix2d(), 1e-13)); @@ -158,4 +160,5 @@ void test_matrix_exponential() CALL_SUBTEST_5(randomTest(Matrix3cf(), 1e-4)); CALL_SUBTEST_1(randomTest(Matrix4f(), 1e-4)); CALL_SUBTEST_6(randomTest(MatrixXf(8,8), 1e-4)); + CALL_SUBTEST_9(randomTest(Matrix(7,7), 1e-13)); } diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp index 04167abfb..c2ca5d5f1 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp @@ -120,6 +120,26 @@ void testMatrixExponential(const MatrixType& A) VERIFY_IS_APPROX(A.exp(), A.matrixFunction(StdStemFunctions::exp)); } +template +void testMatrixLogarithm(const MatrixType& A) +{ + typedef typename internal::traits::Scalar Scalar; + typedef typename NumTraits::Real RealScalar; + typedef std::complex ComplexScalar; + + MatrixType scaledA; + RealScalar maxImagPartOfSpectrum = A.eigenvalues().imag().cwiseAbs().maxCoeff(); + if (maxImagPartOfSpectrum >= 0.9 * M_PI) + scaledA = A * 0.9 * M_PI / maxImagPartOfSpectrum; + else + scaledA = A; + + // identity X.exp().log() = X only holds if Im(lambda) < pi for all eigenvalues of X + MatrixType expA = scaledA.exp(); + MatrixType logExpA = expA.log(); + VERIFY_IS_APPROX(logExpA, scaledA); +} + template void testHyperbolicFunctions(const MatrixType& A) { @@ -157,6 +177,7 @@ template void testMatrix(const MatrixType& A) { testMatrixExponential(A); + testMatrixLogarithm(A); testHyperbolicFunctions(A); testGonioFunctions(A); } diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp new file mode 100644 index 000000000..8e701aac6 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp @@ -0,0 +1,77 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2011 Jitse Niesen +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "main.h" +#include + +template ::Scalar>::IsComplex> +struct generateTestMatrix; + +// for real matrices, make sure none of the eigenvalues are negative +template +struct generateTestMatrix +{ + static void run(MatrixType& result, typename MatrixType::Index size) + { + MatrixType mat = MatrixType::Random(size, size); + EigenSolver es(mat); + typename EigenSolver::EigenvalueType eivals = es.eigenvalues(); + for (typename MatrixType::Index i = 0; i < size; ++i) { + if (eivals(i).imag() == 0 && eivals(i).real() < 0) + eivals(i) = -eivals(i); + } + result = (es.eigenvectors() * eivals.asDiagonal() * es.eigenvectors().inverse()).real(); + } +}; + +// for complex matrices, any matrix is fine +template +struct generateTestMatrix +{ + static void run(MatrixType& result, typename MatrixType::Index size) + { + result = MatrixType::Random(size, size); + } +}; + +template +void testMatrixSqrt(const MatrixType& m) +{ + MatrixType A; + generateTestMatrix::run(A, m.rows()); + MatrixType sqrtA = A.sqrt(); + VERIFY_IS_APPROX(sqrtA * sqrtA, A); +} + +void test_matrix_square_root() +{ + for (int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_1(testMatrixSqrt(Matrix3cf())); + CALL_SUBTEST_2(testMatrixSqrt(MatrixXcd(12,12))); + CALL_SUBTEST_3(testMatrixSqrt(Matrix4f())); + CALL_SUBTEST_4(testMatrixSqrt(Matrix(9, 9))); + CALL_SUBTEST_5(testMatrixSqrt(Matrix())); + CALL_SUBTEST_5(testMatrixSqrt(Matrix,1,1>())); + } +} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/dlmalloc.c b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/dlmalloc.c index a2c03b533..7ce8feb07 100755 --- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/dlmalloc.c +++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/dlmalloc.c @@ -1267,7 +1267,7 @@ int mspace_mallopt(int, int); #endif /* MSPACES */ #ifdef __cplusplus -}; /* end of extern "C" */ +} /* end of extern "C" */ #endif /* __cplusplus */ /* diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp index 373f23b12..5c23544ef 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp @@ -3,14 +3,15 @@ Project homepage: http://www.holoborodko.com/pavel/ Contact e-mail: pavel@holoborodko.com - Copyright (c) 2008-2010 Pavel Holoborodko + Copyright (c) 2008-2011 Pavel Holoborodko Core Developers: Pavel Holoborodko, Dmitriy Gubanov, Konstantin Holoborodko. Contributors: Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, - Heinz van Saanen, Pere Constans, Peter van Hoof. + Heinz van Saanen, Pere Constans, Peter van Hoof, Gael Guennebaud, + Tsai Chia Cheng, Alexei Zubanov. **************************************************************************** This library is free software; you can redistribute it and/or @@ -27,31 +28,21 @@ License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + **************************************************************************** **************************************************************************** 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. Redistributions of any form whatsoever must retain the following - acknowledgment: - " - This product includes software developed by Pavel Holoborodko - Web: http://www.holoborodko.com/pavel/ - e-mail: pavel@holoborodko.com - " - 4. This software cannot be, by any means, used for any commercial - purpose without the prior permission of the copyright holder. - - Any of the above conditions can be waived if you get permission from - the copyright holder. + 3. The name of the author may be used to endorse or promote products + derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE @@ -66,9 +57,11 @@ SUCH DAMAGE. */ #include -#include #include "mpreal.h" + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) #include "dlmalloc.h" +#endif using std::ws; using std::cerr; @@ -79,62 +72,107 @@ using std::istream; namespace mpfr{ -mp_rnd_t mpreal::default_rnd = mpfr_get_default_rounding_mode(); -mp_prec_t mpreal::default_prec = mpfr_get_default_prec(); +mp_rnd_t mpreal::default_rnd = MPFR_RNDN; //(mpfr_get_default_rounding_mode)(); +mp_prec_t mpreal::default_prec = 64; //(mpfr_get_default_prec)(); int mpreal::default_base = 10; int mpreal::double_bits = -1; + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) bool mpreal::is_custom_malloc = false; +#endif // Default constructor: creates mp number and initializes it to 0. mpreal::mpreal() { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,default_prec); mpfr_set_ui(mp,0,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const mpreal& u) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,mpfr_get_prec(u.mp)); mpfr_set(mp,u.mp,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const mpfr_t u) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,mpfr_get_prec(u)); mpfr_set(mp,u,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const mpf_t u) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); - mpfr_init2(mp,mpf_get_prec(u)); +#endif + + mpfr_init2(mp,(mp_prec_t) mpf_get_prec(u)); // (gmp: mp_bitcnt_t) unsigned long -> long (mpfr: mp_prec_t) mpfr_set_f(mp,u,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const mpz_t u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_z(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const mpq_t u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_q(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const double u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + if(double_bits == -1 || fits_in_bits(u, double_bits)) { mpfr_init2(mp,prec); mpfr_set_d(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } else throw conversion_overflow(); @@ -142,51 +180,121 @@ mpreal::mpreal(const double u, mp_prec_t prec, mp_rnd_t mode) mpreal::mpreal(const long double u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_ld(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const unsigned long int u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_ui(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const unsigned int u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_ui(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const long int u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_si(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const int u, mp_prec_t prec, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_si(mp,u,mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } +#if defined (MPREAL_HAVE_INT64_SUPPORT) +mpreal::mpreal(const uint64_t u, mp_prec_t prec, mp_rnd_t mode) +{ + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) + set_custom_malloc(); +#endif + + mpfr_init2(mp,prec); + mpfr_set_uj(mp, u, mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; +} + +mpreal::mpreal(const int64_t u, mp_prec_t prec, mp_rnd_t mode) +{ + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) + set_custom_malloc(); +#endif + + mpfr_init2(mp,prec); + mpfr_set_sj(mp, u, mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; +} +#endif + mpreal::mpreal(const char* s, mp_prec_t prec, int base, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_str(mp, s, base, mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::mpreal(const std::string& s, mp_prec_t prec, int base, mp_rnd_t mode) { + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif + mpfr_init2(mp,prec); mpfr_set_str(mp, s.c_str(), base, mode); + + MPREAL_MSVC_DEBUGVIEW_CODE; } mpreal::~mpreal() @@ -198,18 +306,22 @@ mpreal::~mpreal() mpreal& mpreal::operator=(const char* s) { mpfr_t t; - + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); +#endif if(0==mpfr_init_set_str(t,s,default_base,default_rnd)) { - // We will rewrite mp anyway, so use flash it and resize - mpfr_set_prec(mp,mpfr_get_prec(t)); //<- added 01.04.2011 + // We will rewrite mp anyway, so flash it and resize + mpfr_set_prec(mp,mpfr_get_prec(t)); mpfr_set(mp,t,mpreal::default_rnd); mpfr_clear(t); + + MPREAL_MSVC_DEBUGVIEW_CODE; + }else{ mpfr_clear(t); - // cerr<<"fail to convert string"<xp?yp:xp); - - mpfr_hypot(a.mp, x.mp, y.mp, rnd_mode); - - return a; -} - const mpreal sum (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode) { mpreal x; @@ -288,21 +385,6 @@ const mpreal sum (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode) return x; } -const mpreal remainder (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode) -{ - mpreal a; - mp_prec_t yp, xp; - - yp = y.get_prec(); - xp = x.get_prec(); - - a.set_prec(yp>xp?yp:xp); - - mpfr_remainder(a.mp, x.mp, y.mp, rnd_mode); - - return a; -} - const mpreal remquo (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode) { mpreal a; @@ -319,36 +401,71 @@ const mpreal remquo (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mod } template -std::string to_string(T t, std::ios_base & (*f)(std::ios_base&)) +std::string toString(T t, std::ios_base & (*f)(std::ios_base&)) { std::ostringstream oss; oss << f << t; return oss.str(); } -mpreal::operator std::string() const +#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) + +std::string mpreal::toString(const std::string& format) const { - return to_string(); + char *s = NULL; + string out; + + if( !format.empty() ) + { + if(!(mpfr_asprintf(&s,format.c_str(),mp) < 0)) + { + out = std::string(s); + + mpfr_free_str(s); + } + } + + return out; } -std::string mpreal::to_string(size_t n, int b, mp_rnd_t mode) const +#endif + +std::string mpreal::toString(int n, int b, mp_rnd_t mode) const { - char *s, *ns = NULL; + (void)b; + (void)mode; +#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) + + // Use MPFR native function for output + char format[128]; + int digits; + + digits = n > 0 ? n : bits2digits(mpfr_get_prec(mp)); + + sprintf(format,"%%.%dRNg",digits); // Default format + + return toString(std::string(format)); + +#else + + char *s, *ns = NULL; size_t slen, nslen; mp_exp_t exp; string out; - + +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) set_custom_malloc(); - +#endif + if(mpfr_inf_p(mp)) { - if(mpfr_sgn(mp)>0) return "+@Inf@"; - else return "-@Inf@"; + if(mpfr_sgn(mp)>0) return "+Inf"; + else return "-Inf"; } if(mpfr_zero_p(mp)) return "0"; - if(mpfr_nan_p(mp)) return "@NaN@"; - + if(mpfr_nan_p(mp)) return "NaN"; + s = mpfr_get_str(NULL,&exp,b,0,mp,mode); ns = mpfr_get_str(NULL,&exp,b,n,mp,mode); @@ -419,8 +536,8 @@ std::string mpreal::to_string(size_t n, int b, mp_rnd_t mode) const // Make final string if(--exp) { - if(exp>0) out += "e+"+mpfr::to_string(exp,std::dec); - else out += "e"+mpfr::to_string(exp,std::dec); + if(exp>0) out += "e+"+mpfr::toString(exp,std::dec); + else out += "e"+mpfr::toString(exp,std::dec); } } @@ -429,79 +546,52 @@ std::string mpreal::to_string(size_t n, int b, mp_rnd_t mode) const }else{ return "conversion error!"; } +#endif } + ////////////////////////////////////////////////////////////////////////// // I/O ostream& operator<<(ostream& os, const mpreal& v) { - return os<(os.precision())); + return os<(os.precision())); } istream& operator>>(istream &is, mpreal& v) { - char c; - string s = ""; - mpfr_t t; - - mpreal::set_custom_malloc(); - - if(is.good()) - { - is>>ws; - while ((c = is.get())!=EOF) - { - if(c ==' ' || c == '\t' || c == '\n' || c == '\r') - { - is.putback(c); - break; - } - s += c; - } - - if(s.size() != 0) - { - // Protect current value from alternation in case of input error - // so some error handling(roll back) procedure can be used - - if(0==mpfr_init_set_str(t,s.c_str(),mpreal::default_base,mpreal::default_rnd)) - { - mpfr_set(v.mp,t,mpreal::default_rnd); - mpfr_clear(t); - - }else{ - mpfr_clear(t); - cerr<<"error reading from istream"<> tmp; + mpfr_set_str(v.mp, tmp.c_str(),mpreal::default_base,mpreal::default_rnd); return is; } -// Optimized dynamic memory allocation/(re-)deallocation. -void * mpreal::mpreal_allocate(size_t alloc_size) -{ - return(dlmalloc(alloc_size)); -} -void * mpreal::mpreal_reallocate(void *ptr, size_t /*old_size*/, size_t new_size) -{ - return(dlrealloc(ptr,new_size)); -} - -void mpreal::mpreal_free(void *ptr, size_t /*size*/) -{ - dlfree(ptr); -} - -inline void mpreal::set_custom_malloc(void) -{ - if(!is_custom_malloc) +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) + // Optimized dynamic memory allocation/(re-)deallocation. + void * mpreal::mpreal_allocate(size_t alloc_size) { - mp_set_memory_functions(mpreal_allocate,mpreal_reallocate,mpreal_free); - is_custom_malloc = true; + return(dlmalloc(alloc_size)); } -} + + void * mpreal::mpreal_reallocate(void *ptr, size_t old_size, size_t new_size) + { + return(dlrealloc(ptr,new_size)); + } + + void mpreal::mpreal_free(void *ptr, size_t size) + { + dlfree(ptr); + } + + inline void mpreal::set_custom_malloc(void) + { + if(!is_custom_malloc) + { + mp_set_memory_functions(mpreal_allocate,mpreal_reallocate,mpreal_free); + is_custom_malloc = true; + } + } +#endif + } diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h index 96f474640..c640af947 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h +++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h @@ -1,16 +1,17 @@ /* - Multi-precision real number class. C++ interface fo MPFR library. + Multi-precision real number class. C++ interface for MPFR library. Project homepage: http://www.holoborodko.com/pavel/ Contact e-mail: pavel@holoborodko.com - Copyright (c) 2008-2010 Pavel Holoborodko + Copyright (c) 2008-2012 Pavel Holoborodko Core Developers: Pavel Holoborodko, Dmitriy Gubanov, Konstantin Holoborodko. Contributors: Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, - Heinz van Saanen, Pere Constans, Peter van Hoof. + Heinz van Saanen, Pere Constans, Peter van Hoof, Gael Guennebaud, + Tsai Chia Cheng, Alexei Zubanov. **************************************************************************** This library is free software; you can redistribute it and/or @@ -39,19 +40,8 @@ notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - 3. Redistributions of any form whatsoever must retain the following - acknowledgment: - " - This product includes software developed by Pavel Holoborodko - Web: http://www.holoborodko.com/pavel/ - e-mail: pavel@holoborodko.com - " - - 4. This software cannot be, by any means, used for any commercial - purpose without the prior permission of the copyright holder. - - Any of the above conditions can be waived if you get permission from - the copyright holder. + 3. The name of the author may be used to endorse or promote products + derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE @@ -66,8 +56,8 @@ SUCH DAMAGE. */ -#ifndef __MP_REAL_H__ -#define __MP_REAL_H__ +#ifndef __MPREAL_H__ +#define __MPREAL_H__ #include #include @@ -76,22 +66,65 @@ #include #include -#include +// Options +#define MPREAL_HAVE_INT64_SUPPORT // int64_t support: available only for MSVC 2010 & GCC +#define MPREAL_HAVE_MSVC_DEBUGVIEW // Enable Debugger Visualizer (valid only for MSVC in "Debug" builds) // Detect compiler using signatures from http://predef.sourceforge.net/ #if defined(__GNUC__) && defined(__INTEL_COMPILER) #define IsInf(x) isinf(x) // Intel ICC compiler on Linux +#elif defined(_MSC_VER) // Microsoft Visual C++ + #define IsInf(x) (!_finite(x)) + #elif defined(__GNUC__) #define IsInf(x) std::isinf(x) // GNU C/C++ -#elif defined(_MSC_VER) - #define IsInf(x) (!_finite(x)) // Microsoft Visual C++ - #else #define IsInf(x) std::isinf(x) // Unknown compiler, just hope for C99 conformance #endif +#if defined(MPREAL_HAVE_INT64_SUPPORT) + + #define MPFR_USE_INTMAX_T // should be defined before mpfr.h + + #if defined(_MSC_VER) // is available only in msvc2010! + #if (_MSC_VER >= 1600) + #include + #else // MPFR relies on intmax_t which is available only in msvc2010 + #undef MPREAL_HAVE_INT64_SUPPORT // Besides, MPFR - MPIR have to be compiled with msvc2010 + #undef MPFR_USE_INTMAX_T // Since we cannot detect this, disable x64 by default + // Someone should change this manually if needed. + #endif + #endif + + #if defined (__MINGW32__) || defined(__MINGW64__) + #include // equivalent to msvc2010 + #elif defined (__GNUC__) + #if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64) + #undef MPREAL_HAVE_INT64_SUPPORT // remove all shaman dances for x64 builds since + #undef MPFR_USE_INTMAX_T // GCC already support x64 as of "long int" is 64-bit integer, nothing left to do + #else + #include // use int64_t, uint64_t otherwise. + #endif + #endif + +#endif + +#if defined(MPREAL_HAVE_MSVC_DEBUGVIEW) && defined(_MSC_VER) && defined(_DEBUG) +#define MPREAL_MSVC_DEBUGVIEW_CODE DebugView = toString() + #define MPREAL_MSVC_DEBUGVIEW_DATA std::string DebugView +#else + #define MPREAL_MSVC_DEBUGVIEW_CODE + #define MPREAL_MSVC_DEBUGVIEW_DATA +#endif + +#include + +#if (MPFR_VERSION < MPFR_VERSION_NUM(3,0,0)) + #include // needed for random() +#endif + namespace mpfr { class mpreal { @@ -99,19 +132,17 @@ private: mpfr_t mp; public: - static mp_rnd_t default_rnd; - static mp_prec_t default_prec; - static int default_base; - static int double_bits; - + static mp_rnd_t default_rnd; + static mp_prec_t default_prec; + static int default_base; + static int double_bits; + public: // Constructors && type conversion mpreal(); mpreal(const mpreal& u); - mpreal(const mpfr_t u); mpreal(const mpf_t u); - mpreal(const mpz_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); mpreal(const mpq_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); mpreal(const double u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); @@ -120,6 +151,12 @@ public: mpreal(const unsigned int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); mpreal(const long int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); mpreal(const int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); + +#if defined (MPREAL_HAVE_INT64_SUPPORT) + mpreal(const uint64_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); + mpreal(const int64_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd); +#endif + mpreal(const char* s, mp_prec_t prec = default_prec, int base = default_base, mp_rnd_t mode = default_rnd); mpreal(const std::string& s, mp_prec_t prec = default_prec, int base = default_base, mp_rnd_t mode = default_rnd); @@ -155,6 +192,18 @@ public: mpreal& operator+=(const unsigned int u); mpreal& operator+=(const long int u); mpreal& operator+=(const int u); + +#if defined (MPREAL_HAVE_INT64_SUPPORT) + mpreal& operator+=(const int64_t u); + mpreal& operator+=(const uint64_t u); + mpreal& operator-=(const int64_t u); + mpreal& operator-=(const uint64_t u); + mpreal& operator*=(const int64_t u); + mpreal& operator*=(const uint64_t u); + mpreal& operator/=(const int64_t u); + mpreal& operator/=(const uint64_t u); +#endif + const mpreal operator+() const; mpreal& operator++ (); const mpreal operator++ (int); @@ -225,29 +274,49 @@ public: friend bool operator == (const mpreal& a, const mpreal& b); friend bool operator != (const mpreal& a, const mpreal& b); + // Optimized specializations for boolean operators + friend bool operator == (const mpreal& a, const unsigned long int b); + friend bool operator == (const mpreal& a, const unsigned int b); + friend bool operator == (const mpreal& a, const long int b); + friend bool operator == (const mpreal& a, const int b); + friend bool operator == (const mpreal& a, const long double b); + friend bool operator == (const mpreal& a, const double b); + // Type Conversion operators - inline operator long double() const; - inline operator double() const; - inline operator float() const; - inline operator unsigned long() const; - inline operator unsigned int() const; - inline operator long() const; - inline operator int() const; - operator std::string() const; - inline operator mpfr_ptr(); + long toLong() const; + unsigned long toULong() const; + double toDouble() const; + long double toLDouble() const; + +#if defined (MPREAL_HAVE_INT64_SUPPORT) + int64_t toInt64() const; + uint64_t toUInt64() const; +#endif + + // Get raw pointers + ::mpfr_ptr mpfr_ptr(); + ::mpfr_srcptr mpfr_srcptr() const; + + // Convert mpreal to string with n significant digits in base b + // n = 0 -> convert with the maximum available digits + std::string toString(int n = 0, int b = default_base, mp_rnd_t mode = default_rnd) const; + +#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) + std::string toString(const std::string& format) const; +#endif // Math Functions - friend const mpreal sqr(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal sqr (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal sqrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal sqrt(const unsigned long int v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal cbrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal root(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal pow(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal pow(const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal pow(const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal pow(const mpreal& a, const long int b, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal pow(const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal pow(const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal pow (const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal pow (const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal pow (const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal pow (const mpreal& a, const long int b, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal pow (const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal pow (const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal fabs(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal abs(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); @@ -264,8 +333,8 @@ public: friend const mpreal exp (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal exp2 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal exp10(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal log1p (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal expm1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal log1p(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal expm1(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal cos(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal sin(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); @@ -279,15 +348,23 @@ public: friend const mpreal asin (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal atan (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal acot (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal asec (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal acsc (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal cosh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal sinh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal tanh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal sech (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal csch (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal coth (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal acosh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal asinh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal atanh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal acosh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal asinh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal atanh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal acoth (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal asech (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal acsch (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal fac_ui (unsigned long int v, mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd); @@ -299,12 +376,12 @@ public: friend const mpreal zeta (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal erf (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal erfc (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal _j0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal _j1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal _jn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal _y0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal _y1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); - friend const mpreal _yn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal besselj0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal besselj1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal besseljn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal bessely0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal bessely1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); + friend const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal fma (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal fms (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal agm (const mpreal& v1, const mpreal& v2, mp_rnd_t rnd_mode = mpreal::default_rnd); @@ -324,9 +401,15 @@ public: friend const mpreal digamma(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal ai(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); friend const mpreal urandom (gmp_randstate_t& state,mp_rnd_t rnd_mode = mpreal::default_rnd); // use gmp_randinit_default() to init state, gmp_randclear() to clear - friend bool _isregular(const mpreal& v); + friend bool isregular(const mpreal& v); #endif - + + // Uniformly distributed random number generation in [0,1] using + // Mersenne-Twister algorithm by default. + // Use parameter to setup seed, e.g.: random((unsigned)time(NULL)) + // Check urandom() for more precise control. + friend const mpreal random(unsigned int seed = 0); + // Exponent and mantissa manipulation friend const mpreal frexp(const mpreal& v, mp_exp_t* exp); friend const mpreal ldexp(const mpreal& v, mp_exp_t exp); @@ -376,22 +459,27 @@ public: #endif // Instance Checkers - friend bool _isnan(const mpreal& v); - friend bool _isinf(const mpreal& v); - friend bool _isnum(const mpreal& v); - friend bool _iszero(const mpreal& v); - friend bool _isint(const mpreal& v); + friend bool isnan (const mpreal& v); + friend bool isinf (const mpreal& v); + friend bool isfinite(const mpreal& v); + + friend bool isnum(const mpreal& v); + friend bool iszero(const mpreal& v); + friend bool isint(const mpreal& v); // Set/Get instance properties inline mp_prec_t get_prec() const; - inline void set_prec(mp_prec_t prec, mp_rnd_t rnd_mode = default_rnd); // Change precision with rounding mode - - // Set mpreal to +-inf, NaN - void set_inf(int sign = +1); - void set_nan(); + inline void set_prec(mp_prec_t prec, mp_rnd_t rnd_mode = default_rnd); // Change precision with rounding mode - // sign = -1 or +1 - void set_sign(int sign, mp_rnd_t rnd_mode = default_rnd); + // Aliases for get_prec(), set_prec() - needed for compatibility with std::complex interface + inline mpreal& setPrecision(int Precision, mp_rnd_t RoundingMode = (mpfr_get_default_rounding_mode)()); + inline int getPrecision() const; + + // Set mpreal to +/- inf, NaN, +/-0 + mpreal& setInf (int Sign = +1); + mpreal& setNan (); + mpreal& setZero (int Sign = +1); + mpreal& setSign (int Sign, mp_rnd_t RoundingMode = (mpfr_get_default_rounding_mode)()); //Exponent mp_exp_t get_exp(); @@ -411,36 +499,25 @@ public: static int get_double_bits(); static void set_default_rnd(mp_rnd_t rnd_mode); static mp_rnd_t get_default_rnd(); - static mp_exp_t get_emin (void); - static mp_exp_t get_emax (void); - static mp_exp_t get_emin_min (void); - static mp_exp_t get_emin_max (void); - static mp_exp_t get_emax_min (void); - static mp_exp_t get_emax_max (void); - static int set_emin (mp_exp_t exp); - static int set_emax (mp_exp_t exp); + static mp_exp_t get_emin (void); + static mp_exp_t get_emax (void); + static mp_exp_t get_emin_min (void); + static mp_exp_t get_emin_max (void); + static mp_exp_t get_emax_min (void); + static mp_exp_t get_emax_max (void); + static int set_emin (mp_exp_t exp); + static int set_emax (mp_exp_t exp); - // Get/Set conversions - // Convert mpreal to string with n significant digits in base b - // n = 0 -> convert with the maximum available digits - std::string to_string(size_t n = 0, int b = default_base, mp_rnd_t mode = default_rnd) const; - // Efficient swapping of two mpreal values friend void swap(mpreal& x, mpreal& y); //Min Max - macros is evil. Needed for systems which defines max and min globally as macros (e.g. Windows) //Hope that globally defined macros use > < operations only - #ifndef max - friend const mpreal max(const mpreal& x, const mpreal& y); - #endif - - #ifndef min - friend const mpreal min(const mpreal& x, const mpreal& y); - #endif - friend const mpreal fmax(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = default_rnd); friend const mpreal fmin(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = default_rnd); +#if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC) + private: // Optimized dynamic memory allocation/(re-)deallocation. static bool is_custom_malloc; @@ -448,6 +525,20 @@ private: static void *mpreal_reallocate (void *ptr, size_t old_size, size_t new_size); static void mpreal_free (void *ptr, size_t size); inline static void set_custom_malloc (void); + +#endif + + +private: + // Human friendly Debug Preview in Visual Studio. + // Put one of these lines: + // + // mpfr::mpreal= ; Show value only + // mpfr::mpreal=, bits ; Show value & precision + // + // at the beginning of + // [Visual Studio Installation Folder]\Common7\Packages\Debugger\autoexp.dat + MPREAL_MSVC_DEBUGVIEW_DATA }; ////////////////////////////////////////////////////////////////////////// @@ -457,190 +548,63 @@ public: std::string why() { return "inexact conversion from floating point"; } }; -////////////////////////////////////////////////////////////////////////// +namespace internal{ + + // Use SFINAE to restrict arithmetic operations instantiation only for numeric types + // This is needed for smooth integration with libraries based on expression templates + template struct result_type {}; + + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + +#if defined (MPREAL_HAVE_INT64_SUPPORT) + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; +#endif +} + // + Addition -const mpreal operator+(const mpreal& a, const mpreal& b); +template +inline const typename internal::result_type::type + operator+(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) += rhs; } -// + Fast specialized addition - implemented through fast += operations -const mpreal operator+(const mpreal& a, const mpz_t b); -const mpreal operator+(const mpreal& a, const mpq_t b); -const mpreal operator+(const mpreal& a, const long double b); -const mpreal operator+(const mpreal& a, const double b); -const mpreal operator+(const mpreal& a, const unsigned long int b); -const mpreal operator+(const mpreal& a, const unsigned int b); -const mpreal operator+(const mpreal& a, const long int b); -const mpreal operator+(const mpreal& a, const int b); -const mpreal operator+(const mpreal& a, const char* b); -const mpreal operator+(const char* a, const mpreal& b); -const std::string operator+(const mpreal& a, const std::string b); -const std::string operator+(const std::string a, const mpreal& b); +template +inline const typename internal::result_type::type + operator+(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) += lhs; } -const mpreal operator+(const mpz_t b, const mpreal& a); -const mpreal operator+(const mpq_t b, const mpreal& a); -const mpreal operator+(const long double b, const mpreal& a); -const mpreal operator+(const double b, const mpreal& a); -const mpreal operator+(const unsigned long int b, const mpreal& a); -const mpreal operator+(const unsigned int b, const mpreal& a); -const mpreal operator+(const long int b, const mpreal& a); -const mpreal operator+(const int b, const mpreal& a); - -////////////////////////////////////////////////////////////////////////// // - Subtraction -const mpreal operator-(const mpreal& a, const mpreal& b); +template +inline const typename internal::result_type::type + operator-(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) -= rhs; } -// - Fast specialized subtraction - implemented through fast -= operations -const mpreal operator-(const mpreal& a, const mpz_t b); -const mpreal operator-(const mpreal& a, const mpq_t b); -const mpreal operator-(const mpreal& a, const long double b); -const mpreal operator-(const mpreal& a, const double b); -const mpreal operator-(const mpreal& a, const unsigned long int b); -const mpreal operator-(const mpreal& a, const unsigned int b); -const mpreal operator-(const mpreal& a, const long int b); -const mpreal operator-(const mpreal& a, const int b); -const mpreal operator-(const mpreal& a, const char* b); -const mpreal operator-(const char* a, const mpreal& b); +template +inline const typename internal::result_type::type + operator-(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) -= rhs; } -const mpreal operator-(const mpz_t b, const mpreal& a); -const mpreal operator-(const mpq_t b, const mpreal& a); -const mpreal operator-(const long double b, const mpreal& a); -//const mpreal operator-(const double b, const mpreal& a); - -////////////////////////////////////////////////////////////////////////// // * Multiplication -const mpreal operator*(const mpreal& a, const mpreal& b); +template +inline const typename internal::result_type::type + operator*(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) *= rhs; } -// * Fast specialized multiplication - implemented through fast *= operations -const mpreal operator*(const mpreal& a, const mpz_t b); -const mpreal operator*(const mpreal& a, const mpq_t b); -const mpreal operator*(const mpreal& a, const long double b); -const mpreal operator*(const mpreal& a, const double b); -const mpreal operator*(const mpreal& a, const unsigned long int b); -const mpreal operator*(const mpreal& a, const unsigned int b); -const mpreal operator*(const mpreal& a, const long int b); -const mpreal operator*(const mpreal& a, const int b); +template +inline const typename internal::result_type::type + operator*(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) *= lhs; } -const mpreal operator*(const mpz_t b, const mpreal& a); -const mpreal operator*(const mpq_t b, const mpreal& a); -const mpreal operator*(const long double b, const mpreal& a); -const mpreal operator*(const double b, const mpreal& a); -const mpreal operator*(const unsigned long int b, const mpreal& a); -const mpreal operator*(const unsigned int b, const mpreal& a); -const mpreal operator*(const long int b, const mpreal& a); -const mpreal operator*(const int b, const mpreal& a); - -////////////////////////////////////////////////////////////////////////// // / Division -const mpreal operator/(const mpreal& a, const mpreal& b); +template +inline const typename internal::result_type::type + operator/(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) /= rhs; } -// / Fast specialized division - implemented through fast /= operations -const mpreal operator/(const mpreal& a, const mpz_t b); -const mpreal operator/(const mpreal& a, const mpq_t b); -const mpreal operator/(const mpreal& a, const long double b); -const mpreal operator/(const mpreal& a, const double b); -const mpreal operator/(const mpreal& a, const unsigned long int b); -const mpreal operator/(const mpreal& a, const unsigned int b); -const mpreal operator/(const mpreal& a, const long int b); -const mpreal operator/(const mpreal& a, const int b); - -const mpreal operator/(const long double b, const mpreal& a); - -////////////////////////////////////////////////////////////////////////// -// Shifts operators - Multiplication/Division by a power of 2 -const mpreal operator<<(const mpreal& v, const unsigned long int k); -const mpreal operator<<(const mpreal& v, const unsigned int k); -const mpreal operator<<(const mpreal& v, const long int k); -const mpreal operator<<(const mpreal& v, const int k); - -const mpreal operator>>(const mpreal& v, const unsigned long int k); -const mpreal operator>>(const mpreal& v, const unsigned int k); -const mpreal operator>>(const mpreal& v, const long int k); -const mpreal operator>>(const mpreal& v, const int k); - -////////////////////////////////////////////////////////////////////////// -// Boolean operators -bool operator < (const mpreal& a, const unsigned long int b); -bool operator < (const mpreal& a, const unsigned int b); -bool operator < (const mpreal& a, const long int b); -bool operator < (const mpreal& a, const int b); -bool operator < (const mpreal& a, const long double b); -bool operator < (const mpreal& a, const double b); - -bool operator < (const unsigned long int a,const mpreal& b); -bool operator < (const unsigned int a, const mpreal& b); -bool operator < (const long int a, const mpreal& b); -bool operator < (const int a, const mpreal& b); -bool operator < (const long double a, const mpreal& b); -bool operator < (const double a, const mpreal& b); - -bool operator > (const mpreal& a, const unsigned long int b); -bool operator > (const mpreal& a, const unsigned int b); -bool operator > (const mpreal& a, const long int b); -bool operator > (const mpreal& a, const int b); -bool operator > (const mpreal& a, const long double b); -bool operator > (const mpreal& a, const double b); - -bool operator > (const unsigned long int a,const mpreal& b); -bool operator > (const unsigned int a, const mpreal& b); -bool operator > (const long int a, const mpreal& b); -bool operator > (const int a, const mpreal& b); -bool operator > (const long double a, const mpreal& b); -bool operator > (const double a, const mpreal& b); - -bool operator >= (const mpreal& a, const unsigned long int b); -bool operator >= (const mpreal& a, const unsigned int b); -bool operator >= (const mpreal& a, const long int b); -bool operator >= (const mpreal& a, const int b); -bool operator >= (const mpreal& a, const long double b); -bool operator >= (const mpreal& a, const double b); - -bool operator >= (const unsigned long int a,const mpreal& b); -bool operator >= (const unsigned int a, const mpreal& b); -bool operator >= (const long int a, const mpreal& b); -bool operator >= (const int a, const mpreal& b); -bool operator >= (const long double a, const mpreal& b); -bool operator >= (const double a, const mpreal& b); - -bool operator <= (const mpreal& a, const unsigned long int b); -bool operator <= (const mpreal& a, const unsigned int b); -bool operator <= (const mpreal& a, const long int b); -bool operator <= (const mpreal& a, const int b); -bool operator <= (const mpreal& a, const long double b); -bool operator <= (const mpreal& a, const double b); - -bool operator <= (const unsigned long int a,const mpreal& b); -bool operator <= (const unsigned int a, const mpreal& b); -bool operator <= (const long int a, const mpreal& b); -bool operator <= (const int a, const mpreal& b); -bool operator <= (const long double a, const mpreal& b); -bool operator <= (const double a, const mpreal& b); - -bool operator == (const mpreal& a, const unsigned long int b); -bool operator == (const mpreal& a, const unsigned int b); -bool operator == (const mpreal& a, const long int b); -bool operator == (const mpreal& a, const int b); -bool operator == (const mpreal& a, const long double b); -bool operator == (const mpreal& a, const double b); - -bool operator == (const unsigned long int a,const mpreal& b); -bool operator == (const unsigned int a, const mpreal& b); -bool operator == (const long int a, const mpreal& b); -bool operator == (const int a, const mpreal& b); -bool operator == (const long double a, const mpreal& b); -bool operator == (const double a, const mpreal& b); - -bool operator != (const mpreal& a, const unsigned long int b); -bool operator != (const mpreal& a, const unsigned int b); -bool operator != (const mpreal& a, const long int b); -bool operator != (const mpreal& a, const int b); -bool operator != (const mpreal& a, const long double b); -bool operator != (const mpreal& a, const double b); - -bool operator != (const unsigned long int a,const mpreal& b); -bool operator != (const unsigned int a, const mpreal& b); -bool operator != (const long int a, const mpreal& b); -bool operator != (const int a, const mpreal& b); -bool operator != (const long double a, const mpreal& b); -bool operator != (const double a, const mpreal& b); +template +inline const typename internal::result_type::type + operator/(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) /= rhs; } ////////////////////////////////////////////////////////////////////////// // sqrt @@ -704,22 +668,45 @@ const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode = mpreal::defaul ////////////////////////////////////////////////////////////////////////// // Estimate machine epsilon for the given precision -inline const mpreal machine_epsilon(mp_prec_t prec = mpreal::default_prec); -inline const mpreal mpreal_min(mp_prec_t prec = mpreal::default_prec); -inline const mpreal mpreal_max(mp_prec_t prec = mpreal::default_prec); +// Returns smallest eps such that 1.0 + eps != 1.0 +inline const mpreal machine_epsilon(mp_prec_t prec = mpreal::get_default_prec()); + +// Returns the positive distance from abs(x) to the next larger in magnitude floating point number of the same precision as x +inline const mpreal machine_epsilon(const mpreal& x); + +inline const mpreal mpreal_min(mp_prec_t prec = mpreal::get_default_prec()); +inline const mpreal mpreal_max(mp_prec_t prec = mpreal::get_default_prec()); +inline bool isEqualFuzzy(const mpreal& a, const mpreal& b, const mpreal& eps); +inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps); ////////////////////////////////////////////////////////////////////////// -// Implementation of inline functions +// Bits - decimal digits relation +// bits = ceil(digits*log[2](10)) +// digits = floor(bits*log[10](2)) + +inline mp_prec_t digits2bits(int d); +inline int bits2digits(mp_prec_t b); + +////////////////////////////////////////////////////////////////////////// +// min, max +const mpreal (max)(const mpreal& x, const mpreal& y); +const mpreal (min)(const mpreal& x, const mpreal& y); + +////////////////////////////////////////////////////////////////////////// +// Implementation ////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////// // Operators - Assignment inline mpreal& mpreal::operator=(const mpreal& v) { - if (this!= &v) + if (this != &v) { - mpfr_set_prec(mp,mpfr_get_prec(v.mp)); + mpfr_clear(mp); + mpfr_init2(mp,mpfr_get_prec(v.mp)); mpfr_set(mp,v.mp,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; } return *this; } @@ -727,24 +714,32 @@ inline mpreal& mpreal::operator=(const mpreal& v) inline mpreal& mpreal::operator=(const mpf_t v) { mpfr_set_f(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator=(const mpz_t v) { mpfr_set_z(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator=(const mpq_t v) { mpfr_set_q(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator=(const long double v) { mpfr_set_ld(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } @@ -753,6 +748,8 @@ inline mpreal& mpreal::operator=(const double v) if(double_bits == -1 || fits_in_bits(v, double_bits)) { mpfr_set_d(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; } else throw conversion_overflow(); @@ -763,24 +760,32 @@ inline mpreal& mpreal::operator=(const double v) inline mpreal& mpreal::operator=(const unsigned long int v) { mpfr_set_ui(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator=(const unsigned int v) { mpfr_set_ui(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator=(const long int v) { mpfr_set_si(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator=(const int v) { mpfr_set_si(mp,v,default_rnd); + + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } @@ -789,70 +794,90 @@ inline mpreal& mpreal::operator=(const int v) inline mpreal& mpreal::operator+=(const mpreal& v) { mpfr_add(mp,mp,v.mp,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+=(const mpf_t u) { *this += mpreal(u); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+=(const mpz_t u) { mpfr_add_z(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+=(const mpq_t u) { mpfr_add_q(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+= (const long double u) { - return *this += mpreal(u); + *this += mpreal(u); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator+= (const double u) { #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) mpfr_add_d(mp,mp,u,default_rnd); - return *this; #else - return *this += mpreal(u); + *this += mpreal(u); #endif + + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator+=(const unsigned long int u) { mpfr_add_ui(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+=(const unsigned int u) { mpfr_add_ui(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+=(const long int u) { mpfr_add_si(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator+=(const int u) { mpfr_add_si(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } -inline const mpreal mpreal::operator+()const -{ - return mpreal(*this); -} +#if defined (MPREAL_HAVE_INT64_SUPPORT) +inline mpreal& mpreal::operator+=(const int64_t u){ *this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator+=(const uint64_t u){ *this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator-=(const int64_t u){ *this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator-=(const uint64_t u){ *this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator*=(const int64_t u){ *this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator*=(const uint64_t u){ *this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator/=(const int64_t u){ *this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +inline mpreal& mpreal::operator/=(const uint64_t u){ *this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } +#endif + +inline const mpreal mpreal::operator+()const { return mpreal(*this); } inline const mpreal operator+(const mpreal& a, const mpreal& b) { @@ -861,111 +886,9 @@ inline const mpreal operator+(const mpreal& a, const mpreal& b) else return mpreal(b) += a; } -inline const std::string operator+(const mpreal& a, const std::string b) -{ - return (std::string)a+b; -} - -inline const std::string operator+(const std::string a, const mpreal& b) -{ - return a+(std::string)b; -} - -inline const mpreal operator+(const mpreal& a, const mpz_t b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const char* b) -{ - return a+mpreal(b); -} - -inline const mpreal operator+(const char* a, const mpreal& b) -{ - return mpreal(a)+b; - -} - -inline const mpreal operator+(const mpreal& a, const mpq_t b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const long double b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const double b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const unsigned long int b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const unsigned int b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const long int b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpreal& a, const int b) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpz_t b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const mpq_t b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const long double b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const double b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const unsigned long int b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const unsigned int b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const long int b, const mpreal& a) -{ - return mpreal(a) += b; -} - -inline const mpreal operator+(const int b, const mpreal& a) -{ - return mpreal(a) += b; -} - inline mpreal& mpreal::operator++() { - *this += 1; - return *this; + return *this += 1; } inline const mpreal mpreal::operator++ (int) @@ -977,8 +900,7 @@ inline const mpreal mpreal::operator++ (int) inline mpreal& mpreal::operator--() { - *this -= 1; - return *this; + return *this -= 1; } inline const mpreal mpreal::operator-- (int) @@ -993,57 +915,68 @@ inline const mpreal mpreal::operator-- (int) inline mpreal& mpreal::operator-= (const mpreal& v) { mpfr_sub(mp,mp,v.mp,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator-=(const mpz_t v) { mpfr_sub_z(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator-=(const mpq_t v) { mpfr_sub_q(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator-=(const long double v) { - return *this -= mpreal(v); + *this -= mpreal(v); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator-=(const double v) { #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) mpfr_sub_d(mp,mp,v,default_rnd); - return *this; #else - return *this -= mpreal(v); + *this -= mpreal(v); #endif + + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator-=(const unsigned long int v) { mpfr_sub_ui(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator-=(const unsigned int v) { mpfr_sub_ui(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator-=(const long int v) { mpfr_sub_si(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator-=(const int v) { mpfr_sub_si(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } @@ -1057,63 +990,14 @@ inline const mpreal mpreal::operator-()const inline const mpreal operator-(const mpreal& a, const mpreal& b) { // prec(a-b) = max(prec(a),prec(b)) - if(a.get_prec()>b.get_prec()) return mpreal(a) -= b; - else return -(mpreal(b) -= a); -} - -inline const mpreal operator-(const mpreal& a, const mpz_t b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const mpq_t b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const long double b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const double b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const unsigned long int b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const unsigned int b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const long int b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpreal& a, const int b) -{ - return mpreal(a) -= b; -} - -inline const mpreal operator-(const mpz_t b, const mpreal& a) -{ - return -(mpreal(a) -= b); -} - -inline const mpreal operator-(const mpq_t b, const mpreal& a) -{ - return -(mpreal(a) -= b); -} - -inline const mpreal operator-(const long double b, const mpreal& a) -{ - return -(mpreal(a) -= b); + if(a.getPrecision() >= b.getPrecision()) + { + return mpreal(a) -= b; + }else{ + mpreal x(a); + x.setPrecision(b.getPrecision()); + return x -= b; + } } inline const mpreal operator-(const double b, const mpreal& a) @@ -1123,7 +1007,7 @@ inline const mpreal operator-(const double b, const mpreal& a) mpfr_d_sub(x.mp,b,a.mp,mpreal::default_rnd); return x; #else - return -(mpreal(a) -= b); + return mpreal(b) -= a; #endif } @@ -1155,160 +1039,81 @@ inline const mpreal operator-(const int b, const mpreal& a) return x; } -inline const mpreal operator-(const mpreal& a, const char* b) -{ - return a-mpreal(b); -} - -inline const mpreal operator-(const char* a, const mpreal& b) -{ - return mpreal(a)-b; -} - ////////////////////////////////////////////////////////////////////////// // * Multiplication inline mpreal& mpreal::operator*= (const mpreal& v) { mpfr_mul(mp,mp,v.mp,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator*=(const mpz_t v) { mpfr_mul_z(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator*=(const mpq_t v) { mpfr_mul_q(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator*=(const long double v) { - return *this *= mpreal(v); + *this *= mpreal(v); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator*=(const double v) { #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) mpfr_mul_d(mp,mp,v,default_rnd); - return *this; #else - return *this *= mpreal(v); + *this *= mpreal(v); #endif + + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator*=(const unsigned long int v) { mpfr_mul_ui(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator*=(const unsigned int v) { mpfr_mul_ui(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator*=(const long int v) { mpfr_mul_si(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator*=(const int v) { mpfr_mul_si(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline const mpreal operator*(const mpreal& a, const mpreal& b) { // prec(a*b) = max(prec(a),prec(b)) - if(a.get_prec()>b.get_prec()) return mpreal(a) *= b; - else return mpreal(b) *= a; -} - -inline const mpreal operator*(const mpreal& a, const mpz_t b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const mpq_t b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const long double b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const double b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const unsigned long int b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const unsigned int b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const long int b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpreal& a, const int b) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpz_t b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const mpq_t b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const long double b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const double b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const unsigned long int b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const unsigned int b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const long int b, const mpreal& a) -{ - return mpreal(a) *= b; -} - -inline const mpreal operator*(const int b, const mpreal& a) -{ - return mpreal(a) *= b; + if(a.getPrecision() >= b.getPrecision()) return mpreal(a) *= b; + else return mpreal(b) *= a; } ////////////////////////////////////////////////////////////////////////// @@ -1316,112 +1121,82 @@ inline const mpreal operator*(const int b, const mpreal& a) inline mpreal& mpreal::operator/=(const mpreal& v) { mpfr_div(mp,mp,v.mp,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator/=(const mpz_t v) { mpfr_div_z(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator/=(const mpq_t v) { mpfr_div_q(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator/=(const long double v) { - return *this /= mpreal(v); + *this /= mpreal(v); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator/=(const double v) { #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) mpfr_div_d(mp,mp,v,default_rnd); - return *this; #else - return *this /= mpreal(v); + *this /= mpreal(v); #endif + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mpreal& mpreal::operator/=(const unsigned long int v) { mpfr_div_ui(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator/=(const unsigned int v) { mpfr_div_ui(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator/=(const long int v) { mpfr_div_si(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator/=(const int v) { mpfr_div_si(mp,mp,v,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline const mpreal operator/(const mpreal& a, const mpreal& b) { - mpreal x(a); - mp_prec_t pb; - mp_prec_t pa; - // prec(a/b) = max(prec(a),prec(b)) - pa = a.get_prec(); - pb = b.get_prec(); - if(pb>pa) x.set_prec(pb); + if(a.getPrecision() >= b.getPrecision()) + { + return mpreal(a) /= b; + }else{ - return x /= b; -} - -inline const mpreal operator/(const mpreal& a, const mpz_t b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const mpq_t b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const long double b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const double b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const unsigned long int b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const unsigned int b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const long int b) -{ - return mpreal(a) /= b; -} - -inline const mpreal operator/(const mpreal& a, const int b) -{ - return mpreal(a) /= b; + mpreal x(a); + x.setPrecision(b.getPrecision()); + return x /= b; + } } inline const mpreal operator/(const unsigned long int b, const mpreal& a) @@ -1452,12 +1227,6 @@ inline const mpreal operator/(const int b, const mpreal& a) return x; } -inline const mpreal operator/(const long double b, const mpreal& a) -{ - mpreal x(b); - return x/a; -} - inline const mpreal operator/(const double b, const mpreal& a) { #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0)) @@ -1465,8 +1234,7 @@ inline const mpreal operator/(const double b, const mpreal& a) mpfr_d_div(x.mp,b,a.mp,mpreal::default_rnd); return x; #else - mpreal x(b); - return x/a; + return mpreal(b) /= a; #endif } @@ -1475,48 +1243,56 @@ inline const mpreal operator/(const double b, const mpreal& a) inline mpreal& mpreal::operator<<=(const unsigned long int u) { mpfr_mul_2ui(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator<<=(const unsigned int u) { mpfr_mul_2ui(mp,mp,static_cast(u),default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator<<=(const long int u) { mpfr_mul_2si(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator<<=(const int u) { mpfr_mul_2si(mp,mp,static_cast(u),default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator>>=(const unsigned long int u) { mpfr_div_2ui(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator>>=(const unsigned int u) { mpfr_div_2ui(mp,mp,static_cast(u),default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator>>=(const long int u) { mpfr_div_2si(mp,mp,u,default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } inline mpreal& mpreal::operator>>=(const int u) { mpfr_div_2si(mp,mp,static_cast(u),default_rnd); + MPREAL_MSVC_DEBUGVIEW_CODE; return *this; } @@ -1592,468 +1368,67 @@ inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode) ////////////////////////////////////////////////////////////////////////// //Boolean operators -inline bool operator > (const mpreal& a, const mpreal& b) -{ - return (mpfr_greater_p(a.mp,b.mp)!=0); -} - -inline bool operator > (const mpreal& a, const unsigned long int b) -{ - return a>mpreal(b); -} - -inline bool operator > (const mpreal& a, const unsigned int b) -{ - return a>mpreal(b); -} - -inline bool operator > (const mpreal& a, const long int b) -{ - return a>mpreal(b); -} - -inline bool operator > (const mpreal& a, const int b) -{ - return a>mpreal(b); -} - -inline bool operator > (const mpreal& a, const long double b) -{ - return a>mpreal(b); -} - -inline bool operator > (const mpreal& a, const double b) -{ - return a>mpreal(b); -} - -inline bool operator > (const unsigned long int a, const mpreal& b) -{ - return mpreal(a)>b; -} - -inline bool operator > (const unsigned int a, const mpreal& b) -{ - return mpreal(a)>b; -} - -inline bool operator > (const long int a, const mpreal& b) -{ - return mpreal(a)>b; -} - -inline bool operator > (const int a, const mpreal& b) -{ - return mpreal(a)>b; -} - -inline bool operator > (const long double a, const mpreal& b) -{ - return mpreal(a)>b; -} - -inline bool operator > (const double a, const mpreal& b) -{ - return mpreal(a)>b; -} - -inline bool operator >= (const mpreal& a, const mpreal& b) -{ - return (mpfr_greaterequal_p(a.mp,b.mp)!=0); -} - -inline bool operator >= (const mpreal& a, const unsigned long int b) -{ - return a>=mpreal(b); -} - -inline bool operator >= (const mpreal& a, const unsigned int b) -{ - return a>=mpreal(b); -} - -inline bool operator >= (const mpreal& a, const long int b) -{ - return a>=mpreal(b); -} - -inline bool operator >= (const mpreal& a, const int b) -{ - return a>=mpreal(b); -} - -inline bool operator >= (const mpreal& a, const long double b) -{ - return a>=mpreal(b); -} - -inline bool operator >= (const mpreal& a, const double b) -{ - return a>=mpreal(b); -} - -inline bool operator >= (const unsigned long int a,const mpreal& b) -{ - return mpreal(a)>=b; -} - -inline bool operator >= (const unsigned int a, const mpreal& b) -{ - return mpreal(a)>=b; -} - -inline bool operator >= (const long int a, const mpreal& b) -{ - return mpreal(a)>=b; -} - -inline bool operator >= (const int a, const mpreal& b) -{ - return mpreal(a)>=b; -} - -inline bool operator >= (const long double a, const mpreal& b) -{ - return mpreal(a)>=b; -} - -inline bool operator >= (const double a, const mpreal& b) -{ - return mpreal(a)>=b; -} - -inline bool operator < (const mpreal& a, const mpreal& b) -{ - return (mpfr_less_p(a.mp,b.mp)!=0); -} - -inline bool operator < (const mpreal& a, const unsigned long int b) -{ - return a (const mpreal& a, const mpreal& b){ return (mpfr_greater_p(a.mp,b.mp) !=0); } +inline bool operator >= (const mpreal& a, const mpreal& b){ return (mpfr_greaterequal_p(a.mp,b.mp) !=0); } +inline bool operator < (const mpreal& a, const mpreal& b){ return (mpfr_less_p(a.mp,b.mp) !=0); } +inline bool operator <= (const mpreal& a, const mpreal& b){ return (mpfr_lessequal_p(a.mp,b.mp) !=0); } +inline bool operator == (const mpreal& a, const mpreal& b){ return (mpfr_equal_p(a.mp,b.mp) !=0); } +inline bool operator != (const mpreal& a, const mpreal& b){ return (mpfr_lessgreater_p(a.mp,b.mp) !=0); } + +inline bool operator == (const mpreal& a, const unsigned long int b ){ return (mpfr_cmp_ui(a.mp,b) == 0); } +inline bool operator == (const mpreal& a, const unsigned int b ){ return (mpfr_cmp_ui(a.mp,b) == 0); } +inline bool operator == (const mpreal& a, const long int b ){ return (mpfr_cmp_si(a.mp,b) == 0); } +inline bool operator == (const mpreal& a, const int b ){ return (mpfr_cmp_si(a.mp,b) == 0); } +inline bool operator == (const mpreal& a, const long double b ){ return (mpfr_cmp_ld(a.mp,b) == 0); } +inline bool operator == (const mpreal& a, const double b ){ return (mpfr_cmp_d(a.mp,b) == 0); } + + +inline bool isnan (const mpreal& v){ return (mpfr_nan_p(v.mp) != 0); } +inline bool isinf (const mpreal& v){ return (mpfr_inf_p(v.mp) != 0); } +inline bool isfinite(const mpreal& v){ return (mpfr_number_p(v.mp) != 0); } +inline bool iszero (const mpreal& v){ return (mpfr_zero_p(v.mp) != 0); } +inline bool isint (const mpreal& v){ return (mpfr_integer_p(v.mp) != 0); } #if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0)) -inline bool _isregular(const mpreal& v) -{ - return (mpfr_regular_p(v.mp)); -} -#endif // MPFR 3.0.0 Specifics +inline bool isregular(const mpreal& v){ return (mpfr_regular_p(v.mp));} +#endif ////////////////////////////////////////////////////////////////////////// // Type Converters -inline mpreal::operator double() const +inline long mpreal::toLong() const { return mpfr_get_si(mp,GMP_RNDZ); } +inline unsigned long mpreal::toULong() const { return mpfr_get_ui(mp,GMP_RNDZ); } +inline double mpreal::toDouble() const { return mpfr_get_d(mp,default_rnd); } +inline long double mpreal::toLDouble() const { return mpfr_get_ld(mp,default_rnd); } + +#if defined (MPREAL_HAVE_INT64_SUPPORT) +inline int64_t mpreal::toInt64() const{ return mpfr_get_sj(mp,GMP_RNDZ); } +inline uint64_t mpreal::toUInt64() const{ return mpfr_get_uj(mp,GMP_RNDZ); } +#endif + +inline ::mpfr_ptr mpreal::mpfr_ptr() { return mp; } +inline ::mpfr_srcptr mpreal::mpfr_srcptr() const { return const_cast< ::mpfr_srcptr >(mp); } + +////////////////////////////////////////////////////////////////////////// +// Bits - decimal digits relation +// bits = ceil(digits*log[2](10)) +// digits = floor(bits*log[10](2)) + +inline mp_prec_t digits2bits(int d) { - return mpfr_get_d(mp,default_rnd); + const double LOG2_10 = 3.3219280948873624; + + d = 10>d?10:d; + + return (mp_prec_t)std::ceil((d)*LOG2_10); } -inline mpreal::operator float() const +inline int bits2digits(mp_prec_t b) { - return (float)mpfr_get_d(mp,default_rnd); -} + const double LOG10_2 = 0.30102999566398119; -inline mpreal::operator long double() const -{ - return mpfr_get_ld(mp,default_rnd); -} + b = 34>b?34:b; -inline mpreal::operator unsigned long() const -{ - return mpfr_get_ui(mp,GMP_RNDZ); -} - -inline mpreal::operator unsigned int() const -{ - return static_cast(mpfr_get_ui(mp,GMP_RNDZ)); -} - -inline mpreal::operator long() const -{ - return mpfr_get_si(mp,GMP_RNDZ); -} - -inline mpreal::operator int() const -{ - return static_cast(mpfr_get_si(mp,GMP_RNDZ)); -} - -inline mpreal::operator mpfr_ptr() -{ - return mp; + return (int)std::floor((b)*LOG10_2); } ////////////////////////////////////////////////////////////////////////// @@ -2064,9 +1439,44 @@ inline int sgn(const mpreal& v) return (r>0?-1:1); } -inline void mpreal::set_sign(int sign, mp_rnd_t rnd_mode) +inline mpreal& mpreal::setSign(int sign, mp_rnd_t RoundingMode) { - mpfr_setsign(mp,mp,(sign<0?1:0),rnd_mode); + mpfr_setsign(mp,mp,(sign<0?1:0),RoundingMode); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; +} + +inline int mpreal::getPrecision() const +{ + return mpfr_get_prec(mp); +} + +inline mpreal& mpreal::setPrecision(int Precision, mp_rnd_t RoundingMode) +{ + mpfr_prec_round(mp,Precision, RoundingMode); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; +} + +inline mpreal& mpreal::setInf(int sign) +{ + mpfr_set_inf(mp,sign); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; +} + +inline mpreal& mpreal::setNan() +{ + mpfr_set_nan(mp); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; +} + +inline mpreal& mpreal::setZero(int sign) +{ + mpfr_set_zero(mp,sign); + MPREAL_MSVC_DEBUGVIEW_CODE; + return *this; } inline mp_prec_t mpreal::get_prec() const @@ -2077,16 +1487,7 @@ inline mp_prec_t mpreal::get_prec() const inline void mpreal::set_prec(mp_prec_t prec, mp_rnd_t rnd_mode) { mpfr_prec_round(mp,prec,rnd_mode); -} - -inline void mpreal::set_inf(int sign) -{ - mpfr_set_inf(mp,sign); -} - -inline void mpreal::set_nan() -{ - mpfr_set_nan(mp); + MPREAL_MSVC_DEBUGVIEW_CODE; } inline mp_exp_t mpreal::get_exp () @@ -2096,7 +1497,9 @@ inline mp_exp_t mpreal::get_exp () inline int mpreal::set_exp (mp_exp_t e) { - return mpfr_set_exp(mp,e); + int x = mpfr_set_exp(mp, e); + MPREAL_MSVC_DEBUGVIEW_CODE; + return x; } inline const mpreal frexp(const mpreal& v, mp_exp_t* exp) @@ -2120,16 +1523,24 @@ inline const mpreal machine_epsilon(mp_prec_t prec) { // the smallest eps such that 1.0+eps != 1.0 // depends (of cause) on the precision - mpreal x(1,prec); - return nextabove(x)-x; + return machine_epsilon(mpreal(1,prec)); +} + +inline const mpreal machine_epsilon(const mpreal& x) +{ + if( x < 0) + { + return nextabove(-x)+x; + }else{ + return nextabove(x)-x; + } } inline const mpreal mpreal_min(mp_prec_t prec) { // min = 1/2*2^emin = 2^(emin-1) - - mpreal x(1,prec); - return x <<= mpreal::get_emin()-1; + + return mpreal(1,prec) << mpreal::get_emin()-1; } inline const mpreal mpreal_max(mp_prec_t prec) @@ -2138,8 +1549,25 @@ inline const mpreal mpreal_max(mp_prec_t prec) // and use emax-1 to prevent value to be +inf // max = 2^(emax-1) - mpreal x(1,prec); - return x <<= mpreal::get_emax()-1; + return mpreal(1,prec) << mpreal::get_emax()-1; +} + +inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps) +{ + /* + maxUlps - a and b can be apart by maxUlps binary numbers. + */ + return abs(a - b) <= machine_epsilon((max)(abs(a), abs(b))) * maxUlps; +} + +inline bool isEqualFuzzy(const mpreal& a, const mpreal& b, const mpreal& eps) +{ + return abs(a - b) <= (min)(abs(a), abs(b)) * eps; +} + +inline bool isEqualFuzzy(const mpreal& a, const mpreal& b) +{ + return isEqualFuzzy(a,b,machine_epsilon((std::min)(abs(a), abs(b)))); } inline const mpreal modf(const mpreal& v, mpreal& n) @@ -2159,7 +1587,9 @@ inline int mpreal::check_range (int t, mp_rnd_t rnd_mode) inline int mpreal::subnormalize (int t,mp_rnd_t rnd_mode) { - return mpfr_subnormalize(mp,t,rnd_mode); + int r = mpfr_subnormalize(mp,t,rnd_mode); + MPREAL_MSVC_DEBUGVIEW_CODE; + return r; } inline mp_exp_t mpreal::get_emin (void) @@ -2234,13 +1664,13 @@ inline const mpreal sqrt(const unsigned int v, mp_rnd_t rnd_mode) inline const mpreal sqrt(const long int v, mp_rnd_t rnd_mode) { if (v>=0) return sqrt(static_cast(v),rnd_mode); - else return mpreal(); // NaN + else return mpreal().setNan(); // NaN } inline const mpreal sqrt(const int v, mp_rnd_t rnd_mode) { if (v>=0) return sqrt(static_cast(v),rnd_mode); - else return mpreal(); // NaN + else return mpreal().setNan(); // NaN } inline const mpreal sqrt(const long double v, mp_rnd_t rnd_mode) @@ -2403,6 +1833,36 @@ inline const mpreal atan (const mpreal& v, mp_rnd_t rnd_mode) return x; } +inline const mpreal acot (const mpreal& v, mp_rnd_t rnd_mode) +{ + return atan(1/v, rnd_mode); +} + +inline const mpreal asec (const mpreal& v, mp_rnd_t rnd_mode) +{ + return acos(1/v, rnd_mode); +} + +inline const mpreal acsc (const mpreal& v, mp_rnd_t rnd_mode) +{ + return asin(1/v, rnd_mode); +} + +inline const mpreal acoth (const mpreal& v, mp_rnd_t rnd_mode) +{ + return atanh(1/v, rnd_mode); +} + +inline const mpreal asech (const mpreal& v, mp_rnd_t rnd_mode) +{ + return acosh(1/v, rnd_mode); +} + +inline const mpreal acsch (const mpreal& v, mp_rnd_t rnd_mode) +{ + return asinh(1/v, rnd_mode); +} + inline const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode) { mpreal a; @@ -2481,6 +1941,36 @@ inline const mpreal atanh (const mpreal& v, mp_rnd_t rnd_mode) return x; } +inline const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode) +{ + mpreal a; + mp_prec_t yp, xp; + + yp = y.get_prec(); + xp = x.get_prec(); + + a.set_prec(yp>xp?yp:xp); + + mpfr_hypot(a.mp, x.mp, y.mp, rnd_mode); + + return a; +} + +inline const mpreal remainder (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode) +{ + mpreal a; + mp_prec_t yp, xp; + + yp = y.get_prec(); + xp = x.get_prec(); + + a.set_prec(yp>xp?yp:xp); + + mpfr_remainder(a.mp, x.mp, y.mp, rnd_mode); + + return a; +} + inline const mpreal fac_ui (unsigned long int v, mp_prec_t prec, mp_rnd_t rnd_mode) { mpreal x(0,prec); @@ -2509,11 +1999,15 @@ inline const mpreal eint (const mpreal& v, mp_rnd_t rnd_mode) return x; } -inline const mpreal gamma (const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal gamma (const mpreal& x, mp_rnd_t rnd_mode) { - mpreal x(v); - mpfr_gamma(x.mp,v.mp,rnd_mode); - return x; + mpreal FunctionValue(x); + + // x < 0: gamma(-x) = -pi/(x * gamma(x) * sin(pi*x)) + + mpfr_gamma(FunctionValue.mp, x.mp, rnd_mode); + + return FunctionValue; } inline const mpreal lngamma (const mpreal& v, mp_rnd_t rnd_mode) @@ -2557,42 +2051,42 @@ inline const mpreal erfc (const mpreal& v, mp_rnd_t rnd_mode) return x; } -inline const mpreal _j0 (const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal besselj0 (const mpreal& v, mp_rnd_t rnd_mode) { mpreal x(v); mpfr_j0(x.mp,v.mp,rnd_mode); return x; } -inline const mpreal _j1 (const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal besselj1 (const mpreal& v, mp_rnd_t rnd_mode) { mpreal x(v); mpfr_j1(x.mp,v.mp,rnd_mode); return x; } -inline const mpreal _jn (long n, const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal besseljn (long n, const mpreal& v, mp_rnd_t rnd_mode) { mpreal x(v); mpfr_jn(x.mp,n,v.mp,rnd_mode); return x; } -inline const mpreal _y0 (const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal bessely0 (const mpreal& v, mp_rnd_t rnd_mode) { mpreal x(v); mpfr_y0(x.mp,v.mp,rnd_mode); return x; } -inline const mpreal _y1 (const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal bessely1 (const mpreal& v, mp_rnd_t rnd_mode) { mpreal x(v); mpfr_y1(x.mp,v.mp,rnd_mode); return x; } -inline const mpreal _yn (long n, const mpreal& v, mp_rnd_t rnd_mode) +inline const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode) { mpreal x(v); mpfr_yn(x.mp,n,v.mp,rnd_mode); @@ -2780,7 +2274,6 @@ inline void swap(mpreal& a, mpreal& b) mpfr_swap(a.mp,b.mp); } - inline const mpreal (max)(const mpreal& x, const mpreal& y) { return (x>y?x:y); @@ -2835,7 +2328,7 @@ inline const mpreal urandomb (gmp_randstate_t& state) #if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0)) // use gmp_randinit_default() to init state, gmp_randclear() to clear -inline const mpreal urandom (gmp_randstate_t& state,mp_rnd_t rnd_mode) +inline const mpreal urandom (gmp_randstate_t& state, mp_rnd_t rnd_mode) { mpreal x; mpfr_urandom(x.mp,state,rnd_mode); @@ -2852,6 +2345,34 @@ inline const mpreal random2 (mp_size_t size, mp_exp_t exp) } #endif +// Uniformly distributed random number generation +// a = random(seed); <- initialization & first random number generation +// a = random(); <- next random numbers generation +// seed != 0 +inline const mpreal random(unsigned int seed) +{ + +#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0)) + static gmp_randstate_t state; + static bool isFirstTime = true; + + if(isFirstTime) + { + gmp_randinit_default(state); + gmp_randseed_ui(state,0); + isFirstTime = false; + } + + if(seed != 0) gmp_randseed_ui(state,seed); + + return mpfr::urandom(state); +#else + if(seed != 0) std::srand(seed); + return mpfr::mpreal(std::rand()/(double)RAND_MAX); +#endif + +} + ////////////////////////////////////////////////////////////////////////// // Set/Get global properties inline void mpreal::set_default_prec(mp_prec_t prec) @@ -2862,7 +2383,7 @@ inline void mpreal::set_default_prec(mp_prec_t prec) inline mp_prec_t mpreal::get_default_prec() { - return mpfr_get_default_prec(); + return (mpfr_get_default_prec)(); } inline void mpreal::set_default_base(int base) @@ -2883,7 +2404,7 @@ inline void mpreal::set_default_rnd(mp_rnd_t rnd_mode) inline mp_rnd_t mpreal::get_default_rnd() { - return mpfr_get_default_rounding_mode(); + return static_cast((mpfr_get_default_rounding_mode)()); } inline void mpreal::set_double_bits(int dbits) @@ -3197,8 +2718,7 @@ inline const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode) { return pow(mpreal(a),static_cast(b),rnd_mode); // mpfr_pow_si } - -} +} // End of mpfr namespace // Explicit specialization of std::swap for mpreal numbers // Thus standard algorithms will use efficient version of swap (due to Koenig lookup) @@ -3212,4 +2732,4 @@ namespace std } } -#endif /* __MP_REAL_H__ */ +#endif /* __MPREAL_H__ */ diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal_support.cpp b/gtsam/3rdparty/Eigen/unsupported/test/mpreal_support.cpp index 53d388821..551af9db8 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal_support.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal_support.cpp @@ -2,6 +2,7 @@ #include #include #include +#include using namespace mpfr; using namespace std; @@ -24,6 +25,15 @@ void test_mpreal_support() MatrixXmp B = MatrixXmp::Random(s,s); MatrixXmp S = A.adjoint() * A; MatrixXmp X; + + // Basic stuffs + VERIFY_IS_APPROX(A.real(), A); + VERIFY(Eigen::internal::isApprox(A.array().abs2().sum(), A.squaredNorm())); + VERIFY_IS_APPROX(A.array().exp(), exp(A.array())); + VERIFY_IS_APPROX(A.array().abs2().sqrt(), A.array().abs()); + VERIFY_IS_APPROX(A.array().sin(), sin(A.array())); + VERIFY_IS_APPROX(A.array().cos(), cos(A.array())); + // Cholesky X = S.selfadjointView().llt().solve(B); @@ -39,6 +49,13 @@ void test_mpreal_support() VERIFY_IS_APPROX((S.selfadjointView() * eig.eigenvectors()), eig.eigenvectors() * eig.eigenvalues().asDiagonal()); } + + { + MatrixXmp A(8,3); A.setRandom(); + // test output (interesting things happen in this code) + std::stringstream stream; + stream << A; + } } extern "C" { diff --git a/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp b/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp index 54b6657c9..28e034179 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp @@ -27,10 +27,6 @@ #include #include -#ifdef HAS_GSL -#include "gsl_helper.h" -#endif - using namespace std; namespace Eigen { @@ -73,32 +69,6 @@ bool aux_evalSolver( const POLYNOMIAL& pols, SOLVER& psolve ) cerr << endl; } - #ifdef HAS_GSL - if (internal::is_same< Scalar, double>::value) - { - typedef GslTraits Gsl; - RootsType gslRoots(deg); - Gsl::eigen_poly_solve( pols, gslRoots ); - EvalRootsType gslEvr( deg ); - for( int i=0; i() ); - if( !evalToZero ) - { - if( !gslEvalToZero ){ - cerr << "GSL also failed" << endl; } - else{ - cerr << "GSL did NOT failed" << endl; } - cerr << "GSL roots found: " << gslRoots.transpose() << endl; - cerr << "Abs value of the polynomial at the GSL roots: " << gslEvr.transpose() << endl; - cerr << endl; - } - } - #endif //< HAS_GSL - - std::vector rootModuli( roots.size() ); Map< EvalRootsType > aux( &rootModuli[0], roots.size() ); aux = roots.array().abs(); diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp index b1fd481e8..6c5c888ae 100644 --- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp +++ b/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp @@ -22,7 +22,11 @@ // License and a copy of the GNU General Public License along with // Eigen. If not, see . -#include "sparse.h" + +// import basic and product tests for deprectaed DynamicSparseMatrix +#define EIGEN_NO_DEPRECATED_WARNING +#include "sparse_basic.cpp" +#include "sparse_product.cpp" #include template @@ -145,10 +149,16 @@ template void sparse_extra(const SparseMatrixType& re void test_sparse_extra() { for(int i = 0; i < g_repeat; i++) { + int s = Eigen::internal::random(1,50); CALL_SUBTEST_1( sparse_extra(SparseMatrix(8, 8)) ); - CALL_SUBTEST_2( sparse_extra(SparseMatrix >(16, 16)) ); - CALL_SUBTEST_1( sparse_extra(SparseMatrix(33, 33)) ); + CALL_SUBTEST_2( sparse_extra(SparseMatrix >(s, s)) ); + CALL_SUBTEST_1( sparse_extra(SparseMatrix(s, s)) ); - CALL_SUBTEST_3( sparse_extra(DynamicSparseMatrix(8, 8)) ); + CALL_SUBTEST_3( sparse_extra(DynamicSparseMatrix(s, s)) ); +// CALL_SUBTEST_3(( sparse_basic(DynamicSparseMatrix(s, s)) )); +// CALL_SUBTEST_3(( sparse_basic(DynamicSparseMatrix(s, s)) )); + + CALL_SUBTEST_3( (sparse_product >()) ); + CALL_SUBTEST_3( (sparse_product >()) ); } } diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp deleted file mode 100644 index 03a26bcd2..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp +++ /dev/null @@ -1,175 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#include "sparse.h" -#include - -#ifdef EIGEN_CHOLMOD_SUPPORT -#include -#endif - -template void sparse_ldlt(int rows, int cols) -{ - static bool odd = true; - odd = !odd; - double density = (std::max)(8./(rows*cols), 0.01); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - - SparseMatrix m2(rows, cols); - DenseMatrix refMat2(rows, cols); - - DenseVector b = DenseVector::Random(cols); - DenseVector refX(cols), x(cols); - - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeUpperTriangular, 0, 0); - - SparseMatrix m3 = m2 * m2.adjoint(), m3_lo(rows,rows), m3_up(rows,rows); - DenseMatrix refMat3 = refMat2 * refMat2.adjoint(); - - refX = refMat3.template selfadjointView().ldlt().solve(b); - typedef SparseMatrix SparseSelfAdjointMatrix; - x = b; - SparseLDLT ldlt(m3); - if (ldlt.succeeded()) - ldlt.solveInPlace(x); - else - std::cerr << "warning LDLT failed\n"; - - VERIFY_IS_APPROX(refMat3.template selfadjointView() * x, b); - VERIFY(refX.isApprox(x,test_precision()) && "LDLT: default"); - -#ifdef EIGEN_CHOLMOD_SUPPORT - { - x = b; - SparseLDLT ldlt2(m3); - if (ldlt2.succeeded()) - { - ldlt2.solveInPlace(x); - VERIFY_IS_APPROX(refMat3.template selfadjointView() * x, b); - VERIFY(refX.isApprox(x,test_precision()) && "LDLT: cholmod solveInPlace"); - - x = ldlt2.solve(b); - VERIFY_IS_APPROX(refMat3.template selfadjointView() * x, b); - VERIFY(refX.isApprox(x,test_precision()) && "LDLT: cholmod solve"); - } - else - std::cerr << "warning LDLT failed\n"; - } -#endif - - // new Simplicial LLT - - - // new API - { - SparseMatrix m2(rows, cols); - DenseMatrix refMat2(rows, cols); - - DenseVector b = DenseVector::Random(cols); - DenseVector ref_x(cols), x(cols); - DenseMatrix B = DenseMatrix::Random(rows,cols); - DenseMatrix ref_X(rows,cols), X(rows,cols); - - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular, 0, 0); - - for(int i=0; i m3 = m2 * m2.adjoint(), m3_lo(rows,rows), m3_up(rows,rows); - DenseMatrix refMat3 = refMat2 * refMat2.adjoint(); - - m3_lo.template selfadjointView().rankUpdate(m2,0); - m3_up.template selfadjointView().rankUpdate(m2,0); - - // with a single vector as the rhs - ref_x = refMat3.template selfadjointView().llt().solve(b); - - x = SimplicialCholesky, Lower>().setMode(odd ? SimplicialCholeskyLLt : SimplicialCholeskyLDLt).compute(m3).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "SimplicialCholesky: solve, full storage, lower, single dense rhs"); - - x = SimplicialCholesky, Upper>().setMode(odd ? SimplicialCholeskyLLt : SimplicialCholeskyLDLt).compute(m3).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "SimplicialCholesky: solve, full storage, upper, single dense rhs"); - - x = SimplicialCholesky, Lower>(m3_lo).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "SimplicialCholesky: solve, lower only, single dense rhs"); - - x = SimplicialCholesky, Upper>(m3_up).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "SimplicialCholesky: solve, upper only, single dense rhs"); - - - // with multiple rhs - ref_X = refMat3.template selfadjointView().llt().solve(B); - - X = SimplicialCholesky, Lower>().setMode(odd ? SimplicialCholeskyLLt : SimplicialCholeskyLDLt).compute(m3).solve(B); - VERIFY(ref_X.isApprox(X,test_precision()) && "SimplicialCholesky: solve, full storage, lower, multiple dense rhs"); - - X = SimplicialCholesky, Upper>().setMode(odd ? SimplicialCholeskyLLt : SimplicialCholeskyLDLt).compute(m3).solve(B); - VERIFY(ref_X.isApprox(X,test_precision()) && "SimplicialCholesky: solve, full storage, upper, multiple dense rhs"); - - - // with a sparse rhs -// SparseMatrix spB(rows,cols), spX(rows,cols); -// B.diagonal().array() += 1; -// spB = B.sparseView(0.5,1); -// -// ref_X = refMat3.template selfadjointView().llt().solve(DenseMatrix(spB)); -// -// spX = SimplicialCholesky, Lower>(m3).solve(spB); -// VERIFY(ref_X.isApprox(spX.toDense(),test_precision()) && "LLT: cholmod solve, multiple sparse rhs"); -// -// spX = SimplicialCholesky, Upper>(m3).solve(spB); -// VERIFY(ref_X.isApprox(spX.toDense(),test_precision()) && "LLT: cholmod solve, multiple sparse rhs"); - } - - - -// for(int i=0; i().ldlt().solve(b); -// typedef SparseMatrix SparseSelfAdjointMatrix; -// x = b; -// SparseLDLT ldlt(m2); -// if (ldlt.succeeded()) -// ldlt.solveInPlace(x); -// else -// std::cerr << "warning LDLT failed\n"; -// -// VERIFY_IS_APPROX(refMat2.template selfadjointView() * x, b); -// VERIFY(refX.isApprox(x,test_precision()) && "LDLT: default"); - - -} - -void test_sparse_ldlt() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(sparse_ldlt(8, 8) ); - int s = internal::random(1,300); - CALL_SUBTEST_2(sparse_ldlt >(s,s) ); - CALL_SUBTEST_1(sparse_ldlt(s,s) ); - } -} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp deleted file mode 100644 index 5f8a7ce36..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp +++ /dev/null @@ -1,140 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#include "sparse.h" -#include - -#ifdef EIGEN_CHOLMOD_SUPPORT -#include -#endif - -template void sparse_llt(int rows, int cols) -{ - double density = (std::max)(8./(rows*cols), 0.01); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - - // TODO fix the issue with complex (see SparseLLT::solveInPlace) - SparseMatrix m2(rows, cols); - DenseMatrix refMat2(rows, cols); - - DenseVector b = DenseVector::Random(cols); - DenseVector ref_x(cols), x(cols); - DenseMatrix B = DenseMatrix::Random(rows,cols); - DenseMatrix ref_X(rows,cols), X(rows,cols); - - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular, 0, 0); - - for(int i=0; i().llt().solve(b); - if (!NumTraits::IsComplex) - { - x = b; - SparseLLT > (m2).solveInPlace(x); - VERIFY(ref_x.isApprox(x,test_precision()) && "LLT: default"); - } - -#ifdef EIGEN_CHOLMOD_SUPPORT - // legacy API - { - // Cholmod, as configured in CholmodSupport.h, only supports self-adjoint matrices - SparseMatrix m3 = m2.adjoint()*m2; - DenseMatrix refMat3 = refMat2.adjoint()*refMat2; - - ref_x = refMat3.template selfadjointView().llt().solve(b); - - x = b; - SparseLLT, Cholmod>(m3).solveInPlace(x); - VERIFY((m3*x).isApprox(b,test_precision()) && "LLT legacy: cholmod solveInPlace"); - - x = SparseLLT, Cholmod>(m3).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "LLT legacy: cholmod solve"); - } - - // new API - { - // Cholmod, as configured in CholmodSupport.h, only supports self-adjoint matrices - SparseMatrix m3 = m2 * m2.adjoint(), m3_lo(rows,rows), m3_up(rows,rows); - DenseMatrix refMat3 = refMat2 * refMat2.adjoint(); - - m3_lo.template selfadjointView().rankUpdate(m2,0); - m3_up.template selfadjointView().rankUpdate(m2,0); - - // with a single vector as the rhs - ref_x = refMat3.template selfadjointView().llt().solve(b); - - x = CholmodDecomposition, Lower>(m3).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "LLT: cholmod solve, single dense rhs"); - - x = CholmodDecomposition, Upper>(m3).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "LLT: cholmod solve, single dense rhs"); - - x = CholmodDecomposition, Lower>(m3_lo).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "LLT: cholmod solve, single dense rhs"); - - x = CholmodDecomposition, Upper>(m3_up).solve(b); - VERIFY(ref_x.isApprox(x,test_precision()) && "LLT: cholmod solve, single dense rhs"); - - - // with multiple rhs - ref_X = refMat3.template selfadjointView().llt().solve(B); - - #ifndef EIGEN_DEFAULT_TO_ROW_MAJOR - // TODO make sure the API is properly documented about this fact - X = CholmodDecomposition, Lower>(m3).solve(B); - VERIFY(ref_X.isApprox(X,test_precision()) && "LLT: cholmod solve, multiple dense rhs"); - - X = CholmodDecomposition, Upper>(m3).solve(B); - VERIFY(ref_X.isApprox(X,test_precision()) && "LLT: cholmod solve, multiple dense rhs"); - #endif - - - // with a sparse rhs - SparseMatrix spB(rows,cols), spX(rows,cols); - B.diagonal().array() += 1; - spB = B.sparseView(0.5,1); - - ref_X = refMat3.template selfadjointView().llt().solve(DenseMatrix(spB)); - - spX = CholmodDecomposition, Lower>(m3).solve(spB); - VERIFY(ref_X.isApprox(spX.toDense(),test_precision()) && "LLT: cholmod solve, multiple sparse rhs"); - - spX = CholmodDecomposition, Upper>(m3).solve(spB); - VERIFY(ref_X.isApprox(spX.toDense(),test_precision()) && "LLT: cholmod solve, multiple sparse rhs"); - } -#endif - -} - -void test_sparse_llt() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(sparse_llt(8, 8) ); - int s = internal::random(1,300); - CALL_SUBTEST_2(sparse_llt >(s,s) ); - CALL_SUBTEST_1(sparse_llt(s,s) ); - } -} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp deleted file mode 100644 index d58e85a0a..000000000 --- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp +++ /dev/null @@ -1,113 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . - -#include "sparse.h" -#include - -#ifdef EIGEN_UMFPACK_SUPPORT -#include -#endif - -#ifdef EIGEN_SUPERLU_SUPPORT -#include -#endif - -template void sparse_lu(int rows, int cols) -{ - double density = (std::max)(8./(rows*cols), 0.01); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - - DenseVector vec1 = DenseVector::Random(rows); - - std::vector zeroCoords; - std::vector nonzeroCoords; - - SparseMatrix m2(rows, cols); - DenseMatrix refMat2(rows, cols); - - DenseVector b = DenseVector::Random(cols); - DenseVector refX(cols), x(cols); - - initSparse(density, refMat2, m2, ForceNonZeroDiag, &zeroCoords, &nonzeroCoords); - - FullPivLU refLu(refMat2); - refX = refLu.solve(b); - #if defined(EIGEN_SUPERLU_SUPPORT) || defined(EIGEN_UMFPACK_SUPPORT) - Scalar refDet = refLu.determinant(); - #endif - x.setZero(); - // // SparseLU > (m2).solve(b,&x); - // // VERIFY(refX.isApprox(x,test_precision()) && "LU: default"); - - #ifdef EIGEN_UMFPACK_SUPPORT - { - // check solve - x.setZero(); - SparseLU,UmfPack> lu(m2); - VERIFY(lu.succeeded() && "umfpack LU decomposition failed"); - VERIFY(lu.solve(b,&x) && "umfpack LU solving failed"); - VERIFY(refX.isApprox(x,test_precision()) && "LU: umfpack"); - VERIFY_IS_APPROX(refDet,lu.determinant()); - // TODO check the extracted data - //std::cerr << slu.matrixL() << "\n"; - } - #endif - - #ifdef EIGEN_SUPERLU_SUPPORT - { - x.setZero(); - SparseLU,SuperLU> slu(m2); - if (slu.succeeded()) - { - if (slu.solve(b,&x)) { - VERIFY(refX.isApprox(x,test_precision()) && "LU: SuperLU"); - } - // std::cerr << refDet << " == " << slu.determinant() << "\n"; - if (slu.solve(b, &x, SvTranspose)) { - VERIFY(b.isApprox(m2.transpose() * x, test_precision())); - } - - if (slu.solve(b, &x, SvAdjoint)) { - VERIFY(b.isApprox(m2.adjoint() * x, test_precision())); - } - - if (!NumTraits::IsComplex) { - VERIFY_IS_APPROX(refDet,slu.determinant()); // FIXME det is not very stable for complex - } - } - } - #endif - -} - -void test_sparse_lu() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(sparse_lu(8, 8) ); - int s = internal::random(1,300); - CALL_SUBTEST_2(sparse_lu >(s,s) ); - CALL_SUBTEST_1(sparse_lu(s,s) ); - } -} diff --git a/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp b/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp new file mode 100644 index 000000000..fe98bf183 --- /dev/null +++ b/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp @@ -0,0 +1,255 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2010-2011 Hauke Heibel +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see . + +#include "main.h" + +#include + +// lets do some explicit instantiations and thus +// force the compilation of all spline functions... +template class Spline; +template class Spline; + +template class Spline; +template class Spline; +template class Spline; +template class Spline; + +template class Spline; +template class Spline; + +template class Spline; +template class Spline; +template class Spline; +template class Spline; + +Spline closed_spline2d() +{ + RowVectorXd knots(12); + knots << 0, + 0, + 0, + 0, + 0.867193179093898, + 1.660330955342408, + 2.605084834823134, + 3.484154586374428, + 4.252699478956276, + 4.252699478956276, + 4.252699478956276, + 4.252699478956276; + + MatrixXd ctrls(8,2); + ctrls << -0.370967741935484, 0.236842105263158, + -0.231401860693277, 0.442245185027632, + 0.344361228532831, 0.773369994120753, + 0.828990216203802, 0.106550882647595, + 0.407270163678382, -1.043452922172848, + -0.488467813584053, -0.390098582530090, + -0.494657189446427, 0.054804824897884, + -0.370967741935484, 0.236842105263158; + ctrls.transposeInPlace(); + + return Spline(knots, ctrls); +} + +/* create a reference spline */ +Spline spline3d() +{ + RowVectorXd knots(11); + knots << 0, + 0, + 0, + 0.118997681558377, + 0.162611735194631, + 0.498364051982143, + 0.655098003973841, + 0.679702676853675, + 1.000000000000000, + 1.000000000000000, + 1.000000000000000; + + MatrixXd ctrls(8,3); + ctrls << 0.959743958516081, 0.340385726666133, 0.585267750979777, + 0.223811939491137, 0.751267059305653, 0.255095115459269, + 0.505957051665142, 0.699076722656686, 0.890903252535799, + 0.959291425205444, 0.547215529963803, 0.138624442828679, + 0.149294005559057, 0.257508254123736, 0.840717255983663, + 0.254282178971531, 0.814284826068816, 0.243524968724989, + 0.929263623187228, 0.349983765984809, 0.196595250431208, + 0.251083857976031, 0.616044676146639, 0.473288848902729; + ctrls.transposeInPlace(); + + return Spline(knots, ctrls); +} + +/* compares evaluations against known results */ +void eval_spline3d() +{ + Spline3d spline = spline3d(); + + RowVectorXd u(10); + u << 0.351659507062997, + 0.830828627896291, + 0.585264091152724, + 0.549723608291140, + 0.917193663829810, + 0.285839018820374, + 0.757200229110721, + 0.753729094278495, + 0.380445846975357, + 0.567821640725221; + + MatrixXd pts(10,3); + pts << 0.707620811535916, 0.510258911240815, 0.417485437023409, + 0.603422256426978, 0.529498282727551, 0.270351549348981, + 0.228364197569334, 0.423745615677815, 0.637687289287490, + 0.275556796335168, 0.350856706427970, 0.684295784598905, + 0.514519311047655, 0.525077224890754, 0.351628308305896, + 0.724152914315666, 0.574461155457304, 0.469860285484058, + 0.529365063753288, 0.613328702656816, 0.237837040141739, + 0.522469395136878, 0.619099658652895, 0.237139665242069, + 0.677357023849552, 0.480655768435853, 0.422227610314397, + 0.247046593173758, 0.380604672404750, 0.670065791405019; + pts.transposeInPlace(); + + for (int i=0; i::Interpolate(points,3); + + for (Eigen::DenseIndex i=0; i::Interpolate(points,3,chord_lengths); + + for (Eigen::DenseIndex i=0; i Date: Mon, 25 Jun 2012 17:02:44 +0000 Subject: [PATCH 468/914] Updated Eigen version in readme --- README | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README b/README index c38c12306..729c3fdf1 100644 --- a/README +++ b/README @@ -37,7 +37,7 @@ of licensing in LICENSE and as follows: - CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library - http://www.cise.ufl.edu/research/sparse - Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt - - Eigen 3.0.5: General C++ matrix and linear algebra library + - Eigen 3.1: General C++ matrix and linear algebra library - Licenced under LGPL v3, provided in gtsam/3rdparty/Eigen/COPYING.LGPL From c7734db4fa9e5133e263d7e7e22b3f4400842740 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 25 Jun 2012 21:19:38 +0000 Subject: [PATCH 469/914] Added formatting objects to linear and inference objects to allow for printing meaningful keys --- gtsam/inference/BayesTree-inl.h | 8 ++++---- gtsam/inference/BayesTree.h | 6 ++++-- gtsam/inference/BayesTreeCliqueBase-inl.h | 10 ++++----- gtsam/inference/BayesTreeCliqueBase.h | 4 ++-- gtsam/inference/Conditional.h | 25 ++++++++++++++--------- gtsam/linear/GaussianConditional.cpp | 6 +++--- gtsam/linear/GaussianConditional.h | 3 ++- gtsam/linear/GaussianFactor.h | 6 +++++- gtsam/linear/HessianFactor.cpp | 4 ++-- gtsam/linear/HessianFactor.h | 3 ++- gtsam/linear/JacobianFactor.cpp | 6 +++--- gtsam/linear/JacobianFactor.h | 3 ++- gtsam/nonlinear/ISAM2.h | 15 +++++++++----- gtsam/nonlinear/NonlinearISAM.cpp | 13 ------------ gtsam/nonlinear/Ordering.h | 14 ++++++++++++- 15 files changed, 72 insertions(+), 54 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 5d2a64627..22dd0c62b 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -130,10 +130,10 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesTree::Cliques::print(const std::string& s) const { + void BayesTree::Cliques::print(const std::string& s, const IndexFormatter& indexFormatter) const { std::cout << s << ":\n"; BOOST_FOREACH(sharedClique clique, *this) - clique->printTree(); + clique->printTree("", indexFormatter); } /* ************************************************************************* */ @@ -324,14 +324,14 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesTree::print(const std::string& s) const { + void BayesTree::print(const std::string& s, const IndexFormatter& indexFormatter) const { if (root_.use_count() == 0) { printf("WARNING: BayesTree.print encountered a forest...\n"); return; } std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl; if (nodes_.empty()) return; - root_->printTree(""); + root_->printTree("", indexFormatter); } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index b5168567c..9c38d6496 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -70,7 +70,8 @@ namespace gtsam { // A convenience class for a list of shared cliques struct Cliques : public std::list { - void print(const std::string& s = "Cliques") const; + void print(const std::string& s = "Cliques", + const IndexFormatter& indexFormatter = &(boost::lexical_cast)) const; bool equals(const Cliques& other, double tol = 1e-9) const; }; @@ -175,7 +176,8 @@ namespace gtsam { bool equals(const BayesTree& other, double tol = 1e-9) const; /** print */ - void print(const std::string& s = "") const; + void print(const std::string& s = "", + const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; /// @} /// @name Standard Interface diff --git a/gtsam/inference/BayesTreeCliqueBase-inl.h b/gtsam/inference/BayesTreeCliqueBase-inl.h index 7e0ba6a7b..f96566536 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inl.h +++ b/gtsam/inference/BayesTreeCliqueBase-inl.h @@ -50,8 +50,8 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesTreeCliqueBase::print(const std::string& s) const { - conditional_->print(s); + void BayesTreeCliqueBase::print(const std::string& s, const IndexFormatter& indexFormatter) const { + conditional_->print(s, indexFormatter); } /* ************************************************************************* */ @@ -65,10 +65,10 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesTreeCliqueBase::printTree(const std::string& indent) const { - asDerived(this)->print(indent); + void BayesTreeCliqueBase::printTree(const std::string& indent, const IndexFormatter& indexFormatter) const { + asDerived(this)->print(indent, indexFormatter); BOOST_FOREACH(const derived_ptr& child, children_) - child->printTree(indent+" "); + child->printTree(indent+" ", indexFormatter); } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index e1a7395da..9a2f6c54e 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -93,10 +93,10 @@ namespace gtsam { } /** print this node */ - void print(const std::string& s = "") const; + void print(const std::string& s = "", const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; /** print this node and entire subtree below it */ - void printTree(const std::string& indent="") const; + void printTree(const std::string& indent="", const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; /// @} /// @name Standard Interface diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h index 0b5fca660..97f885596 100644 --- a/gtsam/inference/Conditional.h +++ b/gtsam/inference/Conditional.h @@ -23,6 +23,7 @@ #include // for noncopyable #include #include +#include #include #include @@ -98,13 +99,16 @@ public: Conditional(KeyType key) : FactorType(key), nrFrontals_(1) { assertInvariants(); } /** Single parent */ - Conditional(KeyType key, KeyType parent) : FactorType(key, parent), nrFrontals_(1) { assertInvariants(); } + Conditional(KeyType key, KeyType parent) + : FactorType(key, parent), nrFrontals_(1) { assertInvariants(); } /** Two parents */ - Conditional(KeyType key, KeyType parent1, KeyType parent2) : FactorType(key, parent1, parent2), nrFrontals_(1) { assertInvariants(); } + Conditional(KeyType key, KeyType parent1, KeyType parent2) + : FactorType(key, parent1, parent2), nrFrontals_(1) { assertInvariants(); } /** Three parents */ - Conditional(KeyType key, KeyType parent1, KeyType parent2, KeyType parent3) : FactorType(key, parent1, parent2, parent3), nrFrontals_(1) { assertInvariants(); } + Conditional(KeyType key, KeyType parent1, KeyType parent2, KeyType parent3) + : FactorType(key, parent1, parent2, parent3), nrFrontals_(1) { assertInvariants(); } /// @} /// @name Advanced Constructors @@ -126,8 +130,9 @@ public: /// @name Testable /// @{ - /** print */ - void print(const std::string& s = "Conditional") const; + /** print with optional formatter */ + void print(const std::string& s = "Conditional", + const boost::function& formatter = &(boost::lexical_cast) ) const; /** check equality */ template @@ -196,12 +201,12 @@ private: /* ************************************************************************* */ template -void Conditional::print(const std::string& s) const { +void Conditional::print(const std::string& s, const boost::function& formatter) const { std::cout << s << " P("; - BOOST_FOREACH(KeyType key, frontals()) std::cout << " " << key; - if (nrParents()>0) std::cout << " |"; - BOOST_FOREACH(KeyType parent, parents()) std::cout << " " << parent; - std::cout << ")" << std::endl; + BOOST_FOREACH(KeyType key, frontals()) std::cout << " " << formatter(key); + if (nrParents()>0) std::cout << " |"; + BOOST_FOREACH(KeyType parent, parents()) std::cout << " " << formatter(parent); + std::cout << ")" << std::endl; } } // gtsam diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp index c048c8dd8..40d40a3a7 100644 --- a/gtsam/linear/GaussianConditional.cpp +++ b/gtsam/linear/GaussianConditional.cpp @@ -129,16 +129,16 @@ GaussianConditional& GaussianConditional::operator=(const GaussianConditional& r } /* ************************************************************************* */ -void GaussianConditional::print(const string &s) const +void GaussianConditional::print(const string &s, const IndexFormatter& formatter) const { cout << s << ": density on "; for(const_iterator it = beginFrontals(); it != endFrontals(); ++it) { - cout << (boost::format("[%1%]")%(*it)).str() << " "; + cout << (boost::format("[%1%]")%(formatter(*it))).str() << " "; } cout << endl; gtsam::print(Matrix(get_R()),"R"); for(const_iterator it = beginParents() ; it != endParents() ; ++it ) { - gtsam::print(Matrix(get_S(it)), (boost::format("A[%1%]")%(*it)).str()); + gtsam::print(Matrix(get_S(it)), (boost::format("A[%1%]")%(formatter(*it))).str()); } gtsam::print(Vector(get_d()),"d"); gtsam::print(sigmas_,"sigmas"); diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 0dc8d771a..68b537c2d 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -138,7 +138,8 @@ public: GaussianConditional& operator=(const GaussianConditional& rhs); /** print */ - void print(const std::string& = "GaussianConditional") const; + void print(const std::string& = "GaussianConditional", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; /** equals function */ bool equals(const GaussianConditional &cg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index b1fd9338e..64e4e970c 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -23,6 +23,8 @@ #include #include +#include + #include #include @@ -81,7 +83,9 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; // Implementing Testable interface - virtual void print(const std::string& s = "") const = 0; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = &(boost::lexical_cast)) const = 0; + virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const = 0; virtual double error(const VectorValues& c) const = 0; /** 0.5*(A*x-b)'*D*(A*x-b) */ diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 8628c95ef..86938a9bf 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -292,11 +292,11 @@ HessianFactor& HessianFactor::operator=(const HessianFactor& rhs) { } /* ************************************************************************* */ -void HessianFactor::print(const std::string& s) const { +void HessianFactor::print(const std::string& s, const IndexFormatter& formatter) const { cout << s << "\n"; cout << " keys: "; for(const_iterator key=this->begin(); key!=this->end(); ++key) - cout << *key << "(" << this->getDim(key) << ") "; + cout << formatter(*key) << "(" << this->getDim(key) << ") "; cout << "\n"; gtsam::print(Matrix(info_.range(0,info_.nBlocks(), 0,info_.nBlocks()).selfadjointView()), "Ab^T * Ab: "); } diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 46955d45a..92f5c06d0 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -218,7 +218,8 @@ namespace gtsam { } /** Print the factor for debugging and testing (implementing Testable) */ - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; /** Compare to another factor for testing (implementing Testable) */ virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index f2cea028e..038f8c718 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -244,15 +244,15 @@ namespace gtsam { } /* ************************************************************************* */ - void JacobianFactor::print(const string& s) const { + void JacobianFactor::print(const string& s, const IndexFormatter& formatter) const { cout << s << "\n"; if (empty()) { cout << " empty, keys: "; - BOOST_FOREACH(const Index& key, keys()) { cout << key << " "; } + BOOST_FOREACH(const Index& key, keys()) { cout << formatter(key) << " "; } cout << endl; } else { for(const_iterator key=begin(); key!=end(); ++key) - cout << boost::format("A[%1%]=\n")%*key << getA(key) << endl; + cout << boost::format("A[%1%]=\n")%formatter(*key) << getA(key) << endl; cout << "b=" << getb() << endl; model_->print("model"); } diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 7fb4211fb..14d073576 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -151,7 +151,8 @@ namespace gtsam { } // Implementing Testable interface - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 984284ebd..00c8a026c 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -254,7 +254,8 @@ public: /** Construct from an elimination result */ ISAM2Clique(const std::pair >& result) : - Base(result.first), cachedFactor_(result.second), gradientContribution_(result.first->get_R().cols() + result.first->get_S().cols()) { + Base(result.first), cachedFactor_(result.second), + gradientContribution_(result.first->get_R().cols() + result.first->get_S().cols()) { // Compute gradient contribution const ConditionalType& conditional(*result.first); // Rewrite -(R * P')'*d as -(d' * R * P')' for computational speed reasons @@ -278,14 +279,18 @@ public: const Vector& gradientContribution() const { return gradientContribution_; } bool equals(const This& other, double tol=1e-9) const { - return Base::equals(other) && ((!cachedFactor_ && !other.cachedFactor_) || (cachedFactor_ && other.cachedFactor_ && cachedFactor_->equals(*other.cachedFactor_, tol))); + return Base::equals(other) && + ((!cachedFactor_ && !other.cachedFactor_) + || (cachedFactor_ && other.cachedFactor_ + && cachedFactor_->equals(*other.cachedFactor_, tol))); } /** print this node */ - void print(const std::string& s = "") const { - Base::print(s); + void print(const std::string& s = "", + const IndexFormatter& formatter = &(boost::lexical_cast)) const { + Base::print(s,formatter); if(cachedFactor_) - cachedFactor_->print(s + "Cached: "); + cachedFactor_->print(s + "Cached: ", formatter); else std::cout << s << "Cached empty" << std::endl; if(gradientContribution_.rows() != 0) diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 467f7bfe3..6b5ea31bc 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -30,19 +30,6 @@ using namespace std; namespace gtsam { -/* ************************************************************************* */ -// Create an index formatter that looks up the Key in an inverse ordering, then -// formats the key using the provided key formatter, used in saveGraph. -struct OrderingIndexFormatter { - Ordering::InvertedMap inverseOrdering; - const KeyFormatter& keyFormatter; - OrderingIndexFormatter(const Ordering& ordering, const KeyFormatter& keyFormatter) : - inverseOrdering(ordering.invert()), keyFormatter(keyFormatter) {} - string operator()(Index index) { - return keyFormatter(inverseOrdering.at(index)); - } -}; - /* ************************************************************************* */ void NonlinearISAM::saveGraph(const string& s, const KeyFormatter& keyFormatter) const { isam_.saveGraph(s, OrderingIndexFormatter(ordering_, keyFormatter)); diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index 1f2b8646e..098976a36 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -258,5 +258,17 @@ public: bool equals(const Unordered &t, double tol=0) const; }; -} +// Create an index formatter that looks up the Key in an inverse ordering, then +// formats the key using the provided key formatter, used in saveGraph. +struct OrderingIndexFormatter { + Ordering::InvertedMap inverseOrdering; + const KeyFormatter& keyFormatter; + OrderingIndexFormatter(const Ordering& ordering, const KeyFormatter& keyFormatter) : + inverseOrdering(ordering.invert()), keyFormatter(keyFormatter) {} + std::string operator()(Index index) { + return keyFormatter(inverseOrdering.at(index)); + } +}; + +} // \namespace gtsam From bb3220429eb865002c3a51146bacaf0d0e8a42c5 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Tue, 26 Jun 2012 17:55:51 +0000 Subject: [PATCH 470/914] Creating new wrap branch From 4e2aae01214a4e20e6dc260b1f15144fb032bc15 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 26 Jun 2012 18:49:30 +0000 Subject: [PATCH 471/914] formatting of comments, added parent() interface for Bayes Tree cliques --- gtsam/inference/BayesTree-inl.h | 3 +- gtsam/inference/BayesTreeCliqueBase.h | 3 + tests/testSubgraphPreconditioner.cpp | 297 +++++++++++++------------- 3 files changed, 152 insertions(+), 151 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 22dd0c62b..8e9d769a6 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -67,6 +67,7 @@ namespace gtsam { of.close(); } + /* ************************************************************************* */ template void BayesTree::saveGraph(std::ostream &s, sharedClique clique, const IndexFormatter& indexFormatter, int parentnum) const { static int num = 0; @@ -101,7 +102,7 @@ namespace gtsam { } } - + /* ************************************************************************* */ template typename BayesTree::CliqueStats BayesTree::CliqueData::getStats() const { diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index 9a2f6c54e..d054fe43f 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -117,6 +117,9 @@ namespace gtsam { /** return the const reference of children */ const std::list& children() const { return children_; } + /** return a shared_ptr to the parent clique */ + derived_ptr parent() const { return parent_.lock(); } + /// @} /// @name Advanced Interface /// @{ diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index 382ac4cc7..417643e78 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -40,14 +40,14 @@ Key i3002 = 3002, i2002 = 2002, i1002 = 1002; Key i3001 = 3001, i2001 = 2001, i1001 = 1001; // TODO fix Ordering::equals, because the ordering *is* correct ! -/* ************************************************************************* * -TEST( SubgraphPreconditioner, planarOrdering ) -{ - // Check canonical ordering - Ordering expected, ordering = planarOrdering(3); - expected += i3003, i2003, i1003, i3002, i2002, i1002, i3001, i2001, i1001; - CHECK(assert_equal(expected,ordering)); -} +/* ************************************************************************* */ +//TEST( SubgraphPreconditioner, planarOrdering ) +//{ +// // Check canonical ordering +// Ordering expected, ordering = planarOrdering(3); +// expected += i3003, i2003, i1003, i3002, i2002, i1002, i3001, i2001, i1001; +// CHECK(assert_equal(expected,ordering)); +//} /* ************************************************************************* */ TEST( SubgraphPreconditioner, planarGraph ) @@ -66,148 +66,145 @@ TEST( SubgraphPreconditioner, planarGraph ) CHECK(assert_equal(xtrue,actual)); } -/* ************************************************************************* * -TEST( SubgraphPreconditioner, splitOffPlanarTree ) -{ - // Build a planar graph - GaussianFactorGraph A; - VectorValues xtrue; - boost::tie(A, xtrue) = planarGraph(3); - - // Get the spanning tree and constraints, and check their sizes - JacobianFactorGraph T, C; - // TODO big mess: GFG and JFG mess !!! - boost::tie(T, C) = splitOffPlanarTree(3, A); - LONGS_EQUAL(9,T.size()); - LONGS_EQUAL(4,C.size()); - - // Check that the tree can be solved to give the ground xtrue - GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); - VectorValues xbar = optimize(*R1); - CHECK(assert_equal(xtrue,xbar)); -} - -/* ************************************************************************* * -TEST( SubgraphPreconditioner, system ) -{ - // Build a planar graph - JacobianFactorGraph Ab; - VectorValues xtrue; - size_t N = 3; - boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b - - // Get the spanning tree and corresponding ordering - GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 - boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); - SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); - - // Eliminate the spanning tree to build a prior - SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 - VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 - - // Create Subgraph-preconditioned system - VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible - SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); - - // Create zero config - VectorValues zeros = VectorValues::Zero(xbar); - - // Set up y0 as all zeros - VectorValues y0 = zeros; - - // y1 = perturbed y0 - VectorValues y1 = zeros; - y1[i2003] = Vector_(2, 1.0, -1.0); - - // Check corresponding x values - VectorValues expected_x1 = xtrue, x1 = system.x(y1); - expected_x1[i2003] = Vector_(2, 2.01, 2.99); - expected_x1[i3003] = Vector_(2, 3.01, 2.99); - CHECK(assert_equal(xtrue, system.x(y0))); - CHECK(assert_equal(expected_x1,system.x(y1))); - - // Check errors -// DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); // TODO ! -// DOUBLES_EQUAL(3,error(Ab,x1),1e-9); // TODO ! - DOUBLES_EQUAL(0,error(system,y0),1e-9); - DOUBLES_EQUAL(3,error(system,y1),1e-9); - - // Test gradient in x - VectorValues expected_gx0 = zeros; - VectorValues expected_gx1 = zeros; - CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); - expected_gx1[i1003] = Vector_(2, -100., 100.); - expected_gx1[i2002] = Vector_(2, -100., 100.); - expected_gx1[i2003] = Vector_(2, 200., -200.); - expected_gx1[i3002] = Vector_(2, -100., 100.); - expected_gx1[i3003] = Vector_(2, 100., -100.); - CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); - - // Test gradient in y - VectorValues expected_gy0 = zeros; - VectorValues expected_gy1 = zeros; - expected_gy1[i1003] = Vector_(2, 2., -2.); - expected_gy1[i2002] = Vector_(2, -2., 2.); - expected_gy1[i2003] = Vector_(2, 3., -3.); - expected_gy1[i3002] = Vector_(2, -1., 1.); - expected_gy1[i3003] = Vector_(2, 1., -1.); - CHECK(assert_equal(expected_gy0,gradient(system,y0))); - CHECK(assert_equal(expected_gy1,gradient(system,y1))); - - // Check it numerically for good measure - // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) - // Vector numerical_g1 = numericalGradient (error, y1, 0.001); - // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., - // 3., -3., 0., 0., -1., 1., 1., -1.); - // CHECK(assert_equal(expected_g1,numerical_g1)); -} - -/* ************************************************************************* * -TEST( SubgraphPreconditioner, conjugateGradients ) -{ - // Build a planar graph - GaussianFactorGraph Ab; - VectorValues xtrue; - size_t N = 3; - boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b - - // Get the spanning tree and corresponding ordering - GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 - boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); - SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); - - // Eliminate the spanning tree to build a prior - Ordering ordering = planarOrdering(N); - SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 - VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 - - // Create Subgraph-preconditioned system - VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible - SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); - - // Create zero config y0 and perturbed config y1 - VectorValues y0 = VectorValues::Zero(xbar); - - VectorValues y1 = y0; - y1[i2003] = Vector_(2, 1.0, -1.0); - VectorValues x1 = system.x(y1); - - // Solve for the remaining constraints using PCG - ConjugateGradientParameters parameters; -// VectorValues actual = gtsam::conjugateGradients(system, y1, verbose, epsilon, epsilon, maxIterations); -// CHECK(assert_equal(y0,actual)); - - // Compare with non preconditioned version: - VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); - CHECK(assert_equal(xtrue,actual2,1e-4)); -} +/* ************************************************************************* */ +//TEST( SubgraphPreconditioner, splitOffPlanarTree ) +//{ +// // Build a planar graph +// GaussianFactorGraph A; +// VectorValues xtrue; +// boost::tie(A, xtrue) = planarGraph(3); +// +// // Get the spanning tree and constraints, and check their sizes +// JacobianFactorGraph T, C; +// // TODO big mess: GFG and JFG mess !!! +// boost::tie(T, C) = splitOffPlanarTree(3, A); +// LONGS_EQUAL(9,T.size()); +// LONGS_EQUAL(4,C.size()); +// +// // Check that the tree can be solved to give the ground xtrue +// GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); +// VectorValues xbar = optimize(*R1); +// CHECK(assert_equal(xtrue,xbar)); +//} /* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} +//TEST( SubgraphPreconditioner, system ) +//{ +// // Build a planar graph +// JacobianFactorGraph Ab; +// VectorValues xtrue; +// size_t N = 3; +// boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b +// +// // Get the spanning tree and corresponding ordering +// GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 +// boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); +// SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); +// SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); +// +// // Eliminate the spanning tree to build a prior +// SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 +// VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 +// +// // Create Subgraph-preconditioned system +// VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible +// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); +// +// // Create zero config +// VectorValues zeros = VectorValues::Zero(xbar); +// +// // Set up y0 as all zeros +// VectorValues y0 = zeros; +// +// // y1 = perturbed y0 +// VectorValues y1 = zeros; +// y1[i2003] = Vector_(2, 1.0, -1.0); +// +// // Check corresponding x values +// VectorValues expected_x1 = xtrue, x1 = system.x(y1); +// expected_x1[i2003] = Vector_(2, 2.01, 2.99); +// expected_x1[i3003] = Vector_(2, 3.01, 2.99); +// CHECK(assert_equal(xtrue, system.x(y0))); +// CHECK(assert_equal(expected_x1,system.x(y1))); +// +// // Check errors +//// DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); // TODO ! +//// DOUBLES_EQUAL(3,error(Ab,x1),1e-9); // TODO ! +// DOUBLES_EQUAL(0,error(system,y0),1e-9); +// DOUBLES_EQUAL(3,error(system,y1),1e-9); +// +// // Test gradient in x +// VectorValues expected_gx0 = zeros; +// VectorValues expected_gx1 = zeros; +// CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); +// expected_gx1[i1003] = Vector_(2, -100., 100.); +// expected_gx1[i2002] = Vector_(2, -100., 100.); +// expected_gx1[i2003] = Vector_(2, 200., -200.); +// expected_gx1[i3002] = Vector_(2, -100., 100.); +// expected_gx1[i3003] = Vector_(2, 100., -100.); +// CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); +// +// // Test gradient in y +// VectorValues expected_gy0 = zeros; +// VectorValues expected_gy1 = zeros; +// expected_gy1[i1003] = Vector_(2, 2., -2.); +// expected_gy1[i2002] = Vector_(2, -2., 2.); +// expected_gy1[i2003] = Vector_(2, 3., -3.); +// expected_gy1[i3002] = Vector_(2, -1., 1.); +// expected_gy1[i3003] = Vector_(2, 1., -1.); +// CHECK(assert_equal(expected_gy0,gradient(system,y0))); +// CHECK(assert_equal(expected_gy1,gradient(system,y1))); +// +// // Check it numerically for good measure +// // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) +// // Vector numerical_g1 = numericalGradient (error, y1, 0.001); +// // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., +// // 3., -3., 0., 0., -1., 1., 1., -1.); +// // CHECK(assert_equal(expected_g1,numerical_g1)); +//} + +/* ************************************************************************* */ +//TEST( SubgraphPreconditioner, conjugateGradients ) +//{ +// // Build a planar graph +// GaussianFactorGraph Ab; +// VectorValues xtrue; +// size_t N = 3; +// boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b +// +// // Get the spanning tree and corresponding ordering +// GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 +// boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); +// SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); +// SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); +// +// // Eliminate the spanning tree to build a prior +// Ordering ordering = planarOrdering(N); +// SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 +// VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 +// +// // Create Subgraph-preconditioned system +// VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible +// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); +// +// // Create zero config y0 and perturbed config y1 +// VectorValues y0 = VectorValues::Zero(xbar); +// +// VectorValues y1 = y0; +// y1[i2003] = Vector_(2, 1.0, -1.0); +// VectorValues x1 = system.x(y1); +// +// // Solve for the remaining constraints using PCG +// ConjugateGradientParameters parameters; +//// VectorValues actual = gtsam::conjugateGradients(system, y1, verbose, epsilon, epsilon, maxIterations); +//// CHECK(assert_equal(y0,actual)); +// +// // Compare with non preconditioned version: +// VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); +// CHECK(assert_equal(xtrue,actual2,1e-4)); +//} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 6d776812d3de28a42de33321d240f7538960813f Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Tue, 26 Jun 2012 18:52:27 +0000 Subject: [PATCH 472/914] new wrap! :) --- .cproject | 1 + gtsam.h | 47 +++---- gtsam/linear/NoiseModel.h | 2 +- matlab/examples/OdometryExample.m | 3 +- wrap/Argument.cpp | 6 +- wrap/Argument.h | 2 + wrap/Class.cpp | 57 ++++---- wrap/Class.h | 5 +- wrap/Constructor.cpp | 81 ++++++++++-- wrap/Constructor.h | 17 ++- wrap/Method.cpp | 17 ++- wrap/Module.cpp | 29 +++-- wrap/ReturnValue.cpp | 44 ++++--- wrap/StaticMethod.cpp | 12 +- wrap/matlab.h | 209 +++++++++++------------------- wrap/utilities.cpp | 13 +- wrap/utilities.h | 5 +- 17 files changed, 312 insertions(+), 238 deletions(-) diff --git a/.cproject b/.cproject index c593a801b..7828f8165 100644 --- a/.cproject +++ b/.cproject @@ -2325,4 +2325,5 @@ + diff --git a/gtsam.h b/gtsam.h index 68ed6201d..941e39af7 100644 --- a/gtsam.h +++ b/gtsam.h @@ -497,7 +497,7 @@ class SimpleCamera { //************************************************************************* // inference //************************************************************************* -class Permutation { +/*class Permutation { // Standard Constructors and Named Constructors Permutation(); Permutation(size_t nVars); @@ -511,12 +511,12 @@ class Permutation { bool equals(const gtsam::Permutation& rhs, double tol) const; // Standard interface - size_t at(size_t variable) const; + //size_t at(size_t variable) const; size_t size() const; bool empty() const; void resize(size_t newSize); - gtsam::Permutation* permute(const gtsam::Permutation& permutation) const; - gtsam::Permutation* inverse() const; + //gtsam::Permutation permute(const gtsam::Permutation& permutation) const; + //gtsam::Permutation inverse() const; }; class IndexFactor { @@ -541,24 +541,24 @@ class IndexFactor { class IndexConditional { // Standard Constructors and Named Constructors - IndexConditional(); - IndexConditional(size_t key); - IndexConditional(size_t key, size_t parent); - IndexConditional(size_t key, size_t parent1, size_t parent2); - IndexConditional(size_t key, size_t parent1, size_t parent2, size_t parent3); + //IndexConditional(); + //IndexConditional(size_t key); + //IndexConditional(size_t key, size_t parent); + //IndexConditional(size_t key, size_t parent1, size_t parent2); + //IndexConditional(size_t key, size_t parent1, size_t parent2, size_t parent3); // FIXME: Must wrap std::vector for this to work //IndexFactor(size_t key, const std::vector& parents); //IndexConditional(const std::vector& keys, size_t nrFrontals); //template static shared_ptr FromKeys(const KEYS& keys, size_t nrFrontals); // Testable - void print(string s) const; - bool equals(const gtsam::IndexConditional& other, double tol) const; + //void print(string s) const; + //bool equals(const gtsam::IndexConditional& other, double tol) const; // Standard interface - size_t nrFrontals() const; - size_t nrParents() const; - gtsam::IndexFactor* toFactor() const; + //size_t nrFrontals() const; + //size_t nrParents() const; + //gtsam::IndexFactor* toFactor() const; }; #include @@ -672,7 +672,7 @@ class VariableIndex { size_t nFactors() const; size_t nEntries() const; void permute(const gtsam::Permutation& permutation); -}; +};*/ //************************************************************************* // linear @@ -681,11 +681,12 @@ class VariableIndex { #include namespace noiseModel { class Base { + void print(string s) const; }; class Gaussian { - static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); - static gtsam::noiseModel::Gaussian* Covariance(Matrix R); + //static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); + //static gtsam::noiseModel::Gaussian* Covariance(Matrix R); // Matrix R() const; // FIXME: cannot parse!!! void print(string s) const; }; @@ -712,7 +713,7 @@ class Unit { }///\namespace noiseModel -class Sampler { +/*class Sampler { Sampler(gtsam::noiseModel::Diagonal* model, int seed); Sampler(Vector sigmas, int seed); Sampler(int seed); @@ -723,7 +724,7 @@ class Sampler { Vector sample(); Vector sampleNewModel(gtsam::noiseModel::Diagonal* model); -}; +};*/ class VectorValues { VectorValues(); @@ -897,11 +898,11 @@ class Ordering { // Standard interface size_t nVars() const; size_t size() const; - size_t at(size_t key) const; + size_t at(size_t key); bool exists(size_t key) const; void insert(size_t key, size_t order); void push_back(size_t key); - void permuteWithInverse(const gtsam::Permutation& inversePermutation); + //void permuteWithInverse(const gtsam::Permutation& inversePermutation); // FIXME: Wrap InvertedMap as well //InvertedMap invert() const; }; @@ -958,9 +959,9 @@ class Marginals { #include class LevenbergMarquardtParams { - LevenbergMarquardtParams(); + /*LevenbergMarquardtParams(); LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose); - void print(string s) const; + void print(string s) const;*/ double getlambdaInitial() const ; double getlambdaFactor() const ; double getlambdaUpperBound() const; diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index c67828822..9d39b5674 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -262,7 +262,7 @@ namespace gtsam { * A diagonal noise model created by specifying a Vector of sigmas, i.e. * standard devations, the diagonal of the square root covariance matrix. */ - static shared_ptr Sigmas(const Vector& sigmas, bool smart = true); + static shared_ptr Sigmas(const Vector& sigmas, bool smart = false); /** * A diagonal noise model created by specifying a Vector of variances, i.e. diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index f203c858e..8b2439c78 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -29,6 +29,7 @@ odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); +pause %% print graph.print(sprintf('\nFactor graph:\n')); @@ -56,4 +57,4 @@ for i=1:result.size() end axis([-0.6 4.8 -1 1]) axis equal -view(2) \ No newline at end of file +view(2) diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index f51b86864..e2073ac8c 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -12,6 +12,7 @@ /** * @file Argument.ccp * @author Frank Dellaert + * @author Andrew Melim **/ #include @@ -53,14 +54,14 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const { file.oss << "boost::shared_ptr<" << cppType << "> " << name << " = unwrap_shared_ptr< "; else if (is_ref) // A reference: emit an "unwrap_shared_ptr" call and de-reference the pointer - file.oss << cppType << "& " << name << " = *unwrap_shared_ptr< "; + file.oss << " " << cppType << "& " << name << " = *unwrap_shared_ptr< "; else // Not a pointer or a reference: emit an "unwrap" call // unwrap is specified in matlab.h as a series of template specializations // that know how to unpack the expected MATLAB object // example: double tol = unwrap< double >(in[2]); // example: Vector v = unwrap< Vector >(in[1]); - file.oss << cppType << " " << name << " = unwrap< "; + file.oss << " " << cppType << " " << name << " = unwrap< "; file.oss << cppType << " >(" << matlabName; if (is_ptr || is_ref) file.oss << ", \"" << matlabType << "\""; @@ -126,3 +127,4 @@ void ArgumentList::matlab_unwrap(FileWriter& file, int start) const { } /* ************************************************************************* */ + diff --git a/wrap/Argument.h b/wrap/Argument.h index 000e3079a..b4c3fe4a7 100644 --- a/wrap/Argument.h +++ b/wrap/Argument.h @@ -13,6 +13,7 @@ * @file Argument.h * @brief arguments to constructors and methods * @author Frank Dellaert + * @author Andrew Melim **/ #pragma once @@ -65,6 +66,7 @@ struct ArgumentList: public std::vector { * @param start initial index for input array, set to 1 for method */ void matlab_unwrap(FileWriter& file, int start = 0) const; // MATLAB to C++ + }; } // \namespace wrap diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 6f6f91b0a..7280d5488 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -10,8 +10,9 @@ * -------------------------------------------------------------------------- */ /** - * @file Class.ccp + * @file Class.cpp * @author Frank Dellaert + * @author Andrew Melim **/ #include @@ -22,6 +23,7 @@ #include "Class.h" #include "utilities.h" +#include "Argument.h" using namespace std; using namespace wrap; @@ -43,13 +45,24 @@ void Class::matlab_proxy(const string& classFile) const { file.oss << " methods" << endl; // constructor file.oss << " function obj = " << matlabName << "(varargin)" << endl; - BOOST_FOREACH(Constructor c, constructors) - c.matlab_proxy_fragment(file,matlabName); - file.oss << " if nargin ~= 13 && obj.self == 0, error('" << matlabName << " constructor failed'); end" << endl; + //i is constructor id + int id = 0; + BOOST_FOREACH(ArgumentList a, constructor.args_list) + { + constructor.matlab_proxy_fragment(file,matlabName, id, a); + id++; + } + //Static constructor collect call + file.oss << " if nargin ==14, new_" << matlabName << "_(varargin{1},0); end" << endl; + file.oss << " if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('" << matlabName << " constructor failed'); end" << endl; file.oss << " end" << endl; // deconstructor file.oss << " function delete(obj)" << endl; - file.oss << " delete_" << matlabName << "(obj);" << endl; + file.oss << " if obj.self ~= 0" << endl; + file.oss << " fprintf(1,'MATLAB class deleting %x',obj.self);" << endl; + file.oss << " new_" << matlabName << "_(obj.self);" << endl; + file.oss << " obj.self = 0;" << endl; + file.oss << " end" << endl; file.oss << " end" << endl; file.oss << " function display(obj), obj.print(''); end" << endl; file.oss << " function disp(obj), obj.display; end" << endl; @@ -61,18 +74,19 @@ void Class::matlab_proxy(const string& classFile) const { } /* ************************************************************************* */ +//TODO: Consolidate into single file void Class::matlab_constructors(const string& toolboxPath) const { - BOOST_FOREACH(Constructor c, constructors) { - c.matlab_mfile (toolboxPath, qualifiedName()); - c.matlab_wrapper(toolboxPath, qualifiedName("::"), qualifiedName(), using_namespaces, includes); + /*BOOST_FOREACH(Constructor c, constructors) { + args_list.push_back(c.args); + }*/ + + BOOST_FOREACH(ArgumentList a, constructor.args_list) { + constructor.matlab_mfile(toolboxPath, qualifiedName(), a); } + constructor.matlab_wrapper(toolboxPath, qualifiedName("::"), qualifiedName(), + using_namespaces, includes); } -/* ************************************************************************* */ -void Class::matlab_deconstructor(const string& toolboxPath) const { - d.matlab_mfile (toolboxPath, qualifiedName()); - d.matlab_wrapper(toolboxPath, qualifiedName("::"), qualifiedName(), using_namespaces, includes); -} /* ************************************************************************* */ void Class::matlab_methods(const string& classPath) const { string matlabName = qualifiedName(), cppName = qualifiedName("::"); @@ -97,9 +111,7 @@ void Class::matlab_make_fragment(FileWriter& file, const string& mexFlags) const { string mex = "mex " + mexFlags + " "; string matlabClassName = qualifiedName(); - BOOST_FOREACH(Constructor c, constructors) - file.oss << mex << c.matlab_wrapper_name(matlabClassName) << ".cpp" << endl; - file.oss << mex << d.matlab_wrapper_name(matlabClassName) << ".cpp" << endl; + file.oss << mex << constructor.matlab_wrapper_name(matlabClassName) << ".cpp" << endl; BOOST_FOREACH(StaticMethod sm, static_methods) file.oss << mex << matlabClassName + "_" + sm.name << ".cpp" << endl; file.oss << endl << "cd @" << matlabClassName << endl; @@ -123,15 +135,12 @@ void Class::makefile_fragment(FileWriter& file) const { // // Point2: new_Point2_.$(MEXENDING) new_Point2_dd.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) - string matlabName = qualifiedName(); + string matlabName = qualifiedName(); - // collect names - vector file_names; - BOOST_FOREACH(Constructor c, constructors) { - string file_base = c.matlab_wrapper_name(matlabName); - file_names.push_back(file_base); - } - file_names.push_back(d.matlab_wrapper_name(matlabName)); + // collect names + vector file_names; + string file_base = constructor.matlab_wrapper_name(matlabName); + file_names.push_back(file_base); BOOST_FOREACH(StaticMethod c, static_methods) { string file_base = matlabName + "_" + c.name; file_names.push_back(file_base); diff --git a/wrap/Class.h b/wrap/Class.h index 875b3203e..fb9906716 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -13,6 +13,7 @@ * @file Class.h * @brief describe the C++ class that is being wrapped * @author Frank Dellaert + * @author Andrew Melim **/ #pragma once @@ -33,19 +34,17 @@ struct Class { // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name - std::vector constructors; ///< Class constructors std::vector methods; ///< Class methods std::vector static_methods; ///< Static methods std::vector namespaces; ///< Stack of namespaces std::vector using_namespaces; ///< default namespaces std::vector includes; ///< header include overrides - Deconstructor d; + Constructor constructor; ///< Class constructors bool verbose_; ///< verbose flag // And finally MATLAB code is emitted, methods below called by Module::matlab_code void matlab_proxy(const std::string& classFile) const; ///< emit proxy class void matlab_constructors(const std::string& toolboxPath) const; ///< emit constructor wrappers - void matlab_deconstructor(const std::string& toolboxPath) const; void matlab_methods(const std::string& classPath) const; ///< emit method wrappers void matlab_static_methods(const std::string& classPath) const; ///< emit static method wrappers void matlab_make_fragment(FileWriter& file, diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index fda7db1b4..0ee459389 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -12,10 +12,12 @@ /** * @file Constructor.ccp * @author Frank Dellaert + * @author Andrew Melim **/ #include #include +#include #include @@ -25,14 +27,16 @@ using namespace std; using namespace wrap; + /* ************************************************************************* */ string Constructor::matlab_wrapper_name(const string& className) const { - string str = "new_" + className + "_" + args.signature(); + string str = "new_" + className + "_"; return str; } /* ************************************************************************* */ -void Constructor::matlab_proxy_fragment(FileWriter& file, const string& className) const { +void Constructor::matlab_proxy_fragment(FileWriter& file, + const string& className, const int id, const ArgumentList args) const { size_t nrArgs = args.size(); // check for number of arguments... file.oss << " if (nargin == " << nrArgs; @@ -45,19 +49,17 @@ void Constructor::matlab_proxy_fragment(FileWriter& file, const string& classNam first=false; } // emit code for calling constructor - file.oss << "), obj.self = " << matlab_wrapper_name(className) << "("; + file.oss << "), obj.self = " << matlab_wrapper_name(className) << "(" << "0," << id; // emit constructor arguments - first = true; for(size_t i=0;i& using_namespaces, const vector& includes) const { + const vector& using_namespaces, + const vector& includes) const { string matlabName = matlab_wrapper_name(matlabClassName); // open destination wrapperFile @@ -91,12 +94,66 @@ void Constructor::matlab_wrapper(const string& toolboxPath, generateIncludes(file, name, includes); generateUsingNamespace(file, using_namespaces); + //Typedef boost::shared_ptr + file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; + file.oss << endl; + + //Generate collector + file.oss << "static std::set collector;" << endl; + file.oss << endl; + + //Generate the destructor function + file.oss << "struct Destruct" << endl; + file.oss << "{" << endl; + file.oss << " void operator() (Shared* p)" << endl; + file.oss << " {" << endl; + file.oss << " delete p;" << endl; + file.oss << " }" << endl; + file.oss << "};" << endl; + file.oss << endl; + + //Generate cleanup function + file.oss << "void cleanup(void) {" << endl; + file.oss << " mexPrintf(\"MEX-file new_gtsamDummy_ is terminating\");" << endl; + file.oss << " std::for_each( collector.begin(), collector.end(), Destruct() );" << endl; + file.oss << "}" << endl; + file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; file.oss << "{" << endl; - file.oss << " checkArguments(\"" << matlabName << "\",nargout,nargin," << args.size() << ");" << endl; - args.matlab_unwrap(file); // unwrap arguments - file.oss << " " << cppClassName << "* self = new " << cppClassName << "(" << args.names() << ");" << endl; // need qualified name, delim: "::" - file.oss << " out[0] = wrap_constructed(self,\"" << matlabClassName << "\");" << endl; // need matlab qualified name + //Cleanup function callback + file.oss << " mexAtExit(cleanup);" << endl; + file.oss << endl; + file.oss << " const mxArray* input = in[0];" << endl; + file.oss << " Shared* self = *(Shared**) mxGetData(input);" << endl; + file.oss << endl; + file.oss << " if(self) {" << endl; + file.oss << " if(nargin > 1) {" << endl; + file.oss << " collector.insert(self);" << endl; + file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; + file.oss << " }" << endl; + file.oss << " else if(collector.erase(self))" << endl; + file.oss << " delete self;" << endl; + file.oss << " } else {" << endl; + file.oss << " int nc = unwrap(in[1]);" << endl; + file.oss << " mexPrintf(\"MEX-file constructor\");" << endl << endl;; + + int i = 0; + BOOST_FOREACH(ArgumentList al, args_list) + { + file.oss << " if(nc == " << i <<") {" << endl; + al.matlab_unwrap(file, 2); // unwrap arguments, start at 1 + file.oss << " self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; + file.oss << " }" << endl; + i++; + } + + //file.oss << " self = construct(nc, in);" << endl; + file.oss << " collector.insert(self);" << endl; + file.oss << " std::cout << \"constructed \" << self << \", size=\" << collector.size() << std::endl;" << endl; + file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl; + file.oss << " *reinterpret_cast (mxGetPr(out[0])) = self;" << endl; + file.oss << " }" << endl; + file.oss << "}" << endl; // close file diff --git a/wrap/Constructor.h b/wrap/Constructor.h index 4aba5b984..a766905b6 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -33,7 +33,8 @@ struct Constructor { } // Then the instance variables are set directly by the Module constructor - ArgumentList args; + // TODO:Vector of argument lists? + std::vector args_list; std::string name; bool verbose_; @@ -48,11 +49,14 @@ struct Constructor { * Create fragment to select constructor in proxy class, e.g., * if nargin == 2, obj.self = new_Pose3_RP(varargin{1},varargin{2}); end */ - void matlab_proxy_fragment(FileWriter& file, const std::string& className) const; + void matlab_proxy_fragment(FileWriter& file, + const std::string& className, const int i, + const ArgumentList args) const; /// m-file void matlab_mfile(const std::string& toolboxPath, - const std::string& qualifiedMatlabName) const; + const std::string& qualifiedMatlabName, + const ArgumentList args) const; /// cpp wrapper void matlab_wrapper(const std::string& toolboxPath, @@ -60,7 +64,12 @@ struct Constructor { const std::string& matlabClassName, const std::vector& using_namespaces, const std::vector& includes) const; + + /// constructor function + void generate_construct(FileWriter& file, const std::string& cppClassName, + std::vector& args_list) const; + }; -} // \namespace wrap +} // \namespace wrap diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 7686ecd2d..ccd36fe50 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -61,6 +61,15 @@ void Method::matlab_wrapper(const string& classPath, generateIncludes(file, className, includes); generateUsingNamespace(file, using_namespaces); + if(returnVal.isPair) + { + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; + } + else + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + + file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; // call file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; // start @@ -73,9 +82,9 @@ void Method::matlab_wrapper(const string& classPath, // get class pointer // example: shared_ptr = unwrap_shared_ptr< Test >(in[0], "Test"); - file.oss << " boost::shared_ptr<" << cppClassName << "> self = unwrap_shared_ptr< " << cppClassName - << " >(in[0],\"" << matlabClassName << "\");" << endl; - + file.oss << " mxArray* mxh = mxGetProperty(in[0],0,\"self\");" << endl; + file.oss << " Shared* self = *reinterpret_cast (mxGetPr(mxh));" << endl; + file.oss << " Shared obj = *self;" << endl; // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,1); @@ -84,7 +93,7 @@ void Method::matlab_wrapper(const string& classPath, file.oss << " "; if (returnVal.type1!="void") file.oss << returnVal.return_type(true,ReturnValue::pair) << " result = "; - file.oss << "self->" << name << "(" << args.names() << ");\n"; + file.oss << "obj->" << name << "(" << args.names() << ");\n"; // wrap result // example: out[0]=wrap(result); diff --git a/wrap/Module.cpp b/wrap/Module.cpp index e0771351a..972bacbee 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -26,8 +26,10 @@ #include #include #include +#include #include +#include using namespace std; using namespace wrap; @@ -52,8 +54,9 @@ Module::Module(const string& interfacePath, ReturnValue retVal0, retVal; Argument arg0, arg; ArgumentList args0, args; + vector arg_dup; ///keep track of duplicates Constructor constructor0(enable_verbose), constructor(enable_verbose); - Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); + //Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); Method method0(enable_verbose), method(enable_verbose); StaticMethod static_method0(enable_verbose), static_method(enable_verbose); Class cls0(enable_verbose),cls(enable_verbose); @@ -118,11 +121,12 @@ Module::Module(const string& interfacePath, Rule constructor_p = (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) - [assign_a(constructor.args,args)] - [assign_a(constructor.name,cls.name)] - [assign_a(args,args0)] - [push_back_a(cls.constructors, constructor)] - [assign_a(constructor,constructor0)]; + [push_back_a(constructor.args_list, args)] + [assign_a(args,args0)]; + //[assign_a(constructor.args,args)] + //[assign_a(constructor.name,cls.name)] + //[push_back_a(cls.constructors, constructor)] + //[assign_a(constructor,constructor0)]; Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); @@ -184,13 +188,16 @@ Module::Module(const string& interfacePath, >> '{' >> *(functions_p | comments_p) >> str_p("};")) + [assign_a(constructor.name, cls.name)] + [assign_a(cls.constructor, constructor)] [assign_a(cls.namespaces, namespaces)] [assign_a(cls.using_namespaces, using_namespace_current)] [append_a(cls.includes, namespace_includes)] - [assign_a(deconstructor.name,cls.name)] - [assign_a(cls.d, deconstructor)] + //[assign_a(deconstructor.name,cls.name)] + //[assign_a(cls.d, deconstructor)] [push_back_a(classes,cls)] - [assign_a(deconstructor,deconstructor0)] + //[assign_a(deconstructor,deconstructor0)] + [assign_a(constructor, constructor0)] [assign_a(cls,cls0)]; Rule namespace_def_p = @@ -336,7 +343,7 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, cls.matlab_proxy(classFile); // verify all of the function arguments - verifyArguments(validTypes, cls.constructors); + //TODO:verifyArguments(validTypes, cls.constructor.args_list); verifyArguments(validTypes, cls.static_methods); verifyArguments(validTypes, cls.methods); @@ -350,7 +357,7 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, cls.matlab_methods(classPath); // create deconstructor - cls.matlab_deconstructor(toolboxPath); + //cls.matlab_deconstructor(toolboxPath); // add lines to make m-file makeModuleMfile.oss << "%% " << cls.qualifiedName() << endl; diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index ace1159ec..087a1c6ef 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -3,6 +3,7 @@ * * @date Dec 1, 2011 * @author Alex Cunningham + * @author Andrew Melim */ #include @@ -17,11 +18,11 @@ using namespace wrap; string ReturnValue::return_type(bool add_ptr, pairing p) const { if (p==pair && isPair) { string str = "pair< " + - maybe_shared_ptr(add_ptr && isPtr1, qualifiedType1("::")) + ", " + - maybe_shared_ptr(add_ptr && isPtr2, qualifiedType2("::")) + " >"; + maybe_shared_ptr(add_ptr && isPtr1, qualifiedType1("::"), type1) + ", " + + maybe_shared_ptr(add_ptr && isPtr2, qualifiedType2("::"), type2) + " >"; return str; } else - return maybe_shared_ptr(add_ptr && isPtr1, (p==arg2)? qualifiedType2("::") : qualifiedType1("::")); + return maybe_shared_ptr(add_ptr && isPtr1, (p==arg2)? qualifiedType2("::") : qualifiedType1("::"), (p==arg2)? type2 : type1); } /* ************************************************************************* */ @@ -44,31 +45,44 @@ string ReturnValue::qualifiedType2(const string& delim) const { } /* ************************************************************************* */ +//TODO:Fix this void ReturnValue::wrap_result(FileWriter& file) const { string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1(); string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2(); if (isPair) { // first return value in pair - if (isPtr1) // if we already have a pointer - file.oss << " out[0] = wrap_shared_ptr(result.first,\"" << matlabType1 << "\");\n"; - else if (category1 == ReturnValue::CLASS) // if we are going to make one - file.oss << " out[0] = wrap_shared_ptr(boost::make_shared< " << cppType1 << " >(result.first),\"" << matlabType1 << "\");\n"; + if (isPtr1) {// if we already have a pointer + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result.first);" << endl; + file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + } + else if (category1 == ReturnValue::CLASS) { // if we are going to make one + file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result.first));\n"; + file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + } else // if basis type file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n"; // second return value in pair - if (isPtr2) // if we already have a pointer - file.oss << " out[1] = wrap_shared_ptr(result.second,\"" << matlabType2 << "\");\n"; - else if (category2 == ReturnValue::CLASS) // if we are going to make one - file.oss << " out[1] = wrap_shared_ptr(boost::make_shared< " << cppType2 << " >(result.second),\"" << matlabType2 << "\");\n"; + if (isPtr2) {// if we already have a pointer + file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(result.second);" << endl; + file.oss << " out[1] = wrap_collect_shared_ptr(ret,\"" << matlabType2 << "\");\n"; + } + else if (category2 == ReturnValue::CLASS) { // if we are going to make one + file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(new " << cppType2 << "(result.first));\n"; + file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType2 << "\");\n"; + } else file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n"; } - else if (isPtr1) - file.oss << " out[0] = wrap_shared_ptr(result,\"" << matlabType1 << "\");\n"; - else if (category1 == ReturnValue::CLASS) - file.oss << " out[0] = wrap_shared_ptr(boost::make_shared< " << cppType1 << " >(result),\"" << matlabType1 << "\");\n"; + else if (isPtr1){ + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result);" << endl; + file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + } + else if (category1 == ReturnValue::CLASS){ + file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result));\n"; + file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + } else if (matlabType1!="void") file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n"; } diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 7bdba650b..a4fb3fbe8 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -10,8 +10,9 @@ * -------------------------------------------------------------------------- */ /** - * @file Method.ccp + * @file StaticMethod.ccp * @author Frank Dellaert + * @author Andrew Melim **/ #include @@ -62,6 +63,15 @@ void StaticMethod::matlab_wrapper(const string& toolboxPath, const string& class generateIncludes(file, className, includes); generateUsingNamespace(file, using_namespaces); + if(returnVal.isPair) + { + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; + } + else + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + + file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; // call file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; // start diff --git a/wrap/matlab.h b/wrap/matlab.h index 313cfaa9f..99dd0c6b3 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -41,6 +41,8 @@ extern "C" { #include #include #include +#include +#include using namespace std; using namespace boost; // not usual, but for conciseness of generated code @@ -311,6 +313,77 @@ gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { return A; } +/* + [create_object] creates a MATLAB proxy class object with a mexhandle + in the self property. Matlab does not allow the creation of matlab + objects from within mex files, hence we resort to an ugly trick: we + invoke the proxy class constructor by calling MATLAB, and pass 13 + dummy arguments to let the constructor know we want an object without + the self property initialized. We then assign the mexhandle to self. +*/ +// TODO: think about memory +mxArray* create_object(const char *classname, mxArray* h) { + mxArray *result; + mxArray* dummy[13] = {h,h,h,h,h, h,h,h,h,h, h,h,h}; + mexCallMATLAB(1,&result,13,dummy,classname); + mxSetProperty(result, 0, "self", h); + return result; +} + +/* + * Similar to create object, this also collects the shared_ptr in addition + * to creating the dummy object. Mainly used for static constructor methods + * which don't have direct access to the function. + */ +mxArray* create_collect_object(const char *classname, mxArray* h){ + mxArray *result; + //First arg is a flag to collect + mxArray* dummy[14] = {h,h,h,h,h, h,h,h,h,h, h,h,h,h}; + mexCallMATLAB(1,&result,14,dummy,classname); + mxSetProperty(result, 0, "self", h); + cout << "Return collect" << endl; + return result; +} + +/* + When the user calls a method that returns a shared pointer, we create + an ObjectHandle from the shared_pointer and return it as a proxy + class to matlab. +*/ +template +mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { + mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast**> (mxGetPr(mxh)) = shared_ptr; + cout << "wrapped:" << mxh << endl << "end wrap" << endl; + //return mxh; + return create_object(classname, mxh); +} + +template +mxArray* wrap_collect_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { + mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast**> (mxGetPr(mxh)) = shared_ptr; + cout << "wrapped:" << mxh << endl << "end wrap" << endl; + //return mxh; + return create_collect_object(classname, mxh); +} + +template +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { + cout << "UNWRAP CALL" << endl; + + mxArray* mxh = mxGetProperty(obj,0,"self"); + if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) + || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( + "Parameter is not an Shared type."); + + cout << "unwrapped:" << mxh << endl; + boost::shared_ptr* spp = *reinterpret_cast**> (mxGetPr(mxh)); + cout << "unwrapped:" << spp << endl; + return *spp; +} + + //***************************************************************************** // Shared Pointer Handle // inspired by mexhandle, but using shared_ptr @@ -329,6 +402,9 @@ public: ObjectHandle(T* ptr) : type(&typeid(T)), t(ptr) { signature = this; + mexPrintf("Created Shared Pointer use_count = %li\n", t.use_count()); + mexPrintf("Created Pointer points to %d\n", t.get()); + } // Constructor for shared pointers @@ -336,6 +412,8 @@ public: ObjectHandle(boost::shared_ptr shared_ptr) : /*type(&typeid(T)),*/ t(shared_ptr) { signature = this; + mexPrintf("Created sp from sp use_count = %li\n", t.use_count()); + mexPrintf("Created sp from sp points to %d\n", t.get()); } ~ObjectHandle() { @@ -418,33 +496,7 @@ mxArray* wrap_constructed(Class* pointer, const char *classname) { return handle->to_mex_handle(); } -/* - [create_object] creates a MATLAB proxy class object with a mexhandle - in the self property. Matlab does not allow the creation of matlab - objects from within mex files, hence we resort to an ugly trick: we - invoke the proxy class constructor by calling MATLAB, and pass 13 - dummy arguments to let the constructor know we want an object without - the self property initialized. We then assign the mexhandle to self. -*/ -// TODO: think about memory -mxArray* create_object(const char *classname, mxArray* h) { - mxArray *result; - mxArray* dummy[13] = {h,h,h,h,h, h,h,h,h,h, h,h,h}; - mexCallMATLAB(1,&result,13,dummy,classname); - mxSetProperty(result, 0, "self", h); - return result; -} -/* - When the user calls a method that returns a shared pointer, we create - an ObjectHandle from the shared_pointer and return it as a proxy - class to matlab. -*/ -template -mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const char *classname) { - ObjectHandle* handle = new ObjectHandle(shared_ptr); - return create_object(classname,handle->to_mex_handle()); -} //***************************************************************************** // unwrapping a MATLAB proxy class to a C++ object reference @@ -457,116 +509,11 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const char *clas the ObjectHandle from the self property, and returns a shared pointer to the object. */ -template -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { - #ifndef UNSAFE_WRAP - // Useful code to check argument type - // Problem, does not support inheritance - bool isClass = mxIsClass(obj, className.c_str()); - if (!isClass) { - mexPrintf("Expected %s, got %s\n", className.c_str(), mxGetClassName(obj)); - error("Argument has wrong type."); - } -#endif - mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxh==NULL) error("unwrap_reference: invalid wrap object"); - ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); - return handle->get_object(); -} -/* - * Specialized template for noise model. Checking their derived types properly - */ -// Isotropic -template <> -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { -#ifndef UNSAFE_WRAP - bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); - bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); - if (!isIsotropic && !isUnit) { - mexPrintf("Expected gtsamnoiseModelIsotropic or derived classes, got %s\n", mxGetClassName(obj)); - error("Argument has wrong type."); - } -#endif - mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxh==NULL) error("unwrap_reference: invalid wrap object"); - ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); - return handle->get_object(); -} - -// Diagonal -template <> -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { -#ifndef UNSAFE_WRAP - bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal"); - bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); - bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); - if (!isDiagonal && !isIsotropic && !isUnit ) { - mexPrintf("Expected gtsamnoiseModelDiagonal or derived classes, got %s\n", mxGetClassName(obj)); - error("Argument has wrong type."); - } -#endif - mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxh==NULL) error("unwrap_reference: invalid wrap object"); - ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); - return handle->get_object(); -} - -// Gaussian -template <> -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { -#ifndef UNSAFE_WRAP - bool isGaussian = mxIsClass(obj, "gtsamnoiseModelGaussian"); - bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal"); - bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); - bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); - if (!isGaussian && !isDiagonal && !isIsotropic && !isUnit) { - mexPrintf("Expected gtsamnoiseModelGaussian or derived classes, got %s\n", mxGetClassName(obj)); - error("Argument has wrong type."); - } -#endif - mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxh==NULL) error("unwrap_reference: invalid wrap object"); - ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); - return handle->get_object(); -} - -// Base -template <> -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { -#ifndef UNSAFE_WRAP - bool isBase = mxIsClass(obj, "gtsamnoiseModelBase"); - bool isGaussian = mxIsClass(obj, "gtsamnoiseModelGaussian"); - bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal"); - bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic"); - bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit"); - if (!isBase && !isGaussian && !isDiagonal && !isIsotropic && !isUnit) { - mexPrintf("Expected gtsamnoiseModelBase or derived classes, got %s\n", mxGetClassName(obj)); - error("Argument has wrong type."); - } -#endif - mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxh==NULL) error("unwrap_reference: invalid wrap object"); - ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); - return handle->get_object(); -} - -//end specialized templates template void delete_shared_ptr(const mxArray* obj, const string& className) { - //Why is this here? -#ifndef UNSAFE_WRAP - bool isClass = true;//mxIsClass(obj, className.c_str()); - if (!isClass) { - mexPrintf("Expected %s, got %s\n", className.c_str(), mxGetClassName(obj)); - error("Argument has wrong type."); - } -#endif mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxh==NULL) error("unwrap_reference: invalid wrap object"); ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); delete handle; } - -//***************************************************************************** diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index bfd1e77df..00606f930 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -12,6 +12,7 @@ /** * @file utilities.ccp * @author Frank Dellaert + * @author Andrew Melim **/ #include @@ -103,10 +104,12 @@ bool files_equal(const string& expected, const string& actual, bool skipheader) } /* ************************************************************************* */ -string maybe_shared_ptr(bool add, const string& type) { - string str = add? "boost::shared_ptr<" : ""; - str += type; - if (add) str += ">"; +string maybe_shared_ptr(bool add, const string& qtype, const string& type) { + string str = add? "Shared" : ""; + if (add) str += type; + else str += qtype; + + //if (add) str += ">"; return str; } @@ -121,6 +124,7 @@ void generateUsingNamespace(FileWriter& file, const vector& using_namesp void generateIncludes(FileWriter& file, const string& class_name, const vector& includes) { file.oss << "#include " << endl; + file.oss << "#include " << endl; bool added_include = false; BOOST_FOREACH(const string& s, includes) { if (!s.empty()) { @@ -134,4 +138,5 @@ void generateIncludes(FileWriter& file, const string& class_name, /* ************************************************************************* */ + } // \namespace wrap diff --git a/wrap/utilities.h b/wrap/utilities.h index 384ff3749..1eb0e249f 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -10,8 +10,9 @@ * -------------------------------------------------------------------------- */ /** - * @file utilities.ccp + * @file utilities.h * @author Frank Dellaert + * @author Andrew Melim **/ #pragma once @@ -84,7 +85,7 @@ bool assert_equal(const std::string& expected, const std::string& actual); bool assert_equal(const std::vector& expected, const std::vector& actual); // auxiliary function to wrap an argument into a shared_ptr template -std::string maybe_shared_ptr(bool add, const std::string& type); +std::string maybe_shared_ptr(bool add, const std::string& qtype, const std::string& type); /** * Creates the "using namespace [name];" declarations From 642515a322c6ae81564afbb6d658b99258c61e73 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Tue, 26 Jun 2012 20:40:15 +0000 Subject: [PATCH 473/914] All matlab tests complete. --- gtsam.h | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index 941e39af7..e4993413a 100644 --- a/gtsam.h +++ b/gtsam.h @@ -921,6 +921,11 @@ class NonlinearFactor { // size_t dim() const; // FIXME: Doesn't link }; +class EasyFactorGraph { + EasyFactorGraph(); + void print(string s) const; +}; + class Values { Values(); size_t size() const; @@ -937,7 +942,7 @@ class KeyList { // Note: no print function size_t size() const; }; - +// FIXME // Actually a KeyVector #include class KeyVector { @@ -959,9 +964,9 @@ class Marginals { #include class LevenbergMarquardtParams { - /*LevenbergMarquardtParams(); + LevenbergMarquardtParams(); LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose); - void print(string s) const;*/ + void print(string s) const; double getlambdaInitial() const ; double getlambdaFactor() const ; double getlambdaUpperBound() const; @@ -1075,7 +1080,7 @@ class Graph { void addPosePrior(size_t key, const gtsam::Pose3& p, const gtsam::noiseModel::Base* model); void addRelativePose(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::noiseModel::Base* model); pose3SLAM::Values optimize(const pose3SLAM::Values& initialEstimate, size_t verbosity) const; - // FIXME gtsam::LevenbergMarquardtOptimizer optimizer(const pose3SLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; + //gtsam::LevenbergMarquardtOptimizer optimizer(const pose3SLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; gtsam::Marginals marginals(const pose3SLAM::Values& solution) const; }; From ea0c85ef069c2d29e4c377c80b38b18eafb0938a Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Wed, 27 Jun 2012 16:22:12 +0000 Subject: [PATCH 474/914] Crash for some objects is now fixed --- wrap/Constructor.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 0ee459389..97a6af4fc 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -107,14 +107,13 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << "{" << endl; file.oss << " void operator() (Shared* p)" << endl; file.oss << " {" << endl; - file.oss << " delete p;" << endl; + file.oss << " collector.erase(p);" << endl; file.oss << " }" << endl; file.oss << "};" << endl; file.oss << endl; //Generate cleanup function file.oss << "void cleanup(void) {" << endl; - file.oss << " mexPrintf(\"MEX-file new_gtsamDummy_ is terminating\");" << endl; file.oss << " std::for_each( collector.begin(), collector.end(), Destruct() );" << endl; file.oss << "}" << endl; @@ -129,13 +128,13 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << " if(self) {" << endl; file.oss << " if(nargin > 1) {" << endl; file.oss << " collector.insert(self);" << endl; + //TODO: Add verbosity flag file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; file.oss << " }" << endl; file.oss << " else if(collector.erase(self))" << endl; file.oss << " delete self;" << endl; file.oss << " } else {" << endl; file.oss << " int nc = unwrap(in[1]);" << endl; - file.oss << " mexPrintf(\"MEX-file constructor\");" << endl << endl;; int i = 0; BOOST_FOREACH(ArgumentList al, args_list) From 7a9dd715e740c3b8e771f6d58d26cc007387b179 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 27 Jun 2012 16:33:19 +0000 Subject: [PATCH 475/914] print statistics for bayesnet and bayestree --- gtsam/inference/BayesNet-inl.h | 19 +++++++++++++++++++ gtsam/inference/BayesNet.h | 3 +++ gtsam/inference/BayesTree-inl.h | 12 ++++++++++++ gtsam/inference/BayesTree.h | 1 + gtsam/nonlinear/NonlinearISAM.cpp | 8 +------- 5 files changed, 36 insertions(+), 7 deletions(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 57cef4634..a9a405ac6 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -26,6 +26,7 @@ #include // for += using boost::assign::operator+=; +#include #include #include @@ -39,6 +40,24 @@ namespace gtsam { conditional->print(); } + /* ************************************************************************* */ + template + void BayesNet::printStats(const std::string& s) const { + std::cout << s; + const size_t n = conditionals_.size(); + size_t max_size = 0; + size_t total = 0; + BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) { + max_size = std::max(max_size, conditional->size()); + total += conditional->size(); + } + std::cout << s + << "maximum clique size = " << max_size << std::endl + << "average clique size = " << total / n << std::endl + << "density = " << 100.0 * total / (double) (n*(n+1)/2) << " %" << std::endl + << std::endl; + } + /* ************************************************************************* */ template bool BayesNet::equals(const BayesNet& cbn, double tol) const { diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index f6721816c..e465fdfd3 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -90,6 +90,9 @@ public: /** print */ void print(const std::string& s = "") const; + /** print statistics */ + void printStats(const std::string& s = "") const; + /** check equality */ bool equals(const BayesNet& other, double tol = 1e-9) const; diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 8e9d769a6..b3bc9f81e 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -102,6 +102,18 @@ namespace gtsam { } } + + /* ************************************************************************* */ + template + void BayesTree::CliqueStats::print(const std::string& s) const { + std::cout << s + <<"\navg Conditional Size: " << avgConditionalSize + << "\nmax Conditional Size: " << maxConditionalSize + << "\navg Separator Size: " << avgSeparatorSize + << "\nmax Separator Size: " << maxSeparatorSize + << std::endl; + } + /* ************************************************************************* */ template typename BayesTree::CliqueStats diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 9c38d6496..6413e4b0d 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -81,6 +81,7 @@ namespace gtsam { std::size_t maxConditionalSize; double avgSeparatorSize; std::size_t maxSeparatorSize; + void print(const std::string& s = "") const ; }; /** store all the sizes */ diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 6b5ea31bc..b2135fedd 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -118,13 +118,7 @@ void NonlinearISAM::print(const string& s, const KeyFormatter& keyFormatter) con /* ************************************************************************* */ void NonlinearISAM::printStats() const { - gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData(); - gtsam::GaussianISAM::CliqueStats stats = data.getStats(); - cout << "\navg Conditional Size: " << stats.avgConditionalSize; - cout << "\nmax Conditional Size: " << stats.maxConditionalSize; - cout << "\navg Separator Size: " << stats.avgSeparatorSize; - cout << "\nmax Separator Size: " << stats.maxSeparatorSize; - cout << endl; + isam_.getCliqueData().getStats().print(); } /* ************************************************************************* */ From ef538f459ece2701f65e8170dd596185782c29fb Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 27 Jun 2012 16:35:15 +0000 Subject: [PATCH 476/914] remove a redundant print --- gtsam/inference/BayesNet-inl.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index a9a405ac6..7fbfdc454 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -43,7 +43,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesNet::printStats(const std::string& s) const { - std::cout << s; + const size_t n = conditionals_.size(); size_t max_size = 0; size_t total = 0; From 3f78448c8ca8f47a65cfe405e1716cdc3fba6bc3 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 27 Jun 2012 16:36:23 +0000 Subject: [PATCH 477/914] fix typo --- gtsam/inference/BayesNet-inl.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 7fbfdc454..6647be302 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -52,8 +52,8 @@ namespace gtsam { total += conditional->size(); } std::cout << s - << "maximum clique size = " << max_size << std::endl - << "average clique size = " << total / n << std::endl + << "maximum conditional size = " << max_size << std::endl + << "average conditional size = " << total / n << std::endl << "density = " << 100.0 * total / (double) (n*(n+1)/2) << " %" << std::endl << std::endl; } From 55655d07083bd1740d94b504cdaa5efe45613273 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 27 Jun 2012 16:37:55 +0000 Subject: [PATCH 478/914] rearrange newline --- gtsam/inference/BayesTree-inl.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index b3bc9f81e..e0a585812 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -107,10 +107,10 @@ namespace gtsam { template void BayesTree::CliqueStats::print(const std::string& s) const { std::cout << s - <<"\navg Conditional Size: " << avgConditionalSize - << "\nmax Conditional Size: " << maxConditionalSize - << "\navg Separator Size: " << avgSeparatorSize - << "\nmax Separator Size: " << maxSeparatorSize + <<"avg Conditional Size: " << avgConditionalSize << std::endl + << "max Conditional Size: " << maxConditionalSize << std::endl + << "avg Separator Size: " << avgSeparatorSize << std::endl + << "max Separator Size: " << maxSeparatorSize << std::endl << std::endl; } From b8c346b60d572b2c56b94071cc0195780ad4759e Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 27 Jun 2012 16:49:14 +0000 Subject: [PATCH 479/914] --- gtsam/inference/BayesNet-inl.h | 3 +-- gtsam/inference/BayesTree-inl.h | 3 +-- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 6647be302..112782ecc 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -54,8 +54,7 @@ namespace gtsam { std::cout << s << "maximum conditional size = " << max_size << std::endl << "average conditional size = " << total / n << std::endl - << "density = " << 100.0 * total / (double) (n*(n+1)/2) << " %" << std::endl - << std::endl; + << "density = " << 100.0 * total / (double) (n*(n+1)/2) << " %" << std::endl; } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index e0a585812..501a8aabd 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -110,8 +110,7 @@ namespace gtsam { <<"avg Conditional Size: " << avgConditionalSize << std::endl << "max Conditional Size: " << maxConditionalSize << std::endl << "avg Separator Size: " << avgSeparatorSize << std::endl - << "max Separator Size: " << maxSeparatorSize << std::endl - << std::endl; + << "max Separator Size: " << maxSeparatorSize << std::endl; } /* ************************************************************************* */ From b98f60ddb514f6301f2c9bf73deba878f7c67552 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 27 Jun 2012 19:16:18 +0000 Subject: [PATCH 480/914] Added more flexible print interface with optional key formatter --- gtsam/discrete/DiscreteConditional.h | 6 ++++-- gtsam/discrete/DiscreteFactor.h | 6 ++++-- gtsam/discrete/DiscreteFactorGraph.cpp | 13 +++++++++++++ gtsam/discrete/DiscreteFactorGraph.h | 11 ++--------- gtsam/inference/BayesNet-inl.h | 5 +++-- gtsam/inference/BayesNet.h | 5 ++++- gtsam/inference/ClusterTree-inl.h | 17 ++++++++++------- gtsam/inference/ClusterTree.h | 10 +++++++--- gtsam/inference/EliminationTree-inl.h | 9 +++++---- gtsam/inference/EliminationTree.h | 7 +++++-- gtsam/inference/Factor-inl.h | 5 +++-- gtsam/inference/Factor.h | 5 ++++- gtsam/inference/FactorGraph-inl.h | 5 +++-- gtsam/inference/FactorGraph.h | 3 ++- gtsam/linear/GaussianDensity.cpp | 4 ++-- gtsam/linear/GaussianDensity.h | 3 ++- gtsam/linear/VectorValues.cpp | 4 ++-- gtsam/linear/VectorValues.h | 10 ++++++---- 18 files changed, 81 insertions(+), 47 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index c95cc36d6..6de9989f2 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -63,9 +63,11 @@ namespace gtsam { /// @{ /** GTSAM-style print */ - void print(const std::string& s = "Discrete Conditional: ") const { + void print(const std::string& s = "Discrete Conditional: ", + const boost::function& formatter + = &(boost::lexical_cast)) const { std::cout << s << std::endl; - IndexConditional::print(s); + IndexConditional::print(s, formatter); Potentials::print(s); } diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index 0bfdb3068..deac7efce 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -82,8 +82,10 @@ namespace gtsam { /// @{ // print - virtual void print(const std::string& s = "DiscreteFactor\n") const { - IndexFactor::print(s); + virtual void print(const std::string& s = "DiscreteFactor\n", + const boost::function& formatter + = &(boost::lexical_cast)) const { + IndexFactor::print(s,formatter); } /// @} diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index 4726c752f..f3c89721b 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -63,6 +63,18 @@ namespace gtsam { return product; } + /* ************************************************************************* */ + void DiscreteFactorGraph::print(const std::string& s, + const IndexFormatter& formatter) const { + std::cout << s << std::endl; + std::cout << "size: " << size() << std::endl; + for (size_t i = 0; i < factors_.size(); i++) { + std::stringstream ss; + ss << "factor " << i << ": "; + if (factors_[i] != NULL) factors_[i]->print(ss.str(), formatter); + } + } + /* ************************************************************************* */ std::pair // EliminateDiscrete(const FactorGraph& factors, size_t num) { @@ -90,6 +102,7 @@ namespace gtsam { return std::make_pair(cond, sum); } + /* ************************************************************************* */ } // namespace diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index d96a3049a..44b814507 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -77,15 +77,8 @@ public: double operator()(const DiscreteFactor::Values & values) const; /// print - void print(const std::string& s = "DiscreteFactorGraph") const { - std::cout << s << std::endl; - std::cout << "size: " << size() << std::endl; - for (size_t i = 0; i < factors_.size(); i++) { - std::stringstream ss; - ss << "factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str()); - } - } + void print(const std::string& s = "DiscreteFactorGraph", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; }; // DiscreteFactorGraph diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 112782ecc..89361e8fc 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -34,10 +34,11 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesNet::print(const std::string& s) const { + void BayesNet::print(const std::string& s, + const boost::function& formatter) const { std::cout << s; BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) - conditional->print(); + conditional->print("Conditional", formatter); } /* ************************************************************************* */ diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index e465fdfd3..32abd9ed6 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -23,6 +23,7 @@ #include #include #include +#include #include #include @@ -48,6 +49,7 @@ public: typedef typename boost::shared_ptr > shared_ptr; /** We store shared pointers to Conditional densities */ + typedef typename CONDITIONAL::KeyType KeyType; typedef typename boost::shared_ptr sharedConditional; typedef typename boost::shared_ptr const_sharedConditional; typedef typename std::list Conditionals; @@ -88,7 +90,8 @@ public: /// @{ /** print */ - void print(const std::string& s = "") const; + void print(const std::string& s = "", + const boost::function& formatter = &(boost::lexical_cast)) const; /** print statistics */ void printStats(const std::string& s = "") const; diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index 548a55cf4..b3fe204e7 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -71,10 +71,11 @@ namespace gtsam { /* ************************************************************************* */ template - void ClusterTree::Cluster::print(const std::string& indent) const { + void ClusterTree::Cluster::print(const std::string& indent, + const boost::function& formatter) const { std::cout << indent; BOOST_FOREACH(const Index key, frontal) - std::cout << key << " "; + std::cout << formatter(key) << " "; std::cout << ": "; BOOST_FOREACH(const Index key, separator) std::cout << key << " "; @@ -83,19 +84,21 @@ namespace gtsam { /* ************************************************************************* */ template - void ClusterTree::Cluster::printTree(const std::string& indent) const { - print(indent); + void ClusterTree::Cluster::printTree(const std::string& indent, + const boost::function& formatter) const { + print(indent, formatter); BOOST_FOREACH(const shared_ptr& child, children_) - child->printTree(indent + " "); + child->printTree(indent + " ", formatter); } /* ************************************************************************* * * ClusterTree * ************************************************************************* */ template - void ClusterTree::print(const std::string& str) const { + void ClusterTree::print(const std::string& str, + const boost::function& formatter) const { std::cout << str << std::endl; - if (root_) root_->printTree(""); + if (root_) root_->printTree("", formatter); } /* ************************************************************************* */ diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 92919b936..f253fe4d6 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -25,6 +25,7 @@ #include #include +#include #include @@ -38,6 +39,9 @@ namespace gtsam { */ template class ClusterTree { + public: + // Access to factor types + typedef typename FG::KeyType KeyType; protected: @@ -74,10 +78,10 @@ namespace gtsam { Cluster(FRONTALIT firstFrontal, FRONTALIT lastFrontal, SEPARATORIT firstSeparator, SEPARATORIT lastSeparator); /// print - void print(const std::string& indent) const; + void print(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; /// print the enire tree - void printTree(const std::string& indent) const; + void printTree(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; /// check equality bool equals(const Cluster& other) const; @@ -123,7 +127,7 @@ namespace gtsam { /// @{ /// print the object - void print(const std::string& str="") const; + void print(const std::string& str="", const boost::function& formatter = &(boost::lexical_cast)) const; /** check equality */ bool equals(const ClusterTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index c4cb9d4cf..81c98c926 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -166,12 +166,13 @@ EliminationTree::Create(const FactorGraph& factorGraph) { /* ************************************************************************* */ template -void EliminationTree::print(const std::string& name) const { - std::cout << name << " (" << key_ << ")" << std::endl; +void EliminationTree::print(const std::string& name, + const boost::function& formatter) const { + std::cout << name << " (" << formatter(key_) << ")" << std::endl; BOOST_FOREACH(const sharedFactor& factor, factors_) { - factor->print(name + " "); } + factor->print(name + " ", formatter); } BOOST_FOREACH(const shared_ptr& child, subTrees_) { - child->print(name + " "); } + child->print(name + " ", formatter); } } /* ************************************************************************* */ diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 6ab7dcf49..8e57a7208 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -54,6 +54,8 @@ public: typedef boost::shared_ptr shared_ptr; ///< Shared pointer to this class typedef typename boost::shared_ptr sharedFactor; ///< Shared pointer to a factor typedef gtsam::BayesNet BayesNet; ///< The BayesNet corresponding to FACTOR + typedef FACTOR Factor; + typedef typename FACTOR::KeyType KeyType; /** Typedef for an eliminate subroutine */ typedef typename FactorGraph::Eliminate Eliminate; @@ -67,7 +69,7 @@ private: typedef FastList SubTrees; typedef std::vector Conditionals; - Index key_; ///< index associated with root + Index key_; ///< index associated with root // FIXME: doesn't this require that "Index" is the type of keys in the generic factor? Factors factors_; ///< factors associated with root SubTrees subTrees_; ///< sub-trees @@ -141,7 +143,8 @@ public: /// @{ /** Print the tree to cout */ - void print(const std::string& name = "EliminationTree: ") const; + void print(const std::string& name = "EliminationTree: ", + const boost::function& formatter = &(boost::lexical_cast)) const; /** Test whether the tree is equal to another */ bool equals(const EliminationTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/Factor-inl.h b/gtsam/inference/Factor-inl.h index d9fb1e0de..ad9f43701 100644 --- a/gtsam/inference/Factor-inl.h +++ b/gtsam/inference/Factor-inl.h @@ -56,9 +56,10 @@ namespace gtsam { /* ************************************************************************* */ template - void Factor::print(const std::string& s) const { + void Factor::print(const std::string& s, + const boost::function& formatter) const { std::cout << s << " "; - BOOST_FOREACH(KEY key, keys_) std::cout << " " << key; + BOOST_FOREACH(KEY key, keys_) std::cout << " " << formatter(key); std::cout << std::endl; } diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 6ed9c809b..0e80fc8ea 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -25,6 +25,8 @@ #include #include #include +#include +#include #include namespace gtsam { @@ -190,7 +192,8 @@ public: /// @{ /// print - void print(const std::string& s = "Factor") const; + void print(const std::string& s = "Factor", + const boost::function& formatter = &(boost::lexical_cast)) const; /// check equality bool equals(const This& other, double tol = 1e-9) const; diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 90212f39f..c787655af 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -48,13 +48,14 @@ namespace gtsam { /* ************************************************************************* */ template - void FactorGraph::print(const std::string& s) const { + void FactorGraph::print(const std::string& s, + const boost::function& formatter) const { std::cout << s << std::endl; std::cout << "size: " << size() << std::endl; for (size_t i = 0; i < factors_.size(); i++) { std::stringstream ss; ss << "factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str()); + if (factors_[i] != NULL) factors_[i]->print(ss.str(), formatter); } } diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 89662ffc4..905afc55c 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -138,7 +138,8 @@ template class BayesTree; /// @{ /** print out graph */ - void print(const std::string& s = "FactorGraph") const; + void print(const std::string& s = "FactorGraph", + const boost::function& formatter = &(boost::lexical_cast)) const; /** Check equality */ bool equals(const This& fg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianDensity.cpp b/gtsam/linear/GaussianDensity.cpp index 97e42d9ba..c8fc4c21a 100644 --- a/gtsam/linear/GaussianDensity.cpp +++ b/gtsam/linear/GaussianDensity.cpp @@ -23,11 +23,11 @@ using namespace std; namespace gtsam { /* ************************************************************************* */ - void GaussianDensity::print(const string &s) const + void GaussianDensity::print(const string &s, const IndexFormatter& formatter) const { cout << s << ": density on "; for(const_iterator it = beginFrontals(); it != endFrontals(); ++it) - cout << (boost::format("[%1%]")%(*it)).str() << " "; + cout << (boost::format("[%1%]")%(formatter(*it))).str() << " "; cout << endl; gtsam::print(Matrix(get_R()),"R"); gtsam::print(Vector(get_d()),"d"); diff --git a/gtsam/linear/GaussianDensity.h b/gtsam/linear/GaussianDensity.h index 2c13e847c..61db582f4 100644 --- a/gtsam/linear/GaussianDensity.h +++ b/gtsam/linear/GaussianDensity.h @@ -54,7 +54,8 @@ namespace gtsam { } /// print - void print(const std::string& = "GaussianDensity") const; + void print(const std::string& = "GaussianDensity", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; /// Mean \f$ \mu = R^{-1} d \f$ Vector mean() const; diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 5868d8452..1413d1517 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -77,10 +77,10 @@ void VectorValues::insert(Index j, const Vector& value) { } /* ************************************************************************* */ -void VectorValues::print(const std::string& str) const { +void VectorValues::print(const std::string& str, const IndexFormatter& formatter) const { std::cout << str << ": " << size() << " elements\n"; for (Index var = 0; var < size(); ++var) - std::cout << " " << var << ": \n" << operator[](var) << "\n"; + std::cout << " " << formatter(var) << ": \n" << operator[](var) << "\n"; std::cout.flush(); } diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index f3d82511e..89c59a6ad 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -21,6 +21,7 @@ #include #include +#include #include #include #include @@ -159,15 +160,16 @@ namespace gtsam { iterator begin() { chk(); return maps_.begin(); } ///< Iterator over variables const_iterator begin() const { chk(); return maps_.begin(); } ///< Iterator over variables - iterator end() { chk(); return maps_.end(); } ///< Iterator over variables + iterator end() { chk(); return maps_.end(); } ///< Iterator over variables const_iterator end() const { chk(); return maps_.end(); } ///< Iterator over variables - reverse_iterator rbegin() { chk(); return maps_.rbegin(); } ///< Reverse iterator over variables + reverse_iterator rbegin() { chk(); return maps_.rbegin(); } ///< Reverse iterator over variables const_reverse_iterator rbegin() const { chk(); return maps_.rbegin(); } ///< Reverse iterator over variables - reverse_iterator rend() { chk(); return maps_.rend(); } ///< Reverse iterator over variables + reverse_iterator rend() { chk(); return maps_.rend(); } ///< Reverse iterator over variables const_reverse_iterator rend() const { chk(); return maps_.rend(); } ///< Reverse iterator over variables /** print required by Testable for unit testing */ - void print(const std::string& str = "VectorValues: ") const; + void print(const std::string& str = "VectorValues: ", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; /** equals required by Testable for unit testing */ bool equals(const VectorValues& x, double tol = 1e-9) const; From ddbea256af1f5e1dc627c699df6a1e0289893de7 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 27 Jun 2012 20:03:13 +0000 Subject: [PATCH 481/914] Merge branch 'master' into new_wrap_local --- gtsam/discrete/DiscreteConditional.h | 6 +- gtsam/discrete/DiscreteFactor.h | 6 +- gtsam/discrete/DiscreteFactorGraph.cpp | 13 ++ gtsam/discrete/DiscreteFactorGraph.h | 11 +- gtsam/inference/BayesNet-inl.h | 23 +- gtsam/inference/BayesNet.h | 8 +- gtsam/inference/BayesTree-inl.h | 12 + gtsam/inference/BayesTree.h | 1 + gtsam/inference/BayesTreeCliqueBase.h | 3 + gtsam/inference/ClusterTree-inl.h | 17 +- gtsam/inference/ClusterTree.h | 10 +- gtsam/inference/EliminationTree-inl.h | 9 +- gtsam/inference/EliminationTree.h | 7 +- gtsam/inference/Factor-inl.h | 5 +- gtsam/inference/Factor.h | 5 +- gtsam/inference/FactorGraph-inl.h | 5 +- gtsam/inference/FactorGraph.h | 3 +- gtsam/linear/GaussianDensity.cpp | 4 +- gtsam/linear/GaussianDensity.h | 3 +- gtsam/linear/VectorValues.cpp | 4 +- gtsam/linear/VectorValues.h | 10 +- gtsam/nonlinear/NonlinearISAM.cpp | 8 +- tests/testSubgraphPreconditioner.cpp | 297 ++++++++++++------------- 23 files changed, 266 insertions(+), 204 deletions(-) diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index c95cc36d6..6de9989f2 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -63,9 +63,11 @@ namespace gtsam { /// @{ /** GTSAM-style print */ - void print(const std::string& s = "Discrete Conditional: ") const { + void print(const std::string& s = "Discrete Conditional: ", + const boost::function& formatter + = &(boost::lexical_cast)) const { std::cout << s << std::endl; - IndexConditional::print(s); + IndexConditional::print(s, formatter); Potentials::print(s); } diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index 0bfdb3068..deac7efce 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -82,8 +82,10 @@ namespace gtsam { /// @{ // print - virtual void print(const std::string& s = "DiscreteFactor\n") const { - IndexFactor::print(s); + virtual void print(const std::string& s = "DiscreteFactor\n", + const boost::function& formatter + = &(boost::lexical_cast)) const { + IndexFactor::print(s,formatter); } /// @} diff --git a/gtsam/discrete/DiscreteFactorGraph.cpp b/gtsam/discrete/DiscreteFactorGraph.cpp index 4726c752f..f3c89721b 100644 --- a/gtsam/discrete/DiscreteFactorGraph.cpp +++ b/gtsam/discrete/DiscreteFactorGraph.cpp @@ -63,6 +63,18 @@ namespace gtsam { return product; } + /* ************************************************************************* */ + void DiscreteFactorGraph::print(const std::string& s, + const IndexFormatter& formatter) const { + std::cout << s << std::endl; + std::cout << "size: " << size() << std::endl; + for (size_t i = 0; i < factors_.size(); i++) { + std::stringstream ss; + ss << "factor " << i << ": "; + if (factors_[i] != NULL) factors_[i]->print(ss.str(), formatter); + } + } + /* ************************************************************************* */ std::pair // EliminateDiscrete(const FactorGraph& factors, size_t num) { @@ -90,6 +102,7 @@ namespace gtsam { return std::make_pair(cond, sum); } + /* ************************************************************************* */ } // namespace diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index d96a3049a..44b814507 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -77,15 +77,8 @@ public: double operator()(const DiscreteFactor::Values & values) const; /// print - void print(const std::string& s = "DiscreteFactorGraph") const { - std::cout << s << std::endl; - std::cout << "size: " << size() << std::endl; - for (size_t i = 0; i < factors_.size(); i++) { - std::stringstream ss; - ss << "factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str()); - } - } + void print(const std::string& s = "DiscreteFactorGraph", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; }; // DiscreteFactorGraph diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 57cef4634..89361e8fc 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -26,6 +26,7 @@ #include // for += using boost::assign::operator+=; +#include #include #include @@ -33,12 +34,30 @@ namespace gtsam { /* ************************************************************************* */ template - void BayesNet::print(const std::string& s) const { + void BayesNet::print(const std::string& s, + const boost::function& formatter) const { std::cout << s; BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) - conditional->print(); + conditional->print("Conditional", formatter); } + /* ************************************************************************* */ + template + void BayesNet::printStats(const std::string& s) const { + + const size_t n = conditionals_.size(); + size_t max_size = 0; + size_t total = 0; + BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) { + max_size = std::max(max_size, conditional->size()); + total += conditional->size(); + } + std::cout << s + << "maximum conditional size = " << max_size << std::endl + << "average conditional size = " << total / n << std::endl + << "density = " << 100.0 * total / (double) (n*(n+1)/2) << " %" << std::endl; + } + /* ************************************************************************* */ template bool BayesNet::equals(const BayesNet& cbn, double tol) const { diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index f6721816c..32abd9ed6 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -23,6 +23,7 @@ #include #include #include +#include #include #include @@ -48,6 +49,7 @@ public: typedef typename boost::shared_ptr > shared_ptr; /** We store shared pointers to Conditional densities */ + typedef typename CONDITIONAL::KeyType KeyType; typedef typename boost::shared_ptr sharedConditional; typedef typename boost::shared_ptr const_sharedConditional; typedef typename std::list Conditionals; @@ -88,7 +90,11 @@ public: /// @{ /** print */ - void print(const std::string& s = "") const; + void print(const std::string& s = "", + const boost::function& formatter = &(boost::lexical_cast)) const; + + /** print statistics */ + void printStats(const std::string& s = "") const; /** check equality */ bool equals(const BayesNet& other, double tol = 1e-9) const; diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 22dd0c62b..501a8aabd 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -67,6 +67,7 @@ namespace gtsam { of.close(); } + /* ************************************************************************* */ template void BayesTree::saveGraph(std::ostream &s, sharedClique clique, const IndexFormatter& indexFormatter, int parentnum) const { static int num = 0; @@ -102,6 +103,17 @@ namespace gtsam { } + /* ************************************************************************* */ + template + void BayesTree::CliqueStats::print(const std::string& s) const { + std::cout << s + <<"avg Conditional Size: " << avgConditionalSize << std::endl + << "max Conditional Size: " << maxConditionalSize << std::endl + << "avg Separator Size: " << avgSeparatorSize << std::endl + << "max Separator Size: " << maxSeparatorSize << std::endl; + } + + /* ************************************************************************* */ template typename BayesTree::CliqueStats BayesTree::CliqueData::getStats() const { diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 9c38d6496..6413e4b0d 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -81,6 +81,7 @@ namespace gtsam { std::size_t maxConditionalSize; double avgSeparatorSize; std::size_t maxSeparatorSize; + void print(const std::string& s = "") const ; }; /** store all the sizes */ diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index 9a2f6c54e..d054fe43f 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -117,6 +117,9 @@ namespace gtsam { /** return the const reference of children */ const std::list& children() const { return children_; } + /** return a shared_ptr to the parent clique */ + derived_ptr parent() const { return parent_.lock(); } + /// @} /// @name Advanced Interface /// @{ diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index 548a55cf4..b3fe204e7 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -71,10 +71,11 @@ namespace gtsam { /* ************************************************************************* */ template - void ClusterTree::Cluster::print(const std::string& indent) const { + void ClusterTree::Cluster::print(const std::string& indent, + const boost::function& formatter) const { std::cout << indent; BOOST_FOREACH(const Index key, frontal) - std::cout << key << " "; + std::cout << formatter(key) << " "; std::cout << ": "; BOOST_FOREACH(const Index key, separator) std::cout << key << " "; @@ -83,19 +84,21 @@ namespace gtsam { /* ************************************************************************* */ template - void ClusterTree::Cluster::printTree(const std::string& indent) const { - print(indent); + void ClusterTree::Cluster::printTree(const std::string& indent, + const boost::function& formatter) const { + print(indent, formatter); BOOST_FOREACH(const shared_ptr& child, children_) - child->printTree(indent + " "); + child->printTree(indent + " ", formatter); } /* ************************************************************************* * * ClusterTree * ************************************************************************* */ template - void ClusterTree::print(const std::string& str) const { + void ClusterTree::print(const std::string& str, + const boost::function& formatter) const { std::cout << str << std::endl; - if (root_) root_->printTree(""); + if (root_) root_->printTree("", formatter); } /* ************************************************************************* */ diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index 92919b936..f253fe4d6 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -25,6 +25,7 @@ #include #include +#include #include @@ -38,6 +39,9 @@ namespace gtsam { */ template class ClusterTree { + public: + // Access to factor types + typedef typename FG::KeyType KeyType; protected: @@ -74,10 +78,10 @@ namespace gtsam { Cluster(FRONTALIT firstFrontal, FRONTALIT lastFrontal, SEPARATORIT firstSeparator, SEPARATORIT lastSeparator); /// print - void print(const std::string& indent) const; + void print(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; /// print the enire tree - void printTree(const std::string& indent) const; + void printTree(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; /// check equality bool equals(const Cluster& other) const; @@ -123,7 +127,7 @@ namespace gtsam { /// @{ /// print the object - void print(const std::string& str="") const; + void print(const std::string& str="", const boost::function& formatter = &(boost::lexical_cast)) const; /** check equality */ bool equals(const ClusterTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index c4cb9d4cf..81c98c926 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -166,12 +166,13 @@ EliminationTree::Create(const FactorGraph& factorGraph) { /* ************************************************************************* */ template -void EliminationTree::print(const std::string& name) const { - std::cout << name << " (" << key_ << ")" << std::endl; +void EliminationTree::print(const std::string& name, + const boost::function& formatter) const { + std::cout << name << " (" << formatter(key_) << ")" << std::endl; BOOST_FOREACH(const sharedFactor& factor, factors_) { - factor->print(name + " "); } + factor->print(name + " ", formatter); } BOOST_FOREACH(const shared_ptr& child, subTrees_) { - child->print(name + " "); } + child->print(name + " ", formatter); } } /* ************************************************************************* */ diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 6ab7dcf49..8e57a7208 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -54,6 +54,8 @@ public: typedef boost::shared_ptr shared_ptr; ///< Shared pointer to this class typedef typename boost::shared_ptr sharedFactor; ///< Shared pointer to a factor typedef gtsam::BayesNet BayesNet; ///< The BayesNet corresponding to FACTOR + typedef FACTOR Factor; + typedef typename FACTOR::KeyType KeyType; /** Typedef for an eliminate subroutine */ typedef typename FactorGraph::Eliminate Eliminate; @@ -67,7 +69,7 @@ private: typedef FastList SubTrees; typedef std::vector Conditionals; - Index key_; ///< index associated with root + Index key_; ///< index associated with root // FIXME: doesn't this require that "Index" is the type of keys in the generic factor? Factors factors_; ///< factors associated with root SubTrees subTrees_; ///< sub-trees @@ -141,7 +143,8 @@ public: /// @{ /** Print the tree to cout */ - void print(const std::string& name = "EliminationTree: ") const; + void print(const std::string& name = "EliminationTree: ", + const boost::function& formatter = &(boost::lexical_cast)) const; /** Test whether the tree is equal to another */ bool equals(const EliminationTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/Factor-inl.h b/gtsam/inference/Factor-inl.h index d9fb1e0de..ad9f43701 100644 --- a/gtsam/inference/Factor-inl.h +++ b/gtsam/inference/Factor-inl.h @@ -56,9 +56,10 @@ namespace gtsam { /* ************************************************************************* */ template - void Factor::print(const std::string& s) const { + void Factor::print(const std::string& s, + const boost::function& formatter) const { std::cout << s << " "; - BOOST_FOREACH(KEY key, keys_) std::cout << " " << key; + BOOST_FOREACH(KEY key, keys_) std::cout << " " << formatter(key); std::cout << std::endl; } diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 6ed9c809b..0e80fc8ea 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -25,6 +25,8 @@ #include #include #include +#include +#include #include namespace gtsam { @@ -190,7 +192,8 @@ public: /// @{ /// print - void print(const std::string& s = "Factor") const; + void print(const std::string& s = "Factor", + const boost::function& formatter = &(boost::lexical_cast)) const; /// check equality bool equals(const This& other, double tol = 1e-9) const; diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 90212f39f..c787655af 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -48,13 +48,14 @@ namespace gtsam { /* ************************************************************************* */ template - void FactorGraph::print(const std::string& s) const { + void FactorGraph::print(const std::string& s, + const boost::function& formatter) const { std::cout << s << std::endl; std::cout << "size: " << size() << std::endl; for (size_t i = 0; i < factors_.size(); i++) { std::stringstream ss; ss << "factor " << i << ": "; - if (factors_[i] != NULL) factors_[i]->print(ss.str()); + if (factors_[i] != NULL) factors_[i]->print(ss.str(), formatter); } } diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 89662ffc4..905afc55c 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -138,7 +138,8 @@ template class BayesTree; /// @{ /** print out graph */ - void print(const std::string& s = "FactorGraph") const; + void print(const std::string& s = "FactorGraph", + const boost::function& formatter = &(boost::lexical_cast)) const; /** Check equality */ bool equals(const This& fg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianDensity.cpp b/gtsam/linear/GaussianDensity.cpp index 97e42d9ba..c8fc4c21a 100644 --- a/gtsam/linear/GaussianDensity.cpp +++ b/gtsam/linear/GaussianDensity.cpp @@ -23,11 +23,11 @@ using namespace std; namespace gtsam { /* ************************************************************************* */ - void GaussianDensity::print(const string &s) const + void GaussianDensity::print(const string &s, const IndexFormatter& formatter) const { cout << s << ": density on "; for(const_iterator it = beginFrontals(); it != endFrontals(); ++it) - cout << (boost::format("[%1%]")%(*it)).str() << " "; + cout << (boost::format("[%1%]")%(formatter(*it))).str() << " "; cout << endl; gtsam::print(Matrix(get_R()),"R"); gtsam::print(Vector(get_d()),"d"); diff --git a/gtsam/linear/GaussianDensity.h b/gtsam/linear/GaussianDensity.h index 2c13e847c..61db582f4 100644 --- a/gtsam/linear/GaussianDensity.h +++ b/gtsam/linear/GaussianDensity.h @@ -54,7 +54,8 @@ namespace gtsam { } /// print - void print(const std::string& = "GaussianDensity") const; + void print(const std::string& = "GaussianDensity", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; /// Mean \f$ \mu = R^{-1} d \f$ Vector mean() const; diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 5868d8452..1413d1517 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -77,10 +77,10 @@ void VectorValues::insert(Index j, const Vector& value) { } /* ************************************************************************* */ -void VectorValues::print(const std::string& str) const { +void VectorValues::print(const std::string& str, const IndexFormatter& formatter) const { std::cout << str << ": " << size() << " elements\n"; for (Index var = 0; var < size(); ++var) - std::cout << " " << var << ": \n" << operator[](var) << "\n"; + std::cout << " " << formatter(var) << ": \n" << operator[](var) << "\n"; std::cout.flush(); } diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index f3d82511e..89c59a6ad 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -21,6 +21,7 @@ #include #include +#include #include #include #include @@ -159,15 +160,16 @@ namespace gtsam { iterator begin() { chk(); return maps_.begin(); } ///< Iterator over variables const_iterator begin() const { chk(); return maps_.begin(); } ///< Iterator over variables - iterator end() { chk(); return maps_.end(); } ///< Iterator over variables + iterator end() { chk(); return maps_.end(); } ///< Iterator over variables const_iterator end() const { chk(); return maps_.end(); } ///< Iterator over variables - reverse_iterator rbegin() { chk(); return maps_.rbegin(); } ///< Reverse iterator over variables + reverse_iterator rbegin() { chk(); return maps_.rbegin(); } ///< Reverse iterator over variables const_reverse_iterator rbegin() const { chk(); return maps_.rbegin(); } ///< Reverse iterator over variables - reverse_iterator rend() { chk(); return maps_.rend(); } ///< Reverse iterator over variables + reverse_iterator rend() { chk(); return maps_.rend(); } ///< Reverse iterator over variables const_reverse_iterator rend() const { chk(); return maps_.rend(); } ///< Reverse iterator over variables /** print required by Testable for unit testing */ - void print(const std::string& str = "VectorValues: ") const; + void print(const std::string& str = "VectorValues: ", + const IndexFormatter& formatter = &(boost::lexical_cast)) const; /** equals required by Testable for unit testing */ bool equals(const VectorValues& x, double tol = 1e-9) const; diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp index 6b5ea31bc..b2135fedd 100644 --- a/gtsam/nonlinear/NonlinearISAM.cpp +++ b/gtsam/nonlinear/NonlinearISAM.cpp @@ -118,13 +118,7 @@ void NonlinearISAM::print(const string& s, const KeyFormatter& keyFormatter) con /* ************************************************************************* */ void NonlinearISAM::printStats() const { - gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData(); - gtsam::GaussianISAM::CliqueStats stats = data.getStats(); - cout << "\navg Conditional Size: " << stats.avgConditionalSize; - cout << "\nmax Conditional Size: " << stats.maxConditionalSize; - cout << "\navg Separator Size: " << stats.avgSeparatorSize; - cout << "\nmax Separator Size: " << stats.maxSeparatorSize; - cout << endl; + isam_.getCliqueData().getStats().print(); } /* ************************************************************************* */ diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index 382ac4cc7..417643e78 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -40,14 +40,14 @@ Key i3002 = 3002, i2002 = 2002, i1002 = 1002; Key i3001 = 3001, i2001 = 2001, i1001 = 1001; // TODO fix Ordering::equals, because the ordering *is* correct ! -/* ************************************************************************* * -TEST( SubgraphPreconditioner, planarOrdering ) -{ - // Check canonical ordering - Ordering expected, ordering = planarOrdering(3); - expected += i3003, i2003, i1003, i3002, i2002, i1002, i3001, i2001, i1001; - CHECK(assert_equal(expected,ordering)); -} +/* ************************************************************************* */ +//TEST( SubgraphPreconditioner, planarOrdering ) +//{ +// // Check canonical ordering +// Ordering expected, ordering = planarOrdering(3); +// expected += i3003, i2003, i1003, i3002, i2002, i1002, i3001, i2001, i1001; +// CHECK(assert_equal(expected,ordering)); +//} /* ************************************************************************* */ TEST( SubgraphPreconditioner, planarGraph ) @@ -66,148 +66,145 @@ TEST( SubgraphPreconditioner, planarGraph ) CHECK(assert_equal(xtrue,actual)); } -/* ************************************************************************* * -TEST( SubgraphPreconditioner, splitOffPlanarTree ) -{ - // Build a planar graph - GaussianFactorGraph A; - VectorValues xtrue; - boost::tie(A, xtrue) = planarGraph(3); - - // Get the spanning tree and constraints, and check their sizes - JacobianFactorGraph T, C; - // TODO big mess: GFG and JFG mess !!! - boost::tie(T, C) = splitOffPlanarTree(3, A); - LONGS_EQUAL(9,T.size()); - LONGS_EQUAL(4,C.size()); - - // Check that the tree can be solved to give the ground xtrue - GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); - VectorValues xbar = optimize(*R1); - CHECK(assert_equal(xtrue,xbar)); -} - -/* ************************************************************************* * -TEST( SubgraphPreconditioner, system ) -{ - // Build a planar graph - JacobianFactorGraph Ab; - VectorValues xtrue; - size_t N = 3; - boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b - - // Get the spanning tree and corresponding ordering - GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 - boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); - SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); - - // Eliminate the spanning tree to build a prior - SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 - VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 - - // Create Subgraph-preconditioned system - VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible - SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); - - // Create zero config - VectorValues zeros = VectorValues::Zero(xbar); - - // Set up y0 as all zeros - VectorValues y0 = zeros; - - // y1 = perturbed y0 - VectorValues y1 = zeros; - y1[i2003] = Vector_(2, 1.0, -1.0); - - // Check corresponding x values - VectorValues expected_x1 = xtrue, x1 = system.x(y1); - expected_x1[i2003] = Vector_(2, 2.01, 2.99); - expected_x1[i3003] = Vector_(2, 3.01, 2.99); - CHECK(assert_equal(xtrue, system.x(y0))); - CHECK(assert_equal(expected_x1,system.x(y1))); - - // Check errors -// DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); // TODO ! -// DOUBLES_EQUAL(3,error(Ab,x1),1e-9); // TODO ! - DOUBLES_EQUAL(0,error(system,y0),1e-9); - DOUBLES_EQUAL(3,error(system,y1),1e-9); - - // Test gradient in x - VectorValues expected_gx0 = zeros; - VectorValues expected_gx1 = zeros; - CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); - expected_gx1[i1003] = Vector_(2, -100., 100.); - expected_gx1[i2002] = Vector_(2, -100., 100.); - expected_gx1[i2003] = Vector_(2, 200., -200.); - expected_gx1[i3002] = Vector_(2, -100., 100.); - expected_gx1[i3003] = Vector_(2, 100., -100.); - CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); - - // Test gradient in y - VectorValues expected_gy0 = zeros; - VectorValues expected_gy1 = zeros; - expected_gy1[i1003] = Vector_(2, 2., -2.); - expected_gy1[i2002] = Vector_(2, -2., 2.); - expected_gy1[i2003] = Vector_(2, 3., -3.); - expected_gy1[i3002] = Vector_(2, -1., 1.); - expected_gy1[i3003] = Vector_(2, 1., -1.); - CHECK(assert_equal(expected_gy0,gradient(system,y0))); - CHECK(assert_equal(expected_gy1,gradient(system,y1))); - - // Check it numerically for good measure - // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) - // Vector numerical_g1 = numericalGradient (error, y1, 0.001); - // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., - // 3., -3., 0., 0., -1., 1., 1., -1.); - // CHECK(assert_equal(expected_g1,numerical_g1)); -} - -/* ************************************************************************* * -TEST( SubgraphPreconditioner, conjugateGradients ) -{ - // Build a planar graph - GaussianFactorGraph Ab; - VectorValues xtrue; - size_t N = 3; - boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b - - // Get the spanning tree and corresponding ordering - GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 - boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); - SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); - - // Eliminate the spanning tree to build a prior - Ordering ordering = planarOrdering(N); - SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 - VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 - - // Create Subgraph-preconditioned system - VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible - SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); - - // Create zero config y0 and perturbed config y1 - VectorValues y0 = VectorValues::Zero(xbar); - - VectorValues y1 = y0; - y1[i2003] = Vector_(2, 1.0, -1.0); - VectorValues x1 = system.x(y1); - - // Solve for the remaining constraints using PCG - ConjugateGradientParameters parameters; -// VectorValues actual = gtsam::conjugateGradients(system, y1, verbose, epsilon, epsilon, maxIterations); -// CHECK(assert_equal(y0,actual)); - - // Compare with non preconditioned version: - VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); - CHECK(assert_equal(xtrue,actual2,1e-4)); -} +/* ************************************************************************* */ +//TEST( SubgraphPreconditioner, splitOffPlanarTree ) +//{ +// // Build a planar graph +// GaussianFactorGraph A; +// VectorValues xtrue; +// boost::tie(A, xtrue) = planarGraph(3); +// +// // Get the spanning tree and constraints, and check their sizes +// JacobianFactorGraph T, C; +// // TODO big mess: GFG and JFG mess !!! +// boost::tie(T, C) = splitOffPlanarTree(3, A); +// LONGS_EQUAL(9,T.size()); +// LONGS_EQUAL(4,C.size()); +// +// // Check that the tree can be solved to give the ground xtrue +// GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); +// VectorValues xbar = optimize(*R1); +// CHECK(assert_equal(xtrue,xbar)); +//} /* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} +//TEST( SubgraphPreconditioner, system ) +//{ +// // Build a planar graph +// JacobianFactorGraph Ab; +// VectorValues xtrue; +// size_t N = 3; +// boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b +// +// // Get the spanning tree and corresponding ordering +// GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 +// boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); +// SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); +// SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); +// +// // Eliminate the spanning tree to build a prior +// SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 +// VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 +// +// // Create Subgraph-preconditioned system +// VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible +// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); +// +// // Create zero config +// VectorValues zeros = VectorValues::Zero(xbar); +// +// // Set up y0 as all zeros +// VectorValues y0 = zeros; +// +// // y1 = perturbed y0 +// VectorValues y1 = zeros; +// y1[i2003] = Vector_(2, 1.0, -1.0); +// +// // Check corresponding x values +// VectorValues expected_x1 = xtrue, x1 = system.x(y1); +// expected_x1[i2003] = Vector_(2, 2.01, 2.99); +// expected_x1[i3003] = Vector_(2, 3.01, 2.99); +// CHECK(assert_equal(xtrue, system.x(y0))); +// CHECK(assert_equal(expected_x1,system.x(y1))); +// +// // Check errors +//// DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); // TODO ! +//// DOUBLES_EQUAL(3,error(Ab,x1),1e-9); // TODO ! +// DOUBLES_EQUAL(0,error(system,y0),1e-9); +// DOUBLES_EQUAL(3,error(system,y1),1e-9); +// +// // Test gradient in x +// VectorValues expected_gx0 = zeros; +// VectorValues expected_gx1 = zeros; +// CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); +// expected_gx1[i1003] = Vector_(2, -100., 100.); +// expected_gx1[i2002] = Vector_(2, -100., 100.); +// expected_gx1[i2003] = Vector_(2, 200., -200.); +// expected_gx1[i3002] = Vector_(2, -100., 100.); +// expected_gx1[i3003] = Vector_(2, 100., -100.); +// CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); +// +// // Test gradient in y +// VectorValues expected_gy0 = zeros; +// VectorValues expected_gy1 = zeros; +// expected_gy1[i1003] = Vector_(2, 2., -2.); +// expected_gy1[i2002] = Vector_(2, -2., 2.); +// expected_gy1[i2003] = Vector_(2, 3., -3.); +// expected_gy1[i3002] = Vector_(2, -1., 1.); +// expected_gy1[i3003] = Vector_(2, 1., -1.); +// CHECK(assert_equal(expected_gy0,gradient(system,y0))); +// CHECK(assert_equal(expected_gy1,gradient(system,y1))); +// +// // Check it numerically for good measure +// // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) +// // Vector numerical_g1 = numericalGradient (error, y1, 0.001); +// // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., +// // 3., -3., 0., 0., -1., 1., 1., -1.); +// // CHECK(assert_equal(expected_g1,numerical_g1)); +//} + +/* ************************************************************************* */ +//TEST( SubgraphPreconditioner, conjugateGradients ) +//{ +// // Build a planar graph +// GaussianFactorGraph Ab; +// VectorValues xtrue; +// size_t N = 3; +// boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b +// +// // Get the spanning tree and corresponding ordering +// GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 +// boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); +// SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); +// SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); +// +// // Eliminate the spanning tree to build a prior +// Ordering ordering = planarOrdering(N); +// SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 +// VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 +// +// // Create Subgraph-preconditioned system +// VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible +// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); +// +// // Create zero config y0 and perturbed config y1 +// VectorValues y0 = VectorValues::Zero(xbar); +// +// VectorValues y1 = y0; +// y1[i2003] = Vector_(2, 1.0, -1.0); +// VectorValues x1 = system.x(y1); +// +// // Solve for the remaining constraints using PCG +// ConjugateGradientParameters parameters; +//// VectorValues actual = gtsam::conjugateGradients(system, y1, verbose, epsilon, epsilon, maxIterations); +//// CHECK(assert_equal(y0,actual)); +// +// // Compare with non preconditioned version: +// VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); +// CHECK(assert_equal(xtrue,actual2,1e-4)); +//} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From fb00f4b834ac3956dc4ce99e29dbace18999b96f Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Wed, 27 Jun 2012 21:50:45 +0000 Subject: [PATCH 482/914] fixes for two word args --- wrap/Class.cpp | 3 ++- wrap/Constructor.cpp | 2 +- wrap/Method.cpp | 9 ++++++--- wrap/matlab.h | 6 ------ 4 files changed, 9 insertions(+), 11 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 7280d5488..5e0237d3a 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -59,7 +59,8 @@ void Class::matlab_proxy(const string& classFile) const { // deconstructor file.oss << " function delete(obj)" << endl; file.oss << " if obj.self ~= 0" << endl; - file.oss << " fprintf(1,'MATLAB class deleting %x',obj.self);" << endl; + //TODO: Add verbosity flag + //file.oss << " fprintf(1,'MATLAB class deleting %x',obj.self);" << endl; file.oss << " new_" << matlabName << "_(obj.self);" << endl; file.oss << " obj.self = 0;" << endl; file.oss << " end" << endl; diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 97a6af4fc..e999951b2 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -129,7 +129,7 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << " if(nargin > 1) {" << endl; file.oss << " collector.insert(self);" << endl; //TODO: Add verbosity flag - file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; + //file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; file.oss << " }" << endl; file.oss << " else if(collector.erase(self))" << endl; file.oss << " delete self;" << endl; diff --git a/wrap/Method.cpp b/wrap/Method.cpp index ccd36fe50..f5da0d370 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -63,11 +63,14 @@ void Method::matlab_wrapper(const string& classPath, if(returnVal.isPair) { - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; + if(returnVal.category1 == ReturnValue::CLASS) + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + if(returnVal.category2 == ReturnValue::CLASS) + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; } else - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + if(returnVal.category1 == ReturnValue::CLASS) + file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; // call diff --git a/wrap/matlab.h b/wrap/matlab.h index 99dd0c6b3..74c0823e4 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -341,7 +341,6 @@ mxArray* create_collect_object(const char *classname, mxArray* h){ mxArray* dummy[14] = {h,h,h,h,h, h,h,h,h,h, h,h,h,h}; mexCallMATLAB(1,&result,14,dummy,classname); mxSetProperty(result, 0, "self", h); - cout << "Return collect" << endl; return result; } @@ -354,7 +353,6 @@ template mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast**> (mxGetPr(mxh)) = shared_ptr; - cout << "wrapped:" << mxh << endl << "end wrap" << endl; //return mxh; return create_object(classname, mxh); } @@ -363,23 +361,19 @@ template mxArray* wrap_collect_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast**> (mxGetPr(mxh)) = shared_ptr; - cout << "wrapped:" << mxh << endl << "end wrap" << endl; //return mxh; return create_collect_object(classname, mxh); } template boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { - cout << "UNWRAP CALL" << endl; mxArray* mxh = mxGetProperty(obj,0,"self"); if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( "Parameter is not an Shared type."); - cout << "unwrapped:" << mxh << endl; boost::shared_ptr* spp = *reinterpret_cast**> (mxGetPr(mxh)); - cout << "unwrapped:" << spp << endl; return *spp; } From c289a6c5f6c14e82f9a04859f05c84498830ab27 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 28 Jun 2012 01:52:36 +0000 Subject: [PATCH 483/914] Option to append build mode suffix to build library --- CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index fb25d2dd8..96efa97dd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -50,6 +50,7 @@ else() option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) endif() option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON) +option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" OFF) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF) if(MSVC) option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF) @@ -170,6 +171,7 @@ print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") +print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ") print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ") if(GTSAM_UNSTABLE_AVAILABLE) print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") From 947e5fe5ee1fbe513ccab74a363862fc11238fc2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 28 Jun 2012 01:52:48 +0000 Subject: [PATCH 484/914] Made typedefs / constants for IndexFormatter to simplify code --- gtsam/base/types.cpp | 30 +++++++++++++++++++++++++++ gtsam/base/types.h | 6 ++++++ gtsam/discrete/DiscreteConditional.h | 4 ++-- gtsam/discrete/DiscreteFactor.h | 4 ++-- gtsam/discrete/DiscreteFactorGraph.h | 2 +- gtsam/inference/BayesNet-inl.h | 2 +- gtsam/inference/BayesNet.h | 2 +- gtsam/inference/BayesTree.h | 6 +++--- gtsam/inference/BayesTreeCliqueBase.h | 4 ++-- gtsam/inference/ClusterTree-inl.h | 6 +++--- gtsam/inference/ClusterTree.h | 6 +++--- gtsam/inference/Conditional.h | 5 ++--- gtsam/inference/EliminationTree-inl.h | 2 +- gtsam/inference/EliminationTree.h | 2 +- gtsam/inference/Factor-inl.h | 2 +- gtsam/inference/Factor.h | 3 ++- gtsam/inference/FactorGraph-inl.h | 2 +- gtsam/inference/FactorGraph.h | 2 +- gtsam/linear/GaussianConditional.h | 2 +- gtsam/linear/GaussianDensity.h | 2 +- gtsam/linear/GaussianFactor.h | 2 +- gtsam/linear/HessianFactor.h | 2 +- gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/VectorValues.h | 2 +- gtsam/nonlinear/ISAM2.h | 2 +- 25 files changed, 70 insertions(+), 34 deletions(-) create mode 100644 gtsam/base/types.cpp diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp new file mode 100644 index 000000000..ea4db72c8 --- /dev/null +++ b/gtsam/base/types.cpp @@ -0,0 +1,30 @@ +/* ---------------------------------------------------------------------------- + + * 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 types.h + * @brief Typedefs for easier changing of types + * @author Richard Roberts + * @date Aug 21, 2010 + * @addtogroup base + */ + +#include + +#include + +namespace gtsam { + + std::string _defaultIndexFormatter(Index j) { + return boost::lexical_cast(j); + } + +} \ No newline at end of file diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 5559518b3..a42c2acc5 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -21,6 +21,7 @@ #include +#include #include namespace gtsam { @@ -32,6 +33,11 @@ namespace gtsam { * to a nonlinear key and then to a Symbol. */ typedef boost::function IndexFormatter; + std::string _defaultIndexFormatter(Index j); + + /** The default IndexFormatter outputs the index */ + static const IndexFormatter DefaultIndexFormatter = &_defaultIndexFormatter; + /** * Helper class that uses templates to select between two types based on * whether TEST_TYPE is const or not. diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 6de9989f2..e05bfd669 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -64,8 +64,8 @@ namespace gtsam { /** GTSAM-style print */ void print(const std::string& s = "Discrete Conditional: ", - const boost::function& formatter - = &(boost::lexical_cast)) const { + const IndexFormatter& formatter + =DefaultIndexFormatter) const { std::cout << s << std::endl; IndexConditional::print(s, formatter); Potentials::print(s); diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index deac7efce..9b1130bae 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -83,8 +83,8 @@ namespace gtsam { // print virtual void print(const std::string& s = "DiscreteFactor\n", - const boost::function& formatter - = &(boost::lexical_cast)) const { + const IndexFormatter& formatter + =DefaultIndexFormatter) const { IndexFactor::print(s,formatter); } diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index 44b814507..0f399abdd 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -78,7 +78,7 @@ public: /// print void print(const std::string& s = "DiscreteFactorGraph", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter =DefaultIndexFormatter) const; }; // DiscreteFactorGraph diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 89361e8fc..c306cb39d 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -35,7 +35,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesNet::print(const std::string& s, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << s; BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) conditional->print("Conditional", formatter); diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index 32abd9ed6..67d59c48d 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -91,7 +91,7 @@ public: /** print */ void print(const std::string& s = "", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** print statistics */ void printStats(const std::string& s = "") const; diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 6413e4b0d..7391e9a10 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -71,7 +71,7 @@ namespace gtsam { // A convenience class for a list of shared cliques struct Cliques : public std::list { void print(const std::string& s = "Cliques", - const IndexFormatter& indexFormatter = &(boost::lexical_cast)) const; + const IndexFormatter& indexFormatter = DefaultIndexFormatter) const; bool equals(const Cliques& other, double tol = 1e-9) const; }; @@ -178,7 +178,7 @@ namespace gtsam { /** print */ void print(const std::string& s = "", - const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /// @} /// @name Standard Interface @@ -236,7 +236,7 @@ namespace gtsam { */ /** saves the Tree to a text file in GraphViz format */ - void saveGraph(const std::string& s, const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + void saveGraph(const std::string& s, const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /// @} /// @name Advanced Interface diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index d054fe43f..a2fb8feef 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -93,10 +93,10 @@ namespace gtsam { } /** print this node */ - void print(const std::string& s = "", const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + void print(const std::string& s = "", const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /** print this node and entire subtree below it */ - void printTree(const std::string& indent="", const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + void printTree(const std::string& indent="", const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /// @} /// @name Standard Interface diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index b3fe204e7..3b8deb316 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -72,7 +72,7 @@ namespace gtsam { /* ************************************************************************* */ template void ClusterTree::Cluster::print(const std::string& indent, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << indent; BOOST_FOREACH(const Index key, frontal) std::cout << formatter(key) << " "; @@ -85,7 +85,7 @@ namespace gtsam { /* ************************************************************************* */ template void ClusterTree::Cluster::printTree(const std::string& indent, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { print(indent, formatter); BOOST_FOREACH(const shared_ptr& child, children_) child->printTree(indent + " ", formatter); @@ -96,7 +96,7 @@ namespace gtsam { * ************************************************************************* */ template void ClusterTree::print(const std::string& str, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << str << std::endl; if (root_) root_->printTree("", formatter); } diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index f253fe4d6..276ef374d 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -78,10 +78,10 @@ namespace gtsam { Cluster(FRONTALIT firstFrontal, FRONTALIT lastFrontal, SEPARATORIT firstSeparator, SEPARATORIT lastSeparator); /// print - void print(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; + void print(const std::string& indent, const IndexFormatter& formatter = DefaultIndexFormatter) const; /// print the enire tree - void printTree(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; + void printTree(const std::string& indent, const IndexFormatter& formatter = DefaultIndexFormatter) const; /// check equality bool equals(const Cluster& other) const; @@ -127,7 +127,7 @@ namespace gtsam { /// @{ /// print the object - void print(const std::string& str="", const boost::function& formatter = &(boost::lexical_cast)) const; + void print(const std::string& str="", const IndexFormatter& formatter = DefaultIndexFormatter) const; /** check equality */ bool equals(const ClusterTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h index 97f885596..8363c1800 100644 --- a/gtsam/inference/Conditional.h +++ b/gtsam/inference/Conditional.h @@ -131,8 +131,7 @@ public: /// @{ /** print with optional formatter */ - void print(const std::string& s = "Conditional", - const boost::function& formatter = &(boost::lexical_cast) ) const; + void print(const std::string& s = "Conditional", const IndexFormatter& formatter = DefaultIndexFormatter) const; /** check equality */ template @@ -201,7 +200,7 @@ private: /* ************************************************************************* */ template -void Conditional::print(const std::string& s, const boost::function& formatter) const { +void Conditional::print(const std::string& s, const IndexFormatter& formatter) const { std::cout << s << " P("; BOOST_FOREACH(KeyType key, frontals()) std::cout << " " << formatter(key); if (nrParents()>0) std::cout << " |"; diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index 81c98c926..2e977aa4b 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -167,7 +167,7 @@ EliminationTree::Create(const FactorGraph& factorGraph) { /* ************************************************************************* */ template void EliminationTree::print(const std::string& name, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << name << " (" << formatter(key_) << ")" << std::endl; BOOST_FOREACH(const sharedFactor& factor, factors_) { factor->print(name + " ", formatter); } diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 8e57a7208..495fb40c8 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -144,7 +144,7 @@ public: /** Print the tree to cout */ void print(const std::string& name = "EliminationTree: ", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** Test whether the tree is equal to another */ bool equals(const EliminationTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/Factor-inl.h b/gtsam/inference/Factor-inl.h index ad9f43701..6636b646c 100644 --- a/gtsam/inference/Factor-inl.h +++ b/gtsam/inference/Factor-inl.h @@ -57,7 +57,7 @@ namespace gtsam { /* ************************************************************************* */ template void Factor::print(const std::string& s, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << s << " "; BOOST_FOREACH(KEY key, keys_) std::cout << " " << formatter(key); std::cout << std::endl; diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 0e80fc8ea..d81c911a3 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -27,6 +27,7 @@ #include #include #include +#include #include namespace gtsam { @@ -193,7 +194,7 @@ public: /// print void print(const std::string& s = "Factor", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// check equality bool equals(const This& other, double tol = 1e-9) const; diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index c787655af..caf18d60e 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -49,7 +49,7 @@ namespace gtsam { /* ************************************************************************* */ template void FactorGraph::print(const std::string& s, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << s << std::endl; std::cout << "size: " << size() << std::endl; for (size_t i = 0; i < factors_.size(); i++) { diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 905afc55c..d0b9952d5 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -139,7 +139,7 @@ template class BayesTree; /** print out graph */ void print(const std::string& s = "FactorGraph", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** Check equality */ bool equals(const This& fg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 68b537c2d..5b7801156 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -139,7 +139,7 @@ public: /** print */ void print(const std::string& = "GaussianConditional", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** equals function */ bool equals(const GaussianConditional &cg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianDensity.h b/gtsam/linear/GaussianDensity.h index 61db582f4..4d4f673f9 100644 --- a/gtsam/linear/GaussianDensity.h +++ b/gtsam/linear/GaussianDensity.h @@ -55,7 +55,7 @@ namespace gtsam { /// print void print(const std::string& = "GaussianDensity", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter =DefaultIndexFormatter) const; /// Mean \f$ \mu = R^{-1} d \f$ Vector mean() const; diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index 64e4e970c..a20c09a43 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -84,7 +84,7 @@ namespace gtsam { // Implementing Testable interface virtual void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const = 0; + const IndexFormatter& formatter = DefaultIndexFormatter) const = 0; virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const = 0; diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 92f5c06d0..f90a33c5e 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -219,7 +219,7 @@ namespace gtsam { /** Print the factor for debugging and testing (implementing Testable) */ virtual void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** Compare to another factor for testing (implementing Testable) */ virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 14d073576..0ac085987 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -152,7 +152,7 @@ namespace gtsam { // Implementing Testable interface virtual void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 89c59a6ad..04c280577 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -169,7 +169,7 @@ namespace gtsam { /** print required by Testable for unit testing */ void print(const std::string& str = "VectorValues: ", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter =DefaultIndexFormatter) const; /** equals required by Testable for unit testing */ bool equals(const VectorValues& x, double tol = 1e-9) const; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 00c8a026c..c118cb44e 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -287,7 +287,7 @@ public: /** print this node */ void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const { + const IndexFormatter& formatter = DefaultIndexFormatter) const { Base::print(s,formatter); if(cachedFactor_) cachedFactor_->print(s + "Cached: ", formatter); From 4abefa3cbeba5f1d3c4bb1748a63e981e9353558 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 28 Jun 2012 16:12:57 +0000 Subject: [PATCH 485/914] Merge branch 'master' into new_wrap_local --- CMakeLists.txt | 2 ++ gtsam/base/types.cpp | 30 +++++++++++++++++++++++++++ gtsam/base/types.h | 6 ++++++ gtsam/discrete/DiscreteConditional.h | 4 ++-- gtsam/discrete/DiscreteFactor.h | 4 ++-- gtsam/discrete/DiscreteFactorGraph.h | 2 +- gtsam/inference/BayesNet-inl.h | 2 +- gtsam/inference/BayesNet.h | 2 +- gtsam/inference/BayesTree.h | 6 +++--- gtsam/inference/BayesTreeCliqueBase.h | 4 ++-- gtsam/inference/ClusterTree-inl.h | 6 +++--- gtsam/inference/ClusterTree.h | 6 +++--- gtsam/inference/Conditional.h | 5 ++--- gtsam/inference/EliminationTree-inl.h | 2 +- gtsam/inference/EliminationTree.h | 2 +- gtsam/inference/Factor-inl.h | 2 +- gtsam/inference/Factor.h | 3 ++- gtsam/inference/FactorGraph-inl.h | 2 +- gtsam/inference/FactorGraph.h | 2 +- gtsam/linear/GaussianConditional.h | 2 +- gtsam/linear/GaussianDensity.h | 2 +- gtsam/linear/GaussianFactor.h | 2 +- gtsam/linear/HessianFactor.h | 2 +- gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/VectorValues.h | 2 +- gtsam/nonlinear/ISAM2.h | 2 +- 26 files changed, 72 insertions(+), 34 deletions(-) create mode 100644 gtsam/base/types.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index fb25d2dd8..96efa97dd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -50,6 +50,7 @@ else() option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) endif() option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON) +option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" OFF) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF) if(MSVC) option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF) @@ -170,6 +171,7 @@ print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") +print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ") print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ") if(GTSAM_UNSTABLE_AVAILABLE) print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp new file mode 100644 index 000000000..ea4db72c8 --- /dev/null +++ b/gtsam/base/types.cpp @@ -0,0 +1,30 @@ +/* ---------------------------------------------------------------------------- + + * 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 types.h + * @brief Typedefs for easier changing of types + * @author Richard Roberts + * @date Aug 21, 2010 + * @addtogroup base + */ + +#include + +#include + +namespace gtsam { + + std::string _defaultIndexFormatter(Index j) { + return boost::lexical_cast(j); + } + +} \ No newline at end of file diff --git a/gtsam/base/types.h b/gtsam/base/types.h index 5559518b3..a42c2acc5 100644 --- a/gtsam/base/types.h +++ b/gtsam/base/types.h @@ -21,6 +21,7 @@ #include +#include #include namespace gtsam { @@ -32,6 +33,11 @@ namespace gtsam { * to a nonlinear key and then to a Symbol. */ typedef boost::function IndexFormatter; + std::string _defaultIndexFormatter(Index j); + + /** The default IndexFormatter outputs the index */ + static const IndexFormatter DefaultIndexFormatter = &_defaultIndexFormatter; + /** * Helper class that uses templates to select between two types based on * whether TEST_TYPE is const or not. diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h index 6de9989f2..e05bfd669 100644 --- a/gtsam/discrete/DiscreteConditional.h +++ b/gtsam/discrete/DiscreteConditional.h @@ -64,8 +64,8 @@ namespace gtsam { /** GTSAM-style print */ void print(const std::string& s = "Discrete Conditional: ", - const boost::function& formatter - = &(boost::lexical_cast)) const { + const IndexFormatter& formatter + =DefaultIndexFormatter) const { std::cout << s << std::endl; IndexConditional::print(s, formatter); Potentials::print(s); diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h index deac7efce..9b1130bae 100644 --- a/gtsam/discrete/DiscreteFactor.h +++ b/gtsam/discrete/DiscreteFactor.h @@ -83,8 +83,8 @@ namespace gtsam { // print virtual void print(const std::string& s = "DiscreteFactor\n", - const boost::function& formatter - = &(boost::lexical_cast)) const { + const IndexFormatter& formatter + =DefaultIndexFormatter) const { IndexFactor::print(s,formatter); } diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h index 44b814507..0f399abdd 100644 --- a/gtsam/discrete/DiscreteFactorGraph.h +++ b/gtsam/discrete/DiscreteFactorGraph.h @@ -78,7 +78,7 @@ public: /// print void print(const std::string& s = "DiscreteFactorGraph", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter =DefaultIndexFormatter) const; }; // DiscreteFactorGraph diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 89361e8fc..c306cb39d 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -35,7 +35,7 @@ namespace gtsam { /* ************************************************************************* */ template void BayesNet::print(const std::string& s, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << s; BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) conditional->print("Conditional", formatter); diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index 32abd9ed6..67d59c48d 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -91,7 +91,7 @@ public: /** print */ void print(const std::string& s = "", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** print statistics */ void printStats(const std::string& s = "") const; diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 6413e4b0d..7391e9a10 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -71,7 +71,7 @@ namespace gtsam { // A convenience class for a list of shared cliques struct Cliques : public std::list { void print(const std::string& s = "Cliques", - const IndexFormatter& indexFormatter = &(boost::lexical_cast)) const; + const IndexFormatter& indexFormatter = DefaultIndexFormatter) const; bool equals(const Cliques& other, double tol = 1e-9) const; }; @@ -178,7 +178,7 @@ namespace gtsam { /** print */ void print(const std::string& s = "", - const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /// @} /// @name Standard Interface @@ -236,7 +236,7 @@ namespace gtsam { */ /** saves the Tree to a text file in GraphViz format */ - void saveGraph(const std::string& s, const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + void saveGraph(const std::string& s, const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /// @} /// @name Advanced Interface diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index d054fe43f..a2fb8feef 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -93,10 +93,10 @@ namespace gtsam { } /** print this node */ - void print(const std::string& s = "", const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + void print(const std::string& s = "", const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /** print this node and entire subtree below it */ - void printTree(const std::string& indent="", const IndexFormatter& indexFormatter = &(boost::lexical_cast) ) const; + void printTree(const std::string& indent="", const IndexFormatter& indexFormatter = DefaultIndexFormatter ) const; /// @} /// @name Standard Interface diff --git a/gtsam/inference/ClusterTree-inl.h b/gtsam/inference/ClusterTree-inl.h index b3fe204e7..3b8deb316 100644 --- a/gtsam/inference/ClusterTree-inl.h +++ b/gtsam/inference/ClusterTree-inl.h @@ -72,7 +72,7 @@ namespace gtsam { /* ************************************************************************* */ template void ClusterTree::Cluster::print(const std::string& indent, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << indent; BOOST_FOREACH(const Index key, frontal) std::cout << formatter(key) << " "; @@ -85,7 +85,7 @@ namespace gtsam { /* ************************************************************************* */ template void ClusterTree::Cluster::printTree(const std::string& indent, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { print(indent, formatter); BOOST_FOREACH(const shared_ptr& child, children_) child->printTree(indent + " ", formatter); @@ -96,7 +96,7 @@ namespace gtsam { * ************************************************************************* */ template void ClusterTree::print(const std::string& str, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << str << std::endl; if (root_) root_->printTree("", formatter); } diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h index f253fe4d6..276ef374d 100644 --- a/gtsam/inference/ClusterTree.h +++ b/gtsam/inference/ClusterTree.h @@ -78,10 +78,10 @@ namespace gtsam { Cluster(FRONTALIT firstFrontal, FRONTALIT lastFrontal, SEPARATORIT firstSeparator, SEPARATORIT lastSeparator); /// print - void print(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; + void print(const std::string& indent, const IndexFormatter& formatter = DefaultIndexFormatter) const; /// print the enire tree - void printTree(const std::string& indent, const boost::function& formatter = &(boost::lexical_cast)) const; + void printTree(const std::string& indent, const IndexFormatter& formatter = DefaultIndexFormatter) const; /// check equality bool equals(const Cluster& other) const; @@ -127,7 +127,7 @@ namespace gtsam { /// @{ /// print the object - void print(const std::string& str="", const boost::function& formatter = &(boost::lexical_cast)) const; + void print(const std::string& str="", const IndexFormatter& formatter = DefaultIndexFormatter) const; /** check equality */ bool equals(const ClusterTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/Conditional.h b/gtsam/inference/Conditional.h index 97f885596..8363c1800 100644 --- a/gtsam/inference/Conditional.h +++ b/gtsam/inference/Conditional.h @@ -131,8 +131,7 @@ public: /// @{ /** print with optional formatter */ - void print(const std::string& s = "Conditional", - const boost::function& formatter = &(boost::lexical_cast) ) const; + void print(const std::string& s = "Conditional", const IndexFormatter& formatter = DefaultIndexFormatter) const; /** check equality */ template @@ -201,7 +200,7 @@ private: /* ************************************************************************* */ template -void Conditional::print(const std::string& s, const boost::function& formatter) const { +void Conditional::print(const std::string& s, const IndexFormatter& formatter) const { std::cout << s << " P("; BOOST_FOREACH(KeyType key, frontals()) std::cout << " " << formatter(key); if (nrParents()>0) std::cout << " |"; diff --git a/gtsam/inference/EliminationTree-inl.h b/gtsam/inference/EliminationTree-inl.h index 81c98c926..2e977aa4b 100644 --- a/gtsam/inference/EliminationTree-inl.h +++ b/gtsam/inference/EliminationTree-inl.h @@ -167,7 +167,7 @@ EliminationTree::Create(const FactorGraph& factorGraph) { /* ************************************************************************* */ template void EliminationTree::print(const std::string& name, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << name << " (" << formatter(key_) << ")" << std::endl; BOOST_FOREACH(const sharedFactor& factor, factors_) { factor->print(name + " ", formatter); } diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 8e57a7208..495fb40c8 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -144,7 +144,7 @@ public: /** Print the tree to cout */ void print(const std::string& name = "EliminationTree: ", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** Test whether the tree is equal to another */ bool equals(const EliminationTree& other, double tol = 1e-9) const; diff --git a/gtsam/inference/Factor-inl.h b/gtsam/inference/Factor-inl.h index ad9f43701..6636b646c 100644 --- a/gtsam/inference/Factor-inl.h +++ b/gtsam/inference/Factor-inl.h @@ -57,7 +57,7 @@ namespace gtsam { /* ************************************************************************* */ template void Factor::print(const std::string& s, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << s << " "; BOOST_FOREACH(KEY key, keys_) std::cout << " " << formatter(key); std::cout << std::endl; diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 0e80fc8ea..d81c911a3 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -27,6 +27,7 @@ #include #include #include +#include #include namespace gtsam { @@ -193,7 +194,7 @@ public: /// print void print(const std::string& s = "Factor", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// check equality bool equals(const This& other, double tol = 1e-9) const; diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index c787655af..caf18d60e 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -49,7 +49,7 @@ namespace gtsam { /* ************************************************************************* */ template void FactorGraph::print(const std::string& s, - const boost::function& formatter) const { + const IndexFormatter& formatter) const { std::cout << s << std::endl; std::cout << "size: " << size() << std::endl; for (size_t i = 0; i < factors_.size(); i++) { diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 905afc55c..d0b9952d5 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -139,7 +139,7 @@ template class BayesTree; /** print out graph */ void print(const std::string& s = "FactorGraph", - const boost::function& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** Check equality */ bool equals(const This& fg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 68b537c2d..5b7801156 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -139,7 +139,7 @@ public: /** print */ void print(const std::string& = "GaussianConditional", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** equals function */ bool equals(const GaussianConditional &cg, double tol = 1e-9) const; diff --git a/gtsam/linear/GaussianDensity.h b/gtsam/linear/GaussianDensity.h index 61db582f4..4d4f673f9 100644 --- a/gtsam/linear/GaussianDensity.h +++ b/gtsam/linear/GaussianDensity.h @@ -55,7 +55,7 @@ namespace gtsam { /// print void print(const std::string& = "GaussianDensity", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter =DefaultIndexFormatter) const; /// Mean \f$ \mu = R^{-1} d \f$ Vector mean() const; diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index 64e4e970c..a20c09a43 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -84,7 +84,7 @@ namespace gtsam { // Implementing Testable interface virtual void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const = 0; + const IndexFormatter& formatter = DefaultIndexFormatter) const = 0; virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const = 0; diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 92f5c06d0..f90a33c5e 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -219,7 +219,7 @@ namespace gtsam { /** Print the factor for debugging and testing (implementing Testable) */ virtual void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; /** Compare to another factor for testing (implementing Testable) */ virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 14d073576..0ac085987 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -152,7 +152,7 @@ namespace gtsam { // Implementing Testable interface virtual void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter = DefaultIndexFormatter) const; virtual bool equals(const GaussianFactor& lf, double tol = 1e-9) const; Vector unweighted_error(const VectorValues& c) const; /** (A*x-b) */ diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 89c59a6ad..04c280577 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -169,7 +169,7 @@ namespace gtsam { /** print required by Testable for unit testing */ void print(const std::string& str = "VectorValues: ", - const IndexFormatter& formatter = &(boost::lexical_cast)) const; + const IndexFormatter& formatter =DefaultIndexFormatter) const; /** equals required by Testable for unit testing */ bool equals(const VectorValues& x, double tol = 1e-9) const; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 00c8a026c..c118cb44e 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -287,7 +287,7 @@ public: /** print this node */ void print(const std::string& s = "", - const IndexFormatter& formatter = &(boost::lexical_cast)) const { + const IndexFormatter& formatter = DefaultIndexFormatter) const { Base::print(s,formatter); if(cachedFactor_) cachedFactor_->print(s + "Cached: ", formatter); From 3ab79d159762a21de05167691c870d7e52609105 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 28 Jun 2012 16:13:22 +0000 Subject: [PATCH 486/914] Fixed wrap test --- wrap/tests/expected/@Point2/Point2.m | 12 +- wrap/tests/expected/@Point2/argChar.cpp | 10 +- wrap/tests/expected/@Point2/argChar.m | 3 +- wrap/tests/expected/@Point2/argUChar.cpp | 10 +- wrap/tests/expected/@Point2/argUChar.m | 3 +- wrap/tests/expected/@Point2/dim.cpp | 8 +- wrap/tests/expected/@Point2/dim.m | 3 +- wrap/tests/expected/@Point2/returnChar.cpp | 8 +- wrap/tests/expected/@Point2/returnChar.m | 3 +- .../expected/@Point2/vectorConfusion.cpp | 12 +- wrap/tests/expected/@Point2/vectorConfusion.m | 3 +- wrap/tests/expected/@Point2/x.cpp | 8 +- wrap/tests/expected/@Point2/x.m | 3 +- wrap/tests/expected/@Point2/y.cpp | 8 +- wrap/tests/expected/@Point2/y.m | 3 +- wrap/tests/expected/@Point3/Point3.m | 10 +- wrap/tests/expected/@Point3/norm.cpp | 8 +- wrap/tests/expected/@Test/Test.m | 12 +- .../expected/@Test/arg_EigenConstRef.cpp | 10 +- wrap/tests/expected/@Test/arg_EigenConstRef.m | 3 +- .../tests/expected/@Test/create_MixedPtrs.cpp | 16 ++- wrap/tests/expected/@Test/create_MixedPtrs.m | 3 +- wrap/tests/expected/@Test/create_ptrs.cpp | 16 ++- wrap/tests/expected/@Test/create_ptrs.m | 3 +- wrap/tests/expected/@Test/print.cpp | 8 +- .../tests/expected/@Test/return_Point2Ptr.cpp | 14 +- wrap/tests/expected/@Test/return_Point2Ptr.m | 3 +- wrap/tests/expected/@Test/return_Test.cpp | 12 +- wrap/tests/expected/@Test/return_Test.m | 3 +- wrap/tests/expected/@Test/return_TestPtr.cpp | 12 +- wrap/tests/expected/@Test/return_TestPtr.m | 3 +- wrap/tests/expected/@Test/return_bool.cpp | 10 +- wrap/tests/expected/@Test/return_bool.m | 3 +- wrap/tests/expected/@Test/return_double.cpp | 10 +- wrap/tests/expected/@Test/return_double.m | 3 +- wrap/tests/expected/@Test/return_field.cpp | 10 +- wrap/tests/expected/@Test/return_field.m | 3 +- wrap/tests/expected/@Test/return_int.cpp | 10 +- wrap/tests/expected/@Test/return_int.m | 3 +- wrap/tests/expected/@Test/return_matrix1.cpp | 10 +- wrap/tests/expected/@Test/return_matrix1.m | 3 +- wrap/tests/expected/@Test/return_matrix2.cpp | 10 +- wrap/tests/expected/@Test/return_matrix2.m | 3 +- wrap/tests/expected/@Test/return_pair.cpp | 12 +- wrap/tests/expected/@Test/return_pair.m | 3 +- wrap/tests/expected/@Test/return_ptrs.cpp | 16 ++- wrap/tests/expected/@Test/return_ptrs.m | 3 +- wrap/tests/expected/@Test/return_size_t.cpp | 10 +- wrap/tests/expected/@Test/return_size_t.m | 3 +- wrap/tests/expected/@Test/return_string.cpp | 10 +- wrap/tests/expected/@Test/return_string.m | 3 +- wrap/tests/expected/@Test/return_vector1.cpp | 10 +- wrap/tests/expected/@Test/return_vector1.m | 3 +- wrap/tests/expected/@Test/return_vector2.cpp | 10 +- wrap/tests/expected/@Test/return_vector2.m | 3 +- wrap/tests/expected/Makefile | 20 +-- .../expected/Point3_StaticFunctionRet.cpp | 8 +- wrap/tests/expected/Point3_staticFunction.cpp | 3 + wrap/tests/expected/delete_Point2.cpp | 8 -- wrap/tests/expected/delete_Point2.m | 4 - wrap/tests/expected/delete_Point3.cpp | 9 -- wrap/tests/expected/delete_Point3.m | 4 - wrap/tests/expected/delete_Test.cpp | 9 -- wrap/tests/expected/delete_Test.m | 4 - wrap/tests/expected/make_geometry.m | 7 +- wrap/tests/expected/new_Point2_.cpp | 45 ++++++- wrap/tests/expected/new_Point2_.m | 2 +- wrap/tests/expected/new_Point2_dd.cpp | 11 -- wrap/tests/expected/new_Point2_dd.m | 4 - wrap/tests/expected/new_Point3_.cpp | 47 +++++++ wrap/tests/expected/new_Point3_.m | 4 + wrap/tests/expected/new_Point3_ddd.cpp | 13 -- wrap/tests/expected/new_Point3_ddd.m | 4 - wrap/tests/expected/new_Test_.cpp | 45 ++++++- wrap/tests/expected/new_Test_.m | 2 +- wrap/tests/expected/new_Test_dM.cpp | 12 -- wrap/tests/expected/new_Test_dM.m | 4 - .../expected_namespaces/@ClassD/ClassD.m | 10 +- .../@ns1ClassA/ns1ClassA.m | 10 +- .../@ns1ClassB/ns1ClassB.m | 10 +- .../@ns2ClassA/memberFunction.cpp | 8 +- .../@ns2ClassA/ns2ClassA.m | 10 +- .../expected_namespaces/@ns2ClassA/nsArg.cpp | 10 +- .../@ns2ClassA/nsReturn.cpp | 14 +- .../@ns2ClassC/ns2ClassC.m | 10 +- .../@ns2ns3ClassB/ns2ns3ClassB.m | 10 +- wrap/tests/expected_namespaces/Makefile | 24 +--- .../expected_namespaces/delete_ClassD.cpp | 8 -- .../tests/expected_namespaces/delete_ClassD.m | 4 - .../expected_namespaces/delete_ns1ClassA.cpp | 8 -- .../expected_namespaces/delete_ns1ClassA.m | 4 - .../expected_namespaces/delete_ns1ClassB.cpp | 9 -- .../expected_namespaces/delete_ns1ClassB.m | 4 - .../expected_namespaces/delete_ns2ClassA.cpp | 9 -- .../expected_namespaces/delete_ns2ClassA.m | 4 - .../expected_namespaces/delete_ns2ClassC.cpp | 8 -- .../expected_namespaces/delete_ns2ClassC.m | 4 - .../delete_ns2ns3ClassB.cpp | 9 -- .../expected_namespaces/delete_ns2ns3ClassB.m | 4 - .../expected_namespaces/make_testNamespaces.m | 6 - .../tests/expected_namespaces/new_ClassD_.cpp | 40 +++++- .../expected_namespaces/new_ns1ClassA_.cpp | 40 +++++- .../expected_namespaces/new_ns1ClassB_.cpp | 40 +++++- .../expected_namespaces/new_ns2ClassA_.cpp | 40 +++++- .../expected_namespaces/new_ns2ClassC_.cpp | 40 +++++- .../expected_namespaces/new_ns2ns3ClassB_.cpp | 40 +++++- .../ns2ClassA_afunction.cpp | 3 + wrap/tests/testWrap.cpp | 122 ++++++++++++------ 108 files changed, 783 insertions(+), 445 deletions(-) delete mode 100644 wrap/tests/expected/delete_Point2.cpp delete mode 100644 wrap/tests/expected/delete_Point2.m delete mode 100644 wrap/tests/expected/delete_Point3.cpp delete mode 100644 wrap/tests/expected/delete_Point3.m delete mode 100644 wrap/tests/expected/delete_Test.cpp delete mode 100644 wrap/tests/expected/delete_Test.m delete mode 100644 wrap/tests/expected/new_Point2_dd.cpp delete mode 100644 wrap/tests/expected/new_Point2_dd.m create mode 100644 wrap/tests/expected/new_Point3_.cpp create mode 100644 wrap/tests/expected/new_Point3_.m delete mode 100644 wrap/tests/expected/new_Point3_ddd.cpp delete mode 100644 wrap/tests/expected/new_Point3_ddd.m delete mode 100644 wrap/tests/expected/new_Test_dM.cpp delete mode 100644 wrap/tests/expected/new_Test_dM.m delete mode 100644 wrap/tests/expected_namespaces/delete_ClassD.cpp delete mode 100644 wrap/tests/expected_namespaces/delete_ClassD.m delete mode 100644 wrap/tests/expected_namespaces/delete_ns1ClassA.cpp delete mode 100644 wrap/tests/expected_namespaces/delete_ns1ClassA.m delete mode 100644 wrap/tests/expected_namespaces/delete_ns1ClassB.cpp delete mode 100644 wrap/tests/expected_namespaces/delete_ns1ClassB.m delete mode 100644 wrap/tests/expected_namespaces/delete_ns2ClassA.cpp delete mode 100644 wrap/tests/expected_namespaces/delete_ns2ClassA.m delete mode 100644 wrap/tests/expected_namespaces/delete_ns2ClassC.cpp delete mode 100644 wrap/tests/expected_namespaces/delete_ns2ClassC.m delete mode 100644 wrap/tests/expected_namespaces/delete_ns2ns3ClassB.cpp delete mode 100644 wrap/tests/expected_namespaces/delete_ns2ns3ClassB.m diff --git a/wrap/tests/expected/@Point2/Point2.m b/wrap/tests/expected/@Point2/Point2.m index 454d81399..68744ae00 100644 --- a/wrap/tests/expected/@Point2/Point2.m +++ b/wrap/tests/expected/@Point2/Point2.m @@ -5,12 +5,16 @@ classdef Point2 < handle end methods function obj = Point2(varargin) - if (nargin == 0), obj.self = new_Point2_(); end - if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Point2_dd(varargin{1},varargin{2}); end - if nargin ~= 13 && obj.self == 0, error('Point2 constructor failed'); end + if (nargin == 0), obj.self = new_Point2_(0,0); end + if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Point2_(0,1,varargin{1},varargin{2}); end + if nargin ==14, new_Point2_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point2 constructor failed'); end end function delete(obj) - delete_Point2(obj); + if obj.self ~= 0 + new_Point2_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected/@Point2/argChar.cpp b/wrap/tests/expected/@Point2/argChar.cpp index 18548ee8f..e5fac45fe 100644 --- a/wrap/tests/expected/@Point2/argChar.cpp +++ b/wrap/tests/expected/@Point2/argChar.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("argChar",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - char a = unwrap< char >(in[1]); - self->argChar(a); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + char a = unwrap< char >(in[1]); + obj->argChar(a); } diff --git a/wrap/tests/expected/@Point2/argChar.m b/wrap/tests/expected/@Point2/argChar.m index 93880c5b1..6c935a1d6 100644 --- a/wrap/tests/expected/@Point2/argChar.m +++ b/wrap/tests/expected/@Point2/argChar.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.argChar(a) function result = argChar(obj,a) -% usage: obj.argChar(a) error('need to compile argChar.cpp'); end diff --git a/wrap/tests/expected/@Point2/argUChar.cpp b/wrap/tests/expected/@Point2/argUChar.cpp index bbaa65a8f..54c592915 100644 --- a/wrap/tests/expected/@Point2/argUChar.cpp +++ b/wrap/tests/expected/@Point2/argUChar.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("argUChar",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - unsigned char a = unwrap< unsigned char >(in[1]); - self->argUChar(a); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + unsigned char a = unwrap< unsigned char >(in[1]); + obj->argUChar(a); } diff --git a/wrap/tests/expected/@Point2/argUChar.m b/wrap/tests/expected/@Point2/argUChar.m index bb524b3f0..ea42a2b4f 100644 --- a/wrap/tests/expected/@Point2/argUChar.m +++ b/wrap/tests/expected/@Point2/argUChar.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.argUChar(a) function result = argUChar(obj,a) -% usage: obj.argUChar(a) error('need to compile argUChar.cpp'); end diff --git a/wrap/tests/expected/@Point2/dim.cpp b/wrap/tests/expected/@Point2/dim.cpp index 1349dc267..7e44ae075 100644 --- a/wrap/tests/expected/@Point2/dim.cpp +++ b/wrap/tests/expected/@Point2/dim.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("dim",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - int result = self->dim(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + int result = obj->dim(); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected/@Point2/dim.m b/wrap/tests/expected/@Point2/dim.m index 84c368193..934e0b895 100644 --- a/wrap/tests/expected/@Point2/dim.m +++ b/wrap/tests/expected/@Point2/dim.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.dim() function result = dim(obj) -% usage: obj.dim() error('need to compile dim.cpp'); end diff --git a/wrap/tests/expected/@Point2/returnChar.cpp b/wrap/tests/expected/@Point2/returnChar.cpp index c5b67a018..43a537786 100644 --- a/wrap/tests/expected/@Point2/returnChar.cpp +++ b/wrap/tests/expected/@Point2/returnChar.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("returnChar",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - char result = self->returnChar(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + char result = obj->returnChar(); out[0] = wrap< char >(result); } diff --git a/wrap/tests/expected/@Point2/returnChar.m b/wrap/tests/expected/@Point2/returnChar.m index a33718047..8c3ceee35 100644 --- a/wrap/tests/expected/@Point2/returnChar.m +++ b/wrap/tests/expected/@Point2/returnChar.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.returnChar() function result = returnChar(obj) -% usage: obj.returnChar() error('need to compile returnChar.cpp'); end diff --git a/wrap/tests/expected/@Point2/vectorConfusion.cpp b/wrap/tests/expected/@Point2/vectorConfusion.cpp index d992d1d94..e3aa4f0d6 100644 --- a/wrap/tests/expected/@Point2/vectorConfusion.cpp +++ b/wrap/tests/expected/@Point2/vectorConfusion.cpp @@ -1,10 +1,16 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr SharedVectorNotEigen; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("vectorConfusion",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - VectorNotEigen result = self->vectorConfusion(); - out[0] = wrap_shared_ptr(boost::make_shared< VectorNotEigen >(result),"VectorNotEigen"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + VectorNotEigen result = obj->vectorConfusion(); + SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(result)); + out[0] = wrap_collect_shared_ptr(ret,"VectorNotEigen"); } diff --git a/wrap/tests/expected/@Point2/vectorConfusion.m b/wrap/tests/expected/@Point2/vectorConfusion.m index cc47b0dc7..9966c930d 100644 --- a/wrap/tests/expected/@Point2/vectorConfusion.m +++ b/wrap/tests/expected/@Point2/vectorConfusion.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.vectorConfusion() function result = vectorConfusion(obj) -% usage: obj.vectorConfusion() error('need to compile vectorConfusion.cpp'); end diff --git a/wrap/tests/expected/@Point2/x.cpp b/wrap/tests/expected/@Point2/x.cpp index 65e56cae5..8cebadb66 100644 --- a/wrap/tests/expected/@Point2/x.cpp +++ b/wrap/tests/expected/@Point2/x.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("x",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - double result = self->x(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + double result = obj->x(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Point2/x.m b/wrap/tests/expected/@Point2/x.m index e1ebbd450..44f069872 100644 --- a/wrap/tests/expected/@Point2/x.m +++ b/wrap/tests/expected/@Point2/x.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.x() function result = x(obj) -% usage: obj.x() error('need to compile x.cpp'); end diff --git a/wrap/tests/expected/@Point2/y.cpp b/wrap/tests/expected/@Point2/y.cpp index f8e10dc5d..7e3650534 100644 --- a/wrap/tests/expected/@Point2/y.cpp +++ b/wrap/tests/expected/@Point2/y.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("y",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Point2 >(in[0],"Point2"); - double result = self->y(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + double result = obj->y(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Point2/y.m b/wrap/tests/expected/@Point2/y.m index d27fc8bf2..7971c1e33 100644 --- a/wrap/tests/expected/@Point2/y.m +++ b/wrap/tests/expected/@Point2/y.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.y() function result = y(obj) -% usage: obj.y() error('need to compile y.cpp'); end diff --git a/wrap/tests/expected/@Point3/Point3.m b/wrap/tests/expected/@Point3/Point3.m index 3e7a6fd65..b916293b7 100644 --- a/wrap/tests/expected/@Point3/Point3.m +++ b/wrap/tests/expected/@Point3/Point3.m @@ -5,11 +5,15 @@ classdef Point3 < handle end methods function obj = Point3(varargin) - if (nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')), obj.self = new_Point3_ddd(varargin{1},varargin{2},varargin{3}); end - if nargin ~= 13 && obj.self == 0, error('Point3 constructor failed'); end + if (nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')), obj.self = new_Point3_(0,0,varargin{1},varargin{2},varargin{3}); end + if nargin ==14, new_Point3_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point3 constructor failed'); end end function delete(obj) - delete_Point3(obj); + if obj.self ~= 0 + new_Point3_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected/@Point3/norm.cpp b/wrap/tests/expected/@Point3/norm.cpp index 0c7ac2038..8f6a10b72 100644 --- a/wrap/tests/expected/@Point3/norm.cpp +++ b/wrap/tests/expected/@Point3/norm.cpp @@ -1,11 +1,15 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("norm",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Point3 >(in[0],"Point3"); - double result = self->norm(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + double result = obj->norm(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Test/Test.m b/wrap/tests/expected/@Test/Test.m index b8e55381c..e4bd30221 100644 --- a/wrap/tests/expected/@Test/Test.m +++ b/wrap/tests/expected/@Test/Test.m @@ -5,12 +5,16 @@ classdef Test < handle end methods function obj = Test(varargin) - if (nargin == 0), obj.self = new_Test_(); end - if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Test_dM(varargin{1},varargin{2}); end - if nargin ~= 13 && obj.self == 0, error('Test constructor failed'); end + if (nargin == 0), obj.self = new_Test_(0,0); end + if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Test_(0,1,varargin{1},varargin{2}); end + if nargin ==14, new_Test_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Test constructor failed'); end end function delete(obj) - delete_Test(obj); + if obj.self ~= 0 + new_Test_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp index 09a5c6f62..848870d11 100644 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp +++ b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp @@ -1,11 +1,15 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("arg_EigenConstRef",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); - self->arg_EigenConstRef(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); + obj->arg_EigenConstRef(value); } diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.m b/wrap/tests/expected/@Test/arg_EigenConstRef.m index 9e6c04c5a..c348014c1 100644 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.m +++ b/wrap/tests/expected/@Test/arg_EigenConstRef.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.arg_EigenConstRef(value) function result = arg_EigenConstRef(obj,value) -% usage: obj.arg_EigenConstRef(value) error('need to compile arg_EigenConstRef.cpp'); end diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.cpp b/wrap/tests/expected/@Test/create_MixedPtrs.cpp index 81bcdc5d8..1776c855b 100644 --- a/wrap/tests/expected/@Test/create_MixedPtrs.cpp +++ b/wrap/tests/expected/@Test/create_MixedPtrs.cpp @@ -1,12 +1,20 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("create_MixedPtrs",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - pair< Test, boost::shared_ptr > result = self->create_MixedPtrs(); - out[0] = wrap_shared_ptr(boost::make_shared< Test >(result.first),"Test"); - out[1] = wrap_shared_ptr(result.second,"Test"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + pair< Test, SharedTest > result = obj->create_MixedPtrs(); + SharedTest* ret = new SharedTest(new Test(result.first)); + out[0] = wrap_collect_shared_ptr(ret,"Test"); + SharedTest* ret = new SharedTest(result.second); + out[1] = wrap_collect_shared_ptr(ret,"Test"); } diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.m b/wrap/tests/expected/@Test/create_MixedPtrs.m index bd1927fba..38a9f1d7e 100644 --- a/wrap/tests/expected/@Test/create_MixedPtrs.m +++ b/wrap/tests/expected/@Test/create_MixedPtrs.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% [first,second] = obj.create_MixedPtrs() function [first,second] = create_MixedPtrs(obj) -% usage: obj.create_MixedPtrs() error('need to compile create_MixedPtrs.cpp'); end diff --git a/wrap/tests/expected/@Test/create_ptrs.cpp b/wrap/tests/expected/@Test/create_ptrs.cpp index 830d62a12..ab4261d5c 100644 --- a/wrap/tests/expected/@Test/create_ptrs.cpp +++ b/wrap/tests/expected/@Test/create_ptrs.cpp @@ -1,12 +1,20 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("create_ptrs",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - pair< boost::shared_ptr, boost::shared_ptr > result = self->create_ptrs(); - out[0] = wrap_shared_ptr(result.first,"Test"); - out[1] = wrap_shared_ptr(result.second,"Test"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + pair< SharedTest, SharedTest > result = obj->create_ptrs(); + SharedTest* ret = new SharedTest(result.first); + out[0] = wrap_collect_shared_ptr(ret,"Test"); + SharedTest* ret = new SharedTest(result.second); + out[1] = wrap_collect_shared_ptr(ret,"Test"); } diff --git a/wrap/tests/expected/@Test/create_ptrs.m b/wrap/tests/expected/@Test/create_ptrs.m index e380f1829..80c6781dc 100644 --- a/wrap/tests/expected/@Test/create_ptrs.m +++ b/wrap/tests/expected/@Test/create_ptrs.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% [first,second] = obj.create_ptrs() function [first,second] = create_ptrs(obj) -% usage: obj.create_ptrs() error('need to compile create_ptrs.cpp'); end diff --git a/wrap/tests/expected/@Test/print.cpp b/wrap/tests/expected/@Test/print.cpp index 1d259f2e8..e3a758182 100644 --- a/wrap/tests/expected/@Test/print.cpp +++ b/wrap/tests/expected/@Test/print.cpp @@ -1,10 +1,14 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("print",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - self->print(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + obj->print(); } diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.cpp b/wrap/tests/expected/@Test/return_Point2Ptr.cpp index e6990198e..b3e61d37a 100644 --- a/wrap/tests/expected/@Test/return_Point2Ptr.cpp +++ b/wrap/tests/expected/@Test/return_Point2Ptr.cpp @@ -1,12 +1,18 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedPoint2; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_Point2Ptr",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - bool value = unwrap< bool >(in[1]); - boost::shared_ptr result = self->return_Point2Ptr(value); - out[0] = wrap_shared_ptr(result,"Point2"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + bool value = unwrap< bool >(in[1]); + SharedPoint2 result = obj->return_Point2Ptr(value); + SharedPoint2* ret = new SharedPoint2(result); + out[0] = wrap_collect_shared_ptr(ret,"Point2"); } diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.m b/wrap/tests/expected/@Test/return_Point2Ptr.m index 26fd146a2..84e586bc7 100644 --- a/wrap/tests/expected/@Test/return_Point2Ptr.m +++ b/wrap/tests/expected/@Test/return_Point2Ptr.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_Point2Ptr(value) function result = return_Point2Ptr(obj,value) -% usage: obj.return_Point2Ptr(value) error('need to compile return_Point2Ptr.cpp'); end diff --git a/wrap/tests/expected/@Test/return_Test.cpp b/wrap/tests/expected/@Test/return_Test.cpp index 63e9f5a3b..cd0f1ef10 100644 --- a/wrap/tests/expected/@Test/return_Test.cpp +++ b/wrap/tests/expected/@Test/return_Test.cpp @@ -1,12 +1,18 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_Test",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - Test result = self->return_Test(value); - out[0] = wrap_shared_ptr(boost::make_shared< Test >(result),"Test"); + Test result = obj->return_Test(value); + SharedTest* ret = new SharedTest(new Test(result)); + out[0] = wrap_collect_shared_ptr(ret,"Test"); } diff --git a/wrap/tests/expected/@Test/return_Test.m b/wrap/tests/expected/@Test/return_Test.m index f31dc3192..d1a2e440c 100644 --- a/wrap/tests/expected/@Test/return_Test.m +++ b/wrap/tests/expected/@Test/return_Test.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_Test(value) function result = return_Test(obj,value) -% usage: obj.return_Test(value) error('need to compile return_Test.cpp'); end diff --git a/wrap/tests/expected/@Test/return_TestPtr.cpp b/wrap/tests/expected/@Test/return_TestPtr.cpp index 3c053791d..2957de8f3 100644 --- a/wrap/tests/expected/@Test/return_TestPtr.cpp +++ b/wrap/tests/expected/@Test/return_TestPtr.cpp @@ -1,12 +1,18 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_TestPtr",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - boost::shared_ptr result = self->return_TestPtr(value); - out[0] = wrap_shared_ptr(result,"Test"); + SharedTest result = obj->return_TestPtr(value); + SharedTest* ret = new SharedTest(result); + out[0] = wrap_collect_shared_ptr(ret,"Test"); } diff --git a/wrap/tests/expected/@Test/return_TestPtr.m b/wrap/tests/expected/@Test/return_TestPtr.m index e69149551..937c85fcc 100644 --- a/wrap/tests/expected/@Test/return_TestPtr.m +++ b/wrap/tests/expected/@Test/return_TestPtr.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_TestPtr(value) function result = return_TestPtr(obj,value) -% usage: obj.return_TestPtr(value) error('need to compile return_TestPtr.cpp'); end diff --git a/wrap/tests/expected/@Test/return_bool.cpp b/wrap/tests/expected/@Test/return_bool.cpp index 92612a279..c9c792934 100644 --- a/wrap/tests/expected/@Test/return_bool.cpp +++ b/wrap/tests/expected/@Test/return_bool.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_bool",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - bool value = unwrap< bool >(in[1]); - bool result = self->return_bool(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + bool value = unwrap< bool >(in[1]); + bool result = obj->return_bool(value); out[0] = wrap< bool >(result); } diff --git a/wrap/tests/expected/@Test/return_bool.m b/wrap/tests/expected/@Test/return_bool.m index a0c5a0b17..358cb9750 100644 --- a/wrap/tests/expected/@Test/return_bool.m +++ b/wrap/tests/expected/@Test/return_bool.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_bool(value) function result = return_bool(obj,value) -% usage: obj.return_bool(value) error('need to compile return_bool.cpp'); end diff --git a/wrap/tests/expected/@Test/return_double.cpp b/wrap/tests/expected/@Test/return_double.cpp index e167a16c0..4e6612278 100644 --- a/wrap/tests/expected/@Test/return_double.cpp +++ b/wrap/tests/expected/@Test/return_double.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_double",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - double value = unwrap< double >(in[1]); - double result = self->return_double(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + double value = unwrap< double >(in[1]); + double result = obj->return_double(value); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Test/return_double.m b/wrap/tests/expected/@Test/return_double.m index dd181ff0b..681371f39 100644 --- a/wrap/tests/expected/@Test/return_double.m +++ b/wrap/tests/expected/@Test/return_double.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_double(value) function result = return_double(obj,value) -% usage: obj.return_double(value) error('need to compile return_double.cpp'); end diff --git a/wrap/tests/expected/@Test/return_field.cpp b/wrap/tests/expected/@Test/return_field.cpp index 838bab0a4..43507f4d7 100644 --- a/wrap/tests/expected/@Test/return_field.cpp +++ b/wrap/tests/expected/@Test/return_field.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_field",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); - bool result = self->return_field(t); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); + bool result = obj->return_field(t); out[0] = wrap< bool >(result); } diff --git a/wrap/tests/expected/@Test/return_field.m b/wrap/tests/expected/@Test/return_field.m index bc4223671..e2894c381 100644 --- a/wrap/tests/expected/@Test/return_field.m +++ b/wrap/tests/expected/@Test/return_field.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_field(t) function result = return_field(obj,t) -% usage: obj.return_field(t) error('need to compile return_field.cpp'); end diff --git a/wrap/tests/expected/@Test/return_int.cpp b/wrap/tests/expected/@Test/return_int.cpp index 4cdaf5abc..2a27ac73a 100644 --- a/wrap/tests/expected/@Test/return_int.cpp +++ b/wrap/tests/expected/@Test/return_int.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_int",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - int value = unwrap< int >(in[1]); - int result = self->return_int(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + int value = unwrap< int >(in[1]); + int result = obj->return_int(value); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected/@Test/return_int.m b/wrap/tests/expected/@Test/return_int.m index 4984557e6..779e9feb2 100644 --- a/wrap/tests/expected/@Test/return_int.m +++ b/wrap/tests/expected/@Test/return_int.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_int(value) function result = return_int(obj,value) -% usage: obj.return_int(value) error('need to compile return_int.cpp'); end diff --git a/wrap/tests/expected/@Test/return_matrix1.cpp b/wrap/tests/expected/@Test/return_matrix1.cpp index f7fb72040..d4c66622b 100644 --- a/wrap/tests/expected/@Test/return_matrix1.cpp +++ b/wrap/tests/expected/@Test/return_matrix1.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_matrix1",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Matrix value = unwrap< Matrix >(in[1]); - Matrix result = self->return_matrix1(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Matrix value = unwrap< Matrix >(in[1]); + Matrix result = obj->return_matrix1(value); out[0] = wrap< Matrix >(result); } diff --git a/wrap/tests/expected/@Test/return_matrix1.m b/wrap/tests/expected/@Test/return_matrix1.m index 66dd1886f..d6d9791f9 100644 --- a/wrap/tests/expected/@Test/return_matrix1.m +++ b/wrap/tests/expected/@Test/return_matrix1.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_matrix1(value) function result = return_matrix1(obj,value) -% usage: obj.return_matrix1(value) error('need to compile return_matrix1.cpp'); end diff --git a/wrap/tests/expected/@Test/return_matrix2.cpp b/wrap/tests/expected/@Test/return_matrix2.cpp index f8b6823fa..a40fa79cf 100644 --- a/wrap/tests/expected/@Test/return_matrix2.cpp +++ b/wrap/tests/expected/@Test/return_matrix2.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_matrix2",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Matrix value = unwrap< Matrix >(in[1]); - Matrix result = self->return_matrix2(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Matrix value = unwrap< Matrix >(in[1]); + Matrix result = obj->return_matrix2(value); out[0] = wrap< Matrix >(result); } diff --git a/wrap/tests/expected/@Test/return_matrix2.m b/wrap/tests/expected/@Test/return_matrix2.m index 5a0359862..584b365b8 100644 --- a/wrap/tests/expected/@Test/return_matrix2.m +++ b/wrap/tests/expected/@Test/return_matrix2.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_matrix2(value) function result = return_matrix2(obj,value) -% usage: obj.return_matrix2(value) error('need to compile return_matrix2.cpp'); end diff --git a/wrap/tests/expected/@Test/return_pair.cpp b/wrap/tests/expected/@Test/return_pair.cpp index 54b3f6522..7d715644c 100644 --- a/wrap/tests/expected/@Test/return_pair.cpp +++ b/wrap/tests/expected/@Test/return_pair.cpp @@ -1,14 +1,18 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_pair",nargout,nargin-1,2); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Vector v = unwrap< Vector >(in[1]); - Matrix A = unwrap< Matrix >(in[2]); - pair< Vector, Matrix > result = self->return_pair(v,A); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Vector v = unwrap< Vector >(in[1]); + Matrix A = unwrap< Matrix >(in[2]); + pair< Vector, Matrix > result = obj->return_pair(v,A); out[0] = wrap< Vector >(result.first); out[1] = wrap< Matrix >(result.second); } diff --git a/wrap/tests/expected/@Test/return_pair.m b/wrap/tests/expected/@Test/return_pair.m index 611dd3434..2e892210c 100644 --- a/wrap/tests/expected/@Test/return_pair.m +++ b/wrap/tests/expected/@Test/return_pair.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% [first,second] = obj.return_pair(v,A) function [first,second] = return_pair(obj,v,A) -% usage: obj.return_pair(v,A) error('need to compile return_pair.cpp'); end diff --git a/wrap/tests/expected/@Test/return_ptrs.cpp b/wrap/tests/expected/@Test/return_ptrs.cpp index eea94ca3c..8a5f9a0ce 100644 --- a/wrap/tests/expected/@Test/return_ptrs.cpp +++ b/wrap/tests/expected/@Test/return_ptrs.cpp @@ -1,14 +1,22 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr SharedTest; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_ptrs",nargout,nargin-1,2); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); - pair< boost::shared_ptr, boost::shared_ptr > result = self->return_ptrs(p1,p2); - out[0] = wrap_shared_ptr(result.first,"Test"); - out[1] = wrap_shared_ptr(result.second,"Test"); + pair< SharedTest, SharedTest > result = obj->return_ptrs(p1,p2); + SharedTest* ret = new SharedTest(result.first); + out[0] = wrap_collect_shared_ptr(ret,"Test"); + SharedTest* ret = new SharedTest(result.second); + out[1] = wrap_collect_shared_ptr(ret,"Test"); } diff --git a/wrap/tests/expected/@Test/return_ptrs.m b/wrap/tests/expected/@Test/return_ptrs.m index 18d69ac92..a7af4b73c 100644 --- a/wrap/tests/expected/@Test/return_ptrs.m +++ b/wrap/tests/expected/@Test/return_ptrs.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% [first,second] = obj.return_ptrs(p1,p2) function [first,second] = return_ptrs(obj,p1,p2) -% usage: obj.return_ptrs(p1,p2) error('need to compile return_ptrs.cpp'); end diff --git a/wrap/tests/expected/@Test/return_size_t.cpp b/wrap/tests/expected/@Test/return_size_t.cpp index 901c5c9bd..f18680d0d 100644 --- a/wrap/tests/expected/@Test/return_size_t.cpp +++ b/wrap/tests/expected/@Test/return_size_t.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_size_t",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - size_t value = unwrap< size_t >(in[1]); - size_t result = self->return_size_t(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + size_t value = unwrap< size_t >(in[1]); + size_t result = obj->return_size_t(value); out[0] = wrap< size_t >(result); } diff --git a/wrap/tests/expected/@Test/return_size_t.m b/wrap/tests/expected/@Test/return_size_t.m index 143f04d24..2fae64028 100644 --- a/wrap/tests/expected/@Test/return_size_t.m +++ b/wrap/tests/expected/@Test/return_size_t.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_size_t(value) function result = return_size_t(obj,value) -% usage: obj.return_size_t(value) error('need to compile return_size_t.cpp'); end diff --git a/wrap/tests/expected/@Test/return_string.cpp b/wrap/tests/expected/@Test/return_string.cpp index 778e07522..013814241 100644 --- a/wrap/tests/expected/@Test/return_string.cpp +++ b/wrap/tests/expected/@Test/return_string.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_string",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - string value = unwrap< string >(in[1]); - string result = self->return_string(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + string value = unwrap< string >(in[1]); + string result = obj->return_string(value); out[0] = wrap< string >(result); } diff --git a/wrap/tests/expected/@Test/return_string.m b/wrap/tests/expected/@Test/return_string.m index f1eab8661..67fb5f10d 100644 --- a/wrap/tests/expected/@Test/return_string.m +++ b/wrap/tests/expected/@Test/return_string.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_string(value) function result = return_string(obj,value) -% usage: obj.return_string(value) error('need to compile return_string.cpp'); end diff --git a/wrap/tests/expected/@Test/return_vector1.cpp b/wrap/tests/expected/@Test/return_vector1.cpp index 5e8aed397..593cd20bd 100644 --- a/wrap/tests/expected/@Test/return_vector1.cpp +++ b/wrap/tests/expected/@Test/return_vector1.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_vector1",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Vector value = unwrap< Vector >(in[1]); - Vector result = self->return_vector1(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Vector value = unwrap< Vector >(in[1]); + Vector result = obj->return_vector1(value); out[0] = wrap< Vector >(result); } diff --git a/wrap/tests/expected/@Test/return_vector1.m b/wrap/tests/expected/@Test/return_vector1.m index 316ca4cf2..461c51618 100644 --- a/wrap/tests/expected/@Test/return_vector1.m +++ b/wrap/tests/expected/@Test/return_vector1.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_vector1(value) function result = return_vector1(obj,value) -% usage: obj.return_vector1(value) error('need to compile return_vector1.cpp'); end diff --git a/wrap/tests/expected/@Test/return_vector2.cpp b/wrap/tests/expected/@Test/return_vector2.cpp index 4c3242f2e..1be4a614a 100644 --- a/wrap/tests/expected/@Test/return_vector2.cpp +++ b/wrap/tests/expected/@Test/return_vector2.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_vector2",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< Test >(in[0],"Test"); - Vector value = unwrap< Vector >(in[1]); - Vector result = self->return_vector2(value); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + Vector value = unwrap< Vector >(in[1]); + Vector result = obj->return_vector2(value); out[0] = wrap< Vector >(result); } diff --git a/wrap/tests/expected/@Test/return_vector2.m b/wrap/tests/expected/@Test/return_vector2.m index 6426e0ce9..f3c77dd85 100644 --- a/wrap/tests/expected/@Test/return_vector2.m +++ b/wrap/tests/expected/@Test/return_vector2.m @@ -1,5 +1,4 @@ -% automatically generated by wrap +% result = obj.return_vector2(value) function result = return_vector2(obj,value) -% usage: obj.return_vector2(value) error('need to compile return_vector2.cpp'); end diff --git a/wrap/tests/expected/Makefile b/wrap/tests/expected/Makefile index a8959757b..0797d0dd3 100644 --- a/wrap/tests/expected/Makefile +++ b/wrap/tests/expected/Makefile @@ -9,10 +9,6 @@ all: Point2 Point3 Test # Point2 new_Point2_.$(MEXENDING): new_Point2_.cpp $(MEX) $(mex_flags) new_Point2_.cpp -output new_Point2_ -new_Point2_dd.$(MEXENDING): new_Point2_dd.cpp - $(MEX) $(mex_flags) new_Point2_dd.cpp -output new_Point2_dd -delete_Point2.$(MEXENDING): delete_Point2.cpp - $(MEX) $(mex_flags) delete_Point2.cpp -output delete_Point2 @Point2/x.$(MEXENDING): @Point2/x.cpp $(MEX) $(mex_flags) @Point2/x.cpp -output @Point2/x @Point2/y.$(MEXENDING): @Point2/y.cpp @@ -28,13 +24,11 @@ delete_Point2.$(MEXENDING): delete_Point2.cpp @Point2/vectorConfusion.$(MEXENDING): @Point2/vectorConfusion.cpp $(MEX) $(mex_flags) @Point2/vectorConfusion.cpp -output @Point2/vectorConfusion -Point2: new_Point2_.$(MEXENDING) new_Point2_dd.$(MEXENDING) delete_Point2.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) @Point2/returnChar.$(MEXENDING) @Point2/argChar.$(MEXENDING) @Point2/argUChar.$(MEXENDING) @Point2/vectorConfusion.$(MEXENDING) +Point2: new_Point2_.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) @Point2/returnChar.$(MEXENDING) @Point2/argChar.$(MEXENDING) @Point2/argUChar.$(MEXENDING) @Point2/vectorConfusion.$(MEXENDING) # Point3 -new_Point3_ddd.$(MEXENDING): new_Point3_ddd.cpp - $(MEX) $(mex_flags) new_Point3_ddd.cpp -output new_Point3_ddd -delete_Point3.$(MEXENDING): delete_Point3.cpp - $(MEX) $(mex_flags) delete_Point3.cpp -output delete_Point3 +new_Point3_.$(MEXENDING): new_Point3_.cpp + $(MEX) $(mex_flags) new_Point3_.cpp -output new_Point3_ Point3_staticFunction.$(MEXENDING): Point3_staticFunction.cpp $(MEX) $(mex_flags) Point3_staticFunction.cpp -output Point3_staticFunction Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp @@ -42,15 +36,11 @@ Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp @Point3/norm.$(MEXENDING): @Point3/norm.cpp $(MEX) $(mex_flags) @Point3/norm.cpp -output @Point3/norm -Point3: new_Point3_ddd.$(MEXENDING) delete_Point3.$(MEXENDING) Point3_staticFunction.$(MEXENDING) Point3_StaticFunctionRet.$(MEXENDING) @Point3/norm.$(MEXENDING) +Point3: new_Point3_.$(MEXENDING) Point3_staticFunction.$(MEXENDING) Point3_StaticFunctionRet.$(MEXENDING) @Point3/norm.$(MEXENDING) # Test new_Test_.$(MEXENDING): new_Test_.cpp $(MEX) $(mex_flags) new_Test_.cpp -output new_Test_ -new_Test_dM.$(MEXENDING): new_Test_dM.cpp - $(MEX) $(mex_flags) new_Test_dM.cpp -output new_Test_dM -delete_Test.$(MEXENDING): delete_Test.cpp - $(MEX) $(mex_flags) delete_Test.cpp -output delete_Test @Test/return_pair.$(MEXENDING): @Test/return_pair.cpp $(MEX) $(mex_flags) @Test/return_pair.cpp -output @Test/return_pair @Test/return_bool.$(MEXENDING): @Test/return_bool.cpp @@ -90,7 +80,7 @@ delete_Test.$(MEXENDING): delete_Test.cpp @Test/print.$(MEXENDING): @Test/print.cpp $(MEX) $(mex_flags) @Test/print.cpp -output @Test/print -Test: new_Test_.$(MEXENDING) new_Test_dM.$(MEXENDING) delete_Test.$(MEXENDING) @Test/return_pair.$(MEXENDING) @Test/return_bool.$(MEXENDING) @Test/return_size_t.$(MEXENDING) @Test/return_int.$(MEXENDING) @Test/return_double.$(MEXENDING) @Test/return_string.$(MEXENDING) @Test/return_vector1.$(MEXENDING) @Test/return_matrix1.$(MEXENDING) @Test/return_vector2.$(MEXENDING) @Test/return_matrix2.$(MEXENDING) @Test/arg_EigenConstRef.$(MEXENDING) @Test/return_field.$(MEXENDING) @Test/return_TestPtr.$(MEXENDING) @Test/return_Test.$(MEXENDING) @Test/return_Point2Ptr.$(MEXENDING) @Test/create_ptrs.$(MEXENDING) @Test/create_MixedPtrs.$(MEXENDING) @Test/return_ptrs.$(MEXENDING) @Test/print.$(MEXENDING) +Test: new_Test_.$(MEXENDING) @Test/return_pair.$(MEXENDING) @Test/return_bool.$(MEXENDING) @Test/return_size_t.$(MEXENDING) @Test/return_int.$(MEXENDING) @Test/return_double.$(MEXENDING) @Test/return_string.$(MEXENDING) @Test/return_vector1.$(MEXENDING) @Test/return_matrix1.$(MEXENDING) @Test/return_vector2.$(MEXENDING) @Test/return_matrix2.$(MEXENDING) @Test/arg_EigenConstRef.$(MEXENDING) @Test/return_field.$(MEXENDING) @Test/return_TestPtr.$(MEXENDING) @Test/return_Test.$(MEXENDING) @Test/return_Point2Ptr.$(MEXENDING) @Test/create_ptrs.$(MEXENDING) @Test/create_MixedPtrs.$(MEXENDING) @Test/return_ptrs.$(MEXENDING) @Test/print.$(MEXENDING) diff --git a/wrap/tests/expected/Point3_StaticFunctionRet.cpp b/wrap/tests/expected/Point3_StaticFunctionRet.cpp index 652d8713e..49d15f4fa 100644 --- a/wrap/tests/expected/Point3_StaticFunctionRet.cpp +++ b/wrap/tests/expected/Point3_StaticFunctionRet.cpp @@ -1,11 +1,15 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr SharedPoint3; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("Point3_StaticFunctionRet",nargout,nargin,1); - double z = unwrap< double >(in[0]); + double z = unwrap< double >(in[0]); Point3 result = Point3::StaticFunctionRet(z); - out[0] = wrap_shared_ptr(boost::make_shared< Point3 >(result),"Point3"); + SharedPoint3* ret = new SharedPoint3(new Point3(result)); + out[0] = wrap_collect_shared_ptr(ret,"Point3"); } diff --git a/wrap/tests/expected/Point3_staticFunction.cpp b/wrap/tests/expected/Point3_staticFunction.cpp index 6adfdbe5a..e29670b9a 100644 --- a/wrap/tests/expected/Point3_staticFunction.cpp +++ b/wrap/tests/expected/Point3_staticFunction.cpp @@ -1,7 +1,10 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shareddouble; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("Point3_staticFunction",nargout,nargin,0); diff --git a/wrap/tests/expected/delete_Point2.cpp b/wrap/tests/expected/delete_Point2.cpp deleted file mode 100644 index bd8bd12eb..000000000 --- a/wrap/tests/expected/delete_Point2.cpp +++ /dev/null @@ -1,8 +0,0 @@ -// automatically generated by wrap -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_Point2",nargout,nargin,1); - delete_shared_ptr< Point2 >(in[0],"Point2"); -} diff --git a/wrap/tests/expected/delete_Point2.m b/wrap/tests/expected/delete_Point2.m deleted file mode 100644 index c6c623bec..000000000 --- a/wrap/tests/expected/delete_Point2.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_Point2(obj) - error('need to compile delete_Point2.cpp'); -end diff --git a/wrap/tests/expected/delete_Point3.cpp b/wrap/tests/expected/delete_Point3.cpp deleted file mode 100644 index 9836bb25e..000000000 --- a/wrap/tests/expected/delete_Point3.cpp +++ /dev/null @@ -1,9 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_Point3",nargout,nargin,1); - delete_shared_ptr< Point3 >(in[0],"Point3"); -} diff --git a/wrap/tests/expected/delete_Point3.m b/wrap/tests/expected/delete_Point3.m deleted file mode 100644 index b52b898cf..000000000 --- a/wrap/tests/expected/delete_Point3.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_Point3(obj) - error('need to compile delete_Point3.cpp'); -end diff --git a/wrap/tests/expected/delete_Test.cpp b/wrap/tests/expected/delete_Test.cpp deleted file mode 100644 index 6a22cc327..000000000 --- a/wrap/tests/expected/delete_Test.cpp +++ /dev/null @@ -1,9 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_Test",nargout,nargin,1); - delete_shared_ptr< Test >(in[0],"Test"); -} diff --git a/wrap/tests/expected/delete_Test.m b/wrap/tests/expected/delete_Test.m deleted file mode 100644 index 21ec790a3..000000000 --- a/wrap/tests/expected/delete_Test.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_Test(obj) - error('need to compile delete_Test.cpp'); -end diff --git a/wrap/tests/expected/make_geometry.m b/wrap/tests/expected/make_geometry.m index 2858f2994..32f81871d 100644 --- a/wrap/tests/expected/make_geometry.m +++ b/wrap/tests/expected/make_geometry.m @@ -10,8 +10,6 @@ addpath(toolboxpath); %% Point2 cd(toolboxpath) mex -O5 new_Point2_.cpp -mex -O5 new_Point2_dd.cpp -mex -O5 delete_Point2.cpp cd @Point2 mex -O5 x.cpp @@ -24,8 +22,7 @@ mex -O5 vectorConfusion.cpp %% Point3 cd(toolboxpath) -mex -O5 new_Point3_ddd.cpp -mex -O5 delete_Point3.cpp +mex -O5 new_Point3_.cpp mex -O5 Point3_staticFunction.cpp mex -O5 Point3_StaticFunctionRet.cpp @@ -35,8 +32,6 @@ mex -O5 norm.cpp %% Test cd(toolboxpath) mex -O5 new_Test_.cpp -mex -O5 new_Test_dM.cpp -mex -O5 delete_Test.cpp cd @Test mex -O5 return_pair.cpp diff --git a/wrap/tests/expected/new_Point2_.cpp b/wrap/tests/expected/new_Point2_.cpp index a88076efb..7d3af0038 100644 --- a/wrap/tests/expected/new_Point2_.cpp +++ b/wrap/tests/expected/new_Point2_.cpp @@ -1,9 +1,48 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_Point2_",nargout,nargin,0); - Point2* self = new Point2(); - out[0] = wrap_constructed(self,"Point2"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new Point2()); + } + if(nc == 1) { + double x = unwrap< double >(in[2]); + double y = unwrap< double >(in[3]); + self = new Shared(new Point2(x,y)); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected/new_Point2_.m b/wrap/tests/expected/new_Point2_.m index b0b655b5e..b5fdcff15 100644 --- a/wrap/tests/expected/new_Point2_.m +++ b/wrap/tests/expected/new_Point2_.m @@ -1,4 +1,4 @@ % automatically generated by wrap -function result = new_Point2_(obj) +function result = new_Point2_(obj,x,y) error('need to compile new_Point2_.cpp'); end diff --git a/wrap/tests/expected/new_Point2_dd.cpp b/wrap/tests/expected/new_Point2_dd.cpp deleted file mode 100644 index 7c7f062b7..000000000 --- a/wrap/tests/expected/new_Point2_dd.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("new_Point2_dd",nargout,nargin,2); - double x = unwrap< double >(in[0]); - double y = unwrap< double >(in[1]); - Point2* self = new Point2(x,y); - out[0] = wrap_constructed(self,"Point2"); -} diff --git a/wrap/tests/expected/new_Point2_dd.m b/wrap/tests/expected/new_Point2_dd.m deleted file mode 100644 index 4a769ce30..000000000 --- a/wrap/tests/expected/new_Point2_dd.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Point2_dd(obj,x,y) - error('need to compile new_Point2_dd.cpp'); -end diff --git a/wrap/tests/expected/new_Point3_.cpp b/wrap/tests/expected/new_Point3_.cpp new file mode 100644 index 000000000..368b3069e --- /dev/null +++ b/wrap/tests/expected/new_Point3_.cpp @@ -0,0 +1,47 @@ +// automatically generated by wrap +#include +#include +#include +using namespace geometry; +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + double x = unwrap< double >(in[2]); + double y = unwrap< double >(in[3]); + double z = unwrap< double >(in[4]); + self = new Shared(new Point3(x,y,z)); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected/new_Point3_.m b/wrap/tests/expected/new_Point3_.m new file mode 100644 index 000000000..f306af227 --- /dev/null +++ b/wrap/tests/expected/new_Point3_.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_Point3_(obj,x,y,z) + error('need to compile new_Point3_.cpp'); +end diff --git a/wrap/tests/expected/new_Point3_ddd.cpp b/wrap/tests/expected/new_Point3_ddd.cpp deleted file mode 100644 index aa45dc71c..000000000 --- a/wrap/tests/expected/new_Point3_ddd.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("new_Point3_ddd",nargout,nargin,3); - double x = unwrap< double >(in[0]); - double y = unwrap< double >(in[1]); - double z = unwrap< double >(in[2]); - Point3* self = new Point3(x,y,z); - out[0] = wrap_constructed(self,"Point3"); -} diff --git a/wrap/tests/expected/new_Point3_ddd.m b/wrap/tests/expected/new_Point3_ddd.m deleted file mode 100644 index 154dda1d0..000000000 --- a/wrap/tests/expected/new_Point3_ddd.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Point3_ddd(obj,x,y,z) - error('need to compile new_Point3_ddd.cpp'); -end diff --git a/wrap/tests/expected/new_Test_.cpp b/wrap/tests/expected/new_Test_.cpp index 9c66706ae..a6bcc9549 100644 --- a/wrap/tests/expected/new_Test_.cpp +++ b/wrap/tests/expected/new_Test_.cpp @@ -1,10 +1,49 @@ // automatically generated by wrap #include +#include #include using namespace geometry; +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_Test_",nargout,nargin,0); - Test* self = new Test(); - out[0] = wrap_constructed(self,"Test"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new Test()); + } + if(nc == 1) { + double a = unwrap< double >(in[2]); + Matrix b = unwrap< Matrix >(in[3]); + self = new Shared(new Test(a,b)); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected/new_Test_.m b/wrap/tests/expected/new_Test_.m index 33c465f8b..82faf0fd6 100644 --- a/wrap/tests/expected/new_Test_.m +++ b/wrap/tests/expected/new_Test_.m @@ -1,4 +1,4 @@ % automatically generated by wrap -function result = new_Test_(obj) +function result = new_Test_(obj,a,b) error('need to compile new_Test_.cpp'); end diff --git a/wrap/tests/expected/new_Test_dM.cpp b/wrap/tests/expected/new_Test_dM.cpp deleted file mode 100644 index e8a7c8de1..000000000 --- a/wrap/tests/expected/new_Test_dM.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("new_Test_dM",nargout,nargin,2); - double a = unwrap< double >(in[0]); - Matrix b = unwrap< Matrix >(in[1]); - Test* self = new Test(a,b); - out[0] = wrap_constructed(self,"Test"); -} diff --git a/wrap/tests/expected/new_Test_dM.m b/wrap/tests/expected/new_Test_dM.m deleted file mode 100644 index c7009d6a9..000000000 --- a/wrap/tests/expected/new_Test_dM.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Test_dM(obj,a,b) - error('need to compile new_Test_dM.cpp'); -end diff --git a/wrap/tests/expected_namespaces/@ClassD/ClassD.m b/wrap/tests/expected_namespaces/@ClassD/ClassD.m index 9e3ddf132..2a82b6bbf 100644 --- a/wrap/tests/expected_namespaces/@ClassD/ClassD.m +++ b/wrap/tests/expected_namespaces/@ClassD/ClassD.m @@ -5,11 +5,15 @@ classdef ClassD < handle end methods function obj = ClassD(varargin) - if (nargin == 0), obj.self = new_ClassD_(); end - if nargin ~= 13 && obj.self == 0, error('ClassD constructor failed'); end + if (nargin == 0), obj.self = new_ClassD_(0,0); end + if nargin ==14, new_ClassD_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ClassD constructor failed'); end end function delete(obj) - delete_ClassD(obj); + if obj.self ~= 0 + new_ClassD_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m index 806070a36..f1cc51eda 100644 --- a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m +++ b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m @@ -5,11 +5,15 @@ classdef ns1ClassA < handle end methods function obj = ns1ClassA(varargin) - if (nargin == 0), obj.self = new_ns1ClassA_(); end - if nargin ~= 13 && obj.self == 0, error('ns1ClassA constructor failed'); end + if (nargin == 0), obj.self = new_ns1ClassA_(0,0); end + if nargin ==14, new_ns1ClassA_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassA constructor failed'); end end function delete(obj) - delete_ns1ClassA(obj); + if obj.self ~= 0 + new_ns1ClassA_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m index 13d5846ae..9403d5b7c 100644 --- a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m +++ b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m @@ -5,11 +5,15 @@ classdef ns1ClassB < handle end methods function obj = ns1ClassB(varargin) - if (nargin == 0), obj.self = new_ns1ClassB_(); end - if nargin ~= 13 && obj.self == 0, error('ns1ClassB constructor failed'); end + if (nargin == 0), obj.self = new_ns1ClassB_(0,0); end + if nargin ==14, new_ns1ClassB_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassB constructor failed'); end end function delete(obj) - delete_ns1ClassB(obj); + if obj.self ~= 0 + new_ns1ClassB_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp index 514e5db08..668980943 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp @@ -1,11 +1,15 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("memberFunction",nargout,nargin-1,0); - boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); - double result = self->memberFunction(); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + double result = obj->memberFunction(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m index 188ac087d..b4c9de568 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m +++ b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m @@ -5,11 +5,15 @@ classdef ns2ClassA < handle end methods function obj = ns2ClassA(varargin) - if (nargin == 0), obj.self = new_ns2ClassA_(); end - if nargin ~= 13 && obj.self == 0, error('ns2ClassA constructor failed'); end + if (nargin == 0), obj.self = new_ns2ClassA_(0,0); end + if nargin ==14, new_ns2ClassA_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassA constructor failed'); end end function delete(obj) - delete_ns2ClassA(obj); + if obj.self ~= 0 + new_ns2ClassA_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp index 789b0815e..a55fd5581 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp @@ -1,12 +1,16 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("nsArg",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); - ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); - int result = self->nsArg(arg); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); + int result = obj->nsArg(arg); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp index dbeb42f60..334bc9928 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp @@ -1,12 +1,18 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr SharedClassB; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("nsReturn",nargout,nargin-1,1); - boost::shared_ptr self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); - double q = unwrap< double >(in[1]); - ns2::ns3::ClassB result = self->nsReturn(q); - out[0] = wrap_shared_ptr(boost::make_shared< ns2::ns3::ClassB >(result),"ns2ns3ClassB"); + mxArray* mxh = mxGetProperty(in[0],0,"self"); + Shared* self = *reinterpret_cast (mxGetPr(mxh)); + Shared obj = *self; + double q = unwrap< double >(in[1]); + ns2::ns3::ClassB result = obj->nsReturn(q); + SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(result)); + out[0] = wrap_collect_shared_ptr(ret,"ns2ns3ClassB"); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m index 793e73e64..13fbb49f3 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m +++ b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m @@ -5,11 +5,15 @@ classdef ns2ClassC < handle end methods function obj = ns2ClassC(varargin) - if (nargin == 0), obj.self = new_ns2ClassC_(); end - if nargin ~= 13 && obj.self == 0, error('ns2ClassC constructor failed'); end + if (nargin == 0), obj.self = new_ns2ClassC_(0,0); end + if nargin ==14, new_ns2ClassC_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassC constructor failed'); end end function delete(obj) - delete_ns2ClassC(obj); + if obj.self ~= 0 + new_ns2ClassC_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m index 3997cd005..29e0721f0 100644 --- a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m +++ b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m @@ -5,11 +5,15 @@ classdef ns2ns3ClassB < handle end methods function obj = ns2ns3ClassB(varargin) - if (nargin == 0), obj.self = new_ns2ns3ClassB_(); end - if nargin ~= 13 && obj.self == 0, error('ns2ns3ClassB constructor failed'); end + if (nargin == 0), obj.self = new_ns2ns3ClassB_(0,0); end + if nargin ==14, new_ns2ns3ClassB_(varargin{1},0); end + if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ns3ClassB constructor failed'); end end function delete(obj) - delete_ns2ns3ClassB(obj); + if obj.self ~= 0 + new_ns2ns3ClassB_(obj.self); + obj.self = 0; + end end function display(obj), obj.print(''); end function disp(obj), obj.display; end diff --git a/wrap/tests/expected_namespaces/Makefile b/wrap/tests/expected_namespaces/Makefile index c48a1b154..dcc3b1dbd 100644 --- a/wrap/tests/expected_namespaces/Makefile +++ b/wrap/tests/expected_namespaces/Makefile @@ -9,24 +9,18 @@ all: ns1ClassA ns1ClassB ns2ClassA ns2ns3ClassB ns2ClassC ClassD # ns1ClassA new_ns1ClassA_.$(MEXENDING): new_ns1ClassA_.cpp $(MEX) $(mex_flags) new_ns1ClassA_.cpp -output new_ns1ClassA_ -delete_ns1ClassA.$(MEXENDING): delete_ns1ClassA.cpp - $(MEX) $(mex_flags) delete_ns1ClassA.cpp -output delete_ns1ClassA -ns1ClassA: new_ns1ClassA_.$(MEXENDING) delete_ns1ClassA.$(MEXENDING) +ns1ClassA: new_ns1ClassA_.$(MEXENDING) # ns1ClassB new_ns1ClassB_.$(MEXENDING): new_ns1ClassB_.cpp $(MEX) $(mex_flags) new_ns1ClassB_.cpp -output new_ns1ClassB_ -delete_ns1ClassB.$(MEXENDING): delete_ns1ClassB.cpp - $(MEX) $(mex_flags) delete_ns1ClassB.cpp -output delete_ns1ClassB -ns1ClassB: new_ns1ClassB_.$(MEXENDING) delete_ns1ClassB.$(MEXENDING) +ns1ClassB: new_ns1ClassB_.$(MEXENDING) # ns2ClassA new_ns2ClassA_.$(MEXENDING): new_ns2ClassA_.cpp $(MEX) $(mex_flags) new_ns2ClassA_.cpp -output new_ns2ClassA_ -delete_ns2ClassA.$(MEXENDING): delete_ns2ClassA.cpp - $(MEX) $(mex_flags) delete_ns2ClassA.cpp -output delete_ns2ClassA ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp $(MEX) $(mex_flags) ns2ClassA_afunction.cpp -output ns2ClassA_afunction @ns2ClassA/memberFunction.$(MEXENDING): @ns2ClassA/memberFunction.cpp @@ -36,31 +30,25 @@ ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp @ns2ClassA/nsReturn.$(MEXENDING): @ns2ClassA/nsReturn.cpp $(MEX) $(mex_flags) @ns2ClassA/nsReturn.cpp -output @ns2ClassA/nsReturn -ns2ClassA: new_ns2ClassA_.$(MEXENDING) delete_ns2ClassA.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) +ns2ClassA: new_ns2ClassA_.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) # ns2ns3ClassB new_ns2ns3ClassB_.$(MEXENDING): new_ns2ns3ClassB_.cpp $(MEX) $(mex_flags) new_ns2ns3ClassB_.cpp -output new_ns2ns3ClassB_ -delete_ns2ns3ClassB.$(MEXENDING): delete_ns2ns3ClassB.cpp - $(MEX) $(mex_flags) delete_ns2ns3ClassB.cpp -output delete_ns2ns3ClassB -ns2ns3ClassB: new_ns2ns3ClassB_.$(MEXENDING) delete_ns2ns3ClassB.$(MEXENDING) +ns2ns3ClassB: new_ns2ns3ClassB_.$(MEXENDING) # ns2ClassC new_ns2ClassC_.$(MEXENDING): new_ns2ClassC_.cpp $(MEX) $(mex_flags) new_ns2ClassC_.cpp -output new_ns2ClassC_ -delete_ns2ClassC.$(MEXENDING): delete_ns2ClassC.cpp - $(MEX) $(mex_flags) delete_ns2ClassC.cpp -output delete_ns2ClassC -ns2ClassC: new_ns2ClassC_.$(MEXENDING) delete_ns2ClassC.$(MEXENDING) +ns2ClassC: new_ns2ClassC_.$(MEXENDING) # ClassD new_ClassD_.$(MEXENDING): new_ClassD_.cpp $(MEX) $(mex_flags) new_ClassD_.cpp -output new_ClassD_ -delete_ClassD.$(MEXENDING): delete_ClassD.cpp - $(MEX) $(mex_flags) delete_ClassD.cpp -output delete_ClassD -ClassD: new_ClassD_.$(MEXENDING) delete_ClassD.$(MEXENDING) +ClassD: new_ClassD_.$(MEXENDING) diff --git a/wrap/tests/expected_namespaces/delete_ClassD.cpp b/wrap/tests/expected_namespaces/delete_ClassD.cpp deleted file mode 100644 index 5284e33ba..000000000 --- a/wrap/tests/expected_namespaces/delete_ClassD.cpp +++ /dev/null @@ -1,8 +0,0 @@ -// automatically generated by wrap -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_ClassD",nargout,nargin,1); - delete_shared_ptr< ClassD >(in[0],"ClassD"); -} diff --git a/wrap/tests/expected_namespaces/delete_ClassD.m b/wrap/tests/expected_namespaces/delete_ClassD.m deleted file mode 100644 index aef8cb642..000000000 --- a/wrap/tests/expected_namespaces/delete_ClassD.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_ClassD(obj) - error('need to compile delete_ClassD.cpp'); -end diff --git a/wrap/tests/expected_namespaces/delete_ns1ClassA.cpp b/wrap/tests/expected_namespaces/delete_ns1ClassA.cpp deleted file mode 100644 index 17a25b523..000000000 --- a/wrap/tests/expected_namespaces/delete_ns1ClassA.cpp +++ /dev/null @@ -1,8 +0,0 @@ -// automatically generated by wrap -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_ns1ClassA",nargout,nargin,1); - delete_shared_ptr< ns1::ClassA >(in[0],"ns1ClassA"); -} diff --git a/wrap/tests/expected_namespaces/delete_ns1ClassA.m b/wrap/tests/expected_namespaces/delete_ns1ClassA.m deleted file mode 100644 index 343d5636a..000000000 --- a/wrap/tests/expected_namespaces/delete_ns1ClassA.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_ns1ClassA(obj) - error('need to compile delete_ns1ClassA.cpp'); -end diff --git a/wrap/tests/expected_namespaces/delete_ns1ClassB.cpp b/wrap/tests/expected_namespaces/delete_ns1ClassB.cpp deleted file mode 100644 index 7302cc3d3..000000000 --- a/wrap/tests/expected_namespaces/delete_ns1ClassB.cpp +++ /dev/null @@ -1,9 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_ns1ClassB",nargout,nargin,1); - delete_shared_ptr< ns1::ClassB >(in[0],"ns1ClassB"); -} diff --git a/wrap/tests/expected_namespaces/delete_ns1ClassB.m b/wrap/tests/expected_namespaces/delete_ns1ClassB.m deleted file mode 100644 index ec50f3f06..000000000 --- a/wrap/tests/expected_namespaces/delete_ns1ClassB.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_ns1ClassB(obj) - error('need to compile delete_ns1ClassB.cpp'); -end diff --git a/wrap/tests/expected_namespaces/delete_ns2ClassA.cpp b/wrap/tests/expected_namespaces/delete_ns2ClassA.cpp deleted file mode 100644 index 0562ee073..000000000 --- a/wrap/tests/expected_namespaces/delete_ns2ClassA.cpp +++ /dev/null @@ -1,9 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_ns2ClassA",nargout,nargin,1); - delete_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA"); -} diff --git a/wrap/tests/expected_namespaces/delete_ns2ClassA.m b/wrap/tests/expected_namespaces/delete_ns2ClassA.m deleted file mode 100644 index 4f1b92aa5..000000000 --- a/wrap/tests/expected_namespaces/delete_ns2ClassA.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_ns2ClassA(obj) - error('need to compile delete_ns2ClassA.cpp'); -end diff --git a/wrap/tests/expected_namespaces/delete_ns2ClassC.cpp b/wrap/tests/expected_namespaces/delete_ns2ClassC.cpp deleted file mode 100644 index ef57796b7..000000000 --- a/wrap/tests/expected_namespaces/delete_ns2ClassC.cpp +++ /dev/null @@ -1,8 +0,0 @@ -// automatically generated by wrap -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_ns2ClassC",nargout,nargin,1); - delete_shared_ptr< ns2::ClassC >(in[0],"ns2ClassC"); -} diff --git a/wrap/tests/expected_namespaces/delete_ns2ClassC.m b/wrap/tests/expected_namespaces/delete_ns2ClassC.m deleted file mode 100644 index 1db1ddc93..000000000 --- a/wrap/tests/expected_namespaces/delete_ns2ClassC.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_ns2ClassC(obj) - error('need to compile delete_ns2ClassC.cpp'); -end diff --git a/wrap/tests/expected_namespaces/delete_ns2ns3ClassB.cpp b/wrap/tests/expected_namespaces/delete_ns2ns3ClassB.cpp deleted file mode 100644 index 0a6c4ce73..000000000 --- a/wrap/tests/expected_namespaces/delete_ns2ns3ClassB.cpp +++ /dev/null @@ -1,9 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("delete_ns2ns3ClassB",nargout,nargin,1); - delete_shared_ptr< ns2::ns3::ClassB >(in[0],"ns2ns3ClassB"); -} diff --git a/wrap/tests/expected_namespaces/delete_ns2ns3ClassB.m b/wrap/tests/expected_namespaces/delete_ns2ns3ClassB.m deleted file mode 100644 index 427359eca..000000000 --- a/wrap/tests/expected_namespaces/delete_ns2ns3ClassB.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = delete_ns2ns3ClassB(obj) - error('need to compile delete_ns2ns3ClassB.cpp'); -end diff --git a/wrap/tests/expected_namespaces/make_testNamespaces.m b/wrap/tests/expected_namespaces/make_testNamespaces.m index d835a2da0..5ff13e5d4 100644 --- a/wrap/tests/expected_namespaces/make_testNamespaces.m +++ b/wrap/tests/expected_namespaces/make_testNamespaces.m @@ -10,21 +10,18 @@ addpath(toolboxpath); %% ns1ClassA cd(toolboxpath) mex -O5 new_ns1ClassA_.cpp -mex -O5 delete_ns1ClassA.cpp cd @ns1ClassA %% ns1ClassB cd(toolboxpath) mex -O5 new_ns1ClassB_.cpp -mex -O5 delete_ns1ClassB.cpp cd @ns1ClassB %% ns2ClassA cd(toolboxpath) mex -O5 new_ns2ClassA_.cpp -mex -O5 delete_ns2ClassA.cpp mex -O5 ns2ClassA_afunction.cpp cd @ns2ClassA @@ -35,21 +32,18 @@ mex -O5 nsReturn.cpp %% ns2ns3ClassB cd(toolboxpath) mex -O5 new_ns2ns3ClassB_.cpp -mex -O5 delete_ns2ns3ClassB.cpp cd @ns2ns3ClassB %% ns2ClassC cd(toolboxpath) mex -O5 new_ns2ClassC_.cpp -mex -O5 delete_ns2ClassC.cpp cd @ns2ClassC %% ClassD cd(toolboxpath) mex -O5 new_ClassD_.cpp -mex -O5 delete_ClassD.cpp cd @ClassD diff --git a/wrap/tests/expected_namespaces/new_ClassD_.cpp b/wrap/tests/expected_namespaces/new_ClassD_.cpp index 59ea4398b..352c470b0 100644 --- a/wrap/tests/expected_namespaces/new_ClassD_.cpp +++ b/wrap/tests/expected_namespaces/new_ClassD_.cpp @@ -1,9 +1,43 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_ClassD_",nargout,nargin,0); - ClassD* self = new ClassD(); - out[0] = wrap_constructed(self,"ClassD"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new ClassD()); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp index cbb82eb70..893331034 100644 --- a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp +++ b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp @@ -1,9 +1,43 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_ns1ClassA_",nargout,nargin,0); - ns1::ClassA* self = new ns1::ClassA(); - out[0] = wrap_constructed(self,"ns1ClassA"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new ns1::ClassA()); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp index d50cede19..047348d1b 100644 --- a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp +++ b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp @@ -1,10 +1,44 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_ns1ClassB_",nargout,nargin,0); - ns1::ClassB* self = new ns1::ClassB(); - out[0] = wrap_constructed(self,"ns1ClassB"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new ns1::ClassB()); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp index 81bae3198..cb06bf892 100644 --- a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp @@ -1,10 +1,44 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_ns2ClassA_",nargout,nargin,0); - ns2::ClassA* self = new ns2::ClassA(); - out[0] = wrap_constructed(self,"ns2ClassA"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new ns2::ClassA()); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp index fbee07926..40c3343ef 100644 --- a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp @@ -1,9 +1,43 @@ // automatically generated by wrap #include +#include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_ns2ClassC_",nargout,nargin,0); - ns2::ClassC* self = new ns2::ClassC(); - out[0] = wrap_constructed(self,"ns2ClassC"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new ns2::ClassC()); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp index ca9d02df3..ace0a261f 100644 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp @@ -1,10 +1,44 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr Shared; + +static std::set collector; + +struct Destruct +{ + void operator() (Shared* p) + { + collector.erase(p); + } +}; + +void cleanup(void) { + std::for_each( collector.begin(), collector.end(), Destruct() ); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { - checkArguments("new_ns2ns3ClassB_",nargout,nargin,0); - ns2::ns3::ClassB* self = new ns2::ns3::ClassB(); - out[0] = wrap_constructed(self,"ns2ns3ClassB"); + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + if(nc == 0) { + self = new Shared(new ns2::ns3::ClassB()); + } + collector.insert(self); + std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } } diff --git a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp index 72559acf8..3e8d54a14 100644 --- a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp +++ b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp @@ -1,7 +1,10 @@ // automatically generated by wrap #include +#include #include #include +typedef boost::shared_ptr Shareddouble; +typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("ns2ClassA_afunction",nargout,nargin,0); diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index db3ac8982..cdc6e42d6 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -83,7 +83,7 @@ TEST( wrap, parse ) { { Class cls = module.classes.at(0); EXPECT(assert_equal("Point2", cls.name)); - EXPECT_LONGS_EQUAL(2, cls.constructors.size()); + EXPECT_LONGS_EQUAL(2, cls.constructor.args_list.size()); EXPECT_LONGS_EQUAL(7, cls.methods.size()); EXPECT_LONGS_EQUAL(0, cls.static_methods.size()); EXPECT_LONGS_EQUAL(0, cls.namespaces.size()); @@ -94,18 +94,18 @@ TEST( wrap, parse ) { { Class cls = module.classes.at(1); EXPECT(assert_equal("Point3", cls.name)); - EXPECT_LONGS_EQUAL(1, cls.constructors.size()); + EXPECT_LONGS_EQUAL(1, cls.constructor.args_list.size()); EXPECT_LONGS_EQUAL(1, cls.methods.size()); EXPECT_LONGS_EQUAL(2, cls.static_methods.size()); EXPECT_LONGS_EQUAL(0, cls.namespaces.size()); EXPECT(assert_equal(exp_using2, cls.using_namespaces)); // first constructor takes 3 doubles - Constructor c1 = cls.constructors.front(); - EXPECT_LONGS_EQUAL(3, c1.args.size()); + ArgumentList c1 = cls.constructor.args_list.front(); + EXPECT_LONGS_EQUAL(3, c1.size()); // check first double argument - Argument a1 = c1.args.front(); + Argument a1 = c1.front(); EXPECT(!a1.is_const); EXPECT(assert_equal("double", a1.type)); EXPECT(!a1.is_ref); @@ -123,7 +123,7 @@ TEST( wrap, parse ) { { LONGS_EQUAL(3, module.classes.size()); Class testCls = module.classes.at(2); - EXPECT_LONGS_EQUAL( 2, testCls.constructors.size()); + EXPECT_LONGS_EQUAL( 2, testCls.constructor.args_list.size()); EXPECT_LONGS_EQUAL(19, testCls.methods.size()); EXPECT_LONGS_EQUAL( 0, testCls.static_methods.size()); EXPECT_LONGS_EQUAL( 0, testCls.namespaces.size()); @@ -228,18 +228,6 @@ TEST( wrap, matlab_code_namespaces ) { EXPECT(files_equal(exp_path + "new_ns2ClassC_.m" , act_path + "new_ns2ClassC_.m" )); EXPECT(files_equal(exp_path + "new_ns2ns3ClassB_.cpp" , act_path + "new_ns2ns3ClassB_.cpp" )); EXPECT(files_equal(exp_path + "new_ns2ns3ClassB_.m" , act_path + "new_ns2ns3ClassB_.m" )); - EXPECT(files_equal(exp_path + "delete_ClassD.cpp" , act_path + "delete_ClassD.cpp" )); - EXPECT(files_equal(exp_path + "delete_ClassD.m" , act_path + "delete_ClassD.m" )); - EXPECT(files_equal(exp_path + "delete_ns1ClassA.cpp" , act_path + "delete_ns1ClassA.cpp" )); - EXPECT(files_equal(exp_path + "delete_ns1ClassA.m" , act_path + "delete_ns1ClassA.m" )); - EXPECT(files_equal(exp_path + "delete_ns1ClassB.cpp" , act_path + "delete_ns1ClassB.cpp" )); - EXPECT(files_equal(exp_path + "delete_ns1ClassB.m" , act_path + "delete_ns1ClassB.m" )); - EXPECT(files_equal(exp_path + "delete_ns2ClassA.cpp" , act_path + "delete_ns2ClassA.cpp" )); - EXPECT(files_equal(exp_path + "delete_ns2ClassA.m" , act_path + "delete_ns2ClassA.m" )); - EXPECT(files_equal(exp_path + "delete_ns2ClassC.cpp" , act_path + "delete_ns2ClassC.cpp" )); - EXPECT(files_equal(exp_path + "delete_ns2ClassC.m" , act_path + "delete_ns2ClassC.m" )); - EXPECT(files_equal(exp_path + "delete_ns2ns3ClassB.cpp" , act_path + "delete_ns2ns3ClassB.cpp" )); - EXPECT(files_equal(exp_path + "delete_ns2ns3ClassB.m" , act_path + "delete_ns2ns3ClassB.m" )); EXPECT(files_equal(exp_path + "ns2ClassA_afunction.cpp" , act_path + "ns2ClassA_afunction.cpp" )); EXPECT(files_equal(exp_path + "ns2ClassA_afunction.m" , act_path + "ns2ClassA_afunction.m" )); @@ -268,34 +256,82 @@ TEST( wrap, matlab_code ) { // emit MATLAB code // make_geometry will not compile, use make testwrap to generate real make module.matlab_code("mex", "actual", "mexa64", "-O5"); + string epath = path + "/tests/expected/"; + string apath = "actual/"; - EXPECT(files_equal(path + "/tests/expected/@Point2/Point2.m" , "actual/@Point2/Point2.m" )); - EXPECT(files_equal(path + "/tests/expected/@Point2/x.cpp" , "actual/@Point2/x.cpp" )); - EXPECT(files_equal(path + "/tests/expected/@Point3/Point3.m" , "actual/@Point3/Point3.m" )); - EXPECT(files_equal(path + "/tests/expected/new_Point3_ddd.m" , "actual/new_Point3_ddd.m" )); - EXPECT(files_equal(path + "/tests/expected/new_Point3_ddd.cpp", "actual/new_Point3_ddd.cpp")); - EXPECT(files_equal(path + "/tests/expected/Point3_staticFunction.m" , "actual/Point3_staticFunction.m" )); - EXPECT(files_equal(path + "/tests/expected/Point3_staticFunction.cpp", "actual/Point3_staticFunction.cpp")); - EXPECT(files_equal(path + "/tests/expected/@Point3/norm.m" , "actual/@Point3/norm.m" )); - EXPECT(files_equal(path + "/tests/expected/@Point3/norm.cpp" , "actual/@Point3/norm.cpp" )); + EXPECT(files_equal(epath + "Makefile" , apath + "Makefile" )); + EXPECT(files_equal(epath + "make_geometry.m" , apath + "make_geometry.m" )); + EXPECT(files_equal(epath + "new_Point2_.cpp" , apath + "new_Point2_.cpp" )); + EXPECT(files_equal(epath + "new_Point2_.m" , apath + "new_Point2_.m" )); + EXPECT(files_equal(epath + "new_Point3_.cpp" , apath + "new_Point3_.cpp" )); + EXPECT(files_equal(epath + "new_Point3_.m" , apath + "new_Point3_.m" )); + EXPECT(files_equal(epath + "new_Test_.cpp" , apath + "new_Test_.cpp" )); + EXPECT(files_equal(epath + "new_Test_.m" , apath + "new_Test_.m" )); - EXPECT(files_equal(path + "/tests/expected/new_Test_.cpp" , "actual/new_Test_.cpp" )); - EXPECT(files_equal(path + "/tests/expected/delete_Test.cpp" , "actual/delete_Test.cpp" )); - EXPECT(files_equal(path + "/tests/expected/delete_Test.m" , "actual/delete_Test.m" )); - EXPECT(files_equal(path + "/tests/expected/@Test/Test.m" , "actual/@Test/Test.m" )); - EXPECT(files_equal(path + "/tests/expected/@Test/return_string.cpp" , "actual/@Test/return_string.cpp" )); - EXPECT(files_equal(path + "/tests/expected/@Test/return_pair.cpp" , "actual/@Test/return_pair.cpp" )); - EXPECT(files_equal(path + "/tests/expected/@Test/create_MixedPtrs.cpp", "actual/@Test/create_MixedPtrs.cpp")); - EXPECT(files_equal(path + "/tests/expected/@Test/return_field.cpp" , "actual/@Test/return_field.cpp" )); - EXPECT(files_equal(path + "/tests/expected/@Test/return_TestPtr.cpp", "actual/@Test/return_TestPtr.cpp")); - EXPECT(files_equal(path + "/tests/expected/@Test/return_Test.cpp" , "actual/@Test/return_Test.cpp" )); - EXPECT(files_equal(path + "/tests/expected/@Test/return_Point2Ptr.cpp", "actual/@Test/return_Point2Ptr.cpp")); - EXPECT(files_equal(path + "/tests/expected/@Test/return_ptrs.cpp" , "actual/@Test/return_ptrs.cpp" )); - EXPECT(files_equal(path + "/tests/expected/@Test/print.m" , "actual/@Test/print.m" )); - EXPECT(files_equal(path + "/tests/expected/@Test/print.cpp" , "actual/@Test/print.cpp" )); + EXPECT(files_equal(epath + "Point3_staticFunction.cpp" , apath + "Point3_staticFunction.cpp" )); + EXPECT(files_equal(epath + "Point3_staticFunction.m" , apath + "Point3_staticFunction.m" )); + EXPECT(files_equal(epath + "Point3_StaticFunctionRet.cpp" , apath + "Point3_StaticFunctionRet.cpp" )); + EXPECT(files_equal(epath + "Point3_StaticFunctionRet.m" , apath + "Point3_StaticFunctionRet.m" )); + + EXPECT(files_equal(epath + "@Point2/argChar.cpp" , apath + "@Point2/argChar.cpp" )); + EXPECT(files_equal(epath + "@Point2/argChar.m" , apath + "@Point2/argChar.m" )); + EXPECT(files_equal(epath + "@Point2/argUChar.cpp" , apath + "@Point2/argUChar.cpp" )); + EXPECT(files_equal(epath + "@Point2/argUChar.m" , apath + "@Point2/argUChar.m" )); + EXPECT(files_equal(epath + "@Point2/dim.cpp" , apath + "@Point2/dim.cpp" )); + EXPECT(files_equal(epath + "@Point2/dim.m" , apath + "@Point2/dim.m" )); + EXPECT(files_equal(epath + "@Point2/Point2.m" , apath + "@Point2/Point2.m" )); + EXPECT(files_equal(epath + "@Point2/returnChar.cpp" , apath + "@Point2/returnChar.cpp" )); + EXPECT(files_equal(epath + "@Point2/returnChar.m" , apath + "@Point2/returnChar.m" )); + EXPECT(files_equal(epath + "@Point2/vectorConfusion.cpp" , apath + "@Point2/vectorConfusion.cpp" )); + EXPECT(files_equal(epath + "@Point2/vectorConfusion.m" , apath + "@Point2/vectorConfusion.m" )); + EXPECT(files_equal(epath + "@Point2/x.cpp" , apath + "@Point2/x.cpp" )); + EXPECT(files_equal(epath + "@Point2/x.m" , apath + "@Point2/x.m" )); + EXPECT(files_equal(epath + "@Point2/y.cpp" , apath + "@Point2/y.cpp" )); + EXPECT(files_equal(epath + "@Point2/y.m" , apath + "@Point2/y.m" )); + EXPECT(files_equal(epath + "@Point3/norm.cpp" , apath + "@Point3/norm.cpp" )); + EXPECT(files_equal(epath + "@Point3/norm.m" , apath + "@Point3/norm.m" )); + EXPECT(files_equal(epath + "@Point3/Point3.m" , apath + "@Point3/Point3.m" )); + + EXPECT(files_equal(epath + "@Test/arg_EigenConstRef.cpp" , apath + "@Test/arg_EigenConstRef.cpp" )); + EXPECT(files_equal(epath + "@Test/arg_EigenConstRef.m" , apath + "@Test/arg_EigenConstRef.m" )); + EXPECT(files_equal(epath + "@Test/create_MixedPtrs.cpp" , apath + "@Test/create_MixedPtrs.cpp" )); + EXPECT(files_equal(epath + "@Test/create_MixedPtrs.m" , apath + "@Test/create_MixedPtrs.m" )); + EXPECT(files_equal(epath + "@Test/create_ptrs.cpp" , apath + "@Test/create_ptrs.cpp" )); + EXPECT(files_equal(epath + "@Test/create_ptrs.m" , apath + "@Test/create_ptrs.m" )); + EXPECT(files_equal(epath + "@Test/print.cpp" , apath + "@Test/print.cpp" )); + EXPECT(files_equal(epath + "@Test/print.m" , apath + "@Test/print.m" )); + EXPECT(files_equal(epath + "@Test/return_bool.cpp" , apath + "@Test/return_bool.cpp" )); + EXPECT(files_equal(epath + "@Test/return_bool.m" , apath + "@Test/return_bool.m" )); + EXPECT(files_equal(epath + "@Test/return_double.cpp" , apath + "@Test/return_double.cpp" )); + EXPECT(files_equal(epath + "@Test/return_double.m" , apath + "@Test/return_double.m" )); + EXPECT(files_equal(epath + "@Test/return_field.cpp" , apath + "@Test/return_field.cpp" )); + EXPECT(files_equal(epath + "@Test/return_field.m" , apath + "@Test/return_field.m" )); + EXPECT(files_equal(epath + "@Test/return_int.cpp" , apath + "@Test/return_int.cpp" )); + EXPECT(files_equal(epath + "@Test/return_int.m" , apath + "@Test/return_int.m" )); + EXPECT(files_equal(epath + "@Test/return_matrix1.cpp" , apath + "@Test/return_matrix1.cpp" )); + EXPECT(files_equal(epath + "@Test/return_matrix1.m" , apath + "@Test/return_matrix1.m" )); + EXPECT(files_equal(epath + "@Test/return_matrix2.cpp" , apath + "@Test/return_matrix2.cpp" )); + EXPECT(files_equal(epath + "@Test/return_matrix2.m" , apath + "@Test/return_matrix2.m" )); + EXPECT(files_equal(epath + "@Test/return_pair.cpp" , apath + "@Test/return_pair.cpp" )); + EXPECT(files_equal(epath + "@Test/return_pair.m" , apath + "@Test/return_pair.m" )); + EXPECT(files_equal(epath + "@Test/return_Point2Ptr.cpp" , apath + "@Test/return_Point2Ptr.cpp" )); + EXPECT(files_equal(epath + "@Test/return_Point2Ptr.m" , apath + "@Test/return_Point2Ptr.m" )); + EXPECT(files_equal(epath + "@Test/return_ptrs.cpp" , apath + "@Test/return_ptrs.cpp" )); + EXPECT(files_equal(epath + "@Test/return_ptrs.m" , apath + "@Test/return_ptrs.m" )); + EXPECT(files_equal(epath + "@Test/return_size_t.cpp" , apath + "@Test/return_size_t.cpp" )); + EXPECT(files_equal(epath + "@Test/return_size_t.m" , apath + "@Test/return_size_t.m" )); + EXPECT(files_equal(epath + "@Test/return_string.cpp" , apath + "@Test/return_string.cpp" )); + EXPECT(files_equal(epath + "@Test/return_string.m" , apath + "@Test/return_string.m" )); + EXPECT(files_equal(epath + "@Test/return_Test.cpp" , apath + "@Test/return_Test.cpp" )); + EXPECT(files_equal(epath + "@Test/return_Test.m" , apath + "@Test/return_Test.m" )); + EXPECT(files_equal(epath + "@Test/return_TestPtr.cpp" , apath + "@Test/return_TestPtr.cpp" )); + EXPECT(files_equal(epath + "@Test/return_TestPtr.m" , apath + "@Test/return_TestPtr.m" )); + EXPECT(files_equal(epath + "@Test/return_vector1.cpp" , apath + "@Test/return_vector1.cpp" )); + EXPECT(files_equal(epath + "@Test/return_vector1.m" , apath + "@Test/return_vector1.m" )); + EXPECT(files_equal(epath + "@Test/return_vector2.cpp" , apath + "@Test/return_vector2.cpp" )); + EXPECT(files_equal(epath + "@Test/return_vector2.m" , apath + "@Test/return_vector2.m" )); + EXPECT(files_equal(epath + "@Test/Test.m" , apath + "@Test/Test.m" )); - EXPECT(files_equal(path + "/tests/expected/make_geometry.m", "actual/make_geometry.m")); - EXPECT(files_equal(path + "/tests/expected/Makefile" , "actual/Makefile" )); } /* ************************************************************************* */ From b1eedba89f1a9e06a6cc49a094e80b34621a424e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 28 Jun 2012 17:44:17 +0000 Subject: [PATCH 487/914] Added back NonlinearFactor::dim() --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index e4993413a..755402554 100644 --- a/gtsam.h +++ b/gtsam.h @@ -918,7 +918,7 @@ class NonlinearFactor { void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; -// size_t dim() const; // FIXME: Doesn't link + size_t dim() const; }; class EasyFactorGraph { From b2e15eea4e054b6aed5904fc620a8873fd7dc8a0 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 28 Jun 2012 19:43:00 +0000 Subject: [PATCH 488/914] Added negate() to GaussianFactor, which computes the Anti-factor eqiuvalent, using implementation from the nonlinear Anti-factor --- gtsam/linear/GaussianFactor.h | 7 +++++++ gtsam/linear/HessianFactor.cpp | 20 ++++++++++++++++++++ gtsam/linear/HessianFactor.h | 7 +++++++ gtsam/linear/JacobianFactor.cpp | 6 ++++++ gtsam/linear/JacobianFactor.h | 7 +++++++ gtsam/slam/AntiFactor.h | 26 ++------------------------ 6 files changed, 49 insertions(+), 24 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index a20c09a43..0d435ce17 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -115,6 +115,13 @@ namespace gtsam { IndexFactor::permuteWithInverse(inversePermutation); } + /** + * Construct the corresponding anti-factor to negate information + * stored stored in this factor. + * @return a HessianFactor with negated Hessian matrices + */ + virtual GaussianFactor::shared_ptr negate() const = 0; + private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 86938a9bf..cdf597411 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -511,4 +511,24 @@ GaussianConditional::shared_ptr HessianFactor::splitEliminatedFactor(size_t nrFr return conditional; } +/* ************************************************************************* */ +GaussianFactor::shared_ptr HessianFactor::negate() const { + // Copy Hessian Blocks from Hessian factor and invert + std::vector js; + std::vector Gs; + std::vector gs; + double f; + js.insert(js.end(), begin(), end()); + for(size_t i = 0; i < js.size(); ++i){ + for(size_t j = i; j < js.size(); ++j){ + Gs.push_back( -info(begin()+i, begin()+j) ); + } + gs.push_back( -linearTerm(begin()+i) ); + } + f = -constantTerm(); + + // Create the Anti-Hessian Factor from the negated blocks + return HessianFactor::shared_ptr(new HessianFactor(js, Gs, gs, f)); +} + } // gtsam diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index f90a33c5e..74216f0f0 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -237,6 +237,13 @@ namespace gtsam { /** Return the number of columns and rows of the Hessian matrix */ size_t rows() const { return info_.rows(); } + /** + * Construct the corresponding anti-factor to negate information + * stored stored in this factor. + * @return a HessianFactor with negated Hessian matrices + */ + virtual GaussianFactor::shared_ptr negate() const; + /** Return a view of the block at (j1,j2) of the upper-triangular part of the * information matrix \f$ H \f$, no data is copied. See HessianFactor class documentation * above to explain that only the upper-triangular part of the information matrix is stored diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 038f8c718..b241ff24a 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -385,6 +385,12 @@ namespace gtsam { return result; } + /* ************************************************************************* */ + GaussianFactor::shared_ptr JacobianFactor::negate() const { + HessianFactor hessian(*this); + return hessian.negate(); + } + /* ************************************************************************* */ GaussianConditional::shared_ptr JacobianFactor::eliminateFirst() { return this->eliminate(1); diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 0ac085987..660eb25f7 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -169,6 +169,13 @@ namespace gtsam { */ virtual Matrix computeInformation() const; + /** + * Construct the corresponding anti-factor to negate information + * stored stored in this factor. + * @return a HessianFactor with negated Hessian matrices + */ + virtual GaussianFactor::shared_ptr negate() const; + /** Check if the factor contains no information, i.e. zero rows. This does * not necessarily mean that the factor involves no variables (to check for * involving no variables use keys().empty()). diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 1e0d64db7..19f73c8b9 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -99,30 +99,8 @@ namespace gtsam { // Generate the linearized factor from the contained nonlinear factor GaussianFactor::shared_ptr gaussianFactor = factor_->linearize(c, ordering); - // Cast the GaussianFactor to a Hessian - HessianFactor::shared_ptr hessianFactor = boost::dynamic_pointer_cast(gaussianFactor); - - // If the cast fails, convert it to a Hessian - if(!hessianFactor){ - hessianFactor = HessianFactor::shared_ptr(new HessianFactor(*gaussianFactor)); - } - - // Copy Hessian Blocks from Hessian factor and invert - std::vector js; - std::vector Gs; - std::vector gs; - double f; - js.insert(js.end(), hessianFactor->begin(), hessianFactor->end()); - for(size_t i = 0; i < js.size(); ++i){ - for(size_t j = i; j < js.size(); ++j){ - Gs.push_back( -hessianFactor->info(hessianFactor->begin()+i, hessianFactor->begin()+j) ); - } - gs.push_back( -hessianFactor->linearTerm(hessianFactor->begin()+i) ); - } - f = -hessianFactor->constantTerm(); - - // Create the Anti-Hessian Factor from the negated blocks - return HessianFactor::shared_ptr(new HessianFactor(js, Gs, gs, f)); + // return the negated version of the factor + return gaussianFactor->negate(); } From 1395a11d3178142f2af63132b334e484e9980bfc Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 28 Jun 2012 19:43:55 +0000 Subject: [PATCH 489/914] Merge branch 'master' into new_wrap_local --- gtsam/linear/GaussianFactor.h | 7 +++++++ gtsam/linear/HessianFactor.cpp | 20 ++++++++++++++++++++ gtsam/linear/HessianFactor.h | 7 +++++++ gtsam/linear/JacobianFactor.cpp | 6 ++++++ gtsam/linear/JacobianFactor.h | 7 +++++++ gtsam/slam/AntiFactor.h | 26 ++------------------------ 6 files changed, 49 insertions(+), 24 deletions(-) diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h index a20c09a43..0d435ce17 100644 --- a/gtsam/linear/GaussianFactor.h +++ b/gtsam/linear/GaussianFactor.h @@ -115,6 +115,13 @@ namespace gtsam { IndexFactor::permuteWithInverse(inversePermutation); } + /** + * Construct the corresponding anti-factor to negate information + * stored stored in this factor. + * @return a HessianFactor with negated Hessian matrices + */ + virtual GaussianFactor::shared_ptr negate() const = 0; + private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 86938a9bf..cdf597411 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -511,4 +511,24 @@ GaussianConditional::shared_ptr HessianFactor::splitEliminatedFactor(size_t nrFr return conditional; } +/* ************************************************************************* */ +GaussianFactor::shared_ptr HessianFactor::negate() const { + // Copy Hessian Blocks from Hessian factor and invert + std::vector js; + std::vector Gs; + std::vector gs; + double f; + js.insert(js.end(), begin(), end()); + for(size_t i = 0; i < js.size(); ++i){ + for(size_t j = i; j < js.size(); ++j){ + Gs.push_back( -info(begin()+i, begin()+j) ); + } + gs.push_back( -linearTerm(begin()+i) ); + } + f = -constantTerm(); + + // Create the Anti-Hessian Factor from the negated blocks + return HessianFactor::shared_ptr(new HessianFactor(js, Gs, gs, f)); +} + } // gtsam diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index f90a33c5e..74216f0f0 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -237,6 +237,13 @@ namespace gtsam { /** Return the number of columns and rows of the Hessian matrix */ size_t rows() const { return info_.rows(); } + /** + * Construct the corresponding anti-factor to negate information + * stored stored in this factor. + * @return a HessianFactor with negated Hessian matrices + */ + virtual GaussianFactor::shared_ptr negate() const; + /** Return a view of the block at (j1,j2) of the upper-triangular part of the * information matrix \f$ H \f$, no data is copied. See HessianFactor class documentation * above to explain that only the upper-triangular part of the information matrix is stored diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 038f8c718..b241ff24a 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -385,6 +385,12 @@ namespace gtsam { return result; } + /* ************************************************************************* */ + GaussianFactor::shared_ptr JacobianFactor::negate() const { + HessianFactor hessian(*this); + return hessian.negate(); + } + /* ************************************************************************* */ GaussianConditional::shared_ptr JacobianFactor::eliminateFirst() { return this->eliminate(1); diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 0ac085987..660eb25f7 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -169,6 +169,13 @@ namespace gtsam { */ virtual Matrix computeInformation() const; + /** + * Construct the corresponding anti-factor to negate information + * stored stored in this factor. + * @return a HessianFactor with negated Hessian matrices + */ + virtual GaussianFactor::shared_ptr negate() const; + /** Check if the factor contains no information, i.e. zero rows. This does * not necessarily mean that the factor involves no variables (to check for * involving no variables use keys().empty()). diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 1e0d64db7..19f73c8b9 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -99,30 +99,8 @@ namespace gtsam { // Generate the linearized factor from the contained nonlinear factor GaussianFactor::shared_ptr gaussianFactor = factor_->linearize(c, ordering); - // Cast the GaussianFactor to a Hessian - HessianFactor::shared_ptr hessianFactor = boost::dynamic_pointer_cast(gaussianFactor); - - // If the cast fails, convert it to a Hessian - if(!hessianFactor){ - hessianFactor = HessianFactor::shared_ptr(new HessianFactor(*gaussianFactor)); - } - - // Copy Hessian Blocks from Hessian factor and invert - std::vector js; - std::vector Gs; - std::vector gs; - double f; - js.insert(js.end(), hessianFactor->begin(), hessianFactor->end()); - for(size_t i = 0; i < js.size(); ++i){ - for(size_t j = i; j < js.size(); ++j){ - Gs.push_back( -hessianFactor->info(hessianFactor->begin()+i, hessianFactor->begin()+j) ); - } - gs.push_back( -hessianFactor->linearTerm(hessianFactor->begin()+i) ); - } - f = -hessianFactor->constantTerm(); - - // Create the Anti-Hessian Factor from the negated blocks - return HessianFactor::shared_ptr(new HessianFactor(js, Gs, gs, f)); + // return the negated version of the factor + return gaussianFactor->negate(); } From c7ff913f647b1df5cfc239603db3b4dbaac43a3e Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 28 Jun 2012 20:46:53 +0000 Subject: [PATCH 490/914] Added yet another configuration parameter to iSAM2. 'enablePartialRelinearizationCheck' checks variables for relinearization by descending the Bayes tree. Once a variable does not need to be relinearized, we stop checking that branch. A full check is still the default. --- gtsam/nonlinear/ISAM2-impl.cpp | 72 ++++++++++++++++++- gtsam/nonlinear/ISAM2-impl.h | 16 ++++- gtsam/nonlinear/ISAM2.cpp | 7 +- gtsam/nonlinear/ISAM2.h | 9 ++- tests/testGaussianISAM2.cpp | 123 +++++++++++++++++++++++++++++++++ 5 files changed, 222 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 509143b0b..f37856679 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -82,7 +82,7 @@ FastSet ISAM2::Impl::IndicesFromFactors(const Ordering& ordering, const N } /* ************************************************************************* */ -FastSet ISAM2::Impl::CheckRelinearization(const Permuted& delta, const Ordering& ordering, +FastSet ISAM2::Impl::CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { FastSet relinKeys; @@ -109,6 +109,76 @@ FastSet ISAM2::Impl::CheckRelinearization(const Permuted& d return relinKeys; } +/* ************************************************************************* */ +void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double threshold, const Permuted& delta, const ISAM2Clique::shared_ptr& clique) { + + // Check the current clique for relinearization + bool relinearize = false; + BOOST_FOREACH(Index var, clique->conditional()->keys()) { + double maxDelta = delta[var].lpNorm(); + if(maxDelta >= threshold) { + relinKeys.insert(var); + relinearize = true; + } + } + + // If this node was relinearized, also check its children + if(relinearize) { + BOOST_FOREACH(const ISAM2Clique::shared_ptr& child, clique->children()) { + CheckRelinearizationRecursiveDouble(relinKeys, threshold, delta, child); + } + } +} + +/* ************************************************************************* */ +void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, const Permuted& delta, const Ordering::InvertedMap& decoder, const ISAM2Clique::shared_ptr& clique) { + + // Check the current clique for relinearization + bool relinearize = false; + BOOST_FOREACH(Index var, clique->conditional()->keys()) { + + // Lookup the key associated with this index + Key key = decoder.at(var); + + // Find the threshold for this variable type + const Vector& threshold = thresholds.find(Symbol(key).chr())->second; + + // Verify the threshold vector matches the actual variable size + if(threshold.rows() != delta[var].rows()) + throw std::invalid_argument("Relinearization threshold vector dimensionality passed into iSAM2 parameters does not match actual variable dimensionality"); + + // Check for relinearization + if((delta[var].array().abs() > threshold.array()).any()) { + relinKeys.insert(var); + relinearize = true; + } + } + + // If this node was relinearized, also check its children + if(relinearize) { + BOOST_FOREACH(const ISAM2Clique::shared_ptr& child, clique->children()) { + CheckRelinearizationRecursiveMap(relinKeys, thresholds, delta, decoder, child); + } + } +} + +/* ************************************************************************* */ +FastSet ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, + const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { + + FastSet relinKeys; + + if(relinearizeThreshold.type() == typeid(double)) { + CheckRelinearizationRecursiveDouble(relinKeys, boost::get(relinearizeThreshold), delta, root); + + } else if(relinearizeThreshold.type() == typeid(FastMap)) { + Ordering::InvertedMap decoder = ordering.invert(); + CheckRelinearizationRecursiveMap(relinKeys, boost::get >(relinearizeThreshold), delta, decoder, root); + } + + return relinKeys; +} + /* ************************************************************************* */ void ISAM2::Impl::FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, const vector& markedMask) { static const bool debug = false; diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index f2f03fb3a..0aafb3f35 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -68,7 +68,21 @@ struct ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearization(const Permuted& delta, const Ordering& ordering, + static FastSet CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, + const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); + + /** + * Find the set of variables to be relinearized according to relinearizeThreshold. + * This check is performed recursively, starting at the top of the tree. Once a + * variable in the tree does not need to be relinearized, no further checks in + * that branch are performed. This is an approximation of the Full version, designed + * to save time at the expense of accuracy. + * @param delta The linear delta to check against the threshold + * @param keyFormatter Formatter for printing nonlinear keys during debugging + * @return The set of variable indices in delta whose magnitude is greater than or + * equal to relinearizeThreshold + */ + static FastSet CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index e2ab825b3..07e0f518d 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -588,8 +588,11 @@ ISAM2Result ISAM2::update( tic(5,"gather relinearize keys"); vector markedRelinMask(ordering_.nVars(), false); // 4. Mark keys in \Delta above threshold \beta: J=\{\Delta_{j}\in\Delta|\Delta_{j}\geq\beta\}. - relinKeys = Impl::CheckRelinearization(delta_, ordering_, params_.relinearizeThreshold); - if(disableReordering) relinKeys = Impl::CheckRelinearization(delta_, ordering_, 0.0); // This is used for debugging + if(params_.enablePartialRelinearizationCheck) + relinKeys = Impl::CheckRelinearizationPartial(root_, delta_, ordering_, params_.relinearizeThreshold); + else + relinKeys = Impl::CheckRelinearizationFull(delta_, ordering_, params_.relinearizeThreshold); + if(disableReordering) relinKeys = Impl::CheckRelinearizationFull(delta_, ordering_, 0.0); // This is used for debugging // Above relin threshold keys for detailed results if(params_.enableDetailedResults) { diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index c118cb44e..5804640df 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -125,6 +125,13 @@ struct ISAM2Params { bool enableDetailedResults; ///< Whether to compute and return ISAM2Result::detailedResults, this can increase running time (default: false) + /** Check variables for relinearization in tree-order, stopping the check once a variable does not need to be relinearized (default: false). + * This can improve speed by only checking a small part of the top of the tree. However, variables below the check cut-off can accumulate + * significant deltas without triggering relinearization. This is particularly useful in exploration scenarios where real-time performance + * is desired over correctness. Use with caution. + */ + bool enablePartialRelinearizationCheck; + /** Specify parameters as constructor arguments */ ISAM2Params( OptimizationParams _optimizationParams = ISAM2GaussNewtonParams(), ///< see ISAM2Params::optimizationParams @@ -139,7 +146,7 @@ struct ISAM2Params { relinearizeSkip(_relinearizeSkip), enableRelinearization(_enableRelinearization), evaluateNonlinearError(_evaluateNonlinearError), factorization(_factorization), cacheLinearizedFactors(_cacheLinearizedFactors), keyFormatter(_keyFormatter), - enableDetailedResults(false) {} + enableDetailedResults(false), enablePartialRelinearizationCheck(false) {} }; /** diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 80bd651c8..2a5bf7962 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -1242,6 +1242,129 @@ TEST(ISAM2, constrained_ordering) EXPECT(assert_equal(expectedGradient, actualGradient)); } +/* ************************************************************************* */ +TEST(ISAM2, slamlike_solution_partial_relinearization_check) +{ + + // These variables will be reused and accumulate factors and values + ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); + params.enablePartialRelinearizationCheck = true; + ISAM2 isam(params); + Values fullinit; + planarSLAM::Graph fullgraph; + + // i keeps track of the time step + size_t i = 0; + + // Add a prior at time 0 and update isam + { + planarSLAM::Graph newfactors; + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); + + isam.update(newfactors, init); + } + + CHECK(isam_check(fullgraph, fullinit, isam)); + + // Add odometry from time 0 to time 5 + for( ; i<5; ++i) { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + + isam.update(newfactors, init); + } + + // Add odometry from time 5 to 6 and landmark measurement at time 5 + { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + + isam.update(newfactors, init); + ++ i; + } + + // Add odometry from time 6 to time 10 + for( ; i<10; ++i) { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + + isam.update(newfactors, init); + } + + // Add odometry from time 10 to 11 and landmark measurement at time 10 + { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); + + isam.update(newfactors, init); + ++ i; + } + + // Compare solutions + CHECK(isam_check(fullgraph, fullinit, isam)); + + // Check gradient at each node + typedef ISAM2::sharedClique sharedClique; + BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { + // Compute expected gradient + FactorGraph jfg; + jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(jfg, expectedGradient); + // Compare with actual gradients + int variablePosition = 0; + for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { + const int dim = clique->conditional()->dim(jit); + Vector actual = clique->gradientContribution().segment(variablePosition, dim); + EXPECT(assert_equal(expectedGradient[*jit], actual)); + variablePosition += dim; + } + LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); + } + + // Check gradient + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(FactorGraph(isam), expectedGradient); + VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); + VectorValues actualGradient(*allocateVectorValues(isam)); + gradientAtZero(isam, actualGradient); + EXPECT(assert_equal(expectedGradient2, expectedGradient)); + EXPECT(assert_equal(expectedGradient, actualGradient)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} /* ************************************************************************* */ From 0a663268916f7326b0a03b84d1fb59449da1057d Mon Sep 17 00:00:00 2001 From: Vadim Indelman Date: Fri, 29 Jun 2012 15:04:39 +0000 Subject: [PATCH 491/914] Added label printing to timing-related errors. --- gtsam/base/timing.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index c16138cef..162a1306f 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -207,7 +207,7 @@ void toc_(size_t id) { != current->parent_.lock()->children_.end()) std::cout << "gtsam timing: Incorrect ID passed to toc, expected " << std::find(current->parent_.lock()->children_.begin(), current->parent_.lock()->children_.end(), current) - current->parent_.lock()->children_.begin() - << ", got " << id << std::endl; + << " \"" << current->label_ << "\", got " << id << std::endl; else std::cout << "gtsam timing: Incorrect ID passed to toc, id " << id << " does not exist" << std::endl; timingRoot->print(); From 5ec2336f23dadc72f2ad2a44870cb9a0b0381fab Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Fri, 29 Jun 2012 15:09:03 +0000 Subject: [PATCH 492/914] Fixed bug in new iSAM2 partial relinearization check that occurs when the Bayes Tree is empty --- gtsam/nonlinear/ISAM2-impl.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index f37856679..8b3bd4a0d 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -168,12 +168,13 @@ FastSet ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::share FastSet relinKeys; - if(relinearizeThreshold.type() == typeid(double)) { - CheckRelinearizationRecursiveDouble(relinKeys, boost::get(relinearizeThreshold), delta, root); - - } else if(relinearizeThreshold.type() == typeid(FastMap)) { - Ordering::InvertedMap decoder = ordering.invert(); - CheckRelinearizationRecursiveMap(relinKeys, boost::get >(relinearizeThreshold), delta, decoder, root); + if(root) { + if(relinearizeThreshold.type() == typeid(double)) { + CheckRelinearizationRecursiveDouble(relinKeys, boost::get(relinearizeThreshold), delta, root); + } else if(relinearizeThreshold.type() == typeid(FastMap)) { + Ordering::InvertedMap decoder = ordering.invert(); + CheckRelinearizationRecursiveMap(relinKeys, boost::get >(relinearizeThreshold), delta, decoder, root); + } } return relinKeys; From 3f4446df0391b2716370df357cb7ad9cfbdd3751 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 29 Jun 2012 16:48:09 +0000 Subject: [PATCH 493/914] Merge branch 'master' into new_wrap_local --- gtsam/base/timing.cpp | 2 +- gtsam/nonlinear/ISAM2-impl.cpp | 73 ++++++++++++++++++- gtsam/nonlinear/ISAM2-impl.h | 16 ++++- gtsam/nonlinear/ISAM2.cpp | 7 +- gtsam/nonlinear/ISAM2.h | 9 ++- tests/testGaussianISAM2.cpp | 123 +++++++++++++++++++++++++++++++++ 6 files changed, 224 insertions(+), 6 deletions(-) diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp index c16138cef..162a1306f 100644 --- a/gtsam/base/timing.cpp +++ b/gtsam/base/timing.cpp @@ -207,7 +207,7 @@ void toc_(size_t id) { != current->parent_.lock()->children_.end()) std::cout << "gtsam timing: Incorrect ID passed to toc, expected " << std::find(current->parent_.lock()->children_.begin(), current->parent_.lock()->children_.end(), current) - current->parent_.lock()->children_.begin() - << ", got " << id << std::endl; + << " \"" << current->label_ << "\", got " << id << std::endl; else std::cout << "gtsam timing: Incorrect ID passed to toc, id " << id << " does not exist" << std::endl; timingRoot->print(); diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 509143b0b..8b3bd4a0d 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -82,7 +82,7 @@ FastSet ISAM2::Impl::IndicesFromFactors(const Ordering& ordering, const N } /* ************************************************************************* */ -FastSet ISAM2::Impl::CheckRelinearization(const Permuted& delta, const Ordering& ordering, +FastSet ISAM2::Impl::CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { FastSet relinKeys; @@ -109,6 +109,77 @@ FastSet ISAM2::Impl::CheckRelinearization(const Permuted& d return relinKeys; } +/* ************************************************************************* */ +void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double threshold, const Permuted& delta, const ISAM2Clique::shared_ptr& clique) { + + // Check the current clique for relinearization + bool relinearize = false; + BOOST_FOREACH(Index var, clique->conditional()->keys()) { + double maxDelta = delta[var].lpNorm(); + if(maxDelta >= threshold) { + relinKeys.insert(var); + relinearize = true; + } + } + + // If this node was relinearized, also check its children + if(relinearize) { + BOOST_FOREACH(const ISAM2Clique::shared_ptr& child, clique->children()) { + CheckRelinearizationRecursiveDouble(relinKeys, threshold, delta, child); + } + } +} + +/* ************************************************************************* */ +void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, const Permuted& delta, const Ordering::InvertedMap& decoder, const ISAM2Clique::shared_ptr& clique) { + + // Check the current clique for relinearization + bool relinearize = false; + BOOST_FOREACH(Index var, clique->conditional()->keys()) { + + // Lookup the key associated with this index + Key key = decoder.at(var); + + // Find the threshold for this variable type + const Vector& threshold = thresholds.find(Symbol(key).chr())->second; + + // Verify the threshold vector matches the actual variable size + if(threshold.rows() != delta[var].rows()) + throw std::invalid_argument("Relinearization threshold vector dimensionality passed into iSAM2 parameters does not match actual variable dimensionality"); + + // Check for relinearization + if((delta[var].array().abs() > threshold.array()).any()) { + relinKeys.insert(var); + relinearize = true; + } + } + + // If this node was relinearized, also check its children + if(relinearize) { + BOOST_FOREACH(const ISAM2Clique::shared_ptr& child, clique->children()) { + CheckRelinearizationRecursiveMap(relinKeys, thresholds, delta, decoder, child); + } + } +} + +/* ************************************************************************* */ +FastSet ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, + const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { + + FastSet relinKeys; + + if(root) { + if(relinearizeThreshold.type() == typeid(double)) { + CheckRelinearizationRecursiveDouble(relinKeys, boost::get(relinearizeThreshold), delta, root); + } else if(relinearizeThreshold.type() == typeid(FastMap)) { + Ordering::InvertedMap decoder = ordering.invert(); + CheckRelinearizationRecursiveMap(relinKeys, boost::get >(relinearizeThreshold), delta, decoder, root); + } + } + + return relinKeys; +} + /* ************************************************************************* */ void ISAM2::Impl::FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, const vector& markedMask) { static const bool debug = false; diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index f2f03fb3a..0aafb3f35 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -68,7 +68,21 @@ struct ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearization(const Permuted& delta, const Ordering& ordering, + static FastSet CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, + const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); + + /** + * Find the set of variables to be relinearized according to relinearizeThreshold. + * This check is performed recursively, starting at the top of the tree. Once a + * variable in the tree does not need to be relinearized, no further checks in + * that branch are performed. This is an approximation of the Full version, designed + * to save time at the expense of accuracy. + * @param delta The linear delta to check against the threshold + * @param keyFormatter Formatter for printing nonlinear keys during debugging + * @return The set of variable indices in delta whose magnitude is greater than or + * equal to relinearizeThreshold + */ + static FastSet CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index e2ab825b3..07e0f518d 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -588,8 +588,11 @@ ISAM2Result ISAM2::update( tic(5,"gather relinearize keys"); vector markedRelinMask(ordering_.nVars(), false); // 4. Mark keys in \Delta above threshold \beta: J=\{\Delta_{j}\in\Delta|\Delta_{j}\geq\beta\}. - relinKeys = Impl::CheckRelinearization(delta_, ordering_, params_.relinearizeThreshold); - if(disableReordering) relinKeys = Impl::CheckRelinearization(delta_, ordering_, 0.0); // This is used for debugging + if(params_.enablePartialRelinearizationCheck) + relinKeys = Impl::CheckRelinearizationPartial(root_, delta_, ordering_, params_.relinearizeThreshold); + else + relinKeys = Impl::CheckRelinearizationFull(delta_, ordering_, params_.relinearizeThreshold); + if(disableReordering) relinKeys = Impl::CheckRelinearizationFull(delta_, ordering_, 0.0); // This is used for debugging // Above relin threshold keys for detailed results if(params_.enableDetailedResults) { diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index c118cb44e..5804640df 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -125,6 +125,13 @@ struct ISAM2Params { bool enableDetailedResults; ///< Whether to compute and return ISAM2Result::detailedResults, this can increase running time (default: false) + /** Check variables for relinearization in tree-order, stopping the check once a variable does not need to be relinearized (default: false). + * This can improve speed by only checking a small part of the top of the tree. However, variables below the check cut-off can accumulate + * significant deltas without triggering relinearization. This is particularly useful in exploration scenarios where real-time performance + * is desired over correctness. Use with caution. + */ + bool enablePartialRelinearizationCheck; + /** Specify parameters as constructor arguments */ ISAM2Params( OptimizationParams _optimizationParams = ISAM2GaussNewtonParams(), ///< see ISAM2Params::optimizationParams @@ -139,7 +146,7 @@ struct ISAM2Params { relinearizeSkip(_relinearizeSkip), enableRelinearization(_enableRelinearization), evaluateNonlinearError(_evaluateNonlinearError), factorization(_factorization), cacheLinearizedFactors(_cacheLinearizedFactors), keyFormatter(_keyFormatter), - enableDetailedResults(false) {} + enableDetailedResults(false), enablePartialRelinearizationCheck(false) {} }; /** diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 80bd651c8..2a5bf7962 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -1242,6 +1242,129 @@ TEST(ISAM2, constrained_ordering) EXPECT(assert_equal(expectedGradient, actualGradient)); } +/* ************************************************************************* */ +TEST(ISAM2, slamlike_solution_partial_relinearization_check) +{ + + // These variables will be reused and accumulate factors and values + ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); + params.enablePartialRelinearizationCheck = true; + ISAM2 isam(params); + Values fullinit; + planarSLAM::Graph fullgraph; + + // i keeps track of the time step + size_t i = 0; + + // Add a prior at time 0 and update isam + { + planarSLAM::Graph newfactors; + newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((0), Pose2(0.01, 0.01, 0.01)); + fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); + + isam.update(newfactors, init); + } + + CHECK(isam_check(fullgraph, fullinit, isam)); + + // Add odometry from time 0 to time 5 + for( ; i<5; ++i) { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + + isam.update(newfactors, init); + } + + // Add odometry from time 5 to 6 and landmark measurement at time 5 + { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(1.01, 0.01, 0.01)); + init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); + fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); + fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); + + isam.update(newfactors, init); + ++ i; + } + + // Add odometry from time 6 to time 10 + for( ; i<10; ++i) { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); + + isam.update(newfactors, init); + } + + // Add odometry from time 10 to 11 and landmark measurement at time 10 + { + planarSLAM::Graph newfactors; + newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + fullgraph.push_back(newfactors); + + Values init; + init.insert((i+1), Pose2(6.9, 0.1, 0.01)); + fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); + + isam.update(newfactors, init); + ++ i; + } + + // Compare solutions + CHECK(isam_check(fullgraph, fullinit, isam)); + + // Check gradient at each node + typedef ISAM2::sharedClique sharedClique; + BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { + // Compute expected gradient + FactorGraph jfg; + jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(jfg, expectedGradient); + // Compare with actual gradients + int variablePosition = 0; + for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { + const int dim = clique->conditional()->dim(jit); + Vector actual = clique->gradientContribution().segment(variablePosition, dim); + EXPECT(assert_equal(expectedGradient[*jit], actual)); + variablePosition += dim; + } + LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); + } + + // Check gradient + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(FactorGraph(isam), expectedGradient); + VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); + VectorValues actualGradient(*allocateVectorValues(isam)); + gradientAtZero(isam, actualGradient); + EXPECT(assert_equal(expectedGradient2, expectedGradient)); + EXPECT(assert_equal(expectedGradient, actualGradient)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} /* ************************************************************************* */ From f0c8c023a032ed8d978e79a57daea29909362aba Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Fri, 29 Jun 2012 18:38:54 +0000 Subject: [PATCH 494/914] Added small verbosity changes, verbose now defaults to false in wrap.cpp --- wrap/Constructor.cpp | 7 ++- wrap/Constructor.h | 3 +- wrap/matlab.h | 135 ------------------------------------------- wrap/wrap.cpp | 2 +- 4 files changed, 6 insertions(+), 141 deletions(-) diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index e999951b2..7785de08f 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -128,8 +128,8 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << " if(self) {" << endl; file.oss << " if(nargin > 1) {" << endl; file.oss << " collector.insert(self);" << endl; - //TODO: Add verbosity flag - //file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; + if(verbose_) + file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; file.oss << " }" << endl; file.oss << " else if(collector.erase(self))" << endl; file.oss << " delete self;" << endl; @@ -148,7 +148,8 @@ void Constructor::matlab_wrapper(const string& toolboxPath, //file.oss << " self = construct(nc, in);" << endl; file.oss << " collector.insert(self);" << endl; - file.oss << " std::cout << \"constructed \" << self << \", size=\" << collector.size() << std::endl;" << endl; + if(verbose_) + file.oss << " std::cout << \"constructed \" << self << \", size=\" << collector.size() << std::endl;" << endl; file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl; file.oss << " *reinterpret_cast (mxGetPr(out[0])) = self;" << endl; file.oss << " }" << endl; diff --git a/wrap/Constructor.h b/wrap/Constructor.h index a766905b6..467ff3b22 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -28,12 +28,11 @@ namespace wrap { struct Constructor { /// Constructor creates an empty class - Constructor(bool verbose = true) : + Constructor(bool verbose = false) : verbose_(verbose) { } // Then the instance variables are set directly by the Module constructor - // TODO:Vector of argument lists? std::vector args_list; std::string name; bool verbose_; diff --git a/wrap/matlab.h b/wrap/matlab.h index 74c0823e4..3cfebdfe7 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -376,138 +376,3 @@ boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& cla boost::shared_ptr* spp = *reinterpret_cast**> (mxGetPr(mxh)); return *spp; } - - -//***************************************************************************** -// Shared Pointer Handle -// inspired by mexhandle, but using shared_ptr -//***************************************************************************** - -template -class ObjectHandle { -private: - ObjectHandle* signature; // use 'this' as a unique object signature - const std::type_info* type; // type checking information - boost::shared_ptr t; // object pointer - -public: - // Constructor for free-store allocated objects. - // Creates shared pointer, will delete if is last one to hold pointer - ObjectHandle(T* ptr) : - type(&typeid(T)), t(ptr) { - signature = this; - mexPrintf("Created Shared Pointer use_count = %li\n", t.use_count()); - mexPrintf("Created Pointer points to %d\n", t.get()); - - } - - // Constructor for shared pointers - // Creates shared pointer, will delete if is last one to hold pointer - ObjectHandle(boost::shared_ptr shared_ptr) : - /*type(&typeid(T)),*/ t(shared_ptr) { - signature = this; - mexPrintf("Created sp from sp use_count = %li\n", t.use_count()); - mexPrintf("Created sp from sp points to %d\n", t.get()); - } - - ~ObjectHandle() { - // object is in shared_ptr, will be automatically deleted - signature = 0; // destroy signature - // std::cout << "ObjectHandle destructor" << std::endl; - } - - // Get the actual object contained by handle - boost::shared_ptr get_object() const { - return t; - } - - // Print the mexhandle for debugging - void print(const char* str) { - mexPrintf("mexhandle %s:\n", str); - mexPrintf(" signature = %d:\n", signature); - mexPrintf(" pointer = %d:\n", t.get()); - } - - // Convert ObjectHandle to a mxArray handle (to pass back from mex-function). - // Create a numeric array as handle for an ObjectHandle. - // We ASSUME we can store object pointer in the mxUINT32 element of mxArray. - mxArray* to_mex_handle() { - mxArray* handle = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast**> (mxGetPr(handle)) = this; - return handle; - } - - string type_name() const { - return type->name(); - } - - // Convert mxArray (passed to mex-function) to an ObjectHandle. - // Import a handle from MatLab as a mxArray of UINT32. Check that - // it is actually a pointer to an ObjectHandle. - static ObjectHandle* from_mex_handle(const mxArray* handle) { - if (mxGetClassID(handle) != mxUINT32OR64_CLASS || mxIsComplex(handle) - || mxGetM(handle) != 1 || mxGetN(handle) != 1) error( - "Parameter is not an ObjectHandle type."); - - // We *assume* we can store ObjectHandle pointer in the mxUINT32 of handle - ObjectHandle* obj = *reinterpret_cast (mxGetPr(handle)); - - if (!obj) // gross check to see we don't have an invalid pointer - error("Parameter is NULL. It does not represent an ObjectHandle object."); - // TODO: change this for max-min check for pointer values - - if (obj->signature != obj) // check memory has correct signature - error("Parameter does not represent an ObjectHandle object."); - - /* - if (*(obj->type) != typeid(T)) { // check type - mexPrintf("Given: <%s>, Required: <%s>.\n", obj->type_name(), typeid(T).name()); - error("Given ObjectHandle does not represent the correct type."); - } - */ - - return obj; - } - -}; - -//***************************************************************************** -// wrapping C++ objects in a MATLAB proxy class -//***************************************************************************** - -/* - For every C++ class Class, a matlab proxy class @Class/Class.m object - is created. Its constructor will check which of the C++ constructors - needs to be called, based on nr of arguments. It then calls the - corresponding mex function new_Class_signature, which will create a - C++ object using new, and pass the pointer to wrap_constructed - (below). This creates a mexhandle and returns it to the proxy class - constructor, which assigns it to self. Matlab owns this handle now. -*/ -template -mxArray* wrap_constructed(Class* pointer, const char *classname) { - ObjectHandle* handle = new ObjectHandle(pointer); - return handle->to_mex_handle(); -} - - - -//***************************************************************************** -// unwrapping a MATLAB proxy class to a C++ object reference -//***************************************************************************** - -/* - Besides the basis types, the only other argument type allowed is a - shared pointer to a C++ object. In this case, matlab needs to pass a - proxy class object to the mex function. [unwrap_shared_ptr] extracts - the ObjectHandle from the self property, and returns a shared pointer - to the object. -*/ - - -template -void delete_shared_ptr(const mxArray* obj, const string& className) { - mxArray* mxh = mxGetProperty(obj,0,"self"); - ObjectHandle* handle = ObjectHandle::from_mex_handle(mxh); - delete handle; -} diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp index eabba647e..f4490e583 100644 --- a/wrap/wrap.cpp +++ b/wrap/wrap.cpp @@ -42,7 +42,7 @@ void generate_matlab_toolbox( { // Parse interface file into class object // This recursively creates Class objects, Method objects, etc... - wrap::Module module(interfacePath, moduleName, true); + wrap::Module module(interfacePath, moduleName, false); // Then emit MATLAB code module.matlab_code(mexCommand,toolboxPath,mexExt,mexFlags); From 3c0ea754dfa2b93144051dfdcc29b9716bb7dc50 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 29 Jun 2012 19:05:49 +0000 Subject: [PATCH 495/914] make targets for cleaning wrap --- .cproject | 358 +++++++++++++++++++++++++++++++----------------------- 1 file changed, 204 insertions(+), 154 deletions(-) diff --git a/.cproject b/.cproject index 7828f8165..f52a49e73 100644 --- a/.cproject +++ b/.cproject @@ -281,6 +281,7 @@ + @@ -307,14 +308,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -341,6 +334,7 @@ make + tests/testBayesTree.run true false @@ -348,6 +342,7 @@ make + testBinaryBayesNet.run true false @@ -395,6 +390,7 @@ make + testSymbolicBayesNet.run true false @@ -402,6 +398,7 @@ make + tests/testSymbolicFactor.run true false @@ -409,6 +406,7 @@ make + testSymbolicFactorGraph.run true false @@ -424,11 +422,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -517,22 +524,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -549,6 +540,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -573,26 +580,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -677,26 +684,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -951,6 +958,7 @@ make + testGraph.run true false @@ -958,6 +966,7 @@ make + testJunctionTree.run true false @@ -965,6 +974,7 @@ make + testSymbolicBayesNetB.run true false @@ -1002,6 +1012,14 @@ true true + + make + -j5 + all + true + true + true + make -j2 @@ -1092,6 +1110,7 @@ make + testErrors.run true false @@ -1547,7 +1566,6 @@ make - testSimulated2DOriented.run true false @@ -1587,7 +1605,6 @@ make - testSimulated2D.run true false @@ -1595,7 +1612,6 @@ make - testSimulated3D.run true false @@ -1811,7 +1827,6 @@ make - tests/testGaussianISAM2 true false @@ -1833,102 +1848,6 @@ 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 -j2 @@ -2130,6 +2049,7 @@ cpack + -G DEB true false @@ -2137,6 +2057,7 @@ cpack + -G RPM true false @@ -2144,6 +2065,7 @@ cpack + -G TGZ true false @@ -2151,6 +2073,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2244,42 +2167,130 @@ true true - + make -j5 - testSpirit.run + wrap_gtsam_clean true true true - + make -j5 - testWrap.run + wrap_gtsam_unstable_clean true true true - + make -j5 - check.wrap + wrap_gtsam_distclean true true true - + make -j5 - wrap_gtsam + wrap_gtsam_unstable_distclean true true true - + make - -j5 - wrap + -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 @@ -2323,7 +2334,46 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + - From 02df40bd734e741783d74c1edf5efc04908e8e4d Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Sat, 30 Jun 2012 01:33:41 +0000 Subject: [PATCH 496/914] Dependency checking for matlab.h --- wrap/Class.cpp | 3 ++- wrap/Module.cpp | 3 ++- wrap/Module.h | 1 + wrap/wrap.cpp | 7 ++++--- 4 files changed, 9 insertions(+), 5 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 5e0237d3a..e57a85884 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -152,7 +152,8 @@ void Class::makefile_fragment(FileWriter& file) const { } BOOST_FOREACH(const string& file_base, file_names) { - file.oss << file_base << ".$(MEXENDING): " << file_base << ".cpp" << endl; + file.oss << file_base << ".$(MEXENDING): " << file_base << ".cpp"; + file.oss << " $(PATH_TO_WRAP)/matlab.h" << endl; file.oss << "\t$(MEX) $(mex_flags) " << file_base << ".cpp -output " << file_base << endl; } diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 972bacbee..0adf1cda0 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -287,7 +287,7 @@ void verifyReturnTypes(const vector& validtypes, const vector& vt) { /* ************************************************************************* */ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, - const string& mexExt, const string& mexFlags) const { + const string& mexExt, const string& headerPath,const string& mexFlags) const { fs::create_directories(toolboxPath); @@ -308,6 +308,7 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, makeModuleMakefile.oss << "\nMEX = " << mexCommand << "\n"; makeModuleMakefile.oss << "MEXENDING = " << mexExt << "\n"; + makeModuleMakefile.oss << "PATH_TO_WRAP = " << headerPath << "\n"; makeModuleMakefile.oss << "mex_flags = " << mexFlags << "\n\n"; // Dependency check list diff --git a/wrap/Module.h b/wrap/Module.h index 4b650728d..239aa20b0 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -44,6 +44,7 @@ struct Module { const std::string& mexCommand, const std::string& path, const std::string& mexExt, + const std::string& headerPath, const std::string& mexFlags) const; }; diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp index f4490e583..1b1b631e4 100644 --- a/wrap/wrap.cpp +++ b/wrap/wrap.cpp @@ -38,14 +38,15 @@ void generate_matlab_toolbox( const string& interfacePath, const string& moduleName, const string& toolboxPath, - const string& mexFlags) + const string& headerPath, + const string& mexFlags) { // Parse interface file into class object // This recursively creates Class objects, Method objects, etc... wrap::Module module(interfacePath, moduleName, false); // Then emit MATLAB code - module.matlab_code(mexCommand,toolboxPath,mexExt,mexFlags); + module.matlab_code(mexCommand,toolboxPath,mexExt,headerPath,mexFlags); } /** Displays usage information */ @@ -73,6 +74,6 @@ int main(int argc, const char* argv[]) { usage(); } else - generate_matlab_toolbox(argv[1],argv[2],argv[3],argv[4],argv[5],argc==6 ? " " : argv[6]); + generate_matlab_toolbox(argv[1],argv[2],argv[3],argv[4],argv[5],argv[6],argc==7 ? " " : argv[7]); return 0; } From f68ba93f3dd47fa9613a83c212ad75a307417366 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Sat, 30 Jun 2012 01:34:04 +0000 Subject: [PATCH 497/914] Dep checking for cmake --- CMakeLists.txt | 1 + gtsam_unstable/base/Dummy.h | 4 ++++ gtsam_unstable/gtsam_unstable.h | 1 + matlab/tests/testOdometryExample.m | 6 +++--- 4 files changed, 9 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 96efa97dd..675e7c80b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,6 +63,7 @@ option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") +set(GTSAM_WRAP_HEADER_PATH ${PROJECT_SOURCE_DIR}/wrap CACHE DOCSTRING "Path to directory of matlab.h") # TODO: Check for matlab mex binary before handling building of binaries diff --git a/gtsam_unstable/base/Dummy.h b/gtsam_unstable/base/Dummy.h index ccf23af5d..995186cd6 100644 --- a/gtsam_unstable/base/Dummy.h +++ b/gtsam_unstable/base/Dummy.h @@ -33,6 +33,10 @@ namespace gtsam { std::cout << s << "Dummy " << id << std::endl; } + unsigned char dummyTwoVar(unsigned char a) const { + return a; + } + }; } // namespace gtsam diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index fda6ff8c4..c9d114d58 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -14,6 +14,7 @@ namespace gtsam { class Dummy { Dummy(); void print(string s) const; + unsigned char dummyTwoVar(unsigned char a) const; }; #include diff --git a/matlab/tests/testOdometryExample.m b/matlab/tests/testOdometryExample.m index 0056a43e8..634c52799 100644 --- a/matlab/tests/testOdometryExample.m +++ b/matlab/tests/testOdometryExample.m @@ -33,8 +33,8 @@ initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate,0); marginals = graph.marginals(result); -marginals.marginalCovariance(i); +marginals.marginalCovariance(1); %% Check first pose equality -pose_i = result.pose(1); -CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); \ No newline at end of file +pose_1 = result.pose(1); +CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); From dd61e5dd580775387bc32400cfdc3683f475948b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:43:44 +0000 Subject: [PATCH 498/914] Made TOPSRCDIR available in all unit tests --- wrap/CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 16dfbb8e5..757b488ba 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -4,7 +4,7 @@ find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED) # Build the executable itself file(GLOB wrap_srcs "*.cpp") -list(REMOVE_ITEM wrap_srcs wrap.cpp) +list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp) add_library(wrap_lib STATIC ${wrap_srcs}) add_executable(wrap wrap.cpp) target_link_libraries(wrap wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) @@ -19,7 +19,6 @@ install(FILES matlab.h DESTINATION include/wrap) # Build tests if (GTSAM_BUILD_TESTS) - add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}") set(wrap_local_libs wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") endif(GTSAM_BUILD_TESTS) From c443ccbedde3f710d84a3f91eced966b489386cb Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:44:00 +0000 Subject: [PATCH 499/914] More adding of static to avoid naming conflicts in unit tests --- gtsam/geometry/tests/testCal3_S2.cpp | 4 +- .../tests/testSerializationGeometry.cpp | 41 ++++++------------- gtsam/geometry/tests/testStereoCamera.cpp | 10 ++--- gtsam/inference/tests/testISAM.cpp | 2 +- .../linear/tests/testGaussianJunctionTree.cpp | 2 +- .../linear/tests/testSerializationLinear.cpp | 10 ++--- .../tests/testSerializationNonlinear.cpp | 12 +++--- gtsam/slam/tests/testStereoFactor.cpp | 8 ++-- tests/testGaussianISAM.cpp | 4 +- tests/testGaussianJunctionTreeB.cpp | 10 ++--- tests/testNonlinearEquality.cpp | 14 +++---- tests/testSerializationSLAM.cpp | 8 ++-- 12 files changed, 54 insertions(+), 71 deletions(-) diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index fd82557a3..8995a3a14 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -24,8 +24,8 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2) GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2) -Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); -Point2 p(1, -2); +static Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); +static Point2 p(1, -2); /* ************************************************************************* */ TEST( Cal3_S2, easy_constructor) diff --git a/gtsam/geometry/tests/testSerializationGeometry.cpp b/gtsam/geometry/tests/testSerializationGeometry.cpp index c1fba6b2c..17a0b1eca 100644 --- a/gtsam/geometry/tests/testSerializationGeometry.cpp +++ b/gtsam/geometry/tests/testSerializationGeometry.cpp @@ -36,37 +36,20 @@ using namespace gtsam; using namespace gtsam::serializationTestHelpers; /* ************************************************************************* */ -// Export all classes derived from Value -BOOST_CLASS_EXPORT(gtsam::Cal3_S2) -BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo) -BOOST_CLASS_EXPORT(gtsam::Cal3Bundler) -BOOST_CLASS_EXPORT(gtsam::CalibratedCamera) -BOOST_CLASS_EXPORT(gtsam::Point2) -BOOST_CLASS_EXPORT(gtsam::Point3) -BOOST_CLASS_EXPORT(gtsam::Pose2) -BOOST_CLASS_EXPORT(gtsam::Pose3) -BOOST_CLASS_EXPORT(gtsam::Rot2) -BOOST_CLASS_EXPORT(gtsam::Rot3) -BOOST_CLASS_EXPORT(gtsam::PinholeCamera) -BOOST_CLASS_EXPORT(gtsam::PinholeCamera) -BOOST_CLASS_EXPORT(gtsam::PinholeCamera) -BOOST_CLASS_EXPORT(gtsam::StereoPoint2) +static Point3 pt3(1.0, 2.0, 3.0); +static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); +static Pose3 pose3(rt3, pt3); -/* ************************************************************************* */ -Point3 pt3(1.0, 2.0, 3.0); -Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -Pose3 pose3(rt3, pt3); +static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); +static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); +static Cal3Bundler cal3(1.0, 2.0, 3.0); +static Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0); +static Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4)); +static CalibratedCamera cal5(Pose3(rt3, pt3)); -Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); -Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); -Cal3Bundler cal3(1.0, 2.0, 3.0); -Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0); -Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4)); -CalibratedCamera cal5(Pose3(rt3, pt3)); - -PinholeCamera cam1(pose3, cal1); -StereoCamera cam2(pose3, cal4ptr); -StereoPoint2 spt(1.0, 2.0, 3.0); +static PinholeCamera cam1(pose3, cal1); +static StereoCamera cam2(pose3, cal4ptr); +static StereoPoint2 spt(1.0, 2.0, 3.0); /* ************************************************************************* */ TEST (Serialization, text_geometry) { diff --git a/gtsam/geometry/tests/testStereoCamera.cpp b/gtsam/geometry/tests/testStereoCamera.cpp index 2446ff122..29a8344d4 100644 --- a/gtsam/geometry/tests/testStereoCamera.cpp +++ b/gtsam/geometry/tests/testStereoCamera.cpp @@ -74,21 +74,21 @@ TEST( StereoCamera, project) /* ************************************************************************* */ -Pose3 camera1(Matrix_(3,3, +static Pose3 camera1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,6.25)); -Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); -StereoCamera stereoCam(Pose3(), K); +static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); +static StereoCamera stereoCam(Pose3(), K); // point X Y Z in meters -Point3 p(0, 0, 5); +static Point3 p(0, 0, 5); /* ************************************************************************* */ -StereoPoint2 project_(const StereoCamera& cam, const Point3& point) { return cam.project(point); } +static StereoPoint2 project_(const StereoCamera& cam, const Point3& point) { return cam.project(point); } TEST( StereoCamera, Dproject_stereo_pose) { Matrix expected = numericalDerivative21(project_,stereoCam, p); diff --git a/gtsam/inference/tests/testISAM.cpp b/gtsam/inference/tests/testISAM.cpp index 8fdc78fc0..18cf66723 100644 --- a/gtsam/inference/tests/testISAM.cpp +++ b/gtsam/inference/tests/testISAM.cpp @@ -34,7 +34,7 @@ typedef ISAM SymbolicISAM; /* ************************************************************************* */ // Some numbers that should be consistent among all smoother tests -double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = +static double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; /* ************************************************************************* */ diff --git a/gtsam/linear/tests/testGaussianJunctionTree.cpp b/gtsam/linear/tests/testGaussianJunctionTree.cpp index b49d7fff0..c4ddc360b 100644 --- a/gtsam/linear/tests/testGaussianJunctionTree.cpp +++ b/gtsam/linear/tests/testGaussianJunctionTree.cpp @@ -35,7 +35,7 @@ using namespace gtsam; static const Index x2=0, x1=1, x3=2, x4=3; -GaussianFactorGraph createChain() { +static GaussianFactorGraph createChain() { typedef GaussianFactorGraph::sharedFactor Factor; SharedDiagonal model = noiseModel::Isotropic::Sigma(1, 0.5); diff --git a/gtsam/linear/tests/testSerializationLinear.cpp b/gtsam/linear/tests/testSerializationLinear.cpp index a646773f2..e8a53c504 100644 --- a/gtsam/linear/tests/testSerializationLinear.cpp +++ b/gtsam/linear/tests/testSerializationLinear.cpp @@ -47,11 +47,11 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); /* ************************************************************************* */ // example noise models -noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); -noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3)); -noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2); -noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1)); -noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3); +static noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); +static noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3)); +static noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2); +static noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1)); +static noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3); /* ************************************************************************* */ TEST (Serialization, noiseModels) { diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp index bc023f115..57e2c0a34 100644 --- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp +++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp @@ -47,13 +47,13 @@ typedef PinholeCamera PinholeCal3DS2; typedef PinholeCamera PinholeCal3Bundler; /* ************************************************************************* */ -Point3 pt3(1.0, 2.0, 3.0); -Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -Pose3 pose3(rt3, pt3); +static Point3 pt3(1.0, 2.0, 3.0); +static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); +static Pose3 pose3(rt3, pt3); -Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); -Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); -Cal3Bundler cal3(1.0, 2.0, 3.0); +static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); +static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); +static Cal3Bundler cal3(1.0, 2.0, 3.0); TEST (Serialization, TemplatedValues) { Values values; diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index 986538448..b38dae990 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -28,18 +28,18 @@ using namespace std; using namespace gtsam; -Pose3 camera1(Matrix_(3,3, +static Pose3 camera1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,6.25)); -Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); -StereoCamera stereoCam(Pose3(), K); +static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); +static StereoCamera stereoCam(Pose3(), K); // point X Y Z in meters -Point3 p(0, 0, 5); +static Point3 p(0, 0, 5); static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); // Convenience for named keys diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index 6ae4a7b20..7ec4e5317 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -41,10 +41,10 @@ using symbol_shorthand::L; /* ************************************************************************* */ // Some numbers that should be consistent among all smoother tests -double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = +static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; -const double tol = 1e-4; +static const double tol = 1e-4; /* ************************************************************************* */ TEST_UNSAFE( ISAM, iSAM_smoother ) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 0f412a0b5..883011da2 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -52,7 +52,7 @@ using symbol_shorthand::L; C3 x1 : x2 C4 x7 : x6 */ -TEST( GaussianJunctionTree, constructor2 ) +TEST( GaussianJunctionTreeB, constructor2 ) { // create a graph Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); @@ -88,7 +88,7 @@ TEST( GaussianJunctionTree, constructor2 ) } /* ************************************************************************* */ -TEST( GaussianJunctionTree, optimizeMultiFrontal ) +TEST( GaussianJunctionTreeB, optimizeMultiFrontal ) { // create a graph GaussianFactorGraph fg; @@ -108,7 +108,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal ) } /* ************************************************************************* */ -TEST( GaussianJunctionTree, optimizeMultiFrontal2) +TEST( GaussianJunctionTreeB, optimizeMultiFrontal2) { // create a graph example::Graph nlfg = createNonlinearFactorGraph(); @@ -126,7 +126,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal2) } /* ************************************************************************* */ -TEST(GaussianJunctionTree, slamlike) { +TEST(GaussianJunctionTreeB, slamlike) { Values init; planarSLAM::Graph newfactors; planarSLAM::Graph fullgraph; @@ -188,7 +188,7 @@ TEST(GaussianJunctionTree, slamlike) { } /* ************************************************************************* */ -TEST(GaussianJunctionTree, simpleMarginal) { +TEST(GaussianJunctionTreeB, simpleMarginal) { typedef BayesTree GaussianBayesTree; diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 4679dd740..1efc40cad 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -37,7 +37,7 @@ typedef PriorFactor PosePrior; typedef NonlinearEquality PoseNLE; typedef boost::shared_ptr shared_poseNLE; -Symbol key('x',1); +static Symbol key('x',1); /* ************************************************************************* */ TEST ( NonlinearEquality, linearization ) { @@ -241,8 +241,8 @@ TEST ( NonlinearEquality, allow_error_optimize_with_factors ) { } /* ************************************************************************* */ -SharedDiagonal hard_model = noiseModel::Constrained::All(2); -SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0); +static SharedDiagonal hard_model = noiseModel::Constrained::All(2); +static SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0); /* ************************************************************************* */ TEST( testNonlinearEqualityConstraint, unary_basics ) { @@ -504,10 +504,10 @@ TEST (testNonlinearEqualityConstraint, map_warp ) { } // make a realistic calibration matrix -double fov = 60; // degrees -size_t w=640,h=480; -Cal3_S2 K(fov,w,h); -boost::shared_ptr shK(new Cal3_S2(K)); +static double fov = 60; // degrees +static size_t w=640,h=480; +static Cal3_S2 K(fov,w,h); +static boost::shared_ptr shK(new Cal3_S2(K)); // typedefs for visual SLAM example typedef visualSLAM::Graph VGraph; diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 7650925d1..d9094111e 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -174,10 +174,10 @@ BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoF BOOST_CLASS_EXPORT(gtsam::Pose3) BOOST_CLASS_EXPORT(gtsam::Point3) -Point3 pt3(1.0, 2.0, 3.0); -Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -Pose3 pose3(rt3, pt3); -Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); +static Point3 pt3(1.0, 2.0, 3.0); +static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); +static Pose3 pose3(rt3, pt3); +static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); /* ************************************************************************* */ TEST (Serialization, visual_system) { From ed6bc55eca13aa0233ff54a85e171ae8012bfba1 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:44:08 +0000 Subject: [PATCH 500/914] Use new instead of deprecated noisemodel name in JacobianFactor --- gtsam/linear/JacobianFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 660eb25f7..c5f726252 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -84,7 +84,7 @@ namespace gtsam { protected: - SharedDiagonal model_; // Gaussian noise model with diagonal covariance matrix + noiseModel::Diagonal::shared_ptr model_; // Gaussian noise model with diagonal covariance matrix std::vector firstNonzeroBlocks_; AbMatrix matrix_; // the full matrix corresponding to the factor BlockAb Ab_; // the block view of the full matrix From 7e838447153649ebfdd856e074deeffab35d106d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:44:16 +0000 Subject: [PATCH 501/914] Added missing serialization headers --- gtsam/linear/NoiseModel.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index c67828822..36fe3cd26 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -19,6 +19,8 @@ #pragma once #include +#include +#include #include #include From 5660afd3324f4c96e1523a9b12ecb682f0ab5426 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:44:24 +0000 Subject: [PATCH 502/914] Using absolute path provided by TOPSRCDIR macro instead of relative path in unit test --- gtsam_unstable/discrete/tests/testScheduler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/discrete/tests/testScheduler.cpp b/gtsam_unstable/discrete/tests/testScheduler.cpp index bf9273ad6..6559754d5 100644 --- a/gtsam_unstable/discrete/tests/testScheduler.cpp +++ b/gtsam_unstable/discrete/tests/testScheduler.cpp @@ -149,7 +149,7 @@ TEST( schedulingExample, test) /* ************************************************************************* */ TEST( schedulingExample, smallFromFile) { - string path("../../../gtsam_unstable/discrete/examples/"); + string path(TOPSRCDIR "/gtsam_unstable/discrete/examples/"); Scheduler s(2, path + "small.csv"); // add areas From 1896cf17c6c9066a5693c88e0e280e12188e5321 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:44:42 +0000 Subject: [PATCH 503/914] Added MSVC build directories to svn:ignore From f91ec894b302cbbcc07112e61e1963628cf95962 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:44:58 +0000 Subject: [PATCH 504/914] Using boost::make_shared --- gtsam/inference/SymbolicFactorGraph.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index b58a69b6d..00f3439a0 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -85,8 +85,8 @@ namespace gtsam { "IndexFactor::CombineAndEliminate called on factors with no variables."); vector newKeys(keys.begin(), keys.end()); - return make_pair(new IndexConditional(newKeys, nrFrontals), - new IndexFactor(newKeys.begin() + nrFrontals, newKeys.end())); + return make_pair(boost::make_shared(newKeys, nrFrontals), + boost::make_shared(newKeys.begin() + nrFrontals, newKeys.end())); } /* ************************************************************************* */ From 5431d745730578eeaaf3685d29f43036b1987566 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:45:06 +0000 Subject: [PATCH 505/914] Fixed incorrect iterator type --- gtsam/nonlinear/Values.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index bb66943eb..58099d149 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -120,7 +120,7 @@ namespace gtsam { /* ************************************************************************* */ void Values::insert(Key j, const Value& val) { Key key = j; // Non-const duplicate to deal with non-const insert argument - std::pair insertResult = values_.insert(key, val.clone_()); + std::pair insertResult = values_.insert(key, val.clone_()); if(!insertResult.second) throw ValuesKeyAlreadyExists(j); } From 57ca7d77dba9c764b5cf13d1a9c469adb4a57c58 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:45:21 +0000 Subject: [PATCH 506/914] Removed Permuted views to simplify a lot of code - all objects that need to be permuted now have their data rearranged instead of using the "Permuted" indirection class. --- gtsam/inference/Permutation.h | 83 +------------ gtsam/inference/VariableIndex.cpp | 52 +++----- gtsam/inference/VariableIndex.h | 49 +++----- gtsam/linear/GaussianConditional.cpp | 36 ++---- gtsam/linear/GaussianConditional.h | 17 --- gtsam/linear/VectorValues.cpp | 40 ++++--- gtsam/linear/VectorValues.h | 13 +- .../linear/tests/testGaussianConditional.cpp | 49 -------- gtsam/linear/tests/testVectorValues.cpp | 59 +++------- gtsam/nonlinear/ISAM2-impl.cpp | 65 ++++------ gtsam/nonlinear/ISAM2-impl.h | 18 +-- gtsam/nonlinear/ISAM2-inl.h | 4 +- gtsam/nonlinear/ISAM2.cpp | 30 ++--- gtsam/nonlinear/ISAM2.h | 32 ++--- tests/testGaussianISAM2.cpp | 111 ++++++------------ 15 files changed, 189 insertions(+), 469 deletions(-) diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 0aa322e87..3a5b9b0da 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -26,7 +26,7 @@ namespace gtsam { -/** + /** * A permutation reorders variables, for example to reduce fill-in during * elimination. To save computation, the permutation can be applied to * the necessary data structures only once, then multiple computations @@ -151,8 +151,8 @@ public: */ Permutation::shared_ptr inverse() const; - const_iterator begin() const { return rangeIndices_.begin(); } /// permuted(permutation, container); - * permuted[index1]; - * permuted[index2]; - * which is equivalent to: - * container[permutation[index1]]; - * container[permutation[index2]]; - * but more concise. - */ -template -class Permuted { - Permutation permutation_; - CONTAINER& container_; -public: - typedef typename CONTAINER::iterator::value_type value_type; - - /** Construct as a permuted view on the Container. The permutation is copied - * but only a reference to the container is stored. - */ - Permuted(const Permutation& permutation, CONTAINER& container) : permutation_(permutation), container_(container) {} - - /** Construct as a view on the Container with an identity permutation. Only - * a reference to the container is stored. - */ - Permuted(CONTAINER& container) : permutation_(Permutation::Identity(container.size())), container_(container) {} - - /** Print */ - void print(const std::string& str = "") const { - std::cout << str; - permutation_.print(" permutation: "); - container_.print(" container: "); - } - - /** Access the container through the permutation */ - value_type& operator[](size_t index) { return container_[permutation_[index]]; } - - /** Access the container through the permutation (const version) */ - const value_type& operator[](size_t index) const { return container_[permutation_[index]]; } - - /** Assignment operator for cloning in ISAM2 */ - Permuted operator=(const Permuted& other) { - permutation_ = other.permutation_; - container_ = other.container_; - return *this; - } - - /** Permute this view by applying a permutation to the underlying permutation */ - void permute(const Permutation& permutation) { assert(permutation.size() == this->size()); permutation_ = *permutation_.permute(permutation); } - - /** Access the underlying container */ - CONTAINER* operator->() { return &container_; } - - /** Access the underlying container (const version) */ - const CONTAINER* operator->() const { return &container_; } - - /** Size of the underlying container */ - size_t size() const { return container_.size(); } - - /** Access to the underlying container */ - CONTAINER& container() { return container_; } - - /** Access to the underlying container (const version) */ - const CONTAINER& container() const { return container_; } - - /** Access the underlying permutation */ - Permutation& permutation() { return permutation_; } - const Permutation& permutation() const { return permutation_; } -}; - - } diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp index c7ef90e9f..a29d5e432 100644 --- a/gtsam/inference/VariableIndex.cpp +++ b/gtsam/inference/VariableIndex.cpp @@ -18,37 +18,12 @@ #include #include +#include namespace gtsam { using namespace std; -/* ************************************************************************* */ -VariableIndex::VariableIndex(const VariableIndex& other) : - index_(indexUnpermuted_) { - *this = other; -} - -/* ************************************************************************* */ -VariableIndex& VariableIndex::operator=(const VariableIndex& rhs) { - index_ = rhs.index_; - nFactors_ = rhs.nFactors_; - nEntries_ = rhs.nEntries_; - return *this; -} - -/* ************************************************************************* */ -void VariableIndex::permute(const Permutation& permutation) { -#ifndef NDEBUG - // Assert that the permutation does not leave behind any non-empty variables, - // otherwise the nFactors and nEntries counts would be incorrect. - for(Index j=0; jindex_.size(); ++j) - if(find(permutation.begin(), permutation.end(), j) == permutation.end()) - assert(this->operator[](j).empty()); -#endif - index_.permute(permutation); -} - /* ************************************************************************* */ bool VariableIndex::equals(const VariableIndex& other, double tol) const { if(this->nEntries_ == other.nEntries_ && this->nFactors_ == other.nFactors_) { @@ -66,17 +41,13 @@ bool VariableIndex::equals(const VariableIndex& other, double tol) const { /* ************************************************************************* */ void VariableIndex::print(const string& str) const { - cout << str << "\n"; + cout << str; cout << "nEntries = " << nEntries() << ", nFactors = " << nFactors() << "\n"; - Index var = 0; - BOOST_FOREACH(const Factors& variable, index_.container()) { - Permutation::const_iterator rvar = find(index_.permutation().begin(), index_.permutation().end(), var); - assert(rvar != index_.permutation().end()); - cout << "var " << (rvar-index_.permutation().begin()) << ":"; - BOOST_FOREACH(const size_t factor, variable) + for(Index var = 0; var < size(); ++var) { + cout << "var " << var << ":"; + BOOST_FOREACH(const size_t factor, index_[var]) cout << " " << factor; cout << "\n"; - ++ var; } cout << flush; } @@ -85,7 +56,7 @@ void VariableIndex::print(const string& str) const { void VariableIndex::outputMetisFormat(ostream& os) const { os << size() << " " << nFactors() << "\n"; // run over variables, which will be hyper-edges. - BOOST_FOREACH(const Factors& variable, index_.container()) { + BOOST_FOREACH(const Factors& variable, index_) { // every variable is a hyper-edge covering its factors BOOST_FOREACH(const size_t factor, variable) os << (factor+1) << " "; // base 1 @@ -94,4 +65,15 @@ void VariableIndex::outputMetisFormat(ostream& os) const { os << flush; } +/* ************************************************************************* */ +void VariableIndex::permuteInPlace(const Permutation& permutation) { + // Create new index and move references to data into it in permuted order + vector newIndex(this->size()); + for(Index i = 0; i < newIndex.size(); ++i) + newIndex[i].swap(this->index_[permutation[i]]); + + // Move reference to entire index into the VariableIndex + index_.swap(newIndex); +} + } diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index c9efc6b22..f497b4706 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -22,10 +22,12 @@ #include #include -#include +#include namespace gtsam { + class Permutation; + /** * The VariableIndex class computes and stores the block column structure of a * factor graph. The factor graph stores a collection of factors, each of @@ -44,8 +46,7 @@ public: typedef Factors::const_iterator Factor_const_iterator; protected: - std::vector indexUnpermuted_; - Permuted > index_; // Permuted view of indexUnpermuted. + std::vector index_; size_t nFactors_; // Number of factors in the original factor graph. size_t nEntries_; // Sum of involved variable counts of each factor. @@ -55,7 +56,7 @@ public: /// @{ /** Default constructor, creates an empty VariableIndex */ - VariableIndex() : index_(indexUnpermuted_), nFactors_(0), nEntries_(0) {} + VariableIndex() : nFactors_(0), nEntries_(0) {} /** * Create a VariableIndex that computes and stores the block column structure @@ -70,16 +71,6 @@ public: */ template VariableIndex(const FactorGraph& factorGraph); - /** - * Copy constructor - */ - VariableIndex(const VariableIndex& other); - - /** - * Assignment operator - */ - VariableIndex& operator=(const VariableIndex& rhs); - /// @} /// @name Standard Interface /// @{ @@ -120,9 +111,6 @@ public: /// @name Advanced Interface /// @{ - /** Access a list of factors by variable */ - Factors& operator[](Index variable) { checkVar(variable); return index_[variable]; } - /** * Augment the variable index with new factors. This can be used when * solving problems incrementally. @@ -137,11 +125,8 @@ public: */ template void remove(const CONTAINER& indices, const FactorGraph& factors); - /** - * Apply a variable permutation. Does not rearrange data, just permutes - * future lookups by variable. - */ - void permute(const Permutation& permutation); + /// Permute the variables in the VariableIndex according to the given permutation + void permuteInPlace(const Permutation& permutation); protected: Factor_iterator factorsBegin(Index variable) { checkVar(variable); return index_[variable].begin(); } /// void fill(const FactorGraph& factorGraph); /// @} @@ -183,7 +168,7 @@ void VariableIndex::fill(const FactorGraph& factorGraph) { /* ************************************************************************* */ template VariableIndex::VariableIndex(const FactorGraph& factorGraph) : - index_(indexUnpermuted_), nFactors_(0), nEntries_(0) { + nFactors_(0), nEntries_(0) { // If the factor graph is empty, return an empty index because inside this // if block we assume at least one factor. @@ -200,8 +185,7 @@ VariableIndex::VariableIndex(const FactorGraph& factorGraph) : } // Allocate array - index_.container().resize(maxVar+1); - index_.permutation() = Permutation::Identity(maxVar+1); + index_.resize(maxVar+1); fill(factorGraph); } @@ -210,7 +194,7 @@ VariableIndex::VariableIndex(const FactorGraph& factorGraph) : /* ************************************************************************* */ template VariableIndex::VariableIndex(const FactorGraph& factorGraph, Index nVariables) : - indexUnpermuted_(nVariables), index_(indexUnpermuted_), nFactors_(0), nEntries_(0) { + index_(nVariables), nFactors_(0), nEntries_(0) { fill(factorGraph); } @@ -233,10 +217,7 @@ void VariableIndex::augment(const FactorGraph& factors) { // Allocate index Index originalSize = index_.size(); - index_.container().resize(std::max(index_.size(), maxVar+1)); - index_.permutation().resize(index_.container().size()); - for(Index var=originalSize; var -inline static void doSolveInPlace(const GaussianConditional& conditional, VALUES& x) { - - // Helper function to solve-in-place on a VectorValues or Permuted, - // called by GaussianConditional::solveInPlace(VectorValues&) and by - // GaussianConditional::solveInPlace(Permuted&). - - static const bool debug = false; - if(debug) conditional.print("Solving conditional in place"); - Vector xS = internal::extractVectorValuesSlices(x, conditional.beginParents(), conditional.endParents()); - xS = conditional.get_d() - conditional.get_S() * xS; - Vector soln = conditional.get_R().triangularView().solve(xS); - if(debug) { - gtsam::print(Matrix(conditional.get_R()), "Calling backSubstituteUpper on "); - gtsam::print(soln, "full back-substitution solution: "); - } - internal::writeVectorValuesSlices(soln, x, conditional.beginFrontals(), conditional.endFrontals()); -} - /* ************************************************************************* */ void GaussianConditional::solveInPlace(VectorValues& x) const { - doSolveInPlace(*this, x); // Call helper version above -} - -/* ************************************************************************* */ -void GaussianConditional::solveInPlace(Permuted& x) const { - doSolveInPlace(*this, x); // Call helper version above + static const bool debug = false; + if(debug) this->print("Solving conditional in place"); + Vector xS = internal::extractVectorValuesSlices(x, this->beginParents(), this->endParents()); + xS = this->get_d() - this->get_S() * xS; + Vector soln = this->get_R().triangularView().solve(xS); + if(debug) { + gtsam::print(Matrix(this->get_R()), "Calling backSubstituteUpper on "); + gtsam::print(soln, "full back-substitution solution: "); + } + internal::writeVectorValuesSlices(soln, x, this->beginFrontals(), this->endFrontals()); } /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 5b7801156..cde4f266f 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -196,23 +196,6 @@ public: */ void solveInPlace(VectorValues& x) const; - /** - * Solves a conditional Gaussian and writes the solution into the entries of - * \c x for each frontal variable of the conditional (version for permuted - * VectorValues). The parents are assumed to have already been solved in - * and their values are read from \c x. This function works for multiple - * frontal variables. - * - * Given the Gaussian conditional with log likelihood \f$ |R x_f - (d - S x_s)|^2, - * where \f$ f \f$ are the frontal variables and \f$ s \f$ are the separator - * variables of this conditional, this solve function computes - * \f$ x_f = R^{-1} (d - S x_s) \f$ using back-substitution. - * - * @param x VectorValues structure with solved parents \f$ x_s \f$, and into which the - * solution \f$ x_f \f$ will be written. - */ - void solveInPlace(Permuted& x) const; - // functions for transpose backsubstitution /** diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 1413d1517..15925c644 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -17,10 +17,12 @@ */ #include +#include #include using namespace std; -using namespace gtsam; + +namespace gtsam { /* ************************************************************************* */ VectorValues::VectorValues(const VectorValues& other) { @@ -166,20 +168,24 @@ void VectorValues::operator+=(const VectorValues& c) { } /* ************************************************************************* */ -VectorValues& VectorValues::operator=(const Permuted& rhs) { - if(this->size() != rhs.size()) - throw std::invalid_argument("VectorValues assignment from Permuted requires pre-allocation, see documentation."); - for(size_t j=0; jsize(); ++j) { - if(exists(j)) { - SubVector& l(this->at(j)); - const SubVector& r(rhs[j]); - if(l.rows() != r.rows()) - throw std::invalid_argument("VectorValues assignment from Permuted requires pre-allocation, see documentation."); - l = r; - } else { - if(rhs.container().exists(rhs.permutation()[j])) - throw std::invalid_argument("VectorValues assignment from Permuted requires pre-allocation, see documentation."); - } - } - return *this; +VectorValues VectorValues::permute(const Permutation& permutation) const { + // Create result and allocate space + VectorValues lhs; + lhs.values_.resize(this->dim()); + lhs.maps_.reserve(this->size()); + + // Copy values from this VectorValues to the permuted VectorValues + size_t lhsPos = 0; + for(size_t i = 0; i < this->size(); ++i) { + // Map the next LHS subvector to the next slice of the LHS vector + lhs.maps_.push_back(SubVector(lhs.values_, lhsPos, this->at(permutation[i]).size())); + // Copy the data from the RHS subvector to the LHS subvector + lhs.maps_[i] = this->at(permutation[i]); + // Increment lhs position + lhsPos += lhs.maps_[i].size(); + } + + return lhs; } + +} \ No newline at end of file diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 04c280577..463080db9 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -19,7 +19,6 @@ #include #include -#include #include #include @@ -29,6 +28,9 @@ namespace gtsam { + // Forward declarations + class Permutation; + /** * This class represents a collection of vector-valued variables associated * each with a unique integer index. It is typically used to store the variables @@ -288,10 +290,11 @@ namespace gtsam { */ void operator+=(const VectorValues& c); - /** Assignment operator from Permuted, requires the dimensions - * of the assignee to already be properly pre-allocated. - */ - VectorValues& operator=(const Permuted& rhs); + /** + * Permute the entries of this VectorValues, returns a new VectorValues as + * the result. + */ + VectorValues permute(const Permutation& permutation) const; /// @} diff --git a/gtsam/linear/tests/testGaussianConditional.cpp b/gtsam/linear/tests/testGaussianConditional.cpp index 93030b598..8b0c5e239 100644 --- a/gtsam/linear/tests/testGaussianConditional.cpp +++ b/gtsam/linear/tests/testGaussianConditional.cpp @@ -267,55 +267,6 @@ TEST( GaussianConditional, solve_multifrontal ) } -/* ************************************************************************* */ -TEST( GaussianConditional, solve_multifrontal_permuted ) -{ - // create full system, 3 variables, 2 frontals, all 2 dim - Matrix full_matrix = Matrix_(4, 7, - 1.0, 0.0, 2.0, 0.0, 3.0, 0.0, 0.1, - 0.0, 1.0, 0.0, 2.0, 0.0, 3.0, 0.2, - 0.0, 0.0, 3.0, 0.0, 4.0, 0.0, 0.3, - 0.0, 0.0, 0.0, 3.0, 0.0, 4.0, 0.4); - - // 3 variables, all dim=2 - vector dims; dims += 2, 2, 2, 1; - GaussianConditional::rsd_type matrices(full_matrix, dims.begin(), dims.end()); - Vector sigmas = ones(4); - vector cgdims; cgdims += _x_, _x1_, _l1_; - GaussianConditional cg(cgdims.begin(), cgdims.end(), 2, matrices, sigmas); - - EXPECT(assert_equal(Vector_(4, 0.1, 0.2, 0.3, 0.4), cg.get_d())); - - // partial solution - Vector sl1 = Vector_(2, 9.0, 10.0); - - // elimination order; _x_, _x1_, _l1_ - VectorValues actualUnpermuted(vector(3, 2)); - Permutation permutation(3); - permutation[0] = 2; - permutation[1] = 0; - permutation[2] = 1; - Permuted actual(permutation, actualUnpermuted); - actual[_x_] = Vector_(2, 0.1, 0.2); // rhs - actual[_x1_] = Vector_(2, 0.3, 0.4); // rhs - actual[_l1_] = sl1; // parent - - VectorValues expectedUnpermuted(vector(3, 2)); - Permuted expected(permutation, expectedUnpermuted); - expected[_x_] = Vector_(2, -3.1,-3.4); - expected[_x1_] = Vector_(2, -11.9,-13.2); - expected[_l1_] = sl1; - - // verify indices/size - EXPECT_LONGS_EQUAL(3, cg.size()); - EXPECT_LONGS_EQUAL(4, cg.dim()); - - // solve and verify - cg.solveInPlace(actual); - EXPECT(assert_equal(expected.container(), actual.container(), tol)); - -} - /* ************************************************************************* */ TEST( GaussianConditional, solveTranspose ) { static const Index _y_=1; diff --git a/gtsam/linear/tests/testVectorValues.cpp b/gtsam/linear/tests/testVectorValues.cpp index a92b81ddc..17230854a 100644 --- a/gtsam/linear/tests/testVectorValues.cpp +++ b/gtsam/linear/tests/testVectorValues.cpp @@ -421,52 +421,31 @@ TEST(VectorValues, hasSameStructure) { EXPECT(!v1.hasSameStructure(VectorValues())); } + /* ************************************************************************* */ -TEST(VectorValues, permuted_combined) { - Vector v1 = Vector_(3, 1.0,2.0,3.0); - Vector v2 = Vector_(2, 4.0,5.0); - Vector v3 = Vector_(4, 6.0,7.0,8.0,9.0); +TEST(VectorValues, permute) { - vector dims(3); dims[0]=3; dims[1]=2; dims[2]=4; - VectorValues combined(dims); - combined[0] = v1; - combined[1] = v2; - combined[2] = v3; + VectorValues original; + original.insert(0, Vector_(1, 1.0)); + original.insert(1, Vector_(2, 2.0, 3.0)); + original.insert(2, Vector_(2, 4.0, 5.0)); + original.insert(3, Vector_(2, 6.0, 7.0)); - Permutation perm1(3); - perm1[0] = 1; - perm1[1] = 2; - perm1[2] = 0; + VectorValues expected; + expected.insert(0, Vector_(2, 4.0, 5.0)); // from 2 + expected.insert(1, Vector_(1, 1.0)); // from 0 + expected.insert(2, Vector_(2, 6.0, 7.0)); // from 3 + expected.insert(3, Vector_(2, 2.0, 3.0)); // from 1 - Permutation perm2(3); - perm2[0] = 1; - perm2[1] = 2; - perm2[2] = 0; + Permutation permutation(4); + permutation[0] = 2; + permutation[1] = 0; + permutation[2] = 3; + permutation[3] = 1; - Permuted permuted1(combined); - CHECK(assert_equal(v1, permuted1[0])) - CHECK(assert_equal(v2, permuted1[1])) - CHECK(assert_equal(v3, permuted1[2])) + VectorValues actual = original.permute(permutation); - permuted1.permute(perm1); - CHECK(assert_equal(v1, permuted1[2])) - CHECK(assert_equal(v2, permuted1[0])) - CHECK(assert_equal(v3, permuted1[1])) - - permuted1.permute(perm2); - CHECK(assert_equal(v1, permuted1[1])) - CHECK(assert_equal(v2, permuted1[2])) - CHECK(assert_equal(v3, permuted1[0])) - - Permuted permuted2(perm1, combined); - CHECK(assert_equal(v1, permuted2[2])) - CHECK(assert_equal(v2, permuted2[0])) - CHECK(assert_equal(v3, permuted2[1])) - - permuted2.permute(perm2); - CHECK(assert_equal(v1, permuted2[1])) - CHECK(assert_equal(v2, permuted2[2])) - CHECK(assert_equal(v3, permuted2[0])) + EXPECT(assert_equal(expected, actual)); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 8b3bd4a0d..d84740516 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -29,8 +29,8 @@ namespace gtsam { /* ************************************************************************* */ void ISAM2::Impl::AddVariables( - const Values& newTheta, Values& theta, Permuted& delta, - Permuted& deltaNewton, Permuted& deltaGradSearch, vector& replacedKeys, + const Values& newTheta, Values& theta, VectorValues& delta, + VectorValues& deltaNewton, VectorValues& deltaGradSearch, vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter) { const bool debug = ISDEBUG("ISAM2 AddVariables"); @@ -40,28 +40,21 @@ void ISAM2::Impl::AddVariables( std::vector dims(newTheta.dims(*newTheta.orderingArbitrary())); if(debug) cout << "New variables have total dimensionality " << accumulate(dims.begin(), dims.end(), 0) << endl; const size_t newDim = accumulate(dims.begin(), dims.end(), 0); - const size_t originalDim = delta->dim(); - const size_t originalnVars = delta->size(); - delta.container().append(dims); - delta.container().vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); - delta.permutation().resize(originalnVars + newTheta.size()); - deltaNewton.container().append(dims); - deltaNewton.container().vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); - deltaNewton.permutation().resize(originalnVars + newTheta.size()); - deltaGradSearch.container().append(dims); - deltaGradSearch.container().vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); - deltaGradSearch.permutation().resize(originalnVars + newTheta.size()); + const size_t originalDim = delta.dim(); + const size_t originalnVars = delta.size(); + delta.append(dims); + delta.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); + deltaNewton.append(dims); + deltaNewton.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); + deltaGradSearch.append(dims); + deltaGradSearch.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); { Index nextVar = originalnVars; BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, newTheta) { - delta.permutation()[nextVar] = nextVar; - deltaNewton.permutation()[nextVar] = nextVar; - deltaGradSearch.permutation()[nextVar] = nextVar; ordering.insert(key_value.key, nextVar); if(debug) cout << "Adding variable " << keyFormatter(key_value.key) << " with order " << nextVar << endl; ++ nextVar; } - assert(delta.permutation().size() == delta.container().size()); assert(ordering.nVars() == delta.size()); assert(ordering.size() == delta.size()); } @@ -82,7 +75,7 @@ FastSet ISAM2::Impl::IndicesFromFactors(const Ordering& ordering, const N } /* ************************************************************************* */ -FastSet ISAM2::Impl::CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, +FastSet ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { FastSet relinKeys; @@ -110,7 +103,7 @@ FastSet ISAM2::Impl::CheckRelinearizationFull(const Permuted& relinKeys, double threshold, const Permuted& delta, const ISAM2Clique::shared_ptr& clique) { +void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double threshold, const VectorValues& delta, const ISAM2Clique::shared_ptr& clique) { // Check the current clique for relinearization bool relinearize = false; @@ -131,7 +124,7 @@ void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double thres } /* ************************************************************************* */ -void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, const Permuted& delta, const Ordering::InvertedMap& decoder, const ISAM2Clique::shared_ptr& clique) { +void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, const VectorValues& delta, const Ordering::InvertedMap& decoder, const ISAM2Clique::shared_ptr& clique) { // Check the current clique for relinearization bool relinearize = false; @@ -163,7 +156,7 @@ void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, +FastSet ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { FastSet relinKeys; @@ -201,8 +194,8 @@ void ISAM2::Impl::FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, } /* ************************************************************************* */ -void ISAM2::Impl::ExpmapMasked(Values& values, const Permuted& delta, const Ordering& ordering, - const vector& mask, boost::optional&> invalidateIfDebug, const KeyFormatter& keyFormatter) { +void ISAM2::Impl::ExpmapMasked(Values& values, const VectorValues& delta, const Ordering& ordering, + const vector& mask, boost::optional invalidateIfDebug, const KeyFormatter& keyFormatter) { // If debugging, invalidate if requested, otherwise do not invalidate. // Invalidating means setting expmapped entries to Inf, to trigger assertions // if we try to re-use them. @@ -304,7 +297,7 @@ ISAM2::Impl::PartialSolve(GaussianFactorGraph& factors, toc(4,"ccolamd permutations"); tic(5,"permute affected variable index"); - affectedFactorsIndex.permute(*affectedColamd); + affectedFactorsIndex.permuteInPlace(*affectedColamd); toc(5,"permute affected variable index"); tic(6,"permute affected factors"); @@ -354,25 +347,13 @@ inline static void optimizeInPlace(const boost::shared_ptr& clique, } /* ************************************************************************* */ -size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, Permuted& delta, double wildfireThreshold) { +size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, VectorValues& delta, double wildfireThreshold) { size_t lastBacksubVariableCount; if (wildfireThreshold <= 0.0) { // Threshold is zero or less, so do a full recalculation - // Collect dimensions and allocate new VectorValues - vector dims(delta.size()); - for(size_t j=0; jdim(j); - VectorValues newDelta(dims); - - // Optimize full solution delta - internal::optimizeInPlace(root, newDelta); - - // Copy solution into delta - delta.permutation() = Permutation::Identity(delta.size()); - delta.container() = newDelta; - + internal::optimizeInPlace(root, delta); lastBacksubVariableCount = delta.size(); } else { @@ -380,8 +361,8 @@ size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std: lastBacksubVariableCount = optimizeWildfire(root, wildfireThreshold, replacedKeys, delta); // modifies delta_ #ifndef NDEBUG - for(size_t j=0; j)).all()); + for(size_t j=0; j)).all()); #endif } @@ -394,7 +375,7 @@ size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std: /* ************************************************************************* */ namespace internal { void updateDoglegDeltas(const boost::shared_ptr& clique, std::vector& replacedKeys, - const VectorValues& grad, Permuted& deltaNewton, Permuted& RgProd, size_t& varsUpdated) { + const VectorValues& grad, VectorValues& deltaNewton, VectorValues& RgProd, size_t& varsUpdated) { // Check if any frontal or separator keys were recalculated, if so, we need // update deltas and recurse to children, but if not, we do not need to @@ -433,7 +414,7 @@ void updateDoglegDeltas(const boost::shared_ptr& clique, std::vecto /* ************************************************************************* */ size_t ISAM2::Impl::UpdateDoglegDeltas(const ISAM2& isam, double wildfireThreshold, std::vector& replacedKeys, - Permuted& deltaNewton, Permuted& RgProd) { + VectorValues& deltaNewton, VectorValues& RgProd) { // Get gradient VectorValues grad = *allocateVectorValues(isam); diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index 0aafb3f35..fdb39d855 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -46,10 +46,10 @@ struct ISAM2::Impl { * @param nodes Current BayesTree::Nodes index to be augmented with slots for new variables * @param keyFormatter Formatter for printing nonlinear keys during debugging */ - static void AddVariables(const Values& newTheta, Values& theta, Permuted& delta, - Permuted& deltaNewton, Permuted& deltaGradSearch, std::vector& replacedKeys, + static void AddVariables(const Values& newTheta, Values& theta, VectorValues& delta, + VectorValues& deltaNewton, VectorValues& deltaGradSearch, std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter = DefaultKeyFormatter); - + /** * Extract the set of variable indices from a NonlinearFactorGraph. For each Symbol * in each NonlinearFactor, obtains the index by calling ordering[symbol]. @@ -68,7 +68,7 @@ struct ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, + static FastSet CheckRelinearizationFull(const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -82,7 +82,7 @@ struct ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, + static FastSet CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -115,9 +115,9 @@ struct ISAM2::Impl { * recalculate its delta. * @param keyFormatter Formatter for printing nonlinear keys during debugging */ - static void ExpmapMasked(Values& values, const Permuted& delta, + static void ExpmapMasked(Values& values, const VectorValues& delta, const Ordering& ordering, const std::vector& mask, - boost::optional&> invalidateIfDebug = boost::optional&>(), + boost::optional invalidateIfDebug = boost::none, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -137,10 +137,10 @@ struct ISAM2::Impl { static PartialSolveResult PartialSolve(GaussianFactorGraph& factors, const FastSet& keys, const ReorderingMode& reorderingMode, bool useQR); - static size_t UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, Permuted& delta, double wildfireThreshold); + static size_t UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, VectorValues& delta, double wildfireThreshold); static size_t UpdateDoglegDeltas(const ISAM2& isam, double wildfireThreshold, std::vector& replacedKeys, - Permuted& deltaNewton, Permuted& RgProd); + VectorValues& deltaNewton, VectorValues& RgProd); }; diff --git a/gtsam/nonlinear/ISAM2-inl.h b/gtsam/nonlinear/ISAM2-inl.h index 3520ffb84..ba0071b51 100644 --- a/gtsam/nonlinear/ISAM2-inl.h +++ b/gtsam/nonlinear/ISAM2-inl.h @@ -37,7 +37,7 @@ VALUE ISAM2::calculateEstimate(Key key) const { namespace internal { template void optimizeWildfire(const boost::shared_ptr& clique, double threshold, - std::vector& changed, const std::vector& replaced, Permuted& delta, int& count) { + std::vector& changed, const std::vector& replaced, VectorValues& delta, int& count) { // if none of the variables in this clique (frontal and separator!) changed // significantly, then by the running intersection property, none of the // cliques in the children need to be processed @@ -114,7 +114,7 @@ void optimizeWildfire(const boost::shared_ptr& clique, double threshold, /* ************************************************************************* */ template -int optimizeWildfire(const boost::shared_ptr& root, double threshold, const std::vector& keys, Permuted& delta) { +int optimizeWildfire(const boost::shared_ptr& root, double threshold, const std::vector& keys, VectorValues& delta) { std::vector changed(keys.size(), false); int count = 0; // starting from the root, call optimize on each conditional diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 07e0f518d..0c3c198aa 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -41,7 +41,6 @@ static const double batchThreshold = 0.65; /* ************************************************************************* */ ISAM2::ISAM2(const ISAM2Params& params): - delta_(deltaUnpermuted_), deltaNewton_(deltaNewtonUnpermuted_), RgProd_(RgProdUnpermuted_), deltaDoglegUptodate_(true), deltaUptodate_(true), params_(params) { if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) doglegDelta_ = boost::get(params_.optimizationParams).initialDelta; @@ -49,15 +48,13 @@ ISAM2::ISAM2(const ISAM2Params& params): /* ************************************************************************* */ ISAM2::ISAM2(): - delta_(deltaUnpermuted_), deltaNewton_(deltaNewtonUnpermuted_), RgProd_(RgProdUnpermuted_), deltaDoglegUptodate_(true), deltaUptodate_(true) { if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) doglegDelta_ = boost::get(params_.optimizationParams).initialDelta; } /* ************************************************************************* */ -ISAM2::ISAM2(const ISAM2& other): - delta_(deltaUnpermuted_), deltaNewton_(deltaNewtonUnpermuted_), RgProd_(RgProdUnpermuted_) { +ISAM2::ISAM2(const ISAM2& other) { *this = other; } @@ -308,12 +305,12 @@ boost::shared_ptr > ISAM2::recalculate( // Reorder tic(2,"permute global variable index"); - variableIndex_.permute(*colamd); + variableIndex_.permuteInPlace(*colamd); toc(2,"permute global variable index"); tic(3,"permute delta"); - delta_.permute(*colamd); - deltaNewton_.permute(*colamd); - RgProd_.permute(*colamd); + delta_ = delta_.permute(*colamd); + deltaNewton_ = deltaNewton_.permute(*colamd); + RgProd_ = RgProd_.permute(*colamd); toc(3,"permute delta"); tic(4,"permute ordering"); ordering_.permuteWithInverse(*colamdInverse); @@ -429,12 +426,12 @@ boost::shared_ptr > ISAM2::recalculate( // re-eliminate. The reordered variables are also mentioned in the // orphans and the leftover cached factors. tic(3,"permute global variable index"); - variableIndex_.permute(partialSolveResult.fullReordering); + variableIndex_.permuteInPlace(partialSolveResult.fullReordering); toc(3,"permute global variable index"); tic(4,"permute delta"); - delta_.permute(partialSolveResult.fullReordering); - deltaNewton_.permute(partialSolveResult.fullReordering); - RgProd_.permute(partialSolveResult.fullReordering); + delta_ = delta_.permute(partialSolveResult.fullReordering); + deltaNewton_ = deltaNewton_.permute(partialSolveResult.fullReordering); + RgProd_ = RgProd_.permute(partialSolveResult.fullReordering); toc(4,"permute delta"); tic(5,"permute ordering"); ordering_.permuteWithInverse(partialSolveResult.fullReorderingInverse); @@ -723,8 +720,7 @@ void ISAM2::updateDelta(bool forceFullSolve) const { tic(2, "Copy dx_d"); // Update Delta and linear step doglegDelta_ = doglegResult.Delta; - delta_.permutation() = Permutation::Identity(delta_.size()); // Dogleg solves for the full delta so there is no permutation - delta_.container() = doglegResult.dx_d; // Copy the VectorValues containing with the linear solution + delta_ = doglegResult.dx_d; // Copy the VectorValues containing with the linear solution toc(2, "Copy dx_d"); } @@ -739,7 +735,7 @@ Values ISAM2::calculateEstimate() const { Values ret(theta_); toc(1, "Copy Values"); tic(2, "getDelta"); - const Permuted& delta(getDelta()); + const VectorValues& delta(getDelta()); toc(2, "getDelta"); tic(3, "Expmap"); vector mask(ordering_.nVars(), true); @@ -756,7 +752,7 @@ Values ISAM2::calculateBestEstimate() const { } /* ************************************************************************* */ -const Permuted& ISAM2::getDelta() const { +const VectorValues& ISAM2::getDelta() const { if(!deltaUptodate_) updateDelta(); return delta_; @@ -829,7 +825,7 @@ void optimizeGradientSearchInPlace(const ISAM2& isam, VectorValues& grad) { tic(3, "Compute minimizing step size"); // Compute minimizing step size - double RgNormSq = isam.RgProd_.container().vector().squaredNorm(); + double RgNormSq = isam.RgProd_.vector().squaredNorm(); double step = -gradientSqNorm / RgNormSq; toc(3, "Compute minimizing step size"); diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 5804640df..9891d8efb 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -347,26 +347,16 @@ protected: /** VariableIndex lets us look up factors by involved variable and keeps track of dimensions */ VariableIndex variableIndex_; - /** The linear delta from the last linear solution, an update to the estimate in theta */ - VectorValues deltaUnpermuted_; + /** The linear delta from the last linear solution, an update to the estimate in theta + * + * This is \c mutable because it is a "cached" variable - it is not updated + * until either requested with getDelta() or calculateEstimate(), or needed + * during update() to evaluate whether to relinearize variables. + */ + mutable VectorValues delta_; - /** The permutation through which the deltaUnpermuted_ is - * referenced. - * - * Permuting Vector entries would be slow, so for performance we - * instead maintain this permutation through which we access the linear delta - * indirectly - * - * This is \c mutable because it is a "cached" variable - it is not updated - * until either requested with getDelta() or calculateEstimate(), or needed - * during update() to evaluate whether to relinearize variables. - */ - mutable Permuted delta_; - - VectorValues deltaNewtonUnpermuted_; - mutable Permuted deltaNewton_; - VectorValues RgProdUnpermuted_; - mutable Permuted RgProd_; + mutable VectorValues deltaNewton_; + mutable VectorValues RgProd_; mutable bool deltaDoglegUptodate_; /** Indicates whether the current delta is up-to-date, only used @@ -497,7 +487,7 @@ public: Values calculateBestEstimate() const; /** Access the current delta, computed during the last call to update */ - const Permuted& getDelta() const; + const VectorValues& getDelta() const; /** Access the set of nonlinear factors */ const NonlinearFactorGraph& getFactorsUnsafe() const { return nonlinearFactors_; } @@ -555,7 +545,7 @@ void optimizeInPlace(const ISAM2& isam, VectorValues& delta); /// @return The number of variables that were solved for template int optimizeWildfire(const boost::shared_ptr& root, - double threshold, const std::vector& replaced, Permuted& delta); + double threshold, const std::vector& replaced, VectorValues& delta); /** * Optimize along the gradient direction, with a closed-form computation to diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 2a5bf7962..994077777 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -139,112 +139,69 @@ TEST_UNSAFE(ISAM2, AddVariables) { // Create initial state Values theta; - theta.insert((0), Pose2(.1, .2, .3)); + theta.insert(0, Pose2(.1, .2, .3)); theta.insert(100, Point2(.4, .5)); Values newTheta; - newTheta.insert((1), Pose2(.6, .7, .8)); + newTheta.insert(1, Pose2(.6, .7, .8)); - VectorValues deltaUnpermuted; - deltaUnpermuted.insert(0, Vector_(3, .1, .2, .3)); - deltaUnpermuted.insert(1, Vector_(2, .4, .5)); + VectorValues delta; + delta.insert(0, Vector_(3, .1, .2, .3)); + delta.insert(1, Vector_(2, .4, .5)); - Permutation permutation(2); - permutation[0] = 1; - permutation[1] = 0; + VectorValues deltaNewton; + deltaNewton.insert(0, Vector_(3, .1, .2, .3)); + deltaNewton.insert(1, Vector_(2, .4, .5)); - Permuted delta(permutation, deltaUnpermuted); - - VectorValues deltaNewtonUnpermuted; - deltaNewtonUnpermuted.insert(0, Vector_(3, .1, .2, .3)); - deltaNewtonUnpermuted.insert(1, Vector_(2, .4, .5)); - - Permutation permutationNewton(2); - permutationNewton[0] = 1; - permutationNewton[1] = 0; - - Permuted deltaNewton(permutationNewton, deltaNewtonUnpermuted); - - VectorValues deltaRgUnpermuted; - deltaRgUnpermuted.insert(0, Vector_(3, .1, .2, .3)); - deltaRgUnpermuted.insert(1, Vector_(2, .4, .5)); - - Permutation permutationRg(2); - permutationRg[0] = 1; - permutationRg[1] = 0; - - Permuted deltaRg(permutationRg, deltaRgUnpermuted); + VectorValues deltaRg; + deltaRg.insert(0, Vector_(3, .1, .2, .3)); + deltaRg.insert(1, Vector_(2, .4, .5)); vector replacedKeys(2, false); - Ordering ordering; ordering += 100, (0); + Ordering ordering; ordering += 100, 0; ISAM2::Nodes nodes(2); // Verify initial state LONGS_EQUAL(0, ordering[100]); - LONGS_EQUAL(1, ordering[(0)]); - EXPECT(assert_equal(deltaUnpermuted[1], delta[ordering[100]])); - EXPECT(assert_equal(deltaUnpermuted[0], delta[ordering[(0)]])); + LONGS_EQUAL(1, ordering[0]); + EXPECT(assert_equal(delta[0], delta[ordering[100]])); + EXPECT(assert_equal(delta[1], delta[ordering[0]])); // Create expected state Values thetaExpected; - thetaExpected.insert((0), Pose2(.1, .2, .3)); + thetaExpected.insert(0, Pose2(.1, .2, .3)); thetaExpected.insert(100, Point2(.4, .5)); - thetaExpected.insert((1), Pose2(.6, .7, .8)); + thetaExpected.insert(1, Pose2(.6, .7, .8)); - VectorValues deltaUnpermutedExpected; - deltaUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); - deltaUnpermutedExpected.insert(1, Vector_(2, .4, .5)); - deltaUnpermutedExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); + VectorValues deltaExpected; + deltaExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaExpected.insert(1, Vector_(2, .4, .5)); + deltaExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - Permutation permutationExpected(3); - permutationExpected[0] = 1; - permutationExpected[1] = 0; - permutationExpected[2] = 2; + VectorValues deltaNewtonExpected; + deltaNewtonExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaNewtonExpected.insert(1, Vector_(2, .4, .5)); + deltaNewtonExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - Permuted deltaExpected(permutationExpected, deltaUnpermutedExpected); - - VectorValues deltaNewtonUnpermutedExpected; - deltaNewtonUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); - deltaNewtonUnpermutedExpected.insert(1, Vector_(2, .4, .5)); - deltaNewtonUnpermutedExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - - Permutation permutationNewtonExpected(3); - permutationNewtonExpected[0] = 1; - permutationNewtonExpected[1] = 0; - permutationNewtonExpected[2] = 2; - - Permuted deltaNewtonExpected(permutationNewtonExpected, deltaNewtonUnpermutedExpected); - - VectorValues deltaRgUnpermutedExpected; - deltaRgUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); - deltaRgUnpermutedExpected.insert(1, Vector_(2, .4, .5)); - deltaRgUnpermutedExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - - Permutation permutationRgExpected(3); - permutationRgExpected[0] = 1; - permutationRgExpected[1] = 0; - permutationRgExpected[2] = 2; - - Permuted deltaRgExpected(permutationRgExpected, deltaRgUnpermutedExpected); + VectorValues deltaRgExpected; + deltaRgExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaRgExpected.insert(1, Vector_(2, .4, .5)); + deltaRgExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); vector replacedKeysExpected(3, false); - Ordering orderingExpected; orderingExpected += 100, (0), (1); + Ordering orderingExpected; orderingExpected += 100, 0, 1; - ISAM2::Nodes nodesExpected( - 3, ISAM2::sharedClique()); + ISAM2::Nodes nodesExpected(3, ISAM2::sharedClique()); // Expand initial state ISAM2::Impl::AddVariables(newTheta, theta, delta, deltaNewton, deltaRg, replacedKeys, ordering, nodes); EXPECT(assert_equal(thetaExpected, theta)); - EXPECT(assert_equal(deltaUnpermutedExpected, deltaUnpermuted)); - EXPECT(assert_equal(deltaExpected.permutation(), delta.permutation())); - EXPECT(assert_equal(deltaNewtonUnpermutedExpected, deltaNewtonUnpermuted)); - EXPECT(assert_equal(deltaNewtonExpected.permutation(), deltaNewton.permutation())); - EXPECT(assert_equal(deltaRgUnpermutedExpected, deltaRgUnpermuted)); - EXPECT(assert_equal(deltaRgExpected.permutation(), deltaRg.permutation())); + EXPECT(assert_equal(deltaExpected, delta)); + EXPECT(assert_equal(deltaNewtonExpected, deltaNewton)); + EXPECT(assert_equal(deltaRgExpected, deltaRg)); EXPECT(assert_container_equality(replacedKeysExpected, replacedKeys)); EXPECT(assert_equal(orderingExpected, ordering)); } From 61cc8026b9325d266ff3a71af16e18c827f105aa Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 01:45:29 +0000 Subject: [PATCH 507/914] Small change - vector instead of FastVector --- gtsam/nonlinear/ISAM2.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 9891d8efb..2fd3e0b23 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -206,7 +206,7 @@ struct ISAM2Result { * factors passed as \c newFactors to ISAM2::update(). These indices may be * used later to refer to the factors in order to remove them. */ - FastVector newFactorsIndices; + std::vector newFactorsIndices; /** A struct holding detailed results, which must be enabled with * ISAM2Params::enableDetailedResults. From badb22c304efe655639335dd21b9896a4b69f740 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jun 2012 07:08:29 +0000 Subject: [PATCH 508/914] Got rid of unused warning --- gtsam/inference/VariableIndex.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index f497b4706..be47cbd5a 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -216,7 +216,6 @@ void VariableIndex::augment(const FactorGraph& factors) { } // Allocate index - Index originalSize = index_.size(); index_.resize(std::max(index_.size(), maxVar+1)); // Augment index mapping from variable id to factor index From 133fc4ae5cbae705ccfa785287e95df35034b187 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jun 2012 08:34:44 +0000 Subject: [PATCH 509/914] got rid of pause --- matlab/examples/OdometryExample.m | 1 - 1 file changed, 1 deletion(-) diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index 8b2439c78..b3cbff6a2 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -29,7 +29,6 @@ odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); -pause %% print graph.print(sprintf('\nFactor graph:\n')); From 8851179d3c23725d07fa673bfb22100da7b79bc0 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jun 2012 10:30:06 +0000 Subject: [PATCH 510/914] Formatter in discrete, as well --- gtsam/discrete/DecisionTreeFactor.cpp | 7 ++++--- gtsam/discrete/DecisionTreeFactor.h | 3 ++- gtsam/discrete/Potentials.cpp | 5 +++-- gtsam/discrete/Potentials.h | 3 ++- gtsam_unstable/discrete/AllDiff.cpp | 5 +++-- gtsam_unstable/discrete/AllDiff.h | 3 ++- gtsam_unstable/discrete/BinaryAllDiff.h | 7 ++++--- gtsam_unstable/discrete/Domain.cpp | 7 ++++--- gtsam_unstable/discrete/Domain.h | 3 ++- gtsam_unstable/discrete/SingleValue.cpp | 5 +++-- gtsam_unstable/discrete/SingleValue.h | 3 ++- 11 files changed, 31 insertions(+), 20 deletions(-) diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp index 7f566a115..bb83cec16 100644 --- a/gtsam/discrete/DecisionTreeFactor.cpp +++ b/gtsam/discrete/DecisionTreeFactor.cpp @@ -49,10 +49,11 @@ namespace gtsam { } /* ************************************************************************* */ - void DecisionTreeFactor::print(const string& s) const { + void DecisionTreeFactor::print(const string& s, + const IndexFormatter& formatter) const { cout << s; - IndexFactor::print("IndexFactor:"); - Potentials::print("Potentials:"); + IndexFactor::print("IndexFactor:",formatter); + Potentials::print("Potentials:",formatter); } /* ************************************************************************* */ diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index 89bc090dc..64f37c174 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -72,7 +72,8 @@ namespace gtsam { bool equals(const DecisionTreeFactor& other, double tol = 1e-9) const; // print - void print(const std::string& s = "DecisionTreeFactor:\n") const; + virtual void print(const std::string& s = "DecisionTreeFactor:\n", + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// @} /// @name Standard Interface diff --git a/gtsam/discrete/Potentials.cpp b/gtsam/discrete/Potentials.cpp index b9a87dea9..2a2260d97 100644 --- a/gtsam/discrete/Potentials.cpp +++ b/gtsam/discrete/Potentials.cpp @@ -51,10 +51,11 @@ namespace gtsam { } /* ************************************************************************* */ - void Potentials::print(const string&s) const { + void Potentials::print(const string& s, + const IndexFormatter& formatter) const { cout << s << "\n Cardinalities: "; BOOST_FOREACH(const DiscreteKey& key, cardinalities_) - cout << key.first << "=" << key.second << " "; + cout << formatter(key.first) << "=" << formatter(key.second) << " "; cout << endl; ADT::print(" "); } diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h index 367a323c2..3ca222b5f 100644 --- a/gtsam/discrete/Potentials.h +++ b/gtsam/discrete/Potentials.h @@ -65,7 +65,8 @@ namespace gtsam { // Testable bool equals(const Potentials& other, double tol = 1e-9) const; - void print(const std::string& s = "Potentials: ") const; + void print(const std::string& s = "Potentials: ", + const IndexFormatter& formatter = DefaultIndexFormatter) const; size_t cardinality(Index j) const { return cardinalities_.at(j);} diff --git a/gtsam_unstable/discrete/AllDiff.cpp b/gtsam_unstable/discrete/AllDiff.cpp index 41905f874..ac412fa7f 100644 --- a/gtsam_unstable/discrete/AllDiff.cpp +++ b/gtsam_unstable/discrete/AllDiff.cpp @@ -20,10 +20,11 @@ namespace gtsam { } /* ************************************************************************* */ - void AllDiff::print(const std::string& s) const { + void AllDiff::print(const std::string& s, + const IndexFormatter& formatter) const { std::cout << s << "AllDiff on "; BOOST_FOREACH (Index dkey, keys_) - std::cout << dkey << " "; + std::cout << formatter(dkey) << " "; std::cout << std::endl; } diff --git a/gtsam_unstable/discrete/AllDiff.h b/gtsam_unstable/discrete/AllDiff.h index fb5a47a59..1a560ace2 100644 --- a/gtsam_unstable/discrete/AllDiff.h +++ b/gtsam_unstable/discrete/AllDiff.h @@ -34,7 +34,8 @@ namespace gtsam { AllDiff(const DiscreteKeys& dkeys); // print - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// Calculate value = expensive ! virtual double operator()(const Values& values) const; diff --git a/gtsam_unstable/discrete/BinaryAllDiff.h b/gtsam_unstable/discrete/BinaryAllDiff.h index a2e260bcd..9ed2f79f1 100644 --- a/gtsam_unstable/discrete/BinaryAllDiff.h +++ b/gtsam_unstable/discrete/BinaryAllDiff.h @@ -33,9 +33,10 @@ namespace gtsam { } // print - virtual void print(const std::string& s = "") const { - std::cout << s << "BinaryAllDiff on " << keys_[0] << " and " << keys_[1] - << std::endl; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const { + std::cout << s << "BinaryAllDiff on " << formatter(keys_[0]) << " and " + << formatter(keys_[1]) << std::endl; } /// Calculate value diff --git a/gtsam_unstable/discrete/Domain.cpp b/gtsam_unstable/discrete/Domain.cpp index e43065f3b..dbc05e3f6 100644 --- a/gtsam_unstable/discrete/Domain.cpp +++ b/gtsam_unstable/discrete/Domain.cpp @@ -15,9 +15,10 @@ namespace gtsam { using namespace std; /* ************************************************************************* */ - void Domain::print(const string& s) const { -// cout << s << ": Domain on " << keys_[0] << " (j=" << keys_[0] -// << ") with values"; + void Domain::print(const string& s, + const IndexFormatter& formatter) const { +// cout << s << ": Domain on " << formatter(keys_[0]) << " (j=" << +// formatter(keys_[0]) << ") with values"; // BOOST_FOREACH (size_t v,values_) cout << " " << v; // cout << endl; BOOST_FOREACH (size_t v,values_) cout << v; diff --git a/gtsam_unstable/discrete/Domain.h b/gtsam_unstable/discrete/Domain.h index a4f0c8054..85b35fe8c 100644 --- a/gtsam_unstable/discrete/Domain.h +++ b/gtsam_unstable/discrete/Domain.h @@ -66,7 +66,8 @@ namespace gtsam { } // print - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const; bool contains(size_t value) const { return values_.count(value)>0; diff --git a/gtsam_unstable/discrete/SingleValue.cpp b/gtsam_unstable/discrete/SingleValue.cpp index 6f6d5a3ff..81133e7f7 100644 --- a/gtsam_unstable/discrete/SingleValue.cpp +++ b/gtsam_unstable/discrete/SingleValue.cpp @@ -16,8 +16,9 @@ namespace gtsam { using namespace std; /* ************************************************************************* */ - void SingleValue::print(const string& s) const { - cout << s << "SingleValue on " << "j=" << keys_[0] + void SingleValue::print(const string& s, + const IndexFormatter& formatter) const { + cout << s << "SingleValue on " << "j=" << formatter(keys_[0]) << " with value " << value_ << endl; } diff --git a/gtsam_unstable/discrete/SingleValue.h b/gtsam_unstable/discrete/SingleValue.h index b229d8b79..1f6e362aa 100644 --- a/gtsam_unstable/discrete/SingleValue.h +++ b/gtsam_unstable/discrete/SingleValue.h @@ -42,7 +42,8 @@ namespace gtsam { } // print - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// Calculate value virtual double operator()(const Values& values) const; From 9f99f0f7c5ba5292bf43babc0c7a12b6ee4c2234 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 12:48:43 +0000 Subject: [PATCH 511/914] Removed remaining Permuted (in release mode) --- gtsam/nonlinear/ISAM2-impl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index d84740516..3c373e0ba 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -200,7 +200,7 @@ void ISAM2::Impl::ExpmapMasked(Values& values, const VectorValues& delta, const // Invalidating means setting expmapped entries to Inf, to trigger assertions // if we try to re-use them. #ifdef NDEBUG - invalidateIfDebug = boost::optional&>(); + invalidateIfDebug = boost::none; #endif assert(values.size() == ordering.nVars()); From d58d2771601b3b73633683d69fc7d88b015cbc84 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 30 Jun 2012 14:30:24 +0000 Subject: [PATCH 512/914] Recover camera from 3*4 camera matrix --- .cproject | 332 ++++++++++++---------- gtsam/geometry/SimpleCamera.cpp | 49 ++++ gtsam/geometry/SimpleCamera.h | 5 + gtsam/geometry/tests/testSimpleCamera.cpp | 20 ++ 4 files changed, 249 insertions(+), 157 deletions(-) create mode 100644 gtsam/geometry/SimpleCamera.cpp diff --git a/.cproject b/.cproject index c593a801b..11d2ab33e 100644 --- a/.cproject +++ b/.cproject @@ -307,14 +307,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -341,6 +333,7 @@ make + tests/testBayesTree.run true false @@ -348,6 +341,7 @@ make + testBinaryBayesNet.run true false @@ -395,6 +389,7 @@ make + testSymbolicBayesNet.run true false @@ -402,6 +397,7 @@ make + tests/testSymbolicFactor.run true false @@ -409,6 +405,7 @@ make + testSymbolicFactorGraph.run true false @@ -424,11 +421,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -517,22 +523,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -549,6 +539,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -573,26 +579,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -677,26 +683,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -951,6 +957,7 @@ make + testGraph.run true false @@ -958,6 +965,7 @@ make + testJunctionTree.run true false @@ -965,6 +973,7 @@ make + testSymbolicBayesNetB.run true false @@ -1092,6 +1101,7 @@ make + testErrors.run true false @@ -1465,6 +1475,14 @@ true true + + make + -j5 + testSimpleCamera.run + true + true + true + make -j2 @@ -1547,7 +1565,6 @@ make - testSimulated2DOriented.run true false @@ -1587,7 +1604,6 @@ make - testSimulated2D.run true false @@ -1595,7 +1611,6 @@ make - testSimulated3D.run true false @@ -1811,7 +1826,6 @@ make - tests/testGaussianISAM2 true false @@ -1833,102 +1847,6 @@ 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 -j2 @@ -2130,6 +2048,7 @@ cpack + -G DEB true false @@ -2137,6 +2056,7 @@ cpack + -G RPM true false @@ -2144,6 +2064,7 @@ cpack + -G TGZ true false @@ -2151,6 +2072,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2244,42 +2166,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap_gtsam + -j2 + timeRot3.run true true true - + make - -j5 - wrap + -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 @@ -2323,6 +2301,46 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap_gtsam + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam/geometry/SimpleCamera.cpp b/gtsam/geometry/SimpleCamera.cpp new file mode 100644 index 000000000..d441716cb --- /dev/null +++ b/gtsam/geometry/SimpleCamera.cpp @@ -0,0 +1,49 @@ +/* ---------------------------------------------------------------------------- + + * 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 SimpleCamera.cpp + * @brief A simple camera class with a Cal3_S2 calibration + * @date June 30, 2012 + * @author Frank Dellaert + */ + +#include +#include + +namespace gtsam { + + SimpleCamera simpleCamera(const Matrix& P) { + + // P = [A|a] = s K cRw [I|-T], with s the unknown scale + Matrix A = P.topLeftCorner(3, 3); + Vector a = P.col(3); + + // do RQ decomposition to get s*K and cRw angles + Matrix sK; + Vector xyz; + boost::tie(sK, xyz) = RQ(A); + + // Recover scale factor s and K + double s = sK(2, 2); + Matrix K = sK / s; + + // Recover cRw itself, and its inverse + Rot3 cRw = Rot3::RzRyRx(xyz); + Rot3 wRc = cRw.inverse(); + + // Now, recover T from a = - s K cRw T = - A T + Vector T = -(A.inverse() * a); + return SimpleCamera(Pose3(wRc, T), + Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2))); + } + +} diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h index d3b0cdbdc..abe42f1a0 100644 --- a/gtsam/geometry/SimpleCamera.h +++ b/gtsam/geometry/SimpleCamera.h @@ -22,5 +22,10 @@ #include namespace gtsam { + + /// A simple camera class with a Cal3_S2 calibration typedef PinholeCamera SimpleCamera; + + /// Recover camera from 3*4 camera matrix + SimpleCamera simpleCamera(const Matrix& P); } diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index 6cc00de8a..a1647fa47 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -133,6 +133,26 @@ TEST( SimpleCamera, Dproject_point_pose) CHECK(assert_equal(Dpoint, numerical_point,1e-7)); } +/* ************************************************************************* */ +TEST( SimpleCamera, simpleCamera) +{ + Cal3_S2 K(468.2,427.2,91.2,300,200); + Rot3 R( + 0.41380,0.90915,0.04708, + -0.57338,0.22011,0.78917, + 0.70711,-0.35355,0.61237); + Point3 T(1000,2000,1500); + SimpleCamera expected(Pose3(R.inverse(),T),K); + // H&Z example, 2nd edition, page 163 + Matrix P = Matrix_(3,4, + 3.53553e2, 3.39645e2, 2.77744e2, -1.44946e6, + -1.03528e2, 2.33212e1, 4.59607e2, -6.32525e5, + 7.07107e-1, -3.53553e-1,6.12372e-1, -9.18559e2); + SimpleCamera actual = simpleCamera(P); + // Note precision of numbers given in book + CHECK(assert_equal(expected, actual,1e-1)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 32ad753a3868a3cf011d8e16e40d677cb37ef84d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 17:36:25 +0000 Subject: [PATCH 513/914] Fixed renamed function in gtsam.h --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 68ed6201d..6858e4d65 100644 --- a/gtsam.h +++ b/gtsam.h @@ -671,7 +671,7 @@ class VariableIndex { size_t size() const; size_t nFactors() const; size_t nEntries() const; - void permute(const gtsam::Permutation& permutation); + void permuteInPlace(const gtsam::Permutation& permutation); }; //************************************************************************* From 8741f4eb64f23d831aca75d252d00a948d79a3f8 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 19:17:43 +0000 Subject: [PATCH 514/914] Created branch /branches/isam2-remove-vars from /trunk:11798 From abd6795f5be969a811c2d3c81981390eb6a4d880 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 19:17:54 +0000 Subject: [PATCH 515/914] In progress removing variables from iSAM2 --- gtsam/nonlinear/ISAM2-impl.cpp | 59 +++++++++ gtsam/nonlinear/ISAM2-impl.h | 7 ++ tests/testGaussianISAM2.cpp | 216 +++++++++++++++++++++++++++++++++ 3 files changed, 282 insertions(+) diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 3c373e0ba..20aacb1e4 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -63,6 +63,65 @@ void ISAM2::Impl::AddVariables( nodes.resize(ordering.nVars()); } +/* ************************************************************************* */ +void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, Values& theta, VariableIndex& variableIndex, + VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, + std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes) { + + // Get indices of unused keys + vector unusedIndices; unusedIndices.reserve(unusedKeys.size()); + BOOST_FOREACH(Key key, unusedKeys) { unusedIndices.push_back(ordering[key]); } + + // Create a permutation that shifts the unused variables to the end + Permutation unusedToEnd = Permutation::PushToBack(unusedIndices, delta.size()); + Permutation unusedToEndInverse = *unusedToEnd.inverse(); + + // Use the permutation to remove unused variables while shifting all the others to take up the space + variableIndex.permuteInPlace(unusedToEnd); + variableIndex.removeUnusedAtEnd(unusedIndices.size()); + { + // Create a vector of variable dimensions with the unused ones removed + // by applying the unusedToEnd permutation to the original vector of + // variable dimensions. We only allocate space in the shifted dims + // vector for the used variables, so that the unused ones are dropped + // when the permutation is applied. + vector originalDims = delta.dims(); + vector dims(delta.size() - unusedIndices.size()); + unusedToEnd.applyToCollection(dims, originalDims); + + // Copy from the old data structures to new ones, only iterating up to + // the number of used variables, and applying the unusedToEnd permutation + // in order to remove the unused variables. + VectorValues newDelta(dims); + VectorValues newDeltaNewton(dims); + VectorValues newDeltaGradSearch(dims); + std::vector newReplacedKeys(replacedKeys.size() - unusedIndices.size()); + Base::Nodes newNodes(nodes.size() - unusedIndices.size()); + + for(size_t j = 0; j < newNodes.size(); ++j) { + newDelta[j] = delta[unusedToEnd[j]]; + newDeltaNewton[j] = deltaNewton[unusedToEnd[j]]; + newDeltaGradSearch[j] = deltaGradSearch[unusedToEnd[j]]; + newReplacedKeys[j] = replacedKeys[unusedToEnd[j]]; + newNodes[j] = nodes[unusedToEnd[j]]; + } + + // Swap the new data structures with the outputs of this function + delta.swap(newDelta); + deltaNewton.swap(newDeltaNewton); + deltaGradSearch.swap(newDeltaGradSearch); + replacedKeys.swap(newReplacedKeys); + nodes.swap(newNodes); + } + + // Reorder and remove from ordering and solution + ordering.permuteWithInverse(unusedToEndInverse); + BOOST_REVERSE_FOREACH(Key key, unusedKeys) { + ordering.pop_back(key); + theta.erase(key); + } +} + /* ************************************************************************* */ FastSet ISAM2::Impl::IndicesFromFactors(const Ordering& ordering, const NonlinearFactorGraph& factors) { FastSet indices; diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index fdb39d855..69caf7329 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -50,6 +50,13 @@ struct ISAM2::Impl { VectorValues& deltaNewton, VectorValues& deltaGradSearch, std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter = DefaultKeyFormatter); + /** + * Remove variables from the ISAM2 system. + */ + static void RemoveVariables(const FastSet& unusedKeys, Values& theta, VariableIndex& variableIndex, + VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, + std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes); + /** * Extract the set of variable indices from a NonlinearFactorGraph. For each Symbol * in each NonlinearFactor, obtains the index by calling ordering[symbol]. diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 994077777..7d7db2cfd 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -6,6 +6,7 @@ #include #include +#include #include #include #include @@ -205,6 +206,93 @@ TEST_UNSAFE(ISAM2, AddVariables) { EXPECT(assert_container_equality(replacedKeysExpected, replacedKeys)); EXPECT(assert_equal(orderingExpected, ordering)); } +/* ************************************************************************* */ +TEST_UNSAFE(ISAM2, RemoveVariables) { + + // Create initial state + Values theta; + theta.insert(0, Pose2(.1, .2, .3)); + theta.insert(1, Pose2(.6, .7, .8)); + theta.insert(100, Point2(.4, .5)); + + SymbolicFactorGraph sfg; + sfg.push_back(boost::make_shared(Index(0), Index(2))); + sfg.push_back(boost::make_shared(Index(0), Index(1))); + VariableIndex variableIndex(sfg); + + VectorValues delta; + delta.insert(0, Vector_(3, .1, .2, .3)); + delta.insert(1, Vector_(3, .4, .5, .6)); + delta.insert(2, Vector_(2, .7, .8)); + + VectorValues deltaNewton; + deltaNewton.insert(0, Vector_(3, .1, .2, .3)); + deltaNewton.insert(1, Vector_(3, .4, .5, .6)); + deltaNewton.insert(2, Vector_(2, .7, .8)); + + VectorValues deltaRg; + deltaRg.insert(0, Vector_(3, .1, .2, .3)); + deltaRg.insert(1, Vector_(3, .4, .5, .6)); + deltaRg.insert(2, Vector_(2, .7, .8)); + + vector replacedKeys(3, false); + replacedKeys[0] = true; + replacedKeys[1] = false; + replacedKeys[2] = true; + + Ordering ordering; ordering += 100, 1, 0; + + ISAM2::Nodes nodes(3); + + // Verify initial state + LONGS_EQUAL(0, ordering[100]); + LONGS_EQUAL(1, ordering[1]); + LONGS_EQUAL(2, ordering[0]); + + // Create expected state + Values thetaExpected; + thetaExpected.insert(0, Pose2(.1, .2, .3)); + thetaExpected.insert(100, Point2(.4, .5)); + + SymbolicFactorGraph sfgRemoved; + sfgRemoved.push_back(boost::make_shared(Index(0), Index(1))); + sfgRemoved.push_back(SymbolicFactorGraph::sharedFactor()); // Add empty factor to keep factor indices consistent + VariableIndex variableIndexExpected(sfgRemoved); + + VectorValues deltaExpected; + deltaExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaExpected.insert(1, Vector_(2, .7, .8)); + + VectorValues deltaNewtonExpected; + deltaNewtonExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaNewtonExpected.insert(1, Vector_(2, .7, .8)); + + VectorValues deltaRgExpected; + deltaRgExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaRgExpected.insert(1, Vector_(2, .7, .8)); + + vector replacedKeysExpected(2, true); + + Ordering orderingExpected; orderingExpected += 100, 0; + + ISAM2::Nodes nodesExpected(2); + + // Expand initial state + FastSet unusedKeys; + unusedKeys.insert(1); + vector removedFactorsI; removedFactorsI.push_back(1); + SymbolicFactorGraph removedFactors; removedFactors.push_back(sfg[1]); + variableIndex.remove(removedFactorsI, removedFactors); + ISAM2::Impl::RemoveVariables(unusedKeys, theta, variableIndex, delta, deltaNewton, deltaRg, replacedKeys, ordering, nodes); + + EXPECT(assert_equal(thetaExpected, theta)); + EXPECT(assert_equal(variableIndexExpected, variableIndex)); + EXPECT(assert_equal(deltaExpected, delta)); + EXPECT(assert_equal(deltaNewtonExpected, deltaNewton)); + EXPECT(assert_equal(deltaRgExpected, deltaRg)); + EXPECT(assert_container_equality(replacedKeysExpected, replacedKeys)); + EXPECT(assert_equal(orderingExpected, ordering)); +} /* ************************************************************************* */ //TEST(ISAM2, IndicesFromFactors) { @@ -1011,6 +1099,134 @@ TEST(ISAM2, removeFactors) EXPECT(assert_equal(expectedGradient, actualGradient)); } +/* ************************************************************************* */ +//TEST(ISAM2, removeVariables) +//{ +// +// // These variables will be reused and accumulate factors and values +// ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); +// Values fullinit; +// planarSLAM::Graph fullgraph; +// +// vector factorsToRemove; +// +// // i keeps track of the time step +// size_t i = 0; +// +// // Add a prior at time 0 and update isam +// { +// planarSLAM::Graph newfactors; +// newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); +// fullgraph.push_back(newfactors); +// +// Values init; +// init.insert((0), Pose2(0.01, 0.01, 0.01)); +// fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); +// +// isam.update(newfactors, init); +// } +// +// CHECK(isam_check(fullgraph, fullinit, isam)); +// +// // Add odometry from time 0 to time 5 +// for( ; i<5; ++i) { +// planarSLAM::Graph newfactors; +// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); +// fullgraph.push_back(newfactors); +// +// Values init; +// init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); +// fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); +// +// isam.update(newfactors, init); +// } +// +// // Add odometry from time 5 to 6 and landmark measurement at time 5 +// { +// planarSLAM::Graph newfactors; +// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); +// newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); +// newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); +// fullgraph.push_back(newfactors); +// +// Values init; +// init.insert((i+1), Pose2(1.01, 0.01, 0.01)); +// init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); +// init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); +// fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); +// fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); +// fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); +// +// ISAM2Result result = isam.update(newfactors, init); +// factorsToRemove.push_back(result.newFactorsIndices[1]); +// ++ i; +// } +// +// // Add odometry from time 6 to time 10 +// for( ; i<10; ++i) { +// planarSLAM::Graph newfactors; +// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); +// fullgraph.push_back(newfactors); +// +// Values init; +// init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); +// fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); +// +// isam.update(newfactors, init); +// } +// +// // Add odometry from time 10 to 11 and landmark measurement at time 10 +// { +// planarSLAM::Graph newfactors; +// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); +// newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); +// newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); +// fullgraph.push_back(newfactors); +// +// Values init; +// init.insert((i+1), Pose2(6.9, 0.1, 0.01)); +// fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); +// +// ISAM2Result result = isam.update(newfactors, init); +// factorsToRemove.push_back(result.newFactorsIndices[1]); +// ++ i; +// } +// +// // Compare solutions +// fullgraph.remove(factorsToRemove[0]); +// fullgraph.remove(factorsToRemove[1]); +// fullinit.erase(100); +// CHECK(isam_check(fullgraph, fullinit, isam)); +// +// // Check gradient at each node +// typedef ISAM2::sharedClique sharedClique; +// BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { +// // Compute expected gradient +// FactorGraph jfg; +// jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); +// VectorValues expectedGradient(*allocateVectorValues(isam)); +// gradientAtZero(jfg, expectedGradient); +// // Compare with actual gradients +// int variablePosition = 0; +// for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { +// const int dim = clique->conditional()->dim(jit); +// Vector actual = clique->gradientContribution().segment(variablePosition, dim); +// EXPECT(assert_equal(expectedGradient[*jit], actual)); +// variablePosition += dim; +// } +// LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); +// } +// +// // Check gradient +// VectorValues expectedGradient(*allocateVectorValues(isam)); +// gradientAtZero(FactorGraph(isam), expectedGradient); +// VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); +// VectorValues actualGradient(*allocateVectorValues(isam)); +// gradientAtZero(isam, actualGradient); +// EXPECT(assert_equal(expectedGradient2, expectedGradient)); +// EXPECT(assert_equal(expectedGradient, actualGradient)); +//} + /* ************************************************************************* */ TEST_UNSAFE(ISAM2, swapFactors) { From ad53c20b0dc38e8f97ec8e07f3707ce2772527a3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 19:18:02 +0000 Subject: [PATCH 516/914] Added dims() and swap() functions to VectorValues --- gtsam/linear/VectorValues.cpp | 14 ++++++++++++++ gtsam/linear/VectorValues.h | 8 ++++++++ 2 files changed, 22 insertions(+) diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 15925c644..fd7f2757c 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -45,6 +45,14 @@ VectorValues VectorValues::Zero(const VectorValues& x) { return cloned; } +/* ************************************************************************* */ +vector VectorValues::dims() const { + std::vector result(this->size()); + for(Index j = 0; j < this->size(); ++j) + result[j] = this->dim(j); + return result; +} + /* ************************************************************************* */ void VectorValues::insert(Index j, const Vector& value) { // Make sure j does not already exist @@ -188,4 +196,10 @@ VectorValues VectorValues::permute(const Permutation& permutation) const { return lhs; } +/* ************************************************************************* */ +void VectorValues::swap(VectorValues& other) { + this->values_.swap(other.values_); + this->maps_.swap(other.maps_); +} + } \ No newline at end of file diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 463080db9..aa9c1aa6d 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -134,6 +134,9 @@ namespace gtsam { /** Return the summed dimensionality of all variables. */ size_t dim() const { return values_.rows(); } + /** Return the dimension of each vector in this container */ + std::vector dims() const; + /** Check whether a variable with index \c j exists. */ bool exists(Index j) const { return j < size() && maps_[j].rows() > 0; } @@ -296,6 +299,11 @@ namespace gtsam { */ VectorValues permute(const Permutation& permutation) const; + /** + * Swap the data in this VectorValues with another. + */ + void swap(VectorValues& other); + /// @} private: From ac2d4f9fa0c5dd6bf0c76ff355df823e72295391 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 19:18:11 +0000 Subject: [PATCH 517/914] Added removeUnusedAtEnd function to VariableIndex and added notes to comments --- gtsam/inference/VariableIndex.cpp | 11 +++++++++++ gtsam/inference/VariableIndex.h | 15 +++++++++++++++ gtsam/inference/tests/testVariableIndex.cpp | 4 +++- 3 files changed, 29 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp index a29d5e432..4e5eb8649 100644 --- a/gtsam/inference/VariableIndex.cpp +++ b/gtsam/inference/VariableIndex.cpp @@ -76,4 +76,15 @@ void VariableIndex::permuteInPlace(const Permutation& permutation) { index_.swap(newIndex); } +/* ************************************************************************* */ +void VariableIndex::removeUnusedAtEnd(size_t nToRemove) { +#ifndef NDEBUG + for(size_t i = this->size() - nToRemove; i < this->size(); ++i) + if(!(*this)[i].empty()) + throw std::invalid_argument("Attempting to remove non-empty variables with VariableIndex::removeUnusedAtEnd()"); +#endif + + index_.resize(this->size() - nToRemove); +} + } diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index be47cbd5a..739067dd2 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -119,6 +119,11 @@ public: /** * Remove entries corresponding to the specified factors. + * NOTE: We intentionally do not decrement nFactors_ because the factor + * indices need to remain consistent. Removing factors from a factor graph + * does not shift the indices of other factors. Also, we keep nFactors_ + * one greater than the highest-numbered factor referenced in a VariableIndex. + * * @param indices The indices of the factors to remove, which must match \c factors * @param factors The factors being removed, which must symbolically correspond * exactly to the factors with the specified \c indices that were added. @@ -128,6 +133,12 @@ public: /// Permute the variables in the VariableIndex according to the given permutation void permuteInPlace(const Permutation& permutation); + /** Remove unused empty variables at the end of the ordering (in debug mode + * verifies they are empty). + * @param nToRemove The number of unused variables at the end to remove + */ + void removeUnusedAtEnd(size_t nToRemove); + protected: Factor_iterator factorsBegin(Index variable) { checkVar(variable); return index_[variable].begin(); } /// void VariableIndex::remove(const CONTAINER& indices, const FactorGraph& factors) { + // NOTE: We intentionally do not decrement nFactors_ because the factor + // indices need to remain consistent. Removing factors from a factor graph + // does not shift the indices of other factors. Also, we keep nFactors_ + // one greater than the highest-numbered factor referenced in a VariableIndex. for(size_t fi=0; fikeys().size(); ++ji) { diff --git a/gtsam/inference/tests/testVariableIndex.cpp b/gtsam/inference/tests/testVariableIndex.cpp index 7c8e6fa9e..412b3fa04 100644 --- a/gtsam/inference/tests/testVariableIndex.cpp +++ b/gtsam/inference/tests/testVariableIndex.cpp @@ -44,7 +44,9 @@ TEST(VariableIndex, augment) { VariableIndex actual(fg1); actual.augment(fg2); - CHECK(assert_equal(expected, actual)); + LONGS_EQUAL(16, actual.nEntries()); + LONGS_EQUAL(8, actual.nFactors()); + EXPECT(assert_equal(expected, actual)); } /* ************************************************************************* */ From 719e0f48a91b415b6338a79138eac0d4cd22f76f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 19:18:19 +0000 Subject: [PATCH 518/914] Added Permutation::applyToCollection and corrected a comment --- gtsam/inference/Permutation.h | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 3a5b9b0da..39c4447d2 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -133,8 +133,8 @@ public: static Permutation PullToFront(const std::vector& toFront, size_t size, bool filterDuplicates = false); /** - * Create a permutation that pulls the given variables to the front while - * pushing the rest to the back. + * Create a permutation that pushes the given variables to the back while + * pulling the rest to the front. */ static Permutation PushToBack(const std::vector& toBack, size_t size, bool filterDuplicates = false); @@ -154,6 +154,17 @@ public: const_iterator begin() const { return rangeIndices_.begin(); } ///< Iterate through the indices const_iterator end() const { return rangeIndices_.end(); } ///< Iterate through the indices + /** Apply the permutation to a collection, which must have operator[] defined. + * Note that permutable gtsam data structures typically have their own + * permute function to apply a permutation. Permutation::applyToCollection is + * a generic function, e.g. for STL classes. + * @param input The input collection. + * @param output The preallocated output collection, which is assigned output[i] = input[permutation[i]] + */ + template + void applyToCollection(OUTPUT_COLLECTION& output, const INPUT_COLLECTION& input) const { + for(size_t i = 0; i < output.size(); ++i) output[i] = input[(*this)[i]]; } + /// @} /// @name Advanced Interface From f8b559772f538cb3dee5cca62a62d1d41d3dc6a2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 19:18:27 +0000 Subject: [PATCH 519/914] Fixed unused variable warning in CppUnitLite --- CppUnitLite/Test.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h index 22566131e..89d96f463 100644 --- a/CppUnitLite/Test.h +++ b/CppUnitLite/Test.h @@ -110,7 +110,7 @@ protected: { try { condition; \ result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Didn't throw: ") + StringFrom(#condition))); \ return; } \ - catch (exception_name& e) {} \ + catch (exception_name&) {} \ catch (...) { \ result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Wrong exception: ") + StringFrom(#condition) + StringFrom(", expected: ") + StringFrom(#exception_name))); \ return; } } From b33713a02ed774c31a0b0228dc92831193a286c7 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 30 Jun 2012 20:04:12 +0000 Subject: [PATCH 520/914] Merge branch 'master' into new_wrap_local Conflicts: .cproject gtsam.h --- .cproject | 8 ++ gtsam.h | 2 +- gtsam/discrete/DecisionTreeFactor.cpp | 7 +- gtsam/discrete/DecisionTreeFactor.h | 3 +- gtsam/discrete/Potentials.cpp | 5 +- gtsam/discrete/Potentials.h | 3 +- gtsam/geometry/SimpleCamera.cpp | 49 ++++++++ gtsam/geometry/SimpleCamera.h | 5 + gtsam/geometry/tests/testCal3_S2.cpp | 4 +- .../tests/testSerializationGeometry.cpp | 41 ++----- gtsam/geometry/tests/testSimpleCamera.cpp | 20 ++++ gtsam/geometry/tests/testStereoCamera.cpp | 10 +- gtsam/inference/Permutation.h | 83 +------------ gtsam/inference/SymbolicFactorGraph.cpp | 4 +- gtsam/inference/VariableIndex.cpp | 52 +++----- gtsam/inference/VariableIndex.h | 50 +++----- gtsam/inference/tests/testISAM.cpp | 2 +- gtsam/linear/GaussianConditional.cpp | 36 ++---- gtsam/linear/GaussianConditional.h | 17 --- gtsam/linear/JacobianFactor.h | 2 +- gtsam/linear/NoiseModel.h | 2 + gtsam/linear/VectorValues.cpp | 40 ++++--- gtsam/linear/VectorValues.h | 13 +- .../linear/tests/testGaussianConditional.cpp | 49 -------- .../linear/tests/testGaussianJunctionTree.cpp | 2 +- .../linear/tests/testSerializationLinear.cpp | 10 +- gtsam/linear/tests/testVectorValues.cpp | 59 +++------- gtsam/nonlinear/ISAM2-impl.cpp | 67 ++++------- gtsam/nonlinear/ISAM2-impl.h | 18 +-- gtsam/nonlinear/ISAM2-inl.h | 4 +- gtsam/nonlinear/ISAM2.cpp | 30 ++--- gtsam/nonlinear/ISAM2.h | 34 ++---- gtsam/nonlinear/Values.cpp | 2 +- .../tests/testSerializationNonlinear.cpp | 12 +- gtsam/slam/tests/testStereoFactor.cpp | 8 +- gtsam_unstable/discrete/AllDiff.cpp | 5 +- gtsam_unstable/discrete/AllDiff.h | 3 +- gtsam_unstable/discrete/BinaryAllDiff.h | 7 +- gtsam_unstable/discrete/Domain.cpp | 7 +- gtsam_unstable/discrete/Domain.h | 3 +- gtsam_unstable/discrete/SingleValue.cpp | 5 +- gtsam_unstable/discrete/SingleValue.h | 3 +- .../discrete/tests/testScheduler.cpp | 2 +- tests/testGaussianISAM.cpp | 4 +- tests/testGaussianISAM2.cpp | 111 ++++++------------ tests/testGaussianJunctionTreeB.cpp | 10 +- tests/testNonlinearEquality.cpp | 14 +-- tests/testSerializationSLAM.cpp | 8 +- wrap/CMakeLists.txt | 3 +- 49 files changed, 367 insertions(+), 571 deletions(-) create mode 100644 gtsam/geometry/SimpleCamera.cpp diff --git a/.cproject b/.cproject index f52a49e73..075558734 100644 --- a/.cproject +++ b/.cproject @@ -1484,6 +1484,14 @@ true true + + make + -j5 + testSimpleCamera.run + true + true + true + make -j2 diff --git a/gtsam.h b/gtsam.h index 755402554..8b569a91e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -671,7 +671,7 @@ class VariableIndex { size_t size() const; size_t nFactors() const; size_t nEntries() const; - void permute(const gtsam::Permutation& permutation); + void permuteInPlace(const gtsam::Permutation& permutation); };*/ //************************************************************************* diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp index 7f566a115..bb83cec16 100644 --- a/gtsam/discrete/DecisionTreeFactor.cpp +++ b/gtsam/discrete/DecisionTreeFactor.cpp @@ -49,10 +49,11 @@ namespace gtsam { } /* ************************************************************************* */ - void DecisionTreeFactor::print(const string& s) const { + void DecisionTreeFactor::print(const string& s, + const IndexFormatter& formatter) const { cout << s; - IndexFactor::print("IndexFactor:"); - Potentials::print("Potentials:"); + IndexFactor::print("IndexFactor:",formatter); + Potentials::print("Potentials:",formatter); } /* ************************************************************************* */ diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h index 89bc090dc..64f37c174 100644 --- a/gtsam/discrete/DecisionTreeFactor.h +++ b/gtsam/discrete/DecisionTreeFactor.h @@ -72,7 +72,8 @@ namespace gtsam { bool equals(const DecisionTreeFactor& other, double tol = 1e-9) const; // print - void print(const std::string& s = "DecisionTreeFactor:\n") const; + virtual void print(const std::string& s = "DecisionTreeFactor:\n", + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// @} /// @name Standard Interface diff --git a/gtsam/discrete/Potentials.cpp b/gtsam/discrete/Potentials.cpp index b9a87dea9..2a2260d97 100644 --- a/gtsam/discrete/Potentials.cpp +++ b/gtsam/discrete/Potentials.cpp @@ -51,10 +51,11 @@ namespace gtsam { } /* ************************************************************************* */ - void Potentials::print(const string&s) const { + void Potentials::print(const string& s, + const IndexFormatter& formatter) const { cout << s << "\n Cardinalities: "; BOOST_FOREACH(const DiscreteKey& key, cardinalities_) - cout << key.first << "=" << key.second << " "; + cout << formatter(key.first) << "=" << formatter(key.second) << " "; cout << endl; ADT::print(" "); } diff --git a/gtsam/discrete/Potentials.h b/gtsam/discrete/Potentials.h index 367a323c2..3ca222b5f 100644 --- a/gtsam/discrete/Potentials.h +++ b/gtsam/discrete/Potentials.h @@ -65,7 +65,8 @@ namespace gtsam { // Testable bool equals(const Potentials& other, double tol = 1e-9) const; - void print(const std::string& s = "Potentials: ") const; + void print(const std::string& s = "Potentials: ", + const IndexFormatter& formatter = DefaultIndexFormatter) const; size_t cardinality(Index j) const { return cardinalities_.at(j);} diff --git a/gtsam/geometry/SimpleCamera.cpp b/gtsam/geometry/SimpleCamera.cpp new file mode 100644 index 000000000..d441716cb --- /dev/null +++ b/gtsam/geometry/SimpleCamera.cpp @@ -0,0 +1,49 @@ +/* ---------------------------------------------------------------------------- + + * 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 SimpleCamera.cpp + * @brief A simple camera class with a Cal3_S2 calibration + * @date June 30, 2012 + * @author Frank Dellaert + */ + +#include +#include + +namespace gtsam { + + SimpleCamera simpleCamera(const Matrix& P) { + + // P = [A|a] = s K cRw [I|-T], with s the unknown scale + Matrix A = P.topLeftCorner(3, 3); + Vector a = P.col(3); + + // do RQ decomposition to get s*K and cRw angles + Matrix sK; + Vector xyz; + boost::tie(sK, xyz) = RQ(A); + + // Recover scale factor s and K + double s = sK(2, 2); + Matrix K = sK / s; + + // Recover cRw itself, and its inverse + Rot3 cRw = Rot3::RzRyRx(xyz); + Rot3 wRc = cRw.inverse(); + + // Now, recover T from a = - s K cRw T = - A T + Vector T = -(A.inverse() * a); + return SimpleCamera(Pose3(wRc, T), + Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2))); + } + +} diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h index d3b0cdbdc..abe42f1a0 100644 --- a/gtsam/geometry/SimpleCamera.h +++ b/gtsam/geometry/SimpleCamera.h @@ -22,5 +22,10 @@ #include namespace gtsam { + + /// A simple camera class with a Cal3_S2 calibration typedef PinholeCamera SimpleCamera; + + /// Recover camera from 3*4 camera matrix + SimpleCamera simpleCamera(const Matrix& P); } diff --git a/gtsam/geometry/tests/testCal3_S2.cpp b/gtsam/geometry/tests/testCal3_S2.cpp index fd82557a3..8995a3a14 100644 --- a/gtsam/geometry/tests/testCal3_S2.cpp +++ b/gtsam/geometry/tests/testCal3_S2.cpp @@ -24,8 +24,8 @@ using namespace gtsam; GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2) GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2) -Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); -Point2 p(1, -2); +static Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); +static Point2 p(1, -2); /* ************************************************************************* */ TEST( Cal3_S2, easy_constructor) diff --git a/gtsam/geometry/tests/testSerializationGeometry.cpp b/gtsam/geometry/tests/testSerializationGeometry.cpp index c1fba6b2c..17a0b1eca 100644 --- a/gtsam/geometry/tests/testSerializationGeometry.cpp +++ b/gtsam/geometry/tests/testSerializationGeometry.cpp @@ -36,37 +36,20 @@ using namespace gtsam; using namespace gtsam::serializationTestHelpers; /* ************************************************************************* */ -// Export all classes derived from Value -BOOST_CLASS_EXPORT(gtsam::Cal3_S2) -BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo) -BOOST_CLASS_EXPORT(gtsam::Cal3Bundler) -BOOST_CLASS_EXPORT(gtsam::CalibratedCamera) -BOOST_CLASS_EXPORT(gtsam::Point2) -BOOST_CLASS_EXPORT(gtsam::Point3) -BOOST_CLASS_EXPORT(gtsam::Pose2) -BOOST_CLASS_EXPORT(gtsam::Pose3) -BOOST_CLASS_EXPORT(gtsam::Rot2) -BOOST_CLASS_EXPORT(gtsam::Rot3) -BOOST_CLASS_EXPORT(gtsam::PinholeCamera) -BOOST_CLASS_EXPORT(gtsam::PinholeCamera) -BOOST_CLASS_EXPORT(gtsam::PinholeCamera) -BOOST_CLASS_EXPORT(gtsam::StereoPoint2) +static Point3 pt3(1.0, 2.0, 3.0); +static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); +static Pose3 pose3(rt3, pt3); -/* ************************************************************************* */ -Point3 pt3(1.0, 2.0, 3.0); -Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -Pose3 pose3(rt3, pt3); +static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); +static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); +static Cal3Bundler cal3(1.0, 2.0, 3.0); +static Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0); +static Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4)); +static CalibratedCamera cal5(Pose3(rt3, pt3)); -Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); -Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); -Cal3Bundler cal3(1.0, 2.0, 3.0); -Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0); -Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4)); -CalibratedCamera cal5(Pose3(rt3, pt3)); - -PinholeCamera cam1(pose3, cal1); -StereoCamera cam2(pose3, cal4ptr); -StereoPoint2 spt(1.0, 2.0, 3.0); +static PinholeCamera cam1(pose3, cal1); +static StereoCamera cam2(pose3, cal4ptr); +static StereoPoint2 spt(1.0, 2.0, 3.0); /* ************************************************************************* */ TEST (Serialization, text_geometry) { diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp index 6cc00de8a..a1647fa47 100644 --- a/gtsam/geometry/tests/testSimpleCamera.cpp +++ b/gtsam/geometry/tests/testSimpleCamera.cpp @@ -133,6 +133,26 @@ TEST( SimpleCamera, Dproject_point_pose) CHECK(assert_equal(Dpoint, numerical_point,1e-7)); } +/* ************************************************************************* */ +TEST( SimpleCamera, simpleCamera) +{ + Cal3_S2 K(468.2,427.2,91.2,300,200); + Rot3 R( + 0.41380,0.90915,0.04708, + -0.57338,0.22011,0.78917, + 0.70711,-0.35355,0.61237); + Point3 T(1000,2000,1500); + SimpleCamera expected(Pose3(R.inverse(),T),K); + // H&Z example, 2nd edition, page 163 + Matrix P = Matrix_(3,4, + 3.53553e2, 3.39645e2, 2.77744e2, -1.44946e6, + -1.03528e2, 2.33212e1, 4.59607e2, -6.32525e5, + 7.07107e-1, -3.53553e-1,6.12372e-1, -9.18559e2); + SimpleCamera actual = simpleCamera(P); + // Note precision of numbers given in book + CHECK(assert_equal(expected, actual,1e-1)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/geometry/tests/testStereoCamera.cpp b/gtsam/geometry/tests/testStereoCamera.cpp index 2446ff122..29a8344d4 100644 --- a/gtsam/geometry/tests/testStereoCamera.cpp +++ b/gtsam/geometry/tests/testStereoCamera.cpp @@ -74,21 +74,21 @@ TEST( StereoCamera, project) /* ************************************************************************* */ -Pose3 camera1(Matrix_(3,3, +static Pose3 camera1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,6.25)); -Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); -StereoCamera stereoCam(Pose3(), K); +static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); +static StereoCamera stereoCam(Pose3(), K); // point X Y Z in meters -Point3 p(0, 0, 5); +static Point3 p(0, 0, 5); /* ************************************************************************* */ -StereoPoint2 project_(const StereoCamera& cam, const Point3& point) { return cam.project(point); } +static StereoPoint2 project_(const StereoCamera& cam, const Point3& point) { return cam.project(point); } TEST( StereoCamera, Dproject_stereo_pose) { Matrix expected = numericalDerivative21(project_,stereoCam, p); diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 0aa322e87..3a5b9b0da 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -26,7 +26,7 @@ namespace gtsam { -/** + /** * A permutation reorders variables, for example to reduce fill-in during * elimination. To save computation, the permutation can be applied to * the necessary data structures only once, then multiple computations @@ -151,8 +151,8 @@ public: */ Permutation::shared_ptr inverse() const; - const_iterator begin() const { return rangeIndices_.begin(); } /// permuted(permutation, container); - * permuted[index1]; - * permuted[index2]; - * which is equivalent to: - * container[permutation[index1]]; - * container[permutation[index2]]; - * but more concise. - */ -template -class Permuted { - Permutation permutation_; - CONTAINER& container_; -public: - typedef typename CONTAINER::iterator::value_type value_type; - - /** Construct as a permuted view on the Container. The permutation is copied - * but only a reference to the container is stored. - */ - Permuted(const Permutation& permutation, CONTAINER& container) : permutation_(permutation), container_(container) {} - - /** Construct as a view on the Container with an identity permutation. Only - * a reference to the container is stored. - */ - Permuted(CONTAINER& container) : permutation_(Permutation::Identity(container.size())), container_(container) {} - - /** Print */ - void print(const std::string& str = "") const { - std::cout << str; - permutation_.print(" permutation: "); - container_.print(" container: "); - } - - /** Access the container through the permutation */ - value_type& operator[](size_t index) { return container_[permutation_[index]]; } - - /** Access the container through the permutation (const version) */ - const value_type& operator[](size_t index) const { return container_[permutation_[index]]; } - - /** Assignment operator for cloning in ISAM2 */ - Permuted operator=(const Permuted& other) { - permutation_ = other.permutation_; - container_ = other.container_; - return *this; - } - - /** Permute this view by applying a permutation to the underlying permutation */ - void permute(const Permutation& permutation) { assert(permutation.size() == this->size()); permutation_ = *permutation_.permute(permutation); } - - /** Access the underlying container */ - CONTAINER* operator->() { return &container_; } - - /** Access the underlying container (const version) */ - const CONTAINER* operator->() const { return &container_; } - - /** Size of the underlying container */ - size_t size() const { return container_.size(); } - - /** Access to the underlying container */ - CONTAINER& container() { return container_; } - - /** Access to the underlying container (const version) */ - const CONTAINER& container() const { return container_; } - - /** Access the underlying permutation */ - Permutation& permutation() { return permutation_; } - const Permutation& permutation() const { return permutation_; } -}; - - } diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index b58a69b6d..00f3439a0 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -85,8 +85,8 @@ namespace gtsam { "IndexFactor::CombineAndEliminate called on factors with no variables."); vector newKeys(keys.begin(), keys.end()); - return make_pair(new IndexConditional(newKeys, nrFrontals), - new IndexFactor(newKeys.begin() + nrFrontals, newKeys.end())); + return make_pair(boost::make_shared(newKeys, nrFrontals), + boost::make_shared(newKeys.begin() + nrFrontals, newKeys.end())); } /* ************************************************************************* */ diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp index c7ef90e9f..a29d5e432 100644 --- a/gtsam/inference/VariableIndex.cpp +++ b/gtsam/inference/VariableIndex.cpp @@ -18,37 +18,12 @@ #include #include +#include namespace gtsam { using namespace std; -/* ************************************************************************* */ -VariableIndex::VariableIndex(const VariableIndex& other) : - index_(indexUnpermuted_) { - *this = other; -} - -/* ************************************************************************* */ -VariableIndex& VariableIndex::operator=(const VariableIndex& rhs) { - index_ = rhs.index_; - nFactors_ = rhs.nFactors_; - nEntries_ = rhs.nEntries_; - return *this; -} - -/* ************************************************************************* */ -void VariableIndex::permute(const Permutation& permutation) { -#ifndef NDEBUG - // Assert that the permutation does not leave behind any non-empty variables, - // otherwise the nFactors and nEntries counts would be incorrect. - for(Index j=0; jindex_.size(); ++j) - if(find(permutation.begin(), permutation.end(), j) == permutation.end()) - assert(this->operator[](j).empty()); -#endif - index_.permute(permutation); -} - /* ************************************************************************* */ bool VariableIndex::equals(const VariableIndex& other, double tol) const { if(this->nEntries_ == other.nEntries_ && this->nFactors_ == other.nFactors_) { @@ -66,17 +41,13 @@ bool VariableIndex::equals(const VariableIndex& other, double tol) const { /* ************************************************************************* */ void VariableIndex::print(const string& str) const { - cout << str << "\n"; + cout << str; cout << "nEntries = " << nEntries() << ", nFactors = " << nFactors() << "\n"; - Index var = 0; - BOOST_FOREACH(const Factors& variable, index_.container()) { - Permutation::const_iterator rvar = find(index_.permutation().begin(), index_.permutation().end(), var); - assert(rvar != index_.permutation().end()); - cout << "var " << (rvar-index_.permutation().begin()) << ":"; - BOOST_FOREACH(const size_t factor, variable) + for(Index var = 0; var < size(); ++var) { + cout << "var " << var << ":"; + BOOST_FOREACH(const size_t factor, index_[var]) cout << " " << factor; cout << "\n"; - ++ var; } cout << flush; } @@ -85,7 +56,7 @@ void VariableIndex::print(const string& str) const { void VariableIndex::outputMetisFormat(ostream& os) const { os << size() << " " << nFactors() << "\n"; // run over variables, which will be hyper-edges. - BOOST_FOREACH(const Factors& variable, index_.container()) { + BOOST_FOREACH(const Factors& variable, index_) { // every variable is a hyper-edge covering its factors BOOST_FOREACH(const size_t factor, variable) os << (factor+1) << " "; // base 1 @@ -94,4 +65,15 @@ void VariableIndex::outputMetisFormat(ostream& os) const { os << flush; } +/* ************************************************************************* */ +void VariableIndex::permuteInPlace(const Permutation& permutation) { + // Create new index and move references to data into it in permuted order + vector newIndex(this->size()); + for(Index i = 0; i < newIndex.size(); ++i) + newIndex[i].swap(this->index_[permutation[i]]); + + // Move reference to entire index into the VariableIndex + index_.swap(newIndex); +} + } diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index c9efc6b22..be47cbd5a 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -22,10 +22,12 @@ #include #include -#include +#include namespace gtsam { + class Permutation; + /** * The VariableIndex class computes and stores the block column structure of a * factor graph. The factor graph stores a collection of factors, each of @@ -44,8 +46,7 @@ public: typedef Factors::const_iterator Factor_const_iterator; protected: - std::vector indexUnpermuted_; - Permuted > index_; // Permuted view of indexUnpermuted. + std::vector index_; size_t nFactors_; // Number of factors in the original factor graph. size_t nEntries_; // Sum of involved variable counts of each factor. @@ -55,7 +56,7 @@ public: /// @{ /** Default constructor, creates an empty VariableIndex */ - VariableIndex() : index_(indexUnpermuted_), nFactors_(0), nEntries_(0) {} + VariableIndex() : nFactors_(0), nEntries_(0) {} /** * Create a VariableIndex that computes and stores the block column structure @@ -70,16 +71,6 @@ public: */ template VariableIndex(const FactorGraph& factorGraph); - /** - * Copy constructor - */ - VariableIndex(const VariableIndex& other); - - /** - * Assignment operator - */ - VariableIndex& operator=(const VariableIndex& rhs); - /// @} /// @name Standard Interface /// @{ @@ -120,9 +111,6 @@ public: /// @name Advanced Interface /// @{ - /** Access a list of factors by variable */ - Factors& operator[](Index variable) { checkVar(variable); return index_[variable]; } - /** * Augment the variable index with new factors. This can be used when * solving problems incrementally. @@ -137,11 +125,8 @@ public: */ template void remove(const CONTAINER& indices, const FactorGraph& factors); - /** - * Apply a variable permutation. Does not rearrange data, just permutes - * future lookups by variable. - */ - void permute(const Permutation& permutation); + /// Permute the variables in the VariableIndex according to the given permutation + void permuteInPlace(const Permutation& permutation); protected: Factor_iterator factorsBegin(Index variable) { checkVar(variable); return index_[variable].begin(); } /// void fill(const FactorGraph& factorGraph); /// @} @@ -183,7 +168,7 @@ void VariableIndex::fill(const FactorGraph& factorGraph) { /* ************************************************************************* */ template VariableIndex::VariableIndex(const FactorGraph& factorGraph) : - index_(indexUnpermuted_), nFactors_(0), nEntries_(0) { + nFactors_(0), nEntries_(0) { // If the factor graph is empty, return an empty index because inside this // if block we assume at least one factor. @@ -200,8 +185,7 @@ VariableIndex::VariableIndex(const FactorGraph& factorGraph) : } // Allocate array - index_.container().resize(maxVar+1); - index_.permutation() = Permutation::Identity(maxVar+1); + index_.resize(maxVar+1); fill(factorGraph); } @@ -210,7 +194,7 @@ VariableIndex::VariableIndex(const FactorGraph& factorGraph) : /* ************************************************************************* */ template VariableIndex::VariableIndex(const FactorGraph& factorGraph, Index nVariables) : - indexUnpermuted_(nVariables), index_(indexUnpermuted_), nFactors_(0), nEntries_(0) { + index_(nVariables), nFactors_(0), nEntries_(0) { fill(factorGraph); } @@ -232,11 +216,7 @@ void VariableIndex::augment(const FactorGraph& factors) { } // Allocate index - Index originalSize = index_.size(); - index_.container().resize(std::max(index_.size(), maxVar+1)); - index_.permutation().resize(index_.container().size()); - for(Index var=originalSize; var SymbolicISAM; /* ************************************************************************* */ // Some numbers that should be consistent among all smoother tests -double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = +static double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp index 40d40a3a7..e167d8ad8 100644 --- a/gtsam/linear/GaussianConditional.cpp +++ b/gtsam/linear/GaussianConditional.cpp @@ -182,34 +182,18 @@ JacobianFactor::shared_ptr GaussianConditional::toFactor() const { return JacobianFactor::shared_ptr(new JacobianFactor(*this)); } -/* ************************************************************************* */ -template -inline static void doSolveInPlace(const GaussianConditional& conditional, VALUES& x) { - - // Helper function to solve-in-place on a VectorValues or Permuted, - // called by GaussianConditional::solveInPlace(VectorValues&) and by - // GaussianConditional::solveInPlace(Permuted&). - - static const bool debug = false; - if(debug) conditional.print("Solving conditional in place"); - Vector xS = internal::extractVectorValuesSlices(x, conditional.beginParents(), conditional.endParents()); - xS = conditional.get_d() - conditional.get_S() * xS; - Vector soln = conditional.get_R().triangularView().solve(xS); - if(debug) { - gtsam::print(Matrix(conditional.get_R()), "Calling backSubstituteUpper on "); - gtsam::print(soln, "full back-substitution solution: "); - } - internal::writeVectorValuesSlices(soln, x, conditional.beginFrontals(), conditional.endFrontals()); -} - /* ************************************************************************* */ void GaussianConditional::solveInPlace(VectorValues& x) const { - doSolveInPlace(*this, x); // Call helper version above -} - -/* ************************************************************************* */ -void GaussianConditional::solveInPlace(Permuted& x) const { - doSolveInPlace(*this, x); // Call helper version above + static const bool debug = false; + if(debug) this->print("Solving conditional in place"); + Vector xS = internal::extractVectorValuesSlices(x, this->beginParents(), this->endParents()); + xS = this->get_d() - this->get_S() * xS; + Vector soln = this->get_R().triangularView().solve(xS); + if(debug) { + gtsam::print(Matrix(this->get_R()), "Calling backSubstituteUpper on "); + gtsam::print(soln, "full back-substitution solution: "); + } + internal::writeVectorValuesSlices(soln, x, this->beginFrontals(), this->endFrontals()); } /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 5b7801156..cde4f266f 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -196,23 +196,6 @@ public: */ void solveInPlace(VectorValues& x) const; - /** - * Solves a conditional Gaussian and writes the solution into the entries of - * \c x for each frontal variable of the conditional (version for permuted - * VectorValues). The parents are assumed to have already been solved in - * and their values are read from \c x. This function works for multiple - * frontal variables. - * - * Given the Gaussian conditional with log likelihood \f$ |R x_f - (d - S x_s)|^2, - * where \f$ f \f$ are the frontal variables and \f$ s \f$ are the separator - * variables of this conditional, this solve function computes - * \f$ x_f = R^{-1} (d - S x_s) \f$ using back-substitution. - * - * @param x VectorValues structure with solved parents \f$ x_s \f$, and into which the - * solution \f$ x_f \f$ will be written. - */ - void solveInPlace(Permuted& x) const; - // functions for transpose backsubstitution /** diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 660eb25f7..c5f726252 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -84,7 +84,7 @@ namespace gtsam { protected: - SharedDiagonal model_; // Gaussian noise model with diagonal covariance matrix + noiseModel::Diagonal::shared_ptr model_; // Gaussian noise model with diagonal covariance matrix std::vector firstNonzeroBlocks_; AbMatrix matrix_; // the full matrix corresponding to the factor BlockAb Ab_; // the block view of the full matrix diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 9d39b5674..01799148a 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -19,6 +19,8 @@ #pragma once #include +#include +#include #include #include diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 1413d1517..15925c644 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -17,10 +17,12 @@ */ #include +#include #include using namespace std; -using namespace gtsam; + +namespace gtsam { /* ************************************************************************* */ VectorValues::VectorValues(const VectorValues& other) { @@ -166,20 +168,24 @@ void VectorValues::operator+=(const VectorValues& c) { } /* ************************************************************************* */ -VectorValues& VectorValues::operator=(const Permuted& rhs) { - if(this->size() != rhs.size()) - throw std::invalid_argument("VectorValues assignment from Permuted requires pre-allocation, see documentation."); - for(size_t j=0; jsize(); ++j) { - if(exists(j)) { - SubVector& l(this->at(j)); - const SubVector& r(rhs[j]); - if(l.rows() != r.rows()) - throw std::invalid_argument("VectorValues assignment from Permuted requires pre-allocation, see documentation."); - l = r; - } else { - if(rhs.container().exists(rhs.permutation()[j])) - throw std::invalid_argument("VectorValues assignment from Permuted requires pre-allocation, see documentation."); - } - } - return *this; +VectorValues VectorValues::permute(const Permutation& permutation) const { + // Create result and allocate space + VectorValues lhs; + lhs.values_.resize(this->dim()); + lhs.maps_.reserve(this->size()); + + // Copy values from this VectorValues to the permuted VectorValues + size_t lhsPos = 0; + for(size_t i = 0; i < this->size(); ++i) { + // Map the next LHS subvector to the next slice of the LHS vector + lhs.maps_.push_back(SubVector(lhs.values_, lhsPos, this->at(permutation[i]).size())); + // Copy the data from the RHS subvector to the LHS subvector + lhs.maps_[i] = this->at(permutation[i]); + // Increment lhs position + lhsPos += lhs.maps_[i].size(); + } + + return lhs; } + +} \ No newline at end of file diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 04c280577..463080db9 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -19,7 +19,6 @@ #include #include -#include #include #include @@ -29,6 +28,9 @@ namespace gtsam { + // Forward declarations + class Permutation; + /** * This class represents a collection of vector-valued variables associated * each with a unique integer index. It is typically used to store the variables @@ -288,10 +290,11 @@ namespace gtsam { */ void operator+=(const VectorValues& c); - /** Assignment operator from Permuted, requires the dimensions - * of the assignee to already be properly pre-allocated. - */ - VectorValues& operator=(const Permuted& rhs); + /** + * Permute the entries of this VectorValues, returns a new VectorValues as + * the result. + */ + VectorValues permute(const Permutation& permutation) const; /// @} diff --git a/gtsam/linear/tests/testGaussianConditional.cpp b/gtsam/linear/tests/testGaussianConditional.cpp index 93030b598..8b0c5e239 100644 --- a/gtsam/linear/tests/testGaussianConditional.cpp +++ b/gtsam/linear/tests/testGaussianConditional.cpp @@ -267,55 +267,6 @@ TEST( GaussianConditional, solve_multifrontal ) } -/* ************************************************************************* */ -TEST( GaussianConditional, solve_multifrontal_permuted ) -{ - // create full system, 3 variables, 2 frontals, all 2 dim - Matrix full_matrix = Matrix_(4, 7, - 1.0, 0.0, 2.0, 0.0, 3.0, 0.0, 0.1, - 0.0, 1.0, 0.0, 2.0, 0.0, 3.0, 0.2, - 0.0, 0.0, 3.0, 0.0, 4.0, 0.0, 0.3, - 0.0, 0.0, 0.0, 3.0, 0.0, 4.0, 0.4); - - // 3 variables, all dim=2 - vector dims; dims += 2, 2, 2, 1; - GaussianConditional::rsd_type matrices(full_matrix, dims.begin(), dims.end()); - Vector sigmas = ones(4); - vector cgdims; cgdims += _x_, _x1_, _l1_; - GaussianConditional cg(cgdims.begin(), cgdims.end(), 2, matrices, sigmas); - - EXPECT(assert_equal(Vector_(4, 0.1, 0.2, 0.3, 0.4), cg.get_d())); - - // partial solution - Vector sl1 = Vector_(2, 9.0, 10.0); - - // elimination order; _x_, _x1_, _l1_ - VectorValues actualUnpermuted(vector(3, 2)); - Permutation permutation(3); - permutation[0] = 2; - permutation[1] = 0; - permutation[2] = 1; - Permuted actual(permutation, actualUnpermuted); - actual[_x_] = Vector_(2, 0.1, 0.2); // rhs - actual[_x1_] = Vector_(2, 0.3, 0.4); // rhs - actual[_l1_] = sl1; // parent - - VectorValues expectedUnpermuted(vector(3, 2)); - Permuted expected(permutation, expectedUnpermuted); - expected[_x_] = Vector_(2, -3.1,-3.4); - expected[_x1_] = Vector_(2, -11.9,-13.2); - expected[_l1_] = sl1; - - // verify indices/size - EXPECT_LONGS_EQUAL(3, cg.size()); - EXPECT_LONGS_EQUAL(4, cg.dim()); - - // solve and verify - cg.solveInPlace(actual); - EXPECT(assert_equal(expected.container(), actual.container(), tol)); - -} - /* ************************************************************************* */ TEST( GaussianConditional, solveTranspose ) { static const Index _y_=1; diff --git a/gtsam/linear/tests/testGaussianJunctionTree.cpp b/gtsam/linear/tests/testGaussianJunctionTree.cpp index b49d7fff0..c4ddc360b 100644 --- a/gtsam/linear/tests/testGaussianJunctionTree.cpp +++ b/gtsam/linear/tests/testGaussianJunctionTree.cpp @@ -35,7 +35,7 @@ using namespace gtsam; static const Index x2=0, x1=1, x3=2, x4=3; -GaussianFactorGraph createChain() { +static GaussianFactorGraph createChain() { typedef GaussianFactorGraph::sharedFactor Factor; SharedDiagonal model = noiseModel::Isotropic::Sigma(1, 0.5); diff --git a/gtsam/linear/tests/testSerializationLinear.cpp b/gtsam/linear/tests/testSerializationLinear.cpp index a646773f2..e8a53c504 100644 --- a/gtsam/linear/tests/testSerializationLinear.cpp +++ b/gtsam/linear/tests/testSerializationLinear.cpp @@ -47,11 +47,11 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); /* ************************************************************************* */ // example noise models -noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); -noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3)); -noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2); -noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1)); -noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3); +static noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); +static noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3)); +static noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2); +static noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1)); +static noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3); /* ************************************************************************* */ TEST (Serialization, noiseModels) { diff --git a/gtsam/linear/tests/testVectorValues.cpp b/gtsam/linear/tests/testVectorValues.cpp index a92b81ddc..17230854a 100644 --- a/gtsam/linear/tests/testVectorValues.cpp +++ b/gtsam/linear/tests/testVectorValues.cpp @@ -421,52 +421,31 @@ TEST(VectorValues, hasSameStructure) { EXPECT(!v1.hasSameStructure(VectorValues())); } + /* ************************************************************************* */ -TEST(VectorValues, permuted_combined) { - Vector v1 = Vector_(3, 1.0,2.0,3.0); - Vector v2 = Vector_(2, 4.0,5.0); - Vector v3 = Vector_(4, 6.0,7.0,8.0,9.0); +TEST(VectorValues, permute) { - vector dims(3); dims[0]=3; dims[1]=2; dims[2]=4; - VectorValues combined(dims); - combined[0] = v1; - combined[1] = v2; - combined[2] = v3; + VectorValues original; + original.insert(0, Vector_(1, 1.0)); + original.insert(1, Vector_(2, 2.0, 3.0)); + original.insert(2, Vector_(2, 4.0, 5.0)); + original.insert(3, Vector_(2, 6.0, 7.0)); - Permutation perm1(3); - perm1[0] = 1; - perm1[1] = 2; - perm1[2] = 0; + VectorValues expected; + expected.insert(0, Vector_(2, 4.0, 5.0)); // from 2 + expected.insert(1, Vector_(1, 1.0)); // from 0 + expected.insert(2, Vector_(2, 6.0, 7.0)); // from 3 + expected.insert(3, Vector_(2, 2.0, 3.0)); // from 1 - Permutation perm2(3); - perm2[0] = 1; - perm2[1] = 2; - perm2[2] = 0; + Permutation permutation(4); + permutation[0] = 2; + permutation[1] = 0; + permutation[2] = 3; + permutation[3] = 1; - Permuted permuted1(combined); - CHECK(assert_equal(v1, permuted1[0])) - CHECK(assert_equal(v2, permuted1[1])) - CHECK(assert_equal(v3, permuted1[2])) + VectorValues actual = original.permute(permutation); - permuted1.permute(perm1); - CHECK(assert_equal(v1, permuted1[2])) - CHECK(assert_equal(v2, permuted1[0])) - CHECK(assert_equal(v3, permuted1[1])) - - permuted1.permute(perm2); - CHECK(assert_equal(v1, permuted1[1])) - CHECK(assert_equal(v2, permuted1[2])) - CHECK(assert_equal(v3, permuted1[0])) - - Permuted permuted2(perm1, combined); - CHECK(assert_equal(v1, permuted2[2])) - CHECK(assert_equal(v2, permuted2[0])) - CHECK(assert_equal(v3, permuted2[1])) - - permuted2.permute(perm2); - CHECK(assert_equal(v1, permuted2[1])) - CHECK(assert_equal(v2, permuted2[2])) - CHECK(assert_equal(v3, permuted2[0])) + EXPECT(assert_equal(expected, actual)); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 8b3bd4a0d..3c373e0ba 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -29,8 +29,8 @@ namespace gtsam { /* ************************************************************************* */ void ISAM2::Impl::AddVariables( - const Values& newTheta, Values& theta, Permuted& delta, - Permuted& deltaNewton, Permuted& deltaGradSearch, vector& replacedKeys, + const Values& newTheta, Values& theta, VectorValues& delta, + VectorValues& deltaNewton, VectorValues& deltaGradSearch, vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter) { const bool debug = ISDEBUG("ISAM2 AddVariables"); @@ -40,28 +40,21 @@ void ISAM2::Impl::AddVariables( std::vector dims(newTheta.dims(*newTheta.orderingArbitrary())); if(debug) cout << "New variables have total dimensionality " << accumulate(dims.begin(), dims.end(), 0) << endl; const size_t newDim = accumulate(dims.begin(), dims.end(), 0); - const size_t originalDim = delta->dim(); - const size_t originalnVars = delta->size(); - delta.container().append(dims); - delta.container().vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); - delta.permutation().resize(originalnVars + newTheta.size()); - deltaNewton.container().append(dims); - deltaNewton.container().vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); - deltaNewton.permutation().resize(originalnVars + newTheta.size()); - deltaGradSearch.container().append(dims); - deltaGradSearch.container().vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); - deltaGradSearch.permutation().resize(originalnVars + newTheta.size()); + const size_t originalDim = delta.dim(); + const size_t originalnVars = delta.size(); + delta.append(dims); + delta.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); + deltaNewton.append(dims); + deltaNewton.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); + deltaGradSearch.append(dims); + deltaGradSearch.vector().segment(originalDim, newDim).operator=(Vector::Zero(newDim)); { Index nextVar = originalnVars; BOOST_FOREACH(const Values::ConstKeyValuePair& key_value, newTheta) { - delta.permutation()[nextVar] = nextVar; - deltaNewton.permutation()[nextVar] = nextVar; - deltaGradSearch.permutation()[nextVar] = nextVar; ordering.insert(key_value.key, nextVar); if(debug) cout << "Adding variable " << keyFormatter(key_value.key) << " with order " << nextVar << endl; ++ nextVar; } - assert(delta.permutation().size() == delta.container().size()); assert(ordering.nVars() == delta.size()); assert(ordering.size() == delta.size()); } @@ -82,7 +75,7 @@ FastSet ISAM2::Impl::IndicesFromFactors(const Ordering& ordering, const N } /* ************************************************************************* */ -FastSet ISAM2::Impl::CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, +FastSet ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { FastSet relinKeys; @@ -110,7 +103,7 @@ FastSet ISAM2::Impl::CheckRelinearizationFull(const Permuted& relinKeys, double threshold, const Permuted& delta, const ISAM2Clique::shared_ptr& clique) { +void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double threshold, const VectorValues& delta, const ISAM2Clique::shared_ptr& clique) { // Check the current clique for relinearization bool relinearize = false; @@ -131,7 +124,7 @@ void CheckRelinearizationRecursiveDouble(FastSet& relinKeys, double thres } /* ************************************************************************* */ -void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, const Permuted& delta, const Ordering::InvertedMap& decoder, const ISAM2Clique::shared_ptr& clique) { +void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap& thresholds, const VectorValues& delta, const Ordering::InvertedMap& decoder, const ISAM2Clique::shared_ptr& clique) { // Check the current clique for relinearization bool relinearize = false; @@ -163,7 +156,7 @@ void CheckRelinearizationRecursiveMap(FastSet& relinKeys, const FastMap ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, +FastSet ISAM2::Impl::CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter) { FastSet relinKeys; @@ -201,13 +194,13 @@ void ISAM2::Impl::FindAll(ISAM2Clique::shared_ptr clique, FastSet& keys, } /* ************************************************************************* */ -void ISAM2::Impl::ExpmapMasked(Values& values, const Permuted& delta, const Ordering& ordering, - const vector& mask, boost::optional&> invalidateIfDebug, const KeyFormatter& keyFormatter) { +void ISAM2::Impl::ExpmapMasked(Values& values, const VectorValues& delta, const Ordering& ordering, + const vector& mask, boost::optional invalidateIfDebug, const KeyFormatter& keyFormatter) { // If debugging, invalidate if requested, otherwise do not invalidate. // Invalidating means setting expmapped entries to Inf, to trigger assertions // if we try to re-use them. #ifdef NDEBUG - invalidateIfDebug = boost::optional&>(); + invalidateIfDebug = boost::none; #endif assert(values.size() == ordering.nVars()); @@ -304,7 +297,7 @@ ISAM2::Impl::PartialSolve(GaussianFactorGraph& factors, toc(4,"ccolamd permutations"); tic(5,"permute affected variable index"); - affectedFactorsIndex.permute(*affectedColamd); + affectedFactorsIndex.permuteInPlace(*affectedColamd); toc(5,"permute affected variable index"); tic(6,"permute affected factors"); @@ -354,25 +347,13 @@ inline static void optimizeInPlace(const boost::shared_ptr& clique, } /* ************************************************************************* */ -size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, Permuted& delta, double wildfireThreshold) { +size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, VectorValues& delta, double wildfireThreshold) { size_t lastBacksubVariableCount; if (wildfireThreshold <= 0.0) { // Threshold is zero or less, so do a full recalculation - // Collect dimensions and allocate new VectorValues - vector dims(delta.size()); - for(size_t j=0; jdim(j); - VectorValues newDelta(dims); - - // Optimize full solution delta - internal::optimizeInPlace(root, newDelta); - - // Copy solution into delta - delta.permutation() = Permutation::Identity(delta.size()); - delta.container() = newDelta; - + internal::optimizeInPlace(root, delta); lastBacksubVariableCount = delta.size(); } else { @@ -380,8 +361,8 @@ size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std: lastBacksubVariableCount = optimizeWildfire(root, wildfireThreshold, replacedKeys, delta); // modifies delta_ #ifndef NDEBUG - for(size_t j=0; j)).all()); + for(size_t j=0; j)).all()); #endif } @@ -394,7 +375,7 @@ size_t ISAM2::Impl::UpdateDelta(const boost::shared_ptr& root, std: /* ************************************************************************* */ namespace internal { void updateDoglegDeltas(const boost::shared_ptr& clique, std::vector& replacedKeys, - const VectorValues& grad, Permuted& deltaNewton, Permuted& RgProd, size_t& varsUpdated) { + const VectorValues& grad, VectorValues& deltaNewton, VectorValues& RgProd, size_t& varsUpdated) { // Check if any frontal or separator keys were recalculated, if so, we need // update deltas and recurse to children, but if not, we do not need to @@ -433,7 +414,7 @@ void updateDoglegDeltas(const boost::shared_ptr& clique, std::vecto /* ************************************************************************* */ size_t ISAM2::Impl::UpdateDoglegDeltas(const ISAM2& isam, double wildfireThreshold, std::vector& replacedKeys, - Permuted& deltaNewton, Permuted& RgProd) { + VectorValues& deltaNewton, VectorValues& RgProd) { // Get gradient VectorValues grad = *allocateVectorValues(isam); diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index 0aafb3f35..fdb39d855 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -46,10 +46,10 @@ struct ISAM2::Impl { * @param nodes Current BayesTree::Nodes index to be augmented with slots for new variables * @param keyFormatter Formatter for printing nonlinear keys during debugging */ - static void AddVariables(const Values& newTheta, Values& theta, Permuted& delta, - Permuted& deltaNewton, Permuted& deltaGradSearch, std::vector& replacedKeys, + static void AddVariables(const Values& newTheta, Values& theta, VectorValues& delta, + VectorValues& deltaNewton, VectorValues& deltaGradSearch, std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter = DefaultKeyFormatter); - + /** * Extract the set of variable indices from a NonlinearFactorGraph. For each Symbol * in each NonlinearFactor, obtains the index by calling ordering[symbol]. @@ -68,7 +68,7 @@ struct ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearizationFull(const Permuted& delta, const Ordering& ordering, + static FastSet CheckRelinearizationFull(const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -82,7 +82,7 @@ struct ISAM2::Impl { * @return The set of variable indices in delta whose magnitude is greater than or * equal to relinearizeThreshold */ - static FastSet CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const Permuted& delta, const Ordering& ordering, + static FastSet CheckRelinearizationPartial(const ISAM2Clique::shared_ptr& root, const VectorValues& delta, const Ordering& ordering, const ISAM2Params::RelinearizationThreshold& relinearizeThreshold, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -115,9 +115,9 @@ struct ISAM2::Impl { * recalculate its delta. * @param keyFormatter Formatter for printing nonlinear keys during debugging */ - static void ExpmapMasked(Values& values, const Permuted& delta, + static void ExpmapMasked(Values& values, const VectorValues& delta, const Ordering& ordering, const std::vector& mask, - boost::optional&> invalidateIfDebug = boost::optional&>(), + boost::optional invalidateIfDebug = boost::none, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** @@ -137,10 +137,10 @@ struct ISAM2::Impl { static PartialSolveResult PartialSolve(GaussianFactorGraph& factors, const FastSet& keys, const ReorderingMode& reorderingMode, bool useQR); - static size_t UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, Permuted& delta, double wildfireThreshold); + static size_t UpdateDelta(const boost::shared_ptr& root, std::vector& replacedKeys, VectorValues& delta, double wildfireThreshold); static size_t UpdateDoglegDeltas(const ISAM2& isam, double wildfireThreshold, std::vector& replacedKeys, - Permuted& deltaNewton, Permuted& RgProd); + VectorValues& deltaNewton, VectorValues& RgProd); }; diff --git a/gtsam/nonlinear/ISAM2-inl.h b/gtsam/nonlinear/ISAM2-inl.h index 3520ffb84..ba0071b51 100644 --- a/gtsam/nonlinear/ISAM2-inl.h +++ b/gtsam/nonlinear/ISAM2-inl.h @@ -37,7 +37,7 @@ VALUE ISAM2::calculateEstimate(Key key) const { namespace internal { template void optimizeWildfire(const boost::shared_ptr& clique, double threshold, - std::vector& changed, const std::vector& replaced, Permuted& delta, int& count) { + std::vector& changed, const std::vector& replaced, VectorValues& delta, int& count) { // if none of the variables in this clique (frontal and separator!) changed // significantly, then by the running intersection property, none of the // cliques in the children need to be processed @@ -114,7 +114,7 @@ void optimizeWildfire(const boost::shared_ptr& clique, double threshold, /* ************************************************************************* */ template -int optimizeWildfire(const boost::shared_ptr& root, double threshold, const std::vector& keys, Permuted& delta) { +int optimizeWildfire(const boost::shared_ptr& root, double threshold, const std::vector& keys, VectorValues& delta) { std::vector changed(keys.size(), false); int count = 0; // starting from the root, call optimize on each conditional diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 07e0f518d..0c3c198aa 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -41,7 +41,6 @@ static const double batchThreshold = 0.65; /* ************************************************************************* */ ISAM2::ISAM2(const ISAM2Params& params): - delta_(deltaUnpermuted_), deltaNewton_(deltaNewtonUnpermuted_), RgProd_(RgProdUnpermuted_), deltaDoglegUptodate_(true), deltaUptodate_(true), params_(params) { if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) doglegDelta_ = boost::get(params_.optimizationParams).initialDelta; @@ -49,15 +48,13 @@ ISAM2::ISAM2(const ISAM2Params& params): /* ************************************************************************* */ ISAM2::ISAM2(): - delta_(deltaUnpermuted_), deltaNewton_(deltaNewtonUnpermuted_), RgProd_(RgProdUnpermuted_), deltaDoglegUptodate_(true), deltaUptodate_(true) { if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) doglegDelta_ = boost::get(params_.optimizationParams).initialDelta; } /* ************************************************************************* */ -ISAM2::ISAM2(const ISAM2& other): - delta_(deltaUnpermuted_), deltaNewton_(deltaNewtonUnpermuted_), RgProd_(RgProdUnpermuted_) { +ISAM2::ISAM2(const ISAM2& other) { *this = other; } @@ -308,12 +305,12 @@ boost::shared_ptr > ISAM2::recalculate( // Reorder tic(2,"permute global variable index"); - variableIndex_.permute(*colamd); + variableIndex_.permuteInPlace(*colamd); toc(2,"permute global variable index"); tic(3,"permute delta"); - delta_.permute(*colamd); - deltaNewton_.permute(*colamd); - RgProd_.permute(*colamd); + delta_ = delta_.permute(*colamd); + deltaNewton_ = deltaNewton_.permute(*colamd); + RgProd_ = RgProd_.permute(*colamd); toc(3,"permute delta"); tic(4,"permute ordering"); ordering_.permuteWithInverse(*colamdInverse); @@ -429,12 +426,12 @@ boost::shared_ptr > ISAM2::recalculate( // re-eliminate. The reordered variables are also mentioned in the // orphans and the leftover cached factors. tic(3,"permute global variable index"); - variableIndex_.permute(partialSolveResult.fullReordering); + variableIndex_.permuteInPlace(partialSolveResult.fullReordering); toc(3,"permute global variable index"); tic(4,"permute delta"); - delta_.permute(partialSolveResult.fullReordering); - deltaNewton_.permute(partialSolveResult.fullReordering); - RgProd_.permute(partialSolveResult.fullReordering); + delta_ = delta_.permute(partialSolveResult.fullReordering); + deltaNewton_ = deltaNewton_.permute(partialSolveResult.fullReordering); + RgProd_ = RgProd_.permute(partialSolveResult.fullReordering); toc(4,"permute delta"); tic(5,"permute ordering"); ordering_.permuteWithInverse(partialSolveResult.fullReorderingInverse); @@ -723,8 +720,7 @@ void ISAM2::updateDelta(bool forceFullSolve) const { tic(2, "Copy dx_d"); // Update Delta and linear step doglegDelta_ = doglegResult.Delta; - delta_.permutation() = Permutation::Identity(delta_.size()); // Dogleg solves for the full delta so there is no permutation - delta_.container() = doglegResult.dx_d; // Copy the VectorValues containing with the linear solution + delta_ = doglegResult.dx_d; // Copy the VectorValues containing with the linear solution toc(2, "Copy dx_d"); } @@ -739,7 +735,7 @@ Values ISAM2::calculateEstimate() const { Values ret(theta_); toc(1, "Copy Values"); tic(2, "getDelta"); - const Permuted& delta(getDelta()); + const VectorValues& delta(getDelta()); toc(2, "getDelta"); tic(3, "Expmap"); vector mask(ordering_.nVars(), true); @@ -756,7 +752,7 @@ Values ISAM2::calculateBestEstimate() const { } /* ************************************************************************* */ -const Permuted& ISAM2::getDelta() const { +const VectorValues& ISAM2::getDelta() const { if(!deltaUptodate_) updateDelta(); return delta_; @@ -829,7 +825,7 @@ void optimizeGradientSearchInPlace(const ISAM2& isam, VectorValues& grad) { tic(3, "Compute minimizing step size"); // Compute minimizing step size - double RgNormSq = isam.RgProd_.container().vector().squaredNorm(); + double RgNormSq = isam.RgProd_.vector().squaredNorm(); double step = -gradientSqNorm / RgNormSq; toc(3, "Compute minimizing step size"); diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 5804640df..2fd3e0b23 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -206,7 +206,7 @@ struct ISAM2Result { * factors passed as \c newFactors to ISAM2::update(). These indices may be * used later to refer to the factors in order to remove them. */ - FastVector newFactorsIndices; + std::vector newFactorsIndices; /** A struct holding detailed results, which must be enabled with * ISAM2Params::enableDetailedResults. @@ -347,26 +347,16 @@ protected: /** VariableIndex lets us look up factors by involved variable and keeps track of dimensions */ VariableIndex variableIndex_; - /** The linear delta from the last linear solution, an update to the estimate in theta */ - VectorValues deltaUnpermuted_; + /** The linear delta from the last linear solution, an update to the estimate in theta + * + * This is \c mutable because it is a "cached" variable - it is not updated + * until either requested with getDelta() or calculateEstimate(), or needed + * during update() to evaluate whether to relinearize variables. + */ + mutable VectorValues delta_; - /** The permutation through which the deltaUnpermuted_ is - * referenced. - * - * Permuting Vector entries would be slow, so for performance we - * instead maintain this permutation through which we access the linear delta - * indirectly - * - * This is \c mutable because it is a "cached" variable - it is not updated - * until either requested with getDelta() or calculateEstimate(), or needed - * during update() to evaluate whether to relinearize variables. - */ - mutable Permuted delta_; - - VectorValues deltaNewtonUnpermuted_; - mutable Permuted deltaNewton_; - VectorValues RgProdUnpermuted_; - mutable Permuted RgProd_; + mutable VectorValues deltaNewton_; + mutable VectorValues RgProd_; mutable bool deltaDoglegUptodate_; /** Indicates whether the current delta is up-to-date, only used @@ -497,7 +487,7 @@ public: Values calculateBestEstimate() const; /** Access the current delta, computed during the last call to update */ - const Permuted& getDelta() const; + const VectorValues& getDelta() const; /** Access the set of nonlinear factors */ const NonlinearFactorGraph& getFactorsUnsafe() const { return nonlinearFactors_; } @@ -555,7 +545,7 @@ void optimizeInPlace(const ISAM2& isam, VectorValues& delta); /// @return The number of variables that were solved for template int optimizeWildfire(const boost::shared_ptr& root, - double threshold, const std::vector& replaced, Permuted& delta); + double threshold, const std::vector& replaced, VectorValues& delta); /** * Optimize along the gradient direction, with a closed-form computation to diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index bb66943eb..58099d149 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -120,7 +120,7 @@ namespace gtsam { /* ************************************************************************* */ void Values::insert(Key j, const Value& val) { Key key = j; // Non-const duplicate to deal with non-const insert argument - std::pair insertResult = values_.insert(key, val.clone_()); + std::pair insertResult = values_.insert(key, val.clone_()); if(!insertResult.second) throw ValuesKeyAlreadyExists(j); } diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp index bc023f115..57e2c0a34 100644 --- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp +++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp @@ -47,13 +47,13 @@ typedef PinholeCamera PinholeCal3DS2; typedef PinholeCamera PinholeCal3Bundler; /* ************************************************************************* */ -Point3 pt3(1.0, 2.0, 3.0); -Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -Pose3 pose3(rt3, pt3); +static Point3 pt3(1.0, 2.0, 3.0); +static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); +static Pose3 pose3(rt3, pt3); -Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); -Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); -Cal3Bundler cal3(1.0, 2.0, 3.0); +static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); +static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); +static Cal3Bundler cal3(1.0, 2.0, 3.0); TEST (Serialization, TemplatedValues) { Values values; diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index 986538448..b38dae990 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -28,18 +28,18 @@ using namespace std; using namespace gtsam; -Pose3 camera1(Matrix_(3,3, +static Pose3 camera1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,6.25)); -Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); -StereoCamera stereoCam(Pose3(), K); +static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); +static StereoCamera stereoCam(Pose3(), K); // point X Y Z in meters -Point3 p(0, 0, 5); +static Point3 p(0, 0, 5); static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); // Convenience for named keys diff --git a/gtsam_unstable/discrete/AllDiff.cpp b/gtsam_unstable/discrete/AllDiff.cpp index 41905f874..ac412fa7f 100644 --- a/gtsam_unstable/discrete/AllDiff.cpp +++ b/gtsam_unstable/discrete/AllDiff.cpp @@ -20,10 +20,11 @@ namespace gtsam { } /* ************************************************************************* */ - void AllDiff::print(const std::string& s) const { + void AllDiff::print(const std::string& s, + const IndexFormatter& formatter) const { std::cout << s << "AllDiff on "; BOOST_FOREACH (Index dkey, keys_) - std::cout << dkey << " "; + std::cout << formatter(dkey) << " "; std::cout << std::endl; } diff --git a/gtsam_unstable/discrete/AllDiff.h b/gtsam_unstable/discrete/AllDiff.h index fb5a47a59..1a560ace2 100644 --- a/gtsam_unstable/discrete/AllDiff.h +++ b/gtsam_unstable/discrete/AllDiff.h @@ -34,7 +34,8 @@ namespace gtsam { AllDiff(const DiscreteKeys& dkeys); // print - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// Calculate value = expensive ! virtual double operator()(const Values& values) const; diff --git a/gtsam_unstable/discrete/BinaryAllDiff.h b/gtsam_unstable/discrete/BinaryAllDiff.h index a2e260bcd..9ed2f79f1 100644 --- a/gtsam_unstable/discrete/BinaryAllDiff.h +++ b/gtsam_unstable/discrete/BinaryAllDiff.h @@ -33,9 +33,10 @@ namespace gtsam { } // print - virtual void print(const std::string& s = "") const { - std::cout << s << "BinaryAllDiff on " << keys_[0] << " and " << keys_[1] - << std::endl; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const { + std::cout << s << "BinaryAllDiff on " << formatter(keys_[0]) << " and " + << formatter(keys_[1]) << std::endl; } /// Calculate value diff --git a/gtsam_unstable/discrete/Domain.cpp b/gtsam_unstable/discrete/Domain.cpp index e43065f3b..dbc05e3f6 100644 --- a/gtsam_unstable/discrete/Domain.cpp +++ b/gtsam_unstable/discrete/Domain.cpp @@ -15,9 +15,10 @@ namespace gtsam { using namespace std; /* ************************************************************************* */ - void Domain::print(const string& s) const { -// cout << s << ": Domain on " << keys_[0] << " (j=" << keys_[0] -// << ") with values"; + void Domain::print(const string& s, + const IndexFormatter& formatter) const { +// cout << s << ": Domain on " << formatter(keys_[0]) << " (j=" << +// formatter(keys_[0]) << ") with values"; // BOOST_FOREACH (size_t v,values_) cout << " " << v; // cout << endl; BOOST_FOREACH (size_t v,values_) cout << v; diff --git a/gtsam_unstable/discrete/Domain.h b/gtsam_unstable/discrete/Domain.h index a4f0c8054..85b35fe8c 100644 --- a/gtsam_unstable/discrete/Domain.h +++ b/gtsam_unstable/discrete/Domain.h @@ -66,7 +66,8 @@ namespace gtsam { } // print - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const; bool contains(size_t value) const { return values_.count(value)>0; diff --git a/gtsam_unstable/discrete/SingleValue.cpp b/gtsam_unstable/discrete/SingleValue.cpp index 6f6d5a3ff..81133e7f7 100644 --- a/gtsam_unstable/discrete/SingleValue.cpp +++ b/gtsam_unstable/discrete/SingleValue.cpp @@ -16,8 +16,9 @@ namespace gtsam { using namespace std; /* ************************************************************************* */ - void SingleValue::print(const string& s) const { - cout << s << "SingleValue on " << "j=" << keys_[0] + void SingleValue::print(const string& s, + const IndexFormatter& formatter) const { + cout << s << "SingleValue on " << "j=" << formatter(keys_[0]) << " with value " << value_ << endl; } diff --git a/gtsam_unstable/discrete/SingleValue.h b/gtsam_unstable/discrete/SingleValue.h index b229d8b79..1f6e362aa 100644 --- a/gtsam_unstable/discrete/SingleValue.h +++ b/gtsam_unstable/discrete/SingleValue.h @@ -42,7 +42,8 @@ namespace gtsam { } // print - virtual void print(const std::string& s = "") const; + virtual void print(const std::string& s = "", + const IndexFormatter& formatter = DefaultIndexFormatter) const; /// Calculate value virtual double operator()(const Values& values) const; diff --git a/gtsam_unstable/discrete/tests/testScheduler.cpp b/gtsam_unstable/discrete/tests/testScheduler.cpp index bf9273ad6..6559754d5 100644 --- a/gtsam_unstable/discrete/tests/testScheduler.cpp +++ b/gtsam_unstable/discrete/tests/testScheduler.cpp @@ -149,7 +149,7 @@ TEST( schedulingExample, test) /* ************************************************************************* */ TEST( schedulingExample, smallFromFile) { - string path("../../../gtsam_unstable/discrete/examples/"); + string path(TOPSRCDIR "/gtsam_unstable/discrete/examples/"); Scheduler s(2, path + "small.csv"); // add areas diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index 6ae4a7b20..7ec4e5317 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -41,10 +41,10 @@ using symbol_shorthand::L; /* ************************************************************************* */ // Some numbers that should be consistent among all smoother tests -double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = +static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; -const double tol = 1e-4; +static const double tol = 1e-4; /* ************************************************************************* */ TEST_UNSAFE( ISAM, iSAM_smoother ) diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 2a5bf7962..994077777 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -139,112 +139,69 @@ TEST_UNSAFE(ISAM2, AddVariables) { // Create initial state Values theta; - theta.insert((0), Pose2(.1, .2, .3)); + theta.insert(0, Pose2(.1, .2, .3)); theta.insert(100, Point2(.4, .5)); Values newTheta; - newTheta.insert((1), Pose2(.6, .7, .8)); + newTheta.insert(1, Pose2(.6, .7, .8)); - VectorValues deltaUnpermuted; - deltaUnpermuted.insert(0, Vector_(3, .1, .2, .3)); - deltaUnpermuted.insert(1, Vector_(2, .4, .5)); + VectorValues delta; + delta.insert(0, Vector_(3, .1, .2, .3)); + delta.insert(1, Vector_(2, .4, .5)); - Permutation permutation(2); - permutation[0] = 1; - permutation[1] = 0; + VectorValues deltaNewton; + deltaNewton.insert(0, Vector_(3, .1, .2, .3)); + deltaNewton.insert(1, Vector_(2, .4, .5)); - Permuted delta(permutation, deltaUnpermuted); - - VectorValues deltaNewtonUnpermuted; - deltaNewtonUnpermuted.insert(0, Vector_(3, .1, .2, .3)); - deltaNewtonUnpermuted.insert(1, Vector_(2, .4, .5)); - - Permutation permutationNewton(2); - permutationNewton[0] = 1; - permutationNewton[1] = 0; - - Permuted deltaNewton(permutationNewton, deltaNewtonUnpermuted); - - VectorValues deltaRgUnpermuted; - deltaRgUnpermuted.insert(0, Vector_(3, .1, .2, .3)); - deltaRgUnpermuted.insert(1, Vector_(2, .4, .5)); - - Permutation permutationRg(2); - permutationRg[0] = 1; - permutationRg[1] = 0; - - Permuted deltaRg(permutationRg, deltaRgUnpermuted); + VectorValues deltaRg; + deltaRg.insert(0, Vector_(3, .1, .2, .3)); + deltaRg.insert(1, Vector_(2, .4, .5)); vector replacedKeys(2, false); - Ordering ordering; ordering += 100, (0); + Ordering ordering; ordering += 100, 0; ISAM2::Nodes nodes(2); // Verify initial state LONGS_EQUAL(0, ordering[100]); - LONGS_EQUAL(1, ordering[(0)]); - EXPECT(assert_equal(deltaUnpermuted[1], delta[ordering[100]])); - EXPECT(assert_equal(deltaUnpermuted[0], delta[ordering[(0)]])); + LONGS_EQUAL(1, ordering[0]); + EXPECT(assert_equal(delta[0], delta[ordering[100]])); + EXPECT(assert_equal(delta[1], delta[ordering[0]])); // Create expected state Values thetaExpected; - thetaExpected.insert((0), Pose2(.1, .2, .3)); + thetaExpected.insert(0, Pose2(.1, .2, .3)); thetaExpected.insert(100, Point2(.4, .5)); - thetaExpected.insert((1), Pose2(.6, .7, .8)); + thetaExpected.insert(1, Pose2(.6, .7, .8)); - VectorValues deltaUnpermutedExpected; - deltaUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); - deltaUnpermutedExpected.insert(1, Vector_(2, .4, .5)); - deltaUnpermutedExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); + VectorValues deltaExpected; + deltaExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaExpected.insert(1, Vector_(2, .4, .5)); + deltaExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - Permutation permutationExpected(3); - permutationExpected[0] = 1; - permutationExpected[1] = 0; - permutationExpected[2] = 2; + VectorValues deltaNewtonExpected; + deltaNewtonExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaNewtonExpected.insert(1, Vector_(2, .4, .5)); + deltaNewtonExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - Permuted deltaExpected(permutationExpected, deltaUnpermutedExpected); - - VectorValues deltaNewtonUnpermutedExpected; - deltaNewtonUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); - deltaNewtonUnpermutedExpected.insert(1, Vector_(2, .4, .5)); - deltaNewtonUnpermutedExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - - Permutation permutationNewtonExpected(3); - permutationNewtonExpected[0] = 1; - permutationNewtonExpected[1] = 0; - permutationNewtonExpected[2] = 2; - - Permuted deltaNewtonExpected(permutationNewtonExpected, deltaNewtonUnpermutedExpected); - - VectorValues deltaRgUnpermutedExpected; - deltaRgUnpermutedExpected.insert(0, Vector_(3, .1, .2, .3)); - deltaRgUnpermutedExpected.insert(1, Vector_(2, .4, .5)); - deltaRgUnpermutedExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); - - Permutation permutationRgExpected(3); - permutationRgExpected[0] = 1; - permutationRgExpected[1] = 0; - permutationRgExpected[2] = 2; - - Permuted deltaRgExpected(permutationRgExpected, deltaRgUnpermutedExpected); + VectorValues deltaRgExpected; + deltaRgExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaRgExpected.insert(1, Vector_(2, .4, .5)); + deltaRgExpected.insert(2, Vector_(3, 0.0, 0.0, 0.0)); vector replacedKeysExpected(3, false); - Ordering orderingExpected; orderingExpected += 100, (0), (1); + Ordering orderingExpected; orderingExpected += 100, 0, 1; - ISAM2::Nodes nodesExpected( - 3, ISAM2::sharedClique()); + ISAM2::Nodes nodesExpected(3, ISAM2::sharedClique()); // Expand initial state ISAM2::Impl::AddVariables(newTheta, theta, delta, deltaNewton, deltaRg, replacedKeys, ordering, nodes); EXPECT(assert_equal(thetaExpected, theta)); - EXPECT(assert_equal(deltaUnpermutedExpected, deltaUnpermuted)); - EXPECT(assert_equal(deltaExpected.permutation(), delta.permutation())); - EXPECT(assert_equal(deltaNewtonUnpermutedExpected, deltaNewtonUnpermuted)); - EXPECT(assert_equal(deltaNewtonExpected.permutation(), deltaNewton.permutation())); - EXPECT(assert_equal(deltaRgUnpermutedExpected, deltaRgUnpermuted)); - EXPECT(assert_equal(deltaRgExpected.permutation(), deltaRg.permutation())); + EXPECT(assert_equal(deltaExpected, delta)); + EXPECT(assert_equal(deltaNewtonExpected, deltaNewton)); + EXPECT(assert_equal(deltaRgExpected, deltaRg)); EXPECT(assert_container_equality(replacedKeysExpected, replacedKeys)); EXPECT(assert_equal(orderingExpected, ordering)); } diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 0f412a0b5..883011da2 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -52,7 +52,7 @@ using symbol_shorthand::L; C3 x1 : x2 C4 x7 : x6 */ -TEST( GaussianJunctionTree, constructor2 ) +TEST( GaussianJunctionTreeB, constructor2 ) { // create a graph Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); @@ -88,7 +88,7 @@ TEST( GaussianJunctionTree, constructor2 ) } /* ************************************************************************* */ -TEST( GaussianJunctionTree, optimizeMultiFrontal ) +TEST( GaussianJunctionTreeB, optimizeMultiFrontal ) { // create a graph GaussianFactorGraph fg; @@ -108,7 +108,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal ) } /* ************************************************************************* */ -TEST( GaussianJunctionTree, optimizeMultiFrontal2) +TEST( GaussianJunctionTreeB, optimizeMultiFrontal2) { // create a graph example::Graph nlfg = createNonlinearFactorGraph(); @@ -126,7 +126,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal2) } /* ************************************************************************* */ -TEST(GaussianJunctionTree, slamlike) { +TEST(GaussianJunctionTreeB, slamlike) { Values init; planarSLAM::Graph newfactors; planarSLAM::Graph fullgraph; @@ -188,7 +188,7 @@ TEST(GaussianJunctionTree, slamlike) { } /* ************************************************************************* */ -TEST(GaussianJunctionTree, simpleMarginal) { +TEST(GaussianJunctionTreeB, simpleMarginal) { typedef BayesTree GaussianBayesTree; diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 4679dd740..1efc40cad 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -37,7 +37,7 @@ typedef PriorFactor PosePrior; typedef NonlinearEquality PoseNLE; typedef boost::shared_ptr shared_poseNLE; -Symbol key('x',1); +static Symbol key('x',1); /* ************************************************************************* */ TEST ( NonlinearEquality, linearization ) { @@ -241,8 +241,8 @@ TEST ( NonlinearEquality, allow_error_optimize_with_factors ) { } /* ************************************************************************* */ -SharedDiagonal hard_model = noiseModel::Constrained::All(2); -SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0); +static SharedDiagonal hard_model = noiseModel::Constrained::All(2); +static SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0); /* ************************************************************************* */ TEST( testNonlinearEqualityConstraint, unary_basics ) { @@ -504,10 +504,10 @@ TEST (testNonlinearEqualityConstraint, map_warp ) { } // make a realistic calibration matrix -double fov = 60; // degrees -size_t w=640,h=480; -Cal3_S2 K(fov,w,h); -boost::shared_ptr shK(new Cal3_S2(K)); +static double fov = 60; // degrees +static size_t w=640,h=480; +static Cal3_S2 K(fov,w,h); +static boost::shared_ptr shK(new Cal3_S2(K)); // typedefs for visual SLAM example typedef visualSLAM::Graph VGraph; diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 7650925d1..d9094111e 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -174,10 +174,10 @@ BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoF BOOST_CLASS_EXPORT(gtsam::Pose3) BOOST_CLASS_EXPORT(gtsam::Point3) -Point3 pt3(1.0, 2.0, 3.0); -Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -Pose3 pose3(rt3, pt3); -Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); +static Point3 pt3(1.0, 2.0, 3.0); +static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); +static Pose3 pose3(rt3, pt3); +static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); /* ************************************************************************* */ TEST (Serialization, visual_system) { diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 16dfbb8e5..757b488ba 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -4,7 +4,7 @@ find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED) # Build the executable itself file(GLOB wrap_srcs "*.cpp") -list(REMOVE_ITEM wrap_srcs wrap.cpp) +list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp) add_library(wrap_lib STATIC ${wrap_srcs}) add_executable(wrap wrap.cpp) target_link_libraries(wrap wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) @@ -19,7 +19,6 @@ install(FILES matlab.h DESTINATION include/wrap) # Build tests if (GTSAM_BUILD_TESTS) - add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}") set(wrap_local_libs wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") endif(GTSAM_BUILD_TESTS) From 7ba7aa6cfc6c31ef20482589420ce56850b269b4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 30 Jun 2012 20:04:16 +0000 Subject: [PATCH 521/914] Updated wrap unit tests for new wrap changes --- wrap/tests/expected/Makefile | 65 ++++++++++--------- wrap/tests/expected/new_Point2_.cpp | 1 - wrap/tests/expected/new_Point3_.cpp | 1 - wrap/tests/expected/new_Test_.cpp | 1 - wrap/tests/expected_namespaces/Makefile | 21 +++--- .../tests/expected_namespaces/new_ClassD_.cpp | 1 - .../expected_namespaces/new_ns1ClassA_.cpp | 1 - .../expected_namespaces/new_ns1ClassB_.cpp | 1 - .../expected_namespaces/new_ns2ClassA_.cpp | 1 - .../expected_namespaces/new_ns2ClassC_.cpp | 1 - .../expected_namespaces/new_ns2ns3ClassB_.cpp | 1 - wrap/tests/testWrap.cpp | 14 ++-- wrap/wrap.cpp | 3 +- 13 files changed, 55 insertions(+), 57 deletions(-) diff --git a/wrap/tests/expected/Makefile b/wrap/tests/expected/Makefile index 0797d0dd3..57a606790 100644 --- a/wrap/tests/expected/Makefile +++ b/wrap/tests/expected/Makefile @@ -2,82 +2,83 @@ MEX = mex MEXENDING = mexa64 +PATH_TO_WRAP = /not_really_a_real_path/borg/gtsam/wrap mex_flags = -O5 all: Point2 Point3 Test # Point2 -new_Point2_.$(MEXENDING): new_Point2_.cpp +new_Point2_.$(MEXENDING): new_Point2_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_Point2_.cpp -output new_Point2_ -@Point2/x.$(MEXENDING): @Point2/x.cpp +@Point2/x.$(MEXENDING): @Point2/x.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/x.cpp -output @Point2/x -@Point2/y.$(MEXENDING): @Point2/y.cpp +@Point2/y.$(MEXENDING): @Point2/y.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/y.cpp -output @Point2/y -@Point2/dim.$(MEXENDING): @Point2/dim.cpp +@Point2/dim.$(MEXENDING): @Point2/dim.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/dim.cpp -output @Point2/dim -@Point2/returnChar.$(MEXENDING): @Point2/returnChar.cpp +@Point2/returnChar.$(MEXENDING): @Point2/returnChar.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/returnChar.cpp -output @Point2/returnChar -@Point2/argChar.$(MEXENDING): @Point2/argChar.cpp +@Point2/argChar.$(MEXENDING): @Point2/argChar.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/argChar.cpp -output @Point2/argChar -@Point2/argUChar.$(MEXENDING): @Point2/argUChar.cpp +@Point2/argUChar.$(MEXENDING): @Point2/argUChar.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/argUChar.cpp -output @Point2/argUChar -@Point2/vectorConfusion.$(MEXENDING): @Point2/vectorConfusion.cpp +@Point2/vectorConfusion.$(MEXENDING): @Point2/vectorConfusion.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/vectorConfusion.cpp -output @Point2/vectorConfusion Point2: new_Point2_.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) @Point2/returnChar.$(MEXENDING) @Point2/argChar.$(MEXENDING) @Point2/argUChar.$(MEXENDING) @Point2/vectorConfusion.$(MEXENDING) # Point3 -new_Point3_.$(MEXENDING): new_Point3_.cpp +new_Point3_.$(MEXENDING): new_Point3_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_Point3_.cpp -output new_Point3_ -Point3_staticFunction.$(MEXENDING): Point3_staticFunction.cpp +Point3_staticFunction.$(MEXENDING): Point3_staticFunction.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) Point3_staticFunction.cpp -output Point3_staticFunction -Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp +Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) Point3_StaticFunctionRet.cpp -output Point3_StaticFunctionRet -@Point3/norm.$(MEXENDING): @Point3/norm.cpp +@Point3/norm.$(MEXENDING): @Point3/norm.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point3/norm.cpp -output @Point3/norm Point3: new_Point3_.$(MEXENDING) Point3_staticFunction.$(MEXENDING) Point3_StaticFunctionRet.$(MEXENDING) @Point3/norm.$(MEXENDING) # Test -new_Test_.$(MEXENDING): new_Test_.cpp +new_Test_.$(MEXENDING): new_Test_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_Test_.cpp -output new_Test_ -@Test/return_pair.$(MEXENDING): @Test/return_pair.cpp +@Test/return_pair.$(MEXENDING): @Test/return_pair.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_pair.cpp -output @Test/return_pair -@Test/return_bool.$(MEXENDING): @Test/return_bool.cpp +@Test/return_bool.$(MEXENDING): @Test/return_bool.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_bool.cpp -output @Test/return_bool -@Test/return_size_t.$(MEXENDING): @Test/return_size_t.cpp +@Test/return_size_t.$(MEXENDING): @Test/return_size_t.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_size_t.cpp -output @Test/return_size_t -@Test/return_int.$(MEXENDING): @Test/return_int.cpp +@Test/return_int.$(MEXENDING): @Test/return_int.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_int.cpp -output @Test/return_int -@Test/return_double.$(MEXENDING): @Test/return_double.cpp +@Test/return_double.$(MEXENDING): @Test/return_double.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_double.cpp -output @Test/return_double -@Test/return_string.$(MEXENDING): @Test/return_string.cpp +@Test/return_string.$(MEXENDING): @Test/return_string.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_string.cpp -output @Test/return_string -@Test/return_vector1.$(MEXENDING): @Test/return_vector1.cpp +@Test/return_vector1.$(MEXENDING): @Test/return_vector1.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_vector1.cpp -output @Test/return_vector1 -@Test/return_matrix1.$(MEXENDING): @Test/return_matrix1.cpp +@Test/return_matrix1.$(MEXENDING): @Test/return_matrix1.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_matrix1.cpp -output @Test/return_matrix1 -@Test/return_vector2.$(MEXENDING): @Test/return_vector2.cpp +@Test/return_vector2.$(MEXENDING): @Test/return_vector2.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_vector2.cpp -output @Test/return_vector2 -@Test/return_matrix2.$(MEXENDING): @Test/return_matrix2.cpp +@Test/return_matrix2.$(MEXENDING): @Test/return_matrix2.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_matrix2.cpp -output @Test/return_matrix2 -@Test/arg_EigenConstRef.$(MEXENDING): @Test/arg_EigenConstRef.cpp +@Test/arg_EigenConstRef.$(MEXENDING): @Test/arg_EigenConstRef.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/arg_EigenConstRef.cpp -output @Test/arg_EigenConstRef -@Test/return_field.$(MEXENDING): @Test/return_field.cpp +@Test/return_field.$(MEXENDING): @Test/return_field.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_field.cpp -output @Test/return_field -@Test/return_TestPtr.$(MEXENDING): @Test/return_TestPtr.cpp +@Test/return_TestPtr.$(MEXENDING): @Test/return_TestPtr.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_TestPtr.cpp -output @Test/return_TestPtr -@Test/return_Test.$(MEXENDING): @Test/return_Test.cpp +@Test/return_Test.$(MEXENDING): @Test/return_Test.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_Test.cpp -output @Test/return_Test -@Test/return_Point2Ptr.$(MEXENDING): @Test/return_Point2Ptr.cpp +@Test/return_Point2Ptr.$(MEXENDING): @Test/return_Point2Ptr.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_Point2Ptr.cpp -output @Test/return_Point2Ptr -@Test/create_ptrs.$(MEXENDING): @Test/create_ptrs.cpp +@Test/create_ptrs.$(MEXENDING): @Test/create_ptrs.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/create_ptrs.cpp -output @Test/create_ptrs -@Test/create_MixedPtrs.$(MEXENDING): @Test/create_MixedPtrs.cpp +@Test/create_MixedPtrs.$(MEXENDING): @Test/create_MixedPtrs.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/create_MixedPtrs.cpp -output @Test/create_MixedPtrs -@Test/return_ptrs.$(MEXENDING): @Test/return_ptrs.cpp +@Test/return_ptrs.$(MEXENDING): @Test/return_ptrs.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_ptrs.cpp -output @Test/return_ptrs -@Test/print.$(MEXENDING): @Test/print.cpp +@Test/print.$(MEXENDING): @Test/print.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/print.cpp -output @Test/print Test: new_Test_.$(MEXENDING) @Test/return_pair.$(MEXENDING) @Test/return_bool.$(MEXENDING) @Test/return_size_t.$(MEXENDING) @Test/return_int.$(MEXENDING) @Test/return_double.$(MEXENDING) @Test/return_string.$(MEXENDING) @Test/return_vector1.$(MEXENDING) @Test/return_matrix1.$(MEXENDING) @Test/return_vector2.$(MEXENDING) @Test/return_matrix2.$(MEXENDING) @Test/arg_EigenConstRef.$(MEXENDING) @Test/return_field.$(MEXENDING) @Test/return_TestPtr.$(MEXENDING) @Test/return_Test.$(MEXENDING) @Test/return_Point2Ptr.$(MEXENDING) @Test/create_ptrs.$(MEXENDING) @Test/create_MixedPtrs.$(MEXENDING) @Test/return_ptrs.$(MEXENDING) @Test/print.$(MEXENDING) diff --git a/wrap/tests/expected/new_Point2_.cpp b/wrap/tests/expected/new_Point2_.cpp index 7d3af0038..11b2821a3 100644 --- a/wrap/tests/expected/new_Point2_.cpp +++ b/wrap/tests/expected/new_Point2_.cpp @@ -41,7 +41,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new Point2(x,y)); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected/new_Point3_.cpp b/wrap/tests/expected/new_Point3_.cpp index 368b3069e..01316da5a 100644 --- a/wrap/tests/expected/new_Point3_.cpp +++ b/wrap/tests/expected/new_Point3_.cpp @@ -40,7 +40,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new Point3(x,y,z)); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected/new_Test_.cpp b/wrap/tests/expected/new_Test_.cpp index a6bcc9549..e14e6b71d 100644 --- a/wrap/tests/expected/new_Test_.cpp +++ b/wrap/tests/expected/new_Test_.cpp @@ -42,7 +42,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new Test(a,b)); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected_namespaces/Makefile b/wrap/tests/expected_namespaces/Makefile index dcc3b1dbd..55866228b 100644 --- a/wrap/tests/expected_namespaces/Makefile +++ b/wrap/tests/expected_namespaces/Makefile @@ -2,50 +2,51 @@ MEX = mex MEXENDING = mexa64 +PATH_TO_WRAP = /not_really_a_real_path/borg/gtsam/wrap mex_flags = -O5 all: ns1ClassA ns1ClassB ns2ClassA ns2ns3ClassB ns2ClassC ClassD # ns1ClassA -new_ns1ClassA_.$(MEXENDING): new_ns1ClassA_.cpp +new_ns1ClassA_.$(MEXENDING): new_ns1ClassA_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_ns1ClassA_.cpp -output new_ns1ClassA_ ns1ClassA: new_ns1ClassA_.$(MEXENDING) # ns1ClassB -new_ns1ClassB_.$(MEXENDING): new_ns1ClassB_.cpp +new_ns1ClassB_.$(MEXENDING): new_ns1ClassB_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_ns1ClassB_.cpp -output new_ns1ClassB_ ns1ClassB: new_ns1ClassB_.$(MEXENDING) # ns2ClassA -new_ns2ClassA_.$(MEXENDING): new_ns2ClassA_.cpp +new_ns2ClassA_.$(MEXENDING): new_ns2ClassA_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_ns2ClassA_.cpp -output new_ns2ClassA_ -ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp +ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) ns2ClassA_afunction.cpp -output ns2ClassA_afunction -@ns2ClassA/memberFunction.$(MEXENDING): @ns2ClassA/memberFunction.cpp +@ns2ClassA/memberFunction.$(MEXENDING): @ns2ClassA/memberFunction.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @ns2ClassA/memberFunction.cpp -output @ns2ClassA/memberFunction -@ns2ClassA/nsArg.$(MEXENDING): @ns2ClassA/nsArg.cpp +@ns2ClassA/nsArg.$(MEXENDING): @ns2ClassA/nsArg.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @ns2ClassA/nsArg.cpp -output @ns2ClassA/nsArg -@ns2ClassA/nsReturn.$(MEXENDING): @ns2ClassA/nsReturn.cpp +@ns2ClassA/nsReturn.$(MEXENDING): @ns2ClassA/nsReturn.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @ns2ClassA/nsReturn.cpp -output @ns2ClassA/nsReturn ns2ClassA: new_ns2ClassA_.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) # ns2ns3ClassB -new_ns2ns3ClassB_.$(MEXENDING): new_ns2ns3ClassB_.cpp +new_ns2ns3ClassB_.$(MEXENDING): new_ns2ns3ClassB_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_ns2ns3ClassB_.cpp -output new_ns2ns3ClassB_ ns2ns3ClassB: new_ns2ns3ClassB_.$(MEXENDING) # ns2ClassC -new_ns2ClassC_.$(MEXENDING): new_ns2ClassC_.cpp +new_ns2ClassC_.$(MEXENDING): new_ns2ClassC_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_ns2ClassC_.cpp -output new_ns2ClassC_ ns2ClassC: new_ns2ClassC_.$(MEXENDING) # ClassD -new_ClassD_.$(MEXENDING): new_ClassD_.cpp +new_ClassD_.$(MEXENDING): new_ClassD_.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) new_ClassD_.cpp -output new_ClassD_ ClassD: new_ClassD_.$(MEXENDING) diff --git a/wrap/tests/expected_namespaces/new_ClassD_.cpp b/wrap/tests/expected_namespaces/new_ClassD_.cpp index 352c470b0..6ebe46f2d 100644 --- a/wrap/tests/expected_namespaces/new_ClassD_.cpp +++ b/wrap/tests/expected_namespaces/new_ClassD_.cpp @@ -36,7 +36,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new ClassD()); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp index 893331034..eca52a3ea 100644 --- a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp +++ b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp @@ -36,7 +36,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new ns1::ClassA()); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp index 047348d1b..5eb90cae8 100644 --- a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp +++ b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp @@ -37,7 +37,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new ns1::ClassB()); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp index cb06bf892..f0e6c2036 100644 --- a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp @@ -37,7 +37,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new ns2::ClassA()); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp index 40c3343ef..ae6a88845 100644 --- a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp @@ -36,7 +36,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new ns2::ClassC()); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp index ace0a261f..bf6e244a2 100644 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp @@ -37,7 +37,6 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) self = new Shared(new ns2::ns3::ClassB()); } collector.insert(self); - std::cout << "constructed " << self << ", size=" << collector.size() << std::endl; out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast (mxGetPr(out[0])) = self; } diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index cdc6e42d6..8fac80113 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -39,6 +39,10 @@ static string topdir = "TOPSRCDIR_NOT_CONFIGURED"; // If TOPSRCDIR is not define typedef vector strvec; +// NOTE: as this path is only used to generate makefiles, it is hardcoded here for testing +// In practice, this path will be an absolute system path, which makes testing it more annoying +static const std::string headerPath = "/not_really_a_real_path/borg/gtsam/wrap"; + /* ************************************************************************* */ TEST( wrap, ArgumentList ) { ArgumentList args; @@ -63,13 +67,13 @@ TEST( wrap, check_exception ) { string path = topdir + "/wrap/tests"; Module module(path.c_str(), "testDependencies",enable_verbose); - CHECK_EXCEPTION(module.matlab_code("mex", "actual_deps", "mexa64", "-O5"), DependencyMissing); + CHECK_EXCEPTION(module.matlab_code("mex", "actual_deps", "mexa64", headerPath, "-O5"), DependencyMissing); } /* ************************************************************************* */ TEST( wrap, parse ) { - string header_path = topdir + "/wrap/tests"; - Module module(header_path.c_str(), "geometry",enable_verbose); + string markup_header_path = topdir + "/wrap/tests"; + Module module(markup_header_path.c_str(), "geometry",enable_verbose); EXPECT_LONGS_EQUAL(3, module.classes.size()); // check using declarations @@ -214,7 +218,7 @@ TEST( wrap, matlab_code_namespaces ) { // emit MATLAB code string exp_path = path + "/tests/expected_namespaces/"; string act_path = "actual_namespaces/"; - module.matlab_code("mex", "actual_namespaces", "mexa64", "-O5"); + module.matlab_code("mex", "actual_namespaces", "mexa64", headerPath, "-O5"); EXPECT(files_equal(exp_path + "new_ClassD_.cpp" , act_path + "new_ClassD_.cpp" )); EXPECT(files_equal(exp_path + "new_ClassD_.m" , act_path + "new_ClassD_.m" )); @@ -255,7 +259,7 @@ TEST( wrap, matlab_code ) { // emit MATLAB code // make_geometry will not compile, use make testwrap to generate real make - module.matlab_code("mex", "actual", "mexa64", "-O5"); + module.matlab_code("mex", "actual", "mexa64", headerPath, "-O5"); string epath = path + "/tests/expected/"; string apath = "actual/"; diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp index 1b1b631e4..f818094f7 100644 --- a/wrap/wrap.cpp +++ b/wrap/wrap.cpp @@ -29,7 +29,7 @@ using namespace std; * @param interfacePath path to where interface file lives, e.g., borg/gtsam * @param moduleName name of the module to be generated e.g. gtsam * @param toolboxPath path where the toolbox should be generated, e.g. borg/gtsam/build - * @param nameSpace e.g. gtsam + * @param headerPath is the path to matlab.h * @param mexFlags extra arguments for mex script, i.e., include flags etc... */ void generate_matlab_toolbox( @@ -58,6 +58,7 @@ void usage() { cerr << " interfacePath : *absolute* path to directory of module interface file" << endl; cerr << " moduleName : the name of the module, interface file must be called moduleName.h" << endl; cerr << " toolboxPath : the directory in which to generate the wrappers" << endl; + cerr << " headerPath : path to matlab.h" << endl; cerr << " [mexFlags] : extra flags for the mex command" << endl; } From f25f5d5b6d5889a6e6079b72a984a814ca0f6562 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 30 Jun 2012 20:40:03 +0000 Subject: [PATCH 522/914] comments --- gtsam/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 7467ad0cf..50ec1d4de 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -138,6 +138,5 @@ if (GTSAM_BUILD_WRAP) # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 - # FIXME: rework install commands to specify only certain filetypes/folders to avoid installing temp files wrap_library(gtsam "${mexFlags}" "../") endif () From f06c7ad2e9904e3318c215ac0a77e8adfe70ceae Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 22:32:42 +0000 Subject: [PATCH 523/914] Lots of code de-duplication and cleanup in testGaussianISAM2 --- tests/testGaussianISAM2.cpp | 748 ++++-------------------------------- 1 file changed, 71 insertions(+), 677 deletions(-) diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 7d7db2cfd..2d2f68b71 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -44,7 +44,6 @@ ISAM2 createSlamlikeISAM2( // These variables will be reused and accumulate factors and values ISAM2 isam(params); -// ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true)); Values fullinit; planarSLAM::Graph fullgraph; @@ -136,7 +135,7 @@ ISAM2 createSlamlikeISAM2( } /* ************************************************************************* */ -TEST_UNSAFE(ISAM2, AddVariables) { +TEST_UNSAFE(ISAM2, ImplAddVariables) { // Create initial state Values theta; @@ -207,7 +206,7 @@ TEST_UNSAFE(ISAM2, AddVariables) { EXPECT(assert_equal(orderingExpected, ordering)); } /* ************************************************************************* */ -TEST_UNSAFE(ISAM2, RemoveVariables) { +TEST_UNSAFE(ISAM2, ImplRemoveVariables) { // Create initial state Values theta; @@ -381,7 +380,11 @@ TEST(ISAM2, optimize2) { } /* ************************************************************************* */ -bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, const ISAM2& isam) { +bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, const ISAM2& isam, Test& test, TestResult& result) { + + TestResult& result_ = result; + const SimpleString name_ = test.getName(); + Values actual = isam.calculateEstimate(); Ordering ordering = isam.getOrdering(); // *fullgraph.orderingCOLAMD(fullinit).first; GaussianFactorGraph linearized = *fullgraph.linearize(fullinit, ordering); @@ -391,488 +394,94 @@ bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, cons VectorValues delta = optimize(gbn); Values expected = fullinit.retract(delta, ordering); - return assert_equal(expected, actual); + bool isamEqual = assert_equal(expected, actual); + + // The following two checks make sure that the cached gradients are maintained and used correctly + + // Check gradient at each node + bool nodeGradientsOk = true; + typedef ISAM2::sharedClique sharedClique; + BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { + // Compute expected gradient + FactorGraph jfg; + jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(jfg, expectedGradient); + // Compare with actual gradients + int variablePosition = 0; + for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { + const int dim = clique->conditional()->dim(jit); + Vector actual = clique->gradientContribution().segment(variablePosition, dim); + bool gradOk = assert_equal(expectedGradient[*jit], actual); + EXPECT(gradOk); + nodeGradientsOk = nodeGradientsOk && gradOk; + variablePosition += dim; + } + bool dimOk = clique->gradientContribution().rows() == variablePosition; + EXPECT(dimOk); + nodeGradientsOk = nodeGradientsOk && dimOk; + } + + // Check gradient + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(FactorGraph(isam), expectedGradient); + VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); + VectorValues actualGradient(*allocateVectorValues(isam)); + gradientAtZero(isam, actualGradient); + bool expectedGradOk = assert_equal(expectedGradient2, expectedGradient); + EXPECT(expectedGradOk); + bool totalGradOk = assert_equal(expectedGradient, actualGradient); + EXPECT(totalGradOk); + + return nodeGradientsOk && expectedGradOk && totalGradOk; } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_gaussnewton) { - // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_dogleg) { // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false)); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false)); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_gaussnewton_qr) { // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR)); Values fullinit; planarSLAM::Graph fullgraph; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR)); - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } - - // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + // Compare solutions + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_dogleg_qr) { // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR)); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR)); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ @@ -976,127 +585,20 @@ TEST(ISAM2, removeFactors) // then removes the 2nd-to-last landmark measurement // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; planarSLAM::Graph fullgraph; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); - // i keeps track of the time step - size_t i = 0; + // Remove the 2nd measurement on landmark 0 (Key 100) + FastVector toRemove; + toRemove.push_back(12); + isam.update(planarSLAM::Graph(), Values(), toRemove); - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors[0]); - fullgraph.push_back(newfactors[2]); // Don't add measurement on landmark 0 - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - ISAM2Result result = isam.update(newfactors, init); - ++ i; - - // Remove the measurement on landmark 0 - FastVector toRemove; - EXPECT_LONGS_EQUAL(isam.getFactorsUnsafe().size()-2, result.newFactorsIndices[1]); - toRemove.push_back(result.newFactorsIndices[1]); - isam.update(planarSLAM::Graph(), Values(), toRemove); - } + // Remove the factor from the full system + fullgraph.remove(12); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ @@ -1253,7 +755,7 @@ TEST_UNSAFE(ISAM2, swapFactors) // Compare solutions EXPECT(assert_equal(fullgraph, planarSLAM::Graph(isam.getFactorsUnsafe()))); - EXPECT(isam_check(fullgraph, fullinit, isam)); + EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_)); // Check gradient at each node typedef ISAM2::sharedClique sharedClique; @@ -1313,7 +815,7 @@ TEST(ISAM2, constrained_ordering) isam.update(newfactors, init); } - CHECK(isam_check(fullgraph, fullinit, isam)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); // Add odometry from time 0 to time 5 for( ; i<5; ++i) { @@ -1381,7 +883,7 @@ TEST(ISAM2, constrained_ordering) } // Compare solutions - EXPECT(isam_check(fullgraph, fullinit, isam)); + EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_)); // Check that x3 and x4 are last, but either can come before the other EXPECT(isam.getOrdering()[(3)] == 12 && isam.getOrdering()[(4)] == 13); @@ -1420,122 +922,14 @@ TEST(ISAM2, slamlike_solution_partial_relinearization_check) { // These variables will be reused and accumulate factors and values - ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); - params.enablePartialRelinearizationCheck = true; - ISAM2 isam(params); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); + params.enablePartialRelinearizationCheck = true; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, params); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ From 86f19362abbf55dd8658d34b43a6f8b484860785 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 22:32:46 +0000 Subject: [PATCH 524/914] Return FastSet instead of std::set from NonlinearFactorGraph::keys() --- gtsam/nonlinear/NonlinearFactorGraph.cpp | 4 ++-- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- tests/testNonlinearFactorGraph.cpp | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 8c4076c56..969e40677 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -54,8 +54,8 @@ double NonlinearFactorGraph::error(const Values& c) const { } /* ************************************************************************* */ -std::set NonlinearFactorGraph::keys() const { - std::set keys; +FastSet NonlinearFactorGraph::keys() const { + FastSet keys; BOOST_FOREACH(const sharedFactor& factor, this->factors_) { if(factor) keys.insert(factor->begin(), factor->end()); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 1742c7b78..85cc0e63f 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -47,7 +47,7 @@ namespace gtsam { void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /** return keys as an ordered set - ordering is by key value */ - std::set keys() const; + FastSet keys() 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& c) const; diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index f44113f93..f677eb0dc 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -65,9 +65,9 @@ TEST( Graph, error ) TEST( Graph, keys ) { Graph fg = createNonlinearFactorGraph(); - set actual = fg.keys(); + FastSet actual = fg.keys(); LONGS_EQUAL(3, actual.size()); - set::const_iterator it = actual.begin(); + FastSet::const_iterator it = actual.begin(); LONGS_EQUAL(L(1), *(it++)); LONGS_EQUAL(X(1), *(it++)); LONGS_EQUAL(X(2), *(it++)); From 96fc5991db32b808e2624953c13deda02c988f23 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 30 Jun 2012 22:32:49 +0000 Subject: [PATCH 525/914] Automatic removal of unused variables in iSAM2 working in unit tests! --- gtsam/nonlinear/ISAM2-impl.cpp | 25 ++++-- gtsam/nonlinear/ISAM2-impl.h | 9 +- gtsam/nonlinear/ISAM2.cpp | 57 ++++++++++-- gtsam/nonlinear/ISAM2.h | 3 +- tests/testGaussianISAM2.cpp | 159 ++++++--------------------------- 5 files changed, 97 insertions(+), 156 deletions(-) diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 20aacb1e4..5e71ee22b 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -31,7 +31,7 @@ namespace gtsam { void ISAM2::Impl::AddVariables( const Values& newTheta, Values& theta, VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, vector& replacedKeys, - Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter) { + Ordering& ordering, const KeyFormatter& keyFormatter) { const bool debug = ISDEBUG("ISAM2 AddVariables"); theta.insert(newTheta); @@ -58,15 +58,15 @@ void ISAM2::Impl::AddVariables( assert(ordering.nVars() == delta.size()); assert(ordering.size() == delta.size()); } - assert(ordering.nVars() >= nodes.size()); replacedKeys.resize(ordering.nVars(), false); - nodes.resize(ordering.nVars()); } /* ************************************************************************* */ -void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, Values& theta, VariableIndex& variableIndex, - VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, - std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes) { +void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, const ISAM2Clique::shared_ptr& root, + Values& theta, VariableIndex& variableIndex, + VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, + std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, + GaussianFactorGraph& linearFactors) { // Get indices of unused keys vector unusedIndices; unusedIndices.reserve(unusedKeys.size()); @@ -96,16 +96,18 @@ void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, Values& theta, VectorValues newDeltaNewton(dims); VectorValues newDeltaGradSearch(dims); std::vector newReplacedKeys(replacedKeys.size() - unusedIndices.size()); - Base::Nodes newNodes(nodes.size() - unusedIndices.size()); + Base::Nodes newNodes(nodes.size()); // We still keep unused keys at the end until later in ISAM2::recalculate - for(size_t j = 0; j < newNodes.size(); ++j) { + for(size_t j = 0; j < dims.size(); ++j) { newDelta[j] = delta[unusedToEnd[j]]; newDeltaNewton[j] = deltaNewton[unusedToEnd[j]]; newDeltaGradSearch[j] = deltaGradSearch[unusedToEnd[j]]; newReplacedKeys[j] = replacedKeys[unusedToEnd[j]]; - newNodes[j] = nodes[unusedToEnd[j]]; } + // Permute the nodes index so the unused variables are the end + unusedToEnd.applyToCollection(newNodes, nodes); + // Swap the new data structures with the outputs of this function delta.swap(newDelta); deltaNewton.swap(newDeltaNewton); @@ -120,6 +122,11 @@ void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, Values& theta, ordering.pop_back(key); theta.erase(key); } + + // Finally, permute references to variables + if(root) + root->permuteWithInverse(unusedToEndInverse); + linearFactors.permuteWithInverse(unusedToEndInverse); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index 69caf7329..b873c87bf 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -48,14 +48,15 @@ struct ISAM2::Impl { */ static void AddVariables(const Values& newTheta, Values& theta, VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, std::vector& replacedKeys, - Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter = DefaultKeyFormatter); + Ordering& ordering, const KeyFormatter& keyFormatter = DefaultKeyFormatter); /** * Remove variables from the ISAM2 system. */ - static void RemoveVariables(const FastSet& unusedKeys, Values& theta, VariableIndex& variableIndex, - VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, - std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes); + static void RemoveVariables(const FastSet& unusedKeys, const ISAM2Clique::shared_ptr& root, + Values& theta, VariableIndex& variableIndex, VectorValues& delta, VectorValues& deltaNewton, + VectorValues& deltaGradSearch, std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, + GaussianFactorGraph& linearFactors); /** * Extract the set of variable indices from a NonlinearFactorGraph. For each Symbol diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 0c3c198aa..e47127edd 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -249,6 +249,9 @@ boost::shared_ptr > ISAM2::recalculate( this->removeTop(markedKeys, affectedBayesNet, orphans); toc(1, "removetop"); + // Now that the top is removed, correct the size of the Nodes index + this->nodes_.resize(delta_.size()); + if(debug) affectedBayesNet.print("Removed top: "); if(debug) orphans.print("Orphans: "); @@ -266,6 +269,14 @@ boost::shared_ptr > ISAM2::recalculate( // ordering provides all keys in conditionals, there cannot be others because path to root included tic(2,"affectedKeys"); FastList affectedKeys = affectedBayesNet.ordering(); + // The removed top also contained removed variables, which will be ordered + // higher than the number of variables in the system since unused variables + // were already removed in ISAM2::update. + for(FastList::iterator key = affectedKeys.begin(); key != affectedKeys.end(); ) + if(*key >= delta_.size()) + affectedKeys.erase(key++); + else + ++key; toc(2,"affectedKeys"); boost::shared_ptr > affectedKeysSet(new FastSet()); // Will return this result @@ -539,15 +550,46 @@ ISAM2Result ISAM2::update( BOOST_FOREACH(size_t index, removeFactorIndices) { removeFactors.push_back(nonlinearFactors_[index]); nonlinearFactors_.remove(index); + if(params_.cacheLinearizedFactors) + linearFactors_.remove(index); } // Remove removed factors from the variable index so we do not attempt to relinearize them variableIndex_.remove(removeFactorIndices, *removeFactors.symbolic(ordering_)); + + // We now need to start keeping track of the marked keys involved in added or + // removed factors. + FastSet markedKeys; + + // Remove unused keys and add keys from removed factors that are still used + // in other factors to markedKeys. + { + // Get keys from removed factors + FastSet removedFactorSymbKeys = removeFactors.keys(); + + // For each key, if still used in other factors, add to markedKeys to be + // recalculated, or if not used, add to unusedKeys to be removed from the + // system. Note that unusedKeys stores Key while markedKeys stores Index. + FastSet unusedKeys; + BOOST_FOREACH(Key key, removedFactorSymbKeys) { + Index index = ordering_[key]; + if(variableIndex_[index].empty()) + unusedKeys.insert(key); + else + markedKeys.insert(index); + } + + // Remove unused keys. We must hold on to the new nodes index for now + // instead of placing it into the tree because removeTop will need to + // update it. + Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, + deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); + } toc(1,"push_back factors"); tic(2,"add new variables"); // 2. Initialize any new variables \Theta_{new} and add \Theta:=\Theta\cup\Theta_{new}. - Impl::AddVariables(newTheta, theta_, delta_, deltaNewton_, RgProd_, deltaReplacedMask_, ordering_, Base::nodes_); + Impl::AddVariables(newTheta, theta_, delta_, deltaNewton_, RgProd_, deltaReplacedMask_, ordering_); // New keys for detailed results if(params_.enableDetailedResults) { inverseOrdering_ = ordering_.invert(); @@ -561,13 +603,12 @@ ISAM2Result ISAM2::update( tic(4,"gather involved keys"); // 3. Mark linear update - FastSet markedKeys = Impl::IndicesFromFactors(ordering_, newFactors); // Get keys from new factors - // Also mark keys involved in removed factors - { - FastSet markedRemoveKeys = Impl::IndicesFromFactors(ordering_, removeFactors); // Get keys involved in removed factors - markedKeys.insert(markedRemoveKeys.begin(), markedRemoveKeys.end()); // Add to the overall set of marked keys - } - // Observed keys for detailed results + { + FastSet newFactorIndices = Impl::IndicesFromFactors(ordering_, newFactors); // Get keys from new factors + markedKeys.insert(newFactorIndices.begin(), newFactorIndices.end()); + } + + // Observed keys for detailed results if(params_.enableDetailedResults) { BOOST_FOREACH(Index index, markedKeys) { result.detail->variableStatus[inverseOrdering_->at(index)].isObserved = true; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 2fd3e0b23..1fa893819 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -516,8 +516,7 @@ private: GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans); boost::shared_ptr > recalculate(const FastSet& markedKeys, const FastSet& relinKeys, - const FastVector& observedKeys, - const boost::optional >& constrainKeys, ISAM2Result& result); + const FastVector& observedKeys, const boost::optional >& constrainKeys, ISAM2Result& result); // void linear_update(const GaussianFactorGraph& newFactors); void updateDelta(bool forceFullSolve = false) const; diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 2d2f68b71..f63d2add5 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -160,8 +160,6 @@ TEST_UNSAFE(ISAM2, ImplAddVariables) { Ordering ordering; ordering += 100, 0; - ISAM2::Nodes nodes(2); - // Verify initial state LONGS_EQUAL(0, ordering[100]); LONGS_EQUAL(1, ordering[0]); @@ -193,10 +191,8 @@ TEST_UNSAFE(ISAM2, ImplAddVariables) { Ordering orderingExpected; orderingExpected += 100, 0, 1; - ISAM2::Nodes nodesExpected(3, ISAM2::sharedClique()); - // Expand initial state - ISAM2::Impl::AddVariables(newTheta, theta, delta, deltaNewton, deltaRg, replacedKeys, ordering, nodes); + ISAM2::Impl::AddVariables(newTheta, theta, delta, deltaNewton, deltaRg, replacedKeys, ordering); EXPECT(assert_equal(thetaExpected, theta)); EXPECT(assert_equal(deltaExpected, delta)); @@ -276,13 +272,15 @@ TEST_UNSAFE(ISAM2, ImplRemoveVariables) { ISAM2::Nodes nodesExpected(2); - // Expand initial state + // Reduce initial state FastSet unusedKeys; unusedKeys.insert(1); vector removedFactorsI; removedFactorsI.push_back(1); SymbolicFactorGraph removedFactors; removedFactors.push_back(sfg[1]); variableIndex.remove(removedFactorsI, removedFactors); - ISAM2::Impl::RemoveVariables(unusedKeys, theta, variableIndex, delta, deltaNewton, deltaRg, replacedKeys, ordering, nodes); + GaussianFactorGraph linearFactors; + ISAM2::Impl::RemoveVariables(unusedKeys, ISAM2::sharedClique(), theta, variableIndex, delta, deltaNewton, deltaRg, + replacedKeys, ordering, nodes, linearFactors); EXPECT(assert_equal(thetaExpected, theta)); EXPECT(assert_equal(variableIndexExpected, variableIndex)); @@ -602,132 +600,27 @@ TEST(ISAM2, removeFactors) } /* ************************************************************************* */ -//TEST(ISAM2, removeVariables) -//{ -// -// // These variables will be reused and accumulate factors and values -// ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); -// Values fullinit; -// planarSLAM::Graph fullgraph; -// -// vector factorsToRemove; -// -// // i keeps track of the time step -// size_t i = 0; -// -// // Add a prior at time 0 and update isam -// { -// planarSLAM::Graph newfactors; -// newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); -// fullgraph.push_back(newfactors); -// -// Values init; -// init.insert((0), Pose2(0.01, 0.01, 0.01)); -// fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); -// -// isam.update(newfactors, init); -// } -// -// CHECK(isam_check(fullgraph, fullinit, isam)); -// -// // Add odometry from time 0 to time 5 -// for( ; i<5; ++i) { -// planarSLAM::Graph newfactors; -// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); -// fullgraph.push_back(newfactors); -// -// Values init; -// init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); -// fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); -// -// isam.update(newfactors, init); -// } -// -// // Add odometry from time 5 to 6 and landmark measurement at time 5 -// { -// planarSLAM::Graph newfactors; -// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); -// newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); -// newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); -// fullgraph.push_back(newfactors); -// -// Values init; -// init.insert((i+1), Pose2(1.01, 0.01, 0.01)); -// init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); -// init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); -// fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); -// fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); -// fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); -// -// ISAM2Result result = isam.update(newfactors, init); -// factorsToRemove.push_back(result.newFactorsIndices[1]); -// ++ i; -// } -// -// // Add odometry from time 6 to time 10 -// for( ; i<10; ++i) { -// planarSLAM::Graph newfactors; -// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); -// fullgraph.push_back(newfactors); -// -// Values init; -// init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); -// fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); -// -// isam.update(newfactors, init); -// } -// -// // Add odometry from time 10 to 11 and landmark measurement at time 10 -// { -// planarSLAM::Graph newfactors; -// newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); -// newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); -// newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); -// fullgraph.push_back(newfactors); -// -// Values init; -// init.insert((i+1), Pose2(6.9, 0.1, 0.01)); -// fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); -// -// ISAM2Result result = isam.update(newfactors, init); -// factorsToRemove.push_back(result.newFactorsIndices[1]); -// ++ i; -// } -// -// // Compare solutions -// fullgraph.remove(factorsToRemove[0]); -// fullgraph.remove(factorsToRemove[1]); -// fullinit.erase(100); -// CHECK(isam_check(fullgraph, fullinit, isam)); -// -// // Check gradient at each node -// typedef ISAM2::sharedClique sharedClique; -// BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { -// // Compute expected gradient -// FactorGraph jfg; -// jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); -// VectorValues expectedGradient(*allocateVectorValues(isam)); -// gradientAtZero(jfg, expectedGradient); -// // Compare with actual gradients -// int variablePosition = 0; -// for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { -// const int dim = clique->conditional()->dim(jit); -// Vector actual = clique->gradientContribution().segment(variablePosition, dim); -// EXPECT(assert_equal(expectedGradient[*jit], actual)); -// variablePosition += dim; -// } -// LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); -// } -// -// // Check gradient -// VectorValues expectedGradient(*allocateVectorValues(isam)); -// gradientAtZero(FactorGraph(isam), expectedGradient); -// VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); -// VectorValues actualGradient(*allocateVectorValues(isam)); -// gradientAtZero(isam, actualGradient); -// EXPECT(assert_equal(expectedGradient2, expectedGradient)); -// EXPECT(assert_equal(expectedGradient, actualGradient)); -//} +TEST_UNSAFE(ISAM2, removeVariables) +{ + // These variables will be reused and accumulate factors and values + Values fullinit; + planarSLAM::Graph fullgraph; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); + + // Remove the measurement on landmark 0 (Key 100) + FastVector toRemove; + toRemove.push_back(7); + toRemove.push_back(14); + isam.update(planarSLAM::Graph(), Values(), toRemove); + + // Remove the factors and variable from the full system + fullgraph.remove(7); + fullgraph.remove(14); + fullinit.erase(100); + + // Compare solutions + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); +} /* ************************************************************************* */ TEST_UNSAFE(ISAM2, swapFactors) From 20cf1da5a9befb39cd37b8d8df38931371a4b19a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 1 Jul 2012 18:00:33 +0000 Subject: [PATCH 526/914] Merge branch 'master' into new_wrap_local --- CppUnitLite/Test.h | 2 +- gtsam/inference/Permutation.h | 15 +- gtsam/inference/VariableIndex.cpp | 11 + gtsam/inference/VariableIndex.h | 15 + gtsam/inference/tests/testVariableIndex.cpp | 4 +- gtsam/linear/VectorValues.cpp | 14 + gtsam/linear/VectorValues.h | 8 + gtsam/nonlinear/ISAM2-impl.cpp | 72 +- gtsam/nonlinear/ISAM2-impl.h | 10 +- gtsam/nonlinear/ISAM2.cpp | 57 +- gtsam/nonlinear/ISAM2.h | 3 +- gtsam/nonlinear/NonlinearFactorGraph.cpp | 4 +- gtsam/nonlinear/NonlinearFactorGraph.h | 2 +- tests/testGaussianISAM2.cpp | 861 +++++--------------- tests/testNonlinearFactorGraph.cpp | 4 +- 15 files changed, 380 insertions(+), 702 deletions(-) diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h index 22566131e..89d96f463 100644 --- a/CppUnitLite/Test.h +++ b/CppUnitLite/Test.h @@ -110,7 +110,7 @@ protected: { try { condition; \ result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Didn't throw: ") + StringFrom(#condition))); \ return; } \ - catch (exception_name& e) {} \ + catch (exception_name&) {} \ catch (...) { \ result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Wrong exception: ") + StringFrom(#condition) + StringFrom(", expected: ") + StringFrom(#exception_name))); \ return; } } diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 3a5b9b0da..39c4447d2 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -133,8 +133,8 @@ public: static Permutation PullToFront(const std::vector& toFront, size_t size, bool filterDuplicates = false); /** - * Create a permutation that pulls the given variables to the front while - * pushing the rest to the back. + * Create a permutation that pushes the given variables to the back while + * pulling the rest to the front. */ static Permutation PushToBack(const std::vector& toBack, size_t size, bool filterDuplicates = false); @@ -154,6 +154,17 @@ public: const_iterator begin() const { return rangeIndices_.begin(); } ///< Iterate through the indices const_iterator end() const { return rangeIndices_.end(); } ///< Iterate through the indices + /** Apply the permutation to a collection, which must have operator[] defined. + * Note that permutable gtsam data structures typically have their own + * permute function to apply a permutation. Permutation::applyToCollection is + * a generic function, e.g. for STL classes. + * @param input The input collection. + * @param output The preallocated output collection, which is assigned output[i] = input[permutation[i]] + */ + template + void applyToCollection(OUTPUT_COLLECTION& output, const INPUT_COLLECTION& input) const { + for(size_t i = 0; i < output.size(); ++i) output[i] = input[(*this)[i]]; } + /// @} /// @name Advanced Interface diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp index a29d5e432..4e5eb8649 100644 --- a/gtsam/inference/VariableIndex.cpp +++ b/gtsam/inference/VariableIndex.cpp @@ -76,4 +76,15 @@ void VariableIndex::permuteInPlace(const Permutation& permutation) { index_.swap(newIndex); } +/* ************************************************************************* */ +void VariableIndex::removeUnusedAtEnd(size_t nToRemove) { +#ifndef NDEBUG + for(size_t i = this->size() - nToRemove; i < this->size(); ++i) + if(!(*this)[i].empty()) + throw std::invalid_argument("Attempting to remove non-empty variables with VariableIndex::removeUnusedAtEnd()"); +#endif + + index_.resize(this->size() - nToRemove); +} + } diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index be47cbd5a..739067dd2 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -119,6 +119,11 @@ public: /** * Remove entries corresponding to the specified factors. + * NOTE: We intentionally do not decrement nFactors_ because the factor + * indices need to remain consistent. Removing factors from a factor graph + * does not shift the indices of other factors. Also, we keep nFactors_ + * one greater than the highest-numbered factor referenced in a VariableIndex. + * * @param indices The indices of the factors to remove, which must match \c factors * @param factors The factors being removed, which must symbolically correspond * exactly to the factors with the specified \c indices that were added. @@ -128,6 +133,12 @@ public: /// Permute the variables in the VariableIndex according to the given permutation void permuteInPlace(const Permutation& permutation); + /** Remove unused empty variables at the end of the ordering (in debug mode + * verifies they are empty). + * @param nToRemove The number of unused variables at the end to remove + */ + void removeUnusedAtEnd(size_t nToRemove); + protected: Factor_iterator factorsBegin(Index variable) { checkVar(variable); return index_[variable].begin(); } /// void VariableIndex::remove(const CONTAINER& indices, const FactorGraph& factors) { + // NOTE: We intentionally do not decrement nFactors_ because the factor + // indices need to remain consistent. Removing factors from a factor graph + // does not shift the indices of other factors. Also, we keep nFactors_ + // one greater than the highest-numbered factor referenced in a VariableIndex. for(size_t fi=0; fikeys().size(); ++ji) { diff --git a/gtsam/inference/tests/testVariableIndex.cpp b/gtsam/inference/tests/testVariableIndex.cpp index 7c8e6fa9e..412b3fa04 100644 --- a/gtsam/inference/tests/testVariableIndex.cpp +++ b/gtsam/inference/tests/testVariableIndex.cpp @@ -44,7 +44,9 @@ TEST(VariableIndex, augment) { VariableIndex actual(fg1); actual.augment(fg2); - CHECK(assert_equal(expected, actual)); + LONGS_EQUAL(16, actual.nEntries()); + LONGS_EQUAL(8, actual.nFactors()); + EXPECT(assert_equal(expected, actual)); } /* ************************************************************************* */ diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 15925c644..fd7f2757c 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -45,6 +45,14 @@ VectorValues VectorValues::Zero(const VectorValues& x) { return cloned; } +/* ************************************************************************* */ +vector VectorValues::dims() const { + std::vector result(this->size()); + for(Index j = 0; j < this->size(); ++j) + result[j] = this->dim(j); + return result; +} + /* ************************************************************************* */ void VectorValues::insert(Index j, const Vector& value) { // Make sure j does not already exist @@ -188,4 +196,10 @@ VectorValues VectorValues::permute(const Permutation& permutation) const { return lhs; } +/* ************************************************************************* */ +void VectorValues::swap(VectorValues& other) { + this->values_.swap(other.values_); + this->maps_.swap(other.maps_); +} + } \ No newline at end of file diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 463080db9..aa9c1aa6d 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -134,6 +134,9 @@ namespace gtsam { /** Return the summed dimensionality of all variables. */ size_t dim() const { return values_.rows(); } + /** Return the dimension of each vector in this container */ + std::vector dims() const; + /** Check whether a variable with index \c j exists. */ bool exists(Index j) const { return j < size() && maps_[j].rows() > 0; } @@ -296,6 +299,11 @@ namespace gtsam { */ VectorValues permute(const Permutation& permutation) const; + /** + * Swap the data in this VectorValues with another. + */ + void swap(VectorValues& other); + /// @} private: diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 3c373e0ba..5e71ee22b 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -31,7 +31,7 @@ namespace gtsam { void ISAM2::Impl::AddVariables( const Values& newTheta, Values& theta, VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, vector& replacedKeys, - Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter) { + Ordering& ordering, const KeyFormatter& keyFormatter) { const bool debug = ISDEBUG("ISAM2 AddVariables"); theta.insert(newTheta); @@ -58,9 +58,75 @@ void ISAM2::Impl::AddVariables( assert(ordering.nVars() == delta.size()); assert(ordering.size() == delta.size()); } - assert(ordering.nVars() >= nodes.size()); replacedKeys.resize(ordering.nVars(), false); - nodes.resize(ordering.nVars()); +} + +/* ************************************************************************* */ +void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, const ISAM2Clique::shared_ptr& root, + Values& theta, VariableIndex& variableIndex, + VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, + std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, + GaussianFactorGraph& linearFactors) { + + // Get indices of unused keys + vector unusedIndices; unusedIndices.reserve(unusedKeys.size()); + BOOST_FOREACH(Key key, unusedKeys) { unusedIndices.push_back(ordering[key]); } + + // Create a permutation that shifts the unused variables to the end + Permutation unusedToEnd = Permutation::PushToBack(unusedIndices, delta.size()); + Permutation unusedToEndInverse = *unusedToEnd.inverse(); + + // Use the permutation to remove unused variables while shifting all the others to take up the space + variableIndex.permuteInPlace(unusedToEnd); + variableIndex.removeUnusedAtEnd(unusedIndices.size()); + { + // Create a vector of variable dimensions with the unused ones removed + // by applying the unusedToEnd permutation to the original vector of + // variable dimensions. We only allocate space in the shifted dims + // vector for the used variables, so that the unused ones are dropped + // when the permutation is applied. + vector originalDims = delta.dims(); + vector dims(delta.size() - unusedIndices.size()); + unusedToEnd.applyToCollection(dims, originalDims); + + // Copy from the old data structures to new ones, only iterating up to + // the number of used variables, and applying the unusedToEnd permutation + // in order to remove the unused variables. + VectorValues newDelta(dims); + VectorValues newDeltaNewton(dims); + VectorValues newDeltaGradSearch(dims); + std::vector newReplacedKeys(replacedKeys.size() - unusedIndices.size()); + Base::Nodes newNodes(nodes.size()); // We still keep unused keys at the end until later in ISAM2::recalculate + + for(size_t j = 0; j < dims.size(); ++j) { + newDelta[j] = delta[unusedToEnd[j]]; + newDeltaNewton[j] = deltaNewton[unusedToEnd[j]]; + newDeltaGradSearch[j] = deltaGradSearch[unusedToEnd[j]]; + newReplacedKeys[j] = replacedKeys[unusedToEnd[j]]; + } + + // Permute the nodes index so the unused variables are the end + unusedToEnd.applyToCollection(newNodes, nodes); + + // Swap the new data structures with the outputs of this function + delta.swap(newDelta); + deltaNewton.swap(newDeltaNewton); + deltaGradSearch.swap(newDeltaGradSearch); + replacedKeys.swap(newReplacedKeys); + nodes.swap(newNodes); + } + + // Reorder and remove from ordering and solution + ordering.permuteWithInverse(unusedToEndInverse); + BOOST_REVERSE_FOREACH(Key key, unusedKeys) { + ordering.pop_back(key); + theta.erase(key); + } + + // Finally, permute references to variables + if(root) + root->permuteWithInverse(unusedToEndInverse); + linearFactors.permuteWithInverse(unusedToEndInverse); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index fdb39d855..b873c87bf 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -48,8 +48,16 @@ struct ISAM2::Impl { */ static void AddVariables(const Values& newTheta, Values& theta, VectorValues& delta, VectorValues& deltaNewton, VectorValues& deltaGradSearch, std::vector& replacedKeys, - Ordering& ordering, Base::Nodes& nodes, const KeyFormatter& keyFormatter = DefaultKeyFormatter); + Ordering& ordering, const KeyFormatter& keyFormatter = DefaultKeyFormatter); + /** + * Remove variables from the ISAM2 system. + */ + static void RemoveVariables(const FastSet& unusedKeys, const ISAM2Clique::shared_ptr& root, + Values& theta, VariableIndex& variableIndex, VectorValues& delta, VectorValues& deltaNewton, + VectorValues& deltaGradSearch, std::vector& replacedKeys, Ordering& ordering, Base::Nodes& nodes, + GaussianFactorGraph& linearFactors); + /** * Extract the set of variable indices from a NonlinearFactorGraph. For each Symbol * in each NonlinearFactor, obtains the index by calling ordering[symbol]. diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 0c3c198aa..e47127edd 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -249,6 +249,9 @@ boost::shared_ptr > ISAM2::recalculate( this->removeTop(markedKeys, affectedBayesNet, orphans); toc(1, "removetop"); + // Now that the top is removed, correct the size of the Nodes index + this->nodes_.resize(delta_.size()); + if(debug) affectedBayesNet.print("Removed top: "); if(debug) orphans.print("Orphans: "); @@ -266,6 +269,14 @@ boost::shared_ptr > ISAM2::recalculate( // ordering provides all keys in conditionals, there cannot be others because path to root included tic(2,"affectedKeys"); FastList affectedKeys = affectedBayesNet.ordering(); + // The removed top also contained removed variables, which will be ordered + // higher than the number of variables in the system since unused variables + // were already removed in ISAM2::update. + for(FastList::iterator key = affectedKeys.begin(); key != affectedKeys.end(); ) + if(*key >= delta_.size()) + affectedKeys.erase(key++); + else + ++key; toc(2,"affectedKeys"); boost::shared_ptr > affectedKeysSet(new FastSet()); // Will return this result @@ -539,15 +550,46 @@ ISAM2Result ISAM2::update( BOOST_FOREACH(size_t index, removeFactorIndices) { removeFactors.push_back(nonlinearFactors_[index]); nonlinearFactors_.remove(index); + if(params_.cacheLinearizedFactors) + linearFactors_.remove(index); } // Remove removed factors from the variable index so we do not attempt to relinearize them variableIndex_.remove(removeFactorIndices, *removeFactors.symbolic(ordering_)); + + // We now need to start keeping track of the marked keys involved in added or + // removed factors. + FastSet markedKeys; + + // Remove unused keys and add keys from removed factors that are still used + // in other factors to markedKeys. + { + // Get keys from removed factors + FastSet removedFactorSymbKeys = removeFactors.keys(); + + // For each key, if still used in other factors, add to markedKeys to be + // recalculated, or if not used, add to unusedKeys to be removed from the + // system. Note that unusedKeys stores Key while markedKeys stores Index. + FastSet unusedKeys; + BOOST_FOREACH(Key key, removedFactorSymbKeys) { + Index index = ordering_[key]; + if(variableIndex_[index].empty()) + unusedKeys.insert(key); + else + markedKeys.insert(index); + } + + // Remove unused keys. We must hold on to the new nodes index for now + // instead of placing it into the tree because removeTop will need to + // update it. + Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, + deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); + } toc(1,"push_back factors"); tic(2,"add new variables"); // 2. Initialize any new variables \Theta_{new} and add \Theta:=\Theta\cup\Theta_{new}. - Impl::AddVariables(newTheta, theta_, delta_, deltaNewton_, RgProd_, deltaReplacedMask_, ordering_, Base::nodes_); + Impl::AddVariables(newTheta, theta_, delta_, deltaNewton_, RgProd_, deltaReplacedMask_, ordering_); // New keys for detailed results if(params_.enableDetailedResults) { inverseOrdering_ = ordering_.invert(); @@ -561,13 +603,12 @@ ISAM2Result ISAM2::update( tic(4,"gather involved keys"); // 3. Mark linear update - FastSet markedKeys = Impl::IndicesFromFactors(ordering_, newFactors); // Get keys from new factors - // Also mark keys involved in removed factors - { - FastSet markedRemoveKeys = Impl::IndicesFromFactors(ordering_, removeFactors); // Get keys involved in removed factors - markedKeys.insert(markedRemoveKeys.begin(), markedRemoveKeys.end()); // Add to the overall set of marked keys - } - // Observed keys for detailed results + { + FastSet newFactorIndices = Impl::IndicesFromFactors(ordering_, newFactors); // Get keys from new factors + markedKeys.insert(newFactorIndices.begin(), newFactorIndices.end()); + } + + // Observed keys for detailed results if(params_.enableDetailedResults) { BOOST_FOREACH(Index index, markedKeys) { result.detail->variableStatus[inverseOrdering_->at(index)].isObserved = true; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 2fd3e0b23..1fa893819 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -516,8 +516,7 @@ private: GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans); boost::shared_ptr > recalculate(const FastSet& markedKeys, const FastSet& relinKeys, - const FastVector& observedKeys, - const boost::optional >& constrainKeys, ISAM2Result& result); + const FastVector& observedKeys, const boost::optional >& constrainKeys, ISAM2Result& result); // void linear_update(const GaussianFactorGraph& newFactors); void updateDelta(bool forceFullSolve = false) const; diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp index 8c4076c56..969e40677 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.cpp +++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp @@ -54,8 +54,8 @@ double NonlinearFactorGraph::error(const Values& c) const { } /* ************************************************************************* */ -std::set NonlinearFactorGraph::keys() const { - std::set keys; +FastSet NonlinearFactorGraph::keys() const { + FastSet keys; BOOST_FOREACH(const sharedFactor& factor, this->factors_) { if(factor) keys.insert(factor->begin(), factor->end()); diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 1742c7b78..85cc0e63f 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -47,7 +47,7 @@ namespace gtsam { void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; /** return keys as an ordered set - ordering is by key value */ - std::set keys() const; + FastSet keys() 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& c) const; diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 994077777..f63d2add5 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -6,6 +6,7 @@ #include #include +#include #include #include #include @@ -43,7 +44,6 @@ ISAM2 createSlamlikeISAM2( // These variables will be reused and accumulate factors and values ISAM2 isam(params); -// ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true)); Values fullinit; planarSLAM::Graph fullgraph; @@ -135,7 +135,7 @@ ISAM2 createSlamlikeISAM2( } /* ************************************************************************* */ -TEST_UNSAFE(ISAM2, AddVariables) { +TEST_UNSAFE(ISAM2, ImplAddVariables) { // Create initial state Values theta; @@ -160,8 +160,6 @@ TEST_UNSAFE(ISAM2, AddVariables) { Ordering ordering; ordering += 100, 0; - ISAM2::Nodes nodes(2); - // Verify initial state LONGS_EQUAL(0, ordering[100]); LONGS_EQUAL(1, ordering[0]); @@ -193,10 +191,8 @@ TEST_UNSAFE(ISAM2, AddVariables) { Ordering orderingExpected; orderingExpected += 100, 0, 1; - ISAM2::Nodes nodesExpected(3, ISAM2::sharedClique()); - // Expand initial state - ISAM2::Impl::AddVariables(newTheta, theta, delta, deltaNewton, deltaRg, replacedKeys, ordering, nodes); + ISAM2::Impl::AddVariables(newTheta, theta, delta, deltaNewton, deltaRg, replacedKeys, ordering); EXPECT(assert_equal(thetaExpected, theta)); EXPECT(assert_equal(deltaExpected, delta)); @@ -205,6 +201,95 @@ TEST_UNSAFE(ISAM2, AddVariables) { EXPECT(assert_container_equality(replacedKeysExpected, replacedKeys)); EXPECT(assert_equal(orderingExpected, ordering)); } +/* ************************************************************************* */ +TEST_UNSAFE(ISAM2, ImplRemoveVariables) { + + // Create initial state + Values theta; + theta.insert(0, Pose2(.1, .2, .3)); + theta.insert(1, Pose2(.6, .7, .8)); + theta.insert(100, Point2(.4, .5)); + + SymbolicFactorGraph sfg; + sfg.push_back(boost::make_shared(Index(0), Index(2))); + sfg.push_back(boost::make_shared(Index(0), Index(1))); + VariableIndex variableIndex(sfg); + + VectorValues delta; + delta.insert(0, Vector_(3, .1, .2, .3)); + delta.insert(1, Vector_(3, .4, .5, .6)); + delta.insert(2, Vector_(2, .7, .8)); + + VectorValues deltaNewton; + deltaNewton.insert(0, Vector_(3, .1, .2, .3)); + deltaNewton.insert(1, Vector_(3, .4, .5, .6)); + deltaNewton.insert(2, Vector_(2, .7, .8)); + + VectorValues deltaRg; + deltaRg.insert(0, Vector_(3, .1, .2, .3)); + deltaRg.insert(1, Vector_(3, .4, .5, .6)); + deltaRg.insert(2, Vector_(2, .7, .8)); + + vector replacedKeys(3, false); + replacedKeys[0] = true; + replacedKeys[1] = false; + replacedKeys[2] = true; + + Ordering ordering; ordering += 100, 1, 0; + + ISAM2::Nodes nodes(3); + + // Verify initial state + LONGS_EQUAL(0, ordering[100]); + LONGS_EQUAL(1, ordering[1]); + LONGS_EQUAL(2, ordering[0]); + + // Create expected state + Values thetaExpected; + thetaExpected.insert(0, Pose2(.1, .2, .3)); + thetaExpected.insert(100, Point2(.4, .5)); + + SymbolicFactorGraph sfgRemoved; + sfgRemoved.push_back(boost::make_shared(Index(0), Index(1))); + sfgRemoved.push_back(SymbolicFactorGraph::sharedFactor()); // Add empty factor to keep factor indices consistent + VariableIndex variableIndexExpected(sfgRemoved); + + VectorValues deltaExpected; + deltaExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaExpected.insert(1, Vector_(2, .7, .8)); + + VectorValues deltaNewtonExpected; + deltaNewtonExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaNewtonExpected.insert(1, Vector_(2, .7, .8)); + + VectorValues deltaRgExpected; + deltaRgExpected.insert(0, Vector_(3, .1, .2, .3)); + deltaRgExpected.insert(1, Vector_(2, .7, .8)); + + vector replacedKeysExpected(2, true); + + Ordering orderingExpected; orderingExpected += 100, 0; + + ISAM2::Nodes nodesExpected(2); + + // Reduce initial state + FastSet unusedKeys; + unusedKeys.insert(1); + vector removedFactorsI; removedFactorsI.push_back(1); + SymbolicFactorGraph removedFactors; removedFactors.push_back(sfg[1]); + variableIndex.remove(removedFactorsI, removedFactors); + GaussianFactorGraph linearFactors; + ISAM2::Impl::RemoveVariables(unusedKeys, ISAM2::sharedClique(), theta, variableIndex, delta, deltaNewton, deltaRg, + replacedKeys, ordering, nodes, linearFactors); + + EXPECT(assert_equal(thetaExpected, theta)); + EXPECT(assert_equal(variableIndexExpected, variableIndex)); + EXPECT(assert_equal(deltaExpected, delta)); + EXPECT(assert_equal(deltaNewtonExpected, deltaNewton)); + EXPECT(assert_equal(deltaRgExpected, deltaRg)); + EXPECT(assert_container_equality(replacedKeysExpected, replacedKeys)); + EXPECT(assert_equal(orderingExpected, ordering)); +} /* ************************************************************************* */ //TEST(ISAM2, IndicesFromFactors) { @@ -293,7 +378,11 @@ TEST(ISAM2, optimize2) { } /* ************************************************************************* */ -bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, const ISAM2& isam) { +bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, const ISAM2& isam, Test& test, TestResult& result) { + + TestResult& result_ = result; + const SimpleString name_ = test.getName(); + Values actual = isam.calculateEstimate(); Ordering ordering = isam.getOrdering(); // *fullgraph.orderingCOLAMD(fullinit).first; GaussianFactorGraph linearized = *fullgraph.linearize(fullinit, ordering); @@ -303,488 +392,94 @@ bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, cons VectorValues delta = optimize(gbn); Values expected = fullinit.retract(delta, ordering); - return assert_equal(expected, actual); + bool isamEqual = assert_equal(expected, actual); + + // The following two checks make sure that the cached gradients are maintained and used correctly + + // Check gradient at each node + bool nodeGradientsOk = true; + typedef ISAM2::sharedClique sharedClique; + BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { + // Compute expected gradient + FactorGraph jfg; + jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(jfg, expectedGradient); + // Compare with actual gradients + int variablePosition = 0; + for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { + const int dim = clique->conditional()->dim(jit); + Vector actual = clique->gradientContribution().segment(variablePosition, dim); + bool gradOk = assert_equal(expectedGradient[*jit], actual); + EXPECT(gradOk); + nodeGradientsOk = nodeGradientsOk && gradOk; + variablePosition += dim; + } + bool dimOk = clique->gradientContribution().rows() == variablePosition; + EXPECT(dimOk); + nodeGradientsOk = nodeGradientsOk && dimOk; + } + + // Check gradient + VectorValues expectedGradient(*allocateVectorValues(isam)); + gradientAtZero(FactorGraph(isam), expectedGradient); + VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); + VectorValues actualGradient(*allocateVectorValues(isam)); + gradientAtZero(isam, actualGradient); + bool expectedGradOk = assert_equal(expectedGradient2, expectedGradient); + EXPECT(expectedGradOk); + bool totalGradOk = assert_equal(expectedGradient, actualGradient); + EXPECT(totalGradOk); + + return nodeGradientsOk && expectedGradOk && totalGradOk; } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_gaussnewton) { - // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_dogleg) { // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false)); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false)); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_gaussnewton_qr) { // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR)); Values fullinit; planarSLAM::Graph fullgraph; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR)); - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } - - // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + // Compare solutions + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ TEST(ISAM2, slamlike_solution_dogleg_qr) { // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR)); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR)); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ @@ -888,127 +583,43 @@ TEST(ISAM2, removeFactors) // then removes the 2nd-to-last landmark measurement // These variables will be reused and accumulate factors and values - ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; planarSLAM::Graph fullgraph; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); - // i keeps track of the time step - size_t i = 0; + // Remove the 2nd measurement on landmark 0 (Key 100) + FastVector toRemove; + toRemove.push_back(12); + isam.update(planarSLAM::Graph(), Values(), toRemove); - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors[0]); - fullgraph.push_back(newfactors[2]); // Don't add measurement on landmark 0 - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - ISAM2Result result = isam.update(newfactors, init); - ++ i; - - // Remove the measurement on landmark 0 - FastVector toRemove; - EXPECT_LONGS_EQUAL(isam.getFactorsUnsafe().size()-2, result.newFactorsIndices[1]); - toRemove.push_back(result.newFactorsIndices[1]); - isam.update(planarSLAM::Graph(), Values(), toRemove); - } + // Remove the factor from the full system + fullgraph.remove(12); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); +} - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } +/* ************************************************************************* */ +TEST_UNSAFE(ISAM2, removeVariables) +{ + // These variables will be reused and accumulate factors and values + Values fullinit; + planarSLAM::Graph fullgraph; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + // Remove the measurement on landmark 0 (Key 100) + FastVector toRemove; + toRemove.push_back(7); + toRemove.push_back(14); + isam.update(planarSLAM::Graph(), Values(), toRemove); + + // Remove the factors and variable from the full system + fullgraph.remove(7); + fullgraph.remove(14); + fullinit.erase(100); + + // Compare solutions + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ @@ -1037,7 +648,7 @@ TEST_UNSAFE(ISAM2, swapFactors) // Compare solutions EXPECT(assert_equal(fullgraph, planarSLAM::Graph(isam.getFactorsUnsafe()))); - EXPECT(isam_check(fullgraph, fullinit, isam)); + EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_)); // Check gradient at each node typedef ISAM2::sharedClique sharedClique; @@ -1097,7 +708,7 @@ TEST(ISAM2, constrained_ordering) isam.update(newfactors, init); } - CHECK(isam_check(fullgraph, fullinit, isam)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); // Add odometry from time 0 to time 5 for( ; i<5; ++i) { @@ -1165,7 +776,7 @@ TEST(ISAM2, constrained_ordering) } // Compare solutions - EXPECT(isam_check(fullgraph, fullinit, isam)); + EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_)); // Check that x3 and x4 are last, but either can come before the other EXPECT(isam.getOrdering()[(3)] == 12 && isam.getOrdering()[(4)] == 13); @@ -1204,122 +815,14 @@ TEST(ISAM2, slamlike_solution_partial_relinearization_check) { // These variables will be reused and accumulate factors and values - ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); - params.enablePartialRelinearizationCheck = true; - ISAM2 isam(params); Values fullinit; planarSLAM::Graph fullgraph; - - // i keeps track of the time step - size_t i = 0; - - // Add a prior at time 0 and update isam - { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((0), Pose2(0.01, 0.01, 0.01)); - fullinit.insert((0), Pose2(0.01, 0.01, 0.01)); - - isam.update(newfactors, init); - } - - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Add odometry from time 0 to time 5 - for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 5 to 6 and landmark measurement at time 5 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(1.01, 0.01, 0.01)); - init.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - init.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - fullinit.insert((i+1), Pose2(1.01, 0.01, 0.01)); - fullinit.insert(100, Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); - fullinit.insert(101, Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); - - isam.update(newfactors, init); - ++ i; - } - - // Add odometry from time 6 to time 10 - for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - fullinit.insert((i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); - - isam.update(newfactors, init); - } - - // Add odometry from time 10 to 11 and landmark measurement at time 10 - { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - fullgraph.push_back(newfactors); - - Values init; - init.insert((i+1), Pose2(6.9, 0.1, 0.01)); - fullinit.insert((i+1), Pose2(6.9, 0.1, 0.01)); - - isam.update(newfactors, init); - ++ i; - } + ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); + params.enablePartialRelinearizationCheck = true; + ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, params); // Compare solutions - CHECK(isam_check(fullgraph, fullinit, isam)); - - // Check gradient at each node - typedef ISAM2::sharedClique sharedClique; - BOOST_FOREACH(const sharedClique& clique, isam.nodes()) { - // Compute expected gradient - FactorGraph jfg; - jfg.push_back(JacobianFactor::shared_ptr(new JacobianFactor(*clique->conditional()))); - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(jfg, expectedGradient); - // Compare with actual gradients - int variablePosition = 0; - for(GaussianConditional::const_iterator jit = clique->conditional()->begin(); jit != clique->conditional()->end(); ++jit) { - const int dim = clique->conditional()->dim(jit); - Vector actual = clique->gradientContribution().segment(variablePosition, dim); - EXPECT(assert_equal(expectedGradient[*jit], actual)); - variablePosition += dim; - } - LONGS_EQUAL(clique->gradientContribution().rows(), variablePosition); - } - - // Check gradient - VectorValues expectedGradient(*allocateVectorValues(isam)); - gradientAtZero(FactorGraph(isam), expectedGradient); - VectorValues expectedGradient2(gradient(FactorGraph(isam), VectorValues::Zero(expectedGradient))); - VectorValues actualGradient(*allocateVectorValues(isam)); - gradientAtZero(isam, actualGradient); - EXPECT(assert_equal(expectedGradient2, expectedGradient)); - EXPECT(assert_equal(expectedGradient, actualGradient)); + CHECK(isam_check(fullgraph, fullinit, isam, *this, result_)); } /* ************************************************************************* */ diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp index f44113f93..f677eb0dc 100644 --- a/tests/testNonlinearFactorGraph.cpp +++ b/tests/testNonlinearFactorGraph.cpp @@ -65,9 +65,9 @@ TEST( Graph, error ) TEST( Graph, keys ) { Graph fg = createNonlinearFactorGraph(); - set actual = fg.keys(); + FastSet actual = fg.keys(); LONGS_EQUAL(3, actual.size()); - set::const_iterator it = actual.begin(); + FastSet::const_iterator it = actual.begin(); LONGS_EQUAL(L(1), *(it++)); LONGS_EQUAL(X(1), *(it++)); LONGS_EQUAL(X(2), *(it++)); From 9273c3d18cdec741cbdd287d93c93eb87bc76365 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 1 Jul 2012 18:00:35 +0000 Subject: [PATCH 527/914] Added minimal output to wrap generation --- wrap/FileWriter.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/wrap/FileWriter.cpp b/wrap/FileWriter.cpp index ae474be0a..38abf2488 100644 --- a/wrap/FileWriter.cpp +++ b/wrap/FileWriter.cpp @@ -46,6 +46,10 @@ void FileWriter::emit(bool add_header, bool force_overwrite) const { ofs << new_contents; ofs.close(); if (verbose_) cerr << " ...complete" << endl; + + // Add small message whenever writing a new file and not running in full verbose mode + if (!verbose_) + cout << "wrap: generating " << filename_ << endl; } else { if (verbose_) cerr << " ...no update" << endl; } From 8da8b4dca2cf31b25030166fbbf2fd8ecc86588d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 2 Jul 2012 02:14:44 +0000 Subject: [PATCH 528/914] Small rename of template arguments to clarify --- gtsam/inference/FactorGraph-inl.h | 6 +++--- gtsam/inference/FactorGraph.h | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index caf18d60e..66c44db52 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -108,15 +108,15 @@ namespace gtsam { } /* ************************************************************************* */ - template - typename DERIVED::shared_ptr Combine(const FactorGraph& factors, + template + typename DERIVEDFACTOR::shared_ptr Combine(const FactorGraph& factors, const FastMap >& variableSlots) { typedef const std::pair > KeySlotPair; // Local functional for getting keys out of key-value pairs struct Local { static KEY FirstOf(const KeySlotPair& pr) { return pr.first; } }; - return typename DERIVED::shared_ptr(new DERIVED( + return typename DERIVEDFACTOR::shared_ptr(new DERIVEDFACTOR( boost::make_transform_iterator(variableSlots.begin(), &Local::FirstOf), boost::make_transform_iterator(variableSlots.end(), &Local::FirstOf))); } diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index d0b9952d5..5295a4c58 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -215,8 +215,8 @@ template class BayesTree; }; // FactorGraph /** Create a combined joint factor (new style for EliminationTree). */ - template - typename DERIVED::shared_ptr Combine(const FactorGraph& factors, + template + typename DERIVEDFACTOR::shared_ptr Combine(const FactorGraph& factors, const FastMap >& variableSlots); /** From 747342ffdae9126173dc53955555828afc96c315 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 2 Jul 2012 15:01:28 +0000 Subject: [PATCH 529/914] Changed some printing details, prompted by MATLAB display --- gtsam.h | 4 ++-- gtsam/geometry/Pose3.cpp | 5 +++-- gtsam/nonlinear/NonlinearEquality.h | 4 ++-- gtsam/nonlinear/NonlinearFactor.h | 2 +- gtsam/nonlinear/Values.cpp | 2 +- gtsam/slam/BearingFactor.h | 7 +++++++ gtsam/slam/BearingRangeFactor.h | 8 ++++---- gtsam/slam/ProjectionFactor.h | 7 ++++--- gtsam/slam/RangeFactor.h | 3 ++- 9 files changed, 26 insertions(+), 16 deletions(-) diff --git a/gtsam.h b/gtsam.h index 6858e4d65..2a1e5c0b3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1267,10 +1267,10 @@ class ISAM { class LevenbergMarquardtOptimizer { double lambda() const; void iterate(); - visualSLAM::Values optimize(); - visualSLAM::Values optimizeSafely(); double error() const; size_t iterations() const; + visualSLAM::Values optimize(); + visualSLAM::Values optimizeSafely(); visualSLAM::Values values() const; }; diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp index 59e5ceef5..be9869030 100644 --- a/gtsam/geometry/Pose3.cpp +++ b/gtsam/geometry/Pose3.cpp @@ -55,8 +55,9 @@ namespace gtsam { /* ************************************************************************* */ void Pose3::print(const string& s) const { - R_.print(s + ".R"); - t_.print(s + ".t"); + cout << s; + R_.print("R:\n"); + t_.print("t: "); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h index e5f419ff4..e4a628b85 100644 --- a/gtsam/nonlinear/NonlinearEquality.h +++ b/gtsam/nonlinear/NonlinearEquality.h @@ -109,8 +109,8 @@ namespace gtsam { /// @{ virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << "Constraint: " << s << " on [" << keyFormatter(this->key()) << "]\n"; - gtsam::print(feasible_,"Feasible Point"); + std::cout << s << "Constraint: on [" << keyFormatter(this->key()) << "]\n"; + gtsam::print(feasible_,"Feasible Point:\n"); std::cout << "Variable Dimension: " << feasible_.dim() << std::endl; } diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 21e3d17d7..ad10b3ee0 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -99,7 +99,7 @@ public: /** print */ virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "keys = { "; + std::cout << s << " keys = { "; BOOST_FOREACH(Key key, this->keys()) { std::cout << keyFormatter(key) << " "; } std::cout << "}" << std::endl; } diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index 58099d149..636c87c73 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -43,7 +43,7 @@ namespace gtsam { void Values::print(const string& str, const KeyFormatter& keyFormatter) const { cout << str << "Values with " << size() << " values:" << endl; for(const_iterator key_value = begin(); key_value != end(); ++key_value) { - cout << " " << keyFormatter(key_value->key) << ": "; + cout << "Value " << keyFormatter(key_value->key) << ": "; key_value->value.print(""); } } diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index 251e37a37..c42c2798d 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -78,6 +78,13 @@ namespace gtsam { return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol); } + /** print contents */ + void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "BearingFactor, bearing = "; + measured_.print(); + Base::print("", keyFormatter); + } + private: /** Serialization function */ diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 3ce671292..933333fdf 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -64,12 +64,12 @@ namespace gtsam { /** Print */ virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << ": BearingRangeFactor(" + std::cout << s << "BearingRangeFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n"; - measuredBearing_.print(" measured bearing"); - std::cout << " measured range: " << measuredRange_ << std::endl; - this->noiseModel_->print(" noise model: "); + measuredBearing_.print("measured bearing:\n"); + std::cout << "measured range: " << measuredRange_ << std::endl; + this->noiseModel_->print("noise model:\n"); } /** equals */ diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index e607809b0..bce7bcf84 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -78,9 +78,10 @@ namespace gtsam { * print * @param s optional string naming the factor */ - void print(const std::string& s = "ProjectionFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - Base::print(s, keyFormatter); - measured_.print(s + ".z"); + void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "GenericProjectionFactor, z = "; + measured_.print(); + Base::print("", keyFormatter); } /// equals diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h index dcc94476a..78727f08f 100644 --- a/gtsam/slam/RangeFactor.h +++ b/gtsam/slam/RangeFactor.h @@ -75,7 +75,8 @@ namespace gtsam { /** print contents */ void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - Base::print(s + std::string(" range: ") + boost::lexical_cast(measured_), keyFormatter); + std::cout << s << "RangeFactor, range = " << measured_ << std::endl; + Base::print("", keyFormatter); } private: From 1d1fcecccf5b5a1e40e82f257e04adbd4a339964 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 2 Jul 2012 17:32:47 +0000 Subject: [PATCH 530/914] Added more functionality to interfaces to set/vector/list, moved typedefs to Key.h, added more matlab interfaces --- gtsam.h | 60 +++++++++++++++++++++++++++++++++++++--- gtsam/base/FastVector.h | 7 +++++ gtsam/nonlinear/Key.h | 9 ++++++ gtsam/nonlinear/Values.h | 6 +--- 4 files changed, 73 insertions(+), 9 deletions(-) diff --git a/gtsam.h b/gtsam.h index 2a1e5c0b3..3db42c90f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -764,6 +764,8 @@ class GaussianFactor { void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; double error(const gtsam::VectorValues& c) const; + gtsam::GaussianFactor* negate() const; + size_t size() const; }; class JacobianFactor { @@ -775,12 +777,15 @@ class JacobianFactor { 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::GaussianFactor& factor); void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; bool empty() const; + size_t size() const; Vector getb() const; double error(const gtsam::VectorValues& c) const; gtsam::GaussianConditional* eliminateFirst(); + gtsam::GaussianFactor* negate() const; }; class HessianFactor { @@ -795,9 +800,11 @@ class HessianFactor { double f); HessianFactor(const gtsam::GaussianConditional& cg); HessianFactor(const gtsam::GaussianFactor& factor); + size_t size() const; void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; double error(const gtsam::VectorValues& c) const; + gtsam::GaussianFactor* negate() const; }; class GaussianFactorGraph { @@ -809,6 +816,7 @@ class GaussianFactorGraph { 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; // Building the graph void add(gtsam::JacobianFactor* factor); @@ -917,7 +925,7 @@ class NonlinearFactor { void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; -// size_t dim() const; // FIXME: Doesn't link + size_t dim() const; // FIXME: Doesn't link }; class Values { @@ -928,24 +936,68 @@ class Values { }; // Actually a FastList -#include +#include class KeyList { KeyList(); KeyList(const gtsam::KeyList& other); // Note: no print function + + // common STL methods size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + size_t front() const; + size_t back() const; + void push_back(size_t key); + void push_front(size_t key); + void sort(); + void remove(size_t key); }; -// Actually a KeyVector -#include +// Actually a FastSet +#include +class KeySet { + KeySet(); + KeySet(const gtsam::KeySet& other); + + // Testable + void print(string s) const; + bool equals(const gtsam::KeySet& other) const; + + // common STL methods + size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods + void insert(size_t key); + bool erase(size_t key); // returns true if value was removed + bool count(size_t key) const; // returns true if value exists +}; + +// Actually a FastVector +#include class KeyVector { KeyVector(); KeyVector(const gtsam::KeyVector& other); + KeyVector(const gtsam::KeySet& other); + KeyVector(const gtsam::KeyList& other); // Note: no print function + + // common STL methods size_t size() const; + bool empty() const; + void clear(); + + // structure specific methods size_t at(size_t i) const; + size_t front() const; + size_t back() const; + void push_back(size_t key) const; }; class Marginals { diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index e91bd1813..c3b8ca761 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -24,6 +24,7 @@ #include #include +#include namespace gtsam { @@ -69,6 +70,12 @@ public: Base::assign(x.begin(), x.end()); } + /** Copy constructor from a FastSet */ + FastVector(const FastSet& x) { + if(x.size() > 0) + Base::assign(x.begin(), x.end()); + } + /** Copy constructor from the base class */ FastVector(const Base& x) : Base(x) {} diff --git a/gtsam/nonlinear/Key.h b/gtsam/nonlinear/Key.h index 65a65c6d4..ab63fda6d 100644 --- a/gtsam/nonlinear/Key.h +++ b/gtsam/nonlinear/Key.h @@ -20,6 +20,10 @@ #include #include +#include +#include +#include + namespace gtsam { /// Integer nonlinear key type @@ -36,5 +40,10 @@ namespace gtsam { /// and Symbol keys. static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; + /// Useful typedefs for operations with Values - allow for matlab interfaces + typedef FastList KeyList; + typedef FastVector KeyVector; + typedef FastSet KeySet; + } diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index 8ade8ff06..a01718da4 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -26,8 +26,8 @@ #include #include -#include #include +#include #include #include @@ -44,10 +44,6 @@ namespace gtsam { - // Useful typedefs for operations with Values - allow for matlab interfaces - typedef FastList KeyList; - typedef FastVector KeyVector; - // Forward declarations / utilities class ValueCloneAllocator; class ValueAutomaticCasting; From ead88ae35a75b3d1e677ac8ec701d36b2c29eaf0 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 2 Jul 2012 18:18:11 +0000 Subject: [PATCH 531/914] Changes to wrap requested by frank. Wrap now allows for multiple includes. Changes to wrap tests --- wrap/Argument.cpp | 4 +- wrap/Constructor.cpp | 31 ++++++++---- wrap/Method.cpp | 4 +- wrap/Module.cpp | 4 +- wrap/matlab.h | 8 +--- wrap/tests/expected/@Point2/Point2.m | 4 +- wrap/tests/expected/@Point2/argChar.cpp | 7 +-- wrap/tests/expected/@Point2/argUChar.cpp | 7 +-- wrap/tests/expected/@Point2/dim.cpp | 5 +- wrap/tests/expected/@Point2/returnChar.cpp | 5 +- .../expected/@Point2/vectorConfusion.cpp | 5 +- wrap/tests/expected/@Point2/x.cpp | 5 +- wrap/tests/expected/@Point2/y.cpp | 5 +- wrap/tests/expected/@Point3/Point3.m | 2 +- wrap/tests/expected/@Point3/norm.cpp | 5 +- wrap/tests/expected/@Test/Test.m | 4 +- .../expected/@Test/arg_EigenConstRef.cpp | 7 +-- .../tests/expected/@Test/create_MixedPtrs.cpp | 5 +- wrap/tests/expected/@Test/create_ptrs.cpp | 5 +- wrap/tests/expected/@Test/print.cpp | 5 +- .../tests/expected/@Test/return_Point2Ptr.cpp | 7 +-- wrap/tests/expected/@Test/return_Test.cpp | 5 +- wrap/tests/expected/@Test/return_TestPtr.cpp | 5 +- wrap/tests/expected/@Test/return_bool.cpp | 7 +-- wrap/tests/expected/@Test/return_double.cpp | 7 +-- wrap/tests/expected/@Test/return_field.cpp | 7 +-- wrap/tests/expected/@Test/return_int.cpp | 7 +-- wrap/tests/expected/@Test/return_matrix1.cpp | 7 +-- wrap/tests/expected/@Test/return_matrix2.cpp | 7 +-- wrap/tests/expected/@Test/return_pair.cpp | 9 ++-- wrap/tests/expected/@Test/return_ptrs.cpp | 5 +- wrap/tests/expected/@Test/return_size_t.cpp | 7 +-- wrap/tests/expected/@Test/return_string.cpp | 7 +-- wrap/tests/expected/@Test/return_vector1.cpp | 7 +-- wrap/tests/expected/@Test/return_vector2.cpp | 7 +-- wrap/tests/expected/Makefile | 18 +++---- .../expected/Point3_StaticFunctionRet.cpp | 3 +- wrap/tests/expected/Point3_staticFunction.cpp | 1 - wrap/tests/expected/make_geometry.m | 6 +-- wrap/tests/expected/new_Point2_.cpp | 47 ------------------ wrap/tests/expected/new_Point2_.m | 4 -- wrap/tests/expected/new_Point3_.cpp | 46 ------------------ wrap/tests/expected/new_Point3_.m | 4 -- wrap/tests/expected/new_Test_.cpp | 48 ------------------- wrap/tests/expected/new_Test_.m | 4 -- .../expected_namespaces/@ClassD/ClassD.m | 2 +- .../@ns1ClassA/ns1ClassA.m | 2 +- .../@ns1ClassB/ns1ClassB.m | 2 +- .../@ns2ClassA/memberFunction.cpp | 5 +- .../@ns2ClassA/ns2ClassA.m | 2 +- .../expected_namespaces/@ns2ClassA/nsArg.cpp | 7 +-- .../@ns2ClassA/nsReturn.cpp | 7 +-- .../@ns2ClassC/ns2ClassC.m | 2 +- .../@ns2ns3ClassB/ns2ns3ClassB.m | 2 +- wrap/tests/expected_namespaces/Makefile | 36 +++++++------- .../expected_namespaces/make_testNamespaces.m | 12 ++--- .../tests/expected_namespaces/new_ClassD_.cpp | 42 ---------------- wrap/tests/expected_namespaces/new_ClassD_.m | 4 -- .../expected_namespaces/new_ns1ClassA_.cpp | 42 ---------------- .../expected_namespaces/new_ns1ClassA_.m | 4 -- .../expected_namespaces/new_ns1ClassB_.cpp | 43 ----------------- .../expected_namespaces/new_ns1ClassB_.m | 4 -- .../expected_namespaces/new_ns2ClassA_.cpp | 43 ----------------- .../expected_namespaces/new_ns2ClassA_.m | 4 -- .../expected_namespaces/new_ns2ClassC_.cpp | 42 ---------------- .../expected_namespaces/new_ns2ClassC_.m | 4 -- .../expected_namespaces/new_ns2ns3ClassB_.cpp | 43 ----------------- .../expected_namespaces/new_ns2ns3ClassB_.m | 4 -- .../ns2ClassA_afunction.cpp | 1 - wrap/tests/testWrap.cpp | 36 +++++++------- wrap/utilities.cpp | 1 - 71 files changed, 142 insertions(+), 663 deletions(-) delete mode 100644 wrap/tests/expected/new_Point2_.cpp delete mode 100644 wrap/tests/expected/new_Point2_.m delete mode 100644 wrap/tests/expected/new_Point3_.cpp delete mode 100644 wrap/tests/expected/new_Point3_.m delete mode 100644 wrap/tests/expected/new_Test_.cpp delete mode 100644 wrap/tests/expected/new_Test_.m delete mode 100644 wrap/tests/expected_namespaces/new_ClassD_.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ClassD_.m delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassA_.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassA_.m delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassB_.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassB_.m delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassA_.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassA_.m delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassC_.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassC_.m delete mode 100644 wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index e2073ac8c..40ad205b6 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -54,14 +54,14 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const { file.oss << "boost::shared_ptr<" << cppType << "> " << name << " = unwrap_shared_ptr< "; else if (is_ref) // A reference: emit an "unwrap_shared_ptr" call and de-reference the pointer - file.oss << " " << cppType << "& " << name << " = *unwrap_shared_ptr< "; + file.oss << cppType << "& " << name << " = *unwrap_shared_ptr< "; else // Not a pointer or a reference: emit an "unwrap" call // unwrap is specified in matlab.h as a series of template specializations // that know how to unpack the expected MATLAB object // example: double tol = unwrap< double >(in[2]); // example: Vector v = unwrap< Vector >(in[1]); - file.oss << " " << cppType << " " << name << " = unwrap< "; + file.oss << cppType << " " << name << " = unwrap< "; file.oss << cppType << " >(" << matlabName; if (is_ptr || is_ref) file.oss << ", \"" << matlabType << "\""; diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 7785de08f..9872d5fbe 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -30,7 +30,7 @@ using namespace wrap; /* ************************************************************************* */ string Constructor::matlab_wrapper_name(const string& className) const { - string str = "new_" + className + "_"; + string str = "new_" + className; return str; } @@ -102,19 +102,23 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << "static std::set collector;" << endl; file.oss << endl; + //TODO: Remove //Generate the destructor function - file.oss << "struct Destruct" << endl; + /*file.oss << "struct Destruct" << endl; file.oss << "{" << endl; file.oss << " void operator() (Shared* p)" << endl; file.oss << " {" << endl; file.oss << " collector.erase(p);" << endl; file.oss << " }" << endl; file.oss << "};" << endl; - file.oss << endl; + file.oss << endl;*/ //Generate cleanup function file.oss << "void cleanup(void) {" << endl; - file.oss << " std::for_each( collector.begin(), collector.end(), Destruct() );" << endl; + //TODO: Remove + //file.oss << " std::for_each( collector.begin(), collector.end(), Destruct() );" << endl; + file.oss << " BOOST_FOREACH(Shared* p, collector)" << endl; + file.oss << " collector.erase(p);" << endl; file.oss << "}" << endl; file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; @@ -134,15 +138,24 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << " else if(collector.erase(self))" << endl; file.oss << " delete self;" << endl; file.oss << " } else {" << endl; - file.oss << " int nc = unwrap(in[1]);" << endl; + file.oss << " int nc = unwrap(in[1]);" << endl << endl; int i = 0; BOOST_FOREACH(ArgumentList al, args_list) { - file.oss << " if(nc == " << i <<") {" << endl; - al.matlab_unwrap(file, 2); // unwrap arguments, start at 1 - file.oss << " self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; - file.oss << " }" << endl; + //Check to see if there will be any arguments and remove {} for consiseness + if(al.size()) + { + file.oss << " if(nc == " << i <<") {" << endl; + al.matlab_unwrap(file, 2); // unwrap arguments, start at 1 + file.oss << " self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; + file.oss << " }" << endl; + } + else + { + file.oss << " if(nc == " << i <<")" << endl; + file.oss << " self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; + } i++; } diff --git a/wrap/Method.cpp b/wrap/Method.cpp index f5da0d370..60b02918f 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -85,9 +85,7 @@ void Method::matlab_wrapper(const string& classPath, // get class pointer // example: shared_ptr = unwrap_shared_ptr< Test >(in[0], "Test"); - file.oss << " mxArray* mxh = mxGetProperty(in[0],0,\"self\");" << endl; - file.oss << " Shared* self = *reinterpret_cast (mxGetPr(mxh));" << endl; - file.oss << " Shared obj = *self;" << endl; + file.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"" << cppClassName << "\");" << endl; // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,1); diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 0adf1cda0..13adacc4c 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -182,7 +182,7 @@ Module::Module(const string& interfacePath, Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); Rule class_p = - (!include_p + (!*include_p >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] >> className_p[assign_a(cls.name)] >> '{' @@ -201,7 +201,7 @@ Module::Module(const string& interfacePath, [assign_a(cls,cls0)]; Rule namespace_def_p = - (!include_p + (!*include_p >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') diff --git a/wrap/matlab.h b/wrap/matlab.h index 3cfebdfe7..b11fedfd8 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -21,15 +21,9 @@ #include #include -#include using gtsam::Vector; using gtsam::Matrix; -using gtsam::noiseModel::Base; -using gtsam::noiseModel::Gaussian; -using gtsam::noiseModel::Diagonal; -using gtsam::noiseModel::Isotropic; -using gtsam::noiseModel::Unit; extern "C" { #include @@ -37,6 +31,7 @@ extern "C" { #include #include +#include #include #include @@ -321,7 +316,6 @@ gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { dummy arguments to let the constructor know we want an object without the self property initialized. We then assign the mexhandle to self. */ -// TODO: think about memory mxArray* create_object(const char *classname, mxArray* h) { mxArray *result; mxArray* dummy[13] = {h,h,h,h,h, h,h,h,h,h, h,h,h}; diff --git a/wrap/tests/expected/@Point2/Point2.m b/wrap/tests/expected/@Point2/Point2.m index 68744ae00..31d54bb19 100644 --- a/wrap/tests/expected/@Point2/Point2.m +++ b/wrap/tests/expected/@Point2/Point2.m @@ -5,8 +5,8 @@ classdef Point2 < handle end methods function obj = Point2(varargin) - if (nargin == 0), obj.self = new_Point2_(0,0); end - if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Point2_(0,1,varargin{1},varargin{2}); end + if (nargin == 0), obj.self = new_Point2(0,0); end + if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Point2(0,1,varargin{1},varargin{2}); end if nargin ==14, new_Point2_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point2 constructor failed'); end end diff --git a/wrap/tests/expected/@Point2/argChar.cpp b/wrap/tests/expected/@Point2/argChar.cpp index e5fac45fe..d0e9a7a7a 100644 --- a/wrap/tests/expected/@Point2/argChar.cpp +++ b/wrap/tests/expected/@Point2/argChar.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("argChar",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - char a = unwrap< char >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + char a = unwrap< char >(in[1]); obj->argChar(a); } diff --git a/wrap/tests/expected/@Point2/argUChar.cpp b/wrap/tests/expected/@Point2/argUChar.cpp index 54c592915..06e62c36b 100644 --- a/wrap/tests/expected/@Point2/argUChar.cpp +++ b/wrap/tests/expected/@Point2/argUChar.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("argUChar",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - unsigned char a = unwrap< unsigned char >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + unsigned char a = unwrap< unsigned char >(in[1]); obj->argUChar(a); } diff --git a/wrap/tests/expected/@Point2/dim.cpp b/wrap/tests/expected/@Point2/dim.cpp index 7e44ae075..a7e938a16 100644 --- a/wrap/tests/expected/@Point2/dim.cpp +++ b/wrap/tests/expected/@Point2/dim.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("dim",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Point2"); int result = obj->dim(); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected/@Point2/returnChar.cpp b/wrap/tests/expected/@Point2/returnChar.cpp index 43a537786..ed6f34190 100644 --- a/wrap/tests/expected/@Point2/returnChar.cpp +++ b/wrap/tests/expected/@Point2/returnChar.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("returnChar",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Point2"); char result = obj->returnChar(); out[0] = wrap< char >(result); } diff --git a/wrap/tests/expected/@Point2/vectorConfusion.cpp b/wrap/tests/expected/@Point2/vectorConfusion.cpp index e3aa4f0d6..3e2982803 100644 --- a/wrap/tests/expected/@Point2/vectorConfusion.cpp +++ b/wrap/tests/expected/@Point2/vectorConfusion.cpp @@ -1,15 +1,12 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr SharedVectorNotEigen; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("vectorConfusion",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Point2"); VectorNotEigen result = obj->vectorConfusion(); SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(result)); out[0] = wrap_collect_shared_ptr(ret,"VectorNotEigen"); diff --git a/wrap/tests/expected/@Point2/x.cpp b/wrap/tests/expected/@Point2/x.cpp index 8cebadb66..273eb7834 100644 --- a/wrap/tests/expected/@Point2/x.cpp +++ b/wrap/tests/expected/@Point2/x.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("x",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Point2"); double result = obj->x(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Point2/y.cpp b/wrap/tests/expected/@Point2/y.cpp index 7e3650534..44f824fb0 100644 --- a/wrap/tests/expected/@Point2/y.cpp +++ b/wrap/tests/expected/@Point2/y.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("y",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Point2"); double result = obj->y(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Point3/Point3.m b/wrap/tests/expected/@Point3/Point3.m index b916293b7..6dd8e9ee5 100644 --- a/wrap/tests/expected/@Point3/Point3.m +++ b/wrap/tests/expected/@Point3/Point3.m @@ -5,7 +5,7 @@ classdef Point3 < handle end methods function obj = Point3(varargin) - if (nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')), obj.self = new_Point3_(0,0,varargin{1},varargin{2},varargin{3}); end + if (nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')), obj.self = new_Point3(0,0,varargin{1},varargin{2},varargin{3}); end if nargin ==14, new_Point3_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point3 constructor failed'); end end diff --git a/wrap/tests/expected/@Point3/norm.cpp b/wrap/tests/expected/@Point3/norm.cpp index 8f6a10b72..dd5c726ee 100644 --- a/wrap/tests/expected/@Point3/norm.cpp +++ b/wrap/tests/expected/@Point3/norm.cpp @@ -1,15 +1,12 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("norm",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Point3"); double result = obj->norm(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Test/Test.m b/wrap/tests/expected/@Test/Test.m index e4bd30221..60628b997 100644 --- a/wrap/tests/expected/@Test/Test.m +++ b/wrap/tests/expected/@Test/Test.m @@ -5,8 +5,8 @@ classdef Test < handle end methods function obj = Test(varargin) - if (nargin == 0), obj.self = new_Test_(0,0); end - if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Test_(0,1,varargin{1},varargin{2}); end + if (nargin == 0), obj.self = new_Test(0,0); end + if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Test(0,1,varargin{1},varargin{2}); end if nargin ==14, new_Test_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Test constructor failed'); end end diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp index 848870d11..a6a384870 100644 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp +++ b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp @@ -1,15 +1,12 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("arg_EigenConstRef",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); obj->arg_EigenConstRef(value); } diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.cpp b/wrap/tests/expected/@Test/create_MixedPtrs.cpp index 1776c855b..21010eb0c 100644 --- a/wrap/tests/expected/@Test/create_MixedPtrs.cpp +++ b/wrap/tests/expected/@Test/create_MixedPtrs.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedTest; @@ -9,9 +8,7 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("create_MixedPtrs",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Test"); pair< Test, SharedTest > result = obj->create_MixedPtrs(); SharedTest* ret = new SharedTest(new Test(result.first)); out[0] = wrap_collect_shared_ptr(ret,"Test"); diff --git a/wrap/tests/expected/@Test/create_ptrs.cpp b/wrap/tests/expected/@Test/create_ptrs.cpp index ab4261d5c..b51c3f00e 100644 --- a/wrap/tests/expected/@Test/create_ptrs.cpp +++ b/wrap/tests/expected/@Test/create_ptrs.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedTest; @@ -9,9 +8,7 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("create_ptrs",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Test"); pair< SharedTest, SharedTest > result = obj->create_ptrs(); SharedTest* ret = new SharedTest(result.first); out[0] = wrap_collect_shared_ptr(ret,"Test"); diff --git a/wrap/tests/expected/@Test/print.cpp b/wrap/tests/expected/@Test/print.cpp index e3a758182..3cf9cd14d 100644 --- a/wrap/tests/expected/@Test/print.cpp +++ b/wrap/tests/expected/@Test/print.cpp @@ -1,14 +1,11 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("print",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Test"); obj->print(); } diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.cpp b/wrap/tests/expected/@Test/return_Point2Ptr.cpp index b3e61d37a..0d8650e84 100644 --- a/wrap/tests/expected/@Test/return_Point2Ptr.cpp +++ b/wrap/tests/expected/@Test/return_Point2Ptr.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedPoint2; @@ -8,10 +7,8 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_Point2Ptr",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - bool value = unwrap< bool >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + bool value = unwrap< bool >(in[1]); SharedPoint2 result = obj->return_Point2Ptr(value); SharedPoint2* ret = new SharedPoint2(result); out[0] = wrap_collect_shared_ptr(ret,"Point2"); diff --git a/wrap/tests/expected/@Test/return_Test.cpp b/wrap/tests/expected/@Test/return_Test.cpp index cd0f1ef10..fb3ad822c 100644 --- a/wrap/tests/expected/@Test/return_Test.cpp +++ b/wrap/tests/expected/@Test/return_Test.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedTest; @@ -8,9 +7,7 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_Test",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Test"); boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); Test result = obj->return_Test(value); SharedTest* ret = new SharedTest(new Test(result)); diff --git a/wrap/tests/expected/@Test/return_TestPtr.cpp b/wrap/tests/expected/@Test/return_TestPtr.cpp index 2957de8f3..06bc80269 100644 --- a/wrap/tests/expected/@Test/return_TestPtr.cpp +++ b/wrap/tests/expected/@Test/return_TestPtr.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedTest; @@ -8,9 +7,7 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_TestPtr",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Test"); boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); SharedTest result = obj->return_TestPtr(value); SharedTest* ret = new SharedTest(result); diff --git a/wrap/tests/expected/@Test/return_bool.cpp b/wrap/tests/expected/@Test/return_bool.cpp index c9c792934..e570d8dc2 100644 --- a/wrap/tests/expected/@Test/return_bool.cpp +++ b/wrap/tests/expected/@Test/return_bool.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_bool",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - bool value = unwrap< bool >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + bool value = unwrap< bool >(in[1]); bool result = obj->return_bool(value); out[0] = wrap< bool >(result); } diff --git a/wrap/tests/expected/@Test/return_double.cpp b/wrap/tests/expected/@Test/return_double.cpp index 4e6612278..4a6322a72 100644 --- a/wrap/tests/expected/@Test/return_double.cpp +++ b/wrap/tests/expected/@Test/return_double.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_double",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - double value = unwrap< double >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + double value = unwrap< double >(in[1]); double result = obj->return_double(value); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected/@Test/return_field.cpp b/wrap/tests/expected/@Test/return_field.cpp index 43507f4d7..a631635e3 100644 --- a/wrap/tests/expected/@Test/return_field.cpp +++ b/wrap/tests/expected/@Test/return_field.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_field",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); bool result = obj->return_field(t); out[0] = wrap< bool >(result); } diff --git a/wrap/tests/expected/@Test/return_int.cpp b/wrap/tests/expected/@Test/return_int.cpp index 2a27ac73a..f909405eb 100644 --- a/wrap/tests/expected/@Test/return_int.cpp +++ b/wrap/tests/expected/@Test/return_int.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_int",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - int value = unwrap< int >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + int value = unwrap< int >(in[1]); int result = obj->return_int(value); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected/@Test/return_matrix1.cpp b/wrap/tests/expected/@Test/return_matrix1.cpp index d4c66622b..1cc75d3d4 100644 --- a/wrap/tests/expected/@Test/return_matrix1.cpp +++ b/wrap/tests/expected/@Test/return_matrix1.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_matrix1",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Matrix value = unwrap< Matrix >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Matrix value = unwrap< Matrix >(in[1]); Matrix result = obj->return_matrix1(value); out[0] = wrap< Matrix >(result); } diff --git a/wrap/tests/expected/@Test/return_matrix2.cpp b/wrap/tests/expected/@Test/return_matrix2.cpp index a40fa79cf..10c9e8647 100644 --- a/wrap/tests/expected/@Test/return_matrix2.cpp +++ b/wrap/tests/expected/@Test/return_matrix2.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_matrix2",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Matrix value = unwrap< Matrix >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Matrix value = unwrap< Matrix >(in[1]); Matrix result = obj->return_matrix2(value); out[0] = wrap< Matrix >(result); } diff --git a/wrap/tests/expected/@Test/return_pair.cpp b/wrap/tests/expected/@Test/return_pair.cpp index 7d715644c..0fc359df6 100644 --- a/wrap/tests/expected/@Test/return_pair.cpp +++ b/wrap/tests/expected/@Test/return_pair.cpp @@ -1,17 +1,14 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_pair",nargout,nargin-1,2); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Vector v = unwrap< Vector >(in[1]); - Matrix A = unwrap< Matrix >(in[2]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Vector v = unwrap< Vector >(in[1]); + Matrix A = unwrap< Matrix >(in[2]); pair< Vector, Matrix > result = obj->return_pair(v,A); out[0] = wrap< Vector >(result.first); out[1] = wrap< Matrix >(result.second); diff --git a/wrap/tests/expected/@Test/return_ptrs.cpp b/wrap/tests/expected/@Test/return_ptrs.cpp index 8a5f9a0ce..c6c6f9655 100644 --- a/wrap/tests/expected/@Test/return_ptrs.cpp +++ b/wrap/tests/expected/@Test/return_ptrs.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedTest; @@ -9,9 +8,7 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_ptrs",nargout,nargin-1,2); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "Test"); boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); pair< SharedTest, SharedTest > result = obj->return_ptrs(p1,p2); diff --git a/wrap/tests/expected/@Test/return_size_t.cpp b/wrap/tests/expected/@Test/return_size_t.cpp index f18680d0d..9a6fc8598 100644 --- a/wrap/tests/expected/@Test/return_size_t.cpp +++ b/wrap/tests/expected/@Test/return_size_t.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_size_t",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - size_t value = unwrap< size_t >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + size_t value = unwrap< size_t >(in[1]); size_t result = obj->return_size_t(value); out[0] = wrap< size_t >(result); } diff --git a/wrap/tests/expected/@Test/return_string.cpp b/wrap/tests/expected/@Test/return_string.cpp index 013814241..3253e62ed 100644 --- a/wrap/tests/expected/@Test/return_string.cpp +++ b/wrap/tests/expected/@Test/return_string.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_string",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - string value = unwrap< string >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + string value = unwrap< string >(in[1]); string result = obj->return_string(value); out[0] = wrap< string >(result); } diff --git a/wrap/tests/expected/@Test/return_vector1.cpp b/wrap/tests/expected/@Test/return_vector1.cpp index 593cd20bd..48ecbb643 100644 --- a/wrap/tests/expected/@Test/return_vector1.cpp +++ b/wrap/tests/expected/@Test/return_vector1.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_vector1",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Vector value = unwrap< Vector >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Vector value = unwrap< Vector >(in[1]); Vector result = obj->return_vector1(value); out[0] = wrap< Vector >(result); } diff --git a/wrap/tests/expected/@Test/return_vector2.cpp b/wrap/tests/expected/@Test/return_vector2.cpp index 1be4a614a..984ba259c 100644 --- a/wrap/tests/expected/@Test/return_vector2.cpp +++ b/wrap/tests/expected/@Test/return_vector2.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("return_vector2",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - Vector value = unwrap< Vector >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Vector value = unwrap< Vector >(in[1]); Vector result = obj->return_vector2(value); out[0] = wrap< Vector >(result); } diff --git a/wrap/tests/expected/Makefile b/wrap/tests/expected/Makefile index 57a606790..92dece353 100644 --- a/wrap/tests/expected/Makefile +++ b/wrap/tests/expected/Makefile @@ -8,8 +8,8 @@ mex_flags = -O5 all: Point2 Point3 Test # Point2 -new_Point2_.$(MEXENDING): new_Point2_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_Point2_.cpp -output new_Point2_ +new_Point2.$(MEXENDING): new_Point2.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_Point2.cpp -output new_Point2 @Point2/x.$(MEXENDING): @Point2/x.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/x.cpp -output @Point2/x @Point2/y.$(MEXENDING): @Point2/y.cpp $(PATH_TO_WRAP)/matlab.h @@ -25,11 +25,11 @@ new_Point2_.$(MEXENDING): new_Point2_.cpp $(PATH_TO_WRAP)/matlab.h @Point2/vectorConfusion.$(MEXENDING): @Point2/vectorConfusion.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point2/vectorConfusion.cpp -output @Point2/vectorConfusion -Point2: new_Point2_.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) @Point2/returnChar.$(MEXENDING) @Point2/argChar.$(MEXENDING) @Point2/argUChar.$(MEXENDING) @Point2/vectorConfusion.$(MEXENDING) +Point2: new_Point2.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) @Point2/returnChar.$(MEXENDING) @Point2/argChar.$(MEXENDING) @Point2/argUChar.$(MEXENDING) @Point2/vectorConfusion.$(MEXENDING) # Point3 -new_Point3_.$(MEXENDING): new_Point3_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_Point3_.cpp -output new_Point3_ +new_Point3.$(MEXENDING): new_Point3.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_Point3.cpp -output new_Point3 Point3_staticFunction.$(MEXENDING): Point3_staticFunction.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) Point3_staticFunction.cpp -output Point3_staticFunction Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp $(PATH_TO_WRAP)/matlab.h @@ -37,11 +37,11 @@ Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp $(PATH_TO_WR @Point3/norm.$(MEXENDING): @Point3/norm.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Point3/norm.cpp -output @Point3/norm -Point3: new_Point3_.$(MEXENDING) Point3_staticFunction.$(MEXENDING) Point3_StaticFunctionRet.$(MEXENDING) @Point3/norm.$(MEXENDING) +Point3: new_Point3.$(MEXENDING) Point3_staticFunction.$(MEXENDING) Point3_StaticFunctionRet.$(MEXENDING) @Point3/norm.$(MEXENDING) # Test -new_Test_.$(MEXENDING): new_Test_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_Test_.cpp -output new_Test_ +new_Test.$(MEXENDING): new_Test.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_Test.cpp -output new_Test @Test/return_pair.$(MEXENDING): @Test/return_pair.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/return_pair.cpp -output @Test/return_pair @Test/return_bool.$(MEXENDING): @Test/return_bool.cpp $(PATH_TO_WRAP)/matlab.h @@ -81,7 +81,7 @@ new_Test_.$(MEXENDING): new_Test_.cpp $(PATH_TO_WRAP)/matlab.h @Test/print.$(MEXENDING): @Test/print.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @Test/print.cpp -output @Test/print -Test: new_Test_.$(MEXENDING) @Test/return_pair.$(MEXENDING) @Test/return_bool.$(MEXENDING) @Test/return_size_t.$(MEXENDING) @Test/return_int.$(MEXENDING) @Test/return_double.$(MEXENDING) @Test/return_string.$(MEXENDING) @Test/return_vector1.$(MEXENDING) @Test/return_matrix1.$(MEXENDING) @Test/return_vector2.$(MEXENDING) @Test/return_matrix2.$(MEXENDING) @Test/arg_EigenConstRef.$(MEXENDING) @Test/return_field.$(MEXENDING) @Test/return_TestPtr.$(MEXENDING) @Test/return_Test.$(MEXENDING) @Test/return_Point2Ptr.$(MEXENDING) @Test/create_ptrs.$(MEXENDING) @Test/create_MixedPtrs.$(MEXENDING) @Test/return_ptrs.$(MEXENDING) @Test/print.$(MEXENDING) +Test: new_Test.$(MEXENDING) @Test/return_pair.$(MEXENDING) @Test/return_bool.$(MEXENDING) @Test/return_size_t.$(MEXENDING) @Test/return_int.$(MEXENDING) @Test/return_double.$(MEXENDING) @Test/return_string.$(MEXENDING) @Test/return_vector1.$(MEXENDING) @Test/return_matrix1.$(MEXENDING) @Test/return_vector2.$(MEXENDING) @Test/return_matrix2.$(MEXENDING) @Test/arg_EigenConstRef.$(MEXENDING) @Test/return_field.$(MEXENDING) @Test/return_TestPtr.$(MEXENDING) @Test/return_Test.$(MEXENDING) @Test/return_Point2Ptr.$(MEXENDING) @Test/create_ptrs.$(MEXENDING) @Test/create_MixedPtrs.$(MEXENDING) @Test/return_ptrs.$(MEXENDING) @Test/print.$(MEXENDING) diff --git a/wrap/tests/expected/Point3_StaticFunctionRet.cpp b/wrap/tests/expected/Point3_StaticFunctionRet.cpp index 49d15f4fa..696af326a 100644 --- a/wrap/tests/expected/Point3_StaticFunctionRet.cpp +++ b/wrap/tests/expected/Point3_StaticFunctionRet.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr SharedPoint3; @@ -8,7 +7,7 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("Point3_StaticFunctionRet",nargout,nargin,1); - double z = unwrap< double >(in[0]); + double z = unwrap< double >(in[0]); Point3 result = Point3::StaticFunctionRet(z); SharedPoint3* ret = new SharedPoint3(new Point3(result)); out[0] = wrap_collect_shared_ptr(ret,"Point3"); diff --git a/wrap/tests/expected/Point3_staticFunction.cpp b/wrap/tests/expected/Point3_staticFunction.cpp index e29670b9a..f25c8f4ea 100644 --- a/wrap/tests/expected/Point3_staticFunction.cpp +++ b/wrap/tests/expected/Point3_staticFunction.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include using namespace geometry; typedef boost::shared_ptr Shareddouble; diff --git a/wrap/tests/expected/make_geometry.m b/wrap/tests/expected/make_geometry.m index 32f81871d..d77459ed8 100644 --- a/wrap/tests/expected/make_geometry.m +++ b/wrap/tests/expected/make_geometry.m @@ -9,7 +9,7 @@ addpath(toolboxpath); %% Point2 cd(toolboxpath) -mex -O5 new_Point2_.cpp +mex -O5 new_Point2.cpp cd @Point2 mex -O5 x.cpp @@ -22,7 +22,7 @@ mex -O5 vectorConfusion.cpp %% Point3 cd(toolboxpath) -mex -O5 new_Point3_.cpp +mex -O5 new_Point3.cpp mex -O5 Point3_staticFunction.cpp mex -O5 Point3_StaticFunctionRet.cpp @@ -31,7 +31,7 @@ mex -O5 norm.cpp %% Test cd(toolboxpath) -mex -O5 new_Test_.cpp +mex -O5 new_Test.cpp cd @Test mex -O5 return_pair.cpp diff --git a/wrap/tests/expected/new_Point2_.cpp b/wrap/tests/expected/new_Point2_.cpp deleted file mode 100644 index 11b2821a3..000000000 --- a/wrap/tests/expected/new_Point2_.cpp +++ /dev/null @@ -1,47 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new Point2()); - } - if(nc == 1) { - double x = unwrap< double >(in[2]); - double y = unwrap< double >(in[3]); - self = new Shared(new Point2(x,y)); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected/new_Point2_.m b/wrap/tests/expected/new_Point2_.m deleted file mode 100644 index b5fdcff15..000000000 --- a/wrap/tests/expected/new_Point2_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Point2_(obj,x,y) - error('need to compile new_Point2_.cpp'); -end diff --git a/wrap/tests/expected/new_Point3_.cpp b/wrap/tests/expected/new_Point3_.cpp deleted file mode 100644 index 01316da5a..000000000 --- a/wrap/tests/expected/new_Point3_.cpp +++ /dev/null @@ -1,46 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - double x = unwrap< double >(in[2]); - double y = unwrap< double >(in[3]); - double z = unwrap< double >(in[4]); - self = new Shared(new Point3(x,y,z)); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected/new_Point3_.m b/wrap/tests/expected/new_Point3_.m deleted file mode 100644 index f306af227..000000000 --- a/wrap/tests/expected/new_Point3_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Point3_(obj,x,y,z) - error('need to compile new_Point3_.cpp'); -end diff --git a/wrap/tests/expected/new_Test_.cpp b/wrap/tests/expected/new_Test_.cpp deleted file mode 100644 index e14e6b71d..000000000 --- a/wrap/tests/expected/new_Test_.cpp +++ /dev/null @@ -1,48 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new Test()); - } - if(nc == 1) { - double a = unwrap< double >(in[2]); - Matrix b = unwrap< Matrix >(in[3]); - self = new Shared(new Test(a,b)); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected/new_Test_.m b/wrap/tests/expected/new_Test_.m deleted file mode 100644 index 82faf0fd6..000000000 --- a/wrap/tests/expected/new_Test_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Test_(obj,a,b) - error('need to compile new_Test_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/@ClassD/ClassD.m b/wrap/tests/expected_namespaces/@ClassD/ClassD.m index 2a82b6bbf..282b761ed 100644 --- a/wrap/tests/expected_namespaces/@ClassD/ClassD.m +++ b/wrap/tests/expected_namespaces/@ClassD/ClassD.m @@ -5,7 +5,7 @@ classdef ClassD < handle end methods function obj = ClassD(varargin) - if (nargin == 0), obj.self = new_ClassD_(0,0); end + if (nargin == 0), obj.self = new_ClassD(0,0); end if nargin ==14, new_ClassD_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ClassD constructor failed'); end end diff --git a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m index f1cc51eda..b8f1b3535 100644 --- a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m +++ b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m @@ -5,7 +5,7 @@ classdef ns1ClassA < handle end methods function obj = ns1ClassA(varargin) - if (nargin == 0), obj.self = new_ns1ClassA_(0,0); end + if (nargin == 0), obj.self = new_ns1ClassA(0,0); end if nargin ==14, new_ns1ClassA_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassA constructor failed'); end end diff --git a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m index 9403d5b7c..42add5e9c 100644 --- a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m +++ b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m @@ -5,7 +5,7 @@ classdef ns1ClassB < handle end methods function obj = ns1ClassB(varargin) - if (nargin == 0), obj.self = new_ns1ClassB_(0,0); end + if (nargin == 0), obj.self = new_ns1ClassB(0,0); end if nargin ==14, new_ns1ClassB_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassB constructor failed'); end end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp index 668980943..70d0a7968 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp @@ -1,15 +1,12 @@ // automatically generated by wrap #include -#include #include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("memberFunction",nargout,nargin-1,0); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; + Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); double result = obj->memberFunction(); out[0] = wrap< double >(result); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m index b4c9de568..cbbbbbce2 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m +++ b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m @@ -5,7 +5,7 @@ classdef ns2ClassA < handle end methods function obj = ns2ClassA(varargin) - if (nargin == 0), obj.self = new_ns2ClassA_(0,0); end + if (nargin == 0), obj.self = new_ns2ClassA(0,0); end if nargin ==14, new_ns2ClassA_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassA constructor failed'); end end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp index a55fd5581..498d90649 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp @@ -1,16 +1,13 @@ // automatically generated by wrap #include -#include #include #include typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("nsArg",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); + Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); + ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); int result = obj->nsArg(arg); out[0] = wrap< int >(result); } diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp index 334bc9928..996bf8913 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp +++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include #include typedef boost::shared_ptr SharedClassB; @@ -8,10 +7,8 @@ typedef boost::shared_ptr Shared; void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("nsReturn",nargout,nargin-1,1); - mxArray* mxh = mxGetProperty(in[0],0,"self"); - Shared* self = *reinterpret_cast (mxGetPr(mxh)); - Shared obj = *self; - double q = unwrap< double >(in[1]); + Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); + double q = unwrap< double >(in[1]); ns2::ns3::ClassB result = obj->nsReturn(q); SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(result)); out[0] = wrap_collect_shared_ptr(ret,"ns2ns3ClassB"); diff --git a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m index 13fbb49f3..5bd68fee7 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m +++ b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m @@ -5,7 +5,7 @@ classdef ns2ClassC < handle end methods function obj = ns2ClassC(varargin) - if (nargin == 0), obj.self = new_ns2ClassC_(0,0); end + if (nargin == 0), obj.self = new_ns2ClassC(0,0); end if nargin ==14, new_ns2ClassC_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassC constructor failed'); end end diff --git a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m index 29e0721f0..936c7cdd1 100644 --- a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m +++ b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m @@ -5,7 +5,7 @@ classdef ns2ns3ClassB < handle end methods function obj = ns2ns3ClassB(varargin) - if (nargin == 0), obj.self = new_ns2ns3ClassB_(0,0); end + if (nargin == 0), obj.self = new_ns2ns3ClassB(0,0); end if nargin ==14, new_ns2ns3ClassB_(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ns3ClassB constructor failed'); end end diff --git a/wrap/tests/expected_namespaces/Makefile b/wrap/tests/expected_namespaces/Makefile index 55866228b..1cb09b8b9 100644 --- a/wrap/tests/expected_namespaces/Makefile +++ b/wrap/tests/expected_namespaces/Makefile @@ -8,20 +8,20 @@ mex_flags = -O5 all: ns1ClassA ns1ClassB ns2ClassA ns2ns3ClassB ns2ClassC ClassD # ns1ClassA -new_ns1ClassA_.$(MEXENDING): new_ns1ClassA_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns1ClassA_.cpp -output new_ns1ClassA_ +new_ns1ClassA.$(MEXENDING): new_ns1ClassA.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_ns1ClassA.cpp -output new_ns1ClassA -ns1ClassA: new_ns1ClassA_.$(MEXENDING) +ns1ClassA: new_ns1ClassA.$(MEXENDING) # ns1ClassB -new_ns1ClassB_.$(MEXENDING): new_ns1ClassB_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns1ClassB_.cpp -output new_ns1ClassB_ +new_ns1ClassB.$(MEXENDING): new_ns1ClassB.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_ns1ClassB.cpp -output new_ns1ClassB -ns1ClassB: new_ns1ClassB_.$(MEXENDING) +ns1ClassB: new_ns1ClassB.$(MEXENDING) # ns2ClassA -new_ns2ClassA_.$(MEXENDING): new_ns2ClassA_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns2ClassA_.cpp -output new_ns2ClassA_ +new_ns2ClassA.$(MEXENDING): new_ns2ClassA.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_ns2ClassA.cpp -output new_ns2ClassA ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) ns2ClassA_afunction.cpp -output ns2ClassA_afunction @ns2ClassA/memberFunction.$(MEXENDING): @ns2ClassA/memberFunction.cpp $(PATH_TO_WRAP)/matlab.h @@ -31,25 +31,25 @@ ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp $(PATH_TO_WRAP)/matlab @ns2ClassA/nsReturn.$(MEXENDING): @ns2ClassA/nsReturn.cpp $(PATH_TO_WRAP)/matlab.h $(MEX) $(mex_flags) @ns2ClassA/nsReturn.cpp -output @ns2ClassA/nsReturn -ns2ClassA: new_ns2ClassA_.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) +ns2ClassA: new_ns2ClassA.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) # ns2ns3ClassB -new_ns2ns3ClassB_.$(MEXENDING): new_ns2ns3ClassB_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns2ns3ClassB_.cpp -output new_ns2ns3ClassB_ +new_ns2ns3ClassB.$(MEXENDING): new_ns2ns3ClassB.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_ns2ns3ClassB.cpp -output new_ns2ns3ClassB -ns2ns3ClassB: new_ns2ns3ClassB_.$(MEXENDING) +ns2ns3ClassB: new_ns2ns3ClassB.$(MEXENDING) # ns2ClassC -new_ns2ClassC_.$(MEXENDING): new_ns2ClassC_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns2ClassC_.cpp -output new_ns2ClassC_ +new_ns2ClassC.$(MEXENDING): new_ns2ClassC.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_ns2ClassC.cpp -output new_ns2ClassC -ns2ClassC: new_ns2ClassC_.$(MEXENDING) +ns2ClassC: new_ns2ClassC.$(MEXENDING) # ClassD -new_ClassD_.$(MEXENDING): new_ClassD_.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ClassD_.cpp -output new_ClassD_ +new_ClassD.$(MEXENDING): new_ClassD.cpp $(PATH_TO_WRAP)/matlab.h + $(MEX) $(mex_flags) new_ClassD.cpp -output new_ClassD -ClassD: new_ClassD_.$(MEXENDING) +ClassD: new_ClassD.$(MEXENDING) diff --git a/wrap/tests/expected_namespaces/make_testNamespaces.m b/wrap/tests/expected_namespaces/make_testNamespaces.m index 5ff13e5d4..5cf086db8 100644 --- a/wrap/tests/expected_namespaces/make_testNamespaces.m +++ b/wrap/tests/expected_namespaces/make_testNamespaces.m @@ -9,19 +9,19 @@ addpath(toolboxpath); %% ns1ClassA cd(toolboxpath) -mex -O5 new_ns1ClassA_.cpp +mex -O5 new_ns1ClassA.cpp cd @ns1ClassA %% ns1ClassB cd(toolboxpath) -mex -O5 new_ns1ClassB_.cpp +mex -O5 new_ns1ClassB.cpp cd @ns1ClassB %% ns2ClassA cd(toolboxpath) -mex -O5 new_ns2ClassA_.cpp +mex -O5 new_ns2ClassA.cpp mex -O5 ns2ClassA_afunction.cpp cd @ns2ClassA @@ -31,19 +31,19 @@ mex -O5 nsReturn.cpp %% ns2ns3ClassB cd(toolboxpath) -mex -O5 new_ns2ns3ClassB_.cpp +mex -O5 new_ns2ns3ClassB.cpp cd @ns2ns3ClassB %% ns2ClassC cd(toolboxpath) -mex -O5 new_ns2ClassC_.cpp +mex -O5 new_ns2ClassC.cpp cd @ns2ClassC %% ClassD cd(toolboxpath) -mex -O5 new_ClassD_.cpp +mex -O5 new_ClassD.cpp cd @ClassD diff --git a/wrap/tests/expected_namespaces/new_ClassD_.cpp b/wrap/tests/expected_namespaces/new_ClassD_.cpp deleted file mode 100644 index 6ebe46f2d..000000000 --- a/wrap/tests/expected_namespaces/new_ClassD_.cpp +++ /dev/null @@ -1,42 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new ClassD()); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ClassD_.m b/wrap/tests/expected_namespaces/new_ClassD_.m deleted file mode 100644 index abfd419f6..000000000 --- a/wrap/tests/expected_namespaces/new_ClassD_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ClassD_(obj) - error('need to compile new_ClassD_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp deleted file mode 100644 index eca52a3ea..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp +++ /dev/null @@ -1,42 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new ns1::ClassA()); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA_.m b/wrap/tests/expected_namespaces/new_ns1ClassA_.m deleted file mode 100644 index 054aba2f0..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassA_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns1ClassA_(obj) - error('need to compile new_ns1ClassA_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp deleted file mode 100644 index 5eb90cae8..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp +++ /dev/null @@ -1,43 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new ns1::ClassB()); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB_.m b/wrap/tests/expected_namespaces/new_ns1ClassB_.m deleted file mode 100644 index b92398a17..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassB_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns1ClassB_(obj) - error('need to compile new_ns1ClassB_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp deleted file mode 100644 index f0e6c2036..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp +++ /dev/null @@ -1,43 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new ns2::ClassA()); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA_.m b/wrap/tests/expected_namespaces/new_ns2ClassA_.m deleted file mode 100644 index 88dedf719..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassA_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns2ClassA_(obj) - error('need to compile new_ns2ClassA_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp deleted file mode 100644 index ae6a88845..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp +++ /dev/null @@ -1,42 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new ns2::ClassC()); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC_.m b/wrap/tests/expected_namespaces/new_ns2ClassC_.m deleted file mode 100644 index b3f711e16..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassC_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns2ClassC_(obj) - error('need to compile new_ns2ClassC_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp deleted file mode 100644 index bf6e244a2..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp +++ /dev/null @@ -1,43 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -struct Destruct -{ - void operator() (Shared* p) - { - collector.erase(p); - } -}; - -void cleanup(void) { - std::for_each( collector.begin(), collector.end(), Destruct() ); -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - if(nc == 0) { - self = new Shared(new ns2::ns3::ClassB()); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m deleted file mode 100644 index 2696c2498..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns2ns3ClassB_(obj) - error('need to compile new_ns2ns3ClassB_.cpp'); -end diff --git a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp index 3e8d54a14..6c903c946 100644 --- a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp +++ b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp @@ -1,6 +1,5 @@ // automatically generated by wrap #include -#include #include #include typedef boost::shared_ptr Shareddouble; diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 8fac80113..2a0b5e259 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -220,18 +220,18 @@ TEST( wrap, matlab_code_namespaces ) { string act_path = "actual_namespaces/"; module.matlab_code("mex", "actual_namespaces", "mexa64", headerPath, "-O5"); - EXPECT(files_equal(exp_path + "new_ClassD_.cpp" , act_path + "new_ClassD_.cpp" )); - EXPECT(files_equal(exp_path + "new_ClassD_.m" , act_path + "new_ClassD_.m" )); - EXPECT(files_equal(exp_path + "new_ns1ClassA_.cpp" , act_path + "new_ns1ClassA_.cpp" )); - EXPECT(files_equal(exp_path + "new_ns1ClassA_.m" , act_path + "new_ns1ClassA_.m" )); - EXPECT(files_equal(exp_path + "new_ns1ClassB_.cpp" , act_path + "new_ns1ClassB_.cpp" )); - EXPECT(files_equal(exp_path + "new_ns1ClassB_.m" , act_path + "new_ns1ClassB_.m" )); - EXPECT(files_equal(exp_path + "new_ns2ClassA_.cpp" , act_path + "new_ns2ClassA_.cpp" )); - EXPECT(files_equal(exp_path + "new_ns2ClassA_.m" , act_path + "new_ns2ClassA_.m" )); - EXPECT(files_equal(exp_path + "new_ns2ClassC_.cpp" , act_path + "new_ns2ClassC_.cpp" )); - EXPECT(files_equal(exp_path + "new_ns2ClassC_.m" , act_path + "new_ns2ClassC_.m" )); - EXPECT(files_equal(exp_path + "new_ns2ns3ClassB_.cpp" , act_path + "new_ns2ns3ClassB_.cpp" )); - EXPECT(files_equal(exp_path + "new_ns2ns3ClassB_.m" , act_path + "new_ns2ns3ClassB_.m" )); + EXPECT(files_equal(exp_path + "new_ClassD.cpp" , act_path + "new_ClassD.cpp" )); + EXPECT(files_equal(exp_path + "new_ClassD.m" , act_path + "new_ClassD.m" )); + EXPECT(files_equal(exp_path + "new_ns1ClassA.cpp" , act_path + "new_ns1ClassA.cpp" )); + EXPECT(files_equal(exp_path + "new_ns1ClassA.m" , act_path + "new_ns1ClassA.m" )); + EXPECT(files_equal(exp_path + "new_ns1ClassB.cpp" , act_path + "new_ns1ClassB.cpp" )); + EXPECT(files_equal(exp_path + "new_ns1ClassB.m" , act_path + "new_ns1ClassB.m" )); + EXPECT(files_equal(exp_path + "new_ns2ClassA.cpp" , act_path + "new_ns2ClassA.cpp" )); + EXPECT(files_equal(exp_path + "new_ns2ClassA.m" , act_path + "new_ns2ClassA.m" )); + EXPECT(files_equal(exp_path + "new_ns2ClassC.cpp" , act_path + "new_ns2ClassC.cpp" )); + EXPECT(files_equal(exp_path + "new_ns2ClassC.m" , act_path + "new_ns2ClassC.m" )); + EXPECT(files_equal(exp_path + "new_ns2ns3ClassB.cpp" , act_path + "new_ns2ns3ClassB.cpp" )); + EXPECT(files_equal(exp_path + "new_ns2ns3ClassB.m" , act_path + "new_ns2ns3ClassB.m" )); EXPECT(files_equal(exp_path + "ns2ClassA_afunction.cpp" , act_path + "ns2ClassA_afunction.cpp" )); EXPECT(files_equal(exp_path + "ns2ClassA_afunction.m" , act_path + "ns2ClassA_afunction.m" )); @@ -265,12 +265,12 @@ TEST( wrap, matlab_code ) { EXPECT(files_equal(epath + "Makefile" , apath + "Makefile" )); EXPECT(files_equal(epath + "make_geometry.m" , apath + "make_geometry.m" )); - EXPECT(files_equal(epath + "new_Point2_.cpp" , apath + "new_Point2_.cpp" )); - EXPECT(files_equal(epath + "new_Point2_.m" , apath + "new_Point2_.m" )); - EXPECT(files_equal(epath + "new_Point3_.cpp" , apath + "new_Point3_.cpp" )); - EXPECT(files_equal(epath + "new_Point3_.m" , apath + "new_Point3_.m" )); - EXPECT(files_equal(epath + "new_Test_.cpp" , apath + "new_Test_.cpp" )); - EXPECT(files_equal(epath + "new_Test_.m" , apath + "new_Test_.m" )); + EXPECT(files_equal(epath + "new_Point2.cpp" , apath + "new_Point2.cpp" )); + EXPECT(files_equal(epath + "new_Point2.m" , apath + "new_Point2.m" )); + EXPECT(files_equal(epath + "new_Point3.cpp" , apath + "new_Point3.cpp" )); + EXPECT(files_equal(epath + "new_Point3.m" , apath + "new_Point3.m" )); + EXPECT(files_equal(epath + "new_Test.cpp" , apath + "new_Test.cpp" )); + EXPECT(files_equal(epath + "new_Test.m" , apath + "new_Test.m" )); EXPECT(files_equal(epath + "Point3_staticFunction.cpp" , apath + "Point3_staticFunction.cpp" )); EXPECT(files_equal(epath + "Point3_staticFunction.m" , apath + "Point3_staticFunction.m" )); diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 00606f930..9d56ec5cd 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -124,7 +124,6 @@ void generateUsingNamespace(FileWriter& file, const vector& using_namesp void generateIncludes(FileWriter& file, const string& class_name, const vector& includes) { file.oss << "#include " << endl; - file.oss << "#include " << endl; bool added_include = false; BOOST_FOREACH(const string& s, includes) { if (!s.empty()) { From 15b3dd9d5fbdd1e7b193564b1cdebcbcf0771f18 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 2 Jul 2012 19:09:50 +0000 Subject: [PATCH 532/914] adding new constructors for matlab wrap tests --- wrap/tests/expected/new_Point2.cpp | 39 ++++++++++++++++++ wrap/tests/expected/new_Point2.m | 4 ++ wrap/tests/expected/new_Point3.cpp | 39 ++++++++++++++++++ wrap/tests/expected/new_Point3.m | 4 ++ wrap/tests/expected/new_Test.cpp | 40 +++++++++++++++++++ wrap/tests/expected/new_Test.m | 4 ++ wrap/tests/expected_namespaces/new_ClassD.cpp | 34 ++++++++++++++++ wrap/tests/expected_namespaces/new_ClassD.m | 4 ++ .../expected_namespaces/new_ns1ClassA.cpp | 34 ++++++++++++++++ .../tests/expected_namespaces/new_ns1ClassA.m | 4 ++ .../expected_namespaces/new_ns1ClassB.cpp | 35 ++++++++++++++++ .../tests/expected_namespaces/new_ns1ClassB.m | 4 ++ .../expected_namespaces/new_ns2ClassA.cpp | 35 ++++++++++++++++ .../tests/expected_namespaces/new_ns2ClassA.m | 4 ++ .../expected_namespaces/new_ns2ClassC.cpp | 34 ++++++++++++++++ .../tests/expected_namespaces/new_ns2ClassC.m | 4 ++ .../expected_namespaces/new_ns2ns3ClassB.cpp | 35 ++++++++++++++++ .../expected_namespaces/new_ns2ns3ClassB.m | 4 ++ 18 files changed, 361 insertions(+) create mode 100644 wrap/tests/expected/new_Point2.cpp create mode 100644 wrap/tests/expected/new_Point2.m create mode 100644 wrap/tests/expected/new_Point3.cpp create mode 100644 wrap/tests/expected/new_Point3.m create mode 100644 wrap/tests/expected/new_Test.cpp create mode 100644 wrap/tests/expected/new_Test.m create mode 100644 wrap/tests/expected_namespaces/new_ClassD.cpp create mode 100644 wrap/tests/expected_namespaces/new_ClassD.m create mode 100644 wrap/tests/expected_namespaces/new_ns1ClassA.cpp create mode 100644 wrap/tests/expected_namespaces/new_ns1ClassA.m create mode 100644 wrap/tests/expected_namespaces/new_ns1ClassB.cpp create mode 100644 wrap/tests/expected_namespaces/new_ns1ClassB.m create mode 100644 wrap/tests/expected_namespaces/new_ns2ClassA.cpp create mode 100644 wrap/tests/expected_namespaces/new_ns2ClassA.m create mode 100644 wrap/tests/expected_namespaces/new_ns2ClassC.cpp create mode 100644 wrap/tests/expected_namespaces/new_ns2ClassC.m create mode 100644 wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp create mode 100644 wrap/tests/expected_namespaces/new_ns2ns3ClassB.m diff --git a/wrap/tests/expected/new_Point2.cpp b/wrap/tests/expected/new_Point2.cpp new file mode 100644 index 000000000..30a707f88 --- /dev/null +++ b/wrap/tests/expected/new_Point2.cpp @@ -0,0 +1,39 @@ +// automatically generated by wrap +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new Point2()); + if(nc == 1) { + double x = unwrap< double >(in[2]); + double y = unwrap< double >(in[3]); + self = new Shared(new Point2(x,y)); + } + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected/new_Point2.m b/wrap/tests/expected/new_Point2.m new file mode 100644 index 000000000..9a6edd425 --- /dev/null +++ b/wrap/tests/expected/new_Point2.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_Point2(obj,x,y) + error('need to compile new_Point2.cpp'); +end diff --git a/wrap/tests/expected/new_Point3.cpp b/wrap/tests/expected/new_Point3.cpp new file mode 100644 index 000000000..c3d758266 --- /dev/null +++ b/wrap/tests/expected/new_Point3.cpp @@ -0,0 +1,39 @@ +// automatically generated by wrap +#include +#include +using namespace geometry; +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) { + double x = unwrap< double >(in[2]); + double y = unwrap< double >(in[3]); + double z = unwrap< double >(in[4]); + self = new Shared(new Point3(x,y,z)); + } + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected/new_Point3.m b/wrap/tests/expected/new_Point3.m new file mode 100644 index 000000000..9cca5daa5 --- /dev/null +++ b/wrap/tests/expected/new_Point3.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_Point3(obj,x,y,z) + error('need to compile new_Point3.cpp'); +end diff --git a/wrap/tests/expected/new_Test.cpp b/wrap/tests/expected/new_Test.cpp new file mode 100644 index 000000000..050d179d3 --- /dev/null +++ b/wrap/tests/expected/new_Test.cpp @@ -0,0 +1,40 @@ +// automatically generated by wrap +#include +#include +using namespace geometry; +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new Test()); + if(nc == 1) { + double a = unwrap< double >(in[2]); + Matrix b = unwrap< Matrix >(in[3]); + self = new Shared(new Test(a,b)); + } + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected/new_Test.m b/wrap/tests/expected/new_Test.m new file mode 100644 index 000000000..ec9a13f63 --- /dev/null +++ b/wrap/tests/expected/new_Test.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_Test(obj,a,b) + error('need to compile new_Test.cpp'); +end diff --git a/wrap/tests/expected_namespaces/new_ClassD.cpp b/wrap/tests/expected_namespaces/new_ClassD.cpp new file mode 100644 index 000000000..13bbe9d5e --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ClassD.cpp @@ -0,0 +1,34 @@ +// automatically generated by wrap +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new ClassD()); + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected_namespaces/new_ClassD.m b/wrap/tests/expected_namespaces/new_ClassD.m new file mode 100644 index 000000000..d12bfffb1 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ClassD.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_ClassD(obj) + error('need to compile new_ClassD.cpp'); +end diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA.cpp new file mode 100644 index 000000000..fc60abe6d --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns1ClassA.cpp @@ -0,0 +1,34 @@ +// automatically generated by wrap +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new ns1::ClassA()); + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA.m b/wrap/tests/expected_namespaces/new_ns1ClassA.m new file mode 100644 index 000000000..4412baae1 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns1ClassA.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_ns1ClassA(obj) + error('need to compile new_ns1ClassA.cpp'); +end diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB.cpp new file mode 100644 index 000000000..419453968 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns1ClassB.cpp @@ -0,0 +1,35 @@ +// automatically generated by wrap +#include +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new ns1::ClassB()); + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB.m b/wrap/tests/expected_namespaces/new_ns1ClassB.m new file mode 100644 index 000000000..b75d6b9bf --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns1ClassB.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_ns1ClassB(obj) + error('need to compile new_ns1ClassB.cpp'); +end diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA.cpp new file mode 100644 index 000000000..31e3385d5 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns2ClassA.cpp @@ -0,0 +1,35 @@ +// automatically generated by wrap +#include +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new ns2::ClassA()); + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA.m b/wrap/tests/expected_namespaces/new_ns2ClassA.m new file mode 100644 index 000000000..b3b9201d6 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns2ClassA.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_ns2ClassA(obj) + error('need to compile new_ns2ClassA.cpp'); +end diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC.cpp new file mode 100644 index 000000000..c0446109a --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns2ClassC.cpp @@ -0,0 +1,34 @@ +// automatically generated by wrap +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new ns2::ClassC()); + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC.m b/wrap/tests/expected_namespaces/new_ns2ClassC.m new file mode 100644 index 000000000..0f7ffb26f --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns2ClassC.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_ns2ClassC(obj) + error('need to compile new_ns2ClassC.cpp'); +end diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp new file mode 100644 index 000000000..a952790b5 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp @@ -0,0 +1,35 @@ +// automatically generated by wrap +#include +#include +#include +typedef boost::shared_ptr Shared; + +static std::set collector; + +void cleanup(void) { + BOOST_FOREACH(Shared* p, collector) + collector.erase(p); +} +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(cleanup); + + const mxArray* input = in[0]; + Shared* self = *(Shared**) mxGetData(input); + + if(self) { + if(nargin > 1) { + collector.insert(self); + } + else if(collector.erase(self)) + delete self; + } else { + int nc = unwrap(in[1]); + + if(nc == 0) + self = new Shared(new ns2::ns3::ClassB()); + collector.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetPr(out[0])) = self; + } +} diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.m b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.m new file mode 100644 index 000000000..707e159f0 --- /dev/null +++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.m @@ -0,0 +1,4 @@ +% automatically generated by wrap +function result = new_ns2ns3ClassB(obj) + error('need to compile new_ns2ns3ClassB.cpp'); +end From c37237e43b4a403be77ab14ab7fe88d36338bd4f Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 2 Jul 2012 19:54:32 +0000 Subject: [PATCH 533/914] added conversions from non-pool-allocator containers --- gtsam/base/FastList.h | 11 ++++++++++- gtsam/base/FastSet.h | 11 ++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/gtsam/base/FastList.h b/gtsam/base/FastList.h index 1b84adfed..aa1ab24e8 100644 --- a/gtsam/base/FastList.h +++ b/gtsam/base/FastList.h @@ -50,9 +50,18 @@ public: /** Copy constructor from another FastList */ FastList(const FastList& x) : Base(x) {} - /** Copy constructor from the base map class */ + /** Copy constructor from the base list class */ FastList(const Base& x) : Base(x) {} + /** Copy constructor from a standard STL container */ + FastList(const std::list& x) { + // This if statement works around a bug in boost pool allocator and/or + // STL vector where if the size is zero, the pool allocator will allocate + // huge amounts of memory. + if(x.size() > 0) + Base::assign(x.begin(), x.end()); + } + private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/base/FastSet.h b/gtsam/base/FastSet.h index 4c6e31d4e..123a8bb31 100644 --- a/gtsam/base/FastSet.h +++ b/gtsam/base/FastSet.h @@ -66,11 +66,20 @@ public: Base(x) { } - /** Copy constructor from the base map class */ + /** Copy constructor from the base set class */ FastSet(const Base& x) : Base(x) { } + /** Copy constructor from a standard STL container */ + FastSet(const std::set& x) { + // This if statement works around a bug in boost pool allocator and/or + // STL vector where if the size is zero, the pool allocator will allocate + // huge amounts of memory. + if(x.size() > 0) + Base::insert(x.begin(), x.end()); + } + /** Print to implement Testable */ void print(const std::string& str = "") const { FastSetTestableHelper::print(*this, str); } From b8a627b19cb3343652891cf8dcd484119233a89a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 2 Jul 2012 22:33:28 +0000 Subject: [PATCH 534/914] Fixed 64/32-bit pointer detection in Matlab wrapper under Windows --- wrap/matlab.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/wrap/matlab.h b/wrap/matlab.h index b11fedfd8..31e29c806 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -47,8 +47,8 @@ using namespace boost; // not usual, but for conciseness of generated code #define GTSAM_MAGIC_GAUSSIAN // end GTSAM Specifics ///////////////////////////////////////////////// -#ifdef __LP64__ -// 64-bit Mac +#if defined(__LP64__) || defined(_WIN64) +// 64-bit #define mxUINT32OR64_CLASS mxUINT64_CLASS #else #define mxUINT32OR64_CLASS mxUINT32_CLASS @@ -346,7 +346,7 @@ mxArray* create_collect_object(const char *classname, mxArray* h){ template mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast**> (mxGetPr(mxh)) = shared_ptr; + *reinterpret_cast**> (mxGetData(mxh)) = shared_ptr; //return mxh; return create_object(classname, mxh); } @@ -354,7 +354,7 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *cla template mxArray* wrap_collect_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast**> (mxGetPr(mxh)) = shared_ptr; + *reinterpret_cast**> (mxGetData(mxh)) = shared_ptr; //return mxh; return create_collect_object(classname, mxh); } @@ -367,6 +367,6 @@ boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& cla || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( "Parameter is not an Shared type."); - boost::shared_ptr* spp = *reinterpret_cast**> (mxGetPr(mxh)); + boost::shared_ptr* spp = *reinterpret_cast**> (mxGetData(mxh)); return *spp; } From b163d26d5ecd5d757806dbac622f7884c445d4d2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 2 Jul 2012 22:33:36 +0000 Subject: [PATCH 535/914] Fixed invalid iterator bug during clear all in Matlab wrapper --- wrap/Constructor.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 9872d5fbe..323223a19 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -117,8 +117,10 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << "void cleanup(void) {" << endl; //TODO: Remove //file.oss << " std::for_each( collector.begin(), collector.end(), Destruct() );" << endl; - file.oss << " BOOST_FOREACH(Shared* p, collector)" << endl; - file.oss << " collector.erase(p);" << endl; + file.oss << " for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) {\n"; + file.oss << " delete *iter;\n"; + file.oss << " collector.erase(iter++);\n"; + file.oss << " }\n"; file.oss << "}" << endl; file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; From e40ce8b44d671dff3f0a6a1af7febd0d4f3d35d0 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Tue, 3 Jul 2012 01:28:41 +0000 Subject: [PATCH 536/914] Fixed class issue calling destructor --- wrap/Class.cpp | 4 ++-- wrap/Constructor.cpp | 21 ++++----------------- 2 files changed, 6 insertions(+), 19 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index e57a85884..aae97de37 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -53,7 +53,7 @@ void Class::matlab_proxy(const string& classFile) const { id++; } //Static constructor collect call - file.oss << " if nargin ==14, new_" << matlabName << "_(varargin{1},0); end" << endl; + file.oss << " if nargin ==14, new_" << matlabName << "(varargin{1},0); end" << endl; file.oss << " if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('" << matlabName << " constructor failed'); end" << endl; file.oss << " end" << endl; // deconstructor @@ -61,7 +61,7 @@ void Class::matlab_proxy(const string& classFile) const { file.oss << " if obj.self ~= 0" << endl; //TODO: Add verbosity flag //file.oss << " fprintf(1,'MATLAB class deleting %x',obj.self);" << endl; - file.oss << " new_" << matlabName << "_(obj.self);" << endl; + file.oss << " new_" << matlabName << "(obj.self);" << endl; file.oss << " obj.self = 0;" << endl; file.oss << " end" << endl; file.oss << " end" << endl; diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 323223a19..978516b18 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -102,25 +102,12 @@ void Constructor::matlab_wrapper(const string& toolboxPath, file.oss << "static std::set collector;" << endl; file.oss << endl; - //TODO: Remove - //Generate the destructor function - /*file.oss << "struct Destruct" << endl; - file.oss << "{" << endl; - file.oss << " void operator() (Shared* p)" << endl; - file.oss << " {" << endl; - file.oss << " collector.erase(p);" << endl; - file.oss << " }" << endl; - file.oss << "};" << endl; - file.oss << endl;*/ - //Generate cleanup function file.oss << "void cleanup(void) {" << endl; - //TODO: Remove - //file.oss << " std::for_each( collector.begin(), collector.end(), Destruct() );" << endl; - file.oss << " for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) {\n"; - file.oss << " delete *iter;\n"; - file.oss << " collector.erase(iter++);\n"; - file.oss << " }\n"; + file.oss << " for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) {\n"; + file.oss << " delete *iter;\n"; + file.oss << " collector.erase(iter++);\n"; + file.oss << " }\n"; file.oss << "}" << endl; file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; From d2620d2ebc764c9fd53f16fc0fa2940cfac222a3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 3 Jul 2012 15:33:16 +0000 Subject: [PATCH 537/914] Add headers to wrap_lib target --- wrap/CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 757b488ba..866ee7a3f 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -4,8 +4,10 @@ find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED) # Build the executable itself file(GLOB wrap_srcs "*.cpp") +file(GLOB wrap_headers "*.h") list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp) -add_library(wrap_lib STATIC ${wrap_srcs}) +add_library(wrap_lib STATIC ${wrap_srcs} ${wrap_headers}) +gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers}) add_executable(wrap wrap.cpp) target_link_libraries(wrap wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) From dbc5ece062991f18dc4e8051063ee62015e1a0ed Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 3 Jul 2012 15:33:28 +0000 Subject: [PATCH 538/914] Escapes to get quotes into compile/link flags for mex --- gtsam/CMakeLists.txt | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 50ec1d4de..fb732ca51 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -94,7 +94,10 @@ if (GTSAM_BUILD_STATIC_LIBRARY) install(TARGETS gtsam-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib) list(APPEND GTSAM_EXPORTED_TARGETS gtsam-static) set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) - set(gtsam-lib "gtsam-static") + set(gtsam-lib gtsam-static) + if(NOT GTSAM_BUILD_SHARED_LIBRARY) + set(gtsam-prefer-shared gtsam-static) + endif() endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) @@ -112,6 +115,7 @@ if (GTSAM_BUILD_SHARED_LIBRARY) if (NOT GTSAM_BUILD_STATIC_LIBRARY) set(gtsam-lib "gtsam-shared") endif() + set(gtsam-prefer-shared gtsam-shared) endif(GTSAM_BUILD_SHARED_LIBRARY) # Create the matlab toolbox for the gtsam library @@ -132,9 +136,11 @@ if (GTSAM_BUILD_WRAP) endif() # Generate, build and install toolbox - set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} ${CMAKE_CXX_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam -L${GTSAM_LIB_DIR} -lgtsam") - string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper) - set(mexFlags "${mexFlags} -g COMPFLAGS='/c /DMATLAB_MEX_FILE ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}'") + string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper) + get_target_property(gtsam_library_file ${gtsam-prefer-shared} LOCATION_${build_type_toupper}) + set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam ${gtsam_library_file}") + # Lots of escapes '\' here because they get eaten during subsequent calls to 'set' + set(mexFlags "${mexFlags} -g COMPFLAGS=\\\"$$COMPFLAGS ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}}\\\"") # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 From 2c4278491fbbfd9611ba3dca9e96a8d1dc53d5cc Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 3 Jul 2012 21:36:05 +0000 Subject: [PATCH 539/914] add approximate minimum spanning of hypergraph --- .settings/org.eclipse.cdt.core.prefs | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/.settings/org.eclipse.cdt.core.prefs b/.settings/org.eclipse.cdt.core.prefs index a915be654..3278fdadc 100644 --- a/.settings/org.eclipse.cdt.core.prefs +++ b/.settings/org.eclipse.cdt.core.prefs @@ -1,6 +1,16 @@ -#Wed Oct 06 11:57:41 EDT 2010 eclipse.preferences.version=1 +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/PATH/delimiter=\: +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/PATH/operation=append +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/PATH/value=/home/ydjian/matlab/R2012a/bin +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/append=true +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/appendContributed=true +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/PATH/delimiter=\: +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/PATH/operation=append +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/PATH/value=/home/ydjian/matlab/R2012a/bin environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/append=true environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/appendContributed=true +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/PATH/delimiter=\: +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/PATH/operation=append +environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/PATH/value=/home/ydjian/matlab/R2012a/bin environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/append=true environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/appendContributed=true From 989c71e9a29fac16ebe0ba7233a7c24e0adc7fc2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 4 Jul 2012 15:16:03 +0000 Subject: [PATCH 540/914] addMeasurements adds a bunch of measurements at the same time --- gtsam.h | 12 ++++++++---- gtsam/slam/visualSLAM.cpp | 15 ++++++++++++++- gtsam/slam/visualSLAM.h | 27 +++++++++++++++++++-------- 3 files changed, 41 insertions(+), 13 deletions(-) diff --git a/gtsam.h b/gtsam.h index 3db42c90f..5af8f4e7c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1288,10 +1288,14 @@ class Graph { void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::noiseModel::Base* model); // Measurements - void addMeasurement(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, - size_t poseKey, size_t pointKey, const gtsam::Cal3_S2* K); - void addStereoMeasurement(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* model, - size_t poseKey, size_t pointKey, const gtsam::Cal3_S2Stereo* K); + void addMeasurement(const gtsam::Point2& measured, + const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, + const gtsam::Cal3_S2* K); + void addMeasurements(size_t i, const gtsam::KeyVector& J, Matrix Z, + const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K); + void addStereoMeasurement(const gtsam::StereoPoint2& measured, + const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, + const gtsam::Cal3_S2Stereo* K); }; class ISAM { diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 6f31c345c..162ba03c7 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -47,7 +47,20 @@ namespace visualSLAM { /* ************************************************************************* */ void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrK K) { - push_back(make_shared >(measured, model, poseKey, pointKey, K)); + push_back( + make_shared > + (measured, model, poseKey, pointKey, K)); + } + + /* ************************************************************************* */ + void Graph::addMeasurements(Key i, const KeyVector& J, const Matrix& Z, + const SharedNoiseModel& model, const shared_ptrK K) { + if ( Z.rows()!=2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); + if (Z.cols() != J.size()) + throw std::invalid_argument( + "addMeasurements: J and Z must have same number of entries"); + for(size_t k=0;k Date: Wed, 4 Jul 2012 15:41:19 +0000 Subject: [PATCH 541/914] Allow more parameters to be set --- gtsam.h | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/gtsam.h b/gtsam.h index 5af8f4e7c..b80ddd26e 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1013,6 +1013,24 @@ class LevenbergMarquardtParams { LevenbergMarquardtParams(); LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose); void print(string s) const; + + double getMaxIterations() const; + double getRelativeErrorTol() const; + double getAbsoluteErrorTol() const; + double getErrorTol() const; + string getVerbosity() const; + + void setMaxIterations(double value); + void setRelativeErrorTol(double value); + void setAbsoluteErrorTol(double value); + void setErrorTol(double value); + void setVerbosity(string s); + + bool isMultifrontal() const; + bool isSequential() const; + bool isCholmod() const; + bool isCG() const; + double getlambdaInitial() const ; double getlambdaFactor() const ; double getlambdaUpperBound() const; From 11911e8940771d04ce53392e6db806b155249535 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:31 +0000 Subject: [PATCH 542/914] Created branch /branches/wrap_mods from /trunk:11889 From b5937ce35d8600341555de934773fd7ddc2819d5 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:36 +0000 Subject: [PATCH 543/914] Modified wrap to generate a single cpp wrapper file containing all wrapped functions, and one .m file per class and static method. --- wrap/Class.cpp | 133 ++++---- wrap/Class.h | 14 +- wrap/Constructor.cpp | 122 ++----- wrap/Constructor.h | 15 +- wrap/Deconstructor.cpp | 54 ++- wrap/Deconstructor.h | 8 +- wrap/Method.cpp | 62 ++-- wrap/Method.h | 9 +- wrap/Module.cpp | 88 ++++- wrap/Module.h | 2 + wrap/ReturnValue.cpp | 24 +- wrap/StaticMethod.cpp | 70 ++-- wrap/StaticMethod.h | 11 +- wrap/matlab.h | 759 +++++++++++++++++++++-------------------- wrap/utilities.cpp | 1 - 15 files changed, 690 insertions(+), 682 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index aae97de37..da1510d29 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -28,81 +28,96 @@ using namespace std; using namespace wrap; +static const uint64_t ptr_constructor_key = + (uint64_t('G') << 56) | + (uint64_t('T') << 48) | + (uint64_t('S') << 40) | + (uint64_t('A') << 32) | + (uint64_t('M') << 24) | + (uint64_t('p') << 16) | + (uint64_t('t') << 8) | + (uint64_t('r')); + /* ************************************************************************* */ -void Class::matlab_proxy(const string& classFile) const { +void Class::matlab_proxy(const string& classFile, const string& wrapperName, FileWriter& wrapperFile, vector& functionNames) const { // open destination classFile - FileWriter file(classFile, verbose_, "%"); + FileWriter proxyFile(classFile, verbose_, "%"); // get the name of actual matlab object - string matlabName = qualifiedName(); + string matlabName = qualifiedName(), cppName = qualifiedName("::"); // emit class proxy code // we want our class to inherit the handle class for memory purposes - file.oss << "classdef " << matlabName << " < handle" << endl; - file.oss << " properties" << endl; - file.oss << " self = 0" << endl; - file.oss << " end" << endl; - file.oss << " methods" << endl; - // constructor - file.oss << " function obj = " << matlabName << "(varargin)" << endl; - //i is constructor id - int id = 0; + proxyFile.oss << "classdef " << matlabName << " < handle" << endl; + proxyFile.oss << " properties" << endl; + proxyFile.oss << " self = 0" << endl; + proxyFile.oss << " end" << endl; + proxyFile.oss << " methods" << endl; + + // Constructor + proxyFile.oss << " function obj = " << matlabName << "(varargin)" << endl; + // Special pointer constructor + { + const int id = functionNames.size(); + proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; + proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; + proxyFile.oss << " obj.self = varargin{2};\n"; + } + // Regular constructors BOOST_FOREACH(ArgumentList a, constructor.args_list) { - constructor.matlab_proxy_fragment(file,matlabName, id, a); - id++; + const int id = functionNames.size(); + constructor.proxy_fragment(proxyFile, wrapperName, matlabName, id, a); + const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, + cppName, matlabName, id, using_namespaces, includes, a); + wrapperFile.oss << "\n"; + functionNames.push_back(wrapFunctionName); } - //Static constructor collect call - file.oss << " if nargin ==14, new_" << matlabName << "(varargin{1},0); end" << endl; - file.oss << " if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('" << matlabName << " constructor failed'); end" << endl; - file.oss << " end" << endl; - // deconstructor - file.oss << " function delete(obj)" << endl; - file.oss << " if obj.self ~= 0" << endl; - //TODO: Add verbosity flag - //file.oss << " fprintf(1,'MATLAB class deleting %x',obj.self);" << endl; - file.oss << " new_" << matlabName << "(obj.self);" << endl; - file.oss << " obj.self = 0;" << endl; - file.oss << " end" << endl; - file.oss << " end" << endl; - file.oss << " function display(obj), obj.print(''); end" << endl; - file.oss << " function disp(obj), obj.display; end" << endl; - file.oss << " end" << endl; - file.oss << "end" << endl; + proxyFile.oss << " else\n"; + proxyFile.oss << " error('" << matlabName << " constructor failed');" << endl; + proxyFile.oss << " end\n"; + proxyFile.oss << " end\n\n"; - // close file - file.emit(true); + // Deconstructor + { + const int id = functionNames.size(); + deconstructor.proxy_fragment(proxyFile, wrapperName, matlabName, id); + proxyFile.oss << "\n"; + const string functionName = deconstructor.wrapper_fragment(wrapperFile, + cppName, matlabName, id, using_namespaces, includes); + wrapperFile.oss << "\n"; + functionNames.push_back(functionName); + } + proxyFile.oss << " function display(obj), obj.print(''); end\n\n"; + proxyFile.oss << " function disp(obj), obj.display; end\n\n"; + + // Methods + BOOST_FOREACH(Method m, methods) { + const int id = functionNames.size(); + m.proxy_fragment(proxyFile, wrapperName, id); + proxyFile.oss << "\n"; + const string wrapFunctionName = m.wrapper_fragment(wrapperFile, + cppName, matlabName, id, using_namespaces); + wrapperFile.oss << "\n"; + functionNames.push_back(wrapFunctionName); + } + + proxyFile.oss << " end" << endl; + proxyFile.oss << "end" << endl; + + // Close file + proxyFile.emit(true); } /* ************************************************************************* */ -//TODO: Consolidate into single file -void Class::matlab_constructors(const string& toolboxPath) const { - /*BOOST_FOREACH(Constructor c, constructors) { - args_list.push_back(c.args); - }*/ - - BOOST_FOREACH(ArgumentList a, constructor.args_list) { - constructor.matlab_mfile(toolboxPath, qualifiedName(), a); - } - constructor.matlab_wrapper(toolboxPath, qualifiedName("::"), qualifiedName(), - using_namespaces, includes); -} - -/* ************************************************************************* */ -void Class::matlab_methods(const string& classPath) const { - string matlabName = qualifiedName(), cppName = qualifiedName("::"); - BOOST_FOREACH(Method m, methods) { - m.matlab_mfile (classPath); - m.matlab_wrapper(classPath, name, cppName, matlabName, using_namespaces, includes); - } -} - -/* ************************************************************************* */ -void Class::matlab_static_methods(const string& toolboxPath) const { +void Class::matlab_static_methods(const string& toolboxPath, const string& wrapperName, + FileWriter& wrapperFile, vector& functionNames) const { string matlabName = qualifiedName(), cppName = qualifiedName("::"); BOOST_FOREACH(const StaticMethod& m, static_methods) { - m.matlab_mfile (toolboxPath, qualifiedName()); - m.matlab_wrapper(toolboxPath, name, matlabName, cppName, using_namespaces, includes); + const int id = functionNames.size(); + m.proxy_fragment(toolboxPath, matlabName, wrapperName, id); + const string wrapFunction = m.wrapper_fragment(wrapperFile, matlabName, cppName, id, using_namespaces); + functionNames.push_back(wrapFunction); } } diff --git a/wrap/Class.h b/wrap/Class.h index fb9906716..bef7467c3 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -19,6 +19,7 @@ #pragma once #include +#include #include "Constructor.h" #include "Deconstructor.h" @@ -37,16 +38,17 @@ struct Class { std::vector methods; ///< Class methods std::vector static_methods; ///< Static methods std::vector namespaces; ///< Stack of namespaces - std::vector using_namespaces; ///< default namespaces + std::vector using_namespaces;///< default namespaces std::vector includes; ///< header include overrides - Constructor constructor; ///< Class constructors + Constructor constructor; ///< Class constructors + Deconstructor deconstructor; ///< Deconstructor to deallocate C++ object bool verbose_; ///< verbose flag // And finally MATLAB code is emitted, methods below called by Module::matlab_code - void matlab_proxy(const std::string& classFile) const; ///< emit proxy class - void matlab_constructors(const std::string& toolboxPath) const; ///< emit constructor wrappers - void matlab_methods(const std::string& classPath) const; ///< emit method wrappers - void matlab_static_methods(const std::string& classPath) const; ///< emit static method wrappers + void matlab_proxy(const std::string& classFile, const std::string& wrapperName, + FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class + void matlab_static_methods(const std::string& toolboxPath, const std::string& wrapperName, + FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit static method wrappers void matlab_make_fragment(FileWriter& file, const std::string& toolboxPath, const std::string& mexFlags) const; ///< emit make fragment for global make script diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 978516b18..43f35fb86 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -20,6 +20,7 @@ #include #include +#include #include "utilities.h" #include "Constructor.h" @@ -35,11 +36,11 @@ string Constructor::matlab_wrapper_name(const string& className) const { } /* ************************************************************************* */ -void Constructor::matlab_proxy_fragment(FileWriter& file, +void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperName, const string& className, const int id, const ArgumentList args) const { size_t nrArgs = args.size(); // check for number of arguments... - file.oss << " if (nargin == " << nrArgs; + file.oss << " elseif nargin == " << nrArgs; if (nrArgs>0) file.oss << " && "; // ...and their types bool first = true; @@ -49,117 +50,48 @@ void Constructor::matlab_proxy_fragment(FileWriter& file, first=false; } // emit code for calling constructor - file.oss << "), obj.self = " << matlab_wrapper_name(className) << "(" << "0," << id; + file.oss << "\n obj.self = " << wrapperName << "(" << id; // emit constructor arguments for(size_t i=0;i& using_namespaces, - const vector& includes) const { - string matlabName = matlab_wrapper_name(matlabClassName); - - // open destination wrapperFile - string wrapperFile = toolboxPath + "/" + matlabName + ".cpp"; - FileWriter file(wrapperFile, verbose_, "//"); - - // generate code - generateIncludes(file, name, includes); - generateUsingNamespace(file, using_namespaces); + const vector& includes, + const ArgumentList& al) const { + const string matlabName = matlab_wrapper_name(matlabClassName); + const string wrapFunctionName = matlabClassName + "_constructor_" + boost::lexical_cast(id); + file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; + file.oss << "{\n"; + file.oss << " mexAtExit(&_deleteAllObjects);\n"; + generateUsingNamespace(file, using_namespaces); //Typedef boost::shared_ptr - file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; - file.oss << endl; + file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;\n"; + file.oss << "\n"; - //Generate collector - file.oss << "static std::set collector;" << endl; - file.oss << endl; + //Check to see if there will be any arguments and remove {} for consiseness + if(al.size() > 0) + al.matlab_unwrap(file); // unwrap arguments + file.oss << " Shared *self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; + file.oss << " collector_" << matlabClassName << ".insert(self);\n"; - //Generate cleanup function - file.oss << "void cleanup(void) {" << endl; - file.oss << " for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) {\n"; - file.oss << " delete *iter;\n"; - file.oss << " collector.erase(iter++);\n"; - file.oss << " }\n"; - file.oss << "}" << endl; - - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; - file.oss << "{" << endl; - //Cleanup function callback - file.oss << " mexAtExit(cleanup);" << endl; - file.oss << endl; - file.oss << " const mxArray* input = in[0];" << endl; - file.oss << " Shared* self = *(Shared**) mxGetData(input);" << endl; - file.oss << endl; - file.oss << " if(self) {" << endl; - file.oss << " if(nargin > 1) {" << endl; - file.oss << " collector.insert(self);" << endl; - if(verbose_) - file.oss << " std::cout << \"Collected\" << collector.size() << std::endl;" << endl; - file.oss << " }" << endl; - file.oss << " else if(collector.erase(self))" << endl; - file.oss << " delete self;" << endl; - file.oss << " } else {" << endl; - file.oss << " int nc = unwrap(in[1]);" << endl << endl; - - int i = 0; - BOOST_FOREACH(ArgumentList al, args_list) - { - //Check to see if there will be any arguments and remove {} for consiseness - if(al.size()) - { - file.oss << " if(nc == " << i <<") {" << endl; - al.matlab_unwrap(file, 2); // unwrap arguments, start at 1 - file.oss << " self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; - file.oss << " }" << endl; - } - else - { - file.oss << " if(nc == " << i <<")" << endl; - file.oss << " self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; - } - i++; - } - - //file.oss << " self = construct(nc, in);" << endl; - file.oss << " collector.insert(self);" << endl; - if(verbose_) - file.oss << " std::cout << \"constructed \" << self << \", size=\" << collector.size() << std::endl;" << endl; - file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl; - file.oss << " *reinterpret_cast (mxGetPr(out[0])) = self;" << endl; - file.oss << " }" << endl; + if(verbose_) + file.oss << " std::cout << \"constructed \" << self << \" << std::endl;" << endl; + file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl; + file.oss << " *reinterpret_cast (mxGetData(out[0])) = self;" << endl; file.oss << "}" << endl; - // close file - file.emit(true); + return wrapFunctionName; } /* ************************************************************************* */ diff --git a/wrap/Constructor.h b/wrap/Constructor.h index 467ff3b22..4a9e31f9b 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -48,21 +48,18 @@ struct Constructor { * Create fragment to select constructor in proxy class, e.g., * if nargin == 2, obj.self = new_Pose3_RP(varargin{1},varargin{2}); end */ - void matlab_proxy_fragment(FileWriter& file, - const std::string& className, const int i, + void proxy_fragment(FileWriter& file, const std::string& wrapperName, + const std::string& className, const int id, const ArgumentList args) const; - /// m-file - void matlab_mfile(const std::string& toolboxPath, - const std::string& qualifiedMatlabName, - const ArgumentList args) const; - /// cpp wrapper - void matlab_wrapper(const std::string& toolboxPath, + std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, const std::string& matlabClassName, + int id, const std::vector& using_namespaces, - const std::vector& includes) const; + const std::vector& includes, + const ArgumentList& al) const; /// constructor function void generate_construct(FileWriter& file, const std::string& cppClassName, diff --git a/wrap/Deconstructor.cpp b/wrap/Deconstructor.cpp index 93ed724f5..335488cf5 100644 --- a/wrap/Deconstructor.cpp +++ b/wrap/Deconstructor.cpp @@ -19,6 +19,7 @@ #include #include +#include #include "utilities.h" #include "Deconstructor.h" @@ -33,51 +34,42 @@ string Deconstructor::matlab_wrapper_name(const string& className) const { } /* ************************************************************************* */ -void Deconstructor::matlab_mfile(const string& toolboxPath, const string& qualifiedMatlabName) const { +void Deconstructor::proxy_fragment(FileWriter& file, + const std::string& wrapperName, + const std::string& qualifiedMatlabName, int id) const { - string matlabName = matlab_wrapper_name(qualifiedMatlabName); - - // open destination m-file - string wrapperFile = toolboxPath + "/" + matlabName + ".m"; - FileWriter file(wrapperFile, verbose_, "%"); - - // generate code - file.oss << "function result = " << matlabName << "(obj"; - if (args.size()) file.oss << "," << args.names(); - file.oss << ")" << endl; - file.oss << " error('need to compile " << matlabName << ".cpp');" << endl; - file.oss << "end" << endl; - - // close file - file.emit(true); + file.oss << " function delete(obj)\n"; + file.oss << " " << wrapperName << "(" << id << ", obj.self);\n"; + file.oss << " end\n"; } /* ************************************************************************* */ -void Deconstructor::matlab_wrapper(const string& toolboxPath, +string Deconstructor::wrapper_fragment(FileWriter& file, const string& cppClassName, const string& matlabClassName, + int id, const vector& using_namespaces, const vector& includes) const { - string matlabName = matlab_wrapper_name(matlabClassName); + + const string matlabName = matlab_wrapper_name(matlabClassName); - // open destination wrapperFile - string wrapperFile = toolboxPath + "/" + matlabName + ".cpp"; - FileWriter file(wrapperFile, verbose_, "//"); - - // generate code - // - generateIncludes(file, name, includes); - cout << "Generate includes " << name << endl; - generateUsingNamespace(file, using_namespaces); + const string wrapFunctionName = matlabClassName + "_deconstructor_" + boost::lexical_cast(id); - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; + file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; file.oss << "{" << endl; + generateUsingNamespace(file, using_namespaces); + file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; //Deconstructor takes 1 arg, the mxArray obj file.oss << " checkArguments(\"" << matlabName << "\",nargout,nargin," << "1" << ");" << endl; - file.oss << " delete_shared_ptr< " << cppClassName << " >(in[0],\"" << matlabClassName << "\");" << endl; + file.oss << " Shared *self = *reinterpret_cast(mxGetData(in[0]));\n"; + file.oss << " Collector_" << matlabClassName << "::iterator item;\n"; + file.oss << " item = collector_" << matlabClassName << ".find(self);\n"; + file.oss << " if(item != collector_" << matlabClassName << ".end()) {\n"; + file.oss << " delete self;\n"; + file.oss << " collector_" << matlabClassName << ".erase(item);\n"; + file.oss << " }\n"; file.oss << "}" << endl; - // close file - file.emit(true); + return wrapFunctionName; } /* ************************************************************************* */ diff --git a/wrap/Deconstructor.h b/wrap/Deconstructor.h index a5af4e327..363f986e6 100644 --- a/wrap/Deconstructor.h +++ b/wrap/Deconstructor.h @@ -46,13 +46,15 @@ struct Deconstructor { std::string matlab_wrapper_name(const std::string& className) const; /// m-file - void matlab_mfile(const std::string& toolboxPath, - const std::string& qualifiedMatlabName) const; + void proxy_fragment(FileWriter& file, + const std::string& wrapperName, + const std::string& qualifiedMatlabName, int id) const; /// cpp wrapper - void matlab_wrapper(const std::string& toolboxPath, + std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, const std::string& matlabClassName, + int id, const std::vector& using_namespaces, const std::vector& includes) const; }; diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 60b02918f..bcca86d40 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -18,6 +18,7 @@ #include #include +#include #include "Method.h" #include "utilities.h" @@ -26,57 +27,49 @@ using namespace std; using namespace wrap; /* ************************************************************************* */ -void Method::matlab_mfile(const string& classPath) const { +void Method::proxy_fragment(FileWriter& file, const std::string& wrapperName, const int id) const { - // open destination m-file - string wrapperFile = classPath + "/" + name + ".m"; - FileWriter file(wrapperFile, verbose_, "%"); - - // generate code - string returnType = returnVal.matlab_returnType(); - file.oss << "% " << returnType << " = obj." << name << "(" << args.names() << ")" << endl; - file.oss << "function " << returnType << " = " << name << "(obj"; - if (args.size()) file.oss << "," << args.names(); - file.oss << ")" << endl; - file.oss << " error('need to compile " << name << ".cpp');" << endl; - file.oss << "end" << endl; - - // close file - file.emit(false); + string output; + if(returnVal.isPair) + output = "[ r1 r2 ] = "; + else if(returnVal.category1 == ReturnValue::VOID) + output = ""; + else + output = "r = "; + file.oss << " function " << output << name << "(varargin)\n"; + file.oss << " " << output << wrapperName << "(" << id << ", varargin{:});\n"; + file.oss << " end\n"; } /* ************************************************************************* */ -void Method::matlab_wrapper(const string& classPath, - const string& className, +string Method::wrapper_fragment(FileWriter& file, const string& cppClassName, const string& matlabClassName, - const vector& using_namespaces, const std::vector& includes) const { - // open destination wrapperFile - string wrapperFile = classPath + "/" + name + ".cpp"; - FileWriter file(wrapperFile, verbose_, "//"); + int id, + const vector& using_namespaces) const { // generate code - // header - generateIncludes(file, className, includes); - generateUsingNamespace(file, using_namespaces); + const string wrapFunctionName = matlabClassName + "_" + name + "_" + boost::lexical_cast(id); + + // call + file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + // start + file.oss << "{\n"; + generateUsingNamespace(file, using_namespaces); if(returnVal.isPair) { if(returnVal.category1 == ReturnValue::CLASS) - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; if(returnVal.category2 == ReturnValue::CLASS) - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; + file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; } else if(returnVal.category1 == ReturnValue::CLASS) - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; - file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; - // call - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; - // start - file.oss << "{\n"; + file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; // check arguments // extra argument obj -> nargin-1 is passed ! @@ -103,8 +96,7 @@ void Method::matlab_wrapper(const string& classPath, // finish file.oss << "}\n"; - // close file - file.emit(true); + return wrapFunctionName; } /* ************************************************************************* */ diff --git a/wrap/Method.h b/wrap/Method.h index bcfac82e3..60b0c1282 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -42,13 +42,12 @@ struct Method { // MATLAB code generation // classPath is class directory, e.g., ../matlab/@Point2 - void matlab_mfile(const std::string& classPath) const; ///< m-file - void matlab_wrapper(const std::string& classPath, - const std::string& className, + void proxy_fragment(FileWriter& file, const std::string& wrapperName, const int id) const; + std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, const std::string& matlabClassname, - const std::vector& using_namespaces, - const std::vector& includes) const; ///< cpp wrapper + int id, + const std::vector& using_namespaces) const; ///< cpp wrapper }; } // \namespace wrap diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 13adacc4c..2f1b1f252 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -56,7 +56,7 @@ Module::Module(const string& interfacePath, ArgumentList args0, args; vector arg_dup; ///keep track of duplicates Constructor constructor0(enable_verbose), constructor(enable_verbose); - //Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); + Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); Method method0(enable_verbose), method(enable_verbose); StaticMethod static_method0(enable_verbose), static_method(enable_verbose); Class cls0(enable_verbose),cls(enable_verbose); @@ -193,10 +193,10 @@ Module::Module(const string& interfacePath, [assign_a(cls.namespaces, namespaces)] [assign_a(cls.using_namespaces, using_namespace_current)] [append_a(cls.includes, namespace_includes)] - //[assign_a(deconstructor.name,cls.name)] - //[assign_a(cls.d, deconstructor)] + [assign_a(deconstructor.name,cls.name)] + [assign_a(cls.deconstructor, deconstructor)] [push_back_a(classes,cls)] - //[assign_a(deconstructor,deconstructor0)] + [assign_a(deconstructor,deconstructor0)] [assign_a(constructor, constructor0)] [assign_a(cls,cls0)]; @@ -299,6 +299,16 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, string makeFileName = toolboxPath + "/Makefile"; FileWriter makeModuleMakefile(makeFileName, verbose, "#"); + // create the unified .cpp switch file + const string wrapperName = name + "_wrapper"; + string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; + FileWriter wrapperFile(wrapperFileName, verbose, "//"); + vector functionNames; // Function names stored by index for switch + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "\n"; + makeModuleMfile.oss << "echo on" << endl << endl; makeModuleMfile.oss << "toolboxpath = mfilename('fullpath');" << endl; makeModuleMfile.oss << "delims = find(toolboxpath == '/' | toolboxpath == '\\');" << endl; @@ -333,15 +343,42 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, } makeModuleMakefile.oss << "\n\n"; + // Generate all includes + BOOST_FOREACH(Class cls, classes) { + generateIncludes(wrapperFile, cls.name, cls.includes); + } + wrapperFile.oss << "\n"; + + // Generate all collectors + BOOST_FOREACH(Class cls, classes) { + const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); + wrapperFile.oss << "typedef std::set*> " + << "Collector_" << matlabName << ";\n"; + wrapperFile.oss << "static Collector_" << matlabName << + " collector_" << matlabName << ";\n"; + } + + // generate mexAtExit cleanup function + wrapperFile.oss << "void _deleteAllObjects()\n"; + wrapperFile.oss << "{\n"; + BOOST_FOREACH(Class cls, classes) { + const string matlabName = cls.qualifiedName(); + const string cppName = cls.qualifiedName("::"); + const string collectorType = "Collector_" + matlabName; + const string collectorName = "collector_" + matlabName; + wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; + wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; + wrapperFile.oss << " delete *iter;\n"; + wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; + wrapperFile.oss << " }\n"; + } + wrapperFile.oss << "}\n"; + // generate proxy classes and wrappers BOOST_FOREACH(Class cls, classes) { - // create directory if needed - string classPath = toolboxPath + "/@" + cls.qualifiedName(); - fs::create_directories(classPath); - // create proxy class - string classFile = classPath + "/" + cls.qualifiedName() + ".m"; - cls.matlab_proxy(classFile); + string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; + cls.matlab_proxy(classFile, wrapperName, wrapperFile, functionNames); // verify all of the function arguments //TODO:verifyArguments(validTypes, cls.constructor.args_list); @@ -353,12 +390,7 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, verifyReturnTypes(validTypes, cls.methods); // create constructor and method wrappers - cls.matlab_constructors(toolboxPath); - cls.matlab_static_methods(toolboxPath); - cls.matlab_methods(classPath); - - // create deconstructor - //cls.matlab_deconstructor(toolboxPath); + cls.matlab_static_methods(toolboxPath, wrapperName, wrapperFile, functionNames); // add lines to make m-file makeModuleMfile.oss << "%% " << cls.qualifiedName() << endl; @@ -384,6 +416,30 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, // finish Makefile makeModuleMakefile.oss << "\n" << endl; makeModuleMakefile.emit(true); + + // finish wrapper file + finish_wrapper(wrapperFile, functionNames); + + wrapperFile.emit(true); } +/* ************************************************************************* */ + void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { + file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + file.oss << "{\n"; + file.oss << " mstream mout;\n"; // Send stdout to MATLAB console, see matlab.h + file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; + file.oss << " int id = unwrap(in[0]);\n\n"; + file.oss << " switch(id) {\n"; + for(size_t id = 0; id < functionNames.size(); ++id) { + file.oss << " case " << id << ":\n"; + file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n"; + file.oss << " break;\n"; + } + file.oss << " }\n"; + file.oss << "\n"; + file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h + file.oss << "}\n"; + } + /* ************************************************************************* */ diff --git a/wrap/Module.h b/wrap/Module.h index 239aa20b0..8df6abbba 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -46,6 +46,8 @@ struct Module { const std::string& mexExt, const std::string& headerPath, const std::string& mexFlags) const; + + void finish_wrapper(FileWriter& file, const std::vector& functionNames) const; }; } // \namespace wrap diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 087a1c6ef..2c1231c6b 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -49,16 +49,20 @@ string ReturnValue::qualifiedType2(const string& delim) const { void ReturnValue::wrap_result(FileWriter& file) const { string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1(); string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2(); + const string collectorName1 = "collector_" + matlabType1; + const string collectorName2 = "collector_" + matlabType2; if (isPair) { // first return value in pair if (isPtr1) {// if we already have a pointer file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result.first);" << endl; - file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + file.oss << " " << collectorName1 << ".insert(ret);\n"; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (category1 == ReturnValue::CLASS) { // if we are going to make one - file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result.first));\n"; - file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result.first));\n"; + file.oss << " " << collectorName1 << ".insert(ret);\n"; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else // if basis type file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n"; @@ -66,22 +70,26 @@ void ReturnValue::wrap_result(FileWriter& file) const { // second return value in pair if (isPtr2) {// if we already have a pointer file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(result.second);" << endl; - file.oss << " out[1] = wrap_collect_shared_ptr(ret,\"" << matlabType2 << "\");\n"; + file.oss << " " << collectorName2 << ".insert(ret);\n"; + file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else if (category2 == ReturnValue::CLASS) { // if we are going to make one - file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(new " << cppType2 << "(result.first));\n"; - file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType2 << "\");\n"; + file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(new " << cppType2 << "(result.first));\n"; + file.oss << " " << collectorName2 << ".insert(ret);\n"; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n"; } else if (isPtr1){ file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result);" << endl; - file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + file.oss << " " << collectorName1 << ".insert(ret);\n"; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (category1 == ReturnValue::CLASS){ file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result));\n"; - file.oss << " out[0] = wrap_collect_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + file.oss << " " << collectorName1 << ".insert(ret);\n"; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (matlabType1!="void") file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n"; diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index a4fb3fbe8..8cdf0e597 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -19,6 +19,7 @@ #include #include +#include #include "StaticMethod.h" #include "utilities.h" @@ -27,55 +28,51 @@ using namespace std; using namespace wrap; /* ************************************************************************* */ -void StaticMethod::matlab_mfile(const string& toolboxPath, const string& className) const { +void StaticMethod::proxy_fragment(const string& toolboxPath, const string& matlabClassName, const std::string& wrapperName, const int id) const { - // open destination m-file - string full_name = className + "_" + name; - string wrapperFile = toolboxPath + "/" + full_name + ".m"; - FileWriter file(wrapperFile, verbose, "%"); + const string full_name = matlabClassName + "_" + name; + FileWriter file(toolboxPath + "/" + full_name + ".m", verbose, "%"); - // generate code - string returnType = returnVal.matlab_returnType(); - file.oss << "function " << returnType << " = " << full_name << "("; - if (args.size()) file.oss << args.names(); - file.oss << ")" << endl; - file.oss << "% usage: x = " << full_name << "(" << args.names() << ")" << endl; - file.oss << " error('need to compile " << full_name << ".cpp');" << endl; - file.oss << "end" << endl; + string output; + if(returnVal.isPair) + output = "[ r1 r2 ] = "; + else if(returnVal.category1 == ReturnValue::VOID) + output = ""; + else + output = "r = "; + file.oss << "function " << output << full_name << "(varargin)\n"; + file.oss << " " << output << wrapperName << "(" << id << ", varargin{:});\n"; + file.oss << "end\n"; - // close file - file.emit(true); + file.emit(true); } /* ************************************************************************* */ -void StaticMethod::matlab_wrapper(const string& toolboxPath, const string& className, +string StaticMethod::wrapper_fragment(FileWriter& file, const string& matlabClassName, const string& cppClassName, - const vector& using_namespaces, - const vector& includes) const { - // open destination wrapperFile - string full_name = matlabClassName + "_" + name; - string wrapperFile = toolboxPath + "/" + full_name + ".cpp"; - FileWriter file(wrapperFile, verbose, "//"); + int id, const vector& using_namespaces) const { + + const string full_name = matlabClassName + "_" + name; + const string wrapFunctionName = matlabClassName + "_" + name + "_" + boost::lexical_cast(id); - // generate code - - // header - generateIncludes(file, className, includes); - generateUsingNamespace(file, using_namespaces); + // call + file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + // start + file.oss << "{\n"; + generateUsingNamespace(file, using_namespaces); if(returnVal.isPair) { - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; + if(returnVal.category1 == ReturnValue::CLASS) + file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + if(returnVal.category2 == ReturnValue::CLASS) + file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; } else - file.oss << "typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + if(returnVal.category1 == ReturnValue::CLASS) + file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; - file.oss << "typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; - // call - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; - // start - file.oss << "{\n"; + file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; // check arguments // NOTE: for static functions, there is no object passed @@ -98,8 +95,7 @@ void StaticMethod::matlab_wrapper(const string& toolboxPath, const string& class // finish file.oss << "}\n"; - // close file - file.emit(true); + return wrapFunctionName; } /* ************************************************************************* */ diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index f9cc14af7..3baa58585 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -44,12 +44,13 @@ struct StaticMethod { // NOTE: static functions are not inside the class, and // are created with [ClassName]_[FunctionName]() format - void matlab_mfile(const std::string& toolboxPath, const std::string& className) const; ///< m-file - void matlab_wrapper(const std::string& toolboxPath, - const std::string& className, const std::string& matlabClassName, + void proxy_fragment(const std::string& toolboxPath, const std::string& matlabClassName, + const std::string& wrapperName, const int id) const; ///< m-file + std::string wrapper_fragment(FileWriter& file, + const std::string& matlabClassName, const std::string& cppClassName, - const std::vector& using_namespaces, - const std::vector& includes) const; ///< cpp wrapper + int id, + const std::vector& using_namespaces) const; ///< cpp wrapper }; } // \namespace wrap diff --git a/wrap/matlab.h b/wrap/matlab.h index 31e29c806..dc13eafad 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -1,372 +1,387 @@ -/* ---------------------------------------------------------------------------- - - * 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 matlab.h - * @brief header file to be included in MATLAB wrappers - * @date 2008 - * @author Frank Dellaert - * - * wrapping and unwrapping is done using specialized templates, see - * http://www.cplusplus.com/doc/tutorial/templates.html - */ - -#include -#include - -using gtsam::Vector; -using gtsam::Matrix; - -extern "C" { -#include -} - -#include -#include -#include - -#include -#include -#include -#include -#include - -using namespace std; -using namespace boost; // not usual, but for conciseness of generated code - -// start GTSAM Specifics ///////////////////////////////////////////////// -// to enable Matrix and Vector constructor for SharedGaussian: -#define GTSAM_MAGIC_GAUSSIAN -// end GTSAM Specifics ///////////////////////////////////////////////// - -#if defined(__LP64__) || defined(_WIN64) -// 64-bit -#define mxUINT32OR64_CLASS mxUINT64_CLASS -#else -#define mxUINT32OR64_CLASS mxUINT32_CLASS -#endif - -//***************************************************************************** -// Utilities -//***************************************************************************** - -void error(const char* str) { - mexErrMsgIdAndTxt("wrap:error", str); -} - -mxArray *scalar(mxClassID classid) { - mwSize dims[1]; dims[0]=1; - return mxCreateNumericArray(1, dims, classid, mxREAL); -} - -void checkScalar(const mxArray* array, const char* str) { - int m = mxGetM(array), n = mxGetN(array); - if (m!=1 || n!=1) - mexErrMsgIdAndTxt("wrap: not a scalar in ", str); -} - -//***************************************************************************** -// Check arguments -//***************************************************************************** - -void checkArguments(const string& name, int nargout, int nargin, int expected) { - stringstream err; - err << name << " expects " << expected << " arguments, not " << nargin; - if (nargin!=expected) - error(err.str().c_str()); -} - -//***************************************************************************** -// wrapping C++ basis types in MATLAB arrays -//***************************************************************************** - -// default wrapping throws an error: only basis types are allowed in wrap -template -mxArray* wrap(Class& value) { - error("wrap internal error: attempted wrap of invalid type"); -} - -// specialization to string -// wraps into a character array -template<> -mxArray* wrap(string& value) { - return mxCreateString(value.c_str()); -} - -// specialization to char -template<> -mxArray* wrap(char& value) { - mxArray *result = scalar(mxUINT32OR64_CLASS); - *(char*)mxGetData(result) = value; - return result; -} - -// specialization to unsigned char -template<> -mxArray* wrap(unsigned char& value) { - mxArray *result = scalar(mxUINT32OR64_CLASS); - *(unsigned char*)mxGetData(result) = value; - return result; -} - -// specialization to bool -template<> -mxArray* wrap(bool& value) { - mxArray *result = scalar(mxUINT32OR64_CLASS); - *(bool*)mxGetData(result) = value; - return result; -} - -// specialization to size_t -template<> -mxArray* wrap(size_t& value) { - mxArray *result = scalar(mxUINT32OR64_CLASS); - *(size_t*)mxGetData(result) = value; - return result; -} - -// specialization to int -template<> -mxArray* wrap(int& value) { - mxArray *result = scalar(mxUINT32OR64_CLASS); - *(int*)mxGetData(result) = value; - return result; -} - -// specialization to double -> just double -template<> -mxArray* wrap(double& value) { - return mxCreateDoubleScalar(value); -} - -// wrap a const Eigen vector into a double vector -mxArray* wrap_Vector(const gtsam::Vector& v) { - int m = v.size(); - mxArray *result = mxCreateDoubleMatrix(m, 1, mxREAL); - double *data = mxGetPr(result); - for (int i=0;i double vector -template<> -mxArray* wrap(gtsam::Vector& v) { - return wrap_Vector(v); -} - -// const version -template<> -mxArray* wrap(const gtsam::Vector& v) { - return wrap_Vector(v); -} - -// wrap a const Eigen MATRIX into a double matrix -mxArray* wrap_Matrix(const gtsam::Matrix& A) { - int m = A.rows(), n = A.cols(); -#ifdef DEBUG_WRAP - mexPrintf("wrap_Matrix called with A = \n", m,n); - gtsam::print(A); -#endif - mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL); - double *data = mxGetPr(result); - // converts from column-major to row-major - for (int j=0;j double matrix -template<> -mxArray* wrap(gtsam::Matrix& A) { - return wrap_Matrix(A); -} - -// const version -template<> -mxArray* wrap(const gtsam::Matrix& A) { - return wrap_Matrix(A); -} - -//***************************************************************************** -// unwrapping MATLAB arrays into C++ basis types -//***************************************************************************** - -// default unwrapping throws an error -// as wrap only supports passing a reference or one of the basic types -template -T unwrap(const mxArray* array) { - error("wrap internal error: attempted unwrap of invalid type"); -} - -// specialization to string -// expects a character array -// Warning: relies on mxChar==char -template<> -string unwrap(const mxArray* array) { - char *data = mxArrayToString(array); - if (data==NULL) error("unwrap: not a character array"); - string str(data); - mxFree(data); - return str; -} - -// Check for 64-bit, as Mathworks says mxGetScalar only good for 32 bit -template -T myGetScalar(const mxArray* array) { - switch (mxGetClassID(array)) { - case mxINT64_CLASS: - return (T) *(int64_t*) mxGetData(array); - case mxUINT64_CLASS: - return (T) *(uint64_t*) mxGetData(array); - default: - // hope for the best! - return (T) mxGetScalar(array); - } -} - -// specialization to bool -template<> -bool unwrap(const mxArray* array) { - checkScalar(array,"unwrap"); - return myGetScalar(array); -} - -// specialization to char -template<> -char unwrap(const mxArray* array) { - checkScalar(array,"unwrap"); - return myGetScalar(array); -} - -// specialization to unsigned char -template<> -unsigned char unwrap(const mxArray* array) { - checkScalar(array,"unwrap"); - return myGetScalar(array); -} - -// specialization to int -template<> -int unwrap(const mxArray* array) { - checkScalar(array,"unwrap"); - return myGetScalar(array); -} - -// specialization to size_t -template<> -size_t unwrap(const mxArray* array) { - checkScalar(array, "unwrap"); - return myGetScalar(array); -} - -// specialization to double -template<> -double unwrap(const mxArray* array) { - checkScalar(array,"unwrap"); - return myGetScalar(array); -} - -// specialization to Eigen vector -template<> -gtsam::Vector unwrap< gtsam::Vector >(const mxArray* array) { - int m = mxGetM(array), n = mxGetN(array); - if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); -#ifdef DEBUG_WRAP - mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); -#endif - double* data = (double*)mxGetData(array); - gtsam::Vector v(m); - for (int i=0;i -gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { - if (mxIsDouble(array)==false) error("unwrap: not a matrix"); - int m = mxGetM(array), n = mxGetN(array); -#ifdef DEBUG_WRAP - mexPrintf("unwrap< gtsam::Matrix > called with %dx%d argument\n", m,n); -#endif - double* data = (double*)mxGetData(array); - gtsam::Matrix A(m,n); - // converts from row-major to column-major - for (int j=0;j -mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { - mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast**> (mxGetData(mxh)) = shared_ptr; - //return mxh; - return create_object(classname, mxh); -} - -template -mxArray* wrap_collect_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { - mxArray* mxh = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast**> (mxGetData(mxh)) = shared_ptr; - //return mxh; - return create_collect_object(classname, mxh); -} - -template -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { - - mxArray* mxh = mxGetProperty(obj,0,"self"); - if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) - || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( - "Parameter is not an Shared type."); - - boost::shared_ptr* spp = *reinterpret_cast**> (mxGetData(mxh)); - return *spp; -} +/* ---------------------------------------------------------------------------- + + * 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 matlab.h + * @brief header file to be included in MATLAB wrappers + * @date 2008 + * @author Frank Dellaert + * + * wrapping and unwrapping is done using specialized templates, see + * http://www.cplusplus.com/doc/tutorial/templates.html + */ + +#include +#include + +using gtsam::Vector; +using gtsam::Matrix; + +extern "C" { +#include +} + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace boost; // not usual, but for conciseness of generated code + +// start GTSAM Specifics ///////////////////////////////////////////////// +// to enable Matrix and Vector constructor for SharedGaussian: +#define GTSAM_MAGIC_GAUSSIAN +// end GTSAM Specifics ///////////////////////////////////////////////// + +#if defined(__LP64__) || defined(_WIN64) +// 64-bit +#define mxUINT32OR64_CLASS mxUINT64_CLASS +#else +#define mxUINT32OR64_CLASS mxUINT32_CLASS +#endif + +// "Unique" key to signal calling the matlab object constructor with a raw pointer +// Also present in Class.cpp +static const uint64_t ptr_constructor_key = + (uint64_t('G') << 56) | + (uint64_t('T') << 48) | + (uint64_t('S') << 40) | + (uint64_t('A') << 32) | + (uint64_t('M') << 24) | + (uint64_t('p') << 16) | + (uint64_t('t') << 8) | + (uint64_t('r')); + +//***************************************************************************** +// Utilities +//***************************************************************************** + +void error(const char* str) { + mexErrMsgIdAndTxt("wrap:error", str); +} + +mxArray *scalar(mxClassID classid) { + mwSize dims[1]; dims[0]=1; + return mxCreateNumericArray(1, dims, classid, mxREAL); +} + +void checkScalar(const mxArray* array, const char* str) { + int m = mxGetM(array), n = mxGetN(array); + if (m!=1 || n!=1) + mexErrMsgIdAndTxt("wrap: not a scalar in ", str); +} + +// Replacement streambuf for cout that writes to the MATLAB console +// Thanks to http://stackoverflow.com/a/249008 +class mstream : public std::streambuf { +protected: + virtual std::streamsize xsputn(const char *s, std::streamsize n) { + mexPrintf("%.*s",n,s); + return n; + } + virtual int overflow(int c = EOF) { + if (c != EOF) { + mexPrintf("%.1s",&c); + } + return 1; + } +}; + +//***************************************************************************** +// Check arguments +//***************************************************************************** + +void checkArguments(const string& name, int nargout, int nargin, int expected) { + stringstream err; + err << name << " expects " << expected << " arguments, not " << nargin; + if (nargin!=expected) + error(err.str().c_str()); +} + +//***************************************************************************** +// wrapping C++ basis types in MATLAB arrays +//***************************************************************************** + +// default wrapping throws an error: only basis types are allowed in wrap +template +mxArray* wrap(Class& value) { + error("wrap internal error: attempted wrap of invalid type"); +} + +// specialization to string +// wraps into a character array +template<> +mxArray* wrap(string& value) { + return mxCreateString(value.c_str()); +} + +// specialization to char +template<> +mxArray* wrap(char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(char*)mxGetData(result) = value; + return result; +} + +// specialization to unsigned char +template<> +mxArray* wrap(unsigned char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(unsigned char*)mxGetData(result) = value; + return result; +} + +// specialization to bool +template<> +mxArray* wrap(bool& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(bool*)mxGetData(result) = value; + return result; +} + +// specialization to size_t +template<> +mxArray* wrap(size_t& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(size_t*)mxGetData(result) = value; + return result; +} + +// specialization to int +template<> +mxArray* wrap(int& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(int*)mxGetData(result) = value; + return result; +} + +// specialization to double -> just double +template<> +mxArray* wrap(double& value) { + return mxCreateDoubleScalar(value); +} + +// wrap a const Eigen vector into a double vector +mxArray* wrap_Vector(const gtsam::Vector& v) { + int m = v.size(); + mxArray *result = mxCreateDoubleMatrix(m, 1, mxREAL); + double *data = mxGetPr(result); + for (int i=0;i double vector +template<> +mxArray* wrap(gtsam::Vector& v) { + return wrap_Vector(v); +} + +// const version +template<> +mxArray* wrap(const gtsam::Vector& v) { + return wrap_Vector(v); +} + +// wrap a const Eigen MATRIX into a double matrix +mxArray* wrap_Matrix(const gtsam::Matrix& A) { + int m = A.rows(), n = A.cols(); +#ifdef DEBUG_WRAP + mexPrintf("wrap_Matrix called with A = \n", m,n); + gtsam::print(A); +#endif + mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL); + double *data = mxGetPr(result); + // converts from column-major to row-major + for (int j=0;j double matrix +template<> +mxArray* wrap(gtsam::Matrix& A) { + return wrap_Matrix(A); +} + +// const version +template<> +mxArray* wrap(const gtsam::Matrix& A) { + return wrap_Matrix(A); +} + +//***************************************************************************** +// unwrapping MATLAB arrays into C++ basis types +//***************************************************************************** + +// default unwrapping throws an error +// as wrap only supports passing a reference or one of the basic types +template +T unwrap(const mxArray* array) { + error("wrap internal error: attempted unwrap of invalid type"); +} + +// specialization to string +// expects a character array +// Warning: relies on mxChar==char +template<> +string unwrap(const mxArray* array) { + char *data = mxArrayToString(array); + if (data==NULL) error("unwrap: not a character array"); + string str(data); + mxFree(data); + return str; +} + +// Check for 64-bit, as Mathworks says mxGetScalar only good for 32 bit +template +T myGetScalar(const mxArray* array) { + switch (mxGetClassID(array)) { + case mxINT64_CLASS: + return (T) *(int64_t*) mxGetData(array); + case mxUINT64_CLASS: + return (T) *(uint64_t*) mxGetData(array); + default: + // hope for the best! + return (T) mxGetScalar(array); + } +} + +// specialization to bool +template<> +bool unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to char +template<> +char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to unsigned char +template<> +unsigned char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to int +template<> +int unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to size_t +template<> +size_t unwrap(const mxArray* array) { + checkScalar(array, "unwrap"); + return myGetScalar(array); +} + +// specialization to double +template<> +double unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to Eigen vector +template<> +gtsam::Vector unwrap< gtsam::Vector >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { + if (mxIsDouble(array)==false) error("unwrap: not a matrix"); + int m = mxGetM(array), n = mxGetN(array); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Matrix > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Matrix A(m,n); + // converts from row-major to column-major + for (int j=0;j(mxGetData(input[0])) = ptr_constructor_key; + // Second input argument is the pointer + input[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(input[1])) = pointer; + // Call special pointer constructor, which sets 'self' + mexCallMATLAB(1,&result,2,input,classname); + // Deallocate our memory + mxDestroyArray(input[0]); + mxDestroyArray(input[1]); + return result; +} + +/* + When the user calls a method that returns a shared pointer, we create + an ObjectHandle from the shared_pointer and return it as a proxy + class to matlab. +*/ +template +mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { + // Create actual class object from out pointer + mxArray* result = create_object(classname, shared_ptr); + return result; +} + +template +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { + + mxArray* mxh = mxGetProperty(obj,0,"self"); + if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) + || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( + "Parameter is not an Shared type."); + + boost::shared_ptr* spp = *reinterpret_cast**> (mxGetData(mxh)); + return *spp; +} diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 9d56ec5cd..31b65bdcc 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -123,7 +123,6 @@ void generateUsingNamespace(FileWriter& file, const vector& using_namesp /* ************************************************************************* */ void generateIncludes(FileWriter& file, const string& class_name, const vector& includes) { - file.oss << "#include " << endl; bool added_include = false; BOOST_FOREACH(const string& s, includes) { if (!s.empty()) { From 82c6b5101f44f8bd1b577558de0be8a6c7529f1f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:39 +0000 Subject: [PATCH 544/914] Having cmake directly call mex to compile wrapper .cpp file instead of calling generated makefile --- gtsam/CMakeLists.txt | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index fb732ca51..48a6caf89 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -139,8 +139,11 @@ if (GTSAM_BUILD_WRAP) string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper) get_target_property(gtsam_library_file ${gtsam-prefer-shared} LOCATION_${build_type_toupper}) set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam ${gtsam_library_file}") + if(MSVC) + set(comp_flags_extra "/bigobj") + endif() # Lots of escapes '\' here because they get eaten during subsequent calls to 'set' - set(mexFlags "${mexFlags} -g COMPFLAGS=\\\"$$COMPFLAGS ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}}\\\"") + set(mexFlags "${mexFlags} -g COMPFLAGS=\\\"$COMPFLAGS ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}} ${comp_flags_extra}\\\"") # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 From dd0b7dd5a0dd947f862e79a41cbfda14d98f3e13 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:42 +0000 Subject: [PATCH 545/914] Added missing #pragma once --- gtsam/linear/KalmanFilter.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/linear/KalmanFilter.h b/gtsam/linear/KalmanFilter.h index aeec47a39..df4cd1d65 100644 --- a/gtsam/linear/KalmanFilter.h +++ b/gtsam/linear/KalmanFilter.h @@ -17,6 +17,8 @@ * @author Frank Dellaert */ +#pragma once + #include #include From 9e8f3defeed5a86407095ba9052a18ae2862a10b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:44 +0000 Subject: [PATCH 546/914] Cleaned up passing mex command line arguments --- gtsam/CMakeLists.txt | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 48a6caf89..97d642d65 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -95,9 +95,6 @@ if (GTSAM_BUILD_STATIC_LIBRARY) list(APPEND GTSAM_EXPORTED_TARGETS gtsam-static) set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) set(gtsam-lib gtsam-static) - if(NOT GTSAM_BUILD_SHARED_LIBRARY) - set(gtsam-prefer-shared gtsam-static) - endif() endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) @@ -115,7 +112,6 @@ if (GTSAM_BUILD_SHARED_LIBRARY) if (NOT GTSAM_BUILD_STATIC_LIBRARY) set(gtsam-lib "gtsam-shared") endif() - set(gtsam-prefer-shared gtsam-shared) endif(GTSAM_BUILD_SHARED_LIBRARY) # Create the matlab toolbox for the gtsam library @@ -137,13 +133,13 @@ if (GTSAM_BUILD_WRAP) # Generate, build and install toolbox string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper) - get_target_property(gtsam_library_file ${gtsam-prefer-shared} LOCATION_${build_type_toupper}) - set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam ${gtsam_library_file}") + get_target_property(gtsam_library_file gtsam-static LOCATION_${build_type_toupper}) + set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam) if(MSVC) - set(comp_flags_extra "/bigobj") + list(APPEND mexFlags "/bigobj") endif() - # Lots of escapes '\' here because they get eaten during subsequent calls to 'set' - set(mexFlags "${mexFlags} -g COMPFLAGS=\\\"$COMPFLAGS ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}} ${comp_flags_extra}\\\"") + # Add the CXXFLAGS from building gtsam + list(APPEND mexFlags -g "CXXFLAGS=$CXXFLAGS ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}}") # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 From 1ee7162383676766a23f29ca465d4b0c4be6c413 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:46 +0000 Subject: [PATCH 547/914] Fixed warnings --- wrap/Class.cpp | 1 - wrap/matlab.h | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index da1510d29..0485de5bd 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -58,7 +58,6 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil proxyFile.oss << " function obj = " << matlabName << "(varargin)" << endl; // Special pointer constructor { - const int id = functionNames.size(); proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; proxyFile.oss << " obj.self = varargin{2};\n"; diff --git a/wrap/matlab.h b/wrap/matlab.h index dc13eafad..31778cdbd 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -121,6 +121,7 @@ void checkArguments(const string& name, int nargout, int nargin, int expected) { template mxArray* wrap(Class& value) { error("wrap internal error: attempted wrap of invalid type"); + return 0; } // specialization to string From bf0b727d98fdd219ba5b1b2ca5cc4fe93e09a8b9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:48 +0000 Subject: [PATCH 548/914] More cleanup of mex flag passing --- gtsam/CMakeLists.txt | 5 ----- 1 file changed, 5 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 97d642d65..e719e0315 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -135,11 +135,6 @@ if (GTSAM_BUILD_WRAP) string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper) get_target_property(gtsam_library_file gtsam-static LOCATION_${build_type_toupper}) set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam) - if(MSVC) - list(APPEND mexFlags "/bigobj") - endif() - # Add the CXXFLAGS from building gtsam - list(APPEND mexFlags -g "CXXFLAGS=$CXXFLAGS ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${build_type_toupper}}") # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 From 8f8975f47f492fc6dc4d7cbdd65664292e4fea06 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:51 +0000 Subject: [PATCH 549/914] Removed obsolete code for generating matlab wrapper makefiles and build script --- gtsam/CMakeLists.txt | 2 -- wrap/Class.cpp | 59 ------------------------------------------- wrap/Class.h | 4 --- wrap/Module.cpp | 60 ++++---------------------------------------- wrap/Module.h | 5 +--- wrap/wrap.cpp | 19 ++++---------- 6 files changed, 11 insertions(+), 138 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index e719e0315..5a8692c74 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -132,8 +132,6 @@ if (GTSAM_BUILD_WRAP) endif() # Generate, build and install toolbox - string(TOUPPER ${CMAKE_BUILD_TYPE} build_type_toupper) - get_target_property(gtsam_library_file gtsam-static LOCATION_${build_type_toupper}) set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam) # Macro to handle details of setting up targets diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 0485de5bd..418c4706e 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -120,65 +120,6 @@ void Class::matlab_static_methods(const string& toolboxPath, const string& wrapp } } -/* ************************************************************************* */ -void Class::matlab_make_fragment(FileWriter& file, - const string& toolboxPath, - const string& mexFlags) const { - string mex = "mex " + mexFlags + " "; - string matlabClassName = qualifiedName(); - file.oss << mex << constructor.matlab_wrapper_name(matlabClassName) << ".cpp" << endl; - BOOST_FOREACH(StaticMethod sm, static_methods) - file.oss << mex << matlabClassName + "_" + sm.name << ".cpp" << endl; - file.oss << endl << "cd @" << matlabClassName << endl; - BOOST_FOREACH(Method m, methods) - file.oss << mex << m.name << ".cpp" << endl; - file.oss << endl; -} - -/* ************************************************************************* */ -void Class::makefile_fragment(FileWriter& file) const { -// new_Point2_.$(MEXENDING): new_Point2_.cpp -// $(MEX) $(mex_flags) new_Point2_.cpp -// new_Point2_dd.$(MEXENDING): new_Point2_dd.cpp -// $(MEX) $(mex_flags) new_Point2_dd.cpp -// @Point2/x.$(MEXENDING): @Point2/x.cpp -// $(MEX) $(mex_flags) @Point2/x.cpp -output @Point2/x -// @Point2/y.$(MEXENDING): @Point2/y.cpp -// $(MEX) $(mex_flags) @Point2/y.cpp -output @Point2/y -// @Point2/dim.$(MEXENDING): @Point2/dim.cpp -// $(MEX) $(mex_flags) @Point2/dim.cpp -output @Point2/dim -// -// Point2: new_Point2_.$(MEXENDING) new_Point2_dd.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) - - string matlabName = qualifiedName(); - - // collect names - vector file_names; - string file_base = constructor.matlab_wrapper_name(matlabName); - file_names.push_back(file_base); - BOOST_FOREACH(StaticMethod c, static_methods) { - string file_base = matlabName + "_" + c.name; - file_names.push_back(file_base); - } - BOOST_FOREACH(Method c, methods) { - string file_base = "@" + matlabName + "/" + c.name; - file_names.push_back(file_base); - } - - BOOST_FOREACH(const string& file_base, file_names) { - file.oss << file_base << ".$(MEXENDING): " << file_base << ".cpp"; - file.oss << " $(PATH_TO_WRAP)/matlab.h" << endl; - file.oss << "\t$(MEX) $(mex_flags) " << file_base << ".cpp -output " << file_base << endl; - } - - // class target - file.oss << "\n" << matlabName << ": "; - BOOST_FOREACH(const string& file_base, file_names) { - file.oss << file_base << ".$(MEXENDING) "; - } - file.oss << "\n" << endl; -} - /* ************************************************************************* */ string Class::qualifiedName(const string& delim) const { string result; diff --git a/wrap/Class.h b/wrap/Class.h index bef7467c3..0f6ac899c 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -49,10 +49,6 @@ struct Class { FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class void matlab_static_methods(const std::string& toolboxPath, const std::string& wrapperName, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit static method wrappers - void matlab_make_fragment(FileWriter& file, - const std::string& toolboxPath, - const std::string& mexFlags) const; ///< emit make fragment for global make script - void makefile_fragment(FileWriter& file) const; ///< emit makefile fragment std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter }; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 2f1b1f252..400658044 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -286,19 +286,10 @@ void verifyReturnTypes(const vector& validtypes, const vector& vt) { } /* ************************************************************************* */ -void Module::matlab_code(const string& mexCommand, const string& toolboxPath, - const string& mexExt, const string& headerPath,const string& mexFlags) const { +void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { fs::create_directories(toolboxPath); - // create make m-file - string matlabMakeFileName = toolboxPath + "/make_" + name + ".m"; - FileWriter makeModuleMfile(matlabMakeFileName, verbose, "%"); - - // create the (actual) make file - string makeFileName = toolboxPath + "/Makefile"; - FileWriter makeModuleMakefile(makeFileName, verbose, "#"); - // create the unified .cpp switch file const string wrapperName = name + "_wrapper"; string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; @@ -309,18 +300,6 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, wrapperFile.oss << "#include \n"; wrapperFile.oss << "\n"; - makeModuleMfile.oss << "echo on" << endl << endl; - makeModuleMfile.oss << "toolboxpath = mfilename('fullpath');" << endl; - makeModuleMfile.oss << "delims = find(toolboxpath == '/' | toolboxpath == '\\');" << endl; - makeModuleMfile.oss << "toolboxpath = toolboxpath(1:(delims(end)-1));" << endl; - makeModuleMfile.oss << "clear delims" << endl; - makeModuleMfile.oss << "addpath(toolboxpath);" << endl << endl; - - makeModuleMakefile.oss << "\nMEX = " << mexCommand << "\n"; - makeModuleMakefile.oss << "MEXENDING = " << mexExt << "\n"; - makeModuleMakefile.oss << "PATH_TO_WRAP = " << headerPath << "\n"; - makeModuleMakefile.oss << "mex_flags = " << mexFlags << "\n\n"; - // Dependency check list vector validTypes = forward_declarations; validTypes.push_back("void"); @@ -333,15 +312,10 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, validTypes.push_back("double"); validTypes.push_back("Vector"); validTypes.push_back("Matrix"); - - // add 'all' to Makefile - makeModuleMakefile.oss << "all: "; - BOOST_FOREACH(Class cls, classes) { - makeModuleMakefile.oss << cls.qualifiedName() << " "; - //Create a list of parsed classes for dependency checking - validTypes.push_back(cls.qualifiedName("::")); - } - makeModuleMakefile.oss << "\n\n"; + //Create a list of parsed classes for dependency checking + BOOST_FOREACH(Class cls, classes) { + validTypes.push_back(cls.qualifiedName("::")); + } // Generate all includes BOOST_FOREACH(Class cls, classes) { @@ -391,32 +365,8 @@ void Module::matlab_code(const string& mexCommand, const string& toolboxPath, // create constructor and method wrappers cls.matlab_static_methods(toolboxPath, wrapperName, wrapperFile, functionNames); - - // add lines to make m-file - makeModuleMfile.oss << "%% " << cls.qualifiedName() << endl; - makeModuleMfile.oss << "cd(toolboxpath)" << endl; - cls.matlab_make_fragment(makeModuleMfile, toolboxPath, mexFlags); - - // add section to the (actual) make file - makeModuleMakefile.oss << "# " << cls.qualifiedName() << endl; - cls.makefile_fragment(makeModuleMakefile); } - // finish make m-file - makeModuleMfile.oss << "cd(toolboxpath)" << endl << endl; - makeModuleMfile.oss << "echo off" << endl; - makeModuleMfile.emit(true); // By default, compare existing file first - - // make clean at end of Makefile - makeModuleMakefile.oss << "\n\nclean: \n"; - makeModuleMakefile.oss << "\trm -rf *.$(MEXENDING)\n"; - BOOST_FOREACH(Class cls, classes) - makeModuleMakefile.oss << "\trm -rf @" << cls.qualifiedName() << "/*.$(MEXENDING)\n"; - - // finish Makefile - makeModuleMakefile.oss << "\n" << endl; - makeModuleMakefile.emit(true); - // finish wrapper file finish_wrapper(wrapperFile, functionNames); diff --git a/wrap/Module.h b/wrap/Module.h index 8df6abbba..a04a861c4 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -41,11 +41,8 @@ struct Module { /// MATLAB code generation: void matlab_code( - const std::string& mexCommand, const std::string& path, - const std::string& mexExt, - const std::string& headerPath, - const std::string& mexFlags) const; + const std::string& headerPath) const; void finish_wrapper(FileWriter& file, const std::vector& functionNames) const; }; diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp index f818094f7..05763d892 100644 --- a/wrap/wrap.cpp +++ b/wrap/wrap.cpp @@ -24,42 +24,33 @@ using namespace std; /** * Top-level function to wrap a module - * @param mexCommand is a sufficiently qualified command to execute mex within a makefile - * @param mexExt is the extension for mex binaries for this os/cpu * @param interfacePath path to where interface file lives, e.g., borg/gtsam * @param moduleName name of the module to be generated e.g. gtsam * @param toolboxPath path where the toolbox should be generated, e.g. borg/gtsam/build * @param headerPath is the path to matlab.h - * @param mexFlags extra arguments for mex script, i.e., include flags etc... */ void generate_matlab_toolbox( - const string& mexCommand, - const string& mexExt, const string& interfacePath, const string& moduleName, const string& toolboxPath, - const string& headerPath, - const string& mexFlags) + const string& headerPath) { // Parse interface file into class object // This recursively creates Class objects, Method objects, etc... wrap::Module module(interfacePath, moduleName, false); // Then emit MATLAB code - module.matlab_code(mexCommand,toolboxPath,mexExt,headerPath,mexFlags); + module.matlab_code(toolboxPath,headerPath); } /** Displays usage information */ void usage() { cerr << "wrap parses an interface file and produces a MATLAB toolbox" << endl; - cerr << "usage: wrap mexExecutable mexExtension interfacePath moduleName toolboxPath [mexFlags]" << endl; - cerr << " mexExecutable : command to execute mex if on path, use 'mex'" << endl; - cerr << " mexExtension : OS/CPU-dependent extension for MEX binaries" << endl; + cerr << "usage: wrap interfacePath moduleName toolboxPath headerPath" << endl; cerr << " interfacePath : *absolute* path to directory of module interface file" << endl; cerr << " moduleName : the name of the module, interface file must be called moduleName.h" << endl; cerr << " toolboxPath : the directory in which to generate the wrappers" << endl; cerr << " headerPath : path to matlab.h" << endl; - cerr << " [mexFlags] : extra flags for the mex command" << endl; } /** @@ -67,7 +58,7 @@ void usage() { * Typically called from "make all" using appropriate arguments */ int main(int argc, const char* argv[]) { - if (argc<7 || argc>8) { + if (argc != 5) { cerr << "Invalid arguments:\n"; for (int i=0; i Date: Thu, 5 Jul 2012 14:04:53 +0000 Subject: [PATCH 550/914] wrap flags for gtsam_unstable --- gtsam_unstable/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index acd36ddc2..8d9cd6542 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -92,7 +92,7 @@ if (GTSAM_BUILD_WRAP) endif() # Generate, build and install toolbox - set(mexFlags "-I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete -L${GTSAM_UNSTABLE_LIB_DIR} -L${GTSAM_LIB_DIR} -lgtsam -lgtsam_unstable") + set(mexFlags -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete) # Macro to handle details of setting up targets wrap_library(gtsam_unstable "${mexFlags}" "./") From ce4968d4989f65b78127a682505d4302afdde419 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:55 +0000 Subject: [PATCH 551/914] Wrap cmake options to more easily link with additional libraries --- gtsam/CMakeLists.txt | 2 +- gtsam_unstable/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 5a8692c74..e168116e7 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -136,5 +136,5 @@ if (GTSAM_BUILD_WRAP) # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 - wrap_library(gtsam "${mexFlags}" "../") + wrap_library(gtsam "${mexFlags}" "../" "") endif () diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 8d9cd6542..9851852e3 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -95,6 +95,6 @@ if (GTSAM_BUILD_WRAP) set(mexFlags -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete) # Macro to handle details of setting up targets - wrap_library(gtsam_unstable "${mexFlags}" "./") + wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam) endif(GTSAM_BUILD_WRAP) From 8ab18498ad3f88f26628d4b838a5851aacd0ed07 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:04:57 +0000 Subject: [PATCH 552/914] Add to collector through matlab function to allow returning objects from other wrap modules --- wrap/Class.cpp | 69 ++++++++++++++++++++++++++++++++++---------- wrap/Class.h | 3 ++ wrap/Constructor.cpp | 4 +-- wrap/ReturnValue.cpp | 8 ----- 4 files changed, 59 insertions(+), 25 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 418c4706e..8e8f42045 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -20,6 +20,7 @@ #include #include +#include #include "Class.h" #include "utilities.h" @@ -28,23 +29,13 @@ using namespace std; using namespace wrap; -static const uint64_t ptr_constructor_key = - (uint64_t('G') << 56) | - (uint64_t('T') << 48) | - (uint64_t('S') << 40) | - (uint64_t('A') << 32) | - (uint64_t('M') << 24) | - (uint64_t('p') << 16) | - (uint64_t('t') << 8) | - (uint64_t('r')); - /* ************************************************************************* */ void Class::matlab_proxy(const string& classFile, const string& wrapperName, FileWriter& wrapperFile, vector& functionNames) const { // open destination classFile FileWriter proxyFile(classFile, verbose_, "%"); // get the name of actual matlab object - string matlabName = qualifiedName(), cppName = qualifiedName("::"); + const string matlabName = qualifiedName(), cppName = qualifiedName("::"); // emit class proxy code // we want our class to inherit the handle class for memory purposes @@ -56,11 +47,17 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil // Constructor proxyFile.oss << " function obj = " << matlabName << "(varargin)" << endl; - // Special pointer constructor + // Special pointer constructors - one in MATLAB to create an object and + // assign a pointer returned from a C++ function. In turn this MATLAB + // constructor calls a special C++ function that just adds the object to + // its collector. This allows wrapped functions to return objects in + // other wrap modules - to add these to their collectors the pointer is + // passed from one C++ module into matlab then back into the other C++ + // module. { - proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; - proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; - proxyFile.oss << " obj.self = varargin{2};\n"; + int id = functionNames.size(); + const string functionName = pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, id); + functionNames.push_back(functionName); } // Regular constructors BOOST_FOREACH(ArgumentList a, constructor.args_list) @@ -129,3 +126,45 @@ string Class::qualifiedName(const string& delim) const { } /* ************************************************************************* */ +string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, int id) const { + + static const uint64_t ptr_constructor_key = + (uint64_t('G') << 56) | + (uint64_t('T') << 48) | + (uint64_t('S') << 40) | + (uint64_t('A') << 32) | + (uint64_t('M') << 24) | + (uint64_t('p') << 16) | + (uint64_t('t') << 8) | + (uint64_t('r')); + + const string matlabName = qualifiedName(), cppName = qualifiedName("::"); + const string wrapFunctionName = matlabName + "_constructor_" + boost::lexical_cast(id); + + // MATLAB constructor that assigns pointer to matlab object then calls c++ + // function to add the object to the collector. + proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; + proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; + proxyFile.oss << " obj.self = varargin{2};\n"; + proxyFile.oss << " " << wrapperName << "(obj.self);\n"; + + // C++ function to add pointer from MATLAB to collector. The pointer always + // comes from a C++ return value; this mechanism allows the object to be added + // to a collector in a different wrap module. + wrapperFile.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; + wrapperFile.oss << "{\n"; + wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; + generateUsingNamespace(wrapperFile, using_namespaces); + // Typedef boost::shared_ptr + wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n"; + wrapperFile.oss << "\n"; + // Get self pointer passed in + wrapperFile.oss << " Shared *self = *reinterpret_cast (mxGetData(in[0]));\n"; + // Add to collector + wrapperFile.oss << " collector_" << matlabName << ".insert(self);\n"; + wrapperFile.oss << "}\n"; + + return wrapFunctionName; +} + +/* ************************************************************************* */ diff --git a/wrap/Class.h b/wrap/Class.h index 0f6ac899c..736e0a370 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -50,6 +50,9 @@ struct Class { void matlab_static_methods(const std::string& toolboxPath, const std::string& wrapperName, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit static method wrappers std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter + +private: + std::string pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& wrapperName, int id) const; }; } // \namespace wrap diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 43f35fb86..88fbb748b 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -67,7 +67,7 @@ string Constructor::wrapper_fragment(FileWriter& file, const vector& using_namespaces, const vector& includes, const ArgumentList& al) const { - const string matlabName = matlab_wrapper_name(matlabClassName); + const string wrapFunctionName = matlabClassName + "_constructor_" + boost::lexical_cast(id); file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; @@ -75,7 +75,7 @@ string Constructor::wrapper_fragment(FileWriter& file, file.oss << " mexAtExit(&_deleteAllObjects);\n"; generateUsingNamespace(file, using_namespaces); //Typedef boost::shared_ptr - file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;\n"; + file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;\n"; file.oss << "\n"; //Check to see if there will be any arguments and remove {} for consiseness diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 2c1231c6b..0c9dd5830 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -49,19 +49,15 @@ string ReturnValue::qualifiedType2(const string& delim) const { void ReturnValue::wrap_result(FileWriter& file) const { string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1(); string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2(); - const string collectorName1 = "collector_" + matlabType1; - const string collectorName2 = "collector_" + matlabType2; if (isPair) { // first return value in pair if (isPtr1) {// if we already have a pointer file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result.first);" << endl; - file.oss << " " << collectorName1 << ".insert(ret);\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (category1 == ReturnValue::CLASS) { // if we are going to make one file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result.first));\n"; - file.oss << " " << collectorName1 << ".insert(ret);\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else // if basis type @@ -70,12 +66,10 @@ void ReturnValue::wrap_result(FileWriter& file) const { // second return value in pair if (isPtr2) {// if we already have a pointer file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(result.second);" << endl; - file.oss << " " << collectorName2 << ".insert(ret);\n"; file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else if (category2 == ReturnValue::CLASS) { // if we are going to make one file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(new " << cppType2 << "(result.first));\n"; - file.oss << " " << collectorName2 << ".insert(ret);\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else @@ -83,12 +77,10 @@ void ReturnValue::wrap_result(FileWriter& file) const { } else if (isPtr1){ file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result);" << endl; - file.oss << " " << collectorName1 << ".insert(ret);\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (category1 == ReturnValue::CLASS){ file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result));\n"; - file.oss << " " << collectorName1 << ".insert(ret);\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (matlabType1!="void") From f774a380ec6d5822c58f0eb71179978dc63d7c15 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:05:00 +0000 Subject: [PATCH 553/914] Implemented method overloading in matlab wrapper, made static functions static in matlab classes --- wrap/Class.cpp | 35 +++++++--------- wrap/Class.h | 11 ++--- wrap/Method.cpp | 79 ++++++++++++++++++++++++++++++----- wrap/Method.h | 17 ++++++-- wrap/Module.cpp | 81 ++++++++++++++++++++++-------------- wrap/StaticMethod.cpp | 97 ++++++++++++++++++++++++++++++++++--------- wrap/StaticMethod.h | 28 ++++++++----- 7 files changed, 248 insertions(+), 100 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 8e8f42045..a33f89f35 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -70,7 +70,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil functionNames.push_back(wrapFunctionName); } proxyFile.oss << " else\n"; - proxyFile.oss << " error('" << matlabName << " constructor failed');" << endl; + proxyFile.oss << " error('Arguments do not match any overload of " << matlabName << " constructor');" << endl; proxyFile.oss << " end\n"; proxyFile.oss << " end\n\n"; @@ -88,14 +88,23 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil proxyFile.oss << " function disp(obj), obj.display; end\n\n"; // Methods - BOOST_FOREACH(Method m, methods) { - const int id = functionNames.size(); - m.proxy_fragment(proxyFile, wrapperName, id); + BOOST_FOREACH(const Methods::value_type& name_m, methods) { + const Method& m = name_m.second; + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, functionNames); + proxyFile.oss << "\n"; + wrapperFile.oss << "\n"; + } + + proxyFile.oss << " end\n"; + proxyFile.oss << "\n"; + proxyFile.oss << " methods(Static = true)\n"; + + // Static methods + BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { + const StaticMethod& m = name_m.second; + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, functionNames); proxyFile.oss << "\n"; - const string wrapFunctionName = m.wrapper_fragment(wrapperFile, - cppName, matlabName, id, using_namespaces); wrapperFile.oss << "\n"; - functionNames.push_back(wrapFunctionName); } proxyFile.oss << " end" << endl; @@ -105,18 +114,6 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil proxyFile.emit(true); } -/* ************************************************************************* */ -void Class::matlab_static_methods(const string& toolboxPath, const string& wrapperName, - FileWriter& wrapperFile, vector& functionNames) const { - string matlabName = qualifiedName(), cppName = qualifiedName("::"); - BOOST_FOREACH(const StaticMethod& m, static_methods) { - const int id = functionNames.size(); - m.proxy_fragment(toolboxPath, matlabName, wrapperName, id); - const string wrapFunction = m.wrapper_fragment(wrapperFile, matlabName, cppName, id, using_namespaces); - functionNames.push_back(wrapFunction); - } -} - /* ************************************************************************* */ string Class::qualifiedName(const string& delim) const { string result; diff --git a/wrap/Class.h b/wrap/Class.h index 736e0a370..f1a745d94 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -19,7 +19,7 @@ #pragma once #include -#include +#include #include "Constructor.h" #include "Deconstructor.h" @@ -30,13 +30,16 @@ namespace wrap { /// Class has name, constructors, methods struct Class { + typedef std::map Methods; + typedef std::map StaticMethods; + /// Constructor creates an empty class Class(bool verbose=true) : verbose_(verbose) {} // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name - std::vector methods; ///< Class methods - std::vector static_methods; ///< Static methods + Methods methods; ///< Class methods + StaticMethods static_methods; ///< Static methods std::vector namespaces; ///< Stack of namespaces std::vector using_namespaces;///< default namespaces std::vector includes; ///< header include overrides @@ -47,8 +50,6 @@ struct Class { // And finally MATLAB code is emitted, methods below called by Module::matlab_code void matlab_proxy(const std::string& classFile, const std::string& wrapperName, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class - void matlab_static_methods(const std::string& toolboxPath, const std::string& wrapperName, - FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit static method wrappers std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter private: diff --git a/wrap/Method.cpp b/wrap/Method.cpp index bcca86d40..88176f675 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -27,24 +27,78 @@ using namespace std; using namespace wrap; /* ************************************************************************* */ -void Method::proxy_fragment(FileWriter& file, const std::string& wrapperName, const int id) const { +void Method::addOverload(bool verbose, bool is_const, const std::string& name, + const ArgumentList& args, const ReturnValue& retVal) { + this->verbose_ = verbose; + this->is_const_ = is_const; + this->name = name; + this->argLists.push_back(args); + this->returnVals.push_back(retVal); +} - string output; - if(returnVal.isPair) - output = "[ r1 r2 ] = "; - else if(returnVal.category1 == ReturnValue::VOID) - output = ""; - else - output = "r = "; - file.oss << " function " << output << name << "(varargin)\n"; - file.oss << " " << output << wrapperName << "(" << id << ", varargin{:});\n"; - file.oss << " end\n"; +void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const string& cppClassName, + const string& matlabClassName, + const string& wrapperName, + const vector& using_namespaces, + vector& functionNames) const { + + proxyFile.oss << " function varargout = " << name << "(self, varargin)\n"; + + for(size_t overload = 0; overload < argLists.size(); ++overload) { + const ArgumentList& args = argLists[overload]; + const ReturnValue& returnVal = returnVals[overload]; + size_t nrArgs = args.size(); + + const int id = functionNames.size(); + + // Output proxy matlab code + + // check for number of arguments... + proxyFile.oss << " " << (overload==0?"":"else") << "if length(varargin) == " << nrArgs; + if (nrArgs>0) proxyFile.oss << " && "; + // ...and their types + bool first = true; + for(size_t i=0;i& using_namespaces) const { @@ -52,6 +106,9 @@ string Method::wrapper_fragment(FileWriter& file, const string wrapFunctionName = matlabClassName + "_" + name + "_" + boost::lexical_cast(id); + const ArgumentList& args = argLists[overload]; + const ReturnValue& returnVal = returnVals[overload]; + // call file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; // start diff --git a/wrap/Method.h b/wrap/Method.h index 60b0c1282..204e3002d 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -36,16 +36,27 @@ struct Method { bool verbose_; bool is_const_; std::string name; - ArgumentList args; - ReturnValue returnVal; + std::vector argLists; + std::vector returnVals; + + // The first time this function is called, it initializes the class members + // with those in rhs, but in subsequent calls it adds additional argument + // lists as function overloads. + void addOverload(bool verbose, bool is_const, const std::string& name, + const ArgumentList& args, const ReturnValue& retVal); // MATLAB code generation // classPath is class directory, e.g., ../matlab/@Point2 + void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const std::string& cppClassName, const std::string& matlabClassName, + const std::string& wrapperName, const std::vector& using_namespaces, + std::vector& functionNames) const; - void proxy_fragment(FileWriter& file, const std::string& wrapperName, const int id) const; +private: std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, const std::string& matlabClassname, + int overload, int id, const std::vector& using_namespaces) const; ///< cpp wrapper }; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 400658044..0c351a4f9 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -24,6 +24,8 @@ //#define BOOST_SPIRIT_DEBUG #include #include +#include +#include #include #include #include @@ -34,6 +36,7 @@ using namespace std; using namespace wrap; using namespace BOOST_SPIRIT_CLASSIC_NS; +namespace bl = boost::lambda; namespace fs = boost::filesystem; typedef rule Rule; @@ -51,13 +54,15 @@ Module::Module(const string& interfacePath, { // these variables will be imperatively updated to gradually build [cls] // The one with postfix 0 are used to reset the variables after parse. + string methodName, methodName0; + bool isConst, isConst0 = false; ReturnValue retVal0, retVal; Argument arg0, arg; ArgumentList args0, args; vector arg_dup; ///keep track of duplicates Constructor constructor0(enable_verbose), constructor(enable_verbose); Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); - Method method0(enable_verbose), method(enable_verbose); + //Method method0(enable_verbose), method(enable_verbose); StaticMethod static_method0(enable_verbose), static_method(enable_verbose); Class cls0(enable_verbose),cls(enable_verbose); vector namespaces, /// current namespace tag @@ -155,27 +160,35 @@ Module::Module(const string& interfacePath, Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; Rule method_p = - (returnType_p >> methodName_p[assign_a(method.name)] >> + (returnType_p >> methodName_p[assign_a(methodName)] >> '(' >> argumentList_p >> ')' >> - !str_p("const")[assign_a(method.is_const_,true)] >> ';' >> *comments_p) - [assign_a(method.args,args)] + !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) + [bl::bind(&Method::addOverload, + bl::var(cls.methods)[bl::var(methodName)], + verbose, + bl::var(isConst), + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(isConst,isConst0)] + [assign_a(methodName,methodName0)] [assign_a(args,args0)] - [assign_a(method.returnVal,retVal)] - [assign_a(retVal,retVal0)] - [push_back_a(cls.methods, method)] - [assign_a(method,method0)]; + [assign_a(retVal,retVal0)]; Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; Rule static_method_p = - (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(static_method.name)] >> + (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> '(' >> argumentList_p >> ')' >> ';' >> *comments_p) - [assign_a(static_method.args,args)] + [bl::bind(&StaticMethod::addOverload, + bl::var(cls.static_methods)[bl::var(methodName)], + verbose, + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(methodName,methodName0)] [assign_a(args,args0)] - [assign_a(static_method.returnVal,retVal)] - [assign_a(retVal,retVal0)] - [push_back_a(cls.static_methods, static_method)] - [assign_a(static_method,static_method0)]; + [assign_a(retVal,retVal0)]; Rule functions_p = constructor_p | method_p | static_method_p; @@ -262,26 +275,33 @@ Module::Module(const string& interfacePath, /* ************************************************************************* */ template -void verifyArguments(const vector& validArgs, const vector& vt) { - BOOST_FOREACH(const T& t, vt) { - BOOST_FOREACH(Argument arg, t.args) { - string fullType = arg.qualifiedType("::"); - if(find(validArgs.begin(), validArgs.end(), fullType) - == validArgs.end()) - throw DependencyMissing(fullType, t.name); +void verifyArguments(const vector& validArgs, const map& vt) { + typedef map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ArgumentList& argList, t.argLists) { + BOOST_FOREACH(Argument arg, argList) { + string fullType = arg.qualifiedType("::"); + if(find(validArgs.begin(), validArgs.end(), fullType) + == validArgs.end()) + throw DependencyMissing(fullType, t.name); + } } } } /* ************************************************************************* */ template -void verifyReturnTypes(const vector& validtypes, const vector& vt) { - BOOST_FOREACH(const T& t, vt) { - const ReturnValue& retval = t.returnVal; - if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType1("::"), t.name); - if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType2("::"), t.name); +void verifyReturnTypes(const vector& validtypes, const map& vt) { + typedef map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { + if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType1("::"), t.name); + if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType2("::"), t.name); + } } } @@ -350,7 +370,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // generate proxy classes and wrappers BOOST_FOREACH(Class cls, classes) { - // create proxy class + // create proxy class and wrapper code string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; cls.matlab_proxy(classFile, wrapperName, wrapperFile, functionNames); @@ -362,9 +382,6 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // verify function return types verifyReturnTypes(validTypes, cls.static_methods); verifyReturnTypes(validTypes, cls.methods); - - // create constructor and method wrappers - cls.matlab_static_methods(toolboxPath, wrapperName, wrapperFile, functionNames); } // finish wrapper file diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 8cdf0e597..dd0c606b5 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -27,34 +27,91 @@ using namespace std; using namespace wrap; + /* ************************************************************************* */ -void StaticMethod::proxy_fragment(const string& toolboxPath, const string& matlabClassName, const std::string& wrapperName, const int id) const { +void StaticMethod::addOverload(bool verbose, const std::string& name, + const ArgumentList& args, const ReturnValue& retVal) { + this->verbose = verbose; + this->name = name; + this->argLists.push_back(args); + this->returnVals.push_back(retVal); +} - const string full_name = matlabClassName + "_" + name; - FileWriter file(toolboxPath + "/" + full_name + ".m", verbose, "%"); +void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const string& cppClassName, + const string& matlabClassName, + const string& wrapperName, + const vector& using_namespaces, + vector& functionNames) const { - string output; - if(returnVal.isPair) - output = "[ r1 r2 ] = "; - else if(returnVal.category1 == ReturnValue::VOID) - output = ""; - else - output = "r = "; - file.oss << "function " << output << full_name << "(varargin)\n"; - file.oss << " " << output << wrapperName << "(" << id << ", varargin{:});\n"; - file.oss << "end\n"; + string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); - file.emit(true); + proxyFile.oss << " function varargout = " << upperName << "(varargin)\n"; + + for(size_t overload = 0; overload < argLists.size(); ++overload) { + const ArgumentList& args = argLists[overload]; + const ReturnValue& returnVal = returnVals[overload]; + size_t nrArgs = args.size(); + + const int id = functionNames.size(); + + // Output proxy matlab code + + // check for number of arguments... + proxyFile.oss << " " << (overload==0?"":"else") << "if length(varargin) == " << nrArgs; + if (nrArgs>0) proxyFile.oss << " && "; + // ...and their types + bool first = true; + for(size_t i=0;i& using_namespaces) const { - - const string full_name = matlabClassName + "_" + name; +string StaticMethod::wrapper_fragment(FileWriter& file, + const string& cppClassName, + const string& matlabClassName, + int overload, + int id, + const vector& using_namespaces) const { + + // generate code + const string wrapFunctionName = matlabClassName + "_" + name + "_" + boost::lexical_cast(id); + const ArgumentList& args = argLists[overload]; + const ReturnValue& returnVal = returnVals[overload]; + // call file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; // start @@ -76,7 +133,7 @@ string StaticMethod::wrapper_fragment(FileWriter& file, // check arguments // NOTE: for static functions, there is no object passed - file.oss << " checkArguments(\"" << full_name << "\",nargout,nargin," << args.size() << ");\n"; + file.oss << " checkArguments(\"" << matlabClassName << "." << name << "\",nargout,nargin," << args.size() << ");\n"; // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,0); // We start at 0 because there is no self object diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index 3baa58585..5bc599ea5 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -36,21 +36,29 @@ struct StaticMethod { // Then the instance variables are set directly by the Module constructor bool verbose; std::string name; - ArgumentList args; - ReturnValue returnVal; + std::vector argLists; + std::vector returnVals; + + // The first time this function is called, it initializes the class members + // with those in rhs, but in subsequent calls it adds additional argument + // lists as function overloads. + void addOverload(bool verbose, const std::string& name, + const ArgumentList& args, const ReturnValue& retVal); // MATLAB code generation - // toolboxPath is the core toolbox directory, e.g., ../matlab - // NOTE: static functions are not inside the class, and - // are created with [ClassName]_[FunctionName]() format + // classPath is class directory, e.g., ../matlab/@Point2 + void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, + const std::string& cppClassName, const std::string& matlabClassName, + const std::string& wrapperName, const std::vector& using_namespaces, + std::vector& functionNames) const; - void proxy_fragment(const std::string& toolboxPath, const std::string& matlabClassName, - const std::string& wrapperName, const int id) const; ///< m-file +private: std::string wrapper_fragment(FileWriter& file, - const std::string& matlabClassName, - const std::string& cppClassName, + const std::string& cppClassName, + const std::string& matlabClassname, + int overload, int id, - const std::vector& using_namespaces) const; ///< cpp wrapper + const std::vector& using_namespaces) const; ///< cpp wrapper }; } // \namespace wrap From ea687c9ff8c8804e371f2d364e9955bd4c6c9baa Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:05:02 +0000 Subject: [PATCH 554/914] Uncommented some overloads in gtsam.h --- gtsam.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam.h b/gtsam.h index 3db42c90f..4b74f120d 100644 --- a/gtsam.h +++ b/gtsam.h @@ -239,7 +239,7 @@ class Rot3 { 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); // FIXME: overloaded functions don't work yet + static gtsam::Rot3 RzRyRx(double x, double y, double z); // FIXME: overloaded functions don't work yet 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) @@ -261,7 +261,7 @@ class Rot3 { // Manifold static size_t Dim(); size_t dim() const; - // gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options + gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options gtsam::Rot3 retract(Vector v) const; Vector localCoordinates(const gtsam::Rot3& p) const; @@ -335,7 +335,7 @@ class Pose3 { Pose3(); Pose3(const gtsam::Pose3& pose); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); - // Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) + Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) Pose3(Matrix t); // Testable @@ -373,9 +373,9 @@ class Pose3 { double y() const; double z() const; Matrix matrix() const; - // gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() + gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() double range(const gtsam::Point3& point); - // double range(const gtsam::Pose3& pose); // FIXME: shadows other range + double range(const gtsam::Pose3& pose); // FIXME: shadows other range }; class Cal3_S2 { @@ -466,7 +466,7 @@ class SimpleCamera { 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); // FIXME overload + static gtsam::SimpleCamera level(const gtsam::Pose2& pose, double height); // FIXME overload static gtsam::SimpleCamera lookat(const gtsam::Point3& eye, const gtsam::Point3& target, const gtsam::Point3& upVector, const gtsam::Cal3_S2& K); @@ -491,7 +491,7 @@ class SimpleCamera { 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& point); // FIXME, overload + double range(const gtsam::Pose3& point); // FIXME, overload }; //************************************************************************* From b9602ee49b086c81919cb15476803118d87df639 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 14:05:04 +0000 Subject: [PATCH 555/914] svn:externals points to cmake-libs branch From e4370843497946c5bdfe4855e910d6962a81339d Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Thu, 5 Jul 2012 15:08:07 +0000 Subject: [PATCH 556/914] remove a custom constructor for LMParams, update matlab interface and tests accordingly --- gtsam.h | 1 - gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 8 ++------ matlab/examples/SFMExample.m | 2 +- matlab/tests/testSFMExample.m | 2 +- 4 files changed, 4 insertions(+), 9 deletions(-) diff --git a/gtsam.h b/gtsam.h index b80ddd26e..a78c6901b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1011,7 +1011,6 @@ class Marginals { #include class LevenbergMarquardtParams { LevenbergMarquardtParams(); - LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose); void print(string s) const; double getMaxIterations() const; diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index f5e4195da..5677f6c08 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -46,13 +46,9 @@ public: double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5) VerbosityLM verbosityLM; ///< The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity - LevenbergMarquardtParams() : - lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), verbosityLM(SILENT) {} - - LevenbergMarquardtParams(double initial, double factor, double bound, size_t verbose) : - lambdaInitial(initial), lambdaFactor(factor), lambdaUpperBound(bound), verbosityLM(VerbosityLM(verbose)) {} - + LevenbergMarquardtParams() : lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), verbosityLM(SILENT) {} virtual ~LevenbergMarquardtParams() {} + virtual void print(const std::string& str = "") const; inline double getlambdaInitial() const { return lambdaInitial; } diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 34682e1e6..277f31648 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -63,7 +63,7 @@ initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Fine grain optimization, allowing user to iterate step by step -parameters = gtsamLevenbergMarquardtParams(1e-5, 1e-5, 0, 0); +parameters = gtsamLevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); diff --git a/matlab/tests/testSFMExample.m b/matlab/tests/testSFMExample.m index ebda9535e..ef27a7e4b 100644 --- a/matlab/tests/testSFMExample.m +++ b/matlab/tests/testSFMExample.m @@ -48,7 +48,7 @@ for j=1:size(truth.points,2) end %% Optimization -parameters = gtsamLevenbergMarquardtParams(1e-5, 1e-5, 0, 0); +parameters = gtsamLevenbergMarquardtParams; optimizer = graph.optimizer(initialEstimate, parameters); for i=1:5 optimizer.iterate(); From ad66f9ee19550af727af93119759326d559f69eb Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Thu, 5 Jul 2012 16:41:13 +0000 Subject: [PATCH 557/914] a simple sba suite and unit test. --- gtsam/slam/sba.h | 70 +++++++++++++ gtsam/slam/tests/testSba.cpp | 193 +++++++++++++++++++++++++++++++++++ 2 files changed, 263 insertions(+) create mode 100644 gtsam/slam/sba.h create mode 100644 gtsam/slam/tests/testSba.cpp diff --git a/gtsam/slam/sba.h b/gtsam/slam/sba.h new file mode 100644 index 000000000..8e6f02ff4 --- /dev/null +++ b/gtsam/slam/sba.h @@ -0,0 +1,70 @@ +/* ---------------------------------------------------------------------------- + + * 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 sba.h + * @brief a suite for sparse bundle adjustment + * @date Jul 5, 2012 + * @author ydjian + */ + +#pragma once + +#include +#include + +namespace sba { + + using namespace gtsam; + + /** + * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper + * @addtogroup SLAM + */ + struct Graph: public visualSLAM::Graph { + + /// Default constructor + Graph(){} + + /// Copy constructor given any other NonlinearFactorGraph + Graph(const NonlinearFactorGraph& graph): visualSLAM::Graph(graph) {} + + /** + * Add a 2d projection measurement + * @param z the measurement + * @param model the noise model for the measurement + * @param cameraKey variable key for the pose+calibration + * @param pointKey variable key for the point + */ + template + void addMeasurement(const Point2 &z, const SharedNoiseModel& model, const Index cameraKey, const Index pointKey) { + typedef GeneralSFMFactor SFMFactor; + boost::shared_ptr factor(new SFMFactor(z, model, cameraKey, pointKey)); + push_back(factor); + } + + /** + * Add a 2d projection measurement + * @param z the measurement + * @param model the noise model for the measurement + * @param poseKey variable key for the pose + * @param pointKey variable key for the point + * @param calibKey variable key for the calibration + */ + template + void addMeasurement(const Point2 &z, const SharedNoiseModel& model, const Index posekey, const Index pointkey, const Index calibkey) { + typedef GeneralSFMFactor2 SFMFactor; + boost::shared_ptr factor(new SFMFactor(z, model, posekey, pointkey, calibkey)); + push_back(factor); + } + }; + +} diff --git a/gtsam/slam/tests/testSba.cpp b/gtsam/slam/tests/testSba.cpp new file mode 100644 index 000000000..8d441aa34 --- /dev/null +++ b/gtsam/slam/tests/testSba.cpp @@ -0,0 +1,193 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSba.cpp + * @brief + * @date Jul 5, 2012 + * @author Yong-Dian Jian + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace boost; +using namespace gtsam; + +/* ************************************************************************* */ + +static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); + +// Convenience for named keys +using symbol_shorthand::X; /* pose3 */ +using symbol_shorthand::K; /* calibration */ +using symbol_shorthand::C; /* camera = [pose calibration] */ +using symbol_shorthand::L; /* point3 */ + +static Point3 landmark1(-1.0,-1.0, 0.0); +static Point3 landmark2(-1.0, 1.0, 0.0); +static Point3 landmark3( 1.0, 1.0, 0.0); +static Point3 landmark4( 1.0,-1.0, 0.0); + +static Pose3 pose1(Matrix_(3,3, + 1., 0., 0., + 0.,-1., 0., + 0., 0.,-1.), + Point3(0,0,6.25)); + +static Pose3 pose2(Matrix_(3,3, + 1., 0., 0., + 0.,-1., 0., + 0., 0.,-1.), + Point3(0,0,5.00)); + +static Cal3_S2 calib1 (625, 625, 0, 0, 0); +static Cal3_S2 calib2 (625, 625, 0, 0, 0); + + +typedef PinholeCamera Camera; + +static Camera camera1(pose1, calib1); +static Camera camera2(pose2, calib2); + +/* ************************************************************************* */ +sba::Graph testGraph1() { + Point2 z11(-100, 100); + Point2 z12(-100,-100); + Point2 z13( 100,-100); + Point2 z14( 100, 100); + Point2 z21(-125, 125); + Point2 z22(-125,-125); + Point2 z23( 125,-125); + Point2 z24( 125, 125); + + + sba::Graph g; + g.addMeasurement(z11, sigma, C(1), L(1)); + g.addMeasurement(z12, sigma, C(1), L(2)); + g.addMeasurement(z13, sigma, C(1), L(3)); + g.addMeasurement(z14, sigma, C(1), L(4)); + g.addMeasurement(z21, sigma, C(2), L(1)); + g.addMeasurement(z22, sigma, C(2), L(2)); + g.addMeasurement(z23, sigma, C(2), L(3)); + g.addMeasurement(z24, sigma, C(2), L(4)); + return g; +} + +sba::Graph testGraph2() { + Point2 z11(-100, 100); + Point2 z12(-100,-100); + Point2 z13( 100,-100); + Point2 z14( 100, 100); + Point2 z21(-125, 125); + Point2 z22(-125,-125); + Point2 z23( 125,-125); + Point2 z24( 125, 125); + + sba::Graph g; + g.addMeasurement(z11, sigma, X(1), L(1), K(1)); + g.addMeasurement(z12, sigma, X(1), L(2), K(1)); + g.addMeasurement(z13, sigma, X(1), L(3), K(1)); + g.addMeasurement(z14, sigma, X(1), L(4), K(1)); + g.addMeasurement(z21, sigma, X(2), L(1), K(1)); + g.addMeasurement(z22, sigma, X(2), L(2), K(1)); + g.addMeasurement(z23, sigma, X(2), L(3), K(1)); + g.addMeasurement(z24, sigma, X(2), L(4), K(1)); + return g; +} + +/* ************************************************************************* */ +TEST( optimizeLM1, sba ) +{ + // build a graph + sba::Graph graph(testGraph1()); + + // add 3 landmark constraints + graph.addPointConstraint(L(1), landmark1); + graph.addPointConstraint(L(2), landmark2); + graph.addPointConstraint(L(3), landmark3); + + // Create an initial values structure corresponding to the ground truth + Values initialEstimate; + initialEstimate.insert(C(1), camera1); + initialEstimate.insert(C(2), camera2); + initialEstimate.insert(L(1), landmark1); + initialEstimate.insert(L(2), landmark2); + initialEstimate.insert(L(3), landmark3); + initialEstimate.insert(L(4), landmark4); + + // Create an ordering of the variables + Ordering ordering; + ordering += L(1),L(2),L(3),L(4),C(1),C(2); + + // Create an optimizer and check its error + // We expect the initial to be zero because config is the ground truth + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, ordering); + DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); + + // Iterate once, and the config should not have changed because we started + // with the ground truth + optimizer.iterate(); + DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); + + // check if correct + CHECK(assert_equal(initialEstimate, optimizer.values())); +} + +/* ************************************************************************* */ +TEST( optimizeLM2, sba ) +{ + // build a graph + sba::Graph graph(testGraph2()); + + // add 3 landmark constraints + graph.addPointConstraint(L(1), landmark1); + graph.addPointConstraint(L(2), landmark2); + graph.addPointConstraint(L(3), landmark3); + + // Create an initial values structure corresponding to the ground truth + Values initialEstimate; + initialEstimate.insert(X(1), pose1); + initialEstimate.insert(X(2), pose2); + initialEstimate.insert(L(1), landmark1); + initialEstimate.insert(L(2), landmark2); + initialEstimate.insert(L(3), landmark3); + initialEstimate.insert(L(4), landmark4); + initialEstimate.insert(K(1), calib2); + + // Create an ordering of the variables + Ordering ordering; + ordering += L(1),L(2),L(3),L(4),X(1),X(2),K(1); + + // Create an optimizer and check its error + // We expect the initial to be zero because config is the ground truth + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, ordering); + DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); + + // Iterate once, and the config should not have changed because we started + // with the ground truth + optimizer.iterate(); + DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); + + // check if correct + CHECK(assert_equal(initialEstimate, optimizer.values())); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From 806d86513d205fc4a3972f07b18c9d4ce9d37996 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 17:08:05 +0000 Subject: [PATCH 558/914] Fixed bug in iSAM2 variable removal where removed variables still became marked when marking relin-affected variables --- gtsam/nonlinear/ISAM2.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index e47127edd..f1881ebd5 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -649,6 +649,15 @@ ISAM2Result ISAM2::update( // add other cliques that have the marked ones in the separator Impl::FindAll(this->root(), markedKeys, markedRelinMask); + // FindAll might have marked some removed keys because the removed keys + // are still in the old BayesTree structure - we remove them from + // markedKeys here. Note that the limit for removing indices that we use + // (delta_.size()) is after all of the new variables - so we do not + // remove indices that were removed but then recreated by adding new + // keys. + FastSet::iterator firstRemovedIndex = markedKeys.lower_bound(delta_.size()); + markedKeys.erase(firstRemovedIndex, markedKeys.end()); + // Relin involved keys for detailed results if(params_.enableDetailedResults) { FastSet involvedRelinKeys; From b460f2a7215cea8f6c405f1275b454827a443bf2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 17:08:40 +0000 Subject: [PATCH 559/914] Added missing 'typename's --- wrap/Module.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 0c351a4f9..86cc90ef1 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -276,7 +276,7 @@ Module::Module(const string& interfacePath, /* ************************************************************************* */ template void verifyArguments(const vector& validArgs, const map& vt) { - typedef map::value_type Name_Method; + typedef typename map::value_type Name_Method; BOOST_FOREACH(const Name_Method& name_method, vt) { const T& t = name_method.second; BOOST_FOREACH(const ArgumentList& argList, t.argLists) { @@ -293,7 +293,7 @@ void verifyArguments(const vector& validArgs, const map& vt) { /* ************************************************************************* */ template void verifyReturnTypes(const vector& validtypes, const map& vt) { - typedef map::value_type Name_Method; + typedef typename map::value_type Name_Method; BOOST_FOREACH(const Name_Method& name_method, vt) { const T& t = name_method.second; BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { From fe133ef97c9291c0d19ca8f22126a342164641e5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 5 Jul 2012 17:14:40 +0000 Subject: [PATCH 560/914] Updated expected files to match current wrap test --- wrap/tests/expected/@Point2/Point2.m | 4 ++-- wrap/tests/expected/@Point3/Point3.m | 4 ++-- wrap/tests/expected/@Test/Test.m | 4 ++-- wrap/tests/expected/new_Point2.cpp | 6 ++++-- wrap/tests/expected/new_Point3.cpp | 6 ++++-- wrap/tests/expected/new_Test.cpp | 6 ++++-- wrap/tests/expected_namespaces/@ClassD/ClassD.m | 4 ++-- wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m | 4 ++-- wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m | 4 ++-- wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m | 4 ++-- wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m | 4 ++-- wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m | 4 ++-- wrap/tests/expected_namespaces/new_ClassD.cpp | 6 ++++-- wrap/tests/expected_namespaces/new_ns1ClassA.cpp | 6 ++++-- wrap/tests/expected_namespaces/new_ns1ClassB.cpp | 6 ++++-- wrap/tests/expected_namespaces/new_ns2ClassA.cpp | 6 ++++-- wrap/tests/expected_namespaces/new_ns2ClassC.cpp | 6 ++++-- wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp | 6 ++++-- 18 files changed, 54 insertions(+), 36 deletions(-) diff --git a/wrap/tests/expected/@Point2/Point2.m b/wrap/tests/expected/@Point2/Point2.m index 31d54bb19..5cfd7fc61 100644 --- a/wrap/tests/expected/@Point2/Point2.m +++ b/wrap/tests/expected/@Point2/Point2.m @@ -7,12 +7,12 @@ classdef Point2 < handle function obj = Point2(varargin) if (nargin == 0), obj.self = new_Point2(0,0); end if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Point2(0,1,varargin{1},varargin{2}); end - if nargin ==14, new_Point2_(varargin{1},0); end + if nargin ==14, new_Point2(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point2 constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_Point2_(obj.self); + new_Point2(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected/@Point3/Point3.m b/wrap/tests/expected/@Point3/Point3.m index 6dd8e9ee5..81bd00a5a 100644 --- a/wrap/tests/expected/@Point3/Point3.m +++ b/wrap/tests/expected/@Point3/Point3.m @@ -6,12 +6,12 @@ classdef Point3 < handle methods function obj = Point3(varargin) if (nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')), obj.self = new_Point3(0,0,varargin{1},varargin{2},varargin{3}); end - if nargin ==14, new_Point3_(varargin{1},0); end + if nargin ==14, new_Point3(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point3 constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_Point3_(obj.self); + new_Point3(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected/@Test/Test.m b/wrap/tests/expected/@Test/Test.m index 60628b997..63914d2aa 100644 --- a/wrap/tests/expected/@Test/Test.m +++ b/wrap/tests/expected/@Test/Test.m @@ -7,12 +7,12 @@ classdef Test < handle function obj = Test(varargin) if (nargin == 0), obj.self = new_Test(0,0); end if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Test(0,1,varargin{1},varargin{2}); end - if nargin ==14, new_Test_(varargin{1},0); end + if nargin ==14, new_Test(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Test constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_Test_(obj.self); + new_Test(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected/new_Point2.cpp b/wrap/tests/expected/new_Point2.cpp index 30a707f88..b24642ad4 100644 --- a/wrap/tests/expected/new_Point2.cpp +++ b/wrap/tests/expected/new_Point2.cpp @@ -6,8 +6,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected/new_Point3.cpp b/wrap/tests/expected/new_Point3.cpp index c3d758266..2e715263b 100644 --- a/wrap/tests/expected/new_Point3.cpp +++ b/wrap/tests/expected/new_Point3.cpp @@ -7,8 +7,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected/new_Test.cpp b/wrap/tests/expected/new_Test.cpp index 050d179d3..57ac1a4ea 100644 --- a/wrap/tests/expected/new_Test.cpp +++ b/wrap/tests/expected/new_Test.cpp @@ -7,8 +7,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected_namespaces/@ClassD/ClassD.m b/wrap/tests/expected_namespaces/@ClassD/ClassD.m index 282b761ed..90fbf48a4 100644 --- a/wrap/tests/expected_namespaces/@ClassD/ClassD.m +++ b/wrap/tests/expected_namespaces/@ClassD/ClassD.m @@ -6,12 +6,12 @@ classdef ClassD < handle methods function obj = ClassD(varargin) if (nargin == 0), obj.self = new_ClassD(0,0); end - if nargin ==14, new_ClassD_(varargin{1},0); end + if nargin ==14, new_ClassD(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ClassD constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_ClassD_(obj.self); + new_ClassD(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m index b8f1b3535..727e020ae 100644 --- a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m +++ b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m @@ -6,12 +6,12 @@ classdef ns1ClassA < handle methods function obj = ns1ClassA(varargin) if (nargin == 0), obj.self = new_ns1ClassA(0,0); end - if nargin ==14, new_ns1ClassA_(varargin{1},0); end + if nargin ==14, new_ns1ClassA(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassA constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_ns1ClassA_(obj.self); + new_ns1ClassA(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m index 42add5e9c..19b0a73b9 100644 --- a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m +++ b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m @@ -6,12 +6,12 @@ classdef ns1ClassB < handle methods function obj = ns1ClassB(varargin) if (nargin == 0), obj.self = new_ns1ClassB(0,0); end - if nargin ==14, new_ns1ClassB_(varargin{1},0); end + if nargin ==14, new_ns1ClassB(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassB constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_ns1ClassB_(obj.self); + new_ns1ClassB(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m index cbbbbbce2..27de74dc3 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m +++ b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m @@ -6,12 +6,12 @@ classdef ns2ClassA < handle methods function obj = ns2ClassA(varargin) if (nargin == 0), obj.self = new_ns2ClassA(0,0); end - if nargin ==14, new_ns2ClassA_(varargin{1},0); end + if nargin ==14, new_ns2ClassA(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassA constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_ns2ClassA_(obj.self); + new_ns2ClassA(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m index 5bd68fee7..2425b59bd 100644 --- a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m +++ b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m @@ -6,12 +6,12 @@ classdef ns2ClassC < handle methods function obj = ns2ClassC(varargin) if (nargin == 0), obj.self = new_ns2ClassC(0,0); end - if nargin ==14, new_ns2ClassC_(varargin{1},0); end + if nargin ==14, new_ns2ClassC(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassC constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_ns2ClassC_(obj.self); + new_ns2ClassC(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m index 936c7cdd1..de7f7a3ca 100644 --- a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m +++ b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m @@ -6,12 +6,12 @@ classdef ns2ns3ClassB < handle methods function obj = ns2ns3ClassB(varargin) if (nargin == 0), obj.self = new_ns2ns3ClassB(0,0); end - if nargin ==14, new_ns2ns3ClassB_(varargin{1},0); end + if nargin ==14, new_ns2ns3ClassB(varargin{1},0); end if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ns3ClassB constructor failed'); end end function delete(obj) if obj.self ~= 0 - new_ns2ns3ClassB_(obj.self); + new_ns2ns3ClassB(obj.self); obj.self = 0; end end diff --git a/wrap/tests/expected_namespaces/new_ClassD.cpp b/wrap/tests/expected_namespaces/new_ClassD.cpp index 13bbe9d5e..d7a7e4908 100644 --- a/wrap/tests/expected_namespaces/new_ClassD.cpp +++ b/wrap/tests/expected_namespaces/new_ClassD.cpp @@ -6,8 +6,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA.cpp index fc60abe6d..2554eafc1 100644 --- a/wrap/tests/expected_namespaces/new_ns1ClassA.cpp +++ b/wrap/tests/expected_namespaces/new_ns1ClassA.cpp @@ -6,8 +6,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB.cpp index 419453968..bc1dd313c 100644 --- a/wrap/tests/expected_namespaces/new_ns1ClassB.cpp +++ b/wrap/tests/expected_namespaces/new_ns1ClassB.cpp @@ -7,8 +7,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA.cpp index 31e3385d5..57faabc79 100644 --- a/wrap/tests/expected_namespaces/new_ns2ClassA.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ClassA.cpp @@ -7,8 +7,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC.cpp index c0446109a..e836a80fd 100644 --- a/wrap/tests/expected_namespaces/new_ns2ClassC.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ClassC.cpp @@ -6,8 +6,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp index a952790b5..af1a25922 100644 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp +++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp @@ -7,8 +7,10 @@ typedef boost::shared_ptr Shared; static std::set collector; void cleanup(void) { - BOOST_FOREACH(Shared* p, collector) - collector.erase(p); + for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { + delete *iter; + collector.erase(iter++); + } } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { From 699aaf51bb73551d610540803549e91eb6ce04cd Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 5 Jul 2012 17:56:34 +0000 Subject: [PATCH 561/914] Values copy constructor exposed in MATLAB --- gtsam.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam.h b/gtsam.h index a78c6901b..de022bd70 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1052,6 +1052,7 @@ namespace pose2SLAM { class Values { Values(); + Values(const pose2SLAM::Values& values); size_t size() const; void print(string s) const; bool exists(size_t key); @@ -1105,6 +1106,7 @@ namespace pose3SLAM { class Values { Values(); + Values(const pose3SLAM::Values& values); size_t size() const; void print(string s) const; bool exists(size_t key); @@ -1158,6 +1160,7 @@ namespace planarSLAM { class Values { Values(); + Values(const planarSLAM::Values& values); size_t size() const; void print(string s) const; bool exists(size_t key); @@ -1243,6 +1246,7 @@ namespace visualSLAM { class Values { Values(); + Values(const visualSLAM::Values& values); size_t size() const; void print(string s) const; bool exists(size_t key); From 5912b7f2358d18d58fc2b44dac7daa0a80e2ad41 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 5 Jul 2012 18:07:18 +0000 Subject: [PATCH 562/914] Moved library postfix option to GtsamBuildTypes --- CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 675e7c80b..77b8b0c18 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -50,7 +50,6 @@ else() option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) endif() option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON) -option(GTSAM_BUILD_TYPE_POSTFIXES "Enable/Disable appending the build type to the name of compiled libraries" OFF) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF) if(MSVC) option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF) From 50b40b1b5bb27c22d24f4e5d839d88705217d6d2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 5 Jul 2012 18:10:09 +0000 Subject: [PATCH 563/914] printing detail --- gtsam/slam/PriorFactor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 094065336..0d0497132 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -65,8 +65,8 @@ namespace gtsam { /** print */ virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "PriorFactor(" << keyFormatter(this->key()) << ")\n"; - prior_.print(" prior"); + std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << ", prior value:\n"; + prior_.print(); this->noiseModel_->print(" noise model: "); } From f575cb4cc038ca8368f6b017c443c2765ca2467f Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 5 Jul 2012 18:37:08 +0000 Subject: [PATCH 564/914] Fixed bug in iSAM2 where variables are deleted inside of iSAM2 even though they appear in the set of new, incoming factors --- gtsam/nonlinear/ISAM2.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index f1881ebd5..bb579195f 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -579,6 +579,15 @@ ISAM2Result ISAM2::update( markedKeys.insert(index); } + // Delete any keys from 'unusedKeys' that are actually used by the new, incoming factors + FastSet newNonlinearKeys = newFactors.keys(); + BOOST_FOREACH(Key key, newNonlinearKeys) { + FastSet::iterator iter = unusedKeys.find(key); + if(iter != unusedKeys.end()) { + unusedKeys.erase(iter); + } + } + // Remove unused keys. We must hold on to the new nodes index for now // instead of placing it into the tree because removeTop will need to // update it. From f55612d38139a31077729ffeb7e8ac6cad714f3d Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 5 Jul 2012 18:50:09 +0000 Subject: [PATCH 565/914] Moved the 'markKeys' generation in iSAM2 until after the call to RemoveVariables. Since the 'RemoveVariables' function permutes the ordering, this ensures markedKeys uses the correct indices --- gtsam/nonlinear/ISAM2.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index bb579195f..7fb23884b 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -575,8 +575,6 @@ ISAM2Result ISAM2::update( Index index = ordering_[key]; if(variableIndex_[index].empty()) unusedKeys.insert(key); - else - markedKeys.insert(index); } // Delete any keys from 'unusedKeys' that are actually used by the new, incoming factors @@ -593,6 +591,16 @@ ISAM2Result ISAM2::update( // update it. Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); + + // Mark keys that are still in the use and are also included in the removed factors + // Note: The ordering has been modified during the RemoveVariables() function call. + // Hence, we do not create this list until after that call + BOOST_FOREACH(Key key, removedFactorSymbKeys) { + Index index; + if(ordering_.tryAt(key, index)) + markedKeys.insert(index); + } + } toc(1,"push_back factors"); From 134951f21cf6617acbcaf9f49f33a79c6ff56b6d Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 5 Jul 2012 18:59:10 +0000 Subject: [PATCH 566/914] In iSAM2, added a check in the Batch-mode path that checks if linearized factors should be stored for performance reasons. Without this, factors were cached in batch-mode but not in the normal incremental-mode, leading to inconsistency --- gtsam/nonlinear/ISAM2.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 7fb23884b..779880dab 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -329,11 +329,13 @@ boost::shared_ptr > ISAM2::recalculate( toc(1,"reorder"); tic(2,"linearize"); - linearFactors_ = *nonlinearFactors_.linearize(theta_, ordering_); + GaussianFactorGraph linearized = *nonlinearFactors_.linearize(theta_, ordering_); + if(params_.cacheLinearizedFactors) + linearFactors_ = linearized; toc(2,"linearize"); tic(5,"eliminate"); - JunctionTree jt(linearFactors_, variableIndex_); + JunctionTree jt(linearized, variableIndex_); sharedClique newRoot; if(params_.factorization == ISAM2Params::CHOLESKY) newRoot = jt.eliminate(EliminatePreferCholesky); @@ -352,7 +354,7 @@ boost::shared_ptr > ISAM2::recalculate( lastAffectedMarkedCount = markedKeys.size(); lastAffectedVariableCount = affectedKeysSet->size(); - lastAffectedFactorCount = linearFactors_.size(); + lastAffectedFactorCount = linearized.size(); // Reeliminated keys for detailed results if(params_.enableDetailedResults) { From 1bc4db97c6859ffb4f520e50707d213f131c2393 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 5 Jul 2012 23:32:37 +0000 Subject: [PATCH 567/914] More efficient operations from within MATLAB --- gtsam.h | 4 +- gtsam/slam/tests/testVisualSLAM.cpp | 72 +++++++++++++++++++++-------- gtsam/slam/visualSLAM.cpp | 39 ++++++++++++---- gtsam/slam/visualSLAM.h | 12 ++++- 4 files changed, 98 insertions(+), 29 deletions(-) diff --git a/gtsam.h b/gtsam.h index de022bd70..e59a2f382 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1272,6 +1272,8 @@ class Values { void insertPoint(size_t key, const gtsam::Point3& pose); void updatePoint(size_t key, const gtsam::Point3& pose); gtsam::Point3 point(size_t j); + void insertBackprojections(const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth); + void perturbPoints(double sigma, size_t seed); Matrix points() const; }; @@ -1312,7 +1314,7 @@ class Graph { void addMeasurement(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, const gtsam::Cal3_S2* K); - void addMeasurements(size_t i, const gtsam::KeyVector& J, Matrix Z, + void addMeasurements(size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K); void addStereoMeasurement(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index faf733a22..680a9ab9b 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -42,14 +42,14 @@ static Point3 landmark2(-1.0, 1.0, 0.0); static Point3 landmark3( 1.0, 1.0, 0.0); static Point3 landmark4( 1.0,-1.0, 0.0); -static Pose3 camera1(Matrix_(3,3, +static Pose3 pose1(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. ), Point3(0,0,6.25)); -static Pose3 camera2(Matrix_(3,3, +static Pose3 pose2(Matrix_(3,3, 1., 0., 0., 0.,-1., 0., 0., 0.,-1. @@ -92,8 +92,8 @@ TEST( VisualSLAM, optimizeLM) // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(X(1), camera1); - initialEstimate.insert(X(2), camera2); + initialEstimate.insert(X(1), pose1); + initialEstimate.insert(X(2), pose2); initialEstimate.insert(L(1), landmark1); initialEstimate.insert(L(2), landmark2); initialEstimate.insert(L(3), landmark3); @@ -124,13 +124,13 @@ TEST( VisualSLAM, optimizeLM2) // build a graph visualSLAM::Graph graph(testGraph()); // add 2 camera constraints - graph.addPoseConstraint(X(1), camera1); - graph.addPoseConstraint(X(2), camera2); + graph.addPoseConstraint(X(1), pose1); + graph.addPoseConstraint(X(2), pose2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(X(1), camera1); - initialEstimate.insert(X(2), camera2); + initialEstimate.insert(X(1), pose1); + initialEstimate.insert(X(2), pose2); initialEstimate.insert(L(1), landmark1); initialEstimate.insert(L(2), landmark2); initialEstimate.insert(L(3), landmark3); @@ -160,13 +160,13 @@ TEST( VisualSLAM, LMoptimizer) // build a graph visualSLAM::Graph graph(testGraph()); // add 2 camera constraints - graph.addPoseConstraint(X(1), camera1); - graph.addPoseConstraint(X(2), camera2); + graph.addPoseConstraint(X(1), pose1); + graph.addPoseConstraint(X(2), pose2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(X(1), camera1); - initialEstimate.insert(X(2), camera2); + initialEstimate.insert(X(1), pose1); + initialEstimate.insert(X(2), pose2); initialEstimate.insert(L(1), landmark1); initialEstimate.insert(L(2), landmark2); initialEstimate.insert(L(3), landmark3); @@ -193,13 +193,13 @@ TEST( VisualSLAM, CHECK_ORDERING) // build a graph visualSLAM::Graph graph = testGraph(); // add 2 camera constraints - graph.addPoseConstraint(X(1), camera1); - graph.addPoseConstraint(X(2), camera2); + graph.addPoseConstraint(X(1), pose1); + graph.addPoseConstraint(X(2), pose2); // Create an initial values structure corresponding to the ground truth Values initialEstimate; - initialEstimate.insert(X(1), camera1); - initialEstimate.insert(X(2), camera2); + initialEstimate.insert(X(1), pose1); + initialEstimate.insert(X(2), pose2); initialEstimate.insert(L(1), landmark1); initialEstimate.insert(L(2), landmark2); initialEstimate.insert(L(3), landmark3); @@ -274,8 +274,8 @@ TEST( VisualSLAM, keys_and_view ) { // create config visualSLAM::Values c; - c.insert(X(1), camera1); - c.insert(X(2), camera2); + c.insert(X(1), pose1); + c.insert(X(2), pose2); c.insert(L(2), landmark2); LONGS_EQUAL(2,c.nrPoses()); LONGS_EQUAL(1,c.nrPoints()); @@ -299,6 +299,42 @@ TEST( VisualSLAM, keys_and_view ) } } +/* ************************************************************************* */ +TEST( VisualSLAM, addMeasurements ) +{ + // create config + visualSLAM::Graph g; + Vector J = Vector_(3,1.0,2.0,3.0); + Matrix Z = Matrix_(2,3, -1.0,0.0,1.0, -1.0,0.0,1.0); + shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0)); + g.addMeasurements(0,J,Z,sigma,sK); + EXPECT_LONGS_EQUAL(3,g.size()); +} + +/* ************************************************************************* */ +TEST( VisualSLAM, insertBackProjections ) +{ + // create config + visualSLAM::Values c; + SimpleCamera camera(pose1); + Vector J = Vector_(3,1.0,2.0,3.0); + Matrix Z = Matrix_(2,3, -1.0,0.0,1.0, -1.0,0.0,1.0); + c.insertBackprojections(camera,J,Z,1.0); + EXPECT_LONGS_EQUAL(3,c.nrPoints()); +} + +/* ************************************************************************* */ +TEST( VisualSLAM, perturbPoints ) +{ + visualSLAM::Values c1,c2; + c1.insert(L(2), landmark2); + c1.perturbPoints(0.01,42u); + CHECK(assert_equal(Point3(-0.986984, 0.999534, -0.0147962),c1.point(L(2)),1e-6)); + c2.insert(L(2), landmark2); + c2.perturbPoints(0.01,42u); + CHECK(assert_equal(Point3(-0.986984, 0.999534, -0.0147962),c2.point(L(2)),1e-6)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 162ba03c7..3f974abed 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -18,12 +18,36 @@ #include #include #include +#include #include -using boost::make_shared; - namespace visualSLAM { + using boost::make_shared; + + /* ************************************************************************* */ + void Values::insertBackprojections(const SimpleCamera& camera, + const Vector& J, const Matrix& Z, double depth) { + if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); + if (Z.cols() != J.size()) throw std::invalid_argument( + "insertBackProjections: J and Z must have same number of entries"); + for(size_t k=0;k points = allPoints(); + noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,sigma); + Sampler sampler(model, seed); + BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, points) { + update(keyValue.key, keyValue.value.retract(sampler.sample())); + } + } + /* ************************************************************************* */ Matrix Values::points() const { size_t j=0; @@ -53,14 +77,13 @@ namespace visualSLAM { } /* ************************************************************************* */ - void Graph::addMeasurements(Key i, const KeyVector& J, const Matrix& Z, + void Graph::addMeasurements(Key i, const Vector& J, const Matrix& Z, const SharedNoiseModel& model, const shared_ptrK K) { - if ( Z.rows()!=2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); - if (Z.cols() != J.size()) - throw std::invalid_argument( + if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); + if (Z.cols() != J.size()) throw std::invalid_argument( "addMeasurements: J and Z must have same number of entries"); - for(size_t k=0;k(j); } - Matrix points() const; ///< get all point coordinates in a matrix + /// insert a number of initial point values by backprojecting + void insertBackprojections(const SimpleCamera& c, const Vector& J, + const Matrix& Z, double depth); + + /// perturb all points using normally distributed noise + void perturbPoints(double sigma, int32_t seed = 42u); + + /// get all point coordinates in a matrix + Matrix points() const; }; @@ -137,7 +145,7 @@ namespace visualSLAM { * @param model the noise model for the measurement * @param K shared pointer to calibration object */ - void addMeasurements(Key i, const KeyVector& J, const Matrix& Z, + void addMeasurements(Key i, const Vector& J, const Matrix& Z, const SharedNoiseModel& model, const shared_ptrK K); /** From fc85f917cd5dcee81ab40f912ffba1edd994b5a9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 6 Jul 2012 07:38:25 +0000 Subject: [PATCH 568/914] reprojectionErrors --- gtsam.h | 4 ++++ gtsam/slam/tests/testVisualSLAM.cpp | 4 ++++ gtsam/slam/visualSLAM.cpp | 15 +++++++++++++++ gtsam/slam/visualSLAM.h | 3 +++ 4 files changed, 26 insertions(+) diff --git a/gtsam.h b/gtsam.h index e59a2f382..5564d38a9 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1319,6 +1319,10 @@ class Graph { void addStereoMeasurement(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, const gtsam::Cal3_S2Stereo* K); + + // Information + Matrix reprojectionErrors(const visualSLAM::Values& values) const; + }; class ISAM { diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp index 680a9ab9b..65c31adf9 100644 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ b/gtsam/slam/tests/testVisualSLAM.cpp @@ -184,6 +184,10 @@ TEST( VisualSLAM, LMoptimizer) // check if correct CHECK(assert_equal(initialEstimate, optimizer.values())); + + // check errors + Matrix errors = graph.reprojectionErrors(optimizer.values()); + CHECK(assert_equal(zeros(2,8), errors)); } diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 3f974abed..1998f1691 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -98,4 +98,19 @@ namespace visualSLAM { } /* ************************************************************************* */ + Matrix Graph::reprojectionErrors(const Values& values) const { + // first count + size_t K = 0, k=0; + BOOST_FOREACH(const sharedFactor& f, *this) + if (boost::dynamic_pointer_cast(f)) ++K; + // now fill + Matrix errors(2,K); + BOOST_FOREACH(const sharedFactor& f, *this) { + boost::shared_ptr p = + boost::dynamic_pointer_cast(f); + if (p) errors.col(k) = p->unwhitenedError(values); + } + return errors; + } + /* ************************************************************************* */ } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index eca576b57..ae2956c5f 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -159,6 +159,9 @@ namespace visualSLAM { void addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, Key poseKey, Key pointKey, const shared_ptrKStereo K); + /// Return a 2*K Matrix of reprojection errors + Matrix reprojectionErrors(const Values& values) const; + }; // Graph /** From dc811e60d0792c85385e6741eeb46e9468ba41a2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 6 Jul 2012 10:44:35 +0000 Subject: [PATCH 569/914] bugfix --- gtsam/slam/visualSLAM.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 1998f1691..5b04b92c6 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -108,7 +108,7 @@ namespace visualSLAM { BOOST_FOREACH(const sharedFactor& f, *this) { boost::shared_ptr p = boost::dynamic_pointer_cast(f); - if (p) errors.col(k) = p->unwhitenedError(values); + if (p) errors.col(k++) = p->unwhitenedError(values); } return errors; } From 6cc65ad8b35fd5916b168d65fcaf80185eab1214 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Fri, 6 Jul 2012 14:18:31 +0000 Subject: [PATCH 570/914] rename sba to sparseBA --- gtsam/slam/{sba.h => sparseBA.h} | 2 +- gtsam/slam/tests/{testSba.cpp => testSparseBA.cpp} | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename gtsam/slam/{sba.h => sparseBA.h} (99%) rename gtsam/slam/tests/{testSba.cpp => testSparseBA.cpp} (100%) diff --git a/gtsam/slam/sba.h b/gtsam/slam/sparseBA.h similarity index 99% rename from gtsam/slam/sba.h rename to gtsam/slam/sparseBA.h index 8e6f02ff4..dda1ec44d 100644 --- a/gtsam/slam/sba.h +++ b/gtsam/slam/sparseBA.h @@ -21,7 +21,7 @@ #include #include -namespace sba { +namespace sparseBA { using namespace gtsam; diff --git a/gtsam/slam/tests/testSba.cpp b/gtsam/slam/tests/testSparseBA.cpp similarity index 100% rename from gtsam/slam/tests/testSba.cpp rename to gtsam/slam/tests/testSparseBA.cpp From f24002816d79c2cde091cb34f1e6e7e7791805d0 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Fri, 6 Jul 2012 14:19:19 +0000 Subject: [PATCH 571/914] --- gtsam/slam/tests/testSparseBA.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam/slam/tests/testSparseBA.cpp b/gtsam/slam/tests/testSparseBA.cpp index 8d441aa34..cc6e11400 100644 --- a/gtsam/slam/tests/testSparseBA.cpp +++ b/gtsam/slam/tests/testSparseBA.cpp @@ -10,13 +10,13 @@ * -------------------------------------------------------------------------- */ /** - * @file testSba.cpp + * @file testsparseBA.cpp * @brief * @date Jul 5, 2012 * @author Yong-Dian Jian */ -#include +#include #include #include #include @@ -66,7 +66,7 @@ static Camera camera1(pose1, calib1); static Camera camera2(pose2, calib2); /* ************************************************************************* */ -sba::Graph testGraph1() { +sparseBA::Graph testGraph1() { Point2 z11(-100, 100); Point2 z12(-100,-100); Point2 z13( 100,-100); @@ -77,7 +77,7 @@ sba::Graph testGraph1() { Point2 z24( 125, 125); - sba::Graph g; + sparseBA::Graph g; g.addMeasurement(z11, sigma, C(1), L(1)); g.addMeasurement(z12, sigma, C(1), L(2)); g.addMeasurement(z13, sigma, C(1), L(3)); @@ -89,7 +89,7 @@ sba::Graph testGraph1() { return g; } -sba::Graph testGraph2() { +sparseBA::Graph testGraph2() { Point2 z11(-100, 100); Point2 z12(-100,-100); Point2 z13( 100,-100); @@ -99,7 +99,7 @@ sba::Graph testGraph2() { Point2 z23( 125,-125); Point2 z24( 125, 125); - sba::Graph g; + sparseBA::Graph g; g.addMeasurement(z11, sigma, X(1), L(1), K(1)); g.addMeasurement(z12, sigma, X(1), L(2), K(1)); g.addMeasurement(z13, sigma, X(1), L(3), K(1)); @@ -112,10 +112,10 @@ sba::Graph testGraph2() { } /* ************************************************************************* */ -TEST( optimizeLM1, sba ) +TEST( optimizeLM1, sparseBA ) { // build a graph - sba::Graph graph(testGraph1()); + sparseBA::Graph graph(testGraph1()); // add 3 landmark constraints graph.addPointConstraint(L(1), landmark1); @@ -150,10 +150,10 @@ TEST( optimizeLM1, sba ) } /* ************************************************************************* */ -TEST( optimizeLM2, sba ) +TEST( optimizeLM2, sparseBA ) { // build a graph - sba::Graph graph(testGraph2()); + sparseBA::Graph graph(testGraph2()); // add 3 landmark constraints graph.addPointConstraint(L(1), landmark1); From 1abf81052f8b5e1ca0a04ad32a035a0c625d5222 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 6 Jul 2012 14:48:25 +0000 Subject: [PATCH 572/914] Removed unused test file - linear containers to appear in MastSLAM --- .../tests/testLinearContainerFactors.cpp | 22 ------------------- 1 file changed, 22 deletions(-) delete mode 100644 gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp deleted file mode 100644 index 05fabc66a..000000000 --- a/gtsam_unstable/nonlinear/tests/testLinearContainerFactors.cpp +++ /dev/null @@ -1,22 +0,0 @@ -/** - * @file testLinearContainerFactors.cpp - * - * @brief Tests the use of nonlinear containers for simple integration of linear factors into nonlinear graphs - * - * @date Jun 7, 2012 - * @author Alex Cunningham - */ - -#include - - -/* ************************************************************************* */ -TEST( testLinearContainerFactors, jacobian_factor ) { - -// LinearContainerFactor actualLinFactor(); - -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ From 18fe7b17d81f67ffd527aeffb14f4d483e1cb8a5 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Fri, 6 Jul 2012 17:38:32 +0000 Subject: [PATCH 573/914] wrap sparseBA namespace for matlab and add an example --- gtsam.h | 81 +++++++++++++++++++++++++++++++++- gtsam/slam/sparseBA.cpp | 60 +++++++++++++++++++++++++ gtsam/slam/sparseBA.h | 75 ++++++++++++++++++++++++++++++- matlab/examples/SBAExample.m | 85 ++++++++++++++++++++++++++++++++++++ 4 files changed, 299 insertions(+), 2 deletions(-) create mode 100644 gtsam/slam/sparseBA.cpp create mode 100644 matlab/examples/SBAExample.m diff --git a/gtsam.h b/gtsam.h index 5564d38a9..48199cbf3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -458,7 +458,6 @@ class CalibratedCamera { double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods }; - class SimpleCamera { // Standard Constructors and Named Constructors SimpleCamera(); @@ -1358,3 +1357,83 @@ class LevenbergMarquardtOptimizer { }; }///\namespace visualSLAM + +//************************************************************************ +// sparse BA +//************************************************************************ + +#include +namespace sparseBA { + +class Values { + Values(); + Values(const sparseBA::Values& values); + size_t size() const; + void print(string s) const; + bool exists(size_t key); + gtsam::KeyVector keys() const; + + // Access to cameras + sparseBA::Values allSimpleCameras() const ; + size_t nrSimpleCameras() const ; + gtsam::KeyVector simpleCameraKeys() const ; + void insertSimpleCamera(size_t j, const gtsam::SimpleCamera& camera); + void updateSimpleCamera(size_t j, const gtsam::SimpleCamera& camera); + gtsam::SimpleCamera simpleCamera(size_t j) const; + + // Access to points, inherited from visualSLAM + sparseBA::Values allPoints() const; + size_t nrPoints() const; + gtsam::KeyVector pointKeys() const; // Note the switch to KeyVector, rather than KeyList + void insertPoint(size_t key, const gtsam::Point3& pose); + void updatePoint(size_t key, const gtsam::Point3& pose); + gtsam::Point3 point(size_t j); + Matrix points() const; +}; + +class Graph { + Graph(); + Graph(const gtsam::NonlinearFactorGraph& graph); + Graph(const sparseBA::Graph& graph); + + // Information + Matrix reprojectionErrors(const sparseBA::Values& values) const; + + // inherited from FactorGraph + void print(string s) const; + bool equals(const sparseBA::Graph& fg, double tol) const; + size_t size() const; + bool empty() const; + void remove(size_t i); + size_t nrFactors() const; + gtsam::NonlinearFactor* at(size_t i) const; + + double error(const sparseBA::Values& values) const; + gtsam::Ordering* orderingCOLAMD(const sparseBA::Values& values) const; + gtsam::GaussianFactorGraph* linearize(const sparseBA::Values& values, const gtsam::Ordering& ordering) const; + + sparseBA::Values optimize(const sparseBA::Values& initialEstimate, size_t verbosity) const; + sparseBA::LevenbergMarquardtOptimizer optimizer(const sparseBA::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; + gtsam::Marginals marginals(const sparseBA::Values& solution) const; + + // inherited from visualSLAM + void addPointConstraint(size_t pointKey, const gtsam::Point3& p); + void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::noiseModel::Base* model); + + // add factors + void addSimpleCameraPrior(size_t cameraKey, const gtsam::SimpleCamera &camera, gtsam::noiseModel::Base* model); + void addSimpleCameraConstraint(size_t cameraKey, const gtsam::SimpleCamera &camera); + void addSimpleCameraMeasurement(const gtsam::Point2 &z, gtsam::noiseModel::Base* model, size_t cameraKey, size_t pointKey); +}; + +class LevenbergMarquardtOptimizer { + double lambda() const; + void iterate(); + double error() const; + size_t iterations() const; + sparseBA::Values optimize(); + sparseBA::Values optimizeSafely(); + sparseBA::Values values() const; +}; +}///\namespace sparseBA + diff --git a/gtsam/slam/sparseBA.cpp b/gtsam/slam/sparseBA.cpp new file mode 100644 index 000000000..0ff4e1c64 --- /dev/null +++ b/gtsam/slam/sparseBA.cpp @@ -0,0 +1,60 @@ +/** + * @file sparseBA.cpp + * @brief + * @date Jul 6, 2012 + * @author Yong-Dian Jian + */ + +#include + +namespace sparseBA { + +/* ************************************************************************* */ +void Graph::addSimpleCameraConstraint(Key cameraKey, const SimpleCamera &camera) { + addCameraConstraint(cameraKey, camera); +} + +/* ************************************************************************* */ +void Graph::addSimpleCameraPrior(Key cameraKey, const SimpleCamera &camera, SharedNoiseModel &model) { + addCameraPrior(cameraKey, camera, model); +} + +/* ************************************************************************* */ +void Graph::addSimpleCameraMeasurement(const Point2 &z, SharedNoiseModel& model, Index cameraKey, Index pointKey) { + addMeasurement(z, model, cameraKey, pointKey); +} + +/* ************************************************************************* */ +Matrix Graph::reprojectionErrors(const Values& values) const { + + // TODO: support the other calibration objects. Now it only works for Cal3_S2. + + typedef GeneralSFMFactor SFMFactor; + typedef GeneralSFMFactor2 SFMFactor2; + + // first count + size_t K = 0, k=0; + BOOST_FOREACH(const sharedFactor& f, *this) + if (boost::dynamic_pointer_cast(f)) ++K; + else if (boost::dynamic_pointer_cast(f)) ++K; + + // now fill + Matrix errors(2,K); + BOOST_FOREACH(const sharedFactor& f, *this) { + boost::shared_ptr p = boost::dynamic_pointer_cast(f); + if (p) { + errors.col(k++) = p->unwhitenedError(values); + continue; + } + + boost::shared_ptr p2 = boost::dynamic_pointer_cast(f); + if (p2) { + errors.col(k++) = p2->unwhitenedError(values); + } + } + return errors; +} +/* ************************************************************************* */ +} + + diff --git a/gtsam/slam/sparseBA.h b/gtsam/slam/sparseBA.h index dda1ec44d..07aaa5817 100644 --- a/gtsam/slam/sparseBA.h +++ b/gtsam/slam/sparseBA.h @@ -20,11 +20,45 @@ #include #include +#include namespace sparseBA { using namespace gtsam; + /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper + struct Values: public visualSLAM::Values { + + typedef boost::shared_ptr shared_ptr; + typedef gtsam::Values::ConstFiltered SimpleCameraFiltered; + typedef gtsam::Values::ConstFiltered Cal3_S2Filtered; + + /// Default constructor + Values() {} + + /// Copy constructor + Values(const gtsam::Values& values) : visualSLAM::Values(values) {} + + /// Constructor from filtered values view of poses + Values(const SimpleCameraFiltered& view) : visualSLAM::Values(view) {} + + /// Constructor from filtered values view of points + Values(const PointFiltered& view) : visualSLAM::Values(view) {} + + SimpleCameraFiltered allSimpleCameras() const { return this->filter(); } ///< camera view + size_t nrSimpleCameras() const { return allSimpleCameras().size(); } ///< get number of poses + KeyList simpleCameraKeys() const { return allSimpleCameras().keys(); } ///< get keys to poses only + + /// insert a camera + void insertSimpleCamera(Key j, const SimpleCamera& camera) { insert(j, camera); } + + /// update a camera + void updateSimpleCamera(Key j, const SimpleCamera& camera) { update(j, camera); } + + /// get a camera + SimpleCamera simpleCamera(Key j) const { return at(j); } + }; + /** * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper * @addtogroup SLAM @@ -37,6 +71,34 @@ namespace sparseBA { /// Copy constructor given any other NonlinearFactorGraph Graph(const NonlinearFactorGraph& graph): visualSLAM::Graph(graph) {} + /// check if two graphs are equal + bool equals(const Graph& p, double tol = 1e-9) const { + return NonlinearFactorGraph::equals(p, tol); + } + + /** + * Add a prior on a pose + * @param key variable key of the camera + * @param p around which soft prior is defined + * @param model uncertainty model of this prior + */ + template + void addCameraPrior(Key cameraKey, const Camera &camera, SharedNoiseModel &model = noiseModel::Unit::Create(Camera::Dim())) { + sharedFactor factor(new PriorFactor(cameraKey, camera, model)); + push_back(factor); + } + + /** + * Add a constraint on a camera + * @param key variable key of the camera + * @param p to which camera to constrain it to + */ + template + void addCameraConstraint(Key cameraKey, const Camera &camera) { + sharedFactor factor(new NonlinearEquality(cameraKey, camera)); + push_back(factor); + } + /** * Add a 2d projection measurement * @param z the measurement @@ -52,7 +114,7 @@ namespace sparseBA { } /** - * Add a 2d projection measurement + * Add a 2d projection measurement, but supports separated (or shared) pose and calibration object * @param z the measurement * @param model the noise model for the measurement * @param poseKey variable key for the pose @@ -65,6 +127,17 @@ namespace sparseBA { boost::shared_ptr factor(new SFMFactor(z, model, posekey, pointkey, calibkey)); push_back(factor); } + + /// Return a 2*K Matrix of reprojection errors + Matrix reprojectionErrors(const Values& values) const; + + /** + * Matlab-specific wrappers + */ + + void addSimpleCameraPrior(Key cameraKey, const SimpleCamera &camera, SharedNoiseModel &model); + void addSimpleCameraConstraint(Key cameraKey, const SimpleCamera &camera) ; + void addSimpleCameraMeasurement(const Point2 &z, SharedNoiseModel& model, Index cameraKey, Index pointKey); }; } diff --git a/matlab/examples/SBAExample.m b/matlab/examples/SBAExample.m new file mode 100644 index 000000000..9050d011d --- /dev/null +++ b/matlab/examples/SBAExample.m @@ -0,0 +1,85 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief An SFM example (adapted from SFMExample.m) optimizing calibration +% @author Yong-Dian Jian +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Assumptions +% - Landmarks as 8 vertices of a cube: (10,10,10) (-10,10,10) etc... +% - Cameras are on a circle around the cube, pointing at the world origin +% - Each camera sees all landmarks. +% - Visual measurements as 2D points are given, corrupted by Gaussian noise. + +% Data Options +options.triangle = false; +options.nrCameras = 10; +options.showImages = false; + +%% Generate data +[data,truth] = VisualISAMGenerateData(options); + +measurementNoiseSigma = 1.0; +pointNoiseSigma = 0.1; +cameraNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1 ... + 0.001*ones(1,5)]'; + +%% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) +graph = sparseBAGraph; + + +%% Add factors for all measurements +measurementNoise = gtsamnoiseModelIsotropic_Sigma(2,measurementNoiseSigma); +for i=1:length(data.Z) + for k=1:length(data.Z{i}) + j = data.J{i}{k}; + graph.addSimpleCameraMeasurement(data.Z{i}{k}, measurementNoise, symbol('c',i), symbol('p',j)); + end +end + +%% Add Gaussian priors for a pose and a landmark to constrain the system +cameraPriorNoise = gtsamnoiseModelDiagonal_Sigmas(cameraNoiseSigmas); +firstCamera = gtsamSimpleCamera(truth.cameras{1}.pose, truth.K); +graph.addSimpleCameraPrior(symbol('c',1), firstCamera, cameraPriorNoise); + +pointPriorNoise = gtsamnoiseModelIsotropic_Sigma(3,pointNoiseSigma); +graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); + +%% Print the graph +graph.print(sprintf('\nFactor graph:\n')); + + +%% Initialize cameras and points close to ground truth in this example +initialEstimate = sparseBAValues; +for i=1:size(truth.cameras,2) + pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); + camera_i = gtsamSimpleCamera(pose_i, truth.K); + initialEstimate.insertSimpleCamera(symbol('c',i), camera_i); +end +for j=1:size(truth.points,2) + point_j = truth.points{j}.retract(0.1*randn(3,1)); + initialEstimate.insertPoint(symbol('p',j), point_j); +end +initialEstimate.print(sprintf('\nInitial estimate:\n ')); + +%% Fine grain optimization, allowing user to iterate step by step + +parameters = gtsamLevenbergMarquardtParams; +parameters.setlambdaInitial(1.0); +parameters.setVerbosityLM('trylambda'); + +optimizer = graph.optimizer(initialEstimate, parameters); + +for i=1:5 + optimizer.iterate(); +end + +result = optimizer.values(); +result.print(sprintf('\nFinal result:\n ')); + + From 59c6234d4f732e70cace4dd2eacff85fb5b01a43 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 6 Jul 2012 18:33:01 +0000 Subject: [PATCH 574/914] Reworked variable removal in iSAM2 to hopefully fix difficult bug --- gtsam/nonlinear/ISAM2-impl.cpp | 6 +- gtsam/nonlinear/ISAM2.cpp | 112 ++++++++++++--------------------- gtsam/nonlinear/ISAM2.h | 2 +- 3 files changed, 42 insertions(+), 78 deletions(-) diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index 5e71ee22b..f3b27b138 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -96,18 +96,16 @@ void ISAM2::Impl::RemoveVariables(const FastSet& unusedKeys, const ISAM2Cli VectorValues newDeltaNewton(dims); VectorValues newDeltaGradSearch(dims); std::vector newReplacedKeys(replacedKeys.size() - unusedIndices.size()); - Base::Nodes newNodes(nodes.size()); // We still keep unused keys at the end until later in ISAM2::recalculate + Base::Nodes newNodes(replacedKeys.size() - unusedIndices.size()); for(size_t j = 0; j < dims.size(); ++j) { newDelta[j] = delta[unusedToEnd[j]]; newDeltaNewton[j] = deltaNewton[unusedToEnd[j]]; newDeltaGradSearch[j] = deltaGradSearch[unusedToEnd[j]]; newReplacedKeys[j] = replacedKeys[unusedToEnd[j]]; + newNodes[j] = nodes[unusedToEnd[j]]; } - // Permute the nodes index so the unused variables are the end - unusedToEnd.applyToCollection(newNodes, nodes); - // Swap the new data structures with the outputs of this function delta.swap(newDelta); deltaNewton.swap(newDeltaNewton); diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 779880dab..a9bd195ba 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -203,8 +203,8 @@ GaussianFactorGraph ISAM2::getCachedBoundaryFactors(Cliques& orphans) { return cachedBoundary; } -boost::shared_ptr > ISAM2::recalculate( - const FastSet& markedKeys, const FastSet& relinKeys, const FastVector& observedKeys, +boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKeys, + const FastSet& relinKeys, const FastVector& observedKeys, const FastSet& unusedIndices, const boost::optional >& constrainKeys, ISAM2Result& result) { // TODO: new factors are linearized twice, the newFactors passed in are not used. @@ -249,9 +249,6 @@ boost::shared_ptr > ISAM2::recalculate( this->removeTop(markedKeys, affectedBayesNet, orphans); toc(1, "removetop"); - // Now that the top is removed, correct the size of the Nodes index - this->nodes_.resize(delta_.size()); - if(debug) affectedBayesNet.print("Removed top: "); if(debug) orphans.print("Orphans: "); @@ -269,14 +266,6 @@ boost::shared_ptr > ISAM2::recalculate( // ordering provides all keys in conditionals, there cannot be others because path to root included tic(2,"affectedKeys"); FastList affectedKeys = affectedBayesNet.ordering(); - // The removed top also contained removed variables, which will be ordered - // higher than the number of variables in the system since unused variables - // were already removed in ISAM2::update. - for(FastList::iterator key = affectedKeys.begin(); key != affectedKeys.end(); ) - if(*key >= delta_.size()) - affectedKeys.erase(key++); - else - ++key; toc(2,"affectedKeys"); boost::shared_ptr > affectedKeysSet(new FastSet()); // Will return this result @@ -430,8 +419,12 @@ boost::shared_ptr > ISAM2::recalculate( reorderingMode.constrainedKeys = FastMap(); BOOST_FOREACH(Index var, observedKeys) { reorderingMode.constrainedKeys->insert(make_pair(var, 1)); } } + FastSet affectedUsedKeys = *affectedKeysSet; // Remove unused keys from the set we pass to PartialSolve + BOOST_FOREACH(Index unused, unusedIndices) { + affectedUsedKeys.erase(unused); + } Impl::PartialSolveResult partialSolveResult = - Impl::PartialSolve(factors, *affectedKeysSet, reorderingMode, (params_.factorization == ISAM2Params::QR)); + Impl::PartialSolve(factors, affectedUsedKeys, reorderingMode, (params_.factorization == ISAM2Params::QR)); toc(2,"PartialSolve"); // We now need to permute everything according this partial reordering: the @@ -559,50 +552,25 @@ ISAM2Result ISAM2::update( // Remove removed factors from the variable index so we do not attempt to relinearize them variableIndex_.remove(removeFactorIndices, *removeFactors.symbolic(ordering_)); - // We now need to start keeping track of the marked keys involved in added or - // removed factors. - FastSet markedKeys; - - // Remove unused keys and add keys from removed factors that are still used - // in other factors to markedKeys. + // Compute unused keys and indices + FastSet unusedKeys; + FastSet unusedIndices; { - // Get keys from removed factors - FastSet removedFactorSymbKeys = removeFactors.keys(); - - // For each key, if still used in other factors, add to markedKeys to be - // recalculated, or if not used, add to unusedKeys to be removed from the - // system. Note that unusedKeys stores Key while markedKeys stores Index. - FastSet unusedKeys; - BOOST_FOREACH(Key key, removedFactorSymbKeys) { - Index index = ordering_[key]; - if(variableIndex_[index].empty()) - unusedKeys.insert(key); + // Get keys from removed factors and new factors, and compute unused keys, + // i.e., keys that are empty now and do not appear in the new factors. + FastSet removedAndEmpty; + BOOST_FOREACH(Key key, removeFactors.keys()) { + if(variableIndex_[ordering_[key]].empty()) + removedAndEmpty.insert(removedAndEmpty.end(), key); } + FastSet newFactorSymbKeys = newFactors.keys(); + std::set_difference(removedAndEmpty.begin(), removedAndEmpty.end(), + newFactorSymbKeys.begin(), newFactorSymbKeys.end(), std::inserter(unusedKeys, unusedKeys.end())); - // Delete any keys from 'unusedKeys' that are actually used by the new, incoming factors - FastSet newNonlinearKeys = newFactors.keys(); - BOOST_FOREACH(Key key, newNonlinearKeys) { - FastSet::iterator iter = unusedKeys.find(key); - if(iter != unusedKeys.end()) { - unusedKeys.erase(iter); - } + // Get indices for unused keys + BOOST_FOREACH(Key key, unusedKeys) { + unusedIndices.insert(unusedIndices.end(), ordering_[key]); } - - // Remove unused keys. We must hold on to the new nodes index for now - // instead of placing it into the tree because removeTop will need to - // update it. - Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, - deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); - - // Mark keys that are still in the use and are also included in the removed factors - // Note: The ordering has been modified during the RemoveVariables() function call. - // Hence, we do not create this list until after that call - BOOST_FOREACH(Key key, removedFactorSymbKeys) { - Index index; - if(ordering_.tryAt(key, index)) - markedKeys.insert(index); - } - } toc(1,"push_back factors"); @@ -622,10 +590,12 @@ ISAM2Result ISAM2::update( tic(4,"gather involved keys"); // 3. Mark linear update - { - FastSet newFactorIndices = Impl::IndicesFromFactors(ordering_, newFactors); // Get keys from new factors - markedKeys.insert(newFactorIndices.begin(), newFactorIndices.end()); - } + FastSet markedKeys = Impl::IndicesFromFactors(ordering_, newFactors); // Get keys from new factors + // Also mark keys involved in removed factors + { + FastSet markedRemoveKeys = Impl::IndicesFromFactors(ordering_, removeFactors); // Get keys involved in removed factors + markedKeys.insert(markedRemoveKeys.begin(), markedRemoveKeys.end()); // Add to the overall set of marked keys + } // Observed keys for detailed results if(params_.enableDetailedResults) { @@ -636,7 +606,11 @@ ISAM2Result ISAM2::update( // NOTE: we use assign instead of the iterator constructor here because this // is a vector of size_t, so the constructor unintentionally resolves to // vector(size_t count, Index value) instead of the iterator constructor. - FastVector observedKeys; observedKeys.assign(markedKeys.begin(), markedKeys.end()); // Make a copy of these, as we'll soon add to them + FastVector observedKeys; observedKeys.reserve(markedKeys.size()); + BOOST_FOREACH(Index index, markedKeys) { + if(unusedIndices.find(index) == unusedIndices.end()) // Only add if not unused + observedKeys.push_back(index); // Make a copy of these, as we'll soon add to them + } toc(4,"gather involved keys"); // Check relinearization if we're at the nth step, or we are using a looser loop relin threshold @@ -668,15 +642,6 @@ ISAM2Result ISAM2::update( // add other cliques that have the marked ones in the separator Impl::FindAll(this->root(), markedKeys, markedRelinMask); - // FindAll might have marked some removed keys because the removed keys - // are still in the old BayesTree structure - we remove them from - // markedKeys here. Note that the limit for removing indices that we use - // (delta_.size()) is after all of the new variables - so we do not - // remove indices that were removed but then recreated by adding new - // keys. - FastSet::iterator firstRemovedIndex = markedKeys.lower_bound(delta_.size()); - markedKeys.erase(firstRemovedIndex, markedKeys.end()); - // Relin involved keys for detailed results if(params_.enableDetailedResults) { FastSet involvedRelinKeys; @@ -738,7 +703,7 @@ ISAM2Result ISAM2::update( } boost::shared_ptr > replacedKeys; if(!markedKeys.empty() || !observedKeys.empty()) - replacedKeys = recalculate(markedKeys, relinKeys, observedKeys, constrainedIndices, result); + replacedKeys = recalculate(markedKeys, relinKeys, observedKeys, unusedIndices, constrainedIndices, result); // Update replaced keys mask (accumulates until back-substitution takes place) if(replacedKeys) { @@ -746,10 +711,11 @@ ISAM2Result ISAM2::update( deltaReplacedMask_[var] = true; } } toc(9,"recalculate"); - //tic(9,"solve"); - // 9. Solve - if(debug) delta_.print("delta_: "); - //toc(9,"solve"); + // After the top of the tree has been redone and may have index gaps from + // unused keys, condense the indices to remove gaps by rearranging indices + // in all data structures. + Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, + deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); result.cliques = this->nodes().size(); deltaDoglegUptodate_ = false; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 1fa893819..34fc7b46f 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -516,7 +516,7 @@ private: GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans); boost::shared_ptr > recalculate(const FastSet& markedKeys, const FastSet& relinKeys, - const FastVector& observedKeys, const boost::optional >& constrainKeys, ISAM2Result& result); + const FastVector& observedKeys, const FastSet& unusedIndices, const boost::optional >& constrainKeys, ISAM2Result& result); // void linear_update(const GaussianFactorGraph& newFactors); void updateDelta(bool forceFullSolve = false) const; From 169c0191c635ad9fe7f2b511832cd3c81e146d44 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 6 Jul 2012 18:58:35 +0000 Subject: [PATCH 575/914] Added header needed for uint64_t --- wrap/Class.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index a33f89f35..84e83a9f5 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -18,6 +18,7 @@ #include #include #include +#include #include #include From c1ef79722b905dce4a66effc807c85e883e1e7e3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sun, 8 Jul 2012 12:27:16 +0000 Subject: [PATCH 576/914] Created branch /branches/wrap_mods_inheritance from /branches/wrap_mods:12018 From 3c27daae18cabf3b3d5ab016fb3b8c28adfcd11a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sun, 8 Jul 2012 12:27:39 +0000 Subject: [PATCH 577/914] wrap_mods_inheritance branch: in progress with inheritance in matlab wrapper --- gtsam.h | 13 ++++++++++++- wrap/Argument.cpp | 2 +- wrap/Class.cpp | 15 +++++++-------- wrap/Class.h | 1 + wrap/Constructor.cpp | 2 +- wrap/Method.cpp | 6 +++--- wrap/Module.cpp | 8 ++++++-- wrap/matlab.h | 15 ++++++++++----- wrap/utilities.cpp | 11 +++++++++++ wrap/utilities.h | 6 ++++++ 10 files changed, 58 insertions(+), 21 deletions(-) diff --git a/gtsam.h b/gtsam.h index f5d245111..2c2e41e66 100644 --- a/gtsam.h +++ b/gtsam.h @@ -64,7 +64,18 @@ namespace gtsam { // base //************************************************************************* -class LieVector { +class Value { + // Testable + void print(string s) const; + bool equals(const gtsam::Value& expected, double tol) const; + + // Manifold + size_t dim() const; + gtsam::Value retract(Vector v) const; + Vector localCoordinates(const gtsam::Value& t2) const; +}; + +class LieVector : gtsam::Value { // Standard constructors LieVector(); LieVector(Vector v); diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index 40ad205b6..35f20169b 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -64,7 +64,7 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const { file.oss << cppType << " " << name << " = unwrap< "; file.oss << cppType << " >(" << matlabName; - if (is_ptr || is_ref) file.oss << ", \"" << matlabType << "\""; + if (is_ptr || is_ref) file.oss << ", \"ptr_" << matlabType << "\""; file.oss << ");" << endl; } diff --git a/wrap/Class.cpp b/wrap/Class.cpp index a33f89f35..2688f625e 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -39,9 +39,11 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil // emit class proxy code // we want our class to inherit the handle class for memory purposes - proxyFile.oss << "classdef " << matlabName << " < handle" << endl; + const string parent = qualifiedParent.empty() ? + "handle" : ::wrap::qualifiedName("", qualifiedParent); + proxyFile.oss << "classdef " << matlabName << " < " << parent << endl; proxyFile.oss << " properties" << endl; - proxyFile.oss << " self = 0" << endl; + proxyFile.oss << " ptr_" << matlabName << " = 0" << endl; proxyFile.oss << " end" << endl; proxyFile.oss << " methods" << endl; @@ -116,10 +118,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil /* ************************************************************************* */ string Class::qualifiedName(const string& delim) const { - string result; - BOOST_FOREACH(const string& ns, namespaces) - result += ns + delim; - return result + name; + return ::wrap::qualifiedName(delim, namespaces, name); } /* ************************************************************************* */ @@ -136,14 +135,14 @@ string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& w (uint64_t('r')); const string matlabName = qualifiedName(), cppName = qualifiedName("::"); - const string wrapFunctionName = matlabName + "_constructor_" + boost::lexical_cast(id); + const string wrapFunctionName = matlabName + "_collectorInsert_" + boost::lexical_cast(id); // MATLAB constructor that assigns pointer to matlab object then calls c++ // function to add the object to the collector. proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; proxyFile.oss << " obj.self = varargin{2};\n"; - proxyFile.oss << " " << wrapperName << "(obj.self);\n"; + proxyFile.oss << " " << wrapperName << "(" << id << ", obj.self);\n"; // C++ function to add pointer from MATLAB to collector. The pointer always // comes from a C++ return value; this mechanism allows the object to be added diff --git a/wrap/Class.h b/wrap/Class.h index f1a745d94..4d31b4972 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -38,6 +38,7 @@ struct Class { // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name + std::vector qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack Methods methods; ///< Class methods StaticMethods static_methods; ///< Static methods std::vector namespaces; ///< Stack of namespaces diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 88fbb748b..63ea15146 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -53,7 +53,7 @@ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperNam file.oss << "\n obj.self = " << wrapperName << "(" << id; // emit constructor arguments for(size_t i=0;i& using_namespaces, vector& functionNames) const { - proxyFile.oss << " function varargout = " << name << "(self, varargin)\n"; + proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; for(size_t overload = 0; overload < argLists.size(); ++overload) { const ArgumentList& args = argLists[overload]; @@ -74,7 +74,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF output = ""; else output = "varargout{1} = "; - proxyFile.oss << " " << output << wrapperName << "(" << id << ", self, varargin{:});\n"; + proxyFile.oss << " " << output << wrapperName << "(" << id << ", this, varargin{:});\n"; // Output C++ wrapper code @@ -135,7 +135,7 @@ string Method::wrapper_fragment(FileWriter& file, // get class pointer // example: shared_ptr = unwrap_shared_ptr< Test >(in[0], "Test"); - file.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"" << cppClassName << "\");" << endl; + file.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabClassName << "\");" << endl; // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,1); diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 86cc90ef1..5482a19b1 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -93,7 +93,7 @@ Module::Module(const string& interfacePath, Rule eigenType_p = (str_p("Vector") | "Matrix"); - Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p)[assign_a(class_name)]; + Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; @@ -114,6 +114,10 @@ Module::Module(const string& interfacePath, className_p[assign_a(arg.type)] >> (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); + Rule classParent_p = + *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> + className_p[push_back_a(cls.qualifiedParent)]; + Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; Rule argument_p = @@ -198,7 +202,7 @@ Module::Module(const string& interfacePath, (!*include_p >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] >> className_p[assign_a(cls.name)] - >> '{' + >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec >> *(functions_p | comments_p) >> str_p("};")) [assign_a(constructor.name, cls.name)] diff --git a/wrap/matlab.h b/wrap/matlab.h index 31778cdbd..90f706a37 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -342,9 +342,14 @@ gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { [create_object] creates a MATLAB proxy class object with a mexhandle in the self property. Matlab does not allow the creation of matlab objects from within mex files, hence we resort to an ugly trick: we - invoke the proxy class constructor by calling MATLAB, and pass 13 - dummy arguments to let the constructor know we want an object without - the self property initialized. We then assign the mexhandle to self. + invoke the proxy class constructor by calling MATLAB with a special + uint64 value ptr_constructor_key and the pointer itself. MATLAB + allocates the object. Then, the special constructor in our wrap code + that is activated when the ptr_constructor_key is passed in passes + the pointer back into a C++ function to add the pointer to its + collector. We go through this extra "C++ to MATLAB to C++ step" in + order to be able to add to the collector could be in a different wrap + module. */ mxArray* create_object(const char *classname, void *pointer) { mxArray *result; @@ -376,9 +381,9 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *cla } template -boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& className) { +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { - mxArray* mxh = mxGetProperty(obj,0,"self"); + mxArray* mxh = mxGetProperty(obj,0, propertyName); if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( "Parameter is not an Shared type."); diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 31b65bdcc..fdad6de7c 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -135,6 +135,17 @@ void generateIncludes(FileWriter& file, const string& class_name, } /* ************************************************************************* */ +string qualifiedName(const string& separator, const vector& names, const string& finalName) { + string result; + for(size_t i = 0; i < names.size() - 1; ++i) + result += (names[i] + separator); + if(finalName.empty()) + result += names.back(); + else + result += (names.back() + separator + finalName); + return result; +} +/* ************************************************************************* */ } // \namespace wrap diff --git a/wrap/utilities.h b/wrap/utilities.h index 1eb0e249f..6652cc8fd 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -98,4 +98,10 @@ void generateUsingNamespace(FileWriter& file, const std::vector& us void generateIncludes(FileWriter& file, const std::string& class_name, const std::vector& includes); +/** + * Return a qualified name, if finalName is empty, only the names vector will + * be used (i.e. there won't be a trailing separator on the qualified name). + */ +std::string qualifiedName(const std::string& separator, const std::vector& names, const std::string& finalName = ""); + } // \namespace wrap From 9c876ed6b03e25d2ef04bf0fbab5625a17e97cc5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 8 Jul 2012 20:23:47 +0000 Subject: [PATCH 578/914] Wrap tests now pass with new file structure --- wrap/tests/expected/@Point2/Point2.m | 22 - wrap/tests/expected/@Point2/argChar.cpp | 11 - wrap/tests/expected/@Point2/argChar.m | 4 - wrap/tests/expected/@Point2/argUChar.cpp | 11 - wrap/tests/expected/@Point2/argUChar.m | 4 - wrap/tests/expected/@Point2/dim.cpp | 11 - wrap/tests/expected/@Point2/dim.m | 4 - wrap/tests/expected/@Point2/returnChar.cpp | 11 - wrap/tests/expected/@Point2/returnChar.m | 4 - .../expected/@Point2/vectorConfusion.cpp | 13 - wrap/tests/expected/@Point2/vectorConfusion.m | 4 - wrap/tests/expected/@Point2/x.cpp | 11 - wrap/tests/expected/@Point2/x.m | 4 - wrap/tests/expected/@Point2/y.cpp | 11 - wrap/tests/expected/@Point2/y.m | 4 - wrap/tests/expected/@Point3/Point3.m | 21 - wrap/tests/expected/@Point3/norm.cpp | 12 - wrap/tests/expected/@Point3/norm.m | 4 - wrap/tests/expected/@Test/Test.m | 22 - .../expected/@Test/arg_EigenConstRef.cpp | 12 - wrap/tests/expected/@Test/arg_EigenConstRef.m | 4 - .../tests/expected/@Test/create_MixedPtrs.cpp | 17 - wrap/tests/expected/@Test/create_MixedPtrs.m | 4 - wrap/tests/expected/@Test/create_ptrs.cpp | 17 - wrap/tests/expected/@Test/create_ptrs.m | 4 - wrap/tests/expected/@Test/print.cpp | 11 - wrap/tests/expected/@Test/print.m | 4 - .../tests/expected/@Test/return_Point2Ptr.cpp | 15 - wrap/tests/expected/@Test/return_Point2Ptr.m | 4 - wrap/tests/expected/@Test/return_Test.cpp | 15 - wrap/tests/expected/@Test/return_Test.m | 4 - wrap/tests/expected/@Test/return_TestPtr.cpp | 15 - wrap/tests/expected/@Test/return_TestPtr.m | 4 - wrap/tests/expected/@Test/return_bool.cpp | 13 - wrap/tests/expected/@Test/return_bool.m | 4 - wrap/tests/expected/@Test/return_double.cpp | 13 - wrap/tests/expected/@Test/return_double.m | 4 - wrap/tests/expected/@Test/return_field.cpp | 13 - wrap/tests/expected/@Test/return_field.m | 4 - wrap/tests/expected/@Test/return_int.cpp | 13 - wrap/tests/expected/@Test/return_int.m | 4 - wrap/tests/expected/@Test/return_matrix1.cpp | 13 - wrap/tests/expected/@Test/return_matrix1.m | 4 - wrap/tests/expected/@Test/return_matrix2.cpp | 13 - wrap/tests/expected/@Test/return_matrix2.m | 4 - wrap/tests/expected/@Test/return_pair.cpp | 15 - wrap/tests/expected/@Test/return_pair.m | 4 - wrap/tests/expected/@Test/return_ptrs.cpp | 19 - wrap/tests/expected/@Test/return_ptrs.m | 4 - wrap/tests/expected/@Test/return_size_t.cpp | 13 - wrap/tests/expected/@Test/return_size_t.m | 4 - wrap/tests/expected/@Test/return_string.cpp | 13 - wrap/tests/expected/@Test/return_string.m | 4 - wrap/tests/expected/@Test/return_vector1.cpp | 13 - wrap/tests/expected/@Test/return_vector1.m | 4 - wrap/tests/expected/@Test/return_vector2.cpp | 13 - wrap/tests/expected/@Test/return_vector2.m | 4 - wrap/tests/expected/Makefile | 94 --- wrap/tests/expected/Point2.m | 88 +++ wrap/tests/expected/Point3.m | 54 ++ .../expected/Point3_StaticFunctionRet.cpp | 14 - .../tests/expected/Point3_StaticFunctionRet.m | 5 - wrap/tests/expected/Point3_staticFunction.cpp | 12 - wrap/tests/expected/Point3_staticFunction.m | 5 - wrap/tests/expected/Test.m | 184 ++++++ wrap/tests/expected/geometry_wrapper.cpp | 621 ++++++++++++++++++ wrap/tests/expected/make_geometry.m | 59 -- wrap/tests/expected/new_Point2.cpp | 41 -- wrap/tests/expected/new_Point2.m | 4 - wrap/tests/expected/new_Point3.cpp | 41 -- wrap/tests/expected/new_Point3.m | 4 - wrap/tests/expected/new_Test.cpp | 42 -- wrap/tests/expected/new_Test.m | 4 - .../expected_namespaces/@ClassD/ClassD.m | 21 - .../@ns1ClassA/ns1ClassA.m | 21 - .../@ns1ClassB/ns1ClassB.m | 21 - .../@ns2ClassA/memberFunction.cpp | 12 - .../@ns2ClassA/memberFunction.m | 4 - .../@ns2ClassA/ns2ClassA.m | 21 - .../expected_namespaces/@ns2ClassA/nsArg.cpp | 13 - .../expected_namespaces/@ns2ClassA/nsArg.m | 4 - .../@ns2ClassA/nsReturn.cpp | 15 - .../expected_namespaces/@ns2ClassA/nsReturn.m | 4 - .../@ns2ClassC/ns2ClassC.m | 21 - .../@ns2ns3ClassB/ns2ns3ClassB.m | 21 - wrap/tests/expected_namespaces/ClassD.m | 30 + wrap/tests/expected_namespaces/Makefile | 65 -- .../expected_namespaces/make_testNamespaces.m | 52 -- wrap/tests/expected_namespaces/new_ClassD.cpp | 36 - wrap/tests/expected_namespaces/new_ClassD.m | 4 - .../expected_namespaces/new_ns1ClassA.cpp | 36 - .../tests/expected_namespaces/new_ns1ClassA.m | 4 - .../expected_namespaces/new_ns1ClassB.cpp | 37 -- .../tests/expected_namespaces/new_ns1ClassB.m | 4 - .../expected_namespaces/new_ns2ClassA.cpp | 37 -- .../tests/expected_namespaces/new_ns2ClassA.m | 4 - .../expected_namespaces/new_ns2ClassC.cpp | 36 - .../tests/expected_namespaces/new_ns2ClassC.m | 4 - .../expected_namespaces/new_ns2ns3ClassB.cpp | 37 -- .../expected_namespaces/new_ns2ns3ClassB.m | 4 - wrap/tests/expected_namespaces/ns1ClassA.m | 30 + wrap/tests/expected_namespaces/ns1ClassB.m | 30 + wrap/tests/expected_namespaces/ns2ClassA.m | 62 ++ .../ns2ClassA_afunction.cpp | 12 - .../expected_namespaces/ns2ClassA_afunction.m | 5 - wrap/tests/expected_namespaces/ns2ClassC.m | 30 + wrap/tests/expected_namespaces/ns2ns3ClassB.m | 30 + .../testNamespaces_wrapper.cpp | 369 +++++++++++ wrap/tests/testWrap.cpp | 148 +---- 109 files changed, 1561 insertions(+), 1525 deletions(-) delete mode 100644 wrap/tests/expected/@Point2/Point2.m delete mode 100644 wrap/tests/expected/@Point2/argChar.cpp delete mode 100644 wrap/tests/expected/@Point2/argChar.m delete mode 100644 wrap/tests/expected/@Point2/argUChar.cpp delete mode 100644 wrap/tests/expected/@Point2/argUChar.m delete mode 100644 wrap/tests/expected/@Point2/dim.cpp delete mode 100644 wrap/tests/expected/@Point2/dim.m delete mode 100644 wrap/tests/expected/@Point2/returnChar.cpp delete mode 100644 wrap/tests/expected/@Point2/returnChar.m delete mode 100644 wrap/tests/expected/@Point2/vectorConfusion.cpp delete mode 100644 wrap/tests/expected/@Point2/vectorConfusion.m delete mode 100644 wrap/tests/expected/@Point2/x.cpp delete mode 100644 wrap/tests/expected/@Point2/x.m delete mode 100644 wrap/tests/expected/@Point2/y.cpp delete mode 100644 wrap/tests/expected/@Point2/y.m delete mode 100644 wrap/tests/expected/@Point3/Point3.m delete mode 100644 wrap/tests/expected/@Point3/norm.cpp delete mode 100644 wrap/tests/expected/@Point3/norm.m delete mode 100644 wrap/tests/expected/@Test/Test.m delete mode 100644 wrap/tests/expected/@Test/arg_EigenConstRef.cpp delete mode 100644 wrap/tests/expected/@Test/arg_EigenConstRef.m delete mode 100644 wrap/tests/expected/@Test/create_MixedPtrs.cpp delete mode 100644 wrap/tests/expected/@Test/create_MixedPtrs.m delete mode 100644 wrap/tests/expected/@Test/create_ptrs.cpp delete mode 100644 wrap/tests/expected/@Test/create_ptrs.m delete mode 100644 wrap/tests/expected/@Test/print.cpp delete mode 100644 wrap/tests/expected/@Test/print.m delete mode 100644 wrap/tests/expected/@Test/return_Point2Ptr.cpp delete mode 100644 wrap/tests/expected/@Test/return_Point2Ptr.m delete mode 100644 wrap/tests/expected/@Test/return_Test.cpp delete mode 100644 wrap/tests/expected/@Test/return_Test.m delete mode 100644 wrap/tests/expected/@Test/return_TestPtr.cpp delete mode 100644 wrap/tests/expected/@Test/return_TestPtr.m delete mode 100644 wrap/tests/expected/@Test/return_bool.cpp delete mode 100644 wrap/tests/expected/@Test/return_bool.m delete mode 100644 wrap/tests/expected/@Test/return_double.cpp delete mode 100644 wrap/tests/expected/@Test/return_double.m delete mode 100644 wrap/tests/expected/@Test/return_field.cpp delete mode 100644 wrap/tests/expected/@Test/return_field.m delete mode 100644 wrap/tests/expected/@Test/return_int.cpp delete mode 100644 wrap/tests/expected/@Test/return_int.m delete mode 100644 wrap/tests/expected/@Test/return_matrix1.cpp delete mode 100644 wrap/tests/expected/@Test/return_matrix1.m delete mode 100644 wrap/tests/expected/@Test/return_matrix2.cpp delete mode 100644 wrap/tests/expected/@Test/return_matrix2.m delete mode 100644 wrap/tests/expected/@Test/return_pair.cpp delete mode 100644 wrap/tests/expected/@Test/return_pair.m delete mode 100644 wrap/tests/expected/@Test/return_ptrs.cpp delete mode 100644 wrap/tests/expected/@Test/return_ptrs.m delete mode 100644 wrap/tests/expected/@Test/return_size_t.cpp delete mode 100644 wrap/tests/expected/@Test/return_size_t.m delete mode 100644 wrap/tests/expected/@Test/return_string.cpp delete mode 100644 wrap/tests/expected/@Test/return_string.m delete mode 100644 wrap/tests/expected/@Test/return_vector1.cpp delete mode 100644 wrap/tests/expected/@Test/return_vector1.m delete mode 100644 wrap/tests/expected/@Test/return_vector2.cpp delete mode 100644 wrap/tests/expected/@Test/return_vector2.m delete mode 100644 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100644 wrap/tests/expected_namespaces/new_ClassD.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ClassD.m delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassA.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassA.m delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassB.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns1ClassB.m delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassA.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassA.m delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassC.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns2ClassC.m delete mode 100644 wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp delete mode 100644 wrap/tests/expected_namespaces/new_ns2ns3ClassB.m create mode 100644 wrap/tests/expected_namespaces/ns1ClassA.m create mode 100644 wrap/tests/expected_namespaces/ns1ClassB.m create mode 100644 wrap/tests/expected_namespaces/ns2ClassA.m delete mode 100644 wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp delete mode 100644 wrap/tests/expected_namespaces/ns2ClassA_afunction.m create mode 100644 wrap/tests/expected_namespaces/ns2ClassC.m create mode 100644 wrap/tests/expected_namespaces/ns2ns3ClassB.m create mode 100644 wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp diff --git a/wrap/tests/expected/@Point2/Point2.m b/wrap/tests/expected/@Point2/Point2.m deleted file mode 100644 index 5cfd7fc61..000000000 --- a/wrap/tests/expected/@Point2/Point2.m +++ /dev/null @@ -1,22 +0,0 @@ -% automatically generated by wrap -classdef Point2 < handle - properties - self = 0 - end - methods - function obj = Point2(varargin) - if (nargin == 0), obj.self = new_Point2(0,0); end - if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Point2(0,1,varargin{1},varargin{2}); end - if nargin ==14, new_Point2(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point2 constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_Point2(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected/@Point2/argChar.cpp b/wrap/tests/expected/@Point2/argChar.cpp deleted file mode 100644 index d0e9a7a7a..000000000 --- a/wrap/tests/expected/@Point2/argChar.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("argChar",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - char a = unwrap< char >(in[1]); - obj->argChar(a); -} diff --git a/wrap/tests/expected/@Point2/argChar.m b/wrap/tests/expected/@Point2/argChar.m deleted file mode 100644 index 6c935a1d6..000000000 --- a/wrap/tests/expected/@Point2/argChar.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.argChar(a) -function result = argChar(obj,a) - error('need to compile argChar.cpp'); -end diff --git a/wrap/tests/expected/@Point2/argUChar.cpp b/wrap/tests/expected/@Point2/argUChar.cpp deleted file mode 100644 index 06e62c36b..000000000 --- a/wrap/tests/expected/@Point2/argUChar.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("argUChar",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - unsigned char a = unwrap< unsigned char >(in[1]); - obj->argUChar(a); -} diff --git a/wrap/tests/expected/@Point2/argUChar.m b/wrap/tests/expected/@Point2/argUChar.m deleted file mode 100644 index ea42a2b4f..000000000 --- a/wrap/tests/expected/@Point2/argUChar.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.argUChar(a) -function result = argUChar(obj,a) - error('need to compile argUChar.cpp'); -end diff --git a/wrap/tests/expected/@Point2/dim.cpp b/wrap/tests/expected/@Point2/dim.cpp deleted file mode 100644 index a7e938a16..000000000 --- a/wrap/tests/expected/@Point2/dim.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("dim",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - int result = obj->dim(); - out[0] = wrap< int >(result); -} diff --git a/wrap/tests/expected/@Point2/dim.m b/wrap/tests/expected/@Point2/dim.m deleted file mode 100644 index 934e0b895..000000000 --- a/wrap/tests/expected/@Point2/dim.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.dim() -function result = dim(obj) - error('need to compile dim.cpp'); -end diff --git a/wrap/tests/expected/@Point2/returnChar.cpp b/wrap/tests/expected/@Point2/returnChar.cpp deleted file mode 100644 index ed6f34190..000000000 --- a/wrap/tests/expected/@Point2/returnChar.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("returnChar",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - char result = obj->returnChar(); - out[0] = wrap< char >(result); -} diff --git a/wrap/tests/expected/@Point2/returnChar.m b/wrap/tests/expected/@Point2/returnChar.m deleted file mode 100644 index 8c3ceee35..000000000 --- a/wrap/tests/expected/@Point2/returnChar.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.returnChar() -function result = returnChar(obj) - error('need to compile returnChar.cpp'); -end diff --git a/wrap/tests/expected/@Point2/vectorConfusion.cpp b/wrap/tests/expected/@Point2/vectorConfusion.cpp deleted file mode 100644 index 3e2982803..000000000 --- a/wrap/tests/expected/@Point2/vectorConfusion.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr SharedVectorNotEigen; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("vectorConfusion",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - VectorNotEigen result = obj->vectorConfusion(); - SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(result)); - out[0] = wrap_collect_shared_ptr(ret,"VectorNotEigen"); -} diff --git a/wrap/tests/expected/@Point2/vectorConfusion.m b/wrap/tests/expected/@Point2/vectorConfusion.m deleted file mode 100644 index 9966c930d..000000000 --- a/wrap/tests/expected/@Point2/vectorConfusion.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.vectorConfusion() -function result = vectorConfusion(obj) - error('need to compile vectorConfusion.cpp'); -end diff --git a/wrap/tests/expected/@Point2/x.cpp b/wrap/tests/expected/@Point2/x.cpp deleted file mode 100644 index 273eb7834..000000000 --- a/wrap/tests/expected/@Point2/x.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("x",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - double result = obj->x(); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected/@Point2/x.m b/wrap/tests/expected/@Point2/x.m deleted file mode 100644 index 44f069872..000000000 --- a/wrap/tests/expected/@Point2/x.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.x() -function result = x(obj) - error('need to compile x.cpp'); -end diff --git a/wrap/tests/expected/@Point2/y.cpp b/wrap/tests/expected/@Point2/y.cpp deleted file mode 100644 index 44f824fb0..000000000 --- a/wrap/tests/expected/@Point2/y.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("y",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - double result = obj->y(); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected/@Point2/y.m b/wrap/tests/expected/@Point2/y.m deleted file mode 100644 index 7971c1e33..000000000 --- a/wrap/tests/expected/@Point2/y.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.y() -function result = y(obj) - error('need to compile y.cpp'); -end diff --git a/wrap/tests/expected/@Point3/Point3.m b/wrap/tests/expected/@Point3/Point3.m deleted file mode 100644 index 81bd00a5a..000000000 --- a/wrap/tests/expected/@Point3/Point3.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef Point3 < handle - properties - self = 0 - end - methods - function obj = Point3(varargin) - if (nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')), obj.self = new_Point3(0,0,varargin{1},varargin{2},varargin{3}); end - if nargin ==14, new_Point3(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Point3 constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_Point3(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected/@Point3/norm.cpp b/wrap/tests/expected/@Point3/norm.cpp deleted file mode 100644 index dd5c726ee..000000000 --- a/wrap/tests/expected/@Point3/norm.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("norm",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point3"); - double result = obj->norm(); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected/@Point3/norm.m b/wrap/tests/expected/@Point3/norm.m deleted file mode 100644 index ad925e85d..000000000 --- a/wrap/tests/expected/@Point3/norm.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.norm() -function result = norm(obj) - error('need to compile norm.cpp'); -end diff --git a/wrap/tests/expected/@Test/Test.m b/wrap/tests/expected/@Test/Test.m deleted file mode 100644 index 63914d2aa..000000000 --- a/wrap/tests/expected/@Test/Test.m +++ /dev/null @@ -1,22 +0,0 @@ -% automatically generated by wrap -classdef Test < handle - properties - self = 0 - end - methods - function obj = Test(varargin) - if (nargin == 0), obj.self = new_Test(0,0); end - if (nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')), obj.self = new_Test(0,1,varargin{1},varargin{2}); end - if nargin ==14, new_Test(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('Test constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_Test(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp b/wrap/tests/expected/@Test/arg_EigenConstRef.cpp deleted file mode 100644 index a6a384870..000000000 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("arg_EigenConstRef",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); - obj->arg_EigenConstRef(value); -} diff --git a/wrap/tests/expected/@Test/arg_EigenConstRef.m b/wrap/tests/expected/@Test/arg_EigenConstRef.m deleted file mode 100644 index c348014c1..000000000 --- a/wrap/tests/expected/@Test/arg_EigenConstRef.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.arg_EigenConstRef(value) -function result = arg_EigenConstRef(obj,value) - error('need to compile arg_EigenConstRef.cpp'); -end diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.cpp b/wrap/tests/expected/@Test/create_MixedPtrs.cpp deleted file mode 100644 index 21010eb0c..000000000 --- a/wrap/tests/expected/@Test/create_MixedPtrs.cpp +++ /dev/null @@ -1,17 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_MixedPtrs",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - pair< Test, SharedTest > result = obj->create_MixedPtrs(); - SharedTest* ret = new SharedTest(new Test(result.first)); - out[0] = wrap_collect_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(result.second); - out[1] = wrap_collect_shared_ptr(ret,"Test"); -} diff --git a/wrap/tests/expected/@Test/create_MixedPtrs.m b/wrap/tests/expected/@Test/create_MixedPtrs.m deleted file mode 100644 index 38a9f1d7e..000000000 --- a/wrap/tests/expected/@Test/create_MixedPtrs.m +++ /dev/null @@ -1,4 +0,0 @@ -% [first,second] = obj.create_MixedPtrs() -function [first,second] = create_MixedPtrs(obj) - error('need to compile create_MixedPtrs.cpp'); -end diff --git a/wrap/tests/expected/@Test/create_ptrs.cpp b/wrap/tests/expected/@Test/create_ptrs.cpp deleted file mode 100644 index b51c3f00e..000000000 --- a/wrap/tests/expected/@Test/create_ptrs.cpp +++ /dev/null @@ -1,17 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("create_ptrs",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - pair< SharedTest, SharedTest > result = obj->create_ptrs(); - SharedTest* ret = new SharedTest(result.first); - out[0] = wrap_collect_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(result.second); - out[1] = wrap_collect_shared_ptr(ret,"Test"); -} diff --git a/wrap/tests/expected/@Test/create_ptrs.m b/wrap/tests/expected/@Test/create_ptrs.m deleted file mode 100644 index 80c6781dc..000000000 --- a/wrap/tests/expected/@Test/create_ptrs.m +++ /dev/null @@ -1,4 +0,0 @@ -% [first,second] = obj.create_ptrs() -function [first,second] = create_ptrs(obj) - error('need to compile create_ptrs.cpp'); -end diff --git a/wrap/tests/expected/@Test/print.cpp b/wrap/tests/expected/@Test/print.cpp deleted file mode 100644 index 3cf9cd14d..000000000 --- a/wrap/tests/expected/@Test/print.cpp +++ /dev/null @@ -1,11 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("print",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - obj->print(); -} diff --git a/wrap/tests/expected/@Test/print.m b/wrap/tests/expected/@Test/print.m deleted file mode 100644 index ca6bf4769..000000000 --- a/wrap/tests/expected/@Test/print.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.print() -function result = print(obj) - error('need to compile print.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.cpp b/wrap/tests/expected/@Test/return_Point2Ptr.cpp deleted file mode 100644 index 0d8650e84..000000000 --- a/wrap/tests/expected/@Test/return_Point2Ptr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedPoint2; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_Point2Ptr",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - bool value = unwrap< bool >(in[1]); - SharedPoint2 result = obj->return_Point2Ptr(value); - SharedPoint2* ret = new SharedPoint2(result); - out[0] = wrap_collect_shared_ptr(ret,"Point2"); -} diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.m b/wrap/tests/expected/@Test/return_Point2Ptr.m deleted file mode 100644 index 84e586bc7..000000000 --- a/wrap/tests/expected/@Test/return_Point2Ptr.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_Point2Ptr(value) -function result = return_Point2Ptr(obj,value) - error('need to compile return_Point2Ptr.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_Test.cpp b/wrap/tests/expected/@Test/return_Test.cpp deleted file mode 100644 index fb3ad822c..000000000 --- a/wrap/tests/expected/@Test/return_Test.cpp +++ /dev/null @@ -1,15 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_Test",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - Test result = obj->return_Test(value); - SharedTest* ret = new SharedTest(new Test(result)); - out[0] = wrap_collect_shared_ptr(ret,"Test"); -} diff --git a/wrap/tests/expected/@Test/return_Test.m b/wrap/tests/expected/@Test/return_Test.m deleted file mode 100644 index d1a2e440c..000000000 --- a/wrap/tests/expected/@Test/return_Test.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_Test(value) -function result = return_Test(obj,value) - error('need to compile return_Test.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_TestPtr.cpp b/wrap/tests/expected/@Test/return_TestPtr.cpp deleted file mode 100644 index 06bc80269..000000000 --- a/wrap/tests/expected/@Test/return_TestPtr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_TestPtr",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - SharedTest result = obj->return_TestPtr(value); - SharedTest* ret = new SharedTest(result); - out[0] = wrap_collect_shared_ptr(ret,"Test"); -} diff --git a/wrap/tests/expected/@Test/return_TestPtr.m b/wrap/tests/expected/@Test/return_TestPtr.m deleted file mode 100644 index 937c85fcc..000000000 --- a/wrap/tests/expected/@Test/return_TestPtr.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_TestPtr(value) -function result = return_TestPtr(obj,value) - error('need to compile return_TestPtr.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_bool.cpp b/wrap/tests/expected/@Test/return_bool.cpp deleted file mode 100644 index e570d8dc2..000000000 --- a/wrap/tests/expected/@Test/return_bool.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_bool",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - bool value = unwrap< bool >(in[1]); - bool result = obj->return_bool(value); - out[0] = wrap< bool >(result); -} diff --git a/wrap/tests/expected/@Test/return_bool.m b/wrap/tests/expected/@Test/return_bool.m deleted file mode 100644 index 358cb9750..000000000 --- a/wrap/tests/expected/@Test/return_bool.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_bool(value) -function result = return_bool(obj,value) - error('need to compile return_bool.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_double.cpp b/wrap/tests/expected/@Test/return_double.cpp deleted file mode 100644 index 4a6322a72..000000000 --- a/wrap/tests/expected/@Test/return_double.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_double",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - double value = unwrap< double >(in[1]); - double result = obj->return_double(value); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected/@Test/return_double.m b/wrap/tests/expected/@Test/return_double.m deleted file mode 100644 index 681371f39..000000000 --- a/wrap/tests/expected/@Test/return_double.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_double(value) -function result = return_double(obj,value) - error('need to compile return_double.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_field.cpp b/wrap/tests/expected/@Test/return_field.cpp deleted file mode 100644 index a631635e3..000000000 --- a/wrap/tests/expected/@Test/return_field.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_field",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); - bool result = obj->return_field(t); - out[0] = wrap< bool >(result); -} diff --git a/wrap/tests/expected/@Test/return_field.m b/wrap/tests/expected/@Test/return_field.m deleted file mode 100644 index e2894c381..000000000 --- a/wrap/tests/expected/@Test/return_field.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_field(t) -function result = return_field(obj,t) - error('need to compile return_field.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_int.cpp b/wrap/tests/expected/@Test/return_int.cpp deleted file mode 100644 index f909405eb..000000000 --- a/wrap/tests/expected/@Test/return_int.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_int",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - int value = unwrap< int >(in[1]); - int result = obj->return_int(value); - out[0] = wrap< int >(result); -} diff --git a/wrap/tests/expected/@Test/return_int.m b/wrap/tests/expected/@Test/return_int.m deleted file mode 100644 index 779e9feb2..000000000 --- a/wrap/tests/expected/@Test/return_int.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_int(value) -function result = return_int(obj,value) - error('need to compile return_int.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_matrix1.cpp b/wrap/tests/expected/@Test/return_matrix1.cpp deleted file mode 100644 index 1cc75d3d4..000000000 --- a/wrap/tests/expected/@Test/return_matrix1.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_matrix1",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Matrix value = unwrap< Matrix >(in[1]); - Matrix result = obj->return_matrix1(value); - out[0] = wrap< Matrix >(result); -} diff --git a/wrap/tests/expected/@Test/return_matrix1.m b/wrap/tests/expected/@Test/return_matrix1.m deleted file mode 100644 index d6d9791f9..000000000 --- a/wrap/tests/expected/@Test/return_matrix1.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_matrix1(value) -function result = return_matrix1(obj,value) - error('need to compile return_matrix1.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_matrix2.cpp b/wrap/tests/expected/@Test/return_matrix2.cpp deleted file mode 100644 index 10c9e8647..000000000 --- a/wrap/tests/expected/@Test/return_matrix2.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_matrix2",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Matrix value = unwrap< Matrix >(in[1]); - Matrix result = obj->return_matrix2(value); - out[0] = wrap< Matrix >(result); -} diff --git a/wrap/tests/expected/@Test/return_matrix2.m b/wrap/tests/expected/@Test/return_matrix2.m deleted file mode 100644 index 584b365b8..000000000 --- a/wrap/tests/expected/@Test/return_matrix2.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_matrix2(value) -function result = return_matrix2(obj,value) - error('need to compile return_matrix2.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_pair.cpp b/wrap/tests/expected/@Test/return_pair.cpp deleted file mode 100644 index 0fc359df6..000000000 --- a/wrap/tests/expected/@Test/return_pair.cpp +++ /dev/null @@ -1,15 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_pair",nargout,nargin-1,2); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Vector v = unwrap< Vector >(in[1]); - Matrix A = unwrap< Matrix >(in[2]); - pair< Vector, Matrix > result = obj->return_pair(v,A); - out[0] = wrap< Vector >(result.first); - out[1] = wrap< Matrix >(result.second); -} diff --git a/wrap/tests/expected/@Test/return_pair.m b/wrap/tests/expected/@Test/return_pair.m deleted file mode 100644 index 2e892210c..000000000 --- a/wrap/tests/expected/@Test/return_pair.m +++ /dev/null @@ -1,4 +0,0 @@ -% [first,second] = obj.return_pair(v,A) -function [first,second] = return_pair(obj,v,A) - error('need to compile return_pair.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_ptrs.cpp b/wrap/tests/expected/@Test/return_ptrs.cpp deleted file mode 100644 index c6c6f9655..000000000 --- a/wrap/tests/expected/@Test/return_ptrs.cpp +++ /dev/null @@ -1,19 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr SharedTest; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_ptrs",nargout,nargin-1,2); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); - boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); - pair< SharedTest, SharedTest > result = obj->return_ptrs(p1,p2); - SharedTest* ret = new SharedTest(result.first); - out[0] = wrap_collect_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(result.second); - out[1] = wrap_collect_shared_ptr(ret,"Test"); -} diff --git a/wrap/tests/expected/@Test/return_ptrs.m b/wrap/tests/expected/@Test/return_ptrs.m deleted file mode 100644 index a7af4b73c..000000000 --- a/wrap/tests/expected/@Test/return_ptrs.m +++ /dev/null @@ -1,4 +0,0 @@ -% [first,second] = obj.return_ptrs(p1,p2) -function [first,second] = return_ptrs(obj,p1,p2) - error('need to compile return_ptrs.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_size_t.cpp b/wrap/tests/expected/@Test/return_size_t.cpp deleted file mode 100644 index 9a6fc8598..000000000 --- a/wrap/tests/expected/@Test/return_size_t.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_size_t",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - size_t value = unwrap< size_t >(in[1]); - size_t result = obj->return_size_t(value); - out[0] = wrap< size_t >(result); -} diff --git a/wrap/tests/expected/@Test/return_size_t.m b/wrap/tests/expected/@Test/return_size_t.m deleted file mode 100644 index 2fae64028..000000000 --- a/wrap/tests/expected/@Test/return_size_t.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_size_t(value) -function result = return_size_t(obj,value) - error('need to compile return_size_t.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_string.cpp b/wrap/tests/expected/@Test/return_string.cpp deleted file mode 100644 index 3253e62ed..000000000 --- a/wrap/tests/expected/@Test/return_string.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_string",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - string value = unwrap< string >(in[1]); - string result = obj->return_string(value); - out[0] = wrap< string >(result); -} diff --git a/wrap/tests/expected/@Test/return_string.m b/wrap/tests/expected/@Test/return_string.m deleted file mode 100644 index 67fb5f10d..000000000 --- a/wrap/tests/expected/@Test/return_string.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_string(value) -function result = return_string(obj,value) - error('need to compile return_string.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_vector1.cpp b/wrap/tests/expected/@Test/return_vector1.cpp deleted file mode 100644 index 48ecbb643..000000000 --- a/wrap/tests/expected/@Test/return_vector1.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_vector1",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Vector value = unwrap< Vector >(in[1]); - Vector result = obj->return_vector1(value); - out[0] = wrap< Vector >(result); -} diff --git a/wrap/tests/expected/@Test/return_vector1.m b/wrap/tests/expected/@Test/return_vector1.m deleted file mode 100644 index 461c51618..000000000 --- a/wrap/tests/expected/@Test/return_vector1.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_vector1(value) -function result = return_vector1(obj,value) - error('need to compile return_vector1.cpp'); -end diff --git a/wrap/tests/expected/@Test/return_vector2.cpp b/wrap/tests/expected/@Test/return_vector2.cpp deleted file mode 100644 index 984ba259c..000000000 --- a/wrap/tests/expected/@Test/return_vector2.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("return_vector2",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Vector value = unwrap< Vector >(in[1]); - Vector result = obj->return_vector2(value); - out[0] = wrap< Vector >(result); -} diff --git a/wrap/tests/expected/@Test/return_vector2.m b/wrap/tests/expected/@Test/return_vector2.m deleted file mode 100644 index f3c77dd85..000000000 --- a/wrap/tests/expected/@Test/return_vector2.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.return_vector2(value) -function result = return_vector2(obj,value) - error('need to compile return_vector2.cpp'); -end diff --git a/wrap/tests/expected/Makefile b/wrap/tests/expected/Makefile deleted file mode 100644 index 92dece353..000000000 --- a/wrap/tests/expected/Makefile +++ /dev/null @@ -1,94 +0,0 @@ -# automatically generated by wrap - -MEX = mex -MEXENDING = mexa64 -PATH_TO_WRAP = /not_really_a_real_path/borg/gtsam/wrap -mex_flags = -O5 - -all: Point2 Point3 Test - -# Point2 -new_Point2.$(MEXENDING): new_Point2.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_Point2.cpp -output new_Point2 -@Point2/x.$(MEXENDING): @Point2/x.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/x.cpp -output @Point2/x -@Point2/y.$(MEXENDING): @Point2/y.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/y.cpp -output @Point2/y -@Point2/dim.$(MEXENDING): @Point2/dim.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/dim.cpp -output @Point2/dim -@Point2/returnChar.$(MEXENDING): @Point2/returnChar.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/returnChar.cpp -output @Point2/returnChar -@Point2/argChar.$(MEXENDING): @Point2/argChar.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/argChar.cpp -output @Point2/argChar -@Point2/argUChar.$(MEXENDING): @Point2/argUChar.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/argUChar.cpp -output @Point2/argUChar -@Point2/vectorConfusion.$(MEXENDING): @Point2/vectorConfusion.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point2/vectorConfusion.cpp -output @Point2/vectorConfusion - -Point2: new_Point2.$(MEXENDING) @Point2/x.$(MEXENDING) @Point2/y.$(MEXENDING) @Point2/dim.$(MEXENDING) @Point2/returnChar.$(MEXENDING) @Point2/argChar.$(MEXENDING) @Point2/argUChar.$(MEXENDING) @Point2/vectorConfusion.$(MEXENDING) - -# Point3 -new_Point3.$(MEXENDING): new_Point3.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_Point3.cpp -output new_Point3 -Point3_staticFunction.$(MEXENDING): Point3_staticFunction.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) Point3_staticFunction.cpp -output Point3_staticFunction -Point3_StaticFunctionRet.$(MEXENDING): Point3_StaticFunctionRet.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) Point3_StaticFunctionRet.cpp -output Point3_StaticFunctionRet -@Point3/norm.$(MEXENDING): @Point3/norm.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Point3/norm.cpp -output @Point3/norm - -Point3: new_Point3.$(MEXENDING) Point3_staticFunction.$(MEXENDING) Point3_StaticFunctionRet.$(MEXENDING) @Point3/norm.$(MEXENDING) - -# Test -new_Test.$(MEXENDING): new_Test.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_Test.cpp -output new_Test -@Test/return_pair.$(MEXENDING): @Test/return_pair.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_pair.cpp -output @Test/return_pair -@Test/return_bool.$(MEXENDING): @Test/return_bool.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_bool.cpp -output @Test/return_bool -@Test/return_size_t.$(MEXENDING): @Test/return_size_t.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_size_t.cpp -output @Test/return_size_t -@Test/return_int.$(MEXENDING): @Test/return_int.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_int.cpp -output @Test/return_int -@Test/return_double.$(MEXENDING): @Test/return_double.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_double.cpp -output @Test/return_double -@Test/return_string.$(MEXENDING): @Test/return_string.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_string.cpp -output @Test/return_string -@Test/return_vector1.$(MEXENDING): @Test/return_vector1.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_vector1.cpp -output @Test/return_vector1 -@Test/return_matrix1.$(MEXENDING): @Test/return_matrix1.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_matrix1.cpp -output @Test/return_matrix1 -@Test/return_vector2.$(MEXENDING): @Test/return_vector2.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_vector2.cpp -output @Test/return_vector2 -@Test/return_matrix2.$(MEXENDING): @Test/return_matrix2.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_matrix2.cpp -output @Test/return_matrix2 -@Test/arg_EigenConstRef.$(MEXENDING): @Test/arg_EigenConstRef.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/arg_EigenConstRef.cpp -output @Test/arg_EigenConstRef -@Test/return_field.$(MEXENDING): @Test/return_field.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_field.cpp -output @Test/return_field -@Test/return_TestPtr.$(MEXENDING): @Test/return_TestPtr.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_TestPtr.cpp -output @Test/return_TestPtr -@Test/return_Test.$(MEXENDING): @Test/return_Test.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_Test.cpp -output @Test/return_Test -@Test/return_Point2Ptr.$(MEXENDING): @Test/return_Point2Ptr.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_Point2Ptr.cpp -output @Test/return_Point2Ptr -@Test/create_ptrs.$(MEXENDING): @Test/create_ptrs.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/create_ptrs.cpp -output @Test/create_ptrs -@Test/create_MixedPtrs.$(MEXENDING): @Test/create_MixedPtrs.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/create_MixedPtrs.cpp -output @Test/create_MixedPtrs -@Test/return_ptrs.$(MEXENDING): @Test/return_ptrs.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/return_ptrs.cpp -output @Test/return_ptrs -@Test/print.$(MEXENDING): @Test/print.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @Test/print.cpp -output @Test/print - -Test: new_Test.$(MEXENDING) @Test/return_pair.$(MEXENDING) @Test/return_bool.$(MEXENDING) @Test/return_size_t.$(MEXENDING) @Test/return_int.$(MEXENDING) @Test/return_double.$(MEXENDING) @Test/return_string.$(MEXENDING) @Test/return_vector1.$(MEXENDING) @Test/return_matrix1.$(MEXENDING) @Test/return_vector2.$(MEXENDING) @Test/return_matrix2.$(MEXENDING) @Test/arg_EigenConstRef.$(MEXENDING) @Test/return_field.$(MEXENDING) @Test/return_TestPtr.$(MEXENDING) @Test/return_Test.$(MEXENDING) @Test/return_Point2Ptr.$(MEXENDING) @Test/create_ptrs.$(MEXENDING) @Test/create_MixedPtrs.$(MEXENDING) @Test/return_ptrs.$(MEXENDING) @Test/print.$(MEXENDING) - - - -clean: - rm -rf *.$(MEXENDING) - rm -rf @Point2/*.$(MEXENDING) - rm -rf @Point3/*.$(MEXENDING) - rm -rf @Test/*.$(MEXENDING) - - diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m new file mode 100644 index 000000000..95f46a2dd --- /dev/null +++ b/wrap/tests/expected/Point2.m @@ -0,0 +1,88 @@ +% automatically generated by wrap +classdef Point2 < handle + properties + self = 0 + end + methods + function obj = Point2(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + geometry_wrapper(obj.self); + elseif nargin == 0 + obj.self = geometry_wrapper(1); + elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') + obj.self = geometry_wrapper(2,varargin{1},varargin{2}); + else + error('Arguments do not match any overload of Point2 constructor'); + end + end + + function delete(obj) + geometry_wrapper(3, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + function varargout = argChar(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(4, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.argChar'); + end + end + + function varargout = argUChar(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'char') + geometry_wrapper(5, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.argUChar'); + end + end + + function varargout = dim(self, varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(6, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.dim'); + end + end + + function varargout = returnChar(self, varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(7, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.returnChar'); + end + end + + function varargout = vectorConfusion(self, varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(8, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.vectorConfusion'); + end + end + + function varargout = x(self, varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(9, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.x'); + end + end + + function varargout = y(self, varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(10, self, varargin{:}); + else + error('Arguments do not match any overload of function Point2.y'); + end + end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m new file mode 100644 index 000000000..7a1045a86 --- /dev/null +++ b/wrap/tests/expected/Point3.m @@ -0,0 +1,54 @@ +% automatically generated by wrap +classdef Point3 < handle + properties + self = 0 + end + methods + function obj = Point3(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + geometry_wrapper(obj.self); + elseif nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double') + obj.self = geometry_wrapper(12,varargin{1},varargin{2},varargin{3}); + else + error('Arguments do not match any overload of Point3 constructor'); + end + end + + function delete(obj) + geometry_wrapper(13, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + function varargout = norm(self, varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(14, self, varargin{:}); + else + error('Arguments do not match any overload of function Point3.norm'); + end + end + + end + + methods(Static = true) + function varargout = StaticFunctionRet(varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = geometry_wrapper(15, varargin{:}); + else + error('Arguments do not match any overload of function Point3.StaticFunctionRet'); + end + end + + function varargout = StaticFunction(varargin) + if length(varargin) == 0 + varargout{1} = geometry_wrapper(16, varargin{:}); + else + error('Arguments do not match any overload of function Point3.StaticFunction'); + end + end + + end +end diff --git a/wrap/tests/expected/Point3_StaticFunctionRet.cpp b/wrap/tests/expected/Point3_StaticFunctionRet.cpp deleted file mode 100644 index 696af326a..000000000 --- a/wrap/tests/expected/Point3_StaticFunctionRet.cpp +++ /dev/null @@ -1,14 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr SharedPoint3; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("Point3_StaticFunctionRet",nargout,nargin,1); - double z = unwrap< double >(in[0]); - Point3 result = Point3::StaticFunctionRet(z); - SharedPoint3* ret = new SharedPoint3(new Point3(result)); - out[0] = wrap_collect_shared_ptr(ret,"Point3"); -} diff --git a/wrap/tests/expected/Point3_StaticFunctionRet.m b/wrap/tests/expected/Point3_StaticFunctionRet.m deleted file mode 100644 index bdfd32b4b..000000000 --- a/wrap/tests/expected/Point3_StaticFunctionRet.m +++ /dev/null @@ -1,5 +0,0 @@ -% automatically generated by wrap -function result = Point3_StaticFunctionRet(z) -% usage: x = Point3_StaticFunctionRet(z) - error('need to compile Point3_StaticFunctionRet.cpp'); -end diff --git a/wrap/tests/expected/Point3_staticFunction.cpp b/wrap/tests/expected/Point3_staticFunction.cpp deleted file mode 100644 index f25c8f4ea..000000000 --- a/wrap/tests/expected/Point3_staticFunction.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shareddouble; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("Point3_staticFunction",nargout,nargin,0); - double result = Point3::staticFunction(); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected/Point3_staticFunction.m b/wrap/tests/expected/Point3_staticFunction.m deleted file mode 100644 index 23885f71e..000000000 --- a/wrap/tests/expected/Point3_staticFunction.m +++ /dev/null @@ -1,5 +0,0 @@ -% automatically generated by wrap -function result = Point3_staticFunction() -% usage: x = Point3_staticFunction() - error('need to compile Point3_staticFunction.cpp'); -end diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m new file mode 100644 index 000000000..2c914502a --- /dev/null +++ b/wrap/tests/expected/Test.m @@ -0,0 +1,184 @@ +% automatically generated by wrap +classdef Test < handle + properties + self = 0 + end + methods + function obj = Test(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + geometry_wrapper(obj.self); + elseif nargin == 0 + obj.self = geometry_wrapper(18); + elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') + obj.self = geometry_wrapper(19,varargin{1},varargin{2}); + else + error('Arguments do not match any overload of Test constructor'); + end + end + + function delete(obj) + geometry_wrapper(20, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + function varargout = arg_EigenConstRef(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + geometry_wrapper(21, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.arg_EigenConstRef'); + end + end + + function varargout = create_MixedPtrs(self, varargin) + if length(varargin) == 0 + [ varargout{1} varargout{2} ] = geometry_wrapper(22, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.create_MixedPtrs'); + end + end + + function varargout = create_ptrs(self, varargin) + if length(varargin) == 0 + [ varargout{1} varargout{2} ] = geometry_wrapper(23, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.create_ptrs'); + end + end + + function varargout = print(self, varargin) + if length(varargin) == 0 + geometry_wrapper(24, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.print'); + end + end + + function varargout = return_Point2Ptr(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'logical') + varargout{1} = geometry_wrapper(25, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_Point2Ptr'); + end + end + + function varargout = return_Test(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'Test') + varargout{1} = geometry_wrapper(26, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_Test'); + end + end + + function varargout = return_TestPtr(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'Test') + varargout{1} = geometry_wrapper(27, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_TestPtr'); + end + end + + function varargout = return_bool(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'logical') + varargout{1} = geometry_wrapper(28, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_bool'); + end + end + + function varargout = return_double(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = geometry_wrapper(29, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_double'); + end + end + + function varargout = return_field(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'Test') + varargout{1} = geometry_wrapper(30, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_field'); + end + end + + function varargout = return_int(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'numeric') + varargout{1} = geometry_wrapper(31, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_int'); + end + end + + function varargout = return_matrix1(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = geometry_wrapper(32, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_matrix1'); + end + end + + function varargout = return_matrix2(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = geometry_wrapper(33, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_matrix2'); + end + end + + function varargout = return_pair(self, varargin) + if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') + [ varargout{1} varargout{2} ] = geometry_wrapper(34, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_pair'); + end + end + + function varargout = return_ptrs(self, varargin) + if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test') + [ varargout{1} varargout{2} ] = geometry_wrapper(35, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_ptrs'); + end + end + + function varargout = return_size_t(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'numeric') + varargout{1} = geometry_wrapper(36, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_size_t'); + end + end + + function varargout = return_string(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'char') + varargout{1} = geometry_wrapper(37, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_string'); + end + end + + function varargout = return_vector1(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = geometry_wrapper(38, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_vector1'); + end + end + + function varargout = return_vector2(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = geometry_wrapper(39, self, varargin{:}); + else + error('Arguments do not match any overload of function Test.return_vector2'); + end + end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp new file mode 100644 index 000000000..e2c866083 --- /dev/null +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -0,0 +1,621 @@ +// automatically generated by wrap +#include +#include +#include + +#include +#include +#include + +typedef std::set*> Collector_Point2; +static Collector_Point2 collector_Point2; +typedef std::set*> Collector_Point3; +static Collector_Point3 collector_Point3; +typedef std::set*> Collector_Test; +static Collector_Test collector_Test; +void _deleteAllObjects() +{ + for(Collector_Point2::iterator iter = collector_Point2.begin(); + iter != collector_Point2.end(); ) { + delete *iter; + collector_Point2.erase(iter++); + } + for(Collector_Point3::iterator iter = collector_Point3.begin(); + iter != collector_Point3.end(); ) { + delete *iter; + collector_Point3.erase(iter++); + } + for(Collector_Test::iterator iter = collector_Test.begin(); + iter != collector_Test.end(); ) { + delete *iter; + collector_Test.erase(iter++); + } +} +void Point2_constructor_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_Point2.insert(self); +} +void Point2_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef boost::shared_ptr Shared; + + Shared *self = new Shared(new Point2()); + collector_Point2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void Point2_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 Point2(x,y)); + collector_Point2.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void Point2_deconstructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("delete_Point2",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_Point2::iterator item; + item = collector_Point2.find(self); + if(item != collector_Point2.end()) { + delete self; + collector_Point2.erase(item); + } +} + +void Point2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("argChar",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + char a = unwrap< char >(in[1]); + obj->argChar(a); +} + +void Point2_argUChar_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("argUChar",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + unsigned char a = unwrap< unsigned char >(in[1]); + obj->argUChar(a); +} + +void Point2_dim_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("dim",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + int result = obj->dim(); + out[0] = wrap< int >(result); +} + +void Point2_returnChar_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("returnChar",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + char result = obj->returnChar(); + out[0] = wrap< char >(result); +} + +void Point2_vectorConfusion_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr SharedVectorNotEigen; + typedef boost::shared_ptr Shared; + checkArguments("vectorConfusion",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + VectorNotEigen result = obj->vectorConfusion(); + SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(result)); + out[0] = wrap_shared_ptr(ret,"VectorNotEigen"); +} + +void Point2_x_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("x",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + double result = obj->x(); + out[0] = wrap< double >(result); +} + +void Point2_y_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("y",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Point2"); + double result = obj->y(); + out[0] = wrap< double >(result); +} + +void Point3_constructor_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); +using namespace geometry; + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_Point3.insert(self); +} +void Point3_constructor_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); +using namespace geometry; + 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 Point3(x,y,z)); + collector_Point3.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void Point3_deconstructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("delete_Point3",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_Point3::iterator item; + item = collector_Point3.find(self); + if(item != collector_Point3.end()) { + delete self; + collector_Point3.erase(item); + } +} + +void Point3_norm_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("norm",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Point3"); + double result = obj->norm(); + out[0] = wrap< double >(result); +} + +void Point3_StaticFunctionRet_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedPoint3; + typedef boost::shared_ptr Shared; + checkArguments("Point3.StaticFunctionRet",nargout,nargin,1); + double z = unwrap< double >(in[0]); + Point3 result = Point3::StaticFunctionRet(z); + SharedPoint3* ret = new SharedPoint3(new Point3(result)); + out[0] = wrap_shared_ptr(ret,"Point3"); +} + +void Point3_staticFunction_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("Point3.staticFunction",nargout,nargin,0); + double result = Point3::staticFunction(); + out[0] = wrap< double >(result); +} + +void Test_constructor_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); +using namespace geometry; + typedef boost::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_Test.insert(self); +} +void Test_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); +using namespace geometry; + 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_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); +using namespace geometry; + 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_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + 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_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("arg_EigenConstRef",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); + obj->arg_EigenConstRef(value); +} + +void Test_create_MixedPtrs_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr Shared; + checkArguments("create_MixedPtrs",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + pair< Test, SharedTest > result = obj->create_MixedPtrs(); + SharedTest* ret = new SharedTest(new Test(result.first)); + out[0] = wrap_shared_ptr(ret,"Test"); + SharedTest* ret = new SharedTest(result.second); + out[1] = wrap_shared_ptr(ret,"Test"); +} + +void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr Shared; + checkArguments("create_ptrs",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + pair< SharedTest, SharedTest > result = obj->create_ptrs(); + SharedTest* ret = new SharedTest(result.first); + out[0] = wrap_shared_ptr(ret,"Test"); + SharedTest* ret = new SharedTest(result.second); + out[1] = wrap_shared_ptr(ret,"Test"); +} + +void Test_print_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("print",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + obj->print(); +} + +void Test_return_Point2Ptr_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedPoint2; + typedef boost::shared_ptr Shared; + checkArguments("return_Point2Ptr",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + bool value = unwrap< bool >(in[1]); + SharedPoint2 result = obj->return_Point2Ptr(value); + SharedPoint2* ret = new SharedPoint2(result); + out[0] = wrap_shared_ptr(ret,"Point2"); +} + +void Test_return_Test_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr Shared; + checkArguments("return_Test",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); + Test result = obj->return_Test(value); + SharedTest* ret = new SharedTest(new Test(result)); + out[0] = wrap_shared_ptr(ret,"Test"); +} + +void Test_return_TestPtr_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr Shared; + checkArguments("return_TestPtr",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); + SharedTest result = obj->return_TestPtr(value); + SharedTest* ret = new SharedTest(result); + out[0] = wrap_shared_ptr(ret,"Test"); +} + +void Test_return_bool_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_bool",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + bool value = unwrap< bool >(in[1]); + bool result = obj->return_bool(value); + out[0] = wrap< bool >(result); +} + +void Test_return_double_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_double",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + double value = unwrap< double >(in[1]); + double result = obj->return_double(value); + out[0] = wrap< double >(result); +} + +void Test_return_field_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_field",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); + bool result = obj->return_field(t); + out[0] = wrap< bool >(result); +} + +void Test_return_int_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_int",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + int value = unwrap< int >(in[1]); + int result = obj->return_int(value); + out[0] = wrap< int >(result); +} + +void Test_return_matrix1_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_matrix1",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Matrix value = unwrap< Matrix >(in[1]); + Matrix result = obj->return_matrix1(value); + out[0] = wrap< Matrix >(result); +} + +void Test_return_matrix2_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_matrix2",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Matrix value = unwrap< Matrix >(in[1]); + Matrix result = obj->return_matrix2(value); + out[0] = wrap< Matrix >(result); +} + +void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_pair",nargout,nargin-1,2); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Vector v = unwrap< Vector >(in[1]); + Matrix A = unwrap< Matrix >(in[2]); + pair< Vector, Matrix > result = obj->return_pair(v,A); + out[0] = wrap< Vector >(result.first); + out[1] = wrap< Matrix >(result.second); +} + +void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr SharedTest; + typedef boost::shared_ptr Shared; + checkArguments("return_ptrs",nargout,nargin-1,2); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); + boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); + pair< SharedTest, SharedTest > result = obj->return_ptrs(p1,p2); + SharedTest* ret = new SharedTest(result.first); + out[0] = wrap_shared_ptr(ret,"Test"); + SharedTest* ret = new SharedTest(result.second); + out[1] = wrap_shared_ptr(ret,"Test"); +} + +void Test_return_size_t_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_size_t",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + size_t value = unwrap< size_t >(in[1]); + size_t result = obj->return_size_t(value); + out[0] = wrap< size_t >(result); +} + +void Test_return_string_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_string",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + string value = unwrap< string >(in[1]); + string result = obj->return_string(value); + out[0] = wrap< string >(result); +} + +void Test_return_vector1_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_vector1",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Vector value = unwrap< Vector >(in[1]); + Vector result = obj->return_vector1(value); + out[0] = wrap< Vector >(result); +} + +void Test_return_vector2_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ +using namespace geometry; + typedef boost::shared_ptr Shared; + checkArguments("return_vector2",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "Test"); + Vector value = unwrap< Vector >(in[1]); + Vector result = obj->return_vector2(value); + out[0] = wrap< Vector >(result); +} + +void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + int id = unwrap(in[0]); + + switch(id) { + case 0: + Point2_constructor_0(nargout, out, nargin-1, in+1); + break; + case 1: + Point2_constructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + Point2_constructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + Point2_deconstructor_3(nargout, out, nargin-1, in+1); + break; + case 4: + Point2_argChar_4(nargout, out, nargin-1, in+1); + break; + case 5: + Point2_argUChar_5(nargout, out, nargin-1, in+1); + break; + case 6: + Point2_dim_6(nargout, out, nargin-1, in+1); + break; + case 7: + Point2_returnChar_7(nargout, out, nargin-1, in+1); + break; + case 8: + Point2_vectorConfusion_8(nargout, out, nargin-1, in+1); + break; + case 9: + Point2_x_9(nargout, out, nargin-1, in+1); + break; + case 10: + Point2_y_10(nargout, out, nargin-1, in+1); + break; + case 11: + Point3_constructor_11(nargout, out, nargin-1, in+1); + break; + case 12: + Point3_constructor_12(nargout, out, nargin-1, in+1); + break; + case 13: + Point3_deconstructor_13(nargout, out, nargin-1, in+1); + break; + case 14: + Point3_norm_14(nargout, out, nargin-1, in+1); + break; + case 15: + Point3_StaticFunctionRet_15(nargout, out, nargin-1, in+1); + break; + case 16: + Point3_staticFunction_16(nargout, out, nargin-1, in+1); + break; + case 17: + Test_constructor_17(nargout, out, nargin-1, in+1); + break; + case 18: + Test_constructor_18(nargout, out, nargin-1, in+1); + break; + case 19: + Test_constructor_19(nargout, out, nargin-1, in+1); + break; + case 20: + Test_deconstructor_20(nargout, out, nargin-1, in+1); + break; + case 21: + Test_arg_EigenConstRef_21(nargout, out, nargin-1, in+1); + break; + case 22: + Test_create_MixedPtrs_22(nargout, out, nargin-1, in+1); + break; + case 23: + Test_create_ptrs_23(nargout, out, nargin-1, in+1); + break; + case 24: + Test_print_24(nargout, out, nargin-1, in+1); + break; + case 25: + Test_return_Point2Ptr_25(nargout, out, nargin-1, in+1); + break; + case 26: + Test_return_Test_26(nargout, out, nargin-1, in+1); + break; + case 27: + Test_return_TestPtr_27(nargout, out, nargin-1, in+1); + break; + case 28: + Test_return_bool_28(nargout, out, nargin-1, in+1); + break; + case 29: + Test_return_double_29(nargout, out, nargin-1, in+1); + break; + case 30: + Test_return_field_30(nargout, out, nargin-1, in+1); + break; + case 31: + Test_return_int_31(nargout, out, nargin-1, in+1); + break; + case 32: + Test_return_matrix1_32(nargout, out, nargin-1, in+1); + break; + case 33: + Test_return_matrix2_33(nargout, out, nargin-1, in+1); + break; + case 34: + Test_return_pair_34(nargout, out, nargin-1, in+1); + break; + case 35: + Test_return_ptrs_35(nargout, out, nargin-1, in+1); + break; + case 36: + Test_return_size_t_36(nargout, out, nargin-1, in+1); + break; + case 37: + Test_return_string_37(nargout, out, nargin-1, in+1); + break; + case 38: + Test_return_vector1_38(nargout, out, nargin-1, in+1); + break; + case 39: + Test_return_vector2_39(nargout, out, nargin-1, in+1); + break; + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/expected/make_geometry.m b/wrap/tests/expected/make_geometry.m deleted file mode 100644 index d77459ed8..000000000 --- a/wrap/tests/expected/make_geometry.m +++ /dev/null @@ -1,59 +0,0 @@ -% automatically generated by wrap -echo on - -toolboxpath = mfilename('fullpath'); -delims = find(toolboxpath == '/' | toolboxpath == '\'); -toolboxpath = toolboxpath(1:(delims(end)-1)); -clear delims -addpath(toolboxpath); - -%% Point2 -cd(toolboxpath) -mex -O5 new_Point2.cpp - -cd @Point2 -mex -O5 x.cpp -mex -O5 y.cpp -mex -O5 dim.cpp -mex -O5 returnChar.cpp -mex -O5 argChar.cpp -mex -O5 argUChar.cpp -mex -O5 vectorConfusion.cpp - -%% Point3 -cd(toolboxpath) -mex -O5 new_Point3.cpp -mex -O5 Point3_staticFunction.cpp -mex -O5 Point3_StaticFunctionRet.cpp - -cd @Point3 -mex -O5 norm.cpp - -%% Test -cd(toolboxpath) -mex -O5 new_Test.cpp - -cd @Test -mex -O5 return_pair.cpp -mex -O5 return_bool.cpp -mex -O5 return_size_t.cpp -mex -O5 return_int.cpp -mex -O5 return_double.cpp -mex -O5 return_string.cpp -mex -O5 return_vector1.cpp -mex -O5 return_matrix1.cpp -mex -O5 return_vector2.cpp -mex -O5 return_matrix2.cpp -mex -O5 arg_EigenConstRef.cpp -mex -O5 return_field.cpp -mex -O5 return_TestPtr.cpp -mex -O5 return_Test.cpp -mex -O5 return_Point2Ptr.cpp -mex -O5 create_ptrs.cpp -mex -O5 create_MixedPtrs.cpp -mex -O5 return_ptrs.cpp -mex -O5 print.cpp - -cd(toolboxpath) - -echo off diff --git a/wrap/tests/expected/new_Point2.cpp b/wrap/tests/expected/new_Point2.cpp deleted file mode 100644 index b24642ad4..000000000 --- a/wrap/tests/expected/new_Point2.cpp +++ /dev/null @@ -1,41 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new Point2()); - if(nc == 1) { - double x = unwrap< double >(in[2]); - double y = unwrap< double >(in[3]); - self = new Shared(new Point2(x,y)); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected/new_Point2.m b/wrap/tests/expected/new_Point2.m deleted file mode 100644 index 9a6edd425..000000000 --- a/wrap/tests/expected/new_Point2.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Point2(obj,x,y) - error('need to compile new_Point2.cpp'); -end diff --git a/wrap/tests/expected/new_Point3.cpp b/wrap/tests/expected/new_Point3.cpp deleted file mode 100644 index 2e715263b..000000000 --- a/wrap/tests/expected/new_Point3.cpp +++ /dev/null @@ -1,41 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) { - double x = unwrap< double >(in[2]); - double y = unwrap< double >(in[3]); - double z = unwrap< double >(in[4]); - self = new Shared(new Point3(x,y,z)); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected/new_Point3.m b/wrap/tests/expected/new_Point3.m deleted file mode 100644 index 9cca5daa5..000000000 --- a/wrap/tests/expected/new_Point3.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Point3(obj,x,y,z) - error('need to compile new_Point3.cpp'); -end diff --git a/wrap/tests/expected/new_Test.cpp b/wrap/tests/expected/new_Test.cpp deleted file mode 100644 index 57ac1a4ea..000000000 --- a/wrap/tests/expected/new_Test.cpp +++ /dev/null @@ -1,42 +0,0 @@ -// automatically generated by wrap -#include -#include -using namespace geometry; -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new Test()); - if(nc == 1) { - double a = unwrap< double >(in[2]); - Matrix b = unwrap< Matrix >(in[3]); - self = new Shared(new Test(a,b)); - } - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected/new_Test.m b/wrap/tests/expected/new_Test.m deleted file mode 100644 index ec9a13f63..000000000 --- a/wrap/tests/expected/new_Test.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_Test(obj,a,b) - error('need to compile new_Test.cpp'); -end diff --git a/wrap/tests/expected_namespaces/@ClassD/ClassD.m b/wrap/tests/expected_namespaces/@ClassD/ClassD.m deleted file mode 100644 index 90fbf48a4..000000000 --- a/wrap/tests/expected_namespaces/@ClassD/ClassD.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef ClassD < handle - properties - self = 0 - end - methods - function obj = ClassD(varargin) - if (nargin == 0), obj.self = new_ClassD(0,0); end - if nargin ==14, new_ClassD(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ClassD constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_ClassD(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m b/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m deleted file mode 100644 index 727e020ae..000000000 --- a/wrap/tests/expected_namespaces/@ns1ClassA/ns1ClassA.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef ns1ClassA < handle - properties - self = 0 - end - methods - function obj = ns1ClassA(varargin) - if (nargin == 0), obj.self = new_ns1ClassA(0,0); end - if nargin ==14, new_ns1ClassA(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassA constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_ns1ClassA(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m b/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m deleted file mode 100644 index 19b0a73b9..000000000 --- a/wrap/tests/expected_namespaces/@ns1ClassB/ns1ClassB.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef ns1ClassB < handle - properties - self = 0 - end - methods - function obj = ns1ClassB(varargin) - if (nargin == 0), obj.self = new_ns1ClassB(0,0); end - if nargin ==14, new_ns1ClassB(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns1ClassB constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_ns1ClassB(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp deleted file mode 100644 index 70d0a7968..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("memberFunction",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); - double result = obj->memberFunction(); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m deleted file mode 100644 index 41587c2bc..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.memberFunction() -function result = memberFunction(obj) - error('need to compile memberFunction.cpp'); -end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m b/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m deleted file mode 100644 index 27de74dc3..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/ns2ClassA.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef ns2ClassA < handle - properties - self = 0 - end - methods - function obj = ns2ClassA(varargin) - if (nargin == 0), obj.self = new_ns2ClassA(0,0); end - if nargin ==14, new_ns2ClassA(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassA constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_ns2ClassA(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp deleted file mode 100644 index 498d90649..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp +++ /dev/null @@ -1,13 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("nsArg",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); - ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); - int result = obj->nsArg(arg); - out[0] = wrap< int >(result); -} diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m deleted file mode 100644 index 1e3f5865d..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.nsArg(arg) -function result = nsArg(obj,arg) - error('need to compile nsArg.cpp'); -end diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp deleted file mode 100644 index 996bf8913..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp +++ /dev/null @@ -1,15 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr SharedClassB; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("nsReturn",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); - double q = unwrap< double >(in[1]); - ns2::ns3::ClassB result = obj->nsReturn(q); - SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(result)); - out[0] = wrap_collect_shared_ptr(ret,"ns2ns3ClassB"); -} diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m deleted file mode 100644 index f1f74b614..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m +++ /dev/null @@ -1,4 +0,0 @@ -% result = obj.nsReturn(q) -function result = nsReturn(obj,q) - error('need to compile nsReturn.cpp'); -end diff --git a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m b/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m deleted file mode 100644 index 2425b59bd..000000000 --- a/wrap/tests/expected_namespaces/@ns2ClassC/ns2ClassC.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef ns2ClassC < handle - properties - self = 0 - end - methods - function obj = ns2ClassC(varargin) - if (nargin == 0), obj.self = new_ns2ClassC(0,0); end - if nargin ==14, new_ns2ClassC(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ClassC constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_ns2ClassC(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m deleted file mode 100644 index de7f7a3ca..000000000 --- a/wrap/tests/expected_namespaces/@ns2ns3ClassB/ns2ns3ClassB.m +++ /dev/null @@ -1,21 +0,0 @@ -% automatically generated by wrap -classdef ns2ns3ClassB < handle - properties - self = 0 - end - methods - function obj = ns2ns3ClassB(varargin) - if (nargin == 0), obj.self = new_ns2ns3ClassB(0,0); end - if nargin ==14, new_ns2ns3ClassB(varargin{1},0); end - if nargin ~= 13 && nargin ~= 14 && obj.self == 0, error('ns2ns3ClassB constructor failed'); end - end - function delete(obj) - if obj.self ~= 0 - new_ns2ns3ClassB(obj.self); - obj.self = 0; - end - end - function display(obj), obj.print(''); end - function disp(obj), obj.display; end - end -end diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m new file mode 100644 index 000000000..fcedbdc1c --- /dev/null +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -0,0 +1,30 @@ +% automatically generated by wrap +classdef ClassD < handle + properties + self = 0 + end + methods + function obj = ClassD(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + testNamespaces_wrapper(obj.self); + elseif nargin == 0 + obj.self = testNamespaces_wrapper(20); + else + error('Arguments do not match any overload of ClassD constructor'); + end + end + + function delete(obj) + testNamespaces_wrapper(21, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected_namespaces/Makefile b/wrap/tests/expected_namespaces/Makefile deleted file mode 100644 index 1cb09b8b9..000000000 --- a/wrap/tests/expected_namespaces/Makefile +++ /dev/null @@ -1,65 +0,0 @@ -# automatically generated by wrap - -MEX = mex -MEXENDING = mexa64 -PATH_TO_WRAP = /not_really_a_real_path/borg/gtsam/wrap -mex_flags = -O5 - -all: ns1ClassA ns1ClassB ns2ClassA ns2ns3ClassB ns2ClassC ClassD - -# ns1ClassA -new_ns1ClassA.$(MEXENDING): new_ns1ClassA.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns1ClassA.cpp -output new_ns1ClassA - -ns1ClassA: new_ns1ClassA.$(MEXENDING) - -# ns1ClassB -new_ns1ClassB.$(MEXENDING): new_ns1ClassB.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns1ClassB.cpp -output new_ns1ClassB - -ns1ClassB: new_ns1ClassB.$(MEXENDING) - -# ns2ClassA -new_ns2ClassA.$(MEXENDING): new_ns2ClassA.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns2ClassA.cpp -output new_ns2ClassA -ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) ns2ClassA_afunction.cpp -output ns2ClassA_afunction -@ns2ClassA/memberFunction.$(MEXENDING): @ns2ClassA/memberFunction.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @ns2ClassA/memberFunction.cpp -output @ns2ClassA/memberFunction -@ns2ClassA/nsArg.$(MEXENDING): @ns2ClassA/nsArg.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @ns2ClassA/nsArg.cpp -output @ns2ClassA/nsArg -@ns2ClassA/nsReturn.$(MEXENDING): @ns2ClassA/nsReturn.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) @ns2ClassA/nsReturn.cpp -output @ns2ClassA/nsReturn - -ns2ClassA: new_ns2ClassA.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) - -# ns2ns3ClassB -new_ns2ns3ClassB.$(MEXENDING): new_ns2ns3ClassB.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns2ns3ClassB.cpp -output new_ns2ns3ClassB - -ns2ns3ClassB: new_ns2ns3ClassB.$(MEXENDING) - -# ns2ClassC -new_ns2ClassC.$(MEXENDING): new_ns2ClassC.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ns2ClassC.cpp -output new_ns2ClassC - -ns2ClassC: new_ns2ClassC.$(MEXENDING) - -# ClassD -new_ClassD.$(MEXENDING): new_ClassD.cpp $(PATH_TO_WRAP)/matlab.h - $(MEX) $(mex_flags) new_ClassD.cpp -output new_ClassD - -ClassD: new_ClassD.$(MEXENDING) - - - -clean: - rm -rf *.$(MEXENDING) - rm -rf @ns1ClassA/*.$(MEXENDING) - rm -rf @ns1ClassB/*.$(MEXENDING) - rm -rf @ns2ClassA/*.$(MEXENDING) - rm -rf @ns2ns3ClassB/*.$(MEXENDING) - rm -rf @ns2ClassC/*.$(MEXENDING) - rm -rf @ClassD/*.$(MEXENDING) - - diff --git a/wrap/tests/expected_namespaces/make_testNamespaces.m b/wrap/tests/expected_namespaces/make_testNamespaces.m deleted file mode 100644 index 5cf086db8..000000000 --- a/wrap/tests/expected_namespaces/make_testNamespaces.m +++ /dev/null @@ -1,52 +0,0 @@ -% automatically generated by wrap -echo on - -toolboxpath = mfilename('fullpath'); -delims = find(toolboxpath == '/' | toolboxpath == '\'); -toolboxpath = toolboxpath(1:(delims(end)-1)); -clear delims -addpath(toolboxpath); - -%% ns1ClassA -cd(toolboxpath) -mex -O5 new_ns1ClassA.cpp - -cd @ns1ClassA - -%% ns1ClassB -cd(toolboxpath) -mex -O5 new_ns1ClassB.cpp - -cd @ns1ClassB - -%% ns2ClassA -cd(toolboxpath) -mex -O5 new_ns2ClassA.cpp -mex -O5 ns2ClassA_afunction.cpp - -cd @ns2ClassA -mex -O5 memberFunction.cpp -mex -O5 nsArg.cpp -mex -O5 nsReturn.cpp - -%% ns2ns3ClassB -cd(toolboxpath) -mex -O5 new_ns2ns3ClassB.cpp - -cd @ns2ns3ClassB - -%% ns2ClassC -cd(toolboxpath) -mex -O5 new_ns2ClassC.cpp - -cd @ns2ClassC - -%% ClassD -cd(toolboxpath) -mex -O5 new_ClassD.cpp - -cd @ClassD - -cd(toolboxpath) - -echo off diff --git a/wrap/tests/expected_namespaces/new_ClassD.cpp b/wrap/tests/expected_namespaces/new_ClassD.cpp deleted file mode 100644 index d7a7e4908..000000000 --- a/wrap/tests/expected_namespaces/new_ClassD.cpp +++ /dev/null @@ -1,36 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new ClassD()); - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ClassD.m b/wrap/tests/expected_namespaces/new_ClassD.m deleted file mode 100644 index d12bfffb1..000000000 --- a/wrap/tests/expected_namespaces/new_ClassD.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ClassD(obj) - error('need to compile new_ClassD.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA.cpp deleted file mode 100644 index 2554eafc1..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassA.cpp +++ /dev/null @@ -1,36 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new ns1::ClassA()); - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA.m b/wrap/tests/expected_namespaces/new_ns1ClassA.m deleted file mode 100644 index 4412baae1..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassA.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns1ClassA(obj) - error('need to compile new_ns1ClassA.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB.cpp deleted file mode 100644 index bc1dd313c..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassB.cpp +++ /dev/null @@ -1,37 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new ns1::ClassB()); - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB.m b/wrap/tests/expected_namespaces/new_ns1ClassB.m deleted file mode 100644 index b75d6b9bf..000000000 --- a/wrap/tests/expected_namespaces/new_ns1ClassB.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns1ClassB(obj) - error('need to compile new_ns1ClassB.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA.cpp deleted file mode 100644 index 57faabc79..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassA.cpp +++ /dev/null @@ -1,37 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new ns2::ClassA()); - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA.m b/wrap/tests/expected_namespaces/new_ns2ClassA.m deleted file mode 100644 index b3b9201d6..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassA.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns2ClassA(obj) - error('need to compile new_ns2ClassA.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC.cpp deleted file mode 100644 index e836a80fd..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassC.cpp +++ /dev/null @@ -1,36 +0,0 @@ -// automatically generated by wrap -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new ns2::ClassC()); - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC.m b/wrap/tests/expected_namespaces/new_ns2ClassC.m deleted file mode 100644 index 0f7ffb26f..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ClassC.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns2ClassC(obj) - error('need to compile new_ns2ClassC.cpp'); -end diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp deleted file mode 100644 index af1a25922..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.cpp +++ /dev/null @@ -1,37 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shared; - -static std::set collector; - -void cleanup(void) { - for(std::set::iterator iter = collector.begin(); iter != collector.end(); ) { - delete *iter; - collector.erase(iter++); - } -} -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - mexAtExit(cleanup); - - const mxArray* input = in[0]; - Shared* self = *(Shared**) mxGetData(input); - - if(self) { - if(nargin > 1) { - collector.insert(self); - } - else if(collector.erase(self)) - delete self; - } else { - int nc = unwrap(in[1]); - - if(nc == 0) - self = new Shared(new ns2::ns3::ClassB()); - collector.insert(self); - out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); - *reinterpret_cast (mxGetPr(out[0])) = self; - } -} diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.m b/wrap/tests/expected_namespaces/new_ns2ns3ClassB.m deleted file mode 100644 index 707e159f0..000000000 --- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB.m +++ /dev/null @@ -1,4 +0,0 @@ -% automatically generated by wrap -function result = new_ns2ns3ClassB(obj) - error('need to compile new_ns2ns3ClassB.cpp'); -end diff --git a/wrap/tests/expected_namespaces/ns1ClassA.m b/wrap/tests/expected_namespaces/ns1ClassA.m new file mode 100644 index 000000000..5ee717612 --- /dev/null +++ b/wrap/tests/expected_namespaces/ns1ClassA.m @@ -0,0 +1,30 @@ +% automatically generated by wrap +classdef ns1ClassA < handle + properties + self = 0 + end + methods + function obj = ns1ClassA(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + testNamespaces_wrapper(obj.self); + elseif nargin == 0 + obj.self = testNamespaces_wrapper(1); + else + error('Arguments do not match any overload of ns1ClassA constructor'); + end + end + + function delete(obj) + testNamespaces_wrapper(2, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected_namespaces/ns1ClassB.m b/wrap/tests/expected_namespaces/ns1ClassB.m new file mode 100644 index 000000000..bc6dc0198 --- /dev/null +++ b/wrap/tests/expected_namespaces/ns1ClassB.m @@ -0,0 +1,30 @@ +% automatically generated by wrap +classdef ns1ClassB < handle + properties + self = 0 + end + methods + function obj = ns1ClassB(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + testNamespaces_wrapper(obj.self); + elseif nargin == 0 + obj.self = testNamespaces_wrapper(4); + else + error('Arguments do not match any overload of ns1ClassB constructor'); + end + end + + function delete(obj) + testNamespaces_wrapper(5, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected_namespaces/ns2ClassA.m b/wrap/tests/expected_namespaces/ns2ClassA.m new file mode 100644 index 000000000..38a161f07 --- /dev/null +++ b/wrap/tests/expected_namespaces/ns2ClassA.m @@ -0,0 +1,62 @@ +% automatically generated by wrap +classdef ns2ClassA < handle + properties + self = 0 + end + methods + function obj = ns2ClassA(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + testNamespaces_wrapper(obj.self); + elseif nargin == 0 + obj.self = testNamespaces_wrapper(7); + else + error('Arguments do not match any overload of ns2ClassA constructor'); + end + end + + function delete(obj) + testNamespaces_wrapper(8, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + function varargout = memberFunction(self, varargin) + if length(varargin) == 0 + varargout{1} = testNamespaces_wrapper(9, self, varargin{:}); + else + error('Arguments do not match any overload of function ns2ClassA.memberFunction'); + end + end + + function varargout = nsArg(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'ns1ClassB') + varargout{1} = testNamespaces_wrapper(10, self, varargin{:}); + else + error('Arguments do not match any overload of function ns2ClassA.nsArg'); + end + end + + function varargout = nsReturn(self, varargin) + if length(varargin) == 1 && isa(varargin{1},'double') + varargout{1} = testNamespaces_wrapper(11, self, varargin{:}); + else + error('Arguments do not match any overload of function ns2ClassA.nsReturn'); + end + end + + end + + methods(Static = true) + function varargout = Afunction(varargin) + if length(varargin) == 0 + varargout{1} = testNamespaces_wrapper(12, varargin{:}); + else + error('Arguments do not match any overload of function ns2ClassA.Afunction'); + end + end + + end +end diff --git a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp deleted file mode 100644 index 6c903c946..000000000 --- a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// automatically generated by wrap -#include -#include -#include -typedef boost::shared_ptr Shareddouble; -typedef boost::shared_ptr Shared; -void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) -{ - checkArguments("ns2ClassA_afunction",nargout,nargin,0); - double result = ns2::ClassA::afunction(); - out[0] = wrap< double >(result); -} diff --git a/wrap/tests/expected_namespaces/ns2ClassA_afunction.m b/wrap/tests/expected_namespaces/ns2ClassA_afunction.m deleted file mode 100644 index f41203ba1..000000000 --- a/wrap/tests/expected_namespaces/ns2ClassA_afunction.m +++ /dev/null @@ -1,5 +0,0 @@ -% automatically generated by wrap -function result = ns2ClassA_afunction() -% usage: x = ns2ClassA_afunction() - error('need to compile ns2ClassA_afunction.cpp'); -end diff --git a/wrap/tests/expected_namespaces/ns2ClassC.m b/wrap/tests/expected_namespaces/ns2ClassC.m new file mode 100644 index 000000000..647351e2f --- /dev/null +++ b/wrap/tests/expected_namespaces/ns2ClassC.m @@ -0,0 +1,30 @@ +% automatically generated by wrap +classdef ns2ClassC < handle + properties + self = 0 + end + methods + function obj = ns2ClassC(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + testNamespaces_wrapper(obj.self); + elseif nargin == 0 + obj.self = testNamespaces_wrapper(17); + else + error('Arguments do not match any overload of ns2ClassC constructor'); + end + end + + function delete(obj) + testNamespaces_wrapper(18, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected_namespaces/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/ns2ns3ClassB.m new file mode 100644 index 000000000..3df2f52e1 --- /dev/null +++ b/wrap/tests/expected_namespaces/ns2ns3ClassB.m @@ -0,0 +1,30 @@ +% automatically generated by wrap +classdef ns2ns3ClassB < handle + properties + self = 0 + end + methods + function obj = ns2ns3ClassB(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + obj.self = varargin{2}; + testNamespaces_wrapper(obj.self); + elseif nargin == 0 + obj.self = testNamespaces_wrapper(14); + else + error('Arguments do not match any overload of ns2ns3ClassB constructor'); + end + end + + function delete(obj) + testNamespaces_wrapper(15, obj.self); + end + + function display(obj), obj.print(''); end + + function disp(obj), obj.display; end + + end + + methods(Static = true) + end +end diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp new file mode 100644 index 000000000..7d910c9cc --- /dev/null +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -0,0 +1,369 @@ +// automatically generated by wrap +#include +#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; +void _deleteAllObjects() +{ + for(Collector_ns1ClassA::iterator iter = collector_ns1ClassA.begin(); + iter != collector_ns1ClassA.end(); ) { + delete *iter; + collector_ns1ClassA.erase(iter++); + } + for(Collector_ns1ClassB::iterator iter = collector_ns1ClassB.begin(); + iter != collector_ns1ClassB.end(); ) { + delete *iter; + collector_ns1ClassB.erase(iter++); + } + for(Collector_ns2ClassA::iterator iter = collector_ns2ClassA.begin(); + iter != collector_ns2ClassA.end(); ) { + delete *iter; + collector_ns2ClassA.erase(iter++); + } + for(Collector_ns2ns3ClassB::iterator iter = collector_ns2ns3ClassB.begin(); + iter != collector_ns2ns3ClassB.end(); ) { + delete *iter; + collector_ns2ns3ClassB.erase(iter++); + } + for(Collector_ns2ClassC::iterator iter = collector_ns2ClassC.begin(); + iter != collector_ns2ClassC.end(); ) { + delete *iter; + collector_ns2ClassC.erase(iter++); + } + for(Collector_ClassD::iterator iter = collector_ClassD.begin(); + iter != collector_ClassD.end(); ) { + delete *iter; + collector_ClassD.erase(iter++); + } +} +void ns1ClassA_constructor_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_constructor_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 ns2ClassA_constructor_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_ns2ClassA.insert(self); +} +void ns2ClassA_constructor_7(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_8(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_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("memberFunction",nargout,nargin-1,0); + Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); + double result = obj->memberFunction(); + out[0] = wrap< double >(result); +} + +void ns2ClassA_nsArg_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("nsArg",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); + ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); + int result = obj->nsArg(arg); + out[0] = wrap< int >(result); +} + +void ns2ClassA_nsReturn_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr SharedClassB; + typedef boost::shared_ptr Shared; + checkArguments("nsReturn",nargout,nargin-1,1); + Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); + double q = unwrap< double >(in[1]); + ns2::ns3::ClassB result = obj->nsReturn(q); + SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(result)); + out[0] = wrap_shared_ptr(ret,"ns2ns3ClassB"); +} + +void ns2ClassA_afunction_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef boost::shared_ptr Shared; + checkArguments("ns2ClassA.afunction",nargout,nargin,0); + double result = ns2::ClassA::afunction(); + out[0] = wrap< double >(result); +} + +void ns2ns3ClassB_constructor_13(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_14(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_15(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_constructor_16(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_17(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_18(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 ClassD_constructor_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_ClassD.insert(self); +} +void ClassD_constructor_20(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_21(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 mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + int id = unwrap(in[0]); + + switch(id) { + case 0: + ns1ClassA_constructor_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_constructor_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: + ns2ClassA_constructor_6(nargout, out, nargin-1, in+1); + break; + case 7: + ns2ClassA_constructor_7(nargout, out, nargin-1, in+1); + break; + case 8: + ns2ClassA_deconstructor_8(nargout, out, nargin-1, in+1); + break; + case 9: + ns2ClassA_memberFunction_9(nargout, out, nargin-1, in+1); + break; + case 10: + ns2ClassA_nsArg_10(nargout, out, nargin-1, in+1); + break; + case 11: + ns2ClassA_nsReturn_11(nargout, out, nargin-1, in+1); + break; + case 12: + ns2ClassA_afunction_12(nargout, out, nargin-1, in+1); + break; + case 13: + ns2ns3ClassB_constructor_13(nargout, out, nargin-1, in+1); + break; + case 14: + ns2ns3ClassB_constructor_14(nargout, out, nargin-1, in+1); + break; + case 15: + ns2ns3ClassB_deconstructor_15(nargout, out, nargin-1, in+1); + break; + case 16: + ns2ClassC_constructor_16(nargout, out, nargin-1, in+1); + break; + case 17: + ns2ClassC_constructor_17(nargout, out, nargin-1, in+1); + break; + case 18: + ns2ClassC_deconstructor_18(nargout, out, nargin-1, in+1); + break; + case 19: + ClassD_constructor_19(nargout, out, nargin-1, in+1); + break; + case 20: + ClassD_constructor_20(nargout, out, nargin-1, in+1); + break; + case 21: + ClassD_deconstructor_21(nargout, out, nargin-1, in+1); + break; + } + + std::cout.rdbuf(outbuf); +} diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 2a0b5e259..9f9f29688 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -63,11 +63,11 @@ TEST( wrap, check_exception ) { CHECK_EXCEPTION(Module("/alsonotarealpath", "geometry",enable_verbose), CantOpenFile); // clean out previous generated code - fs::remove_all("actual_deps"); + fs::remove_all("actual_deps"); string path = topdir + "/wrap/tests"; Module module(path.c_str(), "testDependencies",enable_verbose); - CHECK_EXCEPTION(module.matlab_code("mex", "actual_deps", "mexa64", headerPath, "-O5"), DependencyMissing); + CHECK_EXCEPTION(module.matlab_code("actual_deps", headerPath), DependencyMissing); } /* ************************************************************************* */ @@ -116,10 +116,13 @@ TEST( wrap, parse ) { EXPECT(assert_equal("x", a1.name)); // check method - Method m1 = cls.methods.front(); - EXPECT(assert_equal("double", m1.returnVal.type1)); + CHECK(cls.methods.find("norm") != cls.methods.end()); + Method m1 = cls.methods.find("norm")->second; + LONGS_EQUAL(1, m1.returnVals.size()); + EXPECT(assert_equal("double", m1.returnVals.front().type1)); EXPECT(assert_equal("norm", m1.name)); - EXPECT_LONGS_EQUAL(0, m1.args.size()); + LONGS_EQUAL(1, m1.argLists.size()); + EXPECT_LONGS_EQUAL(0, m1.argLists.front().size()); EXPECT(m1.is_const_); } @@ -136,10 +139,12 @@ TEST( wrap, parse ) { EXPECT(assert_equal(exp_includes, testCls.includes)); // function to parse: pair return_pair (Vector v, Matrix A) const; - Method m2 = testCls.methods.front(); - EXPECT(m2.returnVal.isPair); - EXPECT(m2.returnVal.category1 == ReturnValue::EIGEN); - EXPECT(m2.returnVal.category2 == ReturnValue::EIGEN); + CHECK(testCls.methods.find("return_pair") != testCls.methods.end()); + Method m2 = testCls.methods.find("return_pair")->second; + LONGS_EQUAL(1, m2.returnVals.size()); + EXPECT(m2.returnVals.front().isPair); + EXPECT(m2.returnVals.front().category1 == ReturnValue::EIGEN); + EXPECT(m2.returnVals.front().category2 == ReturnValue::EIGEN); } } @@ -202,7 +207,6 @@ TEST( wrap, parse_namespaces ) { strvec exp_includes; exp_includes += ""; EXPECT(assert_equal(exp_includes, cls.includes)); } - } /* ************************************************************************* */ @@ -213,38 +217,21 @@ TEST( wrap, matlab_code_namespaces ) { string path = topdir + "/wrap"; // clean out previous generated code - fs::remove_all("actual_namespaces"); + fs::remove_all("actual_namespaces"); // emit MATLAB code - string exp_path = path + "/tests/expected_namespaces/"; - string act_path = "actual_namespaces/"; - module.matlab_code("mex", "actual_namespaces", "mexa64", headerPath, "-O5"); + string exp_path = path + "/tests/expected_namespaces/"; + string act_path = "actual_namespaces/"; + module.matlab_code("actual_namespaces", headerPath); - EXPECT(files_equal(exp_path + "new_ClassD.cpp" , act_path + "new_ClassD.cpp" )); - EXPECT(files_equal(exp_path + "new_ClassD.m" , act_path + "new_ClassD.m" )); - EXPECT(files_equal(exp_path + "new_ns1ClassA.cpp" , act_path + "new_ns1ClassA.cpp" )); - EXPECT(files_equal(exp_path + "new_ns1ClassA.m" , act_path + "new_ns1ClassA.m" )); - EXPECT(files_equal(exp_path + "new_ns1ClassB.cpp" , act_path + "new_ns1ClassB.cpp" )); - EXPECT(files_equal(exp_path + "new_ns1ClassB.m" , act_path + "new_ns1ClassB.m" )); - EXPECT(files_equal(exp_path + "new_ns2ClassA.cpp" , act_path + "new_ns2ClassA.cpp" )); - EXPECT(files_equal(exp_path + "new_ns2ClassA.m" , act_path + "new_ns2ClassA.m" )); - EXPECT(files_equal(exp_path + "new_ns2ClassC.cpp" , act_path + "new_ns2ClassC.cpp" )); - EXPECT(files_equal(exp_path + "new_ns2ClassC.m" , act_path + "new_ns2ClassC.m" )); - EXPECT(files_equal(exp_path + "new_ns2ns3ClassB.cpp" , act_path + "new_ns2ns3ClassB.cpp" )); - EXPECT(files_equal(exp_path + "new_ns2ns3ClassB.m" , act_path + "new_ns2ns3ClassB.m" )); - EXPECT(files_equal(exp_path + "ns2ClassA_afunction.cpp" , act_path + "ns2ClassA_afunction.cpp" )); - EXPECT(files_equal(exp_path + "ns2ClassA_afunction.m" , act_path + "ns2ClassA_afunction.m" )); - EXPECT(files_equal(exp_path + "@ns2ClassA/memberFunction.cpp", act_path + "@ns2ClassA/memberFunction.cpp")); - EXPECT(files_equal(exp_path + "@ns2ClassA/memberFunction.m" , act_path + "@ns2ClassA/memberFunction.m" )); - EXPECT(files_equal(exp_path + "@ns2ClassA/ns2ClassA.m" , act_path + "@ns2ClassA/ns2ClassA.m" )); - EXPECT(files_equal(exp_path + "@ns2ClassA/nsArg.cpp" , act_path + "@ns2ClassA/nsArg.cpp" )); - EXPECT(files_equal(exp_path + "@ns2ClassA/nsArg.m" , act_path + "@ns2ClassA/nsArg.m" )); - EXPECT(files_equal(exp_path + "@ns2ClassA/nsReturn.cpp" , act_path + "@ns2ClassA/nsReturn.cpp" )); - EXPECT(files_equal(exp_path + "@ns2ClassA/nsReturn.m" , act_path + "@ns2ClassA/nsReturn.m" )); - - EXPECT(files_equal(exp_path + "make_testNamespaces.m", act_path + "make_testNamespaces.m")); - EXPECT(files_equal(exp_path + "Makefile" , act_path + "Makefile" )); + EXPECT(files_equal(exp_path + "ClassD.m" , act_path + "ClassD.m" )); + EXPECT(files_equal(exp_path + "ns1ClassA.m" , act_path + "ns1ClassA.m" )); + EXPECT(files_equal(exp_path + "ns1ClassB.m" , act_path + "ns1ClassB.m" )); + EXPECT(files_equal(exp_path + "ns2ClassA.m" , act_path + "ns2ClassA.m" )); + EXPECT(files_equal(exp_path + "ns2ClassC.m" , act_path + "ns2ClassC.m" )); + EXPECT(files_equal(exp_path + "ns2ns3ClassB.m" , act_path + "ns2ns3ClassB.m" )); + EXPECT(files_equal(exp_path + "testNamespaces_wrapper.cpp" , act_path + "testNamespaces_wrapper.cpp" )); } /* ************************************************************************* */ @@ -255,87 +242,18 @@ TEST( wrap, matlab_code ) { string path = topdir + "/wrap"; // clean out previous generated code - fs::remove_all("actual"); + fs::remove_all("actual"); // emit MATLAB code // make_geometry will not compile, use make testwrap to generate real make - module.matlab_code("mex", "actual", "mexa64", headerPath, "-O5"); - string epath = path + "/tests/expected/"; - string apath = "actual/"; - - EXPECT(files_equal(epath + "Makefile" , apath + "Makefile" )); - EXPECT(files_equal(epath + "make_geometry.m" , apath + "make_geometry.m" )); - EXPECT(files_equal(epath + "new_Point2.cpp" , apath + "new_Point2.cpp" )); - EXPECT(files_equal(epath + "new_Point2.m" , apath + "new_Point2.m" )); - EXPECT(files_equal(epath + "new_Point3.cpp" , apath + "new_Point3.cpp" )); - EXPECT(files_equal(epath + "new_Point3.m" , apath + "new_Point3.m" )); - EXPECT(files_equal(epath + "new_Test.cpp" , apath + "new_Test.cpp" )); - EXPECT(files_equal(epath + "new_Test.m" , apath + "new_Test.m" )); - - EXPECT(files_equal(epath + "Point3_staticFunction.cpp" , apath + "Point3_staticFunction.cpp" )); - EXPECT(files_equal(epath + "Point3_staticFunction.m" , apath + "Point3_staticFunction.m" )); - EXPECT(files_equal(epath + "Point3_StaticFunctionRet.cpp" , apath + "Point3_StaticFunctionRet.cpp" )); - EXPECT(files_equal(epath + "Point3_StaticFunctionRet.m" , apath + "Point3_StaticFunctionRet.m" )); - - EXPECT(files_equal(epath + "@Point2/argChar.cpp" , apath + "@Point2/argChar.cpp" )); - EXPECT(files_equal(epath + "@Point2/argChar.m" , apath + "@Point2/argChar.m" )); - EXPECT(files_equal(epath + "@Point2/argUChar.cpp" , apath + "@Point2/argUChar.cpp" )); - EXPECT(files_equal(epath + "@Point2/argUChar.m" , apath + "@Point2/argUChar.m" )); - EXPECT(files_equal(epath + "@Point2/dim.cpp" , apath + "@Point2/dim.cpp" )); - EXPECT(files_equal(epath + "@Point2/dim.m" , apath + "@Point2/dim.m" )); - EXPECT(files_equal(epath + "@Point2/Point2.m" , apath + "@Point2/Point2.m" )); - EXPECT(files_equal(epath + "@Point2/returnChar.cpp" , apath + "@Point2/returnChar.cpp" )); - EXPECT(files_equal(epath + "@Point2/returnChar.m" , apath + "@Point2/returnChar.m" )); - EXPECT(files_equal(epath + "@Point2/vectorConfusion.cpp" , apath + "@Point2/vectorConfusion.cpp" )); - EXPECT(files_equal(epath + "@Point2/vectorConfusion.m" , apath + "@Point2/vectorConfusion.m" )); - EXPECT(files_equal(epath + "@Point2/x.cpp" , apath + "@Point2/x.cpp" )); - EXPECT(files_equal(epath + "@Point2/x.m" , apath + "@Point2/x.m" )); - EXPECT(files_equal(epath + "@Point2/y.cpp" , apath + "@Point2/y.cpp" )); - EXPECT(files_equal(epath + "@Point2/y.m" , apath + "@Point2/y.m" )); - EXPECT(files_equal(epath + "@Point3/norm.cpp" , apath + "@Point3/norm.cpp" )); - EXPECT(files_equal(epath + "@Point3/norm.m" , apath + "@Point3/norm.m" )); - EXPECT(files_equal(epath + "@Point3/Point3.m" , apath + "@Point3/Point3.m" )); - - EXPECT(files_equal(epath + "@Test/arg_EigenConstRef.cpp" , apath + "@Test/arg_EigenConstRef.cpp" )); - EXPECT(files_equal(epath + "@Test/arg_EigenConstRef.m" , apath + "@Test/arg_EigenConstRef.m" )); - EXPECT(files_equal(epath + "@Test/create_MixedPtrs.cpp" , apath + "@Test/create_MixedPtrs.cpp" )); - EXPECT(files_equal(epath + "@Test/create_MixedPtrs.m" , apath + "@Test/create_MixedPtrs.m" )); - EXPECT(files_equal(epath + "@Test/create_ptrs.cpp" , apath + "@Test/create_ptrs.cpp" )); - EXPECT(files_equal(epath + "@Test/create_ptrs.m" , apath + "@Test/create_ptrs.m" )); - EXPECT(files_equal(epath + "@Test/print.cpp" , apath + "@Test/print.cpp" )); - EXPECT(files_equal(epath + "@Test/print.m" , apath + "@Test/print.m" )); - EXPECT(files_equal(epath + "@Test/return_bool.cpp" , apath + "@Test/return_bool.cpp" )); - EXPECT(files_equal(epath + "@Test/return_bool.m" , apath + "@Test/return_bool.m" )); - EXPECT(files_equal(epath + "@Test/return_double.cpp" , apath + "@Test/return_double.cpp" )); - EXPECT(files_equal(epath + "@Test/return_double.m" , apath + "@Test/return_double.m" )); - EXPECT(files_equal(epath + "@Test/return_field.cpp" , apath + "@Test/return_field.cpp" )); - EXPECT(files_equal(epath + "@Test/return_field.m" , apath + "@Test/return_field.m" )); - EXPECT(files_equal(epath + "@Test/return_int.cpp" , apath + "@Test/return_int.cpp" )); - EXPECT(files_equal(epath + "@Test/return_int.m" , apath + "@Test/return_int.m" )); - EXPECT(files_equal(epath + "@Test/return_matrix1.cpp" , apath + "@Test/return_matrix1.cpp" )); - EXPECT(files_equal(epath + "@Test/return_matrix1.m" , apath + "@Test/return_matrix1.m" )); - EXPECT(files_equal(epath + "@Test/return_matrix2.cpp" , apath + "@Test/return_matrix2.cpp" )); - EXPECT(files_equal(epath + "@Test/return_matrix2.m" , apath + "@Test/return_matrix2.m" )); - EXPECT(files_equal(epath + "@Test/return_pair.cpp" , apath + "@Test/return_pair.cpp" )); - EXPECT(files_equal(epath + "@Test/return_pair.m" , apath + "@Test/return_pair.m" )); - EXPECT(files_equal(epath + "@Test/return_Point2Ptr.cpp" , apath + "@Test/return_Point2Ptr.cpp" )); - EXPECT(files_equal(epath + "@Test/return_Point2Ptr.m" , apath + "@Test/return_Point2Ptr.m" )); - EXPECT(files_equal(epath + "@Test/return_ptrs.cpp" , apath + "@Test/return_ptrs.cpp" )); - EXPECT(files_equal(epath + "@Test/return_ptrs.m" , apath + "@Test/return_ptrs.m" )); - EXPECT(files_equal(epath + "@Test/return_size_t.cpp" , apath + "@Test/return_size_t.cpp" )); - EXPECT(files_equal(epath + "@Test/return_size_t.m" , apath + "@Test/return_size_t.m" )); - EXPECT(files_equal(epath + "@Test/return_string.cpp" , apath + "@Test/return_string.cpp" )); - EXPECT(files_equal(epath + "@Test/return_string.m" , apath + "@Test/return_string.m" )); - EXPECT(files_equal(epath + "@Test/return_Test.cpp" , apath + "@Test/return_Test.cpp" )); - EXPECT(files_equal(epath + "@Test/return_Test.m" , apath + "@Test/return_Test.m" )); - EXPECT(files_equal(epath + "@Test/return_TestPtr.cpp" , apath + "@Test/return_TestPtr.cpp" )); - EXPECT(files_equal(epath + "@Test/return_TestPtr.m" , apath + "@Test/return_TestPtr.m" )); - EXPECT(files_equal(epath + "@Test/return_vector1.cpp" , apath + "@Test/return_vector1.cpp" )); - EXPECT(files_equal(epath + "@Test/return_vector1.m" , apath + "@Test/return_vector1.m" )); - EXPECT(files_equal(epath + "@Test/return_vector2.cpp" , apath + "@Test/return_vector2.cpp" )); - EXPECT(files_equal(epath + "@Test/return_vector2.m" , apath + "@Test/return_vector2.m" )); - EXPECT(files_equal(epath + "@Test/Test.m" , apath + "@Test/Test.m" )); + module.matlab_code("actual", headerPath); + string epath = path + "/tests/expected/"; + string apath = "actual/"; + EXPECT(files_equal(epath + "geometry_wrapper.cpp" , apath + "geometry_wrapper.cpp" )); + EXPECT(files_equal(epath + "Point2.m" , apath + "Point2.m" )); + EXPECT(files_equal(epath + "Point3.m" , apath + "Point3.m" )); + EXPECT(files_equal(epath + "Test.m" , apath + "Test.m" )); } /* ************************************************************************* */ From 8a8b27005f32d4d2d5ca957da74e1e0b297e4a83 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 9 Jul 2012 00:02:43 +0000 Subject: [PATCH 579/914] wrap_mods_inheritance branch - Can now pass derived classes in as base class arguments (i.e. pass gtsamPose2 where gtsamValues.insert expects gtsamValue) --- gtsam.h | 26 ++++++++++++------------ wrap/Class.cpp | 46 +++++++++++++++++++++++++----------------- wrap/Constructor.cpp | 18 ++++++++++++++--- wrap/Constructor.h | 4 ++-- wrap/Deconstructor.cpp | 4 ++-- wrap/Deconstructor.h | 3 +-- wrap/matlab.h | 4 ++-- wrap/utilities.cpp | 16 +++++++++------ wrap/utilities.h | 15 +++++++++++++- 9 files changed, 86 insertions(+), 50 deletions(-) diff --git a/gtsam.h b/gtsam.h index 2c2e41e66..98382283f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -65,14 +65,13 @@ namespace gtsam { //************************************************************************* class Value { + // No constructors because this is an abstract class + // Testable void print(string s) const; - bool equals(const gtsam::Value& expected, double tol) const; // Manifold size_t dim() const; - gtsam::Value retract(Vector v) const; - Vector localCoordinates(const gtsam::Value& t2) const; }; class LieVector : gtsam::Value { @@ -107,7 +106,7 @@ class LieVector : gtsam::Value { // geometry //************************************************************************* -class Point2 { +class Point2 : gtsam::Value { // Standard Constructors Point2(); Point2(double x, double y); @@ -139,7 +138,7 @@ class Point2 { Vector vector() const; }; -class StereoPoint2 { +class StereoPoint2 : gtsam::Value { // Standard Constructors StereoPoint2(); StereoPoint2(double uL, double uR, double v); @@ -168,7 +167,7 @@ class StereoPoint2 { Vector vector() const; }; -class Point3 { +class Point3 : gtsam::Value { // Standard Constructors Point3(); Point3(double x, double y, double z); @@ -201,7 +200,7 @@ class Point3 { double z() const; }; -class Rot2 { +class Rot2 : gtsam::Value { // Standard Constructors and Named Constructors Rot2(); Rot2(double theta); @@ -243,7 +242,7 @@ class Rot2 { Matrix matrix() const; }; -class Rot3 { +class Rot3 : gtsam::Value { // Standard Constructors and Named Constructors Rot3(); Rot3(Matrix R); @@ -295,7 +294,7 @@ class Rot3 { // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly }; -class Pose2 { +class Pose2 : gtsam::Value { // Standard Constructor Pose2(); Pose2(double x, double y, double theta); @@ -341,7 +340,7 @@ class Pose2 { Matrix matrix() const; }; -class Pose3 { +class Pose3 : gtsam::Value { // Standard Constructors Pose3(); Pose3(const gtsam::Pose3& pose); @@ -389,7 +388,7 @@ class Pose3 { double range(const gtsam::Pose3& pose); // FIXME: shadows other range }; -class Cal3_S2 { +class Cal3_S2 : gtsam::Value { // Standard Constructors Cal3_S2(); Cal3_S2(double fx, double fy, double s, double u0, double v0); @@ -439,7 +438,7 @@ class Cal3_S2Stereo { double baseline() const; }; -class CalibratedCamera { +class CalibratedCamera : gtsam::Value { // Standard Constructors and Named Constructors CalibratedCamera(); CalibratedCamera(const gtsam::Pose3& pose); @@ -469,7 +468,7 @@ class CalibratedCamera { double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods }; -class SimpleCamera { +class SimpleCamera : gtsam::Value { // Standard Constructors and Named Constructors SimpleCamera(); SimpleCamera(const gtsam::Pose3& pose); @@ -942,6 +941,7 @@ class Values { Values(); size_t size() const; void print(string s) const; + void insert(size_t j, const gtsam::Value& value); bool exists(size_t j) const; }; diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 2688f625e..ebaefc4a8 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -36,6 +36,8 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil // get the name of actual matlab object const string matlabName = qualifiedName(), cppName = qualifiedName("::"); + const string matlabBaseName = wrap::qualifiedName("", qualifiedParent); + const string cppBaseName = wrap::qualifiedName("::", qualifiedParent); // emit class proxy code // we want our class to inherit the handle class for memory purposes @@ -65,15 +67,18 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil BOOST_FOREACH(ArgumentList a, constructor.args_list) { const int id = functionNames.size(); - constructor.proxy_fragment(proxyFile, wrapperName, matlabName, id, a); + constructor.proxy_fragment(proxyFile, wrapperName, matlabName, matlabBaseName, id, a); const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, - cppName, matlabName, id, using_namespaces, includes, a); + cppName, matlabName, cppBaseName, id, using_namespaces, a); wrapperFile.oss << "\n"; functionNames.push_back(wrapFunctionName); } proxyFile.oss << " else\n"; proxyFile.oss << " error('Arguments do not match any overload of " << matlabName << " constructor');" << endl; proxyFile.oss << " end\n"; + if(!qualifiedParent.empty()) + proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n"; + proxyFile.oss << " obj.ptr_" << matlabName << " = my_ptr;\n"; proxyFile.oss << " end\n\n"; // Deconstructor @@ -81,8 +86,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil const int id = functionNames.size(); deconstructor.proxy_fragment(proxyFile, wrapperName, matlabName, id); proxyFile.oss << "\n"; - const string functionName = deconstructor.wrapper_fragment(wrapperFile, - cppName, matlabName, id, using_namespaces, includes); + const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabName, id, using_namespaces); wrapperFile.oss << "\n"; functionNames.push_back(functionName); } @@ -123,41 +127,45 @@ string Class::qualifiedName(const string& delim) const { /* ************************************************************************* */ string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, int id) const { - - static const uint64_t ptr_constructor_key = - (uint64_t('G') << 56) | - (uint64_t('T') << 48) | - (uint64_t('S') << 40) | - (uint64_t('A') << 32) | - (uint64_t('M') << 24) | - (uint64_t('p') << 16) | - (uint64_t('t') << 8) | - (uint64_t('r')); const string matlabName = qualifiedName(), cppName = qualifiedName("::"); - const string wrapFunctionName = matlabName + "_collectorInsert_" + boost::lexical_cast(id); + const string wrapFunctionName = matlabName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(id); + const string baseMatlabName = wrap::qualifiedName("", qualifiedParent); + const string baseCppName = wrap::qualifiedName("::", qualifiedParent); // MATLAB constructor that assigns pointer to matlab object then calls c++ // function to add the object to the collector. proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; - proxyFile.oss << " obj.self = varargin{2};\n"; - proxyFile.oss << " " << wrapperName << "(" << id << ", obj.self);\n"; + proxyFile.oss << " my_ptr = varargin{2};\n"; + if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back + proxyFile.oss << " "; + else + proxyFile.oss << " base_ptr = "; + proxyFile.oss << wrapperName << "(" << id << ", my_ptr);\n"; // Call collector insert and get base class ptr // C++ function to add pointer from MATLAB to collector. The pointer always // comes from a C++ return value; this mechanism allows the object to be added - // to a collector in a different wrap module. + // to a collector in a different wrap module. If this class has a base class, + // a new pointer to the base class is allocated and returned. wrapperFile.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; wrapperFile.oss << "{\n"; wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; generateUsingNamespace(wrapperFile, using_namespaces); // Typedef boost::shared_ptr - wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n"; + wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n"; wrapperFile.oss << "\n"; // Get self pointer passed in wrapperFile.oss << " Shared *self = *reinterpret_cast (mxGetData(in[0]));\n"; // Add to collector wrapperFile.oss << " collector_" << matlabName << ".insert(self);\n"; + // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) + if(!qualifiedParent.empty()) { + wrapperFile.oss << "\n"; + wrapperFile.oss << " typedef boost::shared_ptr<" << baseCppName << "> SharedBase;\n"; + wrapperFile.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"; + wrapperFile.oss << " *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self);\n"; + } wrapperFile.oss << "}\n"; return wrapFunctionName; diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 63ea15146..aaa7f1c8e 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -37,7 +37,7 @@ string Constructor::matlab_wrapper_name(const string& className) const { /* ************************************************************************* */ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperName, - const string& className, const int id, const ArgumentList args) const { + const string& matlabName, const string& matlabBaseName, const int id, const ArgumentList args) const { size_t nrArgs = args.size(); // check for number of arguments... file.oss << " elseif nargin == " << nrArgs; @@ -50,7 +50,11 @@ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperNam first=false; } // emit code for calling constructor - file.oss << "\n obj.self = " << wrapperName << "(" << id; + if(matlabBaseName.empty()) + file.oss << "\n my_ptr = "; + else + file.oss << "\n [ my_ptr, base_ptr ] = "; + file.oss << wrapperName << "(" << id; // emit constructor arguments for(size_t i=0;i& using_namespaces, - const vector& includes, const ArgumentList& al) const { const string wrapFunctionName = matlabClassName + "_constructor_" + boost::lexical_cast(id); @@ -89,6 +93,14 @@ string Constructor::wrapper_fragment(FileWriter& file, file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl; file.oss << " *reinterpret_cast (mxGetData(out[0])) = self;" << endl; + // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) + if(!cppBaseClassName.empty()) { + file.oss << "\n"; + file.oss << " typedef boost::shared_ptr<" << cppBaseClassName << "> SharedBase;\n"; + file.oss << " out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"; + file.oss << " *reinterpret_cast(mxGetData(out[1])) = new SharedBase(*self);\n"; + } + file.oss << "}" << endl; return wrapFunctionName; diff --git a/wrap/Constructor.h b/wrap/Constructor.h index 4a9e31f9b..46f5c5db9 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -49,16 +49,16 @@ struct Constructor { * if nargin == 2, obj.self = new_Pose3_RP(varargin{1},varargin{2}); end */ void proxy_fragment(FileWriter& file, const std::string& wrapperName, - const std::string& className, const int id, + const std::string& className, const std::string& matlabBaseName, const int id, const ArgumentList args) const; /// cpp wrapper std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, const std::string& matlabClassName, + const std::string& cppBaseClassName, int id, const std::vector& using_namespaces, - const std::vector& includes, const ArgumentList& al) const; /// constructor function diff --git a/wrap/Deconstructor.cpp b/wrap/Deconstructor.cpp index 335488cf5..aa4969af5 100644 --- a/wrap/Deconstructor.cpp +++ b/wrap/Deconstructor.cpp @@ -39,7 +39,7 @@ void Deconstructor::proxy_fragment(FileWriter& file, const std::string& qualifiedMatlabName, int id) const { file.oss << " function delete(obj)\n"; - file.oss << " " << wrapperName << "(" << id << ", obj.self);\n"; + file.oss << " " << wrapperName << "(" << id << ", obj.ptr_" << qualifiedMatlabName << ");\n"; file.oss << " end\n"; } @@ -48,7 +48,7 @@ string Deconstructor::wrapper_fragment(FileWriter& file, const string& cppClassName, const string& matlabClassName, int id, - const vector& using_namespaces, const vector& includes) const { + const vector& using_namespaces) const { const string matlabName = matlab_wrapper_name(matlabClassName); diff --git a/wrap/Deconstructor.h b/wrap/Deconstructor.h index 363f986e6..035ff74df 100644 --- a/wrap/Deconstructor.h +++ b/wrap/Deconstructor.h @@ -55,8 +55,7 @@ struct Deconstructor { const std::string& cppClassName, const std::string& matlabClassName, int id, - const std::vector& using_namespaces, - const std::vector& includes) const; + const std::vector& using_namespaces) const; }; } // \namespace wrap diff --git a/wrap/matlab.h b/wrap/matlab.h index 90f706a37..4033844e4 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -56,7 +56,7 @@ using namespace boost; // not usual, but for conciseness of generated code #endif // "Unique" key to signal calling the matlab object constructor with a raw pointer -// Also present in Class.cpp +// Also present in utilities.h static const uint64_t ptr_constructor_key = (uint64_t('G') << 56) | (uint64_t('T') << 48) | @@ -383,7 +383,7 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *cla template boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { - mxArray* mxh = mxGetProperty(obj,0, propertyName); + mxArray* mxh = mxGetProperty(obj,0, propertyName.c_str()); if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( "Parameter is not an Shared type."); diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index fdad6de7c..94117b5d3 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -137,12 +137,16 @@ void generateIncludes(FileWriter& file, const string& class_name, /* ************************************************************************* */ string qualifiedName(const string& separator, const vector& names, const string& finalName) { string result; - for(size_t i = 0; i < names.size() - 1; ++i) - result += (names[i] + separator); - if(finalName.empty()) - result += names.back(); - else - result += (names.back() + separator + finalName); + if(!names.empty()) { + for(size_t i = 0; i < names.size() - 1; ++i) + result += (names[i] + separator); + if(finalName.empty()) + result += names.back(); + else + result += (names.back() + separator + finalName); + } else if(!finalName.empty()) { + result = finalName; + } return result; } diff --git a/wrap/utilities.h b/wrap/utilities.h index 6652cc8fd..b0c9fb208 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -21,6 +21,7 @@ #include #include #include +#include #include "FileWriter.h" @@ -65,7 +66,19 @@ public: return ("Missing dependency " + dependency_ + " in " + location_).c_str(); } }; - + +/** Special "magic number" passed into MATLAB constructor to indicate creating + * a MATLAB object from a shared_ptr allocated in C++ + */ +static const uint64_t ptr_constructor_key = + (uint64_t('G') << 56) | + (uint64_t('T') << 48) | + (uint64_t('S') << 40) | + (uint64_t('A') << 32) | + (uint64_t('M') << 24) | + (uint64_t('p') << 16) | + (uint64_t('t') << 8) | + (uint64_t('r')); /** * read contents of a file into a std::string From e451a959913f0629ee895cb4487beae6d65c6895 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 9 Jul 2012 17:14:21 +0000 Subject: [PATCH 580/914] Added wrap target to exported/installed targets --- wrap/CMakeLists.txt | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 866ee7a3f..4d6e81d2f 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -11,9 +11,11 @@ gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers}) add_executable(wrap wrap.cpp) target_link_libraries(wrap wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) -# Install wrap binary +# Install wrap binary and export target if (GTSAM_INSTALL_WRAP) - install(TARGETS wrap DESTINATION bin) + install(TARGETS wrap EXPORT GTSAM-exports DESTINATION bin) + list(APPEND GTSAM_EXPORTED_TARGETS wrap) + set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) endif(GTSAM_INSTALL_WRAP) # Install matlab header From 280bbbb54ea14987c2660f77891c5397924d9228 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 9 Jul 2012 18:51:07 +0000 Subject: [PATCH 581/914] Wrapped Ordering::InvertedMap --- gtsam.h | 25 +++++++++++++++++++------ gtsam/nonlinear/Ordering.h | 5 ++++- 2 files changed, 23 insertions(+), 7 deletions(-) diff --git a/gtsam.h b/gtsam.h index f5d245111..767944d29 100644 --- a/gtsam.h +++ b/gtsam.h @@ -6,13 +6,16 @@ * * Requirements: * Classes must start with an uppercase letter - * Only one Method/Constructor per line + * - 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, size_t, double, char, unsigned char * - void * - Any class with which be copied with boost::make_shared() * - boost::shared_ptr of any object type + * Methods cannot return + * - const references of anything * Limitations on methods * - Parsing does not support overloading * - There can only be one method (static or otherwise) with a given name @@ -35,7 +38,7 @@ * 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" - * Using namespace + * Using namespace: FIXME: this functionality is currently broken * - To use a namespace (e.g., generate a "using namespace x" line in cpp files), add "using namespace x;" * - This declaration applies to all classes *after* the declaration, regardless of brackets * Includes in C++ wrappers @@ -46,14 +49,12 @@ * - Both classes and namespace accept exactly one namespace * Overriding type dependency checks * - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error - * - Limitation: this only works if the class does not need a namespace specification */ /** * Status: * - TODO: global functions * - TODO: default values for arguments - * - TODO: overloaded functions * - TODO: signatures for constructors can be ambiguous if two types have the same first letter * - TODO: Handle gtsam::Rot3M conversions to quaternions */ @@ -909,8 +910,20 @@ class Ordering { void insert(size_t key, size_t order); void push_back(size_t key); void permuteWithInverse(const gtsam::Permutation& inversePermutation); - // FIXME: Wrap InvertedMap as well - //InvertedMap invert() const; + gtsam::InvertedOrdering invert() const; +}; + +#include +class InvertedOrdering { + InvertedOrdering(); + + // FIXME: add bracket operator overload + + bool empty() const; + size_t size() const; + bool count(size_t index) const; // Use as a boolean function with implicit cast + + void clear(); }; class NonlinearFactorGraph { diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index 098976a36..c2bac18f8 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -233,7 +233,10 @@ private: ar & BOOST_SERIALIZATION_NVP(order_); ar & BOOST_SERIALIZATION_NVP(nVars_); } -}; +}; // \class Ordering + +// typedef for use with matlab +typedef Ordering::InvertedMap InvertedOrdering; /** * @class Unordered From ee51dfd68bf0fe3c05dee1d0a29f6c1ce7eb5590 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 9 Jul 2012 20:04:06 +0000 Subject: [PATCH 582/914] Fixing usage of globals in matlab examples/tests. Currently, tests fail due to handling of noisemodel --- matlab/VisualISAMGenerateData.m | 2 +- matlab/VisualISAMInitialize.m | 8 ++++---- matlab/examples/LocalizationExample.m | 4 ++-- matlab/examples/OdometryExample.m | 4 ++-- matlab/examples/PlanarSLAMExample.m | 6 +++--- matlab/examples/PlanarSLAMExample_sampling.m | 8 ++++---- matlab/examples/Pose2SLAMExample.m | 6 +++--- matlab/examples/Pose2SLAMExample_advanced.m | 6 +++--- matlab/examples/Pose2SLAMExample_circle.m | 4 ++-- matlab/examples/Pose2SLAMExample_graph.m | 4 ++-- matlab/examples/Pose2SLAMwSPCG.m | 6 +++--- matlab/examples/Pose3SLAMExample.m | 4 ++-- matlab/examples/Pose3SLAMExample_graph.m | 2 +- matlab/examples/SBAExample.m | 6 +++--- matlab/examples/SFMExample.m | 6 +++--- matlab/examples/StereoVOExample.m | 2 +- matlab/examples/StereoVOExample_large.m | 2 +- matlab/load3D.m | 4 ++-- matlab/tests/testJacobianFactor.m | 4 ++-- matlab/tests/testKalmanFilter.m | 4 ++-- matlab/tests/testLocalizationExample.m | 4 ++-- matlab/tests/testOdometryExample.m | 4 ++-- matlab/tests/testPlanarSLAMExample.m | 6 +++--- matlab/tests/testPose2SLAMExample.m | 6 +++--- matlab/tests/testPose3SLAMExample.m | 4 ++-- matlab/tests/testSFMExample.m | 6 +++--- matlab/tests/testStereoVOExample.m | 2 +- 27 files changed, 62 insertions(+), 62 deletions(-) diff --git a/matlab/VisualISAMGenerateData.m b/matlab/VisualISAMGenerateData.m index 3c55417d9..1c71185e2 100644 --- a/matlab/VisualISAMGenerateData.m +++ b/matlab/VisualISAMGenerateData.m @@ -29,7 +29,7 @@ data.K = truth.K; for i=1:options.nrCameras theta = (i-1)*2*pi/options.nrCameras; t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - truth.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), truth.K); + truth.cameras{i} = gtsamSimpleCamera.Lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), truth.K); % Create measurements for j=1:nrPoints % All landmarks seen in every frame diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index 139d40e65..b2b960a7b 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -6,10 +6,10 @@ function [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options) isam = visualSLAMISAM(options.reorderInterval); %% Set Noise parameters -noiseModels.pose = gtsamnoiseModelDiagonal_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.odometry = gtsamnoiseModelDiagonal_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.point = gtsamnoiseModelIsotropic_Sigma(3, 0.1); -noiseModels.measurement = gtsamnoiseModelIsotropic_Sigma(2, 1.0); +noiseModels.pose = gtsamnoiseModelDiagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.odometry = gtsamnoiseModelDiagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.point = gtsamnoiseModelIsotropic.Sigma(3, 0.1); +noiseModels.measurement = gtsamnoiseModelIsotropic.Sigma(2, 1.0); %% Add constraints/priors % TODO: should not be from ground truth! diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index d3e563dd4..3f48bb8e4 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -20,13 +20,13 @@ graph = pose2SLAMGraph; %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta -noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.1; 10]); +noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.1; 10]); graph.addPosePrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel); graph.addPosePrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel); graph.addPosePrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel); diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index b3cbff6a2..e90550152 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -20,12 +20,12 @@ graph = pose2SLAMGraph; %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add two odometry factors odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index 499845eda..7557bd0ba 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -28,18 +28,18 @@ graph = planarSLAMGraph; %% Add prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(i1, i2, odometry, odometryNoise); graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors degrees = pi/180; -noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); +noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m index 861e56db9..560ab7ace 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/examples/PlanarSLAMExample_sampling.m @@ -15,22 +15,22 @@ i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); graph = planarSLAMGraph; priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(i1, i2, odometry, odometryNoise); graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Except, for measurements we offer a choice j1 = symbol('l',1); j2 = symbol('l',2); degrees = pi/180; -noiseModel = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); +noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); if 1 graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); else - bearingModel = gtsamnoiseModelDiagonal_Sigmas(0.1); + bearingModel = gtsamnoiseModelDiagonal.Sigmas(0.1); graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); end diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index 776260e3f..9cb5b8af4 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -24,19 +24,19 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); graph.addRelativePose(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addRelativePose(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addRelativePose(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +model = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print diff --git a/matlab/examples/Pose2SLAMExample_advanced.m b/matlab/examples/Pose2SLAMExample_advanced.m index 843ae7e1c..45d288e50 100644 --- a/matlab/examples/Pose2SLAMExample_advanced.m +++ b/matlab/examples/Pose2SLAMExample_advanced.m @@ -25,20 +25,20 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add measurements % general noisemodel for measurements -measurementNoise = gtsamnoiseModelDiagonal_Sigmas([0.1; 0.2]); +measurementNoise = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); % print graph.print('full graph'); diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index e05a77186..c089f5949 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -11,7 +11,7 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create a hexagon of poses -hexagon = pose2SLAMValues_Circle(6,1.0); +hexagon = pose2SLAMValues.Circle(6,1.0); p0 = hexagon.pose(0); p1 = hexagon.pose(1); @@ -19,7 +19,7 @@ p1 = hexagon.pose(1); fg = pose2SLAMGraph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 5*pi/180]); +covariance = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 5*pi/180]); fg.addRelativePose(0,1, delta, covariance); fg.addRelativePose(1,2, delta, covariance); fg.addRelativePose(2,3, delta, covariance); diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index a2645a593..258730aaa 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -11,13 +11,13 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Initialize graph, initial estimate, and odometry noise -model = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 5*pi/180]); +model = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 5*pi/180]); [graph,initial]=load2D('../../examples/Data/w100-odom.graph',model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.01; 0.01; 0.01]); +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.01; 0.01; 0.01]); graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph %% Plot Initial Estimate diff --git a/matlab/examples/Pose2SLAMwSPCG.m b/matlab/examples/Pose2SLAMwSPCG.m index 3d0ce8da7..3e773689b 100644 --- a/matlab/examples/Pose2SLAMwSPCG.m +++ b/matlab/examples/Pose2SLAMwSPCG.m @@ -22,19 +22,19 @@ graph = pose2SLAMGraph; %% Add prior % gaussian for prior priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal_Sigmas([0.3; 0.3; 0.1]); +priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamnoiseModelDiagonal_Sigmas([0.2; 0.2; 0.1]); +model = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); % print diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index c335203eb..c1328585e 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -11,7 +11,7 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create a hexagon of poses -hexagon = pose3SLAMValues_Circle(6,1.0); +hexagon = pose3SLAMValues.Circle(6,1.0); p0 = hexagon.pose(0); p1 = hexagon.pose(1); @@ -19,7 +19,7 @@ p1 = hexagon.pose(1); fg = pose3SLAMGraph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +covariance = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); fg.addRelativePose(0,1, delta, covariance); fg.addRelativePose(1,2, delta, covariance); fg.addRelativePose(2,3, delta, covariance); diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m index f2c411d08..f39fc306b 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/examples/Pose3SLAMExample_graph.m @@ -16,7 +16,7 @@ N = 2500; filename = '../../examples/Data/sphere2500.txt'; %% Initialize graph, initial estimate, and odometry noise -model = gtsamnoiseModelDiagonal_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +model = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); [graph,initial]=load3D(filename,model,true,N); %% Plot Initial Estimate diff --git a/matlab/examples/SBAExample.m b/matlab/examples/SBAExample.m index 9050d011d..82fdd4646 100644 --- a/matlab/examples/SBAExample.m +++ b/matlab/examples/SBAExample.m @@ -34,7 +34,7 @@ graph = sparseBAGraph; %% Add factors for all measurements -measurementNoise = gtsamnoiseModelIsotropic_Sigma(2,measurementNoiseSigma); +measurementNoise = gtsamnoiseModelIsotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; @@ -43,11 +43,11 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -cameraPriorNoise = gtsamnoiseModelDiagonal_Sigmas(cameraNoiseSigmas); +cameraPriorNoise = gtsamnoiseModelDiagonal.Sigmas(cameraNoiseSigmas); firstCamera = gtsamSimpleCamera(truth.cameras{1}.pose, truth.K); graph.addSimpleCameraPrior(symbol('c',1), firstCamera, cameraPriorNoise); -pointPriorNoise = gtsamnoiseModelIsotropic_Sigma(3,pointNoiseSigma); +pointPriorNoise = gtsamnoiseModelIsotropic.Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 277f31648..3eef9f916 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -32,7 +32,7 @@ poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; graph = visualSLAMGraph; %% Add factors for all measurements -measurementNoise = gtsamnoiseModelIsotropic_Sigma(2,measurementNoiseSigma); +measurementNoise = gtsamnoiseModelIsotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; @@ -41,9 +41,9 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -posePriorNoise = gtsamnoiseModelDiagonal_Sigmas(poseNoiseSigmas); +posePriorNoise = gtsamnoiseModelDiagonal.Sigmas(poseNoiseSigmas); graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); -pointPriorNoise = gtsamnoiseModelIsotropic_Sigma(3,pointNoiseSigma); +pointPriorNoise = gtsamnoiseModelIsotropic.Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 99adaa82b..9cf838e94 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -31,7 +31,7 @@ graph.addPoseConstraint(x1, first_pose); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline K = gtsamCal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); -stereo_model = gtsamnoiseModelDiagonal_Sigmas([1.0; 1.0; 1.0]); +stereo_model = gtsamnoiseModelDiagonal.Sigmas([1.0; 1.0; 1.0]); %% Add measurements % pose 1 diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/examples/StereoVOExample_large.m index ef1211e2a..d57628fa1 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/examples/StereoVOExample_large.m @@ -14,7 +14,7 @@ % format: fx fy skew cx cy baseline calib = dlmread('../../examples/Data/VO_calibration.txt'); K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); -stereo_model = gtsamnoiseModelDiagonal_Sigmas([1.0; 1.0; 1.0]); +stereo_model = gtsamnoiseModelDiagonal.Sigmas([1.0; 1.0; 1.0]); %% create empty graph and values graph = visualSLAMGraph; diff --git a/matlab/load3D.m b/matlab/load3D.m index 6ba861a92..b457ea1af 100644 --- a/matlab/load3D.m +++ b/matlab/load3D.m @@ -29,7 +29,7 @@ for i=1:n i=v{2}; if (~successive & i Date: Mon, 9 Jul 2012 20:05:34 +0000 Subject: [PATCH 583/914] Updated notes on interface --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 767944d29..90cbe7bdf 100644 --- a/gtsam.h +++ b/gtsam.h @@ -22,6 +22,7 @@ * - Constness has no effect * Methods must start with a lowercase letter * Static methods must start with a letter (upper or lowercase) and use the "static" keyword + * - The function generated by wrap will start with an uppercase letter, regardless * Arguments to functions any of * - Eigen types: Matrix, Vector * - Eigen types and classes as an optionally const reference @@ -46,7 +47,6 @@ * - All namespaces must have angle brackets: * - To override, add a full include statement just before the class statement * - An override include can be added for a namespace by placing it just before the namespace statement - * - Both classes and namespace accept exactly one namespace * Overriding type dependency checks * - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error */ From dd8afd652797ccca14d7d18460941d221ae46c22 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 9 Jul 2012 20:17:49 +0000 Subject: [PATCH 584/914] Added clone() to Value --- gtsam/base/DerivedValue.h | 12 ++++++++++-- gtsam/base/Value.h | 5 ++++- 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/gtsam/base/DerivedValue.h b/gtsam/base/DerivedValue.h index 6c10a29f5..4f6dae9c7 100644 --- a/gtsam/base/DerivedValue.h +++ b/gtsam/base/DerivedValue.h @@ -16,7 +16,7 @@ */ #pragma once - +#include #include #include @@ -37,7 +37,8 @@ public: /** * Create a duplicate object returned as a pointer to the generic Value interface. - * For the sake of performance, this function use singleton pool allocator instead of the normal heap allocator + * For the sake of performance, this function use singleton pool allocator instead of the normal heap allocator. + * The result must be deleted with Value::deallocate_, not with the 'delete' operator. */ virtual Value* clone_() const { void *place = boost::singleton_pool::malloc(); @@ -53,6 +54,13 @@ public: boost::singleton_pool::free((void*)this); } + /** + * Clone this value (normal clone on the heap, delete with 'delete' operator) + */ + virtual boost::shared_ptr clone() const { + return boost::make_shared(static_cast(*this)); + } + /// equals implementing generic Value interface virtual bool equals_(const Value& p, double tol = 1e-9) const { // Cast the base class Value pointer to a derived class pointer diff --git a/gtsam/base/Value.h b/gtsam/base/Value.h index 394a11e72..8b19a6532 100644 --- a/gtsam/base/Value.h +++ b/gtsam/base/Value.h @@ -101,12 +101,15 @@ namespace gtsam { class Value { public: - /** Allocate and construct a clone of this value */ + /** Clone this value in a special memory pool, must be deleted with Value::deallocate_, *not* with the 'delete' operator. */ virtual Value* clone_() const = 0; /** Deallocate a raw pointer of this value */ virtual void deallocate_() const = 0; + /** Clone this value (normal clone on the heap, delete with 'delete' operator) */ + virtual boost::shared_ptr clone() const = 0; + /** Compare this Value with another for equality. */ virtual bool equals_(const Value& other, double tol = 1e-9) const = 0; From e915e666b5b8ea603162802a14aa357bb448ea54 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 9 Jul 2012 20:19:37 +0000 Subject: [PATCH 585/914] Can return abstract base classes from functions in matlab wrapper, i.e. Values::at --- gtsam.h | 55 ++++++++++++++++++++++++++----------------- wrap/Class.cpp | 8 ++++--- wrap/Class.h | 5 ++-- wrap/Method.cpp | 20 +++++++--------- wrap/Method.h | 4 +++- wrap/Module.cpp | 46 ++++++++++++++++++++++++++---------- wrap/Module.h | 10 +++++++- wrap/ReturnValue.cpp | 35 +++++++++++++++++++-------- wrap/ReturnValue.h | 11 ++++++++- wrap/StaticMethod.cpp | 17 +++++++------ wrap/StaticMethod.h | 4 +++- wrap/matlab.h | 32 ++++++++----------------- wrap/utilities.h | 46 ++++++++++++++++++------------------ 13 files changed, 176 insertions(+), 117 deletions(-) diff --git a/gtsam.h b/gtsam.h index 98382283f..fcf9e2343 100644 --- a/gtsam.h +++ b/gtsam.h @@ -13,12 +13,17 @@ * - void * - Any class with which be copied with boost::make_shared() * - boost::shared_ptr of any object type - * Limitations on methods - * - Parsing does not support overloading - * - There can only be one method (static or otherwise) with a given name + * Constructors + * - Overloads are supported + * - A class with no constructors can be returned from other functions but not allocated directly in MATLAB + * Methods * - Constness has no effect - * Methods must start with a lowercase letter - * Static methods must start with a letter (upper or lowercase) and use the "static" keyword + * - Must start with a lowercase letter + * - Overloads are supported + * Static methods + * - Must start with a letter (upper or lowercase) and use the "static" keyword + * - Static method names will be changed to start with an uppercase letter in the generated MATLAB interface + * - Overloads are supported * Arguments to functions any of * - Eigen types: Matrix, Vector * - Eigen types and classes as an optionally const reference @@ -44,17 +49,23 @@ * - To override, add a full include statement just before the class statement * - An override include can be added for a namespace by placing it just before the namespace statement * - Both classes and namespace accept exactly one namespace - * Overriding type dependency checks + * 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 - * - Limitation: this only works if the class does not need a namespace specification + * Virtual inheritance + * - Specify fully-qualified base classes, i.e. "virtual class Derived : module::Base {" + * - Mark with 'virtual' keyword, e.g. "virtual class Base {", and also "virtual class Derived : module::Base {" + * - Forward declarations must also be marked virtual, e.g. "virtual class module::Base;" and + * also "virtual class module::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). */ /** * Status: * - TODO: global functions * - TODO: default values for arguments - * - TODO: overloaded functions - * - TODO: signatures for constructors can be ambiguous if two types have the same first letter * - TODO: Handle gtsam::Rot3M conversions to quaternions */ @@ -64,8 +75,9 @@ namespace gtsam { // base //************************************************************************* -class Value { +virtual class Value { // No constructors because this is an abstract class + Value(const gtsam::Value& rhs); // Testable void print(string s) const; @@ -74,7 +86,7 @@ class Value { size_t dim() const; }; -class LieVector : gtsam::Value { +virtual class LieVector : gtsam::Value { // Standard constructors LieVector(); LieVector(Vector v); @@ -106,7 +118,7 @@ class LieVector : gtsam::Value { // geometry //************************************************************************* -class Point2 : gtsam::Value { +virtual class Point2 : gtsam::Value { // Standard Constructors Point2(); Point2(double x, double y); @@ -138,7 +150,7 @@ class Point2 : gtsam::Value { Vector vector() const; }; -class StereoPoint2 : gtsam::Value { +virtual class StereoPoint2 : gtsam::Value { // Standard Constructors StereoPoint2(); StereoPoint2(double uL, double uR, double v); @@ -167,7 +179,7 @@ class StereoPoint2 : gtsam::Value { Vector vector() const; }; -class Point3 : gtsam::Value { +virtual class Point3 : gtsam::Value { // Standard Constructors Point3(); Point3(double x, double y, double z); @@ -200,7 +212,7 @@ class Point3 : gtsam::Value { double z() const; }; -class Rot2 : gtsam::Value { +virtual class Rot2 : gtsam::Value { // Standard Constructors and Named Constructors Rot2(); Rot2(double theta); @@ -242,7 +254,7 @@ class Rot2 : gtsam::Value { Matrix matrix() const; }; -class Rot3 : gtsam::Value { +virtual class Rot3 : gtsam::Value { // Standard Constructors and Named Constructors Rot3(); Rot3(Matrix R); @@ -294,7 +306,7 @@ class Rot3 : gtsam::Value { // Vector toQuaternion() const; // FIXME: Can't cast to Vector properly }; -class Pose2 : gtsam::Value { +virtual class Pose2 : gtsam::Value { // Standard Constructor Pose2(); Pose2(double x, double y, double theta); @@ -340,7 +352,7 @@ class Pose2 : gtsam::Value { Matrix matrix() const; }; -class Pose3 : gtsam::Value { +virtual class Pose3 : gtsam::Value { // Standard Constructors Pose3(); Pose3(const gtsam::Pose3& pose); @@ -388,7 +400,7 @@ class Pose3 : gtsam::Value { double range(const gtsam::Pose3& pose); // FIXME: shadows other range }; -class Cal3_S2 : gtsam::Value { +virtual class Cal3_S2 : gtsam::Value { // Standard Constructors Cal3_S2(); Cal3_S2(double fx, double fy, double s, double u0, double v0); @@ -438,7 +450,7 @@ class Cal3_S2Stereo { double baseline() const; }; -class CalibratedCamera : gtsam::Value { +virtual class CalibratedCamera : gtsam::Value { // Standard Constructors and Named Constructors CalibratedCamera(); CalibratedCamera(const gtsam::Pose3& pose); @@ -468,7 +480,7 @@ class CalibratedCamera : gtsam::Value { double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods }; -class SimpleCamera : gtsam::Value { +virtual class SimpleCamera : gtsam::Value { // Standard Constructors and Named Constructors SimpleCamera(); SimpleCamera(const gtsam::Pose3& pose); @@ -943,6 +955,7 @@ class Values { void print(string s) const; void insert(size_t j, const gtsam::Value& value); bool exists(size_t j) const; + gtsam::Value at(size_t j) const; }; // Actually a FastList diff --git a/wrap/Class.cpp b/wrap/Class.cpp index ebaefc4a8..fa6a0c950 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -30,7 +30,9 @@ using namespace std; using namespace wrap; /* ************************************************************************* */ -void Class::matlab_proxy(const string& classFile, const string& wrapperName, FileWriter& wrapperFile, vector& functionNames) const { +void Class::matlab_proxy(const string& classFile, const string& wrapperName, + const ReturnValue::TypeAttributesTable& typeAttributes, + FileWriter& wrapperFile, vector& functionNames) const { // open destination classFile FileWriter proxyFile(classFile, verbose_, "%"); @@ -96,7 +98,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil // Methods BOOST_FOREACH(const Methods::value_type& name_m, methods) { const Method& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } @@ -108,7 +110,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil // Static methods BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { const StaticMethod& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } diff --git a/wrap/Class.h b/wrap/Class.h index 4d31b4972..5703f8353 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -34,10 +34,11 @@ struct Class { typedef std::map StaticMethods; /// Constructor creates an empty class - Class(bool verbose=true) : verbose_(verbose) {} + Class(bool verbose=true) : verbose_(verbose), isVirtual(false) {} // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name + bool isVirtual; ///< Whether the class is part of a virtual inheritance chain std::vector qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack Methods methods; ///< Class methods StaticMethods static_methods; ///< Static methods @@ -49,7 +50,7 @@ struct Class { bool verbose_; ///< verbose flag // And finally MATLAB code is emitted, methods below called by Module::matlab_code - void matlab_proxy(const std::string& classFile, const std::string& wrapperName, + void matlab_proxy(const std::string& classFile, const std::string& wrapperName, const ReturnValue::TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 01bb80189..f44a08a73 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -41,6 +41,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF const string& matlabClassName, const string& wrapperName, const vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes, vector& functionNames) const { proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; @@ -79,7 +80,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF // Output C++ wrapper code const string wrapFunctionName = wrapper_fragment( - wrapperFile, cppClassName, matlabClassName, overload, id, using_namespaces); + wrapperFile, cppClassName, matlabClassName, overload, id, using_namespaces, typeAttributes); // Add to function list functionNames.push_back(wrapFunctionName); @@ -100,7 +101,8 @@ string Method::wrapper_fragment(FileWriter& file, const string& matlabClassName, int overload, int id, - const vector& using_namespaces) const { + const vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes) const { // generate code @@ -139,16 +141,12 @@ string Method::wrapper_fragment(FileWriter& file, // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,1); - // call method - // example: bool result = self->return_field(t); - file.oss << " "; + // call method and wrap result + // example: out[0]=wrap(self->return_field(t)); if (returnVal.type1!="void") - file.oss << returnVal.return_type(true,ReturnValue::pair) << " result = "; - file.oss << "obj->" << name << "(" << args.names() << ");\n"; - - // wrap result - // example: out[0]=wrap(result); - returnVal.wrap_result(file); + returnVal.wrap_result("obj->"+name+"("+args.names()+")", file, typeAttributes); + else + file.oss << " obj->"+name+"("+args.names()+");\n"; // finish file.oss << "}\n"; diff --git a/wrap/Method.h b/wrap/Method.h index 204e3002d..d9b1f09f1 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -50,6 +50,7 @@ struct Method { void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& cppClassName, const std::string& matlabClassName, const std::string& wrapperName, const std::vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes, std::vector& functionNames) const; private: @@ -58,7 +59,8 @@ private: const std::string& matlabClassname, int overload, int id, - const std::vector& using_namespaces) const; ///< cpp wrapper + const std::vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes) const; ///< cpp wrapper }; } // \namespace wrap diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 5482a19b1..006e38d4a 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -24,8 +24,10 @@ //#define BOOST_SPIRIT_DEBUG #include #include +#include #include #include +#include #include #include #include @@ -65,12 +67,12 @@ Module::Module(const string& interfacePath, //Method method0(enable_verbose), method(enable_verbose); StaticMethod static_method0(enable_verbose), static_method(enable_verbose); Class cls0(enable_verbose),cls(enable_verbose); + ForwardDeclaration fwDec0, fwDec; vector namespaces, /// current namespace tag namespace_includes, /// current set of includes namespaces_return, /// namespace for current return type using_namespace_current; /// All namespaces from "using" declarations string include_path = ""; - string class_name = ""; const string null_str = ""; //---------------------------------------------------------------------------- @@ -200,6 +202,7 @@ Module::Module(const string& interfacePath, Rule class_p = (!*include_p + >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] >> className_p[assign_a(cls.name)] >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec @@ -212,7 +215,7 @@ Module::Module(const string& interfacePath, [append_a(cls.includes, namespace_includes)] [assign_a(deconstructor.name,cls.name)] [assign_a(cls.deconstructor, deconstructor)] - [push_back_a(classes,cls)] + [push_back_a(classes, cls)] [assign_a(deconstructor,deconstructor0)] [assign_a(constructor, constructor0)] [assign_a(cls,cls0)]; @@ -233,9 +236,12 @@ Module::Module(const string& interfacePath, >> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';'); Rule forward_declaration_p = - str_p("class") >> - (*(namespace_name_p >> str_p("::")) >> className_p)[push_back_a(forward_declarations)] - >> ch_p(';'); + !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) + >> str_p("class") + >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] + >> ch_p(';') + [push_back_a(forward_declarations, fwDec)] + [assign_a(fwDec, fwDec0)]; Rule module_content_p = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ; @@ -325,7 +331,10 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.oss << "\n"; // Dependency check list - vector validTypes = forward_declarations; + vector validTypes; + BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { + validTypes.push_back(fwDec.name); + } validTypes.push_back("void"); validTypes.push_back("string"); validTypes.push_back("int"); @@ -337,18 +346,31 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co validTypes.push_back("Vector"); validTypes.push_back("Matrix"); //Create a list of parsed classes for dependency checking - BOOST_FOREACH(Class cls, classes) { + BOOST_FOREACH(const Class& cls, classes) { validTypes.push_back(cls.qualifiedName("::")); } + + // Create type attributes table + ReturnValue::TypeAttributesTable typeAttributes; + BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { + if(!typeAttributes.insert(make_pair(fwDec.name, ReturnValue::TypeAttributes(fwDec.isVirtual))).second) + throw DuplicateDefinition("class " + fwDec.name); + } + BOOST_FOREACH(const Class& cls, classes) { + if(!typeAttributes.insert(make_pair(cls.qualifiedName("::"), ReturnValue::TypeAttributes(cls.isVirtual))).second) + throw DuplicateDefinition("class " + cls.qualifiedName("::")); + + // Check that class is virtual if it has a parent + } // Generate all includes - BOOST_FOREACH(Class cls, classes) { + BOOST_FOREACH(const Class& cls, classes) { generateIncludes(wrapperFile, cls.name, cls.includes); } wrapperFile.oss << "\n"; // Generate all collectors - BOOST_FOREACH(Class cls, classes) { + BOOST_FOREACH(const Class& cls, classes) { const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); wrapperFile.oss << "typedef std::set*> " << "Collector_" << matlabName << ";\n"; @@ -359,7 +381,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // generate mexAtExit cleanup function wrapperFile.oss << "void _deleteAllObjects()\n"; wrapperFile.oss << "{\n"; - BOOST_FOREACH(Class cls, classes) { + BOOST_FOREACH(const Class& cls, classes) { const string matlabName = cls.qualifiedName(); const string cppName = cls.qualifiedName("::"); const string collectorType = "Collector_" + matlabName; @@ -373,10 +395,10 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.oss << "}\n"; // generate proxy classes and wrappers - BOOST_FOREACH(Class cls, classes) { + BOOST_FOREACH(const Class& cls, classes) { // create proxy class and wrapper code string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; - cls.matlab_proxy(classFile, wrapperName, wrapperFile, functionNames); + cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); // verify all of the function arguments //TODO:verifyArguments(validTypes, cls.constructor.args_list); diff --git a/wrap/Module.h b/wrap/Module.h index a04a861c4..3cb23be25 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -19,6 +19,7 @@ #include #include +#include #include "Class.h" @@ -28,11 +29,18 @@ namespace wrap { * A module just has a name and a list of classes */ struct Module { + + struct ForwardDeclaration { + std::string name; + bool isVirtual; + ForwardDeclaration() : isVirtual(false) {} + }; + std::string name; ///< module name std::vector classes; ///< list of classes bool verbose; ///< verbose flag // std::vector using_namespaces; ///< all default namespaces - std::vector forward_declarations; + std::vector forward_declarations; /// constructor that parses interface file Module(const std::string& interfacePath, diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 0c9dd5830..77bdeb746 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -46,45 +46,60 @@ string ReturnValue::qualifiedType2(const string& delim) const { /* ************************************************************************* */ //TODO:Fix this -void ReturnValue::wrap_result(FileWriter& file) const { +void ReturnValue::wrap_result(const string& result, FileWriter& file, const TypeAttributesTable& typeAttributes) const { string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1(); string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2(); if (isPair) { // first return value in pair if (isPtr1) {// if we already have a pointer - file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result.first);" << endl; + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ".first);" << endl; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (category1 == ReturnValue::CLASS) { // if we are going to make one - file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result.first));\n"; + string objCopy; + if(typeAttributes.at(cppType1).isVirtual) + objCopy = "boost::dynamic_pointer_cast<" + cppType1 + ">(" + result + ".first.clone())"; + else + objCopy = "new " + cppType1 + "(" + result + ".first)"; + file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(" << objCopy << ");\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else // if basis type - file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n"; + file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ".first);\n"; // second return value in pair if (isPtr2) {// if we already have a pointer - file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(result.second);" << endl; + file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(" << result << ".second);" << endl; file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else if (category2 == ReturnValue::CLASS) { // if we are going to make one - file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(new " << cppType2 << "(result.first));\n"; + string objCopy; + if(typeAttributes.at(cppType1).isVirtual) + objCopy = "boost::dynamic_pointer_cast<" + cppType2 + ">(" + result + ".second.clone())"; + else + objCopy = "new " + cppType1 + "(" + result + ".second)"; + file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(" << objCopy << ");\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else - file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n"; + file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(" << result << ".second);\n"; } else if (isPtr1){ - file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(result);" << endl; + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ");" << endl; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (category1 == ReturnValue::CLASS){ - file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(new " << cppType1 << "(result));\n"; + string objCopy; + if(typeAttributes.at(cppType1).isVirtual) + objCopy = "boost::dynamic_pointer_cast<" + cppType1 + ">(" + result + ".clone())"; + else + objCopy = "new " + cppType1 + "(" + result + ")"; + file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(" << objCopy << ");\n"; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; } else if (matlabType1!="void") - file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n"; + file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ");\n"; } /* ************************************************************************* */ diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h index 859e00433..7d30578b2 100644 --- a/wrap/ReturnValue.h +++ b/wrap/ReturnValue.h @@ -8,6 +8,7 @@ */ #include +#include #include "FileWriter.h" @@ -17,6 +18,14 @@ namespace wrap { struct ReturnValue { + struct TypeAttributes { + bool isVirtual; + TypeAttributes() : isVirtual(false) {} + TypeAttributes(bool isVirtual) : isVirtual(isVirtual) {} + }; + + typedef std::map TypeAttributesTable; + typedef enum { CLASS, EIGEN, @@ -47,7 +56,7 @@ struct ReturnValue { std::string matlab_returnType() const; - void wrap_result(FileWriter& file) const; + void wrap_result(const std::string& result, FileWriter& file, const TypeAttributesTable& typeAttributes) const; }; diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index dd0c606b5..75456b6b7 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -42,6 +42,7 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr const string& matlabClassName, const string& wrapperName, const vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes, vector& functionNames) const { string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); @@ -82,7 +83,7 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr // Output C++ wrapper code const string wrapFunctionName = wrapper_fragment( - wrapperFile, cppClassName, matlabClassName, overload, id, using_namespaces); + wrapperFile, cppClassName, matlabClassName, overload, id, using_namespaces, typeAttributes); // Add to function list functionNames.push_back(wrapFunctionName); @@ -103,7 +104,8 @@ string StaticMethod::wrapper_fragment(FileWriter& file, const string& matlabClassName, int overload, int id, - const vector& using_namespaces) const { + const vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes) const { // generate code @@ -140,14 +142,11 @@ string StaticMethod::wrapper_fragment(FileWriter& file, file.oss << " "; - // call method with default type + // call method with default type and wrap result if (returnVal.type1!="void") - file.oss << returnVal.return_type(true,ReturnValue::pair) << " result = "; - file.oss << cppClassName << "::" << name << "(" << args.names() << ");\n"; - - // wrap result - // example: out[0]=wrap(result); - returnVal.wrap_result(file); + returnVal.wrap_result(cppClassName+"::"+name+"("+args.names()+")", file, typeAttributes); + else + file.oss << cppClassName+"::"+name+"("+args.names()+");\n"; // finish file.oss << "}\n"; diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index 5bc599ea5..8a739665d 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -50,6 +50,7 @@ struct StaticMethod { void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& cppClassName, const std::string& matlabClassName, const std::string& wrapperName, const std::vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes, std::vector& functionNames) const; private: @@ -58,7 +59,8 @@ private: const std::string& matlabClassname, int overload, int id, - const std::vector& using_namespaces) const; ///< cpp wrapper + const std::vector& using_namespaces, + const ReturnValue::TypeAttributesTable& typeAttributes) const; ///< cpp wrapper }; } // \namespace wrap diff --git a/wrap/matlab.h b/wrap/matlab.h index 4033844e4..05f7fffb5 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -119,7 +119,7 @@ void checkArguments(const string& name, int nargout, int nargin, int expected) { // default wrapping throws an error: only basis types are allowed in wrap template -mxArray* wrap(Class& value) { +mxArray* wrap(const Class& value) { error("wrap internal error: attempted wrap of invalid type"); return 0; } @@ -127,13 +127,13 @@ mxArray* wrap(Class& value) { // specialization to string // wraps into a character array template<> -mxArray* wrap(string& value) { +mxArray* wrap(const string& value) { return mxCreateString(value.c_str()); } // specialization to char template<> -mxArray* wrap(char& value) { +mxArray* wrap(const char& value) { mxArray *result = scalar(mxUINT32OR64_CLASS); *(char*)mxGetData(result) = value; return result; @@ -141,7 +141,7 @@ mxArray* wrap(char& value) { // specialization to unsigned char template<> -mxArray* wrap(unsigned char& value) { +mxArray* wrap(const unsigned char& value) { mxArray *result = scalar(mxUINT32OR64_CLASS); *(unsigned char*)mxGetData(result) = value; return result; @@ -149,7 +149,7 @@ mxArray* wrap(unsigned char& value) { // specialization to bool template<> -mxArray* wrap(bool& value) { +mxArray* wrap(const bool& value) { mxArray *result = scalar(mxUINT32OR64_CLASS); *(bool*)mxGetData(result) = value; return result; @@ -157,7 +157,7 @@ mxArray* wrap(bool& value) { // specialization to size_t template<> -mxArray* wrap(size_t& value) { +mxArray* wrap(const size_t& value) { mxArray *result = scalar(mxUINT32OR64_CLASS); *(size_t*)mxGetData(result) = value; return result; @@ -165,7 +165,7 @@ mxArray* wrap(size_t& value) { // specialization to int template<> -mxArray* wrap(int& value) { +mxArray* wrap(const int& value) { mxArray *result = scalar(mxUINT32OR64_CLASS); *(int*)mxGetData(result) = value; return result; @@ -173,7 +173,7 @@ mxArray* wrap(int& value) { // specialization to double -> just double template<> -mxArray* wrap(double& value) { +mxArray* wrap(const double& value) { return mxCreateDoubleScalar(value); } @@ -188,13 +188,7 @@ mxArray* wrap_Vector(const gtsam::Vector& v) { // specialization to Eigen vector -> double vector template<> -mxArray* wrap(gtsam::Vector& v) { - return wrap_Vector(v); -} - -// const version -template<> -mxArray* wrap(const gtsam::Vector& v) { +mxArray* wrap(const gtsam::Vector& v) { return wrap_Vector(v); } @@ -214,13 +208,7 @@ mxArray* wrap_Matrix(const gtsam::Matrix& A) { // specialization to Eigen MATRIX -> double matrix template<> -mxArray* wrap(gtsam::Matrix& A) { - return wrap_Matrix(A); -} - -// const version -template<> -mxArray* wrap(const gtsam::Matrix& A) { +mxArray* wrap(const gtsam::Matrix& A) { return wrap_Matrix(A); } diff --git a/wrap/utilities.h b/wrap/utilities.h index b0c9fb208..eeda3c68a 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -22,6 +22,8 @@ #include #include #include +#include +#include #include "FileWriter.h" @@ -29,42 +31,40 @@ namespace wrap { class CantOpenFile : public std::exception { private: - std::string filename_; + const std::string what_; public: - CantOpenFile(const std::string& filename) : filename_(filename) {} + CantOpenFile(const std::string& filename) : what_("Can't open file " + filename) {} ~CantOpenFile() throw() {} - virtual const char* what() const throw() { - return ("Can't open file " + filename_).c_str(); - } + virtual const char* what() const throw() { return what_.c_str(); } }; class ParseFailed : public std::exception { private: - int length_; + const std::string what_; public: - ParseFailed(int length) : length_(length) {} - ~ParseFailed() throw() {} - virtual const char* what() const throw() { - std::stringstream buf; - int len = length_+1; - buf << "Parse failed at character [" << len << "]"; - return buf.str().c_str(); - } + ParseFailed(int length) : what_((boost::format("Parse failed at character [%d]")%(length-1)).str()) {} + ~ParseFailed() throw() {} + virtual const char* what() const throw() { return what_.c_str(); } }; class DependencyMissing : public std::exception { private: - std::string dependency_; - std::string location_; + const std::string what_; public: - DependencyMissing(const std::string& dep, const std::string& loc) { - dependency_ = dep; - location_ = loc; - } + DependencyMissing(const std::string& dep, const std::string& loc) : + what_("Missing dependency " + dep + " in " + loc) {} ~DependencyMissing() throw() {} - virtual const char* what() const throw() { - return ("Missing dependency " + dependency_ + " in " + location_).c_str(); - } + virtual const char* what() const throw() { return what_.c_str(); } +}; + +class DuplicateDefinition : public std::exception { +private: + const std::string what_; +public: + DuplicateDefinition(const std::string& name) : + what_("Duplicate definition of " + name) {} + ~DuplicateDefinition() throw() {} + virtual const char* what() const throw() { return what_.c_str(); } }; /** Special "magic number" passed into MATLAB constructor to indicate creating From 0bbe6daf6e9b827e31c1a2d45a0ff6d8db9087d5 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 9 Jul 2012 20:53:09 +0000 Subject: [PATCH 586/914] Removed incorrect constructor left in from test --- gtsam.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index c57f32263..fcebf8fd2 100644 --- a/gtsam.h +++ b/gtsam.h @@ -79,7 +79,6 @@ namespace gtsam { virtual class Value { // No constructors because this is an abstract class - Value(const gtsam::Value& rhs); // Testable void print(string s) const; From 6a7dffda226041ee8224b612a7f303632cf5748c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 9 Jul 2012 20:53:10 +0000 Subject: [PATCH 587/914] Specified noiseModel inheritance in gtsam.h --- gtsam.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index fcebf8fd2..46ea37241 100644 --- a/gtsam.h +++ b/gtsam.h @@ -705,14 +705,14 @@ namespace noiseModel { class Base { }; -class Gaussian { +class Gaussian : gtsam::noiseModel::Base { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); // Matrix R() const; // FIXME: cannot parse!!! void print(string s) const; }; -class Diagonal { +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); @@ -720,14 +720,14 @@ class Diagonal { void print(string s) const; }; -class Isotropic { +class Isotropic : gtsam::noiseModel::Gaussian { 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); void print(string s) const; }; -class Unit { +class Unit : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; }; From 6daa86f1379bd5317a91dd40b45df585b56a617a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 10 Jul 2012 14:21:56 +0000 Subject: [PATCH 588/914] Fixed C++ versioning issue in wrap, now compiles and toolbox passes matlab tests, testWrap now compiles but does not pass --- .cproject | 327 +++++++++++++++++++--------------------- wrap/Class.cpp | 4 +- wrap/tests/testWrap.cpp | 2 +- wrap/utilities.h | 4 +- 4 files changed, 162 insertions(+), 175 deletions(-) diff --git a/.cproject b/.cproject index 075558734..b31515394 100644 --- a/.cproject +++ b/.cproject @@ -308,6 +308,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -334,7 +342,6 @@ make - tests/testBayesTree.run true false @@ -342,7 +349,6 @@ make - testBinaryBayesNet.run true false @@ -390,7 +396,6 @@ make - testSymbolicBayesNet.run true false @@ -398,7 +403,6 @@ make - tests/testSymbolicFactor.run true false @@ -406,7 +410,6 @@ make - testSymbolicFactorGraph.run true false @@ -422,20 +425,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -524,22 +518,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -556,6 +534,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -580,26 +574,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -684,26 +678,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -958,7 +952,6 @@ make - testGraph.run true false @@ -966,7 +959,6 @@ make - testJunctionTree.run true false @@ -974,7 +966,6 @@ make - testSymbolicBayesNetB.run true false @@ -1110,7 +1101,6 @@ make - testErrors.run true false @@ -1574,6 +1564,7 @@ make + testSimulated2DOriented.run true false @@ -1613,6 +1604,7 @@ make + testSimulated2D.run true false @@ -1620,6 +1612,7 @@ make + testSimulated3D.run true false @@ -1835,6 +1828,7 @@ make + tests/testGaussianISAM2 true false @@ -1856,6 +1850,102 @@ 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 -j2 @@ -2057,7 +2147,6 @@ cpack - -G DEB true false @@ -2065,7 +2154,6 @@ cpack - -G RPM true false @@ -2073,7 +2161,6 @@ cpack - -G TGZ true false @@ -2081,7 +2168,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2207,98 +2293,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap 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 + -j5 + wrap true true true @@ -2342,46 +2364,7 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap_gtsam - true - true - true - - - make - -j5 - wrap - true - true - true - + diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 803017e42..dd28a830a 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -18,7 +18,9 @@ #include #include #include -#include +//#include // on Linux GCC: fails with error regarding needing C++0x std flags +//#include // same failure as above +#include // works on Linux GCC #include #include diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 9f9f29688..2619d96a8 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -81,7 +81,7 @@ TEST( wrap, parse ) { // forward declarations strvec exp_forward; exp_forward += "VectorNotEigen", "ns::OtherClass"; - EXPECT(assert_equal(exp_forward, module.forward_declarations)); +// EXPECT(assert_equal(exp_forward, module.forward_declarations)); // FIXME: forward_declarations no longer a simple strvec // check first class, Point2 { diff --git a/wrap/utilities.h b/wrap/utilities.h index eeda3c68a..f84a28b51 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -21,7 +21,9 @@ #include #include #include -#include +//#include // on Linux GCC: fails with error regarding needing C++0x std flags +//#include // same failure as above +#include // works on Linux GCC #include #include From 5d58dbd5123a6dc280c697a5ff0cc1ccd0db0e0f Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 10 Jul 2012 14:21:58 +0000 Subject: [PATCH 589/914] Fixed testWrap so that it passes, fixed dependency checking in codegen, fixed warnings --- wrap/Class.h | 2 +- wrap/Method.h | 2 +- wrap/Module.cpp | 28 +-- wrap/tests/expected/Point2.m | 41 ++--- wrap/tests/expected/Point3.m | 15 +- wrap/tests/expected/Test.m | 89 +++++----- wrap/tests/expected/geometry_wrapper.cpp | 161 ++++++++---------- wrap/tests/expected_namespaces/ClassD.m | 11 +- wrap/tests/expected_namespaces/ns1ClassA.m | 11 +- wrap/tests/expected_namespaces/ns1ClassB.m | 11 +- wrap/tests/expected_namespaces/ns2ClassA.m | 23 +-- wrap/tests/expected_namespaces/ns2ClassC.m | 11 +- wrap/tests/expected_namespaces/ns2ns3ClassB.m | 11 +- .../testNamespaces_wrapper.cpp | 44 +++-- wrap/tests/testDependencies.h | 24 +-- wrap/tests/testWrap.cpp | 7 +- 16 files changed, 229 insertions(+), 262 deletions(-) diff --git a/wrap/Class.h b/wrap/Class.h index 5703f8353..78d779a1f 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -34,7 +34,7 @@ struct Class { typedef std::map StaticMethods; /// Constructor creates an empty class - Class(bool verbose=true) : verbose_(verbose), isVirtual(false) {} + Class(bool verbose=true) : isVirtual(false), verbose_(verbose) {} // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name diff --git a/wrap/Method.h b/wrap/Method.h index d9b1f09f1..936b3812d 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -30,7 +30,7 @@ struct Method { /// Constructor creates empty object Method(bool verbose = true) : - verbose_(verbose) {} + verbose_(verbose), is_const_(false) {} // Then the instance variables are set directly by the Module constructor bool verbose_; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 006e38d4a..6109da928 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -348,8 +348,8 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co //Create a list of parsed classes for dependency checking BOOST_FOREACH(const Class& cls, classes) { validTypes.push_back(cls.qualifiedName("::")); - } - + } + // Create type attributes table ReturnValue::TypeAttributesTable typeAttributes; BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { @@ -363,6 +363,18 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // Check that class is virtual if it has a parent } + // Check that all classes have been defined somewhere + BOOST_FOREACH(const Class& cls, classes) { + // verify all of the function arguments + //TODO:verifyArguments(validTypes, cls.constructor.args_list); + verifyArguments(validTypes, cls.static_methods); + verifyArguments(validTypes, cls.methods); + + // verify function return types + verifyReturnTypes(validTypes, cls.static_methods); + verifyReturnTypes(validTypes, cls.methods); + } + // Generate all includes BOOST_FOREACH(const Class& cls, classes) { generateIncludes(wrapperFile, cls.name, cls.includes); @@ -394,20 +406,10 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } wrapperFile.oss << "}\n"; - // generate proxy classes and wrappers + // create proxy class and wrapper code BOOST_FOREACH(const Class& cls, classes) { - // create proxy class and wrapper code string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); - - // verify all of the function arguments - //TODO:verifyArguments(validTypes, cls.constructor.args_list); - verifyArguments(validTypes, cls.static_methods); - verifyArguments(validTypes, cls.methods); - - // verify function return types - verifyReturnTypes(validTypes, cls.static_methods); - verifyReturnTypes(validTypes, cls.methods); } // finish wrapper file diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m index 95f46a2dd..f23e15eb4 100644 --- a/wrap/tests/expected/Point2.m +++ b/wrap/tests/expected/Point2.m @@ -1,81 +1,82 @@ % automatically generated by wrap classdef Point2 < handle properties - self = 0 + ptr_Point2 = 0 end methods function obj = Point2(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - geometry_wrapper(obj.self); + my_ptr = varargin{2}; + geometry_wrapper(0, my_ptr); elseif nargin == 0 - obj.self = geometry_wrapper(1); + my_ptr = geometry_wrapper(1); elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - obj.self = geometry_wrapper(2,varargin{1},varargin{2}); + my_ptr = geometry_wrapper(2, varargin{1}, varargin{2}); else error('Arguments do not match any overload of Point2 constructor'); end + obj.ptr_Point2 = my_ptr; end function delete(obj) - geometry_wrapper(3, obj.self); + geometry_wrapper(3, obj.ptr_Point2); end function display(obj), obj.print(''); end function disp(obj), obj.display; end - function varargout = argChar(self, varargin) + function varargout = argChar(this, varargin) if length(varargin) == 1 && isa(varargin{1},'char') - geometry_wrapper(4, self, varargin{:}); + geometry_wrapper(4, this, varargin{:}); else error('Arguments do not match any overload of function Point2.argChar'); end end - function varargout = argUChar(self, varargin) + function varargout = argUChar(this, varargin) if length(varargin) == 1 && isa(varargin{1},'char') - geometry_wrapper(5, self, varargin{:}); + geometry_wrapper(5, this, varargin{:}); else error('Arguments do not match any overload of function Point2.argUChar'); end end - function varargout = dim(self, varargin) + function varargout = dim(this, varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(6, self, varargin{:}); + varargout{1} = geometry_wrapper(6, this, varargin{:}); else error('Arguments do not match any overload of function Point2.dim'); end end - function varargout = returnChar(self, varargin) + function varargout = returnChar(this, varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(7, self, varargin{:}); + varargout{1} = geometry_wrapper(7, this, varargin{:}); else error('Arguments do not match any overload of function Point2.returnChar'); end end - function varargout = vectorConfusion(self, varargin) + function varargout = vectorConfusion(this, varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(8, self, varargin{:}); + varargout{1} = geometry_wrapper(8, this, varargin{:}); else error('Arguments do not match any overload of function Point2.vectorConfusion'); end end - function varargout = x(self, varargin) + function varargout = x(this, varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(9, self, varargin{:}); + varargout{1} = geometry_wrapper(9, this, varargin{:}); else error('Arguments do not match any overload of function Point2.x'); end end - function varargout = y(self, varargin) + function varargout = y(this, varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(10, self, varargin{:}); + varargout{1} = geometry_wrapper(10, this, varargin{:}); else error('Arguments do not match any overload of function Point2.y'); end diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index 7a1045a86..773ebefc0 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -1,31 +1,32 @@ % automatically generated by wrap classdef Point3 < handle properties - self = 0 + ptr_Point3 = 0 end methods function obj = Point3(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - geometry_wrapper(obj.self); + my_ptr = varargin{2}; + geometry_wrapper(11, my_ptr); elseif nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double') - obj.self = geometry_wrapper(12,varargin{1},varargin{2},varargin{3}); + my_ptr = geometry_wrapper(12, varargin{1}, varargin{2}, varargin{3}); else error('Arguments do not match any overload of Point3 constructor'); end + obj.ptr_Point3 = my_ptr; end function delete(obj) - geometry_wrapper(13, obj.self); + geometry_wrapper(13, obj.ptr_Point3); end function display(obj), obj.print(''); end function disp(obj), obj.display; end - function varargout = norm(self, varargin) + function varargout = norm(this, varargin) if length(varargin) == 0 - varargout{1} = geometry_wrapper(14, self, varargin{:}); + varargout{1} = geometry_wrapper(14, this, varargin{:}); else error('Arguments do not match any overload of function Point3.norm'); end diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index 2c914502a..f36c8eb30 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -1,177 +1,178 @@ % automatically generated by wrap classdef Test < handle properties - self = 0 + ptr_Test = 0 end methods function obj = Test(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - geometry_wrapper(obj.self); + my_ptr = varargin{2}; + geometry_wrapper(17, my_ptr); elseif nargin == 0 - obj.self = geometry_wrapper(18); + my_ptr = geometry_wrapper(18); elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - obj.self = geometry_wrapper(19,varargin{1},varargin{2}); + my_ptr = geometry_wrapper(19, varargin{1}, varargin{2}); else error('Arguments do not match any overload of Test constructor'); end + obj.ptr_Test = my_ptr; end function delete(obj) - geometry_wrapper(20, obj.self); + geometry_wrapper(20, obj.ptr_Test); end function display(obj), obj.print(''); end function disp(obj), obj.display; end - function varargout = arg_EigenConstRef(self, varargin) + function varargout = arg_EigenConstRef(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - geometry_wrapper(21, self, varargin{:}); + geometry_wrapper(21, this, varargin{:}); else error('Arguments do not match any overload of function Test.arg_EigenConstRef'); end end - function varargout = create_MixedPtrs(self, varargin) + function varargout = create_MixedPtrs(this, varargin) if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(22, self, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(22, this, varargin{:}); else error('Arguments do not match any overload of function Test.create_MixedPtrs'); end end - function varargout = create_ptrs(self, varargin) + function varargout = create_ptrs(this, varargin) if length(varargin) == 0 - [ varargout{1} varargout{2} ] = geometry_wrapper(23, self, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(23, this, varargin{:}); else error('Arguments do not match any overload of function Test.create_ptrs'); end end - function varargout = print(self, varargin) + function varargout = print(this, varargin) if length(varargin) == 0 - geometry_wrapper(24, self, varargin{:}); + geometry_wrapper(24, this, varargin{:}); else error('Arguments do not match any overload of function Test.print'); end end - function varargout = return_Point2Ptr(self, varargin) + function varargout = return_Point2Ptr(this, varargin) if length(varargin) == 1 && isa(varargin{1},'logical') - varargout{1} = geometry_wrapper(25, self, varargin{:}); + varargout{1} = geometry_wrapper(25, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_Point2Ptr'); end end - function varargout = return_Test(self, varargin) + function varargout = return_Test(this, varargin) if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(26, self, varargin{:}); + varargout{1} = geometry_wrapper(26, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_Test'); end end - function varargout = return_TestPtr(self, varargin) + function varargout = return_TestPtr(this, varargin) if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(27, self, varargin{:}); + varargout{1} = geometry_wrapper(27, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_TestPtr'); end end - function varargout = return_bool(self, varargin) + function varargout = return_bool(this, varargin) if length(varargin) == 1 && isa(varargin{1},'logical') - varargout{1} = geometry_wrapper(28, self, varargin{:}); + varargout{1} = geometry_wrapper(28, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_bool'); end end - function varargout = return_double(self, varargin) + function varargout = return_double(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(29, self, varargin{:}); + varargout{1} = geometry_wrapper(29, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_double'); end end - function varargout = return_field(self, varargin) + function varargout = return_field(this, varargin) if length(varargin) == 1 && isa(varargin{1},'Test') - varargout{1} = geometry_wrapper(30, self, varargin{:}); + varargout{1} = geometry_wrapper(30, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_field'); end end - function varargout = return_int(self, varargin) + function varargout = return_int(this, varargin) if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(31, self, varargin{:}); + varargout{1} = geometry_wrapper(31, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_int'); end end - function varargout = return_matrix1(self, varargin) + function varargout = return_matrix1(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(32, self, varargin{:}); + varargout{1} = geometry_wrapper(32, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_matrix1'); end end - function varargout = return_matrix2(self, varargin) + function varargout = return_matrix2(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(33, self, varargin{:}); + varargout{1} = geometry_wrapper(33, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_matrix2'); end end - function varargout = return_pair(self, varargin) + function varargout = return_pair(this, varargin) if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') - [ varargout{1} varargout{2} ] = geometry_wrapper(34, self, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(34, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_pair'); end end - function varargout = return_ptrs(self, varargin) + function varargout = return_ptrs(this, varargin) if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test') - [ varargout{1} varargout{2} ] = geometry_wrapper(35, self, varargin{:}); + [ varargout{1} varargout{2} ] = geometry_wrapper(35, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_ptrs'); end end - function varargout = return_size_t(self, varargin) + function varargout = return_size_t(this, varargin) if length(varargin) == 1 && isa(varargin{1},'numeric') - varargout{1} = geometry_wrapper(36, self, varargin{:}); + varargout{1} = geometry_wrapper(36, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_size_t'); end end - function varargout = return_string(self, varargin) + function varargout = return_string(this, varargin) if length(varargin) == 1 && isa(varargin{1},'char') - varargout{1} = geometry_wrapper(37, self, varargin{:}); + varargout{1} = geometry_wrapper(37, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_string'); end end - function varargout = return_vector1(self, varargin) + function varargout = return_vector1(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(38, self, varargin{:}); + varargout{1} = geometry_wrapper(38, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_vector1'); end end - function varargout = return_vector2(self, varargin) + function varargout = return_vector2(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = geometry_wrapper(39, self, varargin{:}); + varargout{1} = geometry_wrapper(39, this, varargin{:}); else error('Arguments do not match any overload of function Test.return_vector2'); end diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index e2c866083..aad0c258a 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -31,7 +31,7 @@ void _deleteAllObjects() collector_Test.erase(iter++); } } -void Point2_constructor_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Point2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -80,7 +80,7 @@ void Point2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in { typedef boost::shared_ptr Shared; checkArguments("argChar",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); char a = unwrap< char >(in[1]); obj->argChar(a); } @@ -89,7 +89,7 @@ void Point2_argUChar_5(int nargout, mxArray *out[], int nargin, const mxArray *i { typedef boost::shared_ptr Shared; checkArguments("argUChar",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); unsigned char a = unwrap< unsigned char >(in[1]); obj->argUChar(a); } @@ -98,18 +98,16 @@ void Point2_dim_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("dim",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - int result = obj->dim(); - out[0] = wrap< int >(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); + out[0] = wrap< int >(obj->dim()); } void Point2_returnChar_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("returnChar",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - char result = obj->returnChar(); - out[0] = wrap< char >(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); + out[0] = wrap< char >(obj->returnChar()); } void Point2_vectorConfusion_8(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -117,9 +115,8 @@ void Point2_vectorConfusion_8(int nargout, mxArray *out[], int nargin, const mxA typedef boost::shared_ptr SharedVectorNotEigen; typedef boost::shared_ptr Shared; checkArguments("vectorConfusion",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - VectorNotEigen result = obj->vectorConfusion(); - SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(result)); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); + SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(obj->vectorConfusion())); out[0] = wrap_shared_ptr(ret,"VectorNotEigen"); } @@ -127,21 +124,19 @@ void Point2_x_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("x",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - double result = obj->x(); - out[0] = wrap< double >(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); + out[0] = wrap< double >(obj->x()); } void Point2_y_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("y",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point2"); - double result = obj->y(); - out[0] = wrap< double >(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); + out[0] = wrap< double >(obj->y()); } -void Point3_constructor_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Point3_collectorInsertAndMakeBase_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); using namespace geometry; @@ -184,9 +179,8 @@ void Point3_norm_14(int nargout, mxArray *out[], int nargin, const mxArray *in[] using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("norm",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Point3"); - double result = obj->norm(); - out[0] = wrap< double >(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Point3"); + out[0] = wrap< double >(obj->norm()); } void Point3_StaticFunctionRet_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -196,8 +190,7 @@ using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("Point3.StaticFunctionRet",nargout,nargin,1); double z = unwrap< double >(in[0]); - Point3 result = Point3::StaticFunctionRet(z); - SharedPoint3* ret = new SharedPoint3(new Point3(result)); + SharedPoint3* ret = new SharedPoint3(new Point3(Point3::StaticFunctionRet(z))); out[0] = wrap_shared_ptr(ret,"Point3"); } @@ -206,11 +199,10 @@ void Point3_staticFunction_16(int nargout, mxArray *out[], int nargin, const mxA using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("Point3.staticFunction",nargout,nargin,0); - double result = Point3::staticFunction(); - out[0] = wrap< double >(result); + out[0] = wrap< double >(Point3::staticFunction()); } -void Test_constructor_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void Test_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); using namespace geometry; @@ -264,8 +256,8 @@ void Test_arg_EigenConstRef_21(int nargout, mxArray *out[], int nargin, const mx using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("arg_EigenConstRef",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "Matrix"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); + Matrix& value = *unwrap_shared_ptr< Matrix >(in[1], "ptr_Matrix"); obj->arg_EigenConstRef(value); } @@ -276,11 +268,10 @@ using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("create_MixedPtrs",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - pair< Test, SharedTest > result = obj->create_MixedPtrs(); - SharedTest* ret = new SharedTest(new Test(result.first)); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); + SharedTest* ret = new SharedTest(new Test(obj->create_MixedPtrs().first)); out[0] = wrap_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(result.second); + SharedTest* ret = new SharedTest(obj->create_MixedPtrs().second); out[1] = wrap_shared_ptr(ret,"Test"); } @@ -291,11 +282,10 @@ using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("create_ptrs",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - pair< SharedTest, SharedTest > result = obj->create_ptrs(); - SharedTest* ret = new SharedTest(result.first); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); + SharedTest* ret = new SharedTest(obj->create_ptrs().first); out[0] = wrap_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(result.second); + SharedTest* ret = new SharedTest(obj->create_ptrs().second); out[1] = wrap_shared_ptr(ret,"Test"); } @@ -304,7 +294,7 @@ void Test_print_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("print",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); obj->print(); } @@ -314,10 +304,9 @@ using namespace geometry; typedef boost::shared_ptr SharedPoint2; typedef boost::shared_ptr Shared; checkArguments("return_Point2Ptr",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); bool value = unwrap< bool >(in[1]); - SharedPoint2 result = obj->return_Point2Ptr(value); - SharedPoint2* ret = new SharedPoint2(result); + SharedPoint2* ret = new SharedPoint2(obj->return_Point2Ptr(value)); out[0] = wrap_shared_ptr(ret,"Point2"); } @@ -327,10 +316,9 @@ using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("return_Test",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - Test result = obj->return_Test(value); - SharedTest* ret = new SharedTest(new Test(result)); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + SharedTest* ret = new SharedTest(new Test(obj->return_Test(value))); out[0] = wrap_shared_ptr(ret,"Test"); } @@ -340,10 +328,9 @@ using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("return_TestPtr",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "Test"); - SharedTest result = obj->return_TestPtr(value); - SharedTest* ret = new SharedTest(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); + boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); + SharedTest* ret = new SharedTest(obj->return_TestPtr(value)); out[0] = wrap_shared_ptr(ret,"Test"); } @@ -352,10 +339,9 @@ void Test_return_bool_28(int nargout, mxArray *out[], int nargin, const mxArray using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_bool",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); bool value = unwrap< bool >(in[1]); - bool result = obj->return_bool(value); - out[0] = wrap< bool >(result); + out[0] = wrap< bool >(obj->return_bool(value)); } void Test_return_double_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -363,10 +349,9 @@ void Test_return_double_29(int nargout, mxArray *out[], int nargin, const mxArra using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_double",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); double value = unwrap< double >(in[1]); - double result = obj->return_double(value); - out[0] = wrap< double >(result); + out[0] = wrap< double >(obj->return_double(value)); } void Test_return_field_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -374,10 +359,9 @@ void Test_return_field_30(int nargout, mxArray *out[], int nargin, const mxArray using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_field",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - Test& t = *unwrap_shared_ptr< Test >(in[1], "Test"); - bool result = obj->return_field(t); - out[0] = wrap< bool >(result); + Shared 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_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -385,10 +369,9 @@ void Test_return_int_31(int nargout, mxArray *out[], int nargin, const mxArray * using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_int",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); int value = unwrap< int >(in[1]); - int result = obj->return_int(value); - out[0] = wrap< int >(result); + out[0] = wrap< int >(obj->return_int(value)); } void Test_return_matrix1_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -396,10 +379,9 @@ void Test_return_matrix1_32(int nargout, mxArray *out[], int nargin, const mxArr using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_matrix1",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Matrix value = unwrap< Matrix >(in[1]); - Matrix result = obj->return_matrix1(value); - out[0] = wrap< Matrix >(result); + out[0] = wrap< Matrix >(obj->return_matrix1(value)); } void Test_return_matrix2_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -407,10 +389,9 @@ void Test_return_matrix2_33(int nargout, mxArray *out[], int nargin, const mxArr using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_matrix2",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Matrix value = unwrap< Matrix >(in[1]); - Matrix result = obj->return_matrix2(value); - out[0] = wrap< Matrix >(result); + out[0] = wrap< Matrix >(obj->return_matrix2(value)); } void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -418,12 +399,11 @@ void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_pair",nargout,nargin-1,2); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Vector v = unwrap< Vector >(in[1]); Matrix A = unwrap< Matrix >(in[2]); - pair< Vector, Matrix > result = obj->return_pair(v,A); - out[0] = wrap< Vector >(result.first); - out[1] = wrap< Matrix >(result.second); + out[0] = wrap< Vector >(obj->return_pair(v,A).first); + out[1] = wrap< Matrix >(obj->return_pair(v,A).second); } void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -433,13 +413,12 @@ using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("return_ptrs",nargout,nargin-1,2); - Shared obj = unwrap_shared_ptr(in[0], "Test"); - boost::shared_ptr p1 = unwrap_shared_ptr< Test >(in[1], "Test"); - boost::shared_ptr p2 = unwrap_shared_ptr< Test >(in[2], "Test"); - pair< SharedTest, SharedTest > result = obj->return_ptrs(p1,p2); - SharedTest* ret = new SharedTest(result.first); + Shared 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"); + SharedTest* ret = new SharedTest(obj->return_ptrs(p1,p2).first); out[0] = wrap_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(result.second); + SharedTest* ret = new SharedTest(obj->return_ptrs(p1,p2).second); out[1] = wrap_shared_ptr(ret,"Test"); } @@ -448,10 +427,9 @@ void Test_return_size_t_36(int nargout, mxArray *out[], int nargin, const mxArra using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_size_t",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); size_t value = unwrap< size_t >(in[1]); - size_t result = obj->return_size_t(value); - out[0] = wrap< size_t >(result); + out[0] = wrap< size_t >(obj->return_size_t(value)); } void Test_return_string_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -459,10 +437,9 @@ void Test_return_string_37(int nargout, mxArray *out[], int nargin, const mxArra using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_string",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); string value = unwrap< string >(in[1]); - string result = obj->return_string(value); - out[0] = wrap< string >(result); + out[0] = wrap< string >(obj->return_string(value)); } void Test_return_vector1_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -470,10 +447,9 @@ void Test_return_vector1_38(int nargout, mxArray *out[], int nargin, const mxArr using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_vector1",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Vector value = unwrap< Vector >(in[1]); - Vector result = obj->return_vector1(value); - out[0] = wrap< Vector >(result); + out[0] = wrap< Vector >(obj->return_vector1(value)); } void Test_return_vector2_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -481,10 +457,9 @@ void Test_return_vector2_39(int nargout, mxArray *out[], int nargin, const mxArr using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_vector2",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "Test"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Vector value = unwrap< Vector >(in[1]); - Vector result = obj->return_vector2(value); - out[0] = wrap< Vector >(result); + out[0] = wrap< Vector >(obj->return_vector2(value)); } void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -496,7 +471,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) switch(id) { case 0: - Point2_constructor_0(nargout, out, nargin-1, in+1); + Point2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); break; case 1: Point2_constructor_1(nargout, out, nargin-1, in+1); @@ -529,7 +504,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) Point2_y_10(nargout, out, nargin-1, in+1); break; case 11: - Point3_constructor_11(nargout, out, nargin-1, in+1); + Point3_collectorInsertAndMakeBase_11(nargout, out, nargin-1, in+1); break; case 12: Point3_constructor_12(nargout, out, nargin-1, in+1); @@ -547,7 +522,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) Point3_staticFunction_16(nargout, out, nargin-1, in+1); break; case 17: - Test_constructor_17(nargout, out, nargin-1, in+1); + Test_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1); break; case 18: Test_constructor_18(nargout, out, nargin-1, in+1); diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m index fcedbdc1c..3fb8d4837 100644 --- a/wrap/tests/expected_namespaces/ClassD.m +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -1,22 +1,23 @@ % automatically generated by wrap classdef ClassD < handle properties - self = 0 + ptr_ClassD = 0 end methods function obj = ClassD(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - testNamespaces_wrapper(obj.self); + my_ptr = varargin{2}; + testNamespaces_wrapper(19, my_ptr); elseif nargin == 0 - obj.self = testNamespaces_wrapper(20); + my_ptr = testNamespaces_wrapper(20); else error('Arguments do not match any overload of ClassD constructor'); end + obj.ptr_ClassD = my_ptr; end function delete(obj) - testNamespaces_wrapper(21, obj.self); + testNamespaces_wrapper(21, obj.ptr_ClassD); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected_namespaces/ns1ClassA.m b/wrap/tests/expected_namespaces/ns1ClassA.m index 5ee717612..29f48ab4e 100644 --- a/wrap/tests/expected_namespaces/ns1ClassA.m +++ b/wrap/tests/expected_namespaces/ns1ClassA.m @@ -1,22 +1,23 @@ % automatically generated by wrap classdef ns1ClassA < handle properties - self = 0 + ptr_ns1ClassA = 0 end methods function obj = ns1ClassA(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - testNamespaces_wrapper(obj.self); + my_ptr = varargin{2}; + testNamespaces_wrapper(0, my_ptr); elseif nargin == 0 - obj.self = testNamespaces_wrapper(1); + my_ptr = testNamespaces_wrapper(1); else error('Arguments do not match any overload of ns1ClassA constructor'); end + obj.ptr_ns1ClassA = my_ptr; end function delete(obj) - testNamespaces_wrapper(2, obj.self); + testNamespaces_wrapper(2, obj.ptr_ns1ClassA); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected_namespaces/ns1ClassB.m b/wrap/tests/expected_namespaces/ns1ClassB.m index bc6dc0198..a1e9bc9a5 100644 --- a/wrap/tests/expected_namespaces/ns1ClassB.m +++ b/wrap/tests/expected_namespaces/ns1ClassB.m @@ -1,22 +1,23 @@ % automatically generated by wrap classdef ns1ClassB < handle properties - self = 0 + ptr_ns1ClassB = 0 end methods function obj = ns1ClassB(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - testNamespaces_wrapper(obj.self); + my_ptr = varargin{2}; + testNamespaces_wrapper(3, my_ptr); elseif nargin == 0 - obj.self = testNamespaces_wrapper(4); + my_ptr = testNamespaces_wrapper(4); else error('Arguments do not match any overload of ns1ClassB constructor'); end + obj.ptr_ns1ClassB = my_ptr; end function delete(obj) - testNamespaces_wrapper(5, obj.self); + testNamespaces_wrapper(5, obj.ptr_ns1ClassB); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected_namespaces/ns2ClassA.m b/wrap/tests/expected_namespaces/ns2ClassA.m index 38a161f07..7b3df9ed6 100644 --- a/wrap/tests/expected_namespaces/ns2ClassA.m +++ b/wrap/tests/expected_namespaces/ns2ClassA.m @@ -1,47 +1,48 @@ % automatically generated by wrap classdef ns2ClassA < handle properties - self = 0 + ptr_ns2ClassA = 0 end methods function obj = ns2ClassA(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - testNamespaces_wrapper(obj.self); + my_ptr = varargin{2}; + testNamespaces_wrapper(6, my_ptr); elseif nargin == 0 - obj.self = testNamespaces_wrapper(7); + my_ptr = testNamespaces_wrapper(7); else error('Arguments do not match any overload of ns2ClassA constructor'); end + obj.ptr_ns2ClassA = my_ptr; end function delete(obj) - testNamespaces_wrapper(8, obj.self); + testNamespaces_wrapper(8, obj.ptr_ns2ClassA); end function display(obj), obj.print(''); end function disp(obj), obj.display; end - function varargout = memberFunction(self, varargin) + function varargout = memberFunction(this, varargin) if length(varargin) == 0 - varargout{1} = testNamespaces_wrapper(9, self, varargin{:}); + varargout{1} = testNamespaces_wrapper(9, this, varargin{:}); else error('Arguments do not match any overload of function ns2ClassA.memberFunction'); end end - function varargout = nsArg(self, varargin) + function varargout = nsArg(this, varargin) if length(varargin) == 1 && isa(varargin{1},'ns1ClassB') - varargout{1} = testNamespaces_wrapper(10, self, varargin{:}); + varargout{1} = testNamespaces_wrapper(10, this, varargin{:}); else error('Arguments do not match any overload of function ns2ClassA.nsArg'); end end - function varargout = nsReturn(self, varargin) + function varargout = nsReturn(this, varargin) if length(varargin) == 1 && isa(varargin{1},'double') - varargout{1} = testNamespaces_wrapper(11, self, varargin{:}); + varargout{1} = testNamespaces_wrapper(11, this, varargin{:}); else error('Arguments do not match any overload of function ns2ClassA.nsReturn'); end diff --git a/wrap/tests/expected_namespaces/ns2ClassC.m b/wrap/tests/expected_namespaces/ns2ClassC.m index 647351e2f..5ba6e7125 100644 --- a/wrap/tests/expected_namespaces/ns2ClassC.m +++ b/wrap/tests/expected_namespaces/ns2ClassC.m @@ -1,22 +1,23 @@ % automatically generated by wrap classdef ns2ClassC < handle properties - self = 0 + ptr_ns2ClassC = 0 end methods function obj = ns2ClassC(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - testNamespaces_wrapper(obj.self); + my_ptr = varargin{2}; + testNamespaces_wrapper(16, my_ptr); elseif nargin == 0 - obj.self = testNamespaces_wrapper(17); + my_ptr = testNamespaces_wrapper(17); else error('Arguments do not match any overload of ns2ClassC constructor'); end + obj.ptr_ns2ClassC = my_ptr; end function delete(obj) - testNamespaces_wrapper(18, obj.self); + testNamespaces_wrapper(18, obj.ptr_ns2ClassC); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected_namespaces/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/ns2ns3ClassB.m index 3df2f52e1..b5e57ea19 100644 --- a/wrap/tests/expected_namespaces/ns2ns3ClassB.m +++ b/wrap/tests/expected_namespaces/ns2ns3ClassB.m @@ -1,22 +1,23 @@ % automatically generated by wrap classdef ns2ns3ClassB < handle properties - self = 0 + ptr_ns2ns3ClassB = 0 end methods function obj = ns2ns3ClassB(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) - obj.self = varargin{2}; - testNamespaces_wrapper(obj.self); + my_ptr = varargin{2}; + testNamespaces_wrapper(13, my_ptr); elseif nargin == 0 - obj.self = testNamespaces_wrapper(14); + my_ptr = testNamespaces_wrapper(14); else error('Arguments do not match any overload of ns2ns3ClassB constructor'); end + obj.ptr_ns2ns3ClassB = my_ptr; end function delete(obj) - testNamespaces_wrapper(15, obj.self); + testNamespaces_wrapper(15, obj.ptr_ns2ns3ClassB); end function display(obj), obj.print(''); end diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 7d910c9cc..3633e38c8 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -58,7 +58,7 @@ void _deleteAllObjects() collector_ClassD.erase(iter++); } } -void ns1ClassA_constructor_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void ns1ClassA_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -90,7 +90,7 @@ void ns1ClassA_deconstructor_2(int nargout, mxArray *out[], int nargin, const mx } } -void ns1ClassB_constructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void ns1ClassB_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -122,7 +122,7 @@ void ns1ClassB_deconstructor_5(int nargout, mxArray *out[], int nargin, const mx } } -void ns2ClassA_constructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void ns2ClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -158,19 +158,17 @@ void ns2ClassA_memberFunction_9(int nargout, mxArray *out[], int nargin, const m { typedef boost::shared_ptr Shared; checkArguments("memberFunction",nargout,nargin-1,0); - Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); - double result = obj->memberFunction(); - out[0] = wrap< double >(result); + Shared obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); + out[0] = wrap< double >(obj->memberFunction()); } void ns2ClassA_nsArg_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("nsArg",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); - ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB"); - int result = obj->nsArg(arg); - out[0] = wrap< int >(result); + Shared 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_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -178,10 +176,9 @@ void ns2ClassA_nsReturn_11(int nargout, mxArray *out[], int nargin, const mxArra typedef boost::shared_ptr SharedClassB; typedef boost::shared_ptr Shared; checkArguments("nsReturn",nargout,nargin-1,1); - Shared obj = unwrap_shared_ptr(in[0], "ns2::ClassA"); + Shared obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); double q = unwrap< double >(in[1]); - ns2::ns3::ClassB result = obj->nsReturn(q); - SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(result)); + SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(obj->nsReturn(q))); out[0] = wrap_shared_ptr(ret,"ns2ns3ClassB"); } @@ -189,11 +186,10 @@ void ns2ClassA_afunction_12(int nargout, mxArray *out[], int nargin, const mxArr { typedef boost::shared_ptr Shared; checkArguments("ns2ClassA.afunction",nargout,nargin,0); - double result = ns2::ClassA::afunction(); - out[0] = wrap< double >(result); + out[0] = wrap< double >(ns2::ClassA::afunction()); } -void ns2ns3ClassB_constructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void ns2ns3ClassB_collectorInsertAndMakeBase_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -225,7 +221,7 @@ void ns2ns3ClassB_deconstructor_15(int nargout, mxArray *out[], int nargin, cons } } -void ns2ClassC_constructor_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void ns2ClassC_collectorInsertAndMakeBase_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -257,7 +253,7 @@ void ns2ClassC_deconstructor_18(int nargout, mxArray *out[], int nargin, const m } } -void ClassD_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void ClassD_collectorInsertAndMakeBase_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef boost::shared_ptr Shared; @@ -298,7 +294,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) switch(id) { case 0: - ns1ClassA_constructor_0(nargout, out, nargin-1, in+1); + ns1ClassA_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); break; case 1: ns1ClassA_constructor_1(nargout, out, nargin-1, in+1); @@ -307,7 +303,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) ns1ClassA_deconstructor_2(nargout, out, nargin-1, in+1); break; case 3: - ns1ClassB_constructor_3(nargout, out, nargin-1, in+1); + ns1ClassB_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1); break; case 4: ns1ClassB_constructor_4(nargout, out, nargin-1, in+1); @@ -316,7 +312,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) ns1ClassB_deconstructor_5(nargout, out, nargin-1, in+1); break; case 6: - ns2ClassA_constructor_6(nargout, out, nargin-1, in+1); + ns2ClassA_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1); break; case 7: ns2ClassA_constructor_7(nargout, out, nargin-1, in+1); @@ -337,7 +333,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) ns2ClassA_afunction_12(nargout, out, nargin-1, in+1); break; case 13: - ns2ns3ClassB_constructor_13(nargout, out, nargin-1, in+1); + ns2ns3ClassB_collectorInsertAndMakeBase_13(nargout, out, nargin-1, in+1); break; case 14: ns2ns3ClassB_constructor_14(nargout, out, nargin-1, in+1); @@ -346,7 +342,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) ns2ns3ClassB_deconstructor_15(nargout, out, nargin-1, in+1); break; case 16: - ns2ClassC_constructor_16(nargout, out, nargin-1, in+1); + ns2ClassC_collectorInsertAndMakeBase_16(nargout, out, nargin-1, in+1); break; case 17: ns2ClassC_constructor_17(nargout, out, nargin-1, in+1); @@ -355,7 +351,7 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) ns2ClassC_deconstructor_18(nargout, out, nargin-1, in+1); break; case 19: - ClassD_constructor_19(nargout, out, nargin-1, in+1); + ClassD_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1); break; case 20: ClassD_constructor_20(nargout, out, nargin-1, in+1); diff --git a/wrap/tests/testDependencies.h b/wrap/tests/testDependencies.h index 429bb5a2a..34a8056b8 100644 --- a/wrap/tests/testDependencies.h +++ b/wrap/tests/testDependencies.h @@ -1,24 +1,8 @@ //Header file to test dependency checking // class Pose3 { - Pose3(); - Pose3(const Rot3& r, const Point3& t);//What is Rot3? Throw here - Pose3(Vector v); - Pose3(Matrix t); - static Pose3 Expmap(Vector v); - static Vector Logmap(const Pose3& p); - static Rot3 testStaticDep(Rot3& r);//What is Rot3? Throw here - void print(string s) const; - bool equals(const Pose3& pose, double tol) const; - double x() const; - double y() const; - double z() const; - Rot3 testReturnType() const; // Throw here - Matrix matrix() const; - Matrix adjointMap() const; - Pose3 compose(const Pose3& p2); - Pose3 between(const Pose3& p2); - Pose3 retract(Vector v); - Point3 translation() const; - Rot3 rotation() const; //What is Rot3? Throw here + Pose3(const Rot3& r, const Point3& t); //What is Rot3? Throw here + static Rot3 testStaticDep(Rot3& r); //What is Rot3? Throw here + Rot3 testReturnType() const; // Throw here + void testMethodArg(const Rot3& r) const; }; diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 2619d96a8..b8e9effc1 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -58,7 +58,7 @@ TEST( wrap, ArgumentList ) { } /* ************************************************************************* */ -TEST( wrap, check_exception ) { +TEST_UNSAFE( wrap, check_exception ) { THROWS_EXCEPTION(Module("/notarealpath", "geometry",enable_verbose)); CHECK_EXCEPTION(Module("/alsonotarealpath", "geometry",enable_verbose), CantOpenFile); @@ -80,8 +80,9 @@ TEST( wrap, parse ) { strvec exp_using1, exp_using2; exp_using2 += "geometry"; // forward declarations - strvec exp_forward; exp_forward += "VectorNotEigen", "ns::OtherClass"; -// EXPECT(assert_equal(exp_forward, module.forward_declarations)); // FIXME: forward_declarations no longer a simple strvec + LONGS_EQUAL(2, module.forward_declarations.size()); + EXPECT(assert_equal("VectorNotEigen", module.forward_declarations[0].name)); + EXPECT(assert_equal("ns::OtherClass", module.forward_declarations[1].name)); // check first class, Point2 { From e6a294d1882a342237ab088da1cd05ea1fa28def Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 10 Jul 2012 18:15:51 +0000 Subject: [PATCH 590/914] Added LinearContainerFactor to add linear factors to nonlinear graphs --- .../nonlinear/LinearContainerFactor.cpp | 148 ++++++++++++++++++ .../nonlinear/LinearContainerFactor.h | 113 +++++++++++++ .../tests/testLinearContainerFactor.cpp | 113 +++++++++++++ 3 files changed, 374 insertions(+) create mode 100644 gtsam_unstable/nonlinear/LinearContainerFactor.cpp create mode 100644 gtsam_unstable/nonlinear/LinearContainerFactor.h create mode 100644 gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp new file mode 100644 index 000000000..8a27284f1 --- /dev/null +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -0,0 +1,148 @@ +/** + * @file LinearContainerFactor.cpp + * + * @date Jul 6, 2012 + * @author Alex Cunningham + */ + +#include + +#include + +namespace gtsam { + +/* ************************************************************************* */ +void LinearContainerFactor::rekeyFactor(const Ordering& ordering) { + Ordering::InvertedMap invOrdering = ordering.invert(); // TODO: inefficient - make more selective ordering invert + rekeyFactor(invOrdering); +} + +/* ************************************************************************* */ +void LinearContainerFactor::rekeyFactor(const Ordering::InvertedMap& invOrdering) { + BOOST_FOREACH(Index& idx, factor_->keys()) { + Key fullKey = invOrdering.find(idx)->second; + idx = fullKey; + keys_.push_back(fullKey); + } +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const JacobianFactor& factor, const Ordering& ordering) +: factor_(factor.clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const HessianFactor& factor, const Ordering& ordering) +: factor_(factor.clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor, const Ordering& ordering) +: factor_(factor->clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor) +: factor_(factor->clone()) +{ +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const JacobianFactor& factor, + const Ordering::InvertedMap& inverted_ordering) +: factor_(factor.clone()) { + rekeyFactor(inverted_ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const HessianFactor& factor, + const Ordering::InvertedMap& inverted_ordering) +: factor_(factor.clone()) { + rekeyFactor(inverted_ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor, + const Ordering::InvertedMap& ordering) +: factor_(factor->clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +void LinearContainerFactor::print(const std::string& s, const KeyFormatter& keyFormatter) const { + Base::print(s+"LinearContainerFactor", keyFormatter); + if (factor_) + factor_->print(" Stored Factor", keyFormatter); +} + +/* ************************************************************************* */ +bool LinearContainerFactor::equals(const NonlinearFactor& f, double tol) const { + const LinearContainerFactor* jcf = dynamic_cast(&f); + return jcf && factor_->equals(*jcf->factor_, tol) && NonlinearFactor::equals(f); +} + +/* ************************************************************************* */ +double LinearContainerFactor::error(const Values& c) const { + // VectorValues vecvalues; + // // FIXME: add values correctly here + // return factor_.error(vecvalues); + return 0; // FIXME: placeholder +} + +/* ************************************************************************* */ +size_t LinearContainerFactor::dim() const { + if (isJacobian()) + return toJacobian()->get_model()->dim(); + else + return 1; // Hessians don't have true dimension +} + +/* ************************************************************************* */ +boost::shared_ptr +LinearContainerFactor::linearize(const Values& c, const Ordering& ordering) const { + // clone factor + boost::shared_ptr result = factor_->clone(); + + // rekey + BOOST_FOREACH(Index& key, result->keys()) + key = ordering[key]; + + return result; +} + +/* ************************************************************************* */ +bool LinearContainerFactor::isJacobian() const { + return boost::shared_dynamic_cast(factor_); +} + +/* ************************************************************************* */ +JacobianFactor::shared_ptr LinearContainerFactor::toJacobian() const { + return boost::shared_dynamic_cast(factor_); +} + +/* ************************************************************************* */ +HessianFactor::shared_ptr LinearContainerFactor::toHessian() const { + return boost::shared_dynamic_cast(factor_); +} + +/* ************************************************************************* */ +GaussianFactor::shared_ptr LinearContainerFactor::negate(const Ordering& ordering) const { + GaussianFactor::shared_ptr result = factor_->negate(); + BOOST_FOREACH(Key& key, result->keys()) + key = ordering[key]; + return result; +} + +/* ************************************************************************* */ +} // \namespace gtsam + + + diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h new file mode 100644 index 000000000..23705f96e --- /dev/null +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -0,0 +1,113 @@ +/** + * @file LinearContainerFactor.h + * + * @brief Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph + * + * @date Jul 6, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include +#include + +namespace gtsam { + +/** + * Dummy version of a generic linear factor to be injected into a nonlinear factor graph + */ +class LinearContainerFactor : public NonlinearFactor { +protected: + + GaussianFactor::shared_ptr factor_; + +public: + + /** Primary constructor: store a linear factor and decode the ordering */ + LinearContainerFactor(const JacobianFactor& factor, const Ordering& ordering); + + /** Primary constructor: store a linear factor and decode the ordering */ + LinearContainerFactor(const HessianFactor& factor, const Ordering& ordering); + + /** Constructor from shared_ptr */ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Ordering& ordering); + + /** Constructor from re-keyed factor: all indices assumed replaced with Key */ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor); + + /** Alternate constructor: store a linear factor and decode keys with inverted ordering*/ + LinearContainerFactor(const JacobianFactor& factor, + const Ordering::InvertedMap& inverted_ordering); + + /** Alternate constructor: store a linear factor and decode keys with inverted ordering*/ + LinearContainerFactor(const HessianFactor& factor, + const Ordering::InvertedMap& inverted_ordering); + + /** Constructor from shared_ptr with inverted ordering*/ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, + const Ordering::InvertedMap& ordering); + + // Access + + const GaussianFactor::shared_ptr& factor() const { return factor_; } + + // Testable + + /** print */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; + + /** Check if two factors are equal */ + bool equals(const NonlinearFactor& f, double tol = 1e-9) const; + + // NonlinearFactor + + /** + * Calculate the error of the factor: uses the underlying linear factor to compute ordering + */ + double error(const Values& c) const; + + /** get the dimension of the factor: rows of linear factor */ + size_t dim() const; + + /** linearize to a GaussianFactor: values has no effect, just clones/rekeys underlying factor */ + boost::shared_ptr + linearize(const Values& c, const Ordering& ordering) const; + + /** + * Creates an anti-factor directly and performs rekeying due to ordering + */ + GaussianFactor::shared_ptr negate(const Ordering& ordering) const; + + /** + * Creates a shared_ptr clone of the factor - needs to be specialized to allow + * for subclasses + * + * Clones the underlying linear factor + */ + NonlinearFactor::shared_ptr clone() const { + return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_)); + } + + // casting syntactic sugar + + /** + * Simple check whether this is a Jacobian or Hessian factor + */ + bool isJacobian() const; + + /** Casts to JacobianFactor */ + JacobianFactor::shared_ptr toJacobian() const; + + /** Casts to HessianFactor */ + HessianFactor::shared_ptr toHessian() const; + +protected: + void rekeyFactor(const Ordering& ordering); + void rekeyFactor(const Ordering::InvertedMap& invOrdering); + +}; // \class LinearContainerFactor + +} // \namespace gtsam + + diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp new file mode 100644 index 000000000..e85b880e8 --- /dev/null +++ b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp @@ -0,0 +1,113 @@ +/** + * @file testLinearContainerFactor.cpp + * + * @date Jul 6, 2012 + * @author Alex Cunningham + */ + +#include + +#include + +#include + +using namespace gtsam; + +const gtsam::noiseModel::Diagonal::shared_ptr diag_model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 1.0, 1.0)); +const double tol = 1e-5; + +gtsam::Key l1 = 101, l2 = 102, x1 = 1, x2 = 2; + +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 ) { + + Ordering initOrdering; initOrdering += x1, x2, l1, l2; + + JacobianFactor expLinFactor1( + initOrdering[l1], + Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624), + initOrdering[l2], + Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489), + Vector_(2, 0.0277052, + -0.0533393), + diag_model2); + + LinearContainerFactor actFactor1(expLinFactor1, initOrdering); + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + // Check reconstruction from same ordering + GaussianFactor::shared_ptr actLinearizationA = actFactor1.linearize(values, initOrdering); + EXPECT(assert_equal(*expLinFactor1.clone(), *actLinearizationA, tol)); + + // Check reconstruction from new ordering + Ordering newOrdering; newOrdering += x1, l1, x2, l2; + GaussianFactor::shared_ptr actLinearizationB = actFactor1.linearize(values, newOrdering); + + JacobianFactor expLinFactor2( + newOrdering[l1], + Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624), + newOrdering[l2], + Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489), + Vector_(2, 0.0277052, + -0.0533393), + diag_model2); + + EXPECT(assert_equal(*expLinFactor2.clone(), *actLinearizationB, tol)); +} + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, generic_hessian_factor ) { + Matrix G11 = Matrix_(1,1, 1.0); + Matrix G12 = Matrix_(1,2, 2.0, 4.0); + Matrix G13 = Matrix_(1,3, 3.0, 6.0, 9.0); + + Matrix G22 = Matrix_(2,2, 3.0, 5.0, 0.0, 6.0); + Matrix G23 = Matrix_(2,3, 4.0, 6.0, 8.0, 1.0, 2.0, 4.0); + + Matrix G33 = Matrix_(3,3, 1.0, 2.0, 3.0, 0.0, 5.0, 6.0, 0.0, 0.0, 9.0); + + Vector g1 = Vector_(1, -7.0); + Vector g2 = Vector_(2, -8.0, -9.0); + Vector g3 = Vector_(3, 1.0, 2.0, 3.0); + + double f = 10.0; + + Ordering initOrdering; initOrdering += x1, x2, l1, l2; + HessianFactor initFactor(initOrdering[x1], initOrdering[x2], initOrdering[l1], + G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + LinearContainerFactor actFactor(initFactor, initOrdering); + GaussianFactor::shared_ptr actLinearization1 = actFactor.linearize(values, initOrdering); + EXPECT(assert_equal(*initFactor.clone(), *actLinearization1, tol)); + + Ordering newOrdering; newOrdering += l1, x1, x2, l2; + HessianFactor expLinFactor(newOrdering[x1], newOrdering[x2], newOrdering[l1], + G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + GaussianFactor::shared_ptr actLinearization2 = actFactor.linearize(values, newOrdering); + EXPECT(assert_equal(*expLinFactor.clone(), *actLinearization2, tol)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From af52b6811fc00dbd643b990be48f4fbe893f169f Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 10 Jul 2012 18:35:57 +0000 Subject: [PATCH 591/914] Fixing small warnings --- gtsam/slam/visualSLAM.cpp | 4 ++-- tests/testGaussianISAM2.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 5b04b92c6..2133c0ee8 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -31,7 +31,7 @@ namespace visualSLAM { if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); if (Z.cols() != J.size()) throw std::invalid_argument( "insertBackProjections: J and Z must have same number of entries"); - for(size_t k=0;k Date: Tue, 10 Jul 2012 18:36:21 +0000 Subject: [PATCH 592/914] Merge branch 'master' into wrap_mods_local --- gtsam/slam/visualSLAM.cpp | 4 +- .../nonlinear/LinearContainerFactor.cpp | 148 ++++++++++++++++++ .../nonlinear/LinearContainerFactor.h | 113 +++++++++++++ .../tests/testLinearContainerFactor.cpp | 113 +++++++++++++ tests/testGaussianISAM2.cpp | 2 +- 5 files changed, 377 insertions(+), 3 deletions(-) create mode 100644 gtsam_unstable/nonlinear/LinearContainerFactor.cpp create mode 100644 gtsam_unstable/nonlinear/LinearContainerFactor.h create mode 100644 gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp index 5b04b92c6..2133c0ee8 100644 --- a/gtsam/slam/visualSLAM.cpp +++ b/gtsam/slam/visualSLAM.cpp @@ -31,7 +31,7 @@ namespace visualSLAM { if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); if (Z.cols() != J.size()) throw std::invalid_argument( "insertBackProjections: J and Z must have same number of entries"); - for(size_t k=0;k + +#include + +namespace gtsam { + +/* ************************************************************************* */ +void LinearContainerFactor::rekeyFactor(const Ordering& ordering) { + Ordering::InvertedMap invOrdering = ordering.invert(); // TODO: inefficient - make more selective ordering invert + rekeyFactor(invOrdering); +} + +/* ************************************************************************* */ +void LinearContainerFactor::rekeyFactor(const Ordering::InvertedMap& invOrdering) { + BOOST_FOREACH(Index& idx, factor_->keys()) { + Key fullKey = invOrdering.find(idx)->second; + idx = fullKey; + keys_.push_back(fullKey); + } +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const JacobianFactor& factor, const Ordering& ordering) +: factor_(factor.clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const HessianFactor& factor, const Ordering& ordering) +: factor_(factor.clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor, const Ordering& ordering) +: factor_(factor->clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor) +: factor_(factor->clone()) +{ +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const JacobianFactor& factor, + const Ordering::InvertedMap& inverted_ordering) +: factor_(factor.clone()) { + rekeyFactor(inverted_ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const HessianFactor& factor, + const Ordering::InvertedMap& inverted_ordering) +: factor_(factor.clone()) { + rekeyFactor(inverted_ordering); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor, + const Ordering::InvertedMap& ordering) +: factor_(factor->clone()) { + rekeyFactor(ordering); +} + +/* ************************************************************************* */ +void LinearContainerFactor::print(const std::string& s, const KeyFormatter& keyFormatter) const { + Base::print(s+"LinearContainerFactor", keyFormatter); + if (factor_) + factor_->print(" Stored Factor", keyFormatter); +} + +/* ************************************************************************* */ +bool LinearContainerFactor::equals(const NonlinearFactor& f, double tol) const { + const LinearContainerFactor* jcf = dynamic_cast(&f); + return jcf && factor_->equals(*jcf->factor_, tol) && NonlinearFactor::equals(f); +} + +/* ************************************************************************* */ +double LinearContainerFactor::error(const Values& c) const { + // VectorValues vecvalues; + // // FIXME: add values correctly here + // return factor_.error(vecvalues); + return 0; // FIXME: placeholder +} + +/* ************************************************************************* */ +size_t LinearContainerFactor::dim() const { + if (isJacobian()) + return toJacobian()->get_model()->dim(); + else + return 1; // Hessians don't have true dimension +} + +/* ************************************************************************* */ +boost::shared_ptr +LinearContainerFactor::linearize(const Values& c, const Ordering& ordering) const { + // clone factor + boost::shared_ptr result = factor_->clone(); + + // rekey + BOOST_FOREACH(Index& key, result->keys()) + key = ordering[key]; + + return result; +} + +/* ************************************************************************* */ +bool LinearContainerFactor::isJacobian() const { + return boost::shared_dynamic_cast(factor_); +} + +/* ************************************************************************* */ +JacobianFactor::shared_ptr LinearContainerFactor::toJacobian() const { + return boost::shared_dynamic_cast(factor_); +} + +/* ************************************************************************* */ +HessianFactor::shared_ptr LinearContainerFactor::toHessian() const { + return boost::shared_dynamic_cast(factor_); +} + +/* ************************************************************************* */ +GaussianFactor::shared_ptr LinearContainerFactor::negate(const Ordering& ordering) const { + GaussianFactor::shared_ptr result = factor_->negate(); + BOOST_FOREACH(Key& key, result->keys()) + key = ordering[key]; + return result; +} + +/* ************************************************************************* */ +} // \namespace gtsam + + + diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h new file mode 100644 index 000000000..23705f96e --- /dev/null +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -0,0 +1,113 @@ +/** + * @file LinearContainerFactor.h + * + * @brief Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph + * + * @date Jul 6, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include +#include + +namespace gtsam { + +/** + * Dummy version of a generic linear factor to be injected into a nonlinear factor graph + */ +class LinearContainerFactor : public NonlinearFactor { +protected: + + GaussianFactor::shared_ptr factor_; + +public: + + /** Primary constructor: store a linear factor and decode the ordering */ + LinearContainerFactor(const JacobianFactor& factor, const Ordering& ordering); + + /** Primary constructor: store a linear factor and decode the ordering */ + LinearContainerFactor(const HessianFactor& factor, const Ordering& ordering); + + /** Constructor from shared_ptr */ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Ordering& ordering); + + /** Constructor from re-keyed factor: all indices assumed replaced with Key */ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor); + + /** Alternate constructor: store a linear factor and decode keys with inverted ordering*/ + LinearContainerFactor(const JacobianFactor& factor, + const Ordering::InvertedMap& inverted_ordering); + + /** Alternate constructor: store a linear factor and decode keys with inverted ordering*/ + LinearContainerFactor(const HessianFactor& factor, + const Ordering::InvertedMap& inverted_ordering); + + /** Constructor from shared_ptr with inverted ordering*/ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, + const Ordering::InvertedMap& ordering); + + // Access + + const GaussianFactor::shared_ptr& factor() const { return factor_; } + + // Testable + + /** print */ + void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const; + + /** Check if two factors are equal */ + bool equals(const NonlinearFactor& f, double tol = 1e-9) const; + + // NonlinearFactor + + /** + * Calculate the error of the factor: uses the underlying linear factor to compute ordering + */ + double error(const Values& c) const; + + /** get the dimension of the factor: rows of linear factor */ + size_t dim() const; + + /** linearize to a GaussianFactor: values has no effect, just clones/rekeys underlying factor */ + boost::shared_ptr + linearize(const Values& c, const Ordering& ordering) const; + + /** + * Creates an anti-factor directly and performs rekeying due to ordering + */ + GaussianFactor::shared_ptr negate(const Ordering& ordering) const; + + /** + * Creates a shared_ptr clone of the factor - needs to be specialized to allow + * for subclasses + * + * Clones the underlying linear factor + */ + NonlinearFactor::shared_ptr clone() const { + return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_)); + } + + // casting syntactic sugar + + /** + * Simple check whether this is a Jacobian or Hessian factor + */ + bool isJacobian() const; + + /** Casts to JacobianFactor */ + JacobianFactor::shared_ptr toJacobian() const; + + /** Casts to HessianFactor */ + HessianFactor::shared_ptr toHessian() const; + +protected: + void rekeyFactor(const Ordering& ordering); + void rekeyFactor(const Ordering::InvertedMap& invOrdering); + +}; // \class LinearContainerFactor + +} // \namespace gtsam + + diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp new file mode 100644 index 000000000..e85b880e8 --- /dev/null +++ b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp @@ -0,0 +1,113 @@ +/** + * @file testLinearContainerFactor.cpp + * + * @date Jul 6, 2012 + * @author Alex Cunningham + */ + +#include + +#include + +#include + +using namespace gtsam; + +const gtsam::noiseModel::Diagonal::shared_ptr diag_model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 1.0, 1.0)); +const double tol = 1e-5; + +gtsam::Key l1 = 101, l2 = 102, x1 = 1, x2 = 2; + +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 ) { + + Ordering initOrdering; initOrdering += x1, x2, l1, l2; + + JacobianFactor expLinFactor1( + initOrdering[l1], + Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624), + initOrdering[l2], + Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489), + Vector_(2, 0.0277052, + -0.0533393), + diag_model2); + + LinearContainerFactor actFactor1(expLinFactor1, initOrdering); + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + // Check reconstruction from same ordering + GaussianFactor::shared_ptr actLinearizationA = actFactor1.linearize(values, initOrdering); + EXPECT(assert_equal(*expLinFactor1.clone(), *actLinearizationA, tol)); + + // Check reconstruction from new ordering + Ordering newOrdering; newOrdering += x1, l1, x2, l2; + GaussianFactor::shared_ptr actLinearizationB = actFactor1.linearize(values, newOrdering); + + JacobianFactor expLinFactor2( + newOrdering[l1], + Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624), + newOrdering[l2], + Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489), + Vector_(2, 0.0277052, + -0.0533393), + diag_model2); + + EXPECT(assert_equal(*expLinFactor2.clone(), *actLinearizationB, tol)); +} + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, generic_hessian_factor ) { + Matrix G11 = Matrix_(1,1, 1.0); + Matrix G12 = Matrix_(1,2, 2.0, 4.0); + Matrix G13 = Matrix_(1,3, 3.0, 6.0, 9.0); + + Matrix G22 = Matrix_(2,2, 3.0, 5.0, 0.0, 6.0); + Matrix G23 = Matrix_(2,3, 4.0, 6.0, 8.0, 1.0, 2.0, 4.0); + + Matrix G33 = Matrix_(3,3, 1.0, 2.0, 3.0, 0.0, 5.0, 6.0, 0.0, 0.0, 9.0); + + Vector g1 = Vector_(1, -7.0); + Vector g2 = Vector_(2, -8.0, -9.0); + Vector g3 = Vector_(3, 1.0, 2.0, 3.0); + + double f = 10.0; + + Ordering initOrdering; initOrdering += x1, x2, l1, l2; + HessianFactor initFactor(initOrdering[x1], initOrdering[x2], initOrdering[l1], + G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + LinearContainerFactor actFactor(initFactor, initOrdering); + GaussianFactor::shared_ptr actLinearization1 = actFactor.linearize(values, initOrdering); + EXPECT(assert_equal(*initFactor.clone(), *actLinearization1, tol)); + + Ordering newOrdering; newOrdering += l1, x1, x2, l2; + HessianFactor expLinFactor(newOrdering[x1], newOrdering[x2], newOrdering[l1], + G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + GaussianFactor::shared_ptr actLinearization2 = actFactor.linearize(values, newOrdering); + EXPECT(assert_equal(*expLinFactor.clone(), *actLinearization2, tol)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index f63d2add5..9fdd6512f 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -431,7 +431,7 @@ bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, cons bool totalGradOk = assert_equal(expectedGradient, actualGradient); EXPECT(totalGradOk); - return nodeGradientsOk && expectedGradOk && totalGradOk; + return nodeGradientsOk && expectedGradOk && totalGradOk && isamEqual; } /* ************************************************************************* */ From 0c384dc35ae9e807f91f32d70250290a639a9e4c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 10 Jul 2012 22:38:21 +0000 Subject: [PATCH 593/914] Added a check that all wrapped classes involved in a heirarchy are marked virtual --- gtsam.h | 10 +- wrap/Module.cpp | 833 ++++++++++++++++++++++++----------------------- wrap/utilities.h | 10 + 3 files changed, 436 insertions(+), 417 deletions(-) diff --git a/gtsam.h b/gtsam.h index 46ea37241..73f73389c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -702,17 +702,17 @@ class VariableIndex { #include namespace noiseModel { -class Base { +virtual class Base { }; -class Gaussian : gtsam::noiseModel::Base { +virtual class Gaussian : gtsam::noiseModel::Base { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); // Matrix R() const; // FIXME: cannot parse!!! void print(string s) const; }; -class Diagonal : gtsam::noiseModel::Gaussian { +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); @@ -720,14 +720,14 @@ class Diagonal : gtsam::noiseModel::Gaussian { void print(string s) const; }; -class Isotropic : gtsam::noiseModel::Gaussian { +virtual class Isotropic : gtsam::noiseModel::Gaussian { 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); void print(string s) const; }; -class Unit : gtsam::noiseModel::Gaussian { +virtual class Unit : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; }; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 6109da928..413fc84b8 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -1,355 +1,355 @@ -/* ---------------------------------------------------------------------------- - - * 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 Module.ccp - * @author Frank Dellaert - * @author Alex Cunningham - * @author Andrew Melim - **/ - -#include "Module.h" -#include "FileWriter.h" -#include "utilities.h" -#include "spirit_actors.h" - -//#define BOOST_SPIRIT_DEBUG -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -using namespace std; -using namespace wrap; -using namespace BOOST_SPIRIT_CLASSIC_NS; -namespace bl = boost::lambda; -namespace fs = boost::filesystem; - -typedef rule Rule; - -/* ************************************************************************* */ -// We parse an interface file into a Module object. -// The grammar is defined using the boost/spirit combinatorial parser. -// For example, str_p("const") parses the string "const", and the >> -// operator creates a sequence parser. The grammar below, composed of rules -// and with start rule [class_p], doubles as the specs for our interface files. -/* ************************************************************************* */ - -Module::Module(const string& interfacePath, - const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) -{ - // these variables will be imperatively updated to gradually build [cls] - // The one with postfix 0 are used to reset the variables after parse. - string methodName, methodName0; - bool isConst, isConst0 = false; - ReturnValue retVal0, retVal; - Argument arg0, arg; - ArgumentList args0, args; - vector arg_dup; ///keep track of duplicates - Constructor constructor0(enable_verbose), constructor(enable_verbose); - Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); - //Method method0(enable_verbose), method(enable_verbose); - StaticMethod static_method0(enable_verbose), static_method(enable_verbose); - Class cls0(enable_verbose),cls(enable_verbose); - ForwardDeclaration fwDec0, fwDec; - vector namespaces, /// current namespace tag - namespace_includes, /// current set of includes - namespaces_return, /// namespace for current return type - using_namespace_current; /// All namespaces from "using" declarations - string include_path = ""; - const string null_str = ""; - - //---------------------------------------------------------------------------- - // Grammar with actions that build the Class object. Actions are - // defined within the square brackets [] and are executed whenever a - // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. - // The grammar is allows a very restricted C++ header - // lexeme_d turns off white space skipping - // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html - // ---------------------------------------------------------------------------- - - Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p); - - Rule basisType_p = - (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); - - Rule keywords_p = - (str_p("const") | "static" | "namespace" | basisType_p); - - Rule eigenType_p = - (str_p("Vector") | "Matrix"); - - Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); - - Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; - - Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); - - Rule argEigenType_p = - eigenType_p[assign_a(arg.type)] >> - !ch_p('*')[assign_a(arg.is_ptr,true)]; - - Rule eigenRef_p = - !str_p("const") [assign_a(arg.is_const,true)] >> - eigenType_p [assign_a(arg.type)] >> - ch_p('&') [assign_a(arg.is_ref,true)]; - - Rule classArg_p = - !str_p("const") [assign_a(arg.is_const,true)] >> - *namespace_arg_p >> - className_p[assign_a(arg.type)] >> - (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); - - Rule classParent_p = - *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> - className_p[push_back_a(cls.qualifiedParent)]; - - Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; - - Rule argument_p = - ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) - >> name_p[assign_a(arg.name)]) - [push_back_a(args, arg)] - [assign_a(arg,arg0)]; - - Rule argumentList_p = !argument_p >> * (',' >> argument_p); - - Rule constructor_p = - (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) - [push_back_a(constructor.args_list, args)] - [assign_a(args,args0)]; - //[assign_a(constructor.args,args)] - //[assign_a(constructor.name,cls.name)] - //[push_back_a(cls.constructors, constructor)] - //[assign_a(constructor,constructor0)]; - - Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); - - Rule returnType1_p = - (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> - !ch_p('*')[assign_a(retVal.isPtr1,true)]) | - (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); - - Rule returnType2_p = - (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> - !ch_p('*') [assign_a(retVal.isPtr2,true)]) | - (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); - - Rule pair_p = - (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') - [assign_a(retVal.isPair,true)]; - - Rule void_p = str_p("void")[assign_a(retVal.type1)]; - - Rule returnType_p = void_p | returnType1_p | pair_p; - - Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; - - Rule method_p = - (returnType_p >> methodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> - !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) - [bl::bind(&Method::addOverload, - bl::var(cls.methods)[bl::var(methodName)], - verbose, - bl::var(isConst), - bl::var(methodName), - bl::var(args), - bl::var(retVal))] - [assign_a(isConst,isConst0)] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; - - Rule static_method_p = - (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> ';' >> *comments_p) - [bl::bind(&StaticMethod::addOverload, - bl::var(cls.static_methods)[bl::var(methodName)], - verbose, - bl::var(methodName), - bl::var(args), - bl::var(retVal))] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule functions_p = constructor_p | method_p | static_method_p; - - Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); - - Rule class_p = - (!*include_p - >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) - >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] - >> className_p[assign_a(cls.name)] - >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec - >> *(functions_p | comments_p) - >> str_p("};")) - [assign_a(constructor.name, cls.name)] - [assign_a(cls.constructor, constructor)] - [assign_a(cls.namespaces, namespaces)] - [assign_a(cls.using_namespaces, using_namespace_current)] - [append_a(cls.includes, namespace_includes)] - [assign_a(deconstructor.name,cls.name)] - [assign_a(cls.deconstructor, deconstructor)] - [push_back_a(classes, cls)] - [assign_a(deconstructor,deconstructor0)] - [assign_a(constructor, constructor0)] - [assign_a(cls,cls0)]; - - Rule namespace_def_p = - (!*include_p - >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] - >> namespace_name_p[push_back_a(namespaces)] - >> ch_p('{') - >> *(class_p | namespace_def_p | comments_p) - >> str_p("}///\\namespace") // end namespace, avoid confusion with classes - >> !namespace_name_p) - [pop_a(namespaces)] - [pop_a(namespace_includes)]; - - Rule using_namespace_p = - str_p("using") >> str_p("namespace") - >> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';'); - - Rule forward_declaration_p = - !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) - >> str_p("class") - >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] - >> ch_p(';') - [push_back_a(forward_declarations, fwDec)] - [assign_a(fwDec, fwDec0)]; - - Rule module_content_p = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ; - - Rule module_p = *module_content_p >> !end_p; - - //---------------------------------------------------------------------------- - // for debugging, define BOOST_SPIRIT_DEBUG -# ifdef BOOST_SPIRIT_DEBUG - BOOST_SPIRIT_DEBUG_NODE(className_p); - BOOST_SPIRIT_DEBUG_NODE(classPtr_p); - BOOST_SPIRIT_DEBUG_NODE(classRef_p); - BOOST_SPIRIT_DEBUG_NODE(basisType_p); - BOOST_SPIRIT_DEBUG_NODE(name_p); - BOOST_SPIRIT_DEBUG_NODE(argument_p); - BOOST_SPIRIT_DEBUG_NODE(argumentList_p); - BOOST_SPIRIT_DEBUG_NODE(constructor_p); - BOOST_SPIRIT_DEBUG_NODE(returnType1_p); - BOOST_SPIRIT_DEBUG_NODE(returnType2_p); - BOOST_SPIRIT_DEBUG_NODE(pair_p); - BOOST_SPIRIT_DEBUG_NODE(void_p); - BOOST_SPIRIT_DEBUG_NODE(returnType_p); - BOOST_SPIRIT_DEBUG_NODE(methodName_p); - BOOST_SPIRIT_DEBUG_NODE(method_p); - BOOST_SPIRIT_DEBUG_NODE(class_p); - BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); - BOOST_SPIRIT_DEBUG_NODE(module_p); -# endif - //---------------------------------------------------------------------------- - - // read interface file - string interfaceFile = interfacePath + "/" + moduleName + ".h"; - string contents = file_contents(interfaceFile); - - // and parse contents - parse_info info = parse(contents.c_str(), module_p, space_p); - if(!info.full) { - printf("parsing stopped at \n%.20s\n",info.stop); - throw ParseFailed(info.length); - } -} - -/* ************************************************************************* */ -template -void verifyArguments(const vector& validArgs, const map& vt) { - typedef typename map::value_type Name_Method; - BOOST_FOREACH(const Name_Method& name_method, vt) { - const T& t = name_method.second; - BOOST_FOREACH(const ArgumentList& argList, t.argLists) { - BOOST_FOREACH(Argument arg, argList) { - string fullType = arg.qualifiedType("::"); - if(find(validArgs.begin(), validArgs.end(), fullType) - == validArgs.end()) - throw DependencyMissing(fullType, t.name); - } - } - } -} - -/* ************************************************************************* */ -template -void verifyReturnTypes(const vector& validtypes, const map& vt) { - typedef typename map::value_type Name_Method; - BOOST_FOREACH(const Name_Method& name_method, vt) { - const T& t = name_method.second; - BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { - if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType1("::"), t.name); - if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType2("::"), t.name); - } - } -} - -/* ************************************************************************* */ -void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { - - fs::create_directories(toolboxPath); - - // create the unified .cpp switch file - const string wrapperName = name + "_wrapper"; - string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; - FileWriter wrapperFile(wrapperFileName, verbose, "//"); - vector functionNames; // Function names stored by index for switch - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "\n"; - - // Dependency check list - vector validTypes; - BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { - validTypes.push_back(fwDec.name); - } - validTypes.push_back("void"); - validTypes.push_back("string"); - validTypes.push_back("int"); - validTypes.push_back("bool"); - validTypes.push_back("char"); - validTypes.push_back("unsigned char"); - validTypes.push_back("size_t"); - validTypes.push_back("double"); - validTypes.push_back("Vector"); - validTypes.push_back("Matrix"); +/* ---------------------------------------------------------------------------- + + * 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 Module.ccp + * @author Frank Dellaert + * @author Alex Cunningham + * @author Andrew Melim + **/ + +#include "Module.h" +#include "FileWriter.h" +#include "utilities.h" +#include "spirit_actors.h" + +//#define BOOST_SPIRIT_DEBUG +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace std; +using namespace wrap; +using namespace BOOST_SPIRIT_CLASSIC_NS; +namespace bl = boost::lambda; +namespace fs = boost::filesystem; + +typedef rule Rule; + +/* ************************************************************************* */ +// We parse an interface file into a Module object. +// The grammar is defined using the boost/spirit combinatorial parser. +// For example, str_p("const") parses the string "const", and the >> +// operator creates a sequence parser. The grammar below, composed of rules +// and with start rule [class_p], doubles as the specs for our interface files. +/* ************************************************************************* */ + +Module::Module(const string& interfacePath, + const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) +{ + // these variables will be imperatively updated to gradually build [cls] + // The one with postfix 0 are used to reset the variables after parse. + string methodName, methodName0; + bool isConst, isConst0 = false; + ReturnValue retVal0, retVal; + Argument arg0, arg; + ArgumentList args0, args; + vector arg_dup; ///keep track of duplicates + Constructor constructor0(enable_verbose), constructor(enable_verbose); + Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); + //Method method0(enable_verbose), method(enable_verbose); + StaticMethod static_method0(enable_verbose), static_method(enable_verbose); + Class cls0(enable_verbose),cls(enable_verbose); + ForwardDeclaration fwDec0, fwDec; + vector namespaces, /// current namespace tag + namespace_includes, /// current set of includes + namespaces_return, /// namespace for current return type + using_namespace_current; /// All namespaces from "using" declarations + string include_path = ""; + const string null_str = ""; + + //---------------------------------------------------------------------------- + // Grammar with actions that build the Class object. Actions are + // defined within the square brackets [] and are executed whenever a + // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. + // The grammar is allows a very restricted C++ header + // lexeme_d turns off white space skipping + // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html + // ---------------------------------------------------------------------------- + + Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p); + + Rule basisType_p = + (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); + + Rule keywords_p = + (str_p("const") | "static" | "namespace" | basisType_p); + + Rule eigenType_p = + (str_p("Vector") | "Matrix"); + + Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); + + Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; + + Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); + + Rule argEigenType_p = + eigenType_p[assign_a(arg.type)] >> + !ch_p('*')[assign_a(arg.is_ptr,true)]; + + Rule eigenRef_p = + !str_p("const") [assign_a(arg.is_const,true)] >> + eigenType_p [assign_a(arg.type)] >> + ch_p('&') [assign_a(arg.is_ref,true)]; + + Rule classArg_p = + !str_p("const") [assign_a(arg.is_const,true)] >> + *namespace_arg_p >> + className_p[assign_a(arg.type)] >> + (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); + + Rule classParent_p = + *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> + className_p[push_back_a(cls.qualifiedParent)]; + + Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; + + Rule argument_p = + ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) + >> name_p[assign_a(arg.name)]) + [push_back_a(args, arg)] + [assign_a(arg,arg0)]; + + Rule argumentList_p = !argument_p >> * (',' >> argument_p); + + Rule constructor_p = + (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) + [push_back_a(constructor.args_list, args)] + [assign_a(args,args0)]; + //[assign_a(constructor.args,args)] + //[assign_a(constructor.name,cls.name)] + //[push_back_a(cls.constructors, constructor)] + //[assign_a(constructor,constructor0)]; + + Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); + + Rule returnType1_p = + (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> + !ch_p('*')[assign_a(retVal.isPtr1,true)]) | + (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); + + Rule returnType2_p = + (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> + !ch_p('*') [assign_a(retVal.isPtr2,true)]) | + (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); + + Rule pair_p = + (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') + [assign_a(retVal.isPair,true)]; + + Rule void_p = str_p("void")[assign_a(retVal.type1)]; + + Rule returnType_p = void_p | returnType1_p | pair_p; + + Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; + + Rule method_p = + (returnType_p >> methodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> + !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) + [bl::bind(&Method::addOverload, + bl::var(cls.methods)[bl::var(methodName)], + verbose, + bl::var(isConst), + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(isConst,isConst0)] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; + + Rule static_method_p = + (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> ';' >> *comments_p) + [bl::bind(&StaticMethod::addOverload, + bl::var(cls.static_methods)[bl::var(methodName)], + verbose, + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule functions_p = constructor_p | method_p | static_method_p; + + Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); + + Rule class_p = + (!*include_p + >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) + >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] + >> className_p[assign_a(cls.name)] + >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec + >> *(functions_p | comments_p) + >> str_p("};")) + [assign_a(constructor.name, cls.name)] + [assign_a(cls.constructor, constructor)] + [assign_a(cls.namespaces, namespaces)] + [assign_a(cls.using_namespaces, using_namespace_current)] + [append_a(cls.includes, namespace_includes)] + [assign_a(deconstructor.name,cls.name)] + [assign_a(cls.deconstructor, deconstructor)] + [push_back_a(classes, cls)] + [assign_a(deconstructor,deconstructor0)] + [assign_a(constructor, constructor0)] + [assign_a(cls,cls0)]; + + Rule namespace_def_p = + (!*include_p + >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] + >> namespace_name_p[push_back_a(namespaces)] + >> ch_p('{') + >> *(class_p | namespace_def_p | comments_p) + >> str_p("}///\\namespace") // end namespace, avoid confusion with classes + >> !namespace_name_p) + [pop_a(namespaces)] + [pop_a(namespace_includes)]; + + Rule using_namespace_p = + str_p("using") >> str_p("namespace") + >> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';'); + + Rule forward_declaration_p = + !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) + >> str_p("class") + >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] + >> ch_p(';') + [push_back_a(forward_declarations, fwDec)] + [assign_a(fwDec, fwDec0)]; + + Rule module_content_p = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ; + + Rule module_p = *module_content_p >> !end_p; + + //---------------------------------------------------------------------------- + // for debugging, define BOOST_SPIRIT_DEBUG +# ifdef BOOST_SPIRIT_DEBUG + BOOST_SPIRIT_DEBUG_NODE(className_p); + BOOST_SPIRIT_DEBUG_NODE(classPtr_p); + BOOST_SPIRIT_DEBUG_NODE(classRef_p); + BOOST_SPIRIT_DEBUG_NODE(basisType_p); + BOOST_SPIRIT_DEBUG_NODE(name_p); + BOOST_SPIRIT_DEBUG_NODE(argument_p); + BOOST_SPIRIT_DEBUG_NODE(argumentList_p); + BOOST_SPIRIT_DEBUG_NODE(constructor_p); + BOOST_SPIRIT_DEBUG_NODE(returnType1_p); + BOOST_SPIRIT_DEBUG_NODE(returnType2_p); + BOOST_SPIRIT_DEBUG_NODE(pair_p); + BOOST_SPIRIT_DEBUG_NODE(void_p); + BOOST_SPIRIT_DEBUG_NODE(returnType_p); + BOOST_SPIRIT_DEBUG_NODE(methodName_p); + BOOST_SPIRIT_DEBUG_NODE(method_p); + BOOST_SPIRIT_DEBUG_NODE(class_p); + BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); + BOOST_SPIRIT_DEBUG_NODE(module_p); +# endif + //---------------------------------------------------------------------------- + + // read interface file + string interfaceFile = interfacePath + "/" + moduleName + ".h"; + string contents = file_contents(interfaceFile); + + // and parse contents + parse_info info = parse(contents.c_str(), module_p, space_p); + if(!info.full) { + printf("parsing stopped at \n%.20s\n",info.stop); + throw ParseFailed(info.length); + } +} + +/* ************************************************************************* */ +template +void verifyArguments(const vector& validArgs, const map& vt) { + typedef typename map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ArgumentList& argList, t.argLists) { + BOOST_FOREACH(Argument arg, argList) { + string fullType = arg.qualifiedType("::"); + if(find(validArgs.begin(), validArgs.end(), fullType) + == validArgs.end()) + throw DependencyMissing(fullType, t.name); + } + } + } +} + +/* ************************************************************************* */ +template +void verifyReturnTypes(const vector& validtypes, const map& vt) { + typedef typename map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { + if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType1("::"), t.name); + if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType2("::"), t.name); + } + } +} + +/* ************************************************************************* */ +void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { + + fs::create_directories(toolboxPath); + + // create the unified .cpp switch file + const string wrapperName = name + "_wrapper"; + string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; + FileWriter wrapperFile(wrapperFileName, verbose, "//"); + vector functionNames; // Function names stored by index for switch + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "\n"; + + // Dependency check list + vector validTypes; + BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { + validTypes.push_back(fwDec.name); + } + validTypes.push_back("void"); + validTypes.push_back("string"); + validTypes.push_back("int"); + validTypes.push_back("bool"); + validTypes.push_back("char"); + validTypes.push_back("unsigned char"); + validTypes.push_back("size_t"); + validTypes.push_back("double"); + validTypes.push_back("Vector"); + validTypes.push_back("Matrix"); //Create a list of parsed classes for dependency checking BOOST_FOREACH(const Class& cls, classes) { validTypes.push_back(cls.qualifiedName("::")); - } - + } + // Create type attributes table ReturnValue::TypeAttributesTable typeAttributes; BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { @@ -359,71 +359,80 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co BOOST_FOREACH(const Class& cls, classes) { if(!typeAttributes.insert(make_pair(cls.qualifiedName("::"), ReturnValue::TypeAttributes(cls.isVirtual))).second) throw DuplicateDefinition("class " + cls.qualifiedName("::")); - - // Check that class is virtual if it has a parent } - - // Check that all classes have been defined somewhere - BOOST_FOREACH(const Class& cls, classes) { - // verify all of the function arguments - //TODO:verifyArguments(validTypes, cls.constructor.args_list); - verifyArguments(validTypes, cls.static_methods); - verifyArguments(validTypes, cls.methods); - - // verify function return types - verifyReturnTypes(validTypes, cls.static_methods); - verifyReturnTypes(validTypes, cls.methods); - } - - // Generate all includes + // Check attributes BOOST_FOREACH(const Class& cls, classes) { - generateIncludes(wrapperFile, cls.name, cls.includes); - } - wrapperFile.oss << "\n"; - - // Generate all collectors + // Check that class is virtual if it has a parent + if(!cls.qualifiedParent.empty() && !cls.isVirtual) + throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'"); + // Check that parent is virtual as well + if(!cls.qualifiedParent.empty() && !typeAttributes.at(wrap::qualifiedName("::", cls.qualifiedParent)).isVirtual) + throw AttributeError(wrap::qualifiedName("::", cls.qualifiedParent), + "Is the base class of " + cls.qualifiedName("::") + ", so needs to be declared virtual"); + } + + // Check that all classes have been defined somewhere BOOST_FOREACH(const Class& cls, classes) { - const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); - wrapperFile.oss << "typedef std::set*> " - << "Collector_" << matlabName << ";\n"; - wrapperFile.oss << "static Collector_" << matlabName << - " collector_" << matlabName << ";\n"; - } - - // generate mexAtExit cleanup function - wrapperFile.oss << "void _deleteAllObjects()\n"; - wrapperFile.oss << "{\n"; + // verify all of the function arguments + //TODO:verifyArguments(validTypes, cls.constructor.args_list); + verifyArguments(validTypes, cls.static_methods); + verifyArguments(validTypes, cls.methods); + + // verify function return types + verifyReturnTypes(validTypes, cls.static_methods); + verifyReturnTypes(validTypes, cls.methods); + } + + // Generate all includes BOOST_FOREACH(const Class& cls, classes) { - const string matlabName = cls.qualifiedName(); - const string cppName = cls.qualifiedName("::"); - const string collectorType = "Collector_" + matlabName; - const string collectorName = "collector_" + matlabName; - wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; - wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; - wrapperFile.oss << " delete *iter;\n"; - wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; - wrapperFile.oss << " }\n"; - } - wrapperFile.oss << "}\n"; - - // create proxy class and wrapper code + generateIncludes(wrapperFile, cls.name, cls.includes); + } + wrapperFile.oss << "\n"; + + // Generate all collectors BOOST_FOREACH(const Class& cls, classes) { - string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; - cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); - } - - // finish wrapper file - finish_wrapper(wrapperFile, functionNames); - - wrapperFile.emit(true); - } - -/* ************************************************************************* */ - void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; - file.oss << "{\n"; + const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); + wrapperFile.oss << "typedef std::set*> " + << "Collector_" << matlabName << ";\n"; + wrapperFile.oss << "static Collector_" << matlabName << + " collector_" << matlabName << ";\n"; + } + + // generate mexAtExit cleanup function + wrapperFile.oss << "\nvoid _deleteAllObjects()\n"; + wrapperFile.oss << "{\n"; + BOOST_FOREACH(const Class& cls, classes) { + const string matlabName = cls.qualifiedName(); + const string cppName = cls.qualifiedName("::"); + const string collectorType = "Collector_" + matlabName; + const string collectorName = "collector_" + matlabName; + wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; + wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; + wrapperFile.oss << " delete *iter;\n"; + wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; + wrapperFile.oss << " }\n"; + } + wrapperFile.oss << "}\n"; + + // create proxy class and wrapper code + BOOST_FOREACH(const Class& cls, classes) { + string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; + cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); + } + + // finish wrapper file + wrapperFile.oss << "\n"; + finish_wrapper(wrapperFile, functionNames); + + wrapperFile.emit(true); + } + +/* ************************************************************************* */ + void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { + file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + file.oss << "{\n"; file.oss << " mstream mout;\n"; // Send stdout to MATLAB console, see matlab.h - file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; + file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; file.oss << " int id = unwrap(in[0]);\n\n"; file.oss << " switch(id) {\n"; for(size_t id = 0; id < functionNames.size(); ++id) { @@ -433,8 +442,8 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } file.oss << " }\n"; file.oss << "\n"; - file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h + file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h file.oss << "}\n"; - } - -/* ************************************************************************* */ + } + +/* ************************************************************************* */ diff --git a/wrap/utilities.h b/wrap/utilities.h index f84a28b51..99e19a755 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -68,6 +68,16 @@ public: ~DuplicateDefinition() throw() {} virtual const char* what() const throw() { return what_.c_str(); } }; + +class AttributeError : public std::exception { +private: + const std::string what_; +public: + AttributeError(const std::string& name, const std::string& problem) : + what_("Class " + name + ": " + problem) {} + ~AttributeError() throw() {} + virtual const char* what() const throw() { return what_.c_str(); } +}; /** Special "magic number" passed into MATLAB constructor to indicate creating * a MATLAB object from a shared_ptr allocated in C++ From 384f50f1fec14566dd20064526382a4b7a217393 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 10 Jul 2012 22:42:28 +0000 Subject: [PATCH 594/914] Removed debug-only variable in iSAM2 that was causing a crash when gtsam was compiled with NDEBUG defined and a project compiled without it defined, or vice-versa --- gtsam/nonlinear/ISAM2.cpp | 10 ---------- gtsam/nonlinear/ISAM2.h | 5 ----- 2 files changed, 15 deletions(-) diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index a9bd195ba..8c470f1aa 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -86,9 +86,6 @@ ISAM2& ISAM2::operator=(const ISAM2& rhs) { params_ = rhs.params_; doglegDelta_ = rhs.doglegDelta_; -#ifndef NDEBUG - lastRelinVariables_ = rhs.lastRelinVariables_; -#endif lastAffectedVariableCount = rhs.lastAffectedVariableCount; lastAffectedFactorCount = rhs.lastAffectedFactorCount; lastAffectedCliqueCount = rhs.lastAffectedCliqueCount; @@ -661,15 +658,8 @@ ISAM2Result ISAM2::update( toc(7,"expmap"); result.variablesRelinearized = markedKeys.size(); - -#ifndef NDEBUG - lastRelinVariables_ = markedRelinMask; -#endif } else { result.variablesRelinearized = 0; -#ifndef NDEBUG - lastRelinVariables_ = vector(ordering_.nVars(), false); -#endif } tic(8,"linearize new"); diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 34fc7b46f..0d540a729 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -403,11 +403,6 @@ protected: /** The inverse ordering, only used for creating ISAM2Result::DetailedResults */ boost::optional inverseOrdering_; -private: -#ifndef NDEBUG - std::vector lastRelinVariables_; -#endif - public: typedef ISAM2 This; ///< This class From af11b6c0a0895d74995cdafcd96b726359f77713 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 10 Jul 2012 22:51:19 +0000 Subject: [PATCH 595/914] Create table of RTTI type names at wrap module creation time - will support code to create most derived type from base type in matlab wrapper --- wrap/Module.cpp | 45 ++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 44 insertions(+), 1 deletion(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 413fc84b8..2fb7b1095 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -412,7 +412,46 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; wrapperFile.oss << " }\n"; } - wrapperFile.oss << "}\n"; + wrapperFile.oss << "}\n\n"; + + // generate RTTI registry (for returning derived-most types) + { + // Generate static class and instance to get all RTTI type names + wrapperFile.oss << + "static bool _RTTIRegister_" << name << "_done = false;\n" + "void _" << name << "_RTTIRegister() {\n" + " std::map types;\n" + " cout << \"in get\" << endl;\n"; + BOOST_FOREACH(const Class& cls, classes) { + if(cls.isVirtual) + wrapperFile.oss << + " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; + } + wrapperFile.oss << "\n"; + + // Generate another static class and instance to add RTTI types to a MATLAB global variable + wrapperFile.oss << + " cout << \"in register\" << endl;\n" + " mxArray *registry = mexGetVariable(\"global\", \"_gtsamwrap_rttiRegistry\");\n" + " cout << \"registry = \" << registry << endl;\n" + " if(!registry)\n" + " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" + " typedef std::pair StringPair;\n" + " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" + " cout << rtti_matlab.first << \" -> \" << rtti_matlab.second << endl;\n" + " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" + " if(fieldId < 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" + " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" + " }\n" + " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " cout << \"Stored\" << endl;\n" + " mxDestroyArray(registry);\n" + "}\n" + "\n"; + } // create proxy class and wrapper code BOOST_FOREACH(const Class& cls, classes) { @@ -433,6 +472,10 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co file.oss << "{\n"; file.oss << " mstream mout;\n"; // Send stdout to MATLAB console, see matlab.h file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; + file.oss << " if(!_RTTIRegister_" << name << "_done) {\n"; + file.oss << " _" << name << "_RTTIRegister();\n"; + file.oss << " _RTTIRegister_" << name << "_done = true;\n"; + file.oss << " }\n"; file.oss << " int id = unwrap(in[0]);\n\n"; file.oss << " switch(id) {\n"; for(size_t id = 0; id < functionNames.size(); ++id) { From 33a64fc7b5efc06ed258136777cfc1143de908e0 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 10 Jul 2012 22:53:35 +0000 Subject: [PATCH 596/914] Removed debug prints --- wrap/Module.cpp | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 2fb7b1095..1457d86ee 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -416,12 +416,10 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // generate RTTI registry (for returning derived-most types) { - // Generate static class and instance to get all RTTI type names wrapperFile.oss << "static bool _RTTIRegister_" << name << "_done = false;\n" "void _" << name << "_RTTIRegister() {\n" - " std::map types;\n" - " cout << \"in get\" << endl;\n"; + " std::map types;\n"; BOOST_FOREACH(const Class& cls, classes) { if(cls.isVirtual) wrapperFile.oss << @@ -429,16 +427,12 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } wrapperFile.oss << "\n"; - // Generate another static class and instance to add RTTI types to a MATLAB global variable wrapperFile.oss << - " cout << \"in register\" << endl;\n" " mxArray *registry = mexGetVariable(\"global\", \"_gtsamwrap_rttiRegistry\");\n" - " cout << \"registry = \" << registry << endl;\n" " if(!registry)\n" " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" " typedef std::pair StringPair;\n" " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" - " cout << rtti_matlab.first << \" -> \" << rtti_matlab.second << endl;\n" " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" " if(fieldId < 0)\n" " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" @@ -447,7 +441,6 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co " }\n" " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " cout << \"Stored\" << endl;\n" " mxDestroyArray(registry);\n" "}\n" "\n"; From 2e6de9e9a1b2c9ec5c7ce6e575d6923df5d994b8 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 11 Jul 2012 14:54:11 +0000 Subject: [PATCH 597/914] Fixed wrap unit test --- wrap/tests/expected/geometry_wrapper.cpp | 2 ++ wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp | 2 ++ 2 files changed, 4 insertions(+) diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index aad0c258a..a2e01ab92 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -13,6 +13,7 @@ typedef std::set*> Collector_Point3; static Collector_Point3 collector_Point3; typedef std::set*> Collector_Test; static Collector_Test collector_Test; + void _deleteAllObjects() { for(Collector_Point2::iterator iter = collector_Point2.begin(); @@ -462,6 +463,7 @@ using namespace geometry; out[0] = wrap< Vector >(obj->return_vector2(value)); } + void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mstream mout; diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 3633e38c8..2e0a6431e 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -25,6 +25,7 @@ typedef std::set*> Collector_ns2ClassC; static Collector_ns2ClassC collector_ns2ClassC; typedef std::set*> Collector_ClassD; static Collector_ClassD collector_ClassD; + void _deleteAllObjects() { for(Collector_ns1ClassA::iterator iter = collector_ns1ClassA.begin(); @@ -285,6 +286,7 @@ void ClassD_deconstructor_21(int nargout, mxArray *out[], int nargin, const mxAr } } + void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mstream mout; From f3406f3bc9aa5c421cbb4aba29979238b30a99a2 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 11 Jul 2012 14:54:13 +0000 Subject: [PATCH 598/914] Small change to wrap to avoid redundant includes in cpp file --- wrap/Module.cpp | 36 ++++++++++++++++--- wrap/Module.h | 2 ++ .../testNamespaces_wrapper.cpp | 6 ++-- wrap/utilities.cpp | 14 -------- wrap/utilities.h | 6 ---- 5 files changed, 36 insertions(+), 28 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 413fc84b8..f672770a4 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -315,6 +315,35 @@ void verifyReturnTypes(const vector& validtypes, const map& vt } } +/* ************************************************************************* */ +void Module::generateIncludes(FileWriter& file) const { + + // collect includes + vector all_includes; + BOOST_FOREACH(const Class& cls, classes) { +// generateIncludes(wrapperFile, cls.name, cls.includes); + bool added_include = false; + BOOST_FOREACH(const string& s, cls.includes) { + if (!s.empty()) { + all_includes.push_back(s); + added_include = true; + } + } + if (!added_include) // add default include + all_includes.push_back(cls.name + ".h"); + } + + // sort and remove duplicates + sort(all_includes.begin(), all_includes.end()); + unique(all_includes.begin(), all_includes.end()); + + // add includes to file + BOOST_FOREACH(const string& include, all_includes) { + file.oss << "#include <" << include << ">" << endl; + } + file.oss << "\n"; +} + /* ************************************************************************* */ void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { @@ -383,11 +412,8 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co verifyReturnTypes(validTypes, cls.methods); } - // Generate all includes - BOOST_FOREACH(const Class& cls, classes) { - generateIncludes(wrapperFile, cls.name, cls.includes); - } - wrapperFile.oss << "\n"; + // Generate includes while avoiding redundant includes + generateIncludes(wrapperFile); // Generate all collectors BOOST_FOREACH(const Class& cls, classes) { diff --git a/wrap/Module.h b/wrap/Module.h index 3cb23be25..786379d16 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -53,6 +53,8 @@ struct Module { const std::string& headerPath) const; void finish_wrapper(FileWriter& file, const std::vector& functionNames) const; + + void generateIncludes(FileWriter& file) const; }; } // \namespace wrap diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 2e0a6431e..53f28d10e 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -3,15 +3,15 @@ #include #include -#include +#include #include #include #include #include -#include #include #include -#include +#include +#include typedef std::set*> Collector_ns1ClassA; static Collector_ns1ClassA collector_ns1ClassA; diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 94117b5d3..5f0db4248 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -120,20 +120,6 @@ void generateUsingNamespace(FileWriter& file, const vector& using_namesp file.oss << "using namespace " << s << ";" << endl; } -/* ************************************************************************* */ -void generateIncludes(FileWriter& file, const string& class_name, - const vector& includes) { - bool added_include = false; - BOOST_FOREACH(const string& s, includes) { - if (!s.empty()) { - file.oss << "#include <" << s << ">" << endl; - added_include = true; - } - } - if (!added_include) // add default include - file.oss << "#include <" << class_name << ".h>" << endl; -} - /* ************************************************************************* */ string qualifiedName(const string& separator, const vector& names, const string& finalName) { string result; diff --git a/wrap/utilities.h b/wrap/utilities.h index 99e19a755..eaf339928 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -117,12 +117,6 @@ std::string maybe_shared_ptr(bool add, const std::string& qtype, const std::stri */ void generateUsingNamespace(FileWriter& file, const std::vector& using_namespaces); -/** - * Creates the #include statements - */ -void generateIncludes(FileWriter& file, const std::string& class_name, - const std::vector& includes); - /** * Return a qualified name, if finalName is empty, only the names vector will * be used (i.e. there won't be a trailing separator on the qualified name). From 7c176dd76dabc2f81ffd1f41d420c12dcc0d1486 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 11 Jul 2012 15:44:04 +0000 Subject: [PATCH 599/914] Automatic returning of derived-most type in matlab wrapper working but not yet well-tested --- wrap/Class.cpp | 60 +++++++++++++++++++++------ wrap/Class.h | 2 +- wrap/Module.cpp | 2 +- wrap/ReturnValue.cpp | 98 ++++++++++++++++++++++++++------------------ wrap/matlab.h | 50 +++++++++++++++++++--- wrap/utilities.h | 6 +-- 6 files changed, 155 insertions(+), 63 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index dd28a830a..bc28ad6c0 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -63,11 +63,8 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, // other wrap modules - to add these to their collectors the pointer is // passed from one C++ module into matlab then back into the other C++ // module. - { - int id = functionNames.size(); - const string functionName = pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, id); - functionNames.push_back(functionName); - } + pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, functionNames); + wrapperFile.oss << "\n"; // Regular constructors BOOST_FOREACH(ArgumentList a, constructor.args_list) { @@ -131,29 +128,52 @@ string Class::qualifiedName(const string& delim) const { } /* ************************************************************************* */ -string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, int id) const { +void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, vector& functionNames) const { const string matlabName = qualifiedName(), cppName = qualifiedName("::"); - const string wrapFunctionName = matlabName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(id); const string baseMatlabName = wrap::qualifiedName("", qualifiedParent); const string baseCppName = wrap::qualifiedName("::", qualifiedParent); + const int collectorInsertId = functionNames.size(); + const string collectorInsertFunctionName = matlabName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(collectorInsertId); + functionNames.push_back(collectorInsertFunctionName); + + int upcastFromVoidId; + string upcastFromVoidFunctionName; + if(isVirtual) { + upcastFromVoidId = functionNames.size(); + upcastFromVoidFunctionName = matlabName + "_upcastFromVoid_" + boost::lexical_cast(upcastFromVoidId); + functionNames.push_back(upcastFromVoidFunctionName); + } + // MATLAB constructor that assigns pointer to matlab object then calls c++ // function to add the object to the collector. - proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && "; - proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n"; - proxyFile.oss << " my_ptr = varargin{2};\n"; + if(isVirtual) { + proxyFile.oss << " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))"; + } else { + proxyFile.oss << " if nargin == 2"; + } + proxyFile.oss << " && isa(varargin{1}, 'uint64') && varargin{1} == uint64(" << ptr_constructor_key << ")\n"; + if(isVirtual) { + proxyFile.oss << " if nargin == 2\n"; + proxyFile.oss << " my_ptr = varargin{2};\n"; + proxyFile.oss << " else\n"; + proxyFile.oss << " my_ptr = " << wrapperName << "(" << upcastFromVoidId << ", varargin{2});\n"; + proxyFile.oss << " end\n"; + } else { + proxyFile.oss << " my_ptr = varargin{2};\n"; + } if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back proxyFile.oss << " "; else proxyFile.oss << " base_ptr = "; - proxyFile.oss << wrapperName << "(" << id << ", my_ptr);\n"; // Call collector insert and get base class ptr + proxyFile.oss << wrapperName << "(" << collectorInsertId << ", my_ptr);\n"; // Call collector insert and get base class ptr // C++ function to add pointer from MATLAB to collector. The pointer always // comes from a C++ return value; this mechanism allows the object to be added // to a collector in a different wrap module. If this class has a base class, // a new pointer to the base class is allocated and returned. - wrapperFile.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; + wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; wrapperFile.oss << "{\n"; wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; generateUsingNamespace(wrapperFile, using_namespaces); @@ -173,7 +193,21 @@ string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& w } wrapperFile.oss << "}\n"; - return wrapFunctionName; + // If this is a virtual function, C++ function to dynamic upcast it from a + // shared_ptr. This mechanism allows automatic dynamic creation of the + // real underlying derived-most class when a C++ method returns a virtual + // base class. + if(isVirtual) + wrapperFile.oss << + "\n" + "void " << upcastFromVoidFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {\n" + " mexAtExit(&_deleteAllObjects);\n" + " typedef boost::shared_ptr<" << cppName << "> Shared;\n" + " boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0]));\n" + " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n" + " Shared *self = new Shared(boost::static_pointer_cast<" << cppName << ">(*asVoid));\n" + " *reinterpret_cast(mxGetData(out[0])) = self;\n" + "}\n"; } /* ************************************************************************* */ diff --git a/wrap/Class.h b/wrap/Class.h index 78d779a1f..f4087f00f 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -55,7 +55,7 @@ struct Class { std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter private: - std::string pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& wrapperName, int id) const; + void pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& wrapperName, std::vector& functionNames) const; }; } // \namespace wrap diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 1457d86ee..ef93857b6 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -428,7 +428,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.oss << "\n"; wrapperFile.oss << - " mxArray *registry = mexGetVariable(\"global\", \"_gtsamwrap_rttiRegistry\");\n" + " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" " if(!registry)\n" " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" " typedef std::pair StringPair;\n" diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 77bdeb746..21baf3af9 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -52,53 +52,71 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type if (isPair) { // first return value in pair - if (isPtr1) {// if we already have a pointer - file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ".first);" << endl; - file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; - } - else if (category1 == ReturnValue::CLASS) { // if we are going to make one - string objCopy; - if(typeAttributes.at(cppType1).isVirtual) - objCopy = "boost::dynamic_pointer_cast<" + cppType1 + ">(" + result + ".first.clone())"; - else - objCopy = "new " + cppType1 + "(" + result + ".first)"; - file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(" << objCopy << ");\n"; - file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; - } - else // if basis type + if (category1 == ReturnValue::CLASS) { // if we are going to make one + string objCopy, ptrType; + ptrType = "Shared" + type1; + const bool isVirtual = typeAttributes.at(cppType1).isVirtual; + if(isVirtual) { + if(isPtr1) + objCopy = result + ".first"; + else + objCopy = result + ".first.clone()"; + } else { + if(isPtr1) + objCopy = result + ".first"; + else + objCopy = ptrType + "(new " + cppType1 + "(" + result + ".first))"; + } + file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n"; + } else if(isPtr1) { + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ".first);" << endl; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\", false);\n"; + } else // if basis type file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ".first);\n"; // second return value in pair - if (isPtr2) {// if we already have a pointer - file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(" << result << ".second);" << endl; - file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; - } - else if (category2 == ReturnValue::CLASS) { // if we are going to make one - string objCopy; - if(typeAttributes.at(cppType1).isVirtual) - objCopy = "boost::dynamic_pointer_cast<" + cppType2 + ">(" + result + ".second.clone())"; - else - objCopy = "new " + cppType1 + "(" + result + ".second)"; - file.oss << " Shared" << type2 << "* ret = new Shared" << type2 << "(" << objCopy << ");\n"; - file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; - } - else + if (category2 == ReturnValue::CLASS) { // if we are going to make one + string objCopy, ptrType; + ptrType = "Shared" + type2; + const bool isVirtual = typeAttributes.at(cppType2).isVirtual; + if(isVirtual) { + if(isPtr2) + objCopy = result + ".second"; + else + objCopy = result + ".second.clone()"; + } else { + if(isPtr2) + objCopy = result + ".second"; + else + objCopy = ptrType + "(new " + cppType2 + "(" + result + ".second))"; + } + file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType2 << "\", " << (isVirtual ? "true" : "false") << ");\n"; + } else if(isPtr2) { + file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(" << result << ".second);" << endl; + file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; + } else file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(" << result << ".second);\n"; } - else if (isPtr1){ - file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ");" << endl; - file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; - } else if (category1 == ReturnValue::CLASS){ - string objCopy; - if(typeAttributes.at(cppType1).isVirtual) - objCopy = "boost::dynamic_pointer_cast<" + cppType1 + ">(" + result + ".clone())"; - else - objCopy = "new " + cppType1 + "(" + result + ")"; - file.oss << " Shared" << type1 << "* ret = new Shared" << type1 << "(" << objCopy << ");\n"; + string objCopy, ptrType; + ptrType = "Shared" + type1; + const bool isVirtual = typeAttributes.at(cppType1).isVirtual; + if(isVirtual) { + if(isPtr1) + objCopy = result; + else + objCopy = result + ".clone()"; + } else { + if(isPtr1) + objCopy = result; + else + objCopy = ptrType + "(new " + cppType1 + "(" + result + "))"; + } + file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n"; + } else if(isPtr1) { + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ");" << endl; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; - } - else if (matlabType1!="void") + } else if (matlabType1!="void") file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ");\n"; } diff --git a/wrap/matlab.h b/wrap/matlab.h index 05f7fffb5..a3a2f0147 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -56,6 +56,7 @@ using namespace boost; // not usual, but for conciseness of generated code #endif // "Unique" key to signal calling the matlab object constructor with a raw pointer +// to a shared pointer of the same C++ object type as the MATLAB type. // Also present in utilities.h static const uint64_t ptr_constructor_key = (uint64_t('G') << 56) | @@ -339,20 +340,52 @@ gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { order to be able to add to the collector could be in a different wrap module. */ -mxArray* create_object(const char *classname, void *pointer) { +mxArray* create_object(const std::string& classname, void *pointer, bool isVirtual, const char *rttiName) { mxArray *result; - mxArray *input[2]; + mxArray *input[3]; + int nargin = 2; // First input argument is pointer constructor key input[0] = mxCreateNumericMatrix(1, 1, mxUINT64_CLASS, mxREAL); *reinterpret_cast(mxGetData(input[0])) = ptr_constructor_key; // Second input argument is the pointer input[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); *reinterpret_cast(mxGetData(input[1])) = pointer; + // If the class is virtual, use the RTTI name to look up the derived matlab type + const char *derivedClassName; + if(isVirtual) { + const mxArray *rttiRegistry = mexGetVariablePtr("global", "gtsamwrap_rttiRegistry"); + if(!rttiRegistry) + mexErrMsgTxt( + "gtsam wrap: RTTI registry is missing - it could have been cleared from the workspace." + " You can issue 'clear all' to completely clear the workspace, and next time a wrapped object is" + " created the RTTI registry will be recreated."); + const mxArray *derivedNameMx = mxGetField(rttiRegistry, 0, rttiName); + if(!derivedNameMx) + mexErrMsgTxt(( + "gtsam wrap: The derived class type " + string(rttiName) + " was not found in the RTTI registry. " + "The most likely cause for this is that a base class was marked virtual in the wrap interface " + "definition header file for gtsam or for your module, but a derived type was returned by a C++" + "function and that derived type was not marked virtual (or was not specified in the wrap interface" + "definition header at all).").c_str()); + size_t strLen = mxGetN(derivedNameMx); + char *buf = new char[strLen+1]; + if(mxGetString(derivedNameMx, buf, strLen+1)) + mexErrMsgTxt("gtsam wrap: Internal error reading RTTI table, try 'clear all' to clear your workspace and reinitialize the toolbox."); + derivedClassName = buf; + input[2] = mxCreateString("void"); + nargin = 3; + } else { + derivedClassName = classname.c_str(); + } // Call special pointer constructor, which sets 'self' - mexCallMATLAB(1,&result,2,input,classname); + mexCallMATLAB(1,&result, nargin, input, derivedClassName); // Deallocate our memory mxDestroyArray(input[0]); mxDestroyArray(input[1]); + if(isVirtual) { + mxDestroyArray(input[2]); + delete[] derivedClassName; + } return result; } @@ -362,9 +395,16 @@ mxArray* create_object(const char *classname, void *pointer) { class to matlab. */ template -mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *classname) { +mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const std::string& matlabName, bool isVirtual) { // Create actual class object from out pointer - mxArray* result = create_object(classname, shared_ptr); + mxArray* result; + if(isVirtual) { + boost::shared_ptr void_ptr(shared_ptr); + result = create_object(matlabName, &void_ptr, isVirtual, typeid(*shared_ptr).name()); + } else { + boost::shared_ptr *heapPtr = new boost::shared_ptr(shared_ptr); + result = create_object(matlabName, heapPtr, isVirtual, ""); + } return result; } diff --git a/wrap/utilities.h b/wrap/utilities.h index 99e19a755..b5bd00e0d 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -79,9 +79,9 @@ public: virtual const char* what() const throw() { return what_.c_str(); } }; -/** Special "magic number" passed into MATLAB constructor to indicate creating - * a MATLAB object from a shared_ptr allocated in C++ - */ +// "Unique" key to signal calling the matlab object constructor with a raw pointer +// to a shared pointer of the same C++ object type as the MATLAB type. +// Also present in matlab.h static const uint64_t ptr_constructor_key = (uint64_t('G') << 56) | (uint64_t('T') << 48) | From 774fcb5ca902e9cca79fcea8c850d9e65d4323ca Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 11 Jul 2012 15:58:01 +0000 Subject: [PATCH 600/914] Fixed include sorting bug in wrap --- wrap/Module.cpp | 10 ++- wrap/tests/expected/geometry_wrapper.cpp | 61 ++++++++++++------- .../testNamespaces_wrapper.cpp | 37 +++++++++-- 3 files changed, 75 insertions(+), 33 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 9e2fd6380..997e14266 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -321,7 +321,6 @@ void Module::generateIncludes(FileWriter& file) const { // collect includes vector all_includes; BOOST_FOREACH(const Class& cls, classes) { -// generateIncludes(wrapperFile, cls.name, cls.includes); bool added_include = false; BOOST_FOREACH(const string& s, cls.includes) { if (!s.empty()) { @@ -335,12 +334,11 @@ void Module::generateIncludes(FileWriter& file) const { // sort and remove duplicates sort(all_includes.begin(), all_includes.end()); - unique(all_includes.begin(), all_includes.end()); - + vector::const_iterator last_include = unique(all_includes.begin(), all_includes.end()); + vector::const_iterator it = all_includes.begin(); // add includes to file - BOOST_FOREACH(const string& include, all_includes) { - file.oss << "#include <" << include << ">" << endl; - } + for (; it != last_include; ++it) + file.oss << "#include <" << *it << ">" << endl; file.oss << "\n"; } diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index a2e01ab92..515f886f4 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -32,6 +32,27 @@ void _deleteAllObjects() collector_Test.erase(iter++); } } + +static bool _RTTIRegister_geometry_done = false; +void _geometry_RTTIRegister() { + std::map types; + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + BOOST_FOREACH(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); +} + void Point2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -40,6 +61,7 @@ void Point2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_Point2.insert(self); } + void Point2_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -117,8 +139,7 @@ void Point2_vectorConfusion_8(int nargout, mxArray *out[], int nargin, const mxA typedef boost::shared_ptr Shared; checkArguments("vectorConfusion",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Point2"); - SharedVectorNotEigen* ret = new SharedVectorNotEigen(new VectorNotEigen(obj->vectorConfusion())); - out[0] = wrap_shared_ptr(ret,"VectorNotEigen"); + out[0] = wrap_shared_ptr(SharedVectorNotEigen(new VectorNotEigen(obj->vectorConfusion())),"VectorNotEigen", false); } void Point2_x_9(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -146,6 +167,7 @@ using namespace geometry; Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_Point3.insert(self); } + void Point3_constructor_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -191,8 +213,7 @@ using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("Point3.StaticFunctionRet",nargout,nargin,1); double z = unwrap< double >(in[0]); - SharedPoint3* ret = new SharedPoint3(new Point3(Point3::StaticFunctionRet(z))); - out[0] = wrap_shared_ptr(ret,"Point3"); + out[0] = wrap_shared_ptr(SharedPoint3(new Point3(Point3::StaticFunctionRet(z))),"Point3", false); } void Point3_staticFunction_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -212,6 +233,7 @@ using namespace geometry; Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_Test.insert(self); } + void Test_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -270,10 +292,8 @@ using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("create_MixedPtrs",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); - SharedTest* ret = new SharedTest(new Test(obj->create_MixedPtrs().first)); - out[0] = wrap_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(obj->create_MixedPtrs().second); - out[1] = wrap_shared_ptr(ret,"Test"); + out[0] = wrap_shared_ptr(SharedTest(new Test(obj->create_MixedPtrs().first)),"Test", false); + out[0] = wrap_shared_ptr(obj->create_MixedPtrs().second,"Test", false); } void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -284,10 +304,8 @@ using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("create_ptrs",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); - SharedTest* ret = new SharedTest(obj->create_ptrs().first); - out[0] = wrap_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(obj->create_ptrs().second); - out[1] = wrap_shared_ptr(ret,"Test"); + out[0] = wrap_shared_ptr(obj->create_ptrs().first,"Test", false); + out[0] = wrap_shared_ptr(obj->create_ptrs().second,"Test", false); } void Test_print_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -307,8 +325,7 @@ using namespace geometry; checkArguments("return_Point2Ptr",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); bool value = unwrap< bool >(in[1]); - SharedPoint2* ret = new SharedPoint2(obj->return_Point2Ptr(value)); - out[0] = wrap_shared_ptr(ret,"Point2"); + out[0] = wrap_shared_ptr(obj->return_Point2Ptr(value),"Point2", false); } void Test_return_Test_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -319,8 +336,7 @@ using namespace geometry; checkArguments("return_Test",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - SharedTest* ret = new SharedTest(new Test(obj->return_Test(value))); - out[0] = wrap_shared_ptr(ret,"Test"); + out[0] = wrap_shared_ptr(SharedTest(new Test(obj->return_Test(value))),"Test", false); } void Test_return_TestPtr_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -331,8 +347,7 @@ using namespace geometry; checkArguments("return_TestPtr",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); boost::shared_ptr value = unwrap_shared_ptr< Test >(in[1], "ptr_Test"); - SharedTest* ret = new SharedTest(obj->return_TestPtr(value)); - out[0] = wrap_shared_ptr(ret,"Test"); + out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false); } void Test_return_bool_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -417,10 +432,8 @@ using namespace geometry; Shared 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"); - SharedTest* ret = new SharedTest(obj->return_ptrs(p1,p2).first); - out[0] = wrap_shared_ptr(ret,"Test"); - SharedTest* ret = new SharedTest(obj->return_ptrs(p1,p2).second); - out[1] = wrap_shared_ptr(ret,"Test"); + out[0] = wrap_shared_ptr(obj->return_ptrs(p1,p2).first,"Test", false); + out[0] = wrap_shared_ptr(obj->return_ptrs(p1,p2).second,"Test", false); } void Test_return_size_t_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -469,6 +482,10 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) mstream mout; std::streambuf *outbuf = std::cout.rdbuf(&mout); + if(!_RTTIRegister_geometry_done) { + _geometry_RTTIRegister(); + _RTTIRegister_geometry_done = true; + } int id = unwrap(in[0]); switch(id) { diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 53f28d10e..dc88fc296 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -9,9 +9,6 @@ #include #include #include -#include -#include -#include typedef std::set*> Collector_ns1ClassA; static Collector_ns1ClassA collector_ns1ClassA; @@ -59,6 +56,27 @@ void _deleteAllObjects() collector_ClassD.erase(iter++); } } + +static bool _RTTIRegister_testNamespaces_done = false; +void _testNamespaces_RTTIRegister() { + std::map types; + + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + BOOST_FOREACH(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); +} + void ns1ClassA_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -67,6 +85,7 @@ void ns1ClassA_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nar 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); @@ -99,6 +118,7 @@ void ns1ClassB_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nar 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); @@ -131,6 +151,7 @@ void ns2ClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nar Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_ns2ClassA.insert(self); } + void ns2ClassA_constructor_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -179,8 +200,7 @@ void ns2ClassA_nsReturn_11(int nargout, mxArray *out[], int nargin, const mxArra checkArguments("nsReturn",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); double q = unwrap< double >(in[1]); - SharedClassB* ret = new SharedClassB(new ns2::ns3::ClassB(obj->nsReturn(q))); - out[0] = wrap_shared_ptr(ret,"ns2ns3ClassB"); + out[0] = wrap_shared_ptr(SharedClassB(new ns2::ns3::ClassB(obj->nsReturn(q))),"ns2ns3ClassB", false); } void ns2ClassA_afunction_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -198,6 +218,7 @@ void ns2ns3ClassB_collectorInsertAndMakeBase_13(int nargout, mxArray *out[], int Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_ns2ns3ClassB.insert(self); } + void ns2ns3ClassB_constructor_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -230,6 +251,7 @@ void ns2ClassC_collectorInsertAndMakeBase_16(int nargout, mxArray *out[], int na Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_ns2ClassC.insert(self); } + void ns2ClassC_constructor_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -262,6 +284,7 @@ void ClassD_collectorInsertAndMakeBase_19(int nargout, mxArray *out[], int nargi Shared *self = *reinterpret_cast (mxGetData(in[0])); collector_ClassD.insert(self); } + void ClassD_constructor_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); @@ -292,6 +315,10 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) mstream mout; std::streambuf *outbuf = std::cout.rdbuf(&mout); + if(!_RTTIRegister_testNamespaces_done) { + _testNamespaces_RTTIRegister(); + _RTTIRegister_testNamespaces_done = true; + } int id = unwrap(in[0]); switch(id) { From 646457bfb2304bcaf33592ece7088f5aa5472d85 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 11 Jul 2012 18:18:57 +0000 Subject: [PATCH 601/914] Wrapped additional functions in factors and factor graphs, added factor heirarchy, fixed mistake in noisemodel heirarchy --- gtsam.h | 43 +++++++++++++++++++++++++------------------ 1 file changed, 25 insertions(+), 18 deletions(-) diff --git a/gtsam.h b/gtsam.h index 73f73389c..061edad90 100644 --- a/gtsam.h +++ b/gtsam.h @@ -720,14 +720,14 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian { void print(string s) const; }; -virtual class Isotropic : gtsam::noiseModel::Gaussian { +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); void print(string s) const; }; -virtual class Unit : gtsam::noiseModel::Gaussian { +virtual class Unit : gtsam::noiseModel::Isotropic { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; }; @@ -782,7 +782,7 @@ class GaussianBayesNet { void push_front(gtsam::GaussianConditional* conditional); }; -class GaussianFactor { +virtual class GaussianFactor { void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; double error(const gtsam::VectorValues& c) const; @@ -790,7 +790,7 @@ class GaussianFactor { size_t size() const; }; -class JacobianFactor { +virtual class JacobianFactor : gtsam::GaussianFactor { JacobianFactor(); JacobianFactor(Vector b_in); JacobianFactor(size_t i1, Matrix A1, Vector b, @@ -810,7 +810,7 @@ class JacobianFactor { gtsam::GaussianFactor* negate() const; }; -class HessianFactor { +virtual class HessianFactor : gtsam::GaussianFactor { HessianFactor(const gtsam::HessianFactor& gf); HessianFactor(); HessianFactor(size_t j, Matrix G, Vector g, double f); @@ -834,22 +834,19 @@ class GaussianFactorGraph { GaussianFactorGraph(const gtsam::GaussianBayesNet& CBN); // From FactorGraph - void push_back(gtsam::GaussianFactor* factor); 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; // Building the graph - void add(gtsam::JacobianFactor* factor); - // all these won't work as MATLAB can't handle overloading -// void add(Vector b); -// void add(size_t key1, Matrix A1, Vector b, const gtsam::SharedDiagonal& model); -// void add(size_t key1, Matrix A1, size_t key2, Matrix A2, Vector b, -// const gtsam::SharedDiagonal& model); -// void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3, -// Vector b, const gtsam::SharedDiagonal& model); -// void add(gtsam::HessianFactor* factor); + void push_back(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; @@ -951,15 +948,25 @@ class InvertedOrdering { class NonlinearFactorGraph { NonlinearFactorGraph(); void print(string s) const; + double error(const gtsam::Values& c) const; + double probPrime(const gtsam::Values& c) const; + gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const; + // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; + gtsam::GaussianFactorGraph* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const; + gtsam::NonlinearFactorGraph clone() const; }; -class NonlinearFactor { -// NonlinearFactor(); // FIXME: don't use this - creates an abstract class +virtual class NonlinearFactor { void print(string s) const; void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; - size_t dim() const; // FIXME: Doesn't link + size_t dim() const; + double error(const gtsam::Values& c) const; + bool active(const gtsam::Values& c) const; + gtsam::GaussianFactor* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const; + gtsam::NonlinearFactor* clone() const; + // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen }; class Values { From 42dec286ee588ec9e5ecd738e7cfc4e93cc60088 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 11 Jul 2012 21:43:13 +0000 Subject: [PATCH 602/914] Removed unused argument list member from Deconstructor --- wrap/Deconstructor.h | 1 - 1 file changed, 1 deletion(-) diff --git a/wrap/Deconstructor.h b/wrap/Deconstructor.h index 035ff74df..ca44700fc 100644 --- a/wrap/Deconstructor.h +++ b/wrap/Deconstructor.h @@ -34,7 +34,6 @@ struct Deconstructor { } // Then the instance variables are set directly by the Module deconstructor - ArgumentList args; std::string name; bool verbose_; From c4f19a2b96c65c588d3b9baa1f0fe013ca1f9af7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 11 Jul 2012 21:43:16 +0000 Subject: [PATCH 603/914] Can define template classes in wrap interface file with a fixed list of template argument expansions, to quickly generate many classes, e.g. template class BetweenFactor ... generates gtsamBetweenFactorPoint2, gtsamBetweenFactorPoint3, etc. --- wrap/Class.cpp | 87 +++++++++++++++++++++++++++++++++++++++++++++++++ wrap/Class.h | 6 ++++ wrap/Module.cpp | 50 ++++++++++++++++++++++++---- 3 files changed, 137 insertions(+), 6 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index bc28ad6c0..81ee508a0 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -211,3 +211,90 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra } /* ************************************************************************* */ +vector expandArgumentListsTemplate(const vector& argLists, const string& templateArg, const vector& instName) { + vector result; + BOOST_FOREACH(const ArgumentList& argList, argLists) { + ArgumentList instArgList; + BOOST_FOREACH(const Argument& arg, argList) { + Argument instArg = arg; + if(arg.type == templateArg) { + instArg.namespaces.assign(instName.begin(), instName.end()-1); + instArg.type = instName.back(); + } + instArgList.push_back(instArg); + } + result.push_back(instArgList); + } + return result; +} + +/* ************************************************************************* */ +template +map expandMethodTemplate(const map& methods, const string& templateArg, const vector& instName) { + map result; + typedef pair Name_Method; + BOOST_FOREACH(const Name_Method& name_method, methods) { + const METHOD& method = name_method.second; + METHOD instMethod = method; + instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName); + instMethod.returnVals.clear(); + BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) { + ReturnValue instRetVal = retVal; + if(retVal.type1 == templateArg) { + instRetVal.namespaces1.assign(instName.begin(), instName.end()-1); + instRetVal.type1 = instName.back(); + } + if(retVal.type2 == templateArg) { + instRetVal.namespaces2.assign(instName.begin(), instName.end()-1); + instRetVal.type2 = instName.back(); + } + } + result.insert(make_pair(name_method.first, instMethod)); + } + return result; +} + +/* ************************************************************************* */ +vector Class::expandTemplate(const string& templateArg, const vector >& instantiations) const { + vector result; + BOOST_FOREACH(const vector& instName, instantiations) { + Class inst; + inst.name = name + instName.back(); + inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">"; + inst.isVirtual = isVirtual; + inst.qualifiedParent = qualifiedParent; + inst.methods = expandMethodTemplate(methods, templateArg, instName); + inst.static_methods = expandMethodTemplate(static_methods, templateArg, instName); + inst.namespaces = namespaces; + inst.using_namespaces = using_namespaces; + bool allIncludesEmpty = true; + BOOST_FOREACH(const string& inc, includes) { if(!inc.empty()) { allIncludesEmpty = true; break; } } + if(allIncludesEmpty) + inst.includes.push_back(name + ".h"); + else + inst.includes = includes; + inst.constructor = constructor; + inst.constructor.args_list = expandArgumentListsTemplate(constructor.args_list, templateArg, instName); + inst.constructor.name = inst.name; + inst.deconstructor = deconstructor; + inst.deconstructor.name = inst.name; + inst.verbose_ = verbose_; + result.push_back(inst); + } + return result; +} + +/* ************************************************************************* */ +std::string Class::getTypedef() const { + string result; + BOOST_FOREACH(const string& namesp, namespaces) { + result += ("namespace " + namesp + " { "); + } + result += ("typedef " + typedefName + " " + name + ";"); + BOOST_FOREACH(const string& namesp, namespaces) { + result += " }"; + } + return result; +} + +/* ************************************************************************* */ diff --git a/wrap/Class.h b/wrap/Class.h index f4087f00f..9b0af4bb4 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -38,6 +38,7 @@ struct Class { // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name + std::string typedefName; ///< The name to typedef *from*, if this class is actually a typedef, i.e. typedef [typedefName] [name] bool isVirtual; ///< Whether the class is part of a virtual inheritance chain std::vector qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack Methods methods; ///< Class methods @@ -54,6 +55,11 @@ struct Class { FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter + std::vector expandTemplate(const std::string& templateArg, const std::vector >& instantiations) const; + + // The typedef line for this class, if this class is a typedef, otherwise returns an empty string. + std::string getTypedef() const; + private: void pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& wrapperName, std::vector& functionNames) const; }; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 997e14266..b50591176 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -51,6 +51,19 @@ typedef rule Rule; // and with start rule [class_p], doubles as the specs for our interface files. /* ************************************************************************* */ +/* ************************************************************************* */ +void handle_possible_template(vector& classes, const Class& cls, const string& templateArgument, const vector >& instantiations) { + if(instantiations.empty()) { + classes.push_back(cls); + } else { + vector& classInstantiations = cls.expandTemplate(templateArgument, instantiations); + BOOST_FOREACH(const Class& c, classInstantiations) { + classes.push_back(c); + } + } +} + +/* ************************************************************************* */ Module::Module(const string& interfacePath, const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) { @@ -72,6 +85,9 @@ Module::Module(const string& interfacePath, namespace_includes, /// current set of includes namespaces_return, /// namespace for current return type using_namespace_current; /// All namespaces from "using" declarations + string templateArgument; + vector templateInstantiationNamespace; + vector > templateInstantiations; string include_path = ""; const string null_str = ""; @@ -116,11 +132,23 @@ Module::Module(const string& interfacePath, className_p[assign_a(arg.type)] >> (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); + Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; + Rule classParent_p = *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> className_p[push_back_a(cls.qualifiedParent)]; - Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; + Rule templateInstantiation_p = + (*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >> + className_p[push_back_a(templateInstantiationNamespace)]) + [push_back_a(templateInstantiations, templateInstantiationNamespace)] + [clear_a(templateInstantiationNamespace)]; + + Rule templateInstantiations_p = + str_p("template") >> + '<' >> name_p[assign_a(templateArgument)] >> '=' >> '{' >> + !(templateInstantiation_p >> *(',' >> templateInstantiation_p)) >> + '}' >> '>'; Rule argument_p = ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) @@ -202,10 +230,11 @@ Module::Module(const string& interfacePath, Rule class_p = (!*include_p + >> !(templateInstantiations_p) >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] >> className_p[assign_a(cls.name)] - >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec + >> ((':' >> classParent_p >> '{') | '{') >> *(functions_p | comments_p) >> str_p("};")) [assign_a(constructor.name, cls.name)] @@ -215,10 +244,12 @@ Module::Module(const string& interfacePath, [append_a(cls.includes, namespace_includes)] [assign_a(deconstructor.name,cls.name)] [assign_a(cls.deconstructor, deconstructor)] - [push_back_a(classes, cls)] - [assign_a(deconstructor,deconstructor0)] - [assign_a(constructor, constructor0)] - [assign_a(cls,cls0)]; + [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))] + [assign_a(deconstructor,deconstructor0)] + [assign_a(constructor, constructor0)] + [assign_a(cls,cls0)] + [clear_a(templateArgument)] + [clear_a(templateInstantiations)]; Rule namespace_def_p = (!*include_p @@ -413,6 +444,13 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // Generate includes while avoiding redundant includes generateIncludes(wrapperFile); + // create typedef classes + BOOST_FOREACH(const Class& cls, classes) { + if(!cls.typedefName.empty()) + wrapperFile.oss << cls.getTypedef() << "\n"; + } + wrapperFile.oss << "\n"; + // Generate all collectors BOOST_FOREACH(const Class& cls, classes) { const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); From 8d661f6e86b389190d0418fb4e3e37bb236807ec Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 11 Jul 2012 21:43:19 +0000 Subject: [PATCH 604/914] Added templates for PriorFactor and BetweenFactor to gtsam.h --- gtsam.h | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/gtsam.h b/gtsam.h index 061edad90..abe7817d3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1084,6 +1084,19 @@ class LevenbergMarquardtParams { void setVerbosityLM(string s); }; +//************************************************************************* +// Nonlinear factor types +//************************************************************************* +template +virtual class PriorFactor : gtsam::NonlinearFactor { + PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); +}; + +template +virtual class BetweenFactor : gtsam::NonlinearFactor { + BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); +}; + }///\namespace gtsam //************************************************************************* From 76e5375dea416fa339b545bef5a63fa9e417fa16 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 12 Jul 2012 02:11:29 +0000 Subject: [PATCH 605/914] Added support for multi-argument templates that are then instantiated with typedefs in wrap interface header. --- wrap/Class.cpp | 54 +++++++++++++++--------- wrap/Class.h | 2 + wrap/Module.cpp | 106 +++++++++++++++++++++++++++++++++++++++++------- wrap/Module.h | 12 ++++++ 4 files changed, 141 insertions(+), 33 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 81ee508a0..43258da61 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -248,42 +248,58 @@ map expandMethodTemplate(const map& methods, con instRetVal.namespaces2.assign(instName.begin(), instName.end()-1); instRetVal.type2 = instName.back(); } + instMethod.returnVals.push_back(instRetVal); } result.insert(make_pair(name_method.first, instMethod)); } return result; } +/* ************************************************************************* */ +Class expandClassTemplate(const Class& cls, const string& templateArg, const vector& instName) { + Class inst; + inst.name = cls.name; + inst.templateArgs = cls.templateArgs; + inst.typedefName = cls.typedefName; + inst.isVirtual = cls.isVirtual; + inst.qualifiedParent = cls.qualifiedParent; + inst.methods = expandMethodTemplate(cls.methods, templateArg, instName); + inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName); + inst.namespaces = cls.namespaces; + inst.using_namespaces = cls.using_namespaces; + bool allIncludesEmpty = true; + BOOST_FOREACH(const string& inc, cls.includes) { if(!inc.empty()) { allIncludesEmpty = true; break; } } + if(allIncludesEmpty) + inst.includes.push_back(cls.name + ".h"); + else + inst.includes = cls.includes; + inst.constructor = cls.constructor; + inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName); + inst.constructor.name = inst.name; + inst.deconstructor = cls.deconstructor; + inst.deconstructor.name = inst.name; + inst.verbose_ = cls.verbose_; + return inst; +} + /* ************************************************************************* */ vector Class::expandTemplate(const string& templateArg, const vector >& instantiations) const { vector result; BOOST_FOREACH(const vector& instName, instantiations) { - Class inst; + Class inst = expandClassTemplate(*this, templateArg, instName); inst.name = name + instName.back(); + inst.templateArgs.clear(); inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">"; - inst.isVirtual = isVirtual; - inst.qualifiedParent = qualifiedParent; - inst.methods = expandMethodTemplate(methods, templateArg, instName); - inst.static_methods = expandMethodTemplate(static_methods, templateArg, instName); - inst.namespaces = namespaces; - inst.using_namespaces = using_namespaces; - bool allIncludesEmpty = true; - BOOST_FOREACH(const string& inc, includes) { if(!inc.empty()) { allIncludesEmpty = true; break; } } - if(allIncludesEmpty) - inst.includes.push_back(name + ".h"); - else - inst.includes = includes; - inst.constructor = constructor; - inst.constructor.args_list = expandArgumentListsTemplate(constructor.args_list, templateArg, instName); - inst.constructor.name = inst.name; - inst.deconstructor = deconstructor; - inst.deconstructor.name = inst.name; - inst.verbose_ = verbose_; result.push_back(inst); } return result; } +/* ************************************************************************* */ +Class Class::expandTemplate(const string& templateArg, const vector& instantiation) const { + return expandClassTemplate(*this, templateArg, instantiation); +} + /* ************************************************************************* */ std::string Class::getTypedef() const { string result; diff --git a/wrap/Class.h b/wrap/Class.h index 9b0af4bb4..4626a901a 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -38,6 +38,7 @@ struct Class { // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name + std::vector templateArgs; ///< Template arguments std::string typedefName; ///< The name to typedef *from*, if this class is actually a typedef, i.e. typedef [typedefName] [name] bool isVirtual; ///< Whether the class is part of a virtual inheritance chain std::vector qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack @@ -56,6 +57,7 @@ struct Class { std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter std::vector expandTemplate(const std::string& templateArg, const std::vector >& instantiations) const; + Class expandTemplate(const std::string& templateArg, const std::vector& instantiation) const; // The typedef line for this class, if this class is a typedef, otherwise returns an empty string. std::string getTypedef() const; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index b50591176..3cc5af18e 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -88,6 +88,7 @@ Module::Module(const string& interfacePath, string templateArgument; vector templateInstantiationNamespace; vector > templateInstantiations; + TemplateSingleInstantiation singleInstantiation, singleInstantiation0; string include_path = ""; const string null_str = ""; @@ -145,10 +146,34 @@ Module::Module(const string& interfacePath, [clear_a(templateInstantiationNamespace)]; Rule templateInstantiations_p = - str_p("template") >> + (str_p("template") >> '<' >> name_p[assign_a(templateArgument)] >> '=' >> '{' >> !(templateInstantiation_p >> *(',' >> templateInstantiation_p)) >> - '}' >> '>'; + '}' >> '>') + [push_back_a(cls.templateArgs, templateArgument)]; + + Rule templateSingleInstantiationArg_p = + (*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >> + className_p[push_back_a(templateInstantiationNamespace)]) + [push_back_a(singleInstantiation.typeList, templateInstantiationNamespace)] + [clear_a(templateInstantiationNamespace)]; + + Rule templateSingleInstantiation_p = + (str_p("typedef") >> + *(namespace_name_p[push_back_a(singleInstantiation.classNamespaces)] >> str_p("::")) >> + className_p[assign_a(singleInstantiation.className)] >> + '<' >> templateSingleInstantiationArg_p >> *(',' >> templateSingleInstantiationArg_p) >> + '>' >> + className_p[assign_a(singleInstantiation.name)] >> + ';') + [assign_a(singleInstantiation.namespaces, namespaces)] + [push_back_a(singleInstantiations, singleInstantiation)] + [assign_a(singleInstantiation, singleInstantiation0)]; + + Rule templateList_p = + (str_p("template") >> + '<' >> name_p[push_back_a(cls.templateArgs)] >> *(',' >> name_p[push_back_a(cls.templateArgs)]) >> + '>'); Rule argument_p = ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) @@ -230,7 +255,7 @@ Module::Module(const string& interfacePath, Rule class_p = (!*include_p - >> !(templateInstantiations_p) + >> !(templateInstantiations_p | templateList_p) >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] >> className_p[assign_a(cls.name)] @@ -256,7 +281,7 @@ Module::Module(const string& interfacePath, >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') - >> *(class_p | namespace_def_p | comments_p) + >> *(class_p | templateSingleInstantiation_p | namespace_def_p | comments_p) >> str_p("}///\\namespace") // end namespace, avoid confusion with classes >> !namespace_name_p) [pop_a(namespaces)] @@ -274,7 +299,7 @@ Module::Module(const string& interfacePath, [push_back_a(forward_declarations, fwDec)] [assign_a(fwDec, fwDec0)]; - Rule module_content_p = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ; + Rule module_content_p = comments_p | using_namespace_p | class_p | templateSingleInstantiation_p | forward_declaration_p | namespace_def_p ; Rule module_p = *module_content_p >> !end_p; @@ -388,6 +413,9 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.oss << "#include \n"; wrapperFile.oss << "\n"; + // Expand templates + vector expandedClasses = expandTemplates(); + // Dependency check list vector validTypes; BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { @@ -404,7 +432,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co validTypes.push_back("Vector"); validTypes.push_back("Matrix"); //Create a list of parsed classes for dependency checking - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { validTypes.push_back(cls.qualifiedName("::")); } @@ -414,12 +442,12 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co if(!typeAttributes.insert(make_pair(fwDec.name, ReturnValue::TypeAttributes(fwDec.isVirtual))).second) throw DuplicateDefinition("class " + fwDec.name); } - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { if(!typeAttributes.insert(make_pair(cls.qualifiedName("::"), ReturnValue::TypeAttributes(cls.isVirtual))).second) throw DuplicateDefinition("class " + cls.qualifiedName("::")); } // Check attributes - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { // Check that class is virtual if it has a parent if(!cls.qualifiedParent.empty() && !cls.isVirtual) throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'"); @@ -430,7 +458,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } // Check that all classes have been defined somewhere - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { // verify all of the function arguments //TODO:verifyArguments(validTypes, cls.constructor.args_list); verifyArguments(validTypes, cls.static_methods); @@ -445,14 +473,14 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co generateIncludes(wrapperFile); // create typedef classes - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { if(!cls.typedefName.empty()) wrapperFile.oss << cls.getTypedef() << "\n"; } wrapperFile.oss << "\n"; // Generate all collectors - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); wrapperFile.oss << "typedef std::set*> " << "Collector_" << matlabName << ";\n"; @@ -463,7 +491,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // generate mexAtExit cleanup function wrapperFile.oss << "\nvoid _deleteAllObjects()\n"; wrapperFile.oss << "{\n"; - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { const string matlabName = cls.qualifiedName(); const string cppName = cls.qualifiedName("::"); const string collectorType = "Collector_" + matlabName; @@ -482,7 +510,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co "static bool _RTTIRegister_" << name << "_done = false;\n" "void _" << name << "_RTTIRegister() {\n" " std::map types;\n"; - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { if(cls.isVirtual) wrapperFile.oss << " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; @@ -509,7 +537,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } // create proxy class and wrapper code - BOOST_FOREACH(const Class& cls, classes) { + BOOST_FOREACH(const Class& cls, expandedClasses) { string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); } @@ -545,3 +573,53 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } /* ************************************************************************* */ +vector Module::expandTemplates() const { + + vector expandedClasses = classes; + + BOOST_FOREACH(const TemplateSingleInstantiation& inst, singleInstantiations) { + // Find matching class + std::vector::iterator clsIt = expandedClasses.end(); + for(std::vector::iterator it = expandedClasses.begin(); it != expandedClasses.end(); ++it) { + if(it->name == inst.className && it->namespaces == inst.classNamespaces && it->templateArgs.size() == inst.typeList.size()) { + clsIt = it; + break; + } + } + + if(clsIt == expandedClasses.end()) + throw DependencyMissing(wrap::qualifiedName("::", inst.classNamespaces, inst.className), + "instantiation into typedef name " + wrap::qualifiedName("::", inst.namespaces, inst.name) + + ". Ensure that the typedef provides the correct number of template arguments."); + + // Instantiate it + Class classInst = *clsIt; + for(size_t i = 0; i < inst.typeList.size(); ++i) + classInst = classInst.expandTemplate(classInst.templateArgs[i], inst.typeList[i]); + + // Fix class properties + classInst.name = inst.name; + classInst.templateArgs.clear(); + classInst.typedefName = clsIt->qualifiedName("::") + "<"; + if(inst.typeList.size() > 0) + classInst.typedefName += wrap::qualifiedName("::", inst.typeList[0]); + for(size_t i = 1; i < inst.typeList.size(); ++i) + classInst.typedefName += (", " + wrap::qualifiedName("::", inst.typeList[i])); + classInst.typedefName += ">"; + classInst.namespaces = inst.namespaces; + + // Add the new class to the list + expandedClasses.push_back(classInst); + } + + // Remove all template classes + for(int i = 0; i < expandedClasses.size(); ++i) + if(!expandedClasses[size_t(i)].templateArgs.empty()) { + expandedClasses.erase(expandedClasses.begin() + size_t(i)); + -- i; + } + + return expandedClasses; +} + +/* ************************************************************************* */ diff --git a/wrap/Module.h b/wrap/Module.h index 786379d16..42089291c 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -36,8 +36,17 @@ struct Module { ForwardDeclaration() : isVirtual(false) {} }; + struct TemplateSingleInstantiation { + std::vector classNamespaces; + std::string className; + std::vector namespaces; + std::string name; + std::vector > typeList; + }; + std::string name; ///< module name std::vector classes; ///< list of classes + std::vector singleInstantiations; ///< list of template instantiations bool verbose; ///< verbose flag // std::vector using_namespaces; ///< all default namespaces std::vector forward_declarations; @@ -55,6 +64,9 @@ struct Module { void finish_wrapper(FileWriter& file, const std::vector& functionNames) const; void generateIncludes(FileWriter& file) const; + +private: + std::vector expandTemplates() const; }; } // \namespace wrap From 55a153ebc67b8a0b3287dad6ec64e01ff3731e37 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 12 Jul 2012 02:11:32 +0000 Subject: [PATCH 606/914] Wrapped Cal3DS2, RangeFactor, BearingFactor, and GenericProjectionFactor --- gtsam.h | 67 +++++++++++++++++++++++++++++++++-- gtsam/slam/BearingFactor.h | 4 +-- gtsam/slam/ProjectionFactor.h | 2 +- wrap/Module.cpp | 2 +- 4 files changed, 69 insertions(+), 6 deletions(-) diff --git a/gtsam.h b/gtsam.h index abe7817d3..00f5a9030 100644 --- a/gtsam.h +++ b/gtsam.h @@ -398,17 +398,18 @@ virtual class Pose3 : gtsam::Value { Matrix matrix() const; gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to() double range(const gtsam::Point3& point); - double range(const gtsam::Pose3& pose); // FIXME: shadows other range + double range(const gtsam::Pose3& pose); }; virtual class Cal3_S2 : gtsam::Value { // Standard Constructors Cal3_S2(); Cal3_S2(double fx, double fy, double s, double u0, double v0); + Cal3_S2(Vector v); // Testable void print(string s) const; - bool equals(const gtsam::Cal3_S2& pose, double tol) const; + bool equals(const gtsam::Cal3_S2& rhs, double tol) const; // Manifold static size_t Dim(); @@ -432,6 +433,37 @@ virtual class Cal3_S2 : gtsam::Value { Matrix matrix_inverse() const; }; +virtual class Cal3DS2 : gtsam::Value { + // Standard Constructors + Cal3DS2(); + Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4); + Cal3DS2(Vector v); + + // Testable + void print(string s) const; + bool equals(const gtsam::Cal3DS2& rhs, double tol) const; + + // Manifold + static size_t Dim(); + size_t dim() const; + gtsam::Cal3DS2 retract(Vector v) const; + Vector localCoordinates(const gtsam::Cal3DS2& c) const; + + // Action on Point2 + gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; + // TODO: D2d functions that start with an uppercase letter + + // Standard Interface + double fx() const; + double fy() const; + double skew() const; + double px() const; + double py() const; + Vector vector() const; + Vector k() const; + //Matrix K() const; //FIXME: Uppercase +}; + class Cal3_S2Stereo { // Standard Constructors Cal3_S2Stereo(); @@ -1092,11 +1124,42 @@ virtual class PriorFactor : gtsam::NonlinearFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); }; + template virtual class BetweenFactor : gtsam::NonlinearFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); }; + +template +virtual class RangeFactor : gtsam::NonlinearFactor { + RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::RangeFactor RangeFactor2D; +typedef gtsam::RangeFactor RangeFactor3D; +typedef gtsam::RangeFactor RangeFactorCalibratedCamera; +typedef gtsam::RangeFactor RangeFactorSimpleCamera; + +template +virtual class BearingFactor : gtsam::NonlinearFactor { + BearingFactor(size_t key1, size_t key2, const ROT& measured, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::BearingFactor BearingFactor2D; + + +#include +template +virtual class GenericProjectionFactor : gtsam::NonlinearFactor { + GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, + size_t poseKey, size_t pointKey, const CALIBRATION* k); + gtsam::Point2 measured() const; + CALIBRATION* calibration() const; +}; +typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; +typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; + }///\namespace gtsam //************************************************************************* diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index c42c2798d..62e46d53e 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -25,12 +25,12 @@ namespace gtsam { /** * Binary factor for a bearing measurement */ - template + template class BearingFactor: public NoiseModelFactor2 { private: typedef POSE Pose; - typedef typename Pose::Rotation Rot; + typedef ROT Rot; typedef POINT Point; typedef BearingFactor This; diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index bce7bcf84..048756435 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -62,7 +62,7 @@ namespace gtsam { * @param K shared pointer to the constant calibration */ GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model, - const Key poseKey, Key pointKey, const shared_ptrK& K) : + Key poseKey, Key pointKey, const boost::shared_ptr& K) : Base(model, poseKey, pointKey), measured_(measured), K_(K) { } diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 3cc5af18e..d1e502bac 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -56,7 +56,7 @@ void handle_possible_template(vector& classes, const Class& cls, const st if(instantiations.empty()) { classes.push_back(cls); } else { - vector& classInstantiations = cls.expandTemplate(templateArgument, instantiations); + vector classInstantiations = cls.expandTemplate(templateArgument, instantiations); BOOST_FOREACH(const Class& c, classInstantiations) { classes.push_back(c); } From b1a58e44479097910fc2f1ab2b33a6fae903a1d2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 12 Jul 2012 02:11:36 +0000 Subject: [PATCH 607/914] Updated expected wrap unit test files --- wrap/tests/expected/geometry_wrapper.cpp | 1 + wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index 515f886f4..ade907701 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -7,6 +7,7 @@ #include #include + typedef std::set*> Collector_Point2; static Collector_Point2 collector_Point2; typedef std::set*> Collector_Point3; diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index dc88fc296..bdb0632d0 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -10,6 +10,7 @@ #include #include + typedef std::set*> Collector_ns1ClassA; static Collector_ns1ClassA collector_ns1ClassA; typedef std::set*> Collector_ns1ClassB; From c3ed90c7927865341d631e6c08c8f9faeca72cdc Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 12 Jul 2012 22:28:23 +0000 Subject: [PATCH 608/914] Small cleanup with factor graph 'add' functions --- gtsam.h | 1 + gtsam/linear/GaussianFactorGraph.h | 22 +++++++++++----------- gtsam/nonlinear/NonlinearFactorGraph.h | 11 ++++++++--- 3 files changed, 20 insertions(+), 14 deletions(-) diff --git a/gtsam.h b/gtsam.h index 00f5a9030..0e50ac9b6 100644 --- a/gtsam.h +++ b/gtsam.h @@ -982,6 +982,7 @@ class NonlinearFactorGraph { void print(string s) const; double error(const gtsam::Values& c) const; double probPrime(const gtsam::Values& c) const; + void add(const gtsam::NonlinearFactor* factor); gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; gtsam::GaussianFactorGraph* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const; diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index b4878565e..fd1ec1f6c 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -83,32 +83,32 @@ namespace gtsam { push_back(fg); } - /** Add a Jacobian factor */ - void add(const boost::shared_ptr& factor) { - factors_.push_back(boost::shared_ptr(factor)); + /** Add a factor by value - makes a copy */ + void add(const GaussianFactor& factor) { + factors_.push_back(factor.clone()); } - /** Add a Hessian factor */ - void add(const boost::shared_ptr& factor) { - factors_.push_back(boost::shared_ptr(factor)); + /** Add a factor by pointer - stores pointer without copying the factor */ + void add(const sharedFactor& factor) { + factors_.push_back(factor); } /** Add a null factor */ void add(const Vector& b) { - add(JacobianFactor::shared_ptr(new JacobianFactor(b))); + add(JacobianFactor(b)); } /** Add a unary factor */ void add(Index key1, const Matrix& A1, const Vector& b, const SharedDiagonal& model) { - add(JacobianFactor::shared_ptr(new JacobianFactor(key1,A1,b,model))); + add(JacobianFactor(key1,A1,b,model)); } /** Add a binary factor */ void add(Index key1, const Matrix& A1, Index key2, const Matrix& A2, const Vector& b, const SharedDiagonal& model) { - add(JacobianFactor::shared_ptr(new JacobianFactor(key1,A1,key2,A2,b,model))); + add(JacobianFactor(key1,A1,key2,A2,b,model)); } /** Add a ternary factor */ @@ -116,13 +116,13 @@ namespace gtsam { Index key2, const Matrix& A2, Index key3, const Matrix& A3, const Vector& b, const SharedDiagonal& model) { - add(JacobianFactor::shared_ptr(new JacobianFactor(key1,A1,key2,A2,key3,A3,b,model))); + add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); } /** Add an n-ary factor */ void add(const std::vector > &terms, const Vector &b, const SharedDiagonal& model) { - add(JacobianFactor::shared_ptr(new JacobianFactor(terms,b,model))); + add(JacobianFactor(terms,b,model)); } /** diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h index 85cc0e63f..f7ebb42bc 100644 --- a/gtsam/nonlinear/NonlinearFactorGraph.h +++ b/gtsam/nonlinear/NonlinearFactorGraph.h @@ -55,9 +55,14 @@ namespace gtsam { /** Unnormalized probability. O(n) */ double probPrime(const Values& c) const; - template - void add(const F& factor) { - this->push_back(boost::shared_ptr(new F(factor))); + /// Add a factor by value - copies the factor object + void add(const NonlinearFactor& factor) { + this->push_back(factor.clone()); + } + + /// Add a factor by pointer - stores pointer without copying factor object + void add(const sharedFactor& factor) { + this->push_back(factor); } /** From ce12f3d255f744f8fbecd333e09cd3eee6565257 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 12 Jul 2012 22:28:28 +0000 Subject: [PATCH 609/914] Code cleanup and comments --- wrap/Argument.cpp | 1 + wrap/Argument.h | 1 + wrap/Class.cpp | 11 +- wrap/Class.h | 4 +- wrap/Constructor.cpp | 1 + wrap/Constructor.h | 1 + wrap/Deconstructor.cpp | 1 + wrap/Deconstructor.h | 1 + wrap/Method.cpp | 5 +- wrap/Method.h | 6 +- wrap/Module.cpp | 237 ++++++++++++++++++----------------------- wrap/Module.h | 24 ++--- wrap/ReturnValue.cpp | 1 + wrap/ReturnValue.h | 10 +- wrap/StaticMethod.cpp | 5 +- wrap/StaticMethod.h | 6 +- wrap/matlab.h | 3 + wrap/utilities.cpp | 1 + wrap/utilities.h | 1 + 19 files changed, 151 insertions(+), 169 deletions(-) diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index 35f20169b..279050e25 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -13,6 +13,7 @@ * @file Argument.ccp * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #include diff --git a/wrap/Argument.h b/wrap/Argument.h index b4c3fe4a7..4dcf6b563 100644 --- a/wrap/Argument.h +++ b/wrap/Argument.h @@ -14,6 +14,7 @@ * @brief arguments to constructors and methods * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #pragma once diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 43258da61..7034ebb3a 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -13,6 +13,7 @@ * @file Class.cpp * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #include @@ -34,7 +35,7 @@ using namespace wrap; /* ************************************************************************* */ void Class::matlab_proxy(const string& classFile, const string& wrapperName, - const ReturnValue::TypeAttributesTable& typeAttributes, + const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, vector& functionNames) const { // open destination classFile FileWriter proxyFile(classFile, verbose_, "%"); @@ -68,7 +69,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, // Regular constructors BOOST_FOREACH(ArgumentList a, constructor.args_list) { - const int id = functionNames.size(); + const int id = (int)functionNames.size(); constructor.proxy_fragment(proxyFile, wrapperName, matlabName, matlabBaseName, id, a); const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, cppName, matlabName, cppBaseName, id, using_namespaces, a); @@ -85,7 +86,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, // Deconstructor { - const int id = functionNames.size(); + const int id = (int)functionNames.size(); deconstructor.proxy_fragment(proxyFile, wrapperName, matlabName, id); proxyFile.oss << "\n"; const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabName, id, using_namespaces); @@ -134,14 +135,14 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra const string baseMatlabName = wrap::qualifiedName("", qualifiedParent); const string baseCppName = wrap::qualifiedName("::", qualifiedParent); - const int collectorInsertId = functionNames.size(); + const int collectorInsertId = (int)functionNames.size(); const string collectorInsertFunctionName = matlabName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(collectorInsertId); functionNames.push_back(collectorInsertFunctionName); int upcastFromVoidId; string upcastFromVoidFunctionName; if(isVirtual) { - upcastFromVoidId = functionNames.size(); + upcastFromVoidId = (int)functionNames.size(); upcastFromVoidFunctionName = matlabName + "_upcastFromVoid_" + boost::lexical_cast(upcastFromVoidId); functionNames.push_back(upcastFromVoidFunctionName); } diff --git a/wrap/Class.h b/wrap/Class.h index 4626a901a..beee2c29f 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -14,6 +14,7 @@ * @brief describe the C++ class that is being wrapped * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #pragma once @@ -25,6 +26,7 @@ #include "Deconstructor.h" #include "Method.h" #include "StaticMethod.h" +#include "TypeAttributesTable.h" namespace wrap { @@ -52,7 +54,7 @@ struct Class { bool verbose_; ///< verbose flag // And finally MATLAB code is emitted, methods below called by Module::matlab_code - void matlab_proxy(const std::string& classFile, const std::string& wrapperName, const ReturnValue::TypeAttributesTable& typeAttributes, + void matlab_proxy(const std::string& classFile, const std::string& wrapperName, const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index aaa7f1c8e..afb35f62d 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -13,6 +13,7 @@ * @file Constructor.ccp * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #include diff --git a/wrap/Constructor.h b/wrap/Constructor.h index 46f5c5db9..50d0c41f5 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -13,6 +13,7 @@ * @file Constructor.h * @brief class describing a constructor + code generation * @author Frank Dellaert + * @author Richard Roberts **/ #pragma once diff --git a/wrap/Deconstructor.cpp b/wrap/Deconstructor.cpp index aa4969af5..c02ab0e93 100644 --- a/wrap/Deconstructor.cpp +++ b/wrap/Deconstructor.cpp @@ -13,6 +13,7 @@ * @file Deconstructor.ccp * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #include diff --git a/wrap/Deconstructor.h b/wrap/Deconstructor.h index ca44700fc..1ef5b80b0 100644 --- a/wrap/Deconstructor.h +++ b/wrap/Deconstructor.h @@ -14,6 +14,7 @@ * @brief class describing a constructor + code generation * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #pragma once diff --git a/wrap/Method.cpp b/wrap/Method.cpp index f44a08a73..f7ee5c71c 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -12,6 +12,7 @@ /** * @file Method.ccp * @author Frank Dellaert + * @author Richard Roberts **/ #include @@ -41,7 +42,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF const string& matlabClassName, const string& wrapperName, const vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes, + const TypeAttributesTable& typeAttributes, vector& functionNames) const { proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; @@ -102,7 +103,7 @@ string Method::wrapper_fragment(FileWriter& file, int overload, int id, const vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes) const { + const TypeAttributesTable& typeAttributes) const { // generate code diff --git a/wrap/Method.h b/wrap/Method.h index 936b3812d..c23fd7c3d 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -13,6 +13,7 @@ * @file Method.h * @brief describes and generates code for methods * @author Frank Dellaert + * @author Richard Roberts **/ #pragma once @@ -22,6 +23,7 @@ #include "Argument.h" #include "ReturnValue.h" +#include "TypeAttributesTable.h" namespace wrap { @@ -50,7 +52,7 @@ struct Method { void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& cppClassName, const std::string& matlabClassName, const std::string& wrapperName, const std::vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes, + const TypeAttributesTable& typeAttributes, std::vector& functionNames) const; private: @@ -60,7 +62,7 @@ private: int overload, int id, const std::vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes) const; ///< cpp wrapper + const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper }; } // \namespace wrap diff --git a/wrap/Module.cpp b/wrap/Module.cpp index d1e502bac..707d91dc4 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -14,10 +14,12 @@ * @author Frank Dellaert * @author Alex Cunningham * @author Andrew Melim + * @author Richard Roberts **/ #include "Module.h" #include "FileWriter.h" +#include "TypeAttributesTable.h" #include "utilities.h" #include "spirit_actors.h" @@ -88,7 +90,7 @@ Module::Module(const string& interfacePath, string templateArgument; vector templateInstantiationNamespace; vector > templateInstantiations; - TemplateSingleInstantiation singleInstantiation, singleInstantiation0; + TemplateInstantiationTypedef singleInstantiation, singleInstantiation0; string include_path = ""; const string null_str = ""; @@ -167,7 +169,7 @@ Module::Module(const string& interfacePath, className_p[assign_a(singleInstantiation.name)] >> ';') [assign_a(singleInstantiation.namespaces, namespaces)] - [push_back_a(singleInstantiations, singleInstantiation)] + [push_back_a(templateInstantiationTypedefs, singleInstantiation)] [assign_a(singleInstantiation, singleInstantiation0)]; Rule templateList_p = @@ -335,7 +337,7 @@ Module::Module(const string& interfacePath, parse_info info = parse(contents.c_str(), module_p, space_p); if(!info.full) { printf("parsing stopped at \n%.20s\n",info.stop); - throw ParseFailed(info.length); + throw ParseFailed((int)info.length); } } @@ -413,49 +415,19 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.oss << "#include \n"; wrapperFile.oss << "\n"; - // Expand templates - vector expandedClasses = expandTemplates(); + // Expand templates - This is done first so that template instantiations are + // counted in the list of valid types, have their attributes and dependencies + // checked, etc. + vector expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs); // Dependency check list - vector validTypes; - BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { - validTypes.push_back(fwDec.name); - } - validTypes.push_back("void"); - validTypes.push_back("string"); - validTypes.push_back("int"); - validTypes.push_back("bool"); - validTypes.push_back("char"); - validTypes.push_back("unsigned char"); - validTypes.push_back("size_t"); - validTypes.push_back("double"); - validTypes.push_back("Vector"); - validTypes.push_back("Matrix"); - //Create a list of parsed classes for dependency checking - BOOST_FOREACH(const Class& cls, expandedClasses) { - validTypes.push_back(cls.qualifiedName("::")); - } + vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); - // Create type attributes table - ReturnValue::TypeAttributesTable typeAttributes; - BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { - if(!typeAttributes.insert(make_pair(fwDec.name, ReturnValue::TypeAttributes(fwDec.isVirtual))).second) - throw DuplicateDefinition("class " + fwDec.name); - } - BOOST_FOREACH(const Class& cls, expandedClasses) { - if(!typeAttributes.insert(make_pair(cls.qualifiedName("::"), ReturnValue::TypeAttributes(cls.isVirtual))).second) - throw DuplicateDefinition("class " + cls.qualifiedName("::")); - } - // Check attributes - BOOST_FOREACH(const Class& cls, expandedClasses) { - // Check that class is virtual if it has a parent - if(!cls.qualifiedParent.empty() && !cls.isVirtual) - throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'"); - // Check that parent is virtual as well - if(!cls.qualifiedParent.empty() && !typeAttributes.at(wrap::qualifiedName("::", cls.qualifiedParent)).isVirtual) - throw AttributeError(wrap::qualifiedName("::", cls.qualifiedParent), - "Is the base class of " + cls.qualifiedName("::") + ", so needs to be declared virtual"); - } + // Create type attributes table and check validity + TypeAttributesTable typeAttributes; + typeAttributes.addClasses(expandedClasses); + typeAttributes.addForwardDeclarations(forward_declarations); + typeAttributes.checkValidity(expandedClasses); // Check that all classes have been defined somewhere BOOST_FOREACH(const Class& cls, expandedClasses) { @@ -472,69 +444,18 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // Generate includes while avoiding redundant includes generateIncludes(wrapperFile); - // create typedef classes + // create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs BOOST_FOREACH(const Class& cls, expandedClasses) { if(!cls.typedefName.empty()) wrapperFile.oss << cls.getTypedef() << "\n"; } wrapperFile.oss << "\n"; - // Generate all collectors - BOOST_FOREACH(const Class& cls, expandedClasses) { - const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); - wrapperFile.oss << "typedef std::set*> " - << "Collector_" << matlabName << ";\n"; - wrapperFile.oss << "static Collector_" << matlabName << - " collector_" << matlabName << ";\n"; - } - - // generate mexAtExit cleanup function - wrapperFile.oss << "\nvoid _deleteAllObjects()\n"; - wrapperFile.oss << "{\n"; - BOOST_FOREACH(const Class& cls, expandedClasses) { - const string matlabName = cls.qualifiedName(); - const string cppName = cls.qualifiedName("::"); - const string collectorType = "Collector_" + matlabName; - const string collectorName = "collector_" + matlabName; - wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; - wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; - wrapperFile.oss << " delete *iter;\n"; - wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; - wrapperFile.oss << " }\n"; - } - wrapperFile.oss << "}\n\n"; + // Generate collectors and cleanup function to be called from mexAtExit + WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses); // generate RTTI registry (for returning derived-most types) - { - wrapperFile.oss << - "static bool _RTTIRegister_" << name << "_done = false;\n" - "void _" << name << "_RTTIRegister() {\n" - " std::map types;\n"; - BOOST_FOREACH(const Class& cls, expandedClasses) { - if(cls.isVirtual) - wrapperFile.oss << - " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; - } - wrapperFile.oss << "\n"; - - wrapperFile.oss << - " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" - " if(!registry)\n" - " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" - " typedef std::pair StringPair;\n" - " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" - " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" - " if(fieldId < 0)\n" - " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" - " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" - " }\n" - " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" - " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxDestroyArray(registry);\n" - "}\n" - "\n"; - } + WriteRTTIRegistry(wrapperFile, name, expandedClasses); // create proxy class and wrapper code BOOST_FOREACH(const Class& cls, expandedClasses) { @@ -573,43 +494,13 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } /* ************************************************************************* */ -vector Module::expandTemplates() const { +vector Module::ExpandTypedefInstantiations(const vector& classes, const vector instantiations) { vector expandedClasses = classes; - BOOST_FOREACH(const TemplateSingleInstantiation& inst, singleInstantiations) { - // Find matching class - std::vector::iterator clsIt = expandedClasses.end(); - for(std::vector::iterator it = expandedClasses.begin(); it != expandedClasses.end(); ++it) { - if(it->name == inst.className && it->namespaces == inst.classNamespaces && it->templateArgs.size() == inst.typeList.size()) { - clsIt = it; - break; - } - } - - if(clsIt == expandedClasses.end()) - throw DependencyMissing(wrap::qualifiedName("::", inst.classNamespaces, inst.className), - "instantiation into typedef name " + wrap::qualifiedName("::", inst.namespaces, inst.name) + - ". Ensure that the typedef provides the correct number of template arguments."); - - // Instantiate it - Class classInst = *clsIt; - for(size_t i = 0; i < inst.typeList.size(); ++i) - classInst = classInst.expandTemplate(classInst.templateArgs[i], inst.typeList[i]); - - // Fix class properties - classInst.name = inst.name; - classInst.templateArgs.clear(); - classInst.typedefName = clsIt->qualifiedName("::") + "<"; - if(inst.typeList.size() > 0) - classInst.typedefName += wrap::qualifiedName("::", inst.typeList[0]); - for(size_t i = 1; i < inst.typeList.size(); ++i) - classInst.typedefName += (", " + wrap::qualifiedName("::", inst.typeList[i])); - classInst.typedefName += ">"; - classInst.namespaces = inst.namespaces; - + BOOST_FOREACH(const TemplateInstantiationTypedef& inst, instantiations) { // Add the new class to the list - expandedClasses.push_back(classInst); + expandedClasses.push_back(inst.findAndExpand(classes)); } // Remove all template classes @@ -623,3 +514,87 @@ vector Module::expandTemplates() const { } /* ************************************************************************* */ +vector Module::GenerateValidTypes(const vector& classes, const vector forwardDeclarations) { + vector validTypes; + BOOST_FOREACH(const ForwardDeclaration& fwDec, forwardDeclarations) { + validTypes.push_back(fwDec.name); + } + validTypes.push_back("void"); + validTypes.push_back("string"); + validTypes.push_back("int"); + validTypes.push_back("bool"); + validTypes.push_back("char"); + validTypes.push_back("unsigned char"); + validTypes.push_back("size_t"); + validTypes.push_back("double"); + validTypes.push_back("Vector"); + validTypes.push_back("Matrix"); + //Create a list of parsed classes for dependency checking + BOOST_FOREACH(const Class& cls, classes) { + validTypes.push_back(cls.qualifiedName("::")); + } + + return validTypes; +} + +/* ************************************************************************* */ +void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { + // Generate all collectors + BOOST_FOREACH(const Class& cls, classes) { + const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); + wrapperFile.oss << "typedef std::set*> " + << "Collector_" << matlabName << ";\n"; + wrapperFile.oss << "static Collector_" << matlabName << + " collector_" << matlabName << ";\n"; + } + + // generate mexAtExit cleanup function + wrapperFile.oss << "\nvoid _deleteAllObjects()\n"; + wrapperFile.oss << "{\n"; + BOOST_FOREACH(const Class& cls, classes) { + const string matlabName = cls.qualifiedName(); + const string cppName = cls.qualifiedName("::"); + const string collectorType = "Collector_" + matlabName; + const string collectorName = "collector_" + matlabName; + wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; + wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; + wrapperFile.oss << " delete *iter;\n"; + wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; + wrapperFile.oss << " }\n"; + } + wrapperFile.oss << "}\n\n"; +} + +/* ************************************************************************* */ +void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { + wrapperFile.oss << + "static bool _RTTIRegister_" << moduleName << "_done = false;\n" + "void _" << moduleName << "_RTTIRegister() {\n" + " std::map types;\n"; + BOOST_FOREACH(const Class& cls, classes) { + if(cls.isVirtual) + wrapperFile.oss << + " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; + } + wrapperFile.oss << "\n"; + + wrapperFile.oss << + " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" + " if(!registry)\n" + " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" + " typedef std::pair StringPair;\n" + " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" + " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" + " if(fieldId < 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" + " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" + " }\n" + " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxDestroyArray(registry);\n" + "}\n" + "\n"; +} + +/* ************************************************************************* */ diff --git a/wrap/Module.h b/wrap/Module.h index 42089291c..403f2f32d 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -13,6 +13,7 @@ * @file Module.h * @brief describes module to be wrapped * @author Frank Dellaert + * @author Richard Roberts **/ #pragma once @@ -22,6 +23,8 @@ #include #include "Class.h" +#include "TemplateInstantiationTypedef.h" +#include "ForwardDeclaration.h" namespace wrap { @@ -30,23 +33,9 @@ namespace wrap { */ struct Module { - struct ForwardDeclaration { - std::string name; - bool isVirtual; - ForwardDeclaration() : isVirtual(false) {} - }; - - struct TemplateSingleInstantiation { - std::vector classNamespaces; - std::string className; - std::vector namespaces; - std::string name; - std::vector > typeList; - }; - std::string name; ///< module name std::vector classes; ///< list of classes - std::vector singleInstantiations; ///< list of template instantiations + std::vector templateInstantiationTypedefs; ///< list of template instantiations bool verbose; ///< verbose flag // std::vector using_namespaces; ///< all default namespaces std::vector forward_declarations; @@ -66,7 +55,10 @@ struct Module { void generateIncludes(FileWriter& file) const; private: - std::vector expandTemplates() const; + static std::vector ExpandTypedefInstantiations(const std::vector& classes, const std::vector instantiations); + static std::vector GenerateValidTypes(const std::vector& classes, const std::vector forwardDeclarations); + static void WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes); + static void WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes); }; } // \namespace wrap diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 21baf3af9..a3efb094e 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -4,6 +4,7 @@ * @date Dec 1, 2011 * @author Alex Cunningham * @author Andrew Melim + * @author Richard Roberts */ #include diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h index 7d30578b2..8ff5d712b 100644 --- a/wrap/ReturnValue.h +++ b/wrap/ReturnValue.h @@ -5,12 +5,14 @@ * * @date Dec 1, 2011 * @author Alex Cunningham + * @author Richard Roberts */ #include #include #include "FileWriter.h" +#include "TypeAttributesTable.h" #pragma once @@ -18,14 +20,6 @@ namespace wrap { struct ReturnValue { - struct TypeAttributes { - bool isVirtual; - TypeAttributes() : isVirtual(false) {} - TypeAttributes(bool isVirtual) : isVirtual(isVirtual) {} - }; - - typedef std::map TypeAttributesTable; - typedef enum { CLASS, EIGEN, diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 75456b6b7..19dcd375e 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -13,6 +13,7 @@ * @file StaticMethod.ccp * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #include @@ -42,7 +43,7 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr const string& matlabClassName, const string& wrapperName, const vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes, + const TypeAttributesTable& typeAttributes, vector& functionNames) const { string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); @@ -105,7 +106,7 @@ string StaticMethod::wrapper_fragment(FileWriter& file, int overload, int id, const vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes) const { + const TypeAttributesTable& typeAttributes) const { // generate code diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index 8a739665d..8951f965b 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -14,6 +14,7 @@ * @brief describes and generates code for static methods * @author Frank Dellaert * @author Alex Cunningham + * @author Richard Roberts **/ #pragma once @@ -23,6 +24,7 @@ #include "Argument.h" #include "ReturnValue.h" +#include "TypeAttributesTable.h" namespace wrap { @@ -50,7 +52,7 @@ struct StaticMethod { void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& cppClassName, const std::string& matlabClassName, const std::string& wrapperName, const std::vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes, + const TypeAttributesTable& typeAttributes, std::vector& functionNames) const; private: @@ -60,7 +62,7 @@ private: int overload, int id, const std::vector& using_namespaces, - const ReturnValue::TypeAttributesTable& typeAttributes) const; ///< cpp wrapper + const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper }; } // \namespace wrap diff --git a/wrap/matlab.h b/wrap/matlab.h index a3a2f0147..d3fb9f926 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -14,6 +14,9 @@ * @brief header file to be included in MATLAB wrappers * @date 2008 * @author Frank Dellaert + * @author Alex Cunningham + * @author Andrew Melim + * @author Richard Roberts * * wrapping and unwrapping is done using specialized templates, see * http://www.cplusplus.com/doc/tutorial/templates.html diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 5f0db4248..9c5d93c76 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -13,6 +13,7 @@ * @file utilities.ccp * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #include diff --git a/wrap/utilities.h b/wrap/utilities.h index dced5808c..0a252484f 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -13,6 +13,7 @@ * @file utilities.h * @author Frank Dellaert * @author Andrew Melim + * @author Richard Roberts **/ #pragma once From 7f63d23565f7b6f1994e720bfc5fd52d172ed067 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:54:48 +0000 Subject: [PATCH 610/914] Added missing files from last commit - code cleanup and comments --- wrap/ForwardDeclaration.h | 32 ++++++++++++++ wrap/TemplateInstantiationTypedef.cpp | 61 +++++++++++++++++++++++++++ wrap/TemplateInstantiationTypedef.h | 39 +++++++++++++++++ wrap/TypeAttributesTable.cpp | 58 +++++++++++++++++++++++++ wrap/TypeAttributesTable.h | 55 ++++++++++++++++++++++++ 5 files changed, 245 insertions(+) create mode 100644 wrap/ForwardDeclaration.h create mode 100644 wrap/TemplateInstantiationTypedef.cpp create mode 100644 wrap/TemplateInstantiationTypedef.h create mode 100644 wrap/TypeAttributesTable.cpp create mode 100644 wrap/TypeAttributesTable.h diff --git a/wrap/ForwardDeclaration.h b/wrap/ForwardDeclaration.h new file mode 100644 index 000000000..2c9b6fa0c --- /dev/null +++ b/wrap/ForwardDeclaration.h @@ -0,0 +1,32 @@ +/* ---------------------------------------------------------------------------- + + * 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 Class.h + * @brief describe the C++ class that is being wrapped + * @author Frank Dellaert + * @author Andrew Melim + * @author Richard Roberts + **/ + +#pragma once + +#include + +namespace wrap { + + struct ForwardDeclaration { + std::string name; + bool isVirtual; + ForwardDeclaration() : isVirtual(false) {} + }; + +} \ No newline at end of file diff --git a/wrap/TemplateInstantiationTypedef.cpp b/wrap/TemplateInstantiationTypedef.cpp new file mode 100644 index 000000000..da1e8f616 --- /dev/null +++ b/wrap/TemplateInstantiationTypedef.cpp @@ -0,0 +1,61 @@ +/* ---------------------------------------------------------------------------- + + * 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 Class.cpp + * @author Frank Dellaert + * @author Andrew Melim + * @author Richard Roberts + **/ + +#include "TemplateInstantiationTypedef.h" + +#include "utilities.h" + +using namespace std; + +namespace wrap { + + Class TemplateInstantiationTypedef::findAndExpand(const vector& classes) const { + // Find matching class + std::vector::const_iterator clsIt = classes.end(); + for(std::vector::const_iterator it = classes.begin(); it != classes.end(); ++it) { + if(it->name == className && it->namespaces == classNamespaces && it->templateArgs.size() == typeList.size()) { + clsIt = it; + break; + } + } + + if(clsIt == classes.end()) + throw DependencyMissing(wrap::qualifiedName("::", classNamespaces, className), + "instantiation into typedef name " + wrap::qualifiedName("::", namespaces, name) + + ". Ensure that the typedef provides the correct number of template arguments."); + + // Instantiate it + Class classInst = *clsIt; + for(size_t i = 0; i < typeList.size(); ++i) + classInst = classInst.expandTemplate(classInst.templateArgs[i], typeList[i]); + + // Fix class properties + classInst.name = name; + classInst.templateArgs.clear(); + classInst.typedefName = clsIt->qualifiedName("::") + "<"; + if(typeList.size() > 0) + classInst.typedefName += wrap::qualifiedName("::", typeList[0]); + for(size_t i = 1; i < typeList.size(); ++i) + classInst.typedefName += (", " + wrap::qualifiedName("::", typeList[i])); + classInst.typedefName += ">"; + classInst.namespaces = namespaces; + + return classInst; + } + +} \ No newline at end of file diff --git a/wrap/TemplateInstantiationTypedef.h b/wrap/TemplateInstantiationTypedef.h new file mode 100644 index 000000000..192d35324 --- /dev/null +++ b/wrap/TemplateInstantiationTypedef.h @@ -0,0 +1,39 @@ +/* ---------------------------------------------------------------------------- + + * 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 Class.h + * @brief describe the C++ class that is being wrapped + * @author Frank Dellaert + * @author Andrew Melim + * @author Richard Roberts + **/ + +#pragma once + +#include +#include + +#include "Class.h" + +namespace wrap { + +struct TemplateInstantiationTypedef { + std::vector classNamespaces; + std::string className; + std::vector namespaces; + std::string name; + std::vector > typeList; + + Class findAndExpand(const std::vector& classes) const; +}; + +} \ No newline at end of file diff --git a/wrap/TypeAttributesTable.cpp b/wrap/TypeAttributesTable.cpp new file mode 100644 index 000000000..865015a6e --- /dev/null +++ b/wrap/TypeAttributesTable.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 Class.cpp + * @author Frank Dellaert + * @author Andrew Melim + * @author Richard Roberts + **/ + +#include "TypeAttributesTable.h" +#include "Class.h" +#include "utilities.h" + +#include + +using namespace std; + +namespace wrap { + + /* ************************************************************************* */ + void TypeAttributesTable::addClasses(const vector& classes) { + BOOST_FOREACH(const Class& cls, classes) { + if(!insert(make_pair(cls.qualifiedName("::"), TypeAttributes(cls.isVirtual))).second) + throw DuplicateDefinition("class " + cls.qualifiedName("::")); + } + } + + /* ************************************************************************* */ + void TypeAttributesTable::addForwardDeclarations(const vector& forwardDecls) { + BOOST_FOREACH(const ForwardDeclaration& fwDec, forwardDecls) { + if(!insert(make_pair(fwDec.name, TypeAttributes(fwDec.isVirtual))).second) + throw DuplicateDefinition("class " + fwDec.name); + } + } + + /* ************************************************************************* */ + void TypeAttributesTable::checkValidity(const vector& classes) const { + BOOST_FOREACH(const Class& cls, classes) { + // Check that class is virtual if it has a parent + if(!cls.qualifiedParent.empty() && !cls.isVirtual) + throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'"); + // Check that parent is virtual as well + if(!cls.qualifiedParent.empty() && !at(wrap::qualifiedName("::", cls.qualifiedParent)).isVirtual) + throw AttributeError(wrap::qualifiedName("::", cls.qualifiedParent), + "Is the base class of " + cls.qualifiedName("::") + ", so needs to be declared virtual"); + } + } + +} \ No newline at end of file diff --git a/wrap/TypeAttributesTable.h b/wrap/TypeAttributesTable.h new file mode 100644 index 000000000..dea6d0bf5 --- /dev/null +++ b/wrap/TypeAttributesTable.h @@ -0,0 +1,55 @@ +/* ---------------------------------------------------------------------------- + + * 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 Class.h + * @brief describe the C++ class that is being wrapped + * @author Frank Dellaert + * @author Andrew Melim + * @author Richard Roberts + **/ + +#include +#include +#include + +#include "ForwardDeclaration.h" + +#pragma once + +namespace wrap { + + // Forward declarations + struct Class; + +/** Attributes about valid classes, both for classes defined in this module and + * also those forward-declared from others. At the moment this only contains + * whether the class is virtual, which is used to know how to copy the class, + * and whether to try to convert it to a more derived type upon returning it. + */ +struct TypeAttributes { + bool isVirtual; + TypeAttributes() : isVirtual(false) {} + TypeAttributes(bool isVirtual) : isVirtual(isVirtual) {} +}; + +/** Map of type names to attributes. */ +class TypeAttributesTable : public std::map { +public: + TypeAttributesTable() {} + + void addClasses(const std::vector& classes); + void addForwardDeclarations(const std::vector& forwardDecls); + + void checkValidity(const std::vector& classes) const; +}; + +} \ No newline at end of file From 191d73df0b852b7468bf580310f21a5a42a5f0ae Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:54:52 +0000 Subject: [PATCH 611/914] Simplified matlab wrapper cmake options --- CMakeLists.txt | 68 +++++++++++++++++++---------------- gtsam/CMakeLists.txt | 14 +++----- gtsam_unstable/CMakeLists.txt | 19 ++++------ matlab/CMakeLists.txt | 62 ++++++++++++++------------------ wrap/CMakeLists.txt | 4 +-- 5 files changed, 76 insertions(+), 91 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 77b8b0c18..e2d3c7f57 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,42 +36,48 @@ else() set(GTSAM_UNSTABLE_AVAILABLE 0) endif() + # Configurable Options option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON) if(GTSAM_UNSTABLE_AVAILABLE) - option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" OFF) + option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) endif() -option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) -if(MSVC) - option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" OFF) -else() +if(NOT MSVC) option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON) -endif() -option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON) -option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF) -if(MSVC) - option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF) + option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" ON) else() + set(GTSAM_BUILD_STATIC_LIBRARY ON) +endif() +option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF) +if(NOT MSVC) option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" ON) endif() -option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON) -option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON) -option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) -option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) -set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") -set(GTSAM_WRAP_HEADER_PATH ${PROJECT_SOURCE_DIR}/wrap CACHE DOCSTRING "Path to directory of matlab.h") +# Options relating to MATLAB wrapper # TODO: Check for matlab mex binary before handling building of binaries - -# Flags for building/installing mex files -option(GTSAM_BUILD_MEX_BIN "Enable/Disable building of matlab mex files" OFF) -option(GTSAM_INSTALL_MEX_BIN "Enable/Disable installing matlab mex binaries" OFF) -set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Flags for running Matlab MEX compilation") +option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON) +option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) +option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON) +set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE DOCSTRING "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox") +set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation") set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") +# Check / set dependent variables for MATLAB wrapper +set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap") +if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP) + message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP") +endif() +if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP) + message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP") +endif() +if(NOT GTSAM_TOOLBOX_INSTALL_PATH) + set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/toolbox") +endif() + + # Flags for choosing default packaging tools set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") @@ -90,7 +96,7 @@ endif(GTSAM_USE_QUATERNIONS) # Flags to determine whether tests and examples are build during 'make install' # Note that these remove the targets from the 'all' option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON) -option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables buildint examples during install" OFF) +option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF) # Pull in infrastructure if (GTSAM_BUILD_TESTS) @@ -134,7 +140,9 @@ if (GTSAM_BUILD_EXAMPLES) endif(GTSAM_BUILD_EXAMPLES) # Matlab toolbox -add_subdirectory(matlab) +if (GTSAM_INSTALL_MATLAB_TOOLBOX) + add_subdirectory(matlab) +endif() # Build gtsam_unstable if (GTSAM_BUILD_UNSTABLE) @@ -168,11 +176,12 @@ message(STATUS "Build flags ") print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ") print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") -print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") -print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") -print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") +if(NOT MSVC) + print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") + print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") + print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ") +endif() print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ") -print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ") if(GTSAM_UNSTABLE_AVAILABLE) print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") endif() @@ -192,11 +201,8 @@ print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default R message(STATUS "MATLAB toolbox flags ") print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ") -print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ") -print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ") +print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ") -print_config_flag(${GTSAM_BUILD_MEX_BIN} "Build MEX binaries ") -print_config_flag(${GTSAM_INSTALL_MEX_BIN} "Install MEX binaries ") message(STATUS "===============================================================") # Include CPack *after* all flags diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index e168116e7..66870a09c 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -115,21 +115,15 @@ if (GTSAM_BUILD_SHARED_LIBRARY) endif(GTSAM_BUILD_SHARED_LIBRARY) # Create the matlab toolbox for the gtsam library -if (GTSAM_BUILD_WRAP) +if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Set up codegen include(GtsamMatlabWrap) # TODO: generate these includes programmatically # Choose include flags depending on build process - if (GTSAM_BUILD_MEX_BIN) - set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) - set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) - set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) - else() - set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) - set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) - set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}) - endif() + set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) + set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) + set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) # Generate, build and install toolbox set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam) diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 9851852e3..fce7510c3 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -73,23 +73,16 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY) # Wrap version for gtsam_unstable -if (GTSAM_BUILD_WRAP) +if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Set up codegen include(GtsamMatlabWrap) # TODO: generate these includes programmatically # Choose include flags depending on build process - if (GTSAM_BUILD_MEX_BIN) - set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) - set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) - set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) - set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) - else() - set(MEX_INCLUDE_ROOT ${CMAKE_INSTALL_PREFIX}/include) - set(MEX_LIB_ROOT ${CMAKE_INSTALL_PREFIX}/lib) - set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}) - set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}) - endif() + set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) + set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) + set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) + set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) # Generate, build and install toolbox set(mexFlags -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete) @@ -97,4 +90,4 @@ if (GTSAM_BUILD_WRAP) # Macro to handle details of setting up targets wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam) -endif(GTSAM_BUILD_WRAP) +endif(GTSAM_INSTALL_MATLAB_TOOLBOX) diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 9d48a949f..84df4055c 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -1,37 +1,29 @@ # Install matlab components -if (GTSAM_BUILD_WRAP) - if (GTSAM_INSTALL_MATLAB_TOOLBOX) - # Utility functions - message(STATUS "Installing Matlab Utility Functions") - # Matlab files: *.m and *.fig - file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m") - file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig") - set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig}) - install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam) - - # Tests - if (GTSAM_INSTALL_MATLAB_TESTS) - message(STATUS "Installing Matlab Toolbox Tests") - file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m") - install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) - endif () - - # Examples - if (GTSAM_INSTALL_MATLAB_EXAMPLES) - message(STATUS "Installing Matlab Toolbox Examples") - # Matlab files: *.m and *.fig - file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m") - file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig") - set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) - install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) - - message(STATUS "Installing Matlab Toolbox Examples (Data)") - # Data files: *.graph and *.txt - file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") - file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") - set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) - install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) - endif () - endif () -endif () +# Utility functions +message(STATUS "Installing Matlab Utility Functions") +# Matlab files: *.m and *.fig +file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m") +file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig") +set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig}) +install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam) + +# Tests +message(STATUS "Installing Matlab Toolbox Tests") +file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m") +install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) + +# Examples +message(STATUS "Installing Matlab Toolbox Examples") +# Matlab files: *.m and *.fig +file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m") +file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig") +set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) +install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) + +message(STATUS "Installing Matlab Toolbox Examples (Data)") +# Data files: *.graph and *.txt +file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") +file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") +set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) +install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index 4d6e81d2f..e27ca4564 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -1,6 +1,6 @@ # Build/install Wrap -find_package(Boost 1.42 COMPONENTS system filesystem thread REQUIRED) +find_package(Boost 1.43 COMPONENTS system filesystem thread REQUIRED) # Build the executable itself file(GLOB wrap_srcs "*.cpp") @@ -22,7 +22,7 @@ endif(GTSAM_INSTALL_WRAP) install(FILES matlab.h DESTINATION include/wrap) # Build tests -if (GTSAM_BUILD_TESTS) +if (GTSAM_BUILD_TESTS) set(wrap_local_libs wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") endif(GTSAM_BUILD_TESTS) From aa5beafd946a1a20f9e02c7eec9b3072eb87212e Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:54:55 +0000 Subject: [PATCH 612/914] Wrap include path bug fix --- wrap/Class.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 7034ebb3a..2cb36386a 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -269,7 +269,7 @@ Class expandClassTemplate(const Class& cls, const string& templateArg, const vec inst.namespaces = cls.namespaces; inst.using_namespaces = cls.using_namespaces; bool allIncludesEmpty = true; - BOOST_FOREACH(const string& inc, cls.includes) { if(!inc.empty()) { allIncludesEmpty = true; break; } } + BOOST_FOREACH(const string& inc, cls.includes) { if(!inc.empty()) { allIncludesEmpty = false; break; } } if(allIncludesEmpty) inst.includes.push_back(cls.name + ".h"); else From 4ae96c6642c6e17476bfc2ccd058cafc927e8f61 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:54:57 +0000 Subject: [PATCH 613/914] Check dependencies before class attributes to avoid out-of-range exception --- wrap/Module.cpp | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 707d91dc4..a6fa3da20 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -423,24 +423,28 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // Dependency check list vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); + // Check that all classes have been defined somewhere + BOOST_FOREACH(const Class& cls, expandedClasses) { + // verify all of the function arguments + //TODO:verifyArguments(validTypes, cls.constructor.args_list); + verifyArguments(validTypes, cls.static_methods); + verifyArguments(validTypes, cls.methods); + + // verify function return types + verifyReturnTypes(validTypes, cls.static_methods); + verifyReturnTypes(validTypes, cls.methods); + + // verify parents + if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) + throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); + } + // Create type attributes table and check validity TypeAttributesTable typeAttributes; typeAttributes.addClasses(expandedClasses); typeAttributes.addForwardDeclarations(forward_declarations); typeAttributes.checkValidity(expandedClasses); - // Check that all classes have been defined somewhere - BOOST_FOREACH(const Class& cls, expandedClasses) { - // verify all of the function arguments - //TODO:verifyArguments(validTypes, cls.constructor.args_list); - verifyArguments(validTypes, cls.static_methods); - verifyArguments(validTypes, cls.methods); - - // verify function return types - verifyReturnTypes(validTypes, cls.static_methods); - verifyReturnTypes(validTypes, cls.methods); - } - // Generate includes while avoiding redundant includes generateIncludes(wrapperFile); From 6c9608752e496a672a8858eb1afebc1e8dedb0aa Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:55:00 +0000 Subject: [PATCH 614/914] Small cleanups / fixes in handling of compile options --- CMakeLists.txt | 5 +++-- gtsam_unstable/CMakeLists.txt | 10 +++++++--- wrap/CMakeLists.txt | 6 +++--- 3 files changed, 13 insertions(+), 8 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e2d3c7f57..ed6b31db9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,7 +63,7 @@ option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON) set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE DOCSTRING "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox") set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation") -set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)") +set(MEX_COMMAND "mex" CACHE FILEPATH "Command to use for executing mex (if on path, 'mex' will work)") # Check / set dependent variables for MATLAB wrapper set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap") @@ -109,7 +109,8 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.43 COMPONENTS serialization REQUIRED) +find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time REQUIRED) +set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY}) # General build settings include_directories( diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index fce7510c3..09fb124a9 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -15,10 +15,12 @@ add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-fail foreach(subdir ${gtsam_unstable_subdirs}) # Build convenience libraries file(GLOB subdir_srcs "${subdir}/*.cpp") - set(${subdir}_srcs ${subdir_srcs}) + file(GLOB subdir_headers "${subdir}/*.h") + set(${subdir}_srcs ${subdir_srcs} ${subdir_headers}) + gtsam_assign_source_folders("${${subdir}_srcs}") # Create MSVC structure if (subdir_srcs AND GTSAM_BUILD_CONVENIENCE_LIBRARIES) message(STATUS "Building Convenience Library: ${subdir}_unstable") - add_library("${subdir}_unstable" STATIC ${subdir_srcs}) + add_library("${subdir}_unstable" STATIC ${${subdir}_srcs}) endif() # Build local library and tests @@ -36,7 +38,9 @@ set(gtsam_unstable_srcs ${slam_srcs} ) -option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON) +if(NOT MSVC) + option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON) +endif() # Versions - same as core gtsam library set(gtsam_unstable_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}) diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt index e27ca4564..14d9a1f84 100644 --- a/wrap/CMakeLists.txt +++ b/wrap/CMakeLists.txt @@ -1,6 +1,6 @@ # Build/install Wrap -find_package(Boost 1.43 COMPONENTS system filesystem thread REQUIRED) +set(WRAP_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY}) # Build the executable itself file(GLOB wrap_srcs "*.cpp") @@ -9,7 +9,7 @@ list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp) add_library(wrap_lib STATIC ${wrap_srcs} ${wrap_headers}) gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers}) add_executable(wrap wrap.cpp) -target_link_libraries(wrap wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) +target_link_libraries(wrap wrap_lib ${WRAP_BOOST_LIBRARIES}) # Install wrap binary and export target if (GTSAM_INSTALL_WRAP) @@ -23,7 +23,7 @@ install(FILES matlab.h DESTINATION include/wrap) # Build tests if (GTSAM_BUILD_TESTS) - set(wrap_local_libs wrap_lib ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) + set(wrap_local_libs wrap_lib ${WRAP_BOOST_LIBRARIES}) gtsam_add_subdir_tests("wrap" "${wrap_local_libs}" "${wrap_local_libs}" "") endif(GTSAM_BUILD_TESTS) From ecfcf82f13b37fb0a4c6bcd06dcd5cc745f18f57 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:55:02 +0000 Subject: [PATCH 615/914] Wrapped NonlinearEquality and NonlinearFactorGraph::at --- gtsam.h | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/gtsam.h b/gtsam.h index 0e50ac9b6..3222cd2d1 100644 --- a/gtsam.h +++ b/gtsam.h @@ -982,6 +982,7 @@ class NonlinearFactorGraph { void print(string s) const; double error(const gtsam::Values& c) const; double probPrime(const gtsam::Values& c) const; + gtsam::NonlinearFactor* at(size_t i) const; void add(const gtsam::NonlinearFactor* factor); gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; @@ -1132,6 +1133,15 @@ virtual class BetweenFactor : gtsam::NonlinearFactor { }; +template +virtual class NonlinearEquality : gtsam::NonlinearFactor { + // 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); +}; + + template virtual class RangeFactor : gtsam::NonlinearFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); From e4f74354ca1f375c416c0876d3b11a17c20a7499 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:55:05 +0000 Subject: [PATCH 616/914] Wrapped factors in gtsam_unstable and updated PoseRTV --- gtsam_unstable/dynamics/FullIMUFactor.h | 2 - gtsam_unstable/dynamics/IMUFactor.h | 2 - gtsam_unstable/gtsam_unstable.h | 127 +++++++++++++++++++++--- 3 files changed, 115 insertions(+), 16 deletions(-) diff --git a/gtsam_unstable/dynamics/FullIMUFactor.h b/gtsam_unstable/dynamics/FullIMUFactor.h index c9a75ec23..f42ecc352 100644 --- a/gtsam_unstable/dynamics/FullIMUFactor.h +++ b/gtsam_unstable/dynamics/FullIMUFactor.h @@ -77,8 +77,6 @@ public: const Vector& gyro() const { return gyro_; } const Vector& accel() const { return accel_; } Vector z() const { return concatVectors(2, &accel_, &gyro_); } - const Key& key1() const { return this->key1_; } - const Key& key2() const { return this->key2_; } /** * Error evaluation with optional derivatives - calculates diff --git a/gtsam_unstable/dynamics/IMUFactor.h b/gtsam_unstable/dynamics/IMUFactor.h index adcf772e3..9e5651cc9 100644 --- a/gtsam_unstable/dynamics/IMUFactor.h +++ b/gtsam_unstable/dynamics/IMUFactor.h @@ -70,8 +70,6 @@ public: const Vector& gyro() const { return gyro_; } const Vector& accel() const { return accel_; } Vector z() const { return concatVectors(2, &accel_, &gyro_); } - const Key& key1() const { return this->key1_; } - const Key& key2() const { return this->key2_; } /** * Error evaluation with optional derivatives - calculates diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index c9d114d58..3d9fd7aac 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -3,10 +3,12 @@ */ // specify the classes from gtsam we are using -class gtsam::Point3; -class gtsam::Rot3; -class gtsam::Pose3; -class gtsam::SharedNoiseModel; +virtual class gtsam::Value; +virtual class gtsam::Point3; +virtual class gtsam::Rot3; +virtual class gtsam::Pose3; +virtual class gtsam::noiseModel::Base; +virtual class gtsam::NonlinearFactor; namespace gtsam { @@ -18,7 +20,7 @@ class Dummy { }; #include -class PoseRTV { +virtual class PoseRTV : gtsam::Value { PoseRTV(); PoseRTV(Vector rtv); PoseRTV(const gtsam::Point3& pt, const gtsam::Rot3& rot, const gtsam::Point3& vel); @@ -66,6 +68,107 @@ class PoseRTV { Vector translationIntegrationVec(const gtsam::PoseRTV& x2, double dt) const; }; + +// Nonlinear factors from gtsam, for our Value types +#include +template +virtual class PriorFactor : gtsam::NonlinearFactor { + PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); +}; + + +#include +template +virtual class BetweenFactor : gtsam::NonlinearFactor { + BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); +}; + + +#include +template +virtual class RangeFactor : gtsam::NonlinearFactor { + RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::RangeFactor RangeFactorRTV; + + +#include +template +virtual class NonlinearEquality : gtsam::NonlinearFactor { + // 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); +}; + + +template +virtual class IMUFactor : gtsam::NonlinearFactor { + /** Standard constructor */ + IMUFactor(Vector accel, Vector gyro, + double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model); + + /** Full IMU vector specification */ + IMUFactor(Vector imu_vector, + double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model); + + Vector gyro() const; + Vector accel() const; + Vector z() const; + size_t key1() const; + size_t key2() const; +}; + + +template +virtual class FullIMUFactor : gtsam::NonlinearFactor { + /** Standard constructor */ + FullIMUFactor(Vector accel, Vector gyro, + double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model); + + /** Single IMU vector - imu = [accel, gyro] */ + FullIMUFactor(Vector imu, + double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model); + + Vector gyro() const; + Vector accel() const; + Vector z() const; + size_t key1() const; + size_t key2() const; +}; + + +#include +virtual class DHeightPrior : gtsam::NonlinearFactor { + DHeightPrior(size_t key, double height, const gtsam::noiseModel::Base* model); +}; + + +#include +virtual class DRollPrior : gtsam::NonlinearFactor { + /** allows for explicit roll parameterization - uses canonical coordinate */ + DRollPrior(size_t key, double wx, const gtsam::noiseModel::Base* model); + /** Forces roll to zero */ + DRollPrior(size_t key, const gtsam::noiseModel::Base* model); +}; + + +#include +virtual class VelocityPrior : gtsam::NonlinearFactor { + VelocityPrior(size_t key, Vector vel, const gtsam::noiseModel::Base* model); +}; + + +#include +virtual class DGroundConstraint : gtsam::NonlinearFactor { + // Primary constructor allows for variable height of the "floor" + DGroundConstraint(size_t key, double height, const gtsam::noiseModel::Base* model); + // Fully specify vector - use only for debugging + DGroundConstraint(size_t key, Vector constraint, const gtsam::noiseModel::Base* model); +}; + + }///\namespace gtsam #include @@ -84,18 +187,18 @@ class Graph { void print(string s) const; // prior factors - void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel); + void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::noiseModel::Base* noiseModel); void addConstraint(size_t key, const gtsam::PoseRTV& pose); - void addHeightPrior(size_t key, double z, const gtsam::SharedNoiseModel& noiseModel); + void addHeightPrior(size_t key, double z, const gtsam::noiseModel::Base* noiseModel); // inertial factors - void addFullIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel); - void addIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel); - void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::SharedNoiseModel& noiseModel); + void addFullIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const gtsam::noiseModel::Base* noiseModel); + void addIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const gtsam::noiseModel::Base* noiseModel); + void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::noiseModel::Base* noiseModel); // other measurements - void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::SharedNoiseModel& noiseModel); - void addRange(size_t key1, size_t key2, double z, const gtsam::SharedNoiseModel& noiseModel); + void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::noiseModel::Base* noiseModel); + void addRange(size_t key1, size_t key2, double z, const gtsam::noiseModel::Base* noiseModel); // optimization imu::Values optimize(const imu::Values& init) const; From bcaa1d00bfe4f7f56f4ad00ad4fa4334c1731833 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:57:57 +0000 Subject: [PATCH 617/914] Fixed warnings --- gtsam.h | 4 ++-- gtsam/linear/VectorValues.h | 2 +- gtsam/nonlinear/NonlinearOptimizer.h | 22 +++++++++++----------- gtsam/nonlinear/Ordering.h | 2 +- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/gtsam.h b/gtsam.h index 3222cd2d1..9d7d7a7a6 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1090,13 +1090,13 @@ class LevenbergMarquardtParams { LevenbergMarquardtParams(); void print(string s) const; - double getMaxIterations() const; + size_t getMaxIterations() const; double getRelativeErrorTol() const; double getAbsoluteErrorTol() const; double getErrorTol() const; string getVerbosity() const; - void setMaxIterations(double value); + void setMaxIterations(size_t value); void setRelativeErrorTol(double value); void setAbsoluteErrorTol(double value); void setErrorTol(double value); diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index aa9c1aa6d..9fad99223 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -419,7 +419,7 @@ namespace gtsam { maps_.reserve(maps_.size() + dimensions.size()); BOOST_FOREACH(size_t dim, dimensions) { maps_.push_back(values_.segment(varStart, dim)); - varStart += dim; // varStart is continued from first for loop + varStart += (int)dim; // varStart is continued from first for loop } } diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h index 44b352938..1c071faef 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.h +++ b/gtsam/nonlinear/NonlinearOptimizer.h @@ -45,23 +45,23 @@ public: Verbosity verbosity; ///< The printing verbosity during optimization (default SILENT) NonlinearOptimizerParams() : - maxIterations(100.0), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), + maxIterations(100), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), errorTol(0.0), verbosity(SILENT) {} virtual ~NonlinearOptimizerParams() {} virtual void print(const std::string& str = "") const ; - inline double getMaxIterations() const { return maxIterations; } - inline double getRelativeErrorTol() const { return relativeErrorTol; } - inline double getAbsoluteErrorTol() const { return absoluteErrorTol; } - inline double getErrorTol() const { return errorTol; } - inline std::string getVerbosity() const { return verbosityTranslator(verbosity); } + size_t getMaxIterations() const { return maxIterations; } + double getRelativeErrorTol() const { return relativeErrorTol; } + double getAbsoluteErrorTol() const { return absoluteErrorTol; } + double getErrorTol() const { return errorTol; } + std::string getVerbosity() const { return verbosityTranslator(verbosity); } - inline void setMaxIterations(double value) { maxIterations = value; } - inline void setRelativeErrorTol(double value) { relativeErrorTol = value; } - inline void setAbsoluteErrorTol(double value) { absoluteErrorTol = value; } - inline void setErrorTol(double value) { errorTol = value ; } - inline void setVerbosity(const std::string &src) { verbosity = verbosityTranslator(src); } + void setMaxIterations(size_t value) { maxIterations = value; } + void setRelativeErrorTol(double value) { relativeErrorTol = value; } + void setAbsoluteErrorTol(double value) { absoluteErrorTol = value; } + void setErrorTol(double value) { errorTol = value ; } + void setVerbosity(const std::string &src) { verbosity = verbosityTranslator(src); } Verbosity verbosityTranslator(const std::string &s) const; std::string verbosityTranslator(Verbosity value) const; diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index c2bac18f8..c6881fbde 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -155,7 +155,7 @@ public: iterator end() { return order_.end(); } /// Test if the key exists in the ordering. - bool exists(Key key) const { return order_.count(key); } + bool exists(Key key) const { return order_.count(key) > 0; } ///TODO: comment std::pair tryInsert(Key key, Index order) { return tryInsert(std::make_pair(key,order)); } From ee2889d4b3fb9cbbb2d86559daa5b885606996e4 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 21:59:30 +0000 Subject: [PATCH 618/914] Improved error message --- wrap/matlab.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/wrap/matlab.h b/wrap/matlab.h index d3fb9f926..5b438f1a6 100644 --- a/wrap/matlab.h +++ b/wrap/matlab.h @@ -366,9 +366,11 @@ mxArray* create_object(const std::string& classname, void *pointer, bool isVirtu if(!derivedNameMx) mexErrMsgTxt(( "gtsam wrap: The derived class type " + string(rttiName) + " was not found in the RTTI registry. " + "Try calling 'clear all' twice consecutively - we have seen things not get unloaded properly the " + "first time. If this does not work, this may indicate an inconsistency in your wrap interface file. " "The most likely cause for this is that a base class was marked virtual in the wrap interface " - "definition header file for gtsam or for your module, but a derived type was returned by a C++" - "function and that derived type was not marked virtual (or was not specified in the wrap interface" + "definition header file for gtsam or for your module, but a derived type was returned by a C++ " + "function and that derived type was not marked virtual (or was not specified in the wrap interface " "definition header at all).").c_str()); size_t strLen = mxGetN(derivedNameMx); char *buf = new char[strLen+1]; From 5f49a186287e023ece32330f459d80f38a9d9277 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 13 Jul 2012 23:19:37 +0000 Subject: [PATCH 619/914] Added docs about templates to gtsam.h --- gtsam.h | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index 9d7d7a7a6..882319607 100644 --- a/gtsam.h +++ b/gtsam.h @@ -14,7 +14,7 @@ * - void * - Any class with which be copied with boost::make_shared() * - boost::shared_ptr of any object type -<* Constructors + * Constructors * - Overloads are supported * - A class with no constructors can be returned from other functions but not allocated directly in MATLAB * Methods @@ -26,7 +26,7 @@ * - 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 -=* Arguments to functions any of + * 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 @@ -62,6 +62,17 @@ * - 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). + * 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; + * - 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; */ /** From 8003ab66d7786bf2964844eb2d00f29205ca0524 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 14 Jul 2012 20:30:27 +0000 Subject: [PATCH 620/914] Fixed the type setting so that paths can be set easily in cmake-gui --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ed6b31db9..c7b7cf9b6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -61,7 +61,7 @@ endif() option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" ON) option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON) -set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE DOCSTRING "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox") +set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox") set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation") set(MEX_COMMAND "mex" CACHE FILEPATH "Command to use for executing mex (if on path, 'mex' will work)") From a87d12a7b7e3719750935e2e2dea6050e085b5a6 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 14 Jul 2012 20:30:30 +0000 Subject: [PATCH 621/914] pacified warning --- wrap/Module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index a6fa3da20..32acb2853 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -508,7 +508,7 @@ vector Module::ExpandTypedefInstantiations(const vector& classes, } // Remove all template classes - for(int i = 0; i < expandedClasses.size(); ++i) + for(size_t i = 0; i < expandedClasses.size(); ++i) if(!expandedClasses[size_t(i)].templateArgs.empty()) { expandedClasses.erase(expandedClasses.begin() + size_t(i)); -- i; From 88b51d45b88a29de3288e4070bdcedcd92b9caf4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 14 Jul 2012 21:39:58 +0000 Subject: [PATCH 622/914] Added doxygen support via cmake using 'make doc' --- .cproject | 326 ++++++++++++++++++---------------- CMakeLists.txt | 17 +- doc/{Doxyfile => Doxyfile.in} | 28 +-- 3 files changed, 202 insertions(+), 169 deletions(-) rename doc/{Doxyfile => Doxyfile.in} (98%) diff --git a/.cproject b/.cproject index b31515394..c18c63f56 100644 --- a/.cproject +++ b/.cproject @@ -282,6 +282,7 @@ + @@ -308,14 +309,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -342,6 +335,7 @@ make + tests/testBayesTree.run true false @@ -349,6 +343,7 @@ make + testBinaryBayesNet.run true false @@ -396,6 +391,7 @@ make + testSymbolicBayesNet.run true false @@ -403,6 +399,7 @@ make + tests/testSymbolicFactor.run true false @@ -410,6 +407,7 @@ make + testSymbolicFactorGraph.run true false @@ -425,11 +423,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -518,22 +525,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -550,6 +541,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -574,26 +581,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -678,26 +685,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -952,6 +959,7 @@ make + testGraph.run true false @@ -959,6 +967,7 @@ make + testJunctionTree.run true false @@ -966,6 +975,7 @@ make + testSymbolicBayesNetB.run true false @@ -1101,6 +1111,7 @@ make + testErrors.run true false @@ -1564,7 +1575,6 @@ make - testSimulated2DOriented.run true false @@ -1604,7 +1614,6 @@ make - testSimulated2D.run true false @@ -1612,7 +1621,6 @@ make - testSimulated3D.run true false @@ -1828,7 +1836,6 @@ make - tests/testGaussianISAM2 true false @@ -1850,102 +1857,6 @@ 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 -j2 @@ -2147,6 +2058,7 @@ cpack + -G DEB true false @@ -2154,6 +2066,7 @@ cpack + -G RPM true false @@ -2161,6 +2074,7 @@ cpack + -G TGZ true false @@ -2168,6 +2082,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2293,34 +2208,106 @@ true true - + make -j5 - testSpirit.run + doc true true true - + make - -j5 - testWrap.run + -j2 + testRot3.run true true true - + make - -j5 - check.wrap + -j2 + testRot2.run true true true - + make - -j5 - wrap + -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 @@ -2364,7 +2351,38 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap + true + true + true + - diff --git a/CMakeLists.txt b/CMakeLists.txt index c7b7cf9b6..f87dff186 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 2.6) # Set the version number for the library set (GTSAM_VERSION_MAJOR 2) -set (GTSAM_VERSION_MINOR 0) +set (GTSAM_VERSION_MINOR 1) set (GTSAM_VERSION_PATCH 0) # Set the default install path to home @@ -41,6 +41,7 @@ endif() option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON) +option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" OFF) if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) endif() @@ -154,6 +155,19 @@ endif(GTSAM_BUILD_UNSTABLE) GtsamMakeConfigFile(GTSAM) export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) +# add a target to generate API documentation with Doxygen +if (GTSAM_BUILD_DOCS) + find_package(Doxygen) + if(DOXYGEN_FOUND) + configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY) + add_custom_target(doc + ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/doc + COMMENT "Generating API documentation with Doxygen" VERBATIM + ) + endif(DOXYGEN_FOUND) +endif (GTSAM_BUILD_DOCS) + # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology") @@ -177,6 +191,7 @@ message(STATUS "Build flags ") print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ") print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") +print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ") if(NOT MSVC) print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") diff --git a/doc/Doxyfile b/doc/Doxyfile.in similarity index 98% rename from doc/Doxyfile rename to doc/Doxyfile.in index 16940c2bd..1c767e584 100644 --- a/doc/Doxyfile +++ b/doc/Doxyfile.in @@ -32,7 +32,7 @@ PROJECT_NAME = gtsam # This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = 2.0.0 +PROJECT_NUMBER = @GTSAM_VERSION_MAJOR@.@GTSAM_VERSION_MINOR@.@GTSAM_VERSION_PATCH@ # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer @@ -638,19 +638,19 @@ WARN_LOGFILE = # directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = ../gtsam/base \ - ../gtsam/geometry \ - ../gtsam/inference \ - ../gtsam/discrete \ - ../gtsam/linear \ - ../gtsam/nonlinear \ - ../gtsam -# ../gtsam/slam \ -# ../gtsam_unstable/slam \ -# ../gtsam_unstable/base \ -# ../gtsam_unstable/geometry \ -# ../gtsam_unstable/dynamics \ -# ../gtsam_unstable +INPUT = @PROJECT_SOURCE_DIR@/gtsam/base \ + @PROJECT_SOURCE_DIR@/gtsam/geometry \ + @PROJECT_SOURCE_DIR@/gtsam/inference \ + @PROJECT_SOURCE_DIR@/gtsam/discrete \ + @PROJECT_SOURCE_DIR@/gtsam/linear \ + @PROJECT_SOURCE_DIR@/gtsam/nonlinear \ + @PROJECT_SOURCE_DIR@/gtsam +# @PROJECT_SOURCE_DIR@/gtsam/slam \ +# @PROJECT_SOURCE_DIR@/gtsam_unstable/slam \ +# @PROJECT_SOURCE_DIR@/gtsam_unstable/base \ +# @PROJECT_SOURCE_DIR@/gtsam_unstable/geometry \ +# @PROJECT_SOURCE_DIR@/gtsam_unstable/dynamics \ +# @PROJECT_SOURCE_DIR@/gtsam_unstable # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is From 08ea3efb06dbd703088a81e232d2d59e1bbe3ca2 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 14 Jul 2012 21:39:59 +0000 Subject: [PATCH 623/914] Improved configurability of doxygen output - can choose output via cmake varialbles --- CMakeLists.txt | 41 +++++++++++++++++++++++++++++++++-------- doc/Doxyfile.in | 4 ++-- 2 files changed, 35 insertions(+), 10 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index f87dff186..d11fc8e73 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,12 +36,13 @@ else() set(GTSAM_UNSTABLE_AVAILABLE 0) endif() +# Check for doxygen availability +find_package(Doxygen) # Configurable Options option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON) -option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" OFF) if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) endif() @@ -155,18 +156,40 @@ endif(GTSAM_BUILD_UNSTABLE) GtsamMakeConfigFile(GTSAM) export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) -# add a target to generate API documentation with Doxygen -if (GTSAM_BUILD_DOCS) - find_package(Doxygen) - if(DOXYGEN_FOUND) +# Doxygen documentation configuration +if (DOXYGEN_FOUND) + option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" OFF) + + # configure doxygen + option(GTSAM_BUILD_DOC_HTML "Enable/Disable doxygen HTML output" ON) + option(GTSAM_BUILD_DOC_LATEX "Enable/Disable doxygen LaTeX output" OFF) + + # add a target to generate API documentation with Doxygen + if (GTSAM_BUILD_DOCS) + # Convert configuration to YES/NO variables + if (GTSAM_BUILD_DOC_HTML) + set(GTSAM_BUILD_DOC_HTML_YN "YES") + else() + set(GTSAM_BUILD_DOC_HTML_YN "NO") + endif() + + if (GTSAM_BUILD_DOC_LATEX) + set(GTSAM_BUILD_DOC_LATEX_YN "YES") + else() + set(GTSAM_BUILD_DOC_LATEX_YN "NO") + endif() + + # Generate Doxyfile configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY) + + # Add target to actually build documentation as configured add_custom_target(doc ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/doc COMMENT "Generating API documentation with Doxygen" VERBATIM ) - endif(DOXYGEN_FOUND) -endif (GTSAM_BUILD_DOCS) + endif() +endif () # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") @@ -191,7 +214,9 @@ message(STATUS "Build flags ") print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ") print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") -print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ") +if (DOXYGEN_FOUND) + print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ") +endif() if(NOT MSVC) print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ") print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ") diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in index 1c767e584..b6030a567 100644 --- a/doc/Doxyfile.in +++ b/doc/Doxyfile.in @@ -880,7 +880,7 @@ IGNORE_PREFIX = # If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. -GENERATE_HTML = YES +GENERATE_HTML = @GTSAM_BUILD_DOC_HTML_YN@ # The HTML_OUTPUT tag is used to specify where the HTML docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be @@ -1234,7 +1234,7 @@ SERVER_BASED_SEARCH = NO # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. -GENERATE_LATEX = NO +GENERATE_LATEX = @GTSAM_BUILD_DOC_LATEX_YN@ # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. # If a relative path is entered the value of OUTPUT_DIRECTORY will be From 8580d3dec503b99a9b604772221f694977eae43d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 15 Jul 2012 19:57:31 +0000 Subject: [PATCH 624/914] Added clean_doc target to remove generated doxygen documentation --- .cproject | 8 ++++++++ CMakeLists.txt | 9 +++++++++ 2 files changed, 17 insertions(+) diff --git a/.cproject b/.cproject index c18c63f56..91d9c7689 100644 --- a/.cproject +++ b/.cproject @@ -2216,6 +2216,14 @@ true true + + make + -j5 + doc_clean + true + true + true + make -j2 diff --git a/CMakeLists.txt b/CMakeLists.txt index d11fc8e73..2a1e9cacb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -188,6 +188,15 @@ if (DOXYGEN_FOUND) WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/doc COMMENT "Generating API documentation with Doxygen" VERBATIM ) + + # Clean target + add_custom_target(doc_clean + COMMAND + cmake -E remove_directory ${CMAKE_CURRENT_SOURCE_DIR}/doc/latex + COMMAND + cmake -E remove_directory ${CMAKE_CURRENT_SOURCE_DIR}/doc/html + COMMENT "Removing Doxygen documentation" + ) endif() endif () From ebcdf0f19f43f39d15506cc4f16c7265a4e84302 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 16 Jul 2012 14:56:10 +0000 Subject: [PATCH 625/914] Removed unnecessary makedoc.sh script - documentation can now be built using "make doc" --- makedoc.sh | 13 ------------- 1 file changed, 13 deletions(-) delete mode 100755 makedoc.sh diff --git a/makedoc.sh b/makedoc.sh deleted file mode 100755 index 8de348fa5..000000000 --- a/makedoc.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/bin/sh - -# Add to PATH the default install path for doxygen on Mac OS X - -PATH=$PATH:/Applications/Doxygen.app/Contents/Resources - - -# Run doxygen from the gtsam directory even if this script is run from another -# directory, so that the output 'doc' goes in the gtsam directory. - -GTSAM_DIR=$(dirname "$0") -cd $GTSAM_DIR/doc -doxygen \ No newline at end of file From 4113a09b3ad81acec3dbafef8f1239756301556a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 16 Jul 2012 14:56:11 +0000 Subject: [PATCH 626/914] Enabled building doxygen docs by default (only when running make doc and when doxygen present, however) --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2a1e9cacb..2a89fb70f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -158,7 +158,7 @@ export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) # Doxygen documentation configuration if (DOXYGEN_FOUND) - option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" OFF) + option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" ON) # configure doxygen option(GTSAM_BUILD_DOC_HTML "Enable/Disable doxygen HTML output" ON) From abc29ea2ca2c9f407bd1bc4d36c323775fbe6abc Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Mon, 16 Jul 2012 15:24:27 +0000 Subject: [PATCH 627/914] capitalize static functions Level and Lookat in CalibratedCamera and PinholeCamera for matlab wrapper --- examples/VisualSLAMData.h | 2 +- gtsam.h | 8 ++++---- gtsam/geometry/CalibratedCamera.cpp | 2 +- gtsam/geometry/CalibratedCamera.h | 2 +- gtsam/geometry/PinholeCamera.h | 8 ++++---- gtsam/geometry/tests/testCalibratedCamera.cpp | 4 ++-- gtsam/geometry/tests/testSimpleCamera.cpp | 6 +++--- 7 files changed, 16 insertions(+), 16 deletions(-) diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h index 5416b3d43..28fa3040c 100644 --- a/examples/VisualSLAMData.h +++ b/examples/VisualSLAMData.h @@ -67,7 +67,7 @@ struct VisualSLAMExampleData { double r = 30.0; for (int i=0; i Date: Tue, 17 Jul 2012 15:51:32 +0000 Subject: [PATCH 628/914] Wrapped LieMatrix --- gtsam.h | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/gtsam.h b/gtsam.h index ea71e4228..0068b0c3f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -126,6 +126,34 @@ virtual class LieVector : gtsam::Value { static Vector Logmap(const gtsam::LieVector& p); }; +virtual class LieMatrix : gtsam::Value { + // Standard constructors + LieMatrix(); + LieMatrix(Matrix v); + + // Standard interface + Vector matrix() const; + + // Testable + void print(string s) const; + bool equals(const gtsam::LieMatrix& expected, double tol) const; + + // Group + static gtsam::LieMatrix identity(); + gtsam::LieMatrix inverse() const; + gtsam::LieMatrix compose(const gtsam::LieMatrix& p) const; + gtsam::LieMatrix between(const gtsam::LieMatrix& l2) const; + + // Manifold + size_t dim() const; + gtsam::LieMatrix retract(Vector v) const; + Vector localCoordinates(const gtsam::LieMatrix & t2) const; + + // Lie group + static gtsam::LieMatrix Expmap(Vector v); + static Vector Logmap(const gtsam::LieMatrix& p); +}; + //************************************************************************* // geometry //************************************************************************* From e9f710a1ac198452d2b0a70bea5b27b970d8196a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 17 Jul 2012 15:51:35 +0000 Subject: [PATCH 629/914] More flexible handling of includes in wrap - can now use multiple includes both at the namespace and class levels, and namespace includes do not override the default class-name includes of their enclosed classes. --- gtsam.h | 25 +++++++++++++++++++------ gtsam_unstable/gtsam_unstable.h | 3 ++- wrap/Module.cpp | 20 ++++++++++++-------- wrap/Module.h | 1 + 4 files changed, 34 insertions(+), 15 deletions(-) diff --git a/gtsam.h b/gtsam.h index 0068b0c3f..05a41afc3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -771,11 +771,12 @@ class VariableIndex { // linear //************************************************************************* -#include namespace noiseModel { +#include virtual class Base { }; +#include virtual class Gaussian : gtsam::noiseModel::Base { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); @@ -783,6 +784,7 @@ virtual class Gaussian : gtsam::noiseModel::Base { void print(string s) const; }; +#include virtual class Diagonal : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); static gtsam::noiseModel::Diagonal* Variances(Vector variances); @@ -791,6 +793,7 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian { void print(string s) const; }; +#include 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); @@ -798,6 +801,7 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal { void print(string s) const; }; +#include virtual class Unit : gtsam::noiseModel::Isotropic { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; @@ -1216,9 +1220,9 @@ typedef gtsam::GenericProjectionFactor namespace pose2SLAM { +#include class Values { Values(); Values(const pose2SLAM::Values& values); @@ -1234,6 +1238,7 @@ class Values { Matrix poses() const; }; +#include class Graph { Graph(); Graph(const gtsam::NonlinearFactorGraph& graph); @@ -1270,9 +1275,9 @@ class Graph { // Pose3SLAM //************************************************************************* -#include namespace pose3SLAM { +#include class Values { Values(); Values(const pose3SLAM::Values& values); @@ -1288,6 +1293,7 @@ class Values { Matrix translations() const; }; +#include class Graph { Graph(); Graph(const gtsam::NonlinearFactorGraph& graph); @@ -1324,9 +1330,9 @@ class Graph { // planarSLAM //************************************************************************* -#include namespace planarSLAM { +#include class Values { Values(); Values(const planarSLAM::Values& values); @@ -1358,6 +1364,7 @@ class Values { Matrix points() const; }; +#include class Graph { Graph(); Graph(const gtsam::NonlinearFactorGraph& graph); @@ -1396,6 +1403,7 @@ class Graph { void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::noiseModel::Base* noiseModel); }; +#include class Odometry { Odometry(size_t key1, size_t key2, const gtsam::Pose2& measured, const gtsam::noiseModel::Base* model); @@ -1410,9 +1418,9 @@ class Odometry { // VisualSLAM //************************************************************************* -#include namespace visualSLAM { +#include class Values { Values(); Values(const visualSLAM::Values& values); @@ -1446,6 +1454,7 @@ class Values { Matrix points() const; }; +#include class Graph { Graph(); Graph(const gtsam::NonlinearFactorGraph& graph); @@ -1494,6 +1503,7 @@ class Graph { }; +#include class ISAM { ISAM(); ISAM(int reorderInterval); @@ -1516,6 +1526,7 @@ class ISAM { gtsam::NonlinearFactorGraph getFactorsUnsafe() const; }; +#include class LevenbergMarquardtOptimizer { double lambda() const; void iterate(); @@ -1532,9 +1543,9 @@ class LevenbergMarquardtOptimizer { // sparse BA //************************************************************************ -#include namespace sparseBA { +#include class Values { Values(); Values(const sparseBA::Values& values); @@ -1561,6 +1572,7 @@ class Values { Matrix points() const; }; +#include class Graph { Graph(); Graph(const gtsam::NonlinearFactorGraph& graph); @@ -1596,6 +1608,7 @@ class Graph { void addSimpleCameraMeasurement(const gtsam::Point2 &z, gtsam::noiseModel::Base* model, size_t cameraKey, size_t pointKey); }; +#include class LevenbergMarquardtOptimizer { double lambda() const; void iterate(); diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 3d9fd7aac..eebb53fbf 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -171,9 +171,9 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor { }///\namespace gtsam -#include namespace imu { +#include class Values { Values(); void print(string s) const; @@ -182,6 +182,7 @@ class Values { gtsam::PoseRTV pose(size_t key) const; }; +#include class Graph { Graph(); void print(string s) const; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 32acb2853..e35794440 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -84,7 +84,6 @@ Module::Module(const string& interfacePath, Class cls0(enable_verbose),cls(enable_verbose); ForwardDeclaration fwDec0, fwDec; vector namespaces, /// current namespace tag - namespace_includes, /// current set of includes namespaces_return, /// namespace for current return type using_namespace_current; /// All namespaces from "using" declarations string templateArgument; @@ -256,10 +255,11 @@ Module::Module(const string& interfacePath, Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); Rule class_p = - (!*include_p + (str_p("")[assign_a(cls,cls0)]) + >> (*(include_p[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)]) >> !(templateInstantiations_p | templateList_p) >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) - >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] + >> str_p("class") >> className_p[assign_a(cls.name)] >> ((':' >> classParent_p >> '{') | '{') >> *(functions_p | comments_p) @@ -268,7 +268,6 @@ Module::Module(const string& interfacePath, [assign_a(cls.constructor, constructor)] [assign_a(cls.namespaces, namespaces)] [assign_a(cls.using_namespaces, using_namespace_current)] - [append_a(cls.includes, namespace_includes)] [assign_a(deconstructor.name,cls.name)] [assign_a(cls.deconstructor, deconstructor)] [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))] @@ -279,15 +278,14 @@ Module::Module(const string& interfacePath, [clear_a(templateInstantiations)]; Rule namespace_def_p = - (!*include_p - >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] + (*(include_p[push_back_a(includes, include_path)][assign_a(include_path, null_str)]) + >> str_p("namespace") >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') >> *(class_p | templateSingleInstantiation_p | namespace_def_p | comments_p) >> str_p("}///\\namespace") // end namespace, avoid confusion with classes >> !namespace_name_p) - [pop_a(namespaces)] - [pop_a(namespace_includes)]; + [pop_a(namespaces)]; Rule using_namespace_p = str_p("using") >> str_p("namespace") @@ -390,6 +388,12 @@ void Module::generateIncludes(FileWriter& file) const { all_includes.push_back(cls.name + ".h"); } + // Add namespace includes + BOOST_FOREACH(const string& s, includes) { + if(!s.empty()) + all_includes.push_back(s); + } + // sort and remove duplicates sort(all_includes.begin(), all_includes.end()); vector::const_iterator last_include = unique(all_includes.begin(), all_includes.end()); diff --git a/wrap/Module.h b/wrap/Module.h index 403f2f32d..c23b4e457 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -39,6 +39,7 @@ struct Module { bool verbose; ///< verbose flag // std::vector using_namespaces; ///< all default namespaces std::vector forward_declarations; + std::vector includes; ///< header include overrides /// constructor that parses interface file Module(const std::string& interfacePath, From 10c5ebae73cb5c84185167b4f31160e87f3bfbbf Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 17 Jul 2012 17:38:29 +0000 Subject: [PATCH 630/914] Always write and read wrap files in binary mode to prevent writing CRLF line endings on windows (messes up expected unit test files) --- wrap/FileWriter.cpp | 2 +- wrap/utilities.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wrap/FileWriter.cpp b/wrap/FileWriter.cpp index 38abf2488..03339a7f0 100644 --- a/wrap/FileWriter.cpp +++ b/wrap/FileWriter.cpp @@ -35,7 +35,7 @@ void FileWriter::emit(bool add_header, bool force_overwrite) const { // Only write a file if it is new, an update, or overwrite is forced string new_contents = oss.str(); if (force_overwrite || !file_exists || existing_contents != new_contents) { - ofstream ofs(filename_.c_str()); + ofstream ofs(filename_.c_str(), ios::binary); // Binary to use LF line endings instead of CRLF if (!ofs) throw CantOpenFile(filename_); // header diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 9c5d93c76..6eb47c55d 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -29,7 +29,7 @@ using namespace std; /* ************************************************************************* */ string file_contents(const string& filename, bool skipheader) { - ifstream ifs(filename.c_str()); + ifstream ifs(filename.c_str(), ios::binary); // Do not do LF/CRLF translation - we always write in binary mode too if(!ifs) throw CantOpenFile(filename); // read file into stringstream From 4bcc974cae9153ca4e777b1931840acc2235016e Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 17 Jul 2012 17:38:31 +0000 Subject: [PATCH 631/914] Updated unit tests after changing namespace handling --- .../testNamespaces_wrapper.cpp | 3 +++ wrap/tests/testWrap.cpp | 19 +++++++++++++------ 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index bdb0632d0..fe55075af 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -3,6 +3,9 @@ #include #include +#include +#include +#include #include #include #include diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index b8e9effc1..41af0af7d 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -155,12 +155,19 @@ TEST( wrap, parse_namespaces ) { Module module(header_path.c_str(), "testNamespaces",enable_verbose); EXPECT_LONGS_EQUAL(6, module.classes.size()); + { + strvec module_exp_includes; + module_exp_includes += "path/to/ns1.h"; + module_exp_includes += "path/to/ns2.h"; + module_exp_includes += "path/to/ns3.h"; + } + { Class cls = module.classes.at(0); EXPECT(assert_equal("ClassA", cls.name)); strvec exp_namespaces; exp_namespaces += "ns1"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns1.h", ""; + strvec exp_includes; exp_includes; EXPECT(assert_equal(exp_includes, cls.includes)); } @@ -169,7 +176,7 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassB", cls.name)); strvec exp_namespaces; exp_namespaces += "ns1"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns1.h", "path/to/ns1/ClassB.h"; + strvec exp_includes; exp_includes += "path/to/ns1/ClassB.h"; EXPECT(assert_equal(exp_includes, cls.includes)); } @@ -178,7 +185,7 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassA", cls.name)); strvec exp_namespaces; exp_namespaces += "ns2"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns2.h", "path/to/ns2/ClassA.h"; + strvec exp_includes; exp_includes += "path/to/ns2/ClassA.h"; EXPECT(assert_equal(exp_includes, cls.includes)); } @@ -187,7 +194,7 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassB", cls.name)); strvec exp_namespaces; exp_namespaces += "ns2", "ns3"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns2.h", "path/to/ns3.h", ""; + strvec exp_includes; EXPECT(assert_equal(exp_includes, cls.includes)); } @@ -196,7 +203,7 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassC", cls.name)); strvec exp_namespaces; exp_namespaces += "ns2"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns2.h", ""; + strvec exp_includes; EXPECT(assert_equal(exp_includes, cls.includes)); } @@ -205,7 +212,7 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassD", cls.name)); strvec exp_namespaces; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += ""; + strvec exp_includes; EXPECT(assert_equal(exp_includes, cls.includes)); } } From 4b772b43cf27af0ffc11836506bd4189cfa4fc79 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 17 Jul 2012 18:30:02 +0000 Subject: [PATCH 632/914] Simplified include handling in wrap: no more default includes, includes are not associated with a class or a namespace. --- gtsam.h | 26 ++++++++------- gtsam/CMakeLists.txt | 3 +- gtsam_unstable/CMakeLists.txt | 2 +- gtsam_unstable/gtsam_unstable.h | 6 +--- wrap/Class.cpp | 6 ---- wrap/Class.h | 3 +- wrap/Module.cpp | 33 ++++--------------- wrap/Module.h | 2 +- wrap/tests/expected/geometry_wrapper.cpp | 2 -- .../testNamespaces_wrapper.cpp | 4 --- wrap/tests/geometry.h | 2 ++ wrap/tests/testWrap.cpp | 25 +++++--------- 12 files changed, 37 insertions(+), 77 deletions(-) diff --git a/gtsam.h b/gtsam.h index 05a41afc3..f32b12131 100644 --- a/gtsam.h +++ b/gtsam.h @@ -46,11 +46,9 @@ * - To use a namespace (e.g., generate a "using namespace x" line in cpp files), add "using namespace x;" * - This declaration applies to all classes *after* the declaration, regardless of brackets * Includes in C++ wrappers - * - By default, the include will be <[classname].h> - * - All namespaces must have angle brackets: - * - To override, add a full include statement just before the class statement - * - An override include can be added for a namespace by placing it just before the namespace statement - * - Both classes and namespace accept exactly one namespace + * - All includes will be collected and added in a single file + * - All namespaces must have angle brackets: + * - No default includes will be added * 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 @@ -98,6 +96,7 @@ virtual class Value { size_t dim() const; }; +#include virtual class LieVector : gtsam::Value { // Standard constructors LieVector(); @@ -126,6 +125,7 @@ virtual class LieVector : gtsam::Value { static Vector Logmap(const gtsam::LieVector& p); }; +#include virtual class LieMatrix : gtsam::Value { // Standard constructors LieMatrix(); @@ -472,6 +472,7 @@ virtual class Cal3_S2 : gtsam::Value { Matrix matrix_inverse() const; }; +#include virtual class Cal3DS2 : gtsam::Value { // Standard Constructors Cal3DS2(); @@ -715,6 +716,7 @@ class SymbolicFactorGraph { //FastSet keys() const; }; +#include class SymbolicSequentialSolver { // Standard Constructors and Named Constructors SymbolicSequentialSolver(const gtsam::SymbolicFactorGraph& factorGraph); @@ -728,6 +730,7 @@ class SymbolicSequentialSolver { gtsam::SymbolicBayesNet* eliminate() const; }; +#include class SymbolicMultifrontalSolver { // Standard Constructors and Named Constructors SymbolicMultifrontalSolver(const gtsam::SymbolicFactorGraph& factorGraph); @@ -776,7 +779,6 @@ namespace noiseModel { virtual class Base { }; -#include virtual class Gaussian : gtsam::noiseModel::Base { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); @@ -784,7 +786,6 @@ virtual class Gaussian : gtsam::noiseModel::Base { void print(string s) const; }; -#include virtual class Diagonal : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); static gtsam::noiseModel::Diagonal* Variances(Vector variances); @@ -793,7 +794,6 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian { void print(string s) const; }; -#include 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); @@ -801,14 +801,13 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal { void print(string s) const; }; -#include virtual class Unit : gtsam::noiseModel::Isotropic { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; }; }///\namespace noiseModel - +#include class Sampler { Sampler(gtsam::noiseModel::Diagonal* model, int seed); Sampler(Vector sigmas, int seed); @@ -948,6 +947,7 @@ class GaussianISAM { gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const; }; +#include class GaussianSequentialSolver { GaussianSequentialSolver(const gtsam::GaussianFactorGraph& graph, bool useQR); @@ -957,6 +957,7 @@ class GaussianSequentialSolver { Matrix marginalCovariance(size_t j) const; }; +#include class KalmanFilter { KalmanFilter(size_t n); // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); @@ -979,6 +980,7 @@ class KalmanFilter { // nonlinear //************************************************************************* +#include class Symbol { Symbol(char c, size_t j); Symbol(size_t k); @@ -988,6 +990,7 @@ class Symbol { char chr() const; }; +#include class Ordering { // Standard Constructors and Named Constructors Ordering(); @@ -1007,7 +1010,6 @@ class Ordering { gtsam::InvertedOrdering invert() const; }; -#include class InvertedOrdering { InvertedOrdering(); @@ -1203,7 +1205,7 @@ virtual class BearingFactor : gtsam::NonlinearFactor { typedef gtsam::BearingFactor BearingFactor2D; -#include +#include template virtual class GenericProjectionFactor : gtsam::NonlinearFactor { GenericProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel, diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 66870a09c..39ae67507 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -119,14 +119,13 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Set up codegen include(GtsamMatlabWrap) - # TODO: generate these includes programmatically # Choose include flags depending on build process set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR}) set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) # Generate, build and install toolbox - set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam -I${MEX_INCLUDE_ROOT}/gtsam/base -I${MEX_INCLUDE_ROOT}/gtsam/geometry -I${MEX_INCLUDE_ROOT}/gtsam/linear -I${MEX_INCLUDE_ROOT}/gtsam/discrete -I${MEX_INCLUDE_ROOT}/gtsam/inference -I${MEX_INCLUDE_ROOT}/gtsam/nonlinear -I${MEX_INCLUDE_ROOT}/gtsam/slam) + set(mexFlags ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT}) # Macro to handle details of setting up targets # FIXME: issue with dependency between wrap_gtsam and wrap_gtsam_build, only shows up on CMake 2.8.3 diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 09fb124a9..64311cdca 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -89,7 +89,7 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX) set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) # Generate, build and install toolbox - set(mexFlags -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${MEX_INCLUDE_ROOT}/gtsam_unstable -I${MEX_INCLUDE_ROOT}/gtsam_unstable/dynamics -I${MEX_INCLUDE_ROOT}/gtsam_unstable/discrete) + set(mexFlags -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT}) # Macro to handle details of setting up targets wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam) diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index eebb53fbf..c77c71e22 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -139,13 +139,12 @@ virtual class FullIMUFactor : gtsam::NonlinearFactor { }; -#include +#include virtual class DHeightPrior : gtsam::NonlinearFactor { DHeightPrior(size_t key, double height, const gtsam::noiseModel::Base* model); }; -#include virtual class DRollPrior : gtsam::NonlinearFactor { /** allows for explicit roll parameterization - uses canonical coordinate */ DRollPrior(size_t key, double wx, const gtsam::noiseModel::Base* model); @@ -154,13 +153,11 @@ virtual class DRollPrior : gtsam::NonlinearFactor { }; -#include virtual class VelocityPrior : gtsam::NonlinearFactor { VelocityPrior(size_t key, Vector vel, const gtsam::noiseModel::Base* model); }; -#include virtual class DGroundConstraint : gtsam::NonlinearFactor { // Primary constructor allows for variable height of the "floor" DGroundConstraint(size_t key, double height, const gtsam::noiseModel::Base* model); @@ -182,7 +179,6 @@ class Values { gtsam::PoseRTV pose(size_t key) const; }; -#include class Graph { Graph(); void print(string s) const; diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 2cb36386a..5f7d7aa6e 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -268,12 +268,6 @@ Class expandClassTemplate(const Class& cls, const string& templateArg, const vec inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName); inst.namespaces = cls.namespaces; inst.using_namespaces = cls.using_namespaces; - bool allIncludesEmpty = true; - BOOST_FOREACH(const string& inc, cls.includes) { if(!inc.empty()) { allIncludesEmpty = false; break; } } - if(allIncludesEmpty) - inst.includes.push_back(cls.name + ".h"); - else - inst.includes = cls.includes; inst.constructor = cls.constructor; inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName); inst.constructor.name = inst.name; diff --git a/wrap/Class.h b/wrap/Class.h index beee2c29f..9a6ca12c7 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -40,7 +40,7 @@ struct Class { // Then the instance variables are set directly by the Module constructor std::string name; ///< Class name - std::vector templateArgs; ///< Template arguments + std::vector templateArgs; ///< Template arguments std::string typedefName; ///< The name to typedef *from*, if this class is actually a typedef, i.e. typedef [typedefName] [name] bool isVirtual; ///< Whether the class is part of a virtual inheritance chain std::vector qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack @@ -48,7 +48,6 @@ struct Class { StaticMethods static_methods; ///< Static methods std::vector namespaces; ///< Stack of namespaces std::vector using_namespaces;///< default namespaces - std::vector includes; ///< header include overrides Constructor constructor; ///< Class constructors Deconstructor deconstructor; ///< Deconstructor to deallocate C++ object bool verbose_; ///< verbose flag diff --git a/wrap/Module.cpp b/wrap/Module.cpp index e35794440..5776edc0e 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -252,12 +252,9 @@ Module::Module(const string& interfacePath, Rule functions_p = constructor_p | method_p | static_method_p; - Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); - Rule class_p = (str_p("")[assign_a(cls,cls0)]) - >> (*(include_p[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)]) - >> !(templateInstantiations_p | templateList_p) + >> (!(templateInstantiations_p | templateList_p) >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) >> str_p("class") >> className_p[assign_a(cls.name)] @@ -277,12 +274,13 @@ Module::Module(const string& interfacePath, [clear_a(templateArgument)] [clear_a(templateInstantiations)]; + Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>'); + Rule namespace_def_p = - (*(include_p[push_back_a(includes, include_path)][assign_a(include_path, null_str)]) - >> str_p("namespace") + (str_p("namespace") >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') - >> *(class_p | templateSingleInstantiation_p | namespace_def_p | comments_p) + >> *(include_p | class_p | templateSingleInstantiation_p | namespace_def_p | comments_p) >> str_p("}///\\namespace") // end namespace, avoid confusion with classes >> !namespace_name_p) [pop_a(namespaces)]; @@ -299,7 +297,7 @@ Module::Module(const string& interfacePath, [push_back_a(forward_declarations, fwDec)] [assign_a(fwDec, fwDec0)]; - Rule module_content_p = comments_p | using_namespace_p | class_p | templateSingleInstantiation_p | forward_declaration_p | namespace_def_p ; + Rule module_content_p = comments_p | using_namespace_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | namespace_def_p ; Rule module_p = *module_content_p >> !end_p; @@ -375,24 +373,7 @@ void verifyReturnTypes(const vector& validtypes, const map& vt void Module::generateIncludes(FileWriter& file) const { // collect includes - vector all_includes; - BOOST_FOREACH(const Class& cls, classes) { - bool added_include = false; - BOOST_FOREACH(const string& s, cls.includes) { - if (!s.empty()) { - all_includes.push_back(s); - added_include = true; - } - } - if (!added_include) // add default include - all_includes.push_back(cls.name + ".h"); - } - - // Add namespace includes - BOOST_FOREACH(const string& s, includes) { - if(!s.empty()) - all_includes.push_back(s); - } + vector all_includes(includes); // sort and remove duplicates sort(all_includes.begin(), all_includes.end()); diff --git a/wrap/Module.h b/wrap/Module.h index c23b4e457..ce1a87969 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -39,7 +39,7 @@ struct Module { bool verbose; ///< verbose flag // std::vector using_namespaces; ///< all default namespaces std::vector forward_declarations; - std::vector includes; ///< header include overrides + std::vector includes; ///< Include statements /// constructor that parses interface file Module(const std::string& interfacePath, diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index ade907701..99f261f4f 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -3,8 +3,6 @@ #include #include -#include -#include #include diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index fe55075af..679416db5 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -3,10 +3,6 @@ #include #include -#include -#include -#include -#include #include #include #include diff --git a/wrap/tests/geometry.h b/wrap/tests/geometry.h index a287c44e6..5dfe07b8d 100644 --- a/wrap/tests/geometry.h +++ b/wrap/tests/geometry.h @@ -35,7 +35,9 @@ class Point3 { * A multi-line comment! */ +// An include! Can go anywhere outside of a class, in any order #include + class Test { /* a comment! */ diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 41af0af7d..4aa5b6f58 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -71,7 +71,7 @@ TEST_UNSAFE( wrap, check_exception ) { } /* ************************************************************************* */ -TEST( wrap, parse ) { +TEST( wrap, parse_geometry ) { string markup_header_path = topdir + "/wrap/tests"; Module module(markup_header_path.c_str(), "geometry",enable_verbose); EXPECT_LONGS_EQUAL(3, module.classes.size()); @@ -84,6 +84,10 @@ TEST( wrap, parse ) { EXPECT(assert_equal("VectorNotEigen", module.forward_declarations[0].name)); EXPECT(assert_equal("ns::OtherClass", module.forward_declarations[1].name)); + // includes + strvec exp_includes; exp_includes += "folder/path/to/Test.h"; + EXPECT(assert_equal(exp_includes, module.includes)); + // check first class, Point2 { Class cls = module.classes.at(0); @@ -136,8 +140,6 @@ TEST( wrap, parse ) { EXPECT_LONGS_EQUAL( 0, testCls.static_methods.size()); EXPECT_LONGS_EQUAL( 0, testCls.namespaces.size()); EXPECT(assert_equal(exp_using2, testCls.using_namespaces)); - strvec exp_includes; exp_includes += "folder/path/to/Test.h"; - EXPECT(assert_equal(exp_includes, testCls.includes)); // function to parse: pair return_pair (Vector v, Matrix A) const; CHECK(testCls.methods.find("return_pair") != testCls.methods.end()); @@ -158,8 +160,11 @@ TEST( wrap, parse_namespaces ) { { strvec module_exp_includes; module_exp_includes += "path/to/ns1.h"; + module_exp_includes += "path/to/ns1/ClassB.h"; module_exp_includes += "path/to/ns2.h"; + module_exp_includes += "path/to/ns2/ClassA.h"; module_exp_includes += "path/to/ns3.h"; + EXPECT(assert_equal(module_exp_includes, module.includes)); } { @@ -167,8 +172,6 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassA", cls.name)); strvec exp_namespaces; exp_namespaces += "ns1"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes; - EXPECT(assert_equal(exp_includes, cls.includes)); } { @@ -176,8 +179,6 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassB", cls.name)); strvec exp_namespaces; exp_namespaces += "ns1"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns1/ClassB.h"; - EXPECT(assert_equal(exp_includes, cls.includes)); } { @@ -185,8 +186,6 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassA", cls.name)); strvec exp_namespaces; exp_namespaces += "ns2"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; exp_includes += "path/to/ns2/ClassA.h"; - EXPECT(assert_equal(exp_includes, cls.includes)); } { @@ -194,8 +193,6 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassB", cls.name)); strvec exp_namespaces; exp_namespaces += "ns2", "ns3"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; - EXPECT(assert_equal(exp_includes, cls.includes)); } { @@ -203,8 +200,6 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassC", cls.name)); strvec exp_namespaces; exp_namespaces += "ns2"; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; - EXPECT(assert_equal(exp_includes, cls.includes)); } { @@ -212,8 +207,6 @@ TEST( wrap, parse_namespaces ) { EXPECT(assert_equal("ClassD", cls.name)); strvec exp_namespaces; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); - strvec exp_includes; - EXPECT(assert_equal(exp_includes, cls.includes)); } } @@ -243,7 +236,7 @@ TEST( wrap, matlab_code_namespaces ) { } /* ************************************************************************* */ -TEST( wrap, matlab_code ) { +TEST( wrap, matlab_code_geometry ) { // Parse into class object string header_path = topdir + "/wrap/tests"; Module module(header_path,"geometry",enable_verbose); From b5e10eadb8038676fef4a9632273eba435426fe7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 17 Jul 2012 19:49:36 +0000 Subject: [PATCH 633/914] Fixed bug where calling 'clear all' only once caused a problem where the wrap module recreated the RTTI table but MATLAB then deletes it, causing an error about the RTTI table being missing later on. --- wrap/Module.cpp | 77 ++++++++++++++++++++++++++++++------------------- 1 file changed, 47 insertions(+), 30 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 5776edc0e..8ad476cd3 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -14,7 +14,7 @@ * @author Frank Dellaert * @author Alex Cunningham * @author Andrew Melim - * @author Richard Roberts + * @author Richard Roberts **/ #include "Module.h" @@ -463,12 +463,9 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; file.oss << "{\n"; - file.oss << " mstream mout;\n"; // Send stdout to MATLAB console, see matlab.h + file.oss << " mstream mout;\n"; // Send stdout to MATLAB console file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; - file.oss << " if(!_RTTIRegister_" << name << "_done) {\n"; - file.oss << " _" << name << "_RTTIRegister();\n"; - file.oss << " _RTTIRegister_" << name << "_done = true;\n"; - file.oss << " }\n"; + file.oss << " _" << name << "_RTTIRegister();\n\n"; file.oss << " int id = unwrap(in[0]);\n\n"; file.oss << " switch(id) {\n"; for(size_t id = 0; id < functionNames.size(); ++id) { @@ -478,7 +475,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } file.oss << " }\n"; file.oss << "\n"; - file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h + file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout file.oss << "}\n"; } @@ -538,50 +535,70 @@ void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::st } // generate mexAtExit cleanup function - wrapperFile.oss << "\nvoid _deleteAllObjects()\n"; - wrapperFile.oss << "{\n"; + wrapperFile.oss << + "\nvoid _deleteAllObjects()\n" + "{\n" + " mstream mout;\n" // Send stdout to MATLAB console + " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n" + " bool anyDeleted = false;\n"; BOOST_FOREACH(const Class& cls, classes) { const string matlabName = cls.qualifiedName(); const string cppName = cls.qualifiedName("::"); const string collectorType = "Collector_" + matlabName; const string collectorName = "collector_" + matlabName; - wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; - wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; - wrapperFile.oss << " delete *iter;\n"; - wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; - wrapperFile.oss << " }\n"; + wrapperFile.oss << + " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" + " iter != " << collectorName << ".end(); ) {\n" + " delete *iter;\n" + " " << collectorName << ".erase(iter++);\n" + " anyDeleted = true;\n" + " }\n"; } - wrapperFile.oss << "}\n\n"; + wrapperFile.oss << + " if(anyDeleted)\n" + " cout <<\n" + " \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n" + " \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n" + " \"module, so that your recompiled module is used instead of the old one.\" << endl;\n" + " std::cout.rdbuf(outbuf);\n" // Restore cout + "}\n\n"; } /* ************************************************************************* */ void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { wrapperFile.oss << - "static bool _RTTIRegister_" << moduleName << "_done = false;\n" "void _" << moduleName << "_RTTIRegister() {\n" - " std::map types;\n"; + " const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n" + " if(!alreadyCreated) {\n" + " std::map types;\n"; BOOST_FOREACH(const Class& cls, classes) { if(cls.isVirtual) wrapperFile.oss << - " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; + " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; } wrapperFile.oss << "\n"; wrapperFile.oss << - " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" - " if(!registry)\n" - " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" - " typedef std::pair StringPair;\n" - " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" - " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" - " if(fieldId < 0)\n" + " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" + " if(!registry)\n" + " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" + " typedef std::pair StringPair;\n" + " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" + " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" + " if(fieldId < 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" + " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" + " }\n" + " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" - " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" + " mxDestroyArray(registry);\n" + " \n" + " mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n" + " if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxDestroyArray(newAlreadyCreated);\n" " }\n" - " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" - " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxDestroyArray(registry);\n" "}\n" "\n"; } From 28eedb1940dd8a80c3d5d6bf2fdc38ae8fc888dc Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 17 Jul 2012 22:10:36 +0000 Subject: [PATCH 634/914] Bug fix in SimpleString (CppUnitLite) - typo caused allocating too-small buffer --- CppUnitLite/SimpleString.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CppUnitLite/SimpleString.cpp b/CppUnitLite/SimpleString.cpp index 190010d87..3fa040f63 100644 --- a/CppUnitLite/SimpleString.cpp +++ b/CppUnitLite/SimpleString.cpp @@ -51,7 +51,7 @@ SimpleString SimpleString::operator+ (const SimpleString& other) { SimpleString ret; delete [] ret.buffer_; - ret.buffer_ = new char [size() + other.size() - 1]; + ret.buffer_ = new char [size() + other.size() + 1]; strcpy(ret.buffer_, buffer_); strcat(ret.buffer_, other.buffer_); return ret; From 90fd1228767178d314a4411179e1f346b2a353f9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 17 Jul 2012 22:10:39 +0000 Subject: [PATCH 635/914] Updated wrap expected files from double clear all bug fix --- wrap/tests/expected/geometry_wrapper.cpp | 54 ++++++++++++------ .../testNamespaces_wrapper.cpp | 57 +++++++++++++------ 2 files changed, 75 insertions(+), 36 deletions(-) diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index 99f261f4f..a520803ee 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -15,41 +15,61 @@ static Collector_Test collector_Test; void _deleteAllObjects() { + mstream mout; + std::streambuf *outbuf = std::cout.rdbuf(&mout); + + bool anyDeleted = false; for(Collector_Point2::iterator iter = collector_Point2.begin(); iter != collector_Point2.end(); ) { delete *iter; collector_Point2.erase(iter++); + anyDeleted = true; } for(Collector_Point3::iterator iter = collector_Point3.begin(); iter != collector_Point3.end(); ) { delete *iter; collector_Point3.erase(iter++); + anyDeleted = true; } for(Collector_Test::iterator iter = collector_Test.begin(); iter != collector_Test.end(); ) { delete *iter; collector_Test.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); } -static bool _RTTIRegister_geometry_done = false; void _geometry_RTTIRegister() { - std::map types; + 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; - BOOST_FOREACH(const StringPair& rtti_matlab, types) { - int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); - if(fieldId < 0) + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + BOOST_FOREACH(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"); - mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); - mxSetFieldByNumber(registry, 0, fieldId, matlabName); + 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); } - if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxDestroyArray(registry); } void Point2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -481,10 +501,8 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) mstream mout; std::streambuf *outbuf = std::cout.rdbuf(&mout); - if(!_RTTIRegister_geometry_done) { - _geometry_RTTIRegister(); - _RTTIRegister_geometry_done = true; - } + _geometry_RTTIRegister(); + int id = unwrap(in[0]); switch(id) { diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 679416db5..6e65b1a0f 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -25,56 +25,79 @@ static Collector_ClassD collector_ClassD; 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; } + 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); } -static bool _RTTIRegister_testNamespaces_done = false; void _testNamespaces_RTTIRegister() { - std::map types; + const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_testNamespaces_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; - BOOST_FOREACH(const StringPair& rtti_matlab, types) { - int fieldId = mxAddField(registry, rtti_matlab.first.c_str()); - if(fieldId < 0) + mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry"); + if(!registry) + registry = mxCreateStructMatrix(1, 1, 0, NULL); + typedef std::pair StringPair; + BOOST_FOREACH(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"); - mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str()); - mxSetFieldByNumber(registry, 0, fieldId, matlabName); + mxDestroyArray(registry); + + mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); + if(mexPutVariable("global", "gtsam_testNamespaces_rttiRegistry_created", newAlreadyCreated) != 0) + mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); + mxDestroyArray(newAlreadyCreated); } - if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) - mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); - mxDestroyArray(registry); } void ns1ClassA_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -315,10 +338,8 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) mstream mout; std::streambuf *outbuf = std::cout.rdbuf(&mout); - if(!_RTTIRegister_testNamespaces_done) { - _testNamespaces_RTTIRegister(); - _RTTIRegister_testNamespaces_done = true; - } + _testNamespaces_RTTIRegister(); + int id = unwrap(in[0]); switch(id) { From 6266a2c56d3d66b75c0615ae360e779685ec29ee Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 18 Jul 2012 15:43:54 +0000 Subject: [PATCH 636/914] Removed SimpleString from CppUnitLite - now just uses std::string and boost::lexical_cast --- CppUnitLite/Failure.cpp | 45 ++++---------- CppUnitLite/Failure.h | 29 +++++---- CppUnitLite/SimpleString.cpp | 115 ----------------------------------- CppUnitLite/SimpleString.h | 57 ----------------- CppUnitLite/Test.cpp | 18 +++--- CppUnitLite/Test.h | 38 ++++++------ CppUnitLite/TestRegistry.cpp | 5 +- CppUnitLite/TestResult.cpp | 8 +-- tests/testGaussianISAM2.cpp | 2 +- 9 files changed, 61 insertions(+), 256 deletions(-) delete mode 100644 CppUnitLite/SimpleString.cpp delete mode 100644 CppUnitLite/SimpleString.h diff --git a/CppUnitLite/Failure.cpp b/CppUnitLite/Failure.cpp index d0c919165..591485b04 100644 --- a/CppUnitLite/Failure.cpp +++ b/CppUnitLite/Failure.cpp @@ -13,14 +13,10 @@ #include "Failure.h" -#include -#include - - -Failure::Failure (const SimpleString& theTestName, - const SimpleString& theFileName, +Failure::Failure (const std::string& theTestName, + const std::string& theFileName, long theLineNumber, - const SimpleString& theCondition) + const std::string& theCondition) : message (theCondition), testName (theTestName), fileName (theFileName), @@ -28,9 +24,9 @@ Failure::Failure (const SimpleString& theTestName, { } -Failure::Failure (const SimpleString& theTestName, - const SimpleString& theFileName, - const SimpleString& theCondition) +Failure::Failure (const std::string& theTestName, + const std::string& theFileName, + const std::string& theCondition) : message (theCondition), testName (theTestName), fileName (theFileName), @@ -39,33 +35,16 @@ Failure::Failure (const SimpleString& theTestName, } -Failure::Failure (const SimpleString& theTestName, - const SimpleString& theFileName, +Failure::Failure (const std::string& theTestName, + const std::string& theFileName, long theLineNumber, - const SimpleString& expected, - const SimpleString& actual) -: testName (theTestName), + const std::string& expected, + const std::string& actual) +: message("expected " + expected + " but was: " + actual), + testName (theTestName), fileName (theFileName), lineNumber (theLineNumber) { - const char *part1 = "expected "; - const char *part3 = " but was: "; - - char *stage = new char [strlen (part1) - + expected.size () - + strlen (part3) - + actual.size () - + 1]; - - sprintf(stage, "%s%s%s%s", - part1, - expected.asCharString(), - part3, - actual.asCharString()); - - message = SimpleString(stage); - - delete stage; } diff --git a/CppUnitLite/Failure.h b/CppUnitLite/Failure.h index 1f898f08c..210ccd63d 100644 --- a/CppUnitLite/Failure.h +++ b/CppUnitLite/Failure.h @@ -24,32 +24,31 @@ #ifndef FAILURE_H #define FAILURE_H -#include "SimpleString.h" - +#include class Failure { public: - Failure (const SimpleString& theTestName, - const SimpleString& theFileName, + Failure (const std::string& theTestName, + const std::string& theFileName, long theLineNumber, - const SimpleString& theCondition); + const std::string& theCondition); - Failure (const SimpleString& theTestName, - const SimpleString& theFileName, + Failure (const std::string& theTestName, + const std::string& theFileName, long theLineNumber, - const SimpleString& expected, - const SimpleString& actual); + const std::string& expected, + const std::string& actual); - Failure (const SimpleString& theTestName, - const SimpleString& theFileName, - const SimpleString& theCondition); + Failure (const std::string& theTestName, + const std::string& theFileName, + const std::string& theCondition); - SimpleString message; - SimpleString testName; - SimpleString fileName; + std::string message; + std::string testName; + std::string fileName; long lineNumber; }; diff --git a/CppUnitLite/SimpleString.cpp b/CppUnitLite/SimpleString.cpp deleted file mode 100644 index 3fa040f63..000000000 --- a/CppUnitLite/SimpleString.cpp +++ /dev/null @@ -1,115 +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 - - * -------------------------------------------------------------------------- */ - - - -#include "SimpleString.h" -#include -#include -#include - - -static const int DEFAULT_SIZE = 20; - -SimpleString::SimpleString () -: buffer_(new char [1]) -{ - buffer_ [0] = '\0'; -} - - -SimpleString::SimpleString (const char *otherBuffer) -: buffer_ (new char [strlen (otherBuffer) + 1]) -{ - strcpy (buffer_, otherBuffer); -} - -SimpleString::SimpleString (const SimpleString& other) -{ - buffer_ = new char [other.size() + 1]; - strcpy(buffer_, other.buffer_); -} - - -SimpleString SimpleString::operator= (const SimpleString& other) -{ - delete [] buffer_; - buffer_ = new char [other.size() + 1]; - strcpy(buffer_, other.buffer_); - return *this; -} - -SimpleString SimpleString::operator+ (const SimpleString& other) -{ - SimpleString ret; - delete [] ret.buffer_; - ret.buffer_ = new char [size() + other.size() + 1]; - strcpy(ret.buffer_, buffer_); - strcat(ret.buffer_, other.buffer_); - return ret; -} - -char *SimpleString::asCharString () const -{ - return buffer_; -} - -int SimpleString::size() const -{ - return strlen (buffer_); -} - -SimpleString::~SimpleString () -{ - delete [] buffer_; -} - - -bool operator== (const SimpleString& left, const SimpleString& right) -{ - return !strcmp (left.asCharString (), right.asCharString ()); -} - - -SimpleString StringFrom (bool value) -{ - char buffer [sizeof ("false") + 1]; - sprintf (buffer, "%s", value ? "true" : "false"); - return SimpleString(buffer); -} - -SimpleString StringFrom (const char *value) -{ - return SimpleString(value); -} - -SimpleString StringFrom (long value) -{ - char buffer [DEFAULT_SIZE]; - sprintf (buffer, "%ld", value); - - return SimpleString(buffer); -} - -SimpleString StringFrom (double value) -{ - char buffer [DEFAULT_SIZE]; - sprintf (buffer, "%lg", value); - - return SimpleString(buffer); -} - -SimpleString StringFrom (const SimpleString& value) -{ - return SimpleString(value); -} - - diff --git a/CppUnitLite/SimpleString.h b/CppUnitLite/SimpleString.h deleted file mode 100644 index c454e5571..000000000 --- a/CppUnitLite/SimpleString.h +++ /dev/null @@ -1,57 +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 - - * -------------------------------------------------------------------------- */ - - -/////////////////////////////////////////////////////////////////////////////// -// -// SIMPLESTRING.H -// -// One of the design goals of CppUnitLite is to compilation with very old C++ -// compilers. For that reason, I've added a simple string class that provides -// only the operations needed in CppUnitLite. -// -/////////////////////////////////////////////////////////////////////////////// - -#ifndef SIMPLE_STRING -#define SIMPLE_STRING - - - -class SimpleString -{ - friend bool operator== (const SimpleString& left, const SimpleString& right); - -public: - SimpleString (); - SimpleString (const char *value); - SimpleString (const SimpleString& other); - ~SimpleString (); - - SimpleString operator= (const SimpleString& other); - SimpleString operator+ (const SimpleString& other); - - char *asCharString () const; - int size() const; - -private: - char *buffer_; -}; - - - -SimpleString StringFrom (bool value); -SimpleString StringFrom (const char *value); -SimpleString StringFrom (long value); -SimpleString StringFrom (double value); -SimpleString StringFrom (const SimpleString& other); - - -#endif diff --git a/CppUnitLite/Test.cpp b/CppUnitLite/Test.cpp index 1d9902b37..07230436e 100644 --- a/CppUnitLite/Test.cpp +++ b/CppUnitLite/Test.cpp @@ -10,20 +10,20 @@ * -------------------------------------------------------------------------- */ - #include "Test.h" #include "TestRegistry.h" #include "TestResult.h" #include "Failure.h" +#include -Test::Test (const SimpleString& testName) +Test::Test (const std::string& testName) : name_ (testName) { TestRegistry::addTest (this); } -Test::Test (const SimpleString& testName, const SimpleString& filename, long lineNumber, bool safeCheck = true) +Test::Test (const std::string& testName, const std::string& filename, long lineNumber, bool safeCheck = true) : name_(testName), filename_(filename), lineNumber_(lineNumber), safeCheck_(safeCheck) { TestRegistry::addTest (this); @@ -40,31 +40,31 @@ void Test::setNext(Test *test) next_ = test; } -bool Test::check(long expected, long actual, TestResult& result, const SimpleString& fileName, long lineNumber) +bool Test::check(long expected, long actual, TestResult& result, const std::string& fileName, long lineNumber) { if (expected == actual) return true; result.addFailure ( Failure ( name_, - StringFrom (__FILE__), + boost::lexical_cast (__FILE__), __LINE__, - StringFrom (expected), - StringFrom (actual))); + boost::lexical_cast (expected), + boost::lexical_cast (actual))); return false; } -bool Test::check(const SimpleString& expected, const SimpleString& actual, TestResult& result, const SimpleString& fileName, long lineNumber) +bool Test::check(const std::string& expected, const std::string& actual, TestResult& result, const std::string& fileName, long lineNumber) { if (expected == actual) return true; result.addFailure ( Failure ( name_, - StringFrom (__FILE__), + boost::lexical_cast (__FILE__), __LINE__, expected, actual)); diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h index 89d96f463..d5d5d1d2f 100644 --- a/CppUnitLite/Test.h +++ b/CppUnitLite/Test.h @@ -23,7 +23,7 @@ #include -#include "SimpleString.h" +#include class TestResult; @@ -32,8 +32,8 @@ class TestResult; class Test { public: - Test (const SimpleString& testName); - Test (const SimpleString& testName, const SimpleString& filename, long lineNumber, bool safeCheck); + Test (const std::string& testName); + Test (const std::string& testName, const std::string& filename, long lineNumber, bool safeCheck); virtual ~Test() {}; virtual void run (TestResult& result) = 0; @@ -41,19 +41,19 @@ public: void setNext(Test *test); Test *getNext () const; - SimpleString getName() const {return name_;} - SimpleString getFilename() const {return filename_;} + std::string getName() const {return name_;} + std::string getFilename() const {return filename_;} long getLineNumber() const {return lineNumber_;} bool safe() const {return safeCheck_;} protected: - bool check (long expected, long actual, TestResult& result, const SimpleString& fileName, long lineNumber); - bool check (const SimpleString& expected, const SimpleString& actual, TestResult& result, const SimpleString& fileName, long lineNumber); + bool check (long expected, long actual, TestResult& result, const std::string& fileName, long lineNumber); + bool check (const std::string& expected, const std::string& actual, TestResult& result, const std::string& fileName, long lineNumber); - SimpleString name_; + std::string name_; Test *next_; - SimpleString filename_; + std::string filename_; long lineNumber_; /// This is the line line number of the test, rather than the a single check bool safeCheck_; @@ -102,17 +102,17 @@ protected: #define THROWS_EXCEPTION(condition)\ { try { condition; \ - result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Didn't throw: ") + StringFrom(#condition))); \ + result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Didn't throw: ") + boost::lexical_cast(#condition))); \ return; } \ catch (...) {} } #define CHECK_EXCEPTION(condition, exception_name)\ { try { condition; \ - result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Didn't throw: ") + StringFrom(#condition))); \ + result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Didn't throw: ") + boost::lexical_cast(#condition))); \ return; } \ catch (exception_name&) {} \ catch (...) { \ - result_.addFailure (Failure (name_, __FILE__,__LINE__, SimpleString("Wrong exception: ") + StringFrom(#condition) + StringFrom(", expected: ") + StringFrom(#exception_name))); \ + result_.addFailure (Failure (name_, __FILE__,__LINE__, std::string("Wrong exception: ") + boost::lexical_cast(#condition) + boost::lexical_cast(", expected: ") + boost::lexical_cast(#exception_name))); \ return; } } #define EQUALITY(expected,actual)\ @@ -120,21 +120,21 @@ protected: result_.addFailure(Failure(name_, __FILE__, __LINE__, #expected, #actual)); } #define CHECK_EQUAL(expected,actual)\ -{ if ((expected) == (actual)) return; result_.addFailure(Failure(name_, __FILE__, __LINE__, StringFrom(expected), StringFrom(actual))); } +{ if ((expected) == (actual)) return; result_.addFailure(Failure(name_, __FILE__, __LINE__, boost::lexical_cast(expected), boost::lexical_cast(actual))); } #define LONGS_EQUAL(expected,actual)\ { long actualTemp = actual; \ long expectedTemp = expected; \ if ((expectedTemp) != (actualTemp)) \ -{ result_.addFailure (Failure (name_, __FILE__, __LINE__, StringFrom(expectedTemp), \ -StringFrom(actualTemp))); return; } } +{ result_.addFailure (Failure (name_, __FILE__, __LINE__, boost::lexical_cast(expectedTemp), \ +boost::lexical_cast(actualTemp))); return; } } #define DOUBLES_EQUAL(expected,actual,threshold)\ { double actualTemp = actual; \ double expectedTemp = expected; \ if (fabs ((expectedTemp)-(actualTemp)) > threshold) \ { result_.addFailure (Failure (name_, __FILE__, __LINE__, \ -StringFrom((double)expectedTemp), StringFrom((double)actualTemp))); return; } } +boost::lexical_cast((double)expectedTemp), boost::lexical_cast((double)actualTemp))); return; } } /* EXPECTs: tests will continue running after a failure */ @@ -146,15 +146,15 @@ StringFrom((double)expectedTemp), StringFrom((double)actualTemp))); return; } } { long actualTemp = actual; \ long expectedTemp = expected; \ if ((expectedTemp) != (actualTemp)) \ -{ result_.addFailure (Failure (name_, __FILE__, __LINE__, StringFrom(expectedTemp), \ -StringFrom(actualTemp))); } } +{ result_.addFailure (Failure (name_, __FILE__, __LINE__, boost::lexical_cast(expectedTemp), \ +boost::lexical_cast(actualTemp))); } } #define EXPECT_DOUBLES_EQUAL(expected,actual,threshold)\ { double actualTemp = actual; \ double expectedTemp = expected; \ if (fabs ((expectedTemp)-(actualTemp)) > threshold) \ { result_.addFailure (Failure (name_, __FILE__, __LINE__, \ -StringFrom((double)expectedTemp), StringFrom((double)actualTemp))); } } +boost::lexical_cast((double)expectedTemp), boost::lexical_cast((double)actualTemp))); } } #define FAIL(text) \ diff --git a/CppUnitLite/TestRegistry.cpp b/CppUnitLite/TestRegistry.cpp index fa5295229..1d06b225c 100644 --- a/CppUnitLite/TestRegistry.cpp +++ b/CppUnitLite/TestRegistry.cpp @@ -17,7 +17,6 @@ #include "Failure.h" #include "TestResult.h" #include "TestRegistry.h" -#include "SimpleString.h" void TestRegistry::addTest (Test *test) { @@ -65,12 +64,12 @@ int TestRegistry::run (TestResult& result) // catch standard exceptions and derivatives result.addFailure( Failure(test->getName(), test->getFilename(), test->getLineNumber(), - SimpleString("Exception: ") + SimpleString(e.what()))); + std::string("Exception: ") + std::string(e.what()))); } catch (...) { // catch all other exceptions result.addFailure( Failure(test->getName(), test->getFilename(), test->getLineNumber(), - SimpleString("ExceptionThrown!"))); + "ExceptionThrown!")); } } else { diff --git a/CppUnitLite/TestResult.cpp b/CppUnitLite/TestResult.cpp index 3bc8a8ad5..a9e599989 100644 --- a/CppUnitLite/TestResult.cpp +++ b/CppUnitLite/TestResult.cpp @@ -32,16 +32,16 @@ void TestResult::addFailure (const Failure& failure) if (failure.lineNumber < 0) // allow for no line number fprintf (stdout, "%s%s%s%s\n", "Failure: \"", - failure.message.asCharString (), + failure.message.c_str (), "\" in ", - failure.fileName.asCharString ()); + failure.fileName.c_str ()); else fprintf (stdout, "%s%s%ld%s%s%s\n", - failure.fileName.asCharString(), // Format matches Eclipse error flagging + failure.fileName.c_str(), // Format matches Eclipse error flagging ":", failure.lineNumber, ": Failure: \"", - failure.message.asCharString(), + failure.message.c_str(), "\" "); failureCount++; diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 9fdd6512f..2c932680d 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -381,7 +381,7 @@ TEST(ISAM2, optimize2) { bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, const ISAM2& isam, Test& test, TestResult& result) { TestResult& result_ = result; - const SimpleString name_ = test.getName(); + const std::string name_ = test.getName(); Values actual = isam.calculateEstimate(); Ordering ordering = isam.getOrdering(); // *fullgraph.orderingCOLAMD(fullinit).first; From 8fa77de2a0ac6dade02e5459cceb5106182da8af Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 18 Jul 2012 15:43:55 +0000 Subject: [PATCH 637/914] Removed cpp file for Failure, small cleanups --- CppUnitLite/Failure.cpp | 50 ----------------------------------------- CppUnitLite/Failure.h | 48 +++++++++++++++++++++++++-------------- CppUnitLite/Test.cpp | 6 ++--- CppUnitLite/Test.h | 2 -- 4 files changed, 34 insertions(+), 72 deletions(-) delete mode 100644 CppUnitLite/Failure.cpp diff --git a/CppUnitLite/Failure.cpp b/CppUnitLite/Failure.cpp deleted file mode 100644 index 591485b04..000000000 --- a/CppUnitLite/Failure.cpp +++ /dev/null @@ -1,50 +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 - - * -------------------------------------------------------------------------- */ - - - -#include "Failure.h" - -Failure::Failure (const std::string& theTestName, - const std::string& theFileName, - long theLineNumber, - const std::string& theCondition) -: message (theCondition), - testName (theTestName), - fileName (theFileName), - lineNumber (theLineNumber) -{ -} - -Failure::Failure (const std::string& theTestName, - const std::string& theFileName, - const std::string& theCondition) -: message (theCondition), - testName (theTestName), - fileName (theFileName), - lineNumber (-1) -{ -} - - -Failure::Failure (const std::string& theTestName, - const std::string& theFileName, - long theLineNumber, - const std::string& expected, - const std::string& actual) -: message("expected " + expected + " but was: " + actual), - testName (theTestName), - fileName (theFileName), - lineNumber (theLineNumber) -{ -} - - diff --git a/CppUnitLite/Failure.h b/CppUnitLite/Failure.h index 210ccd63d..93c99df12 100644 --- a/CppUnitLite/Failure.h +++ b/CppUnitLite/Failure.h @@ -21,8 +21,7 @@ /////////////////////////////////////////////////////////////////////////////// -#ifndef FAILURE_H -#define FAILURE_H +#pragma once #include @@ -30,27 +29,42 @@ class Failure { public: - Failure (const std::string& theTestName, - const std::string& theFileName, - long theLineNumber, - const std::string& theCondition); + Failure (const std::string& theTestName, + const std::string& theFileName, + long theLineNumber, + const std::string& theCondition) + : message (theCondition), + testName (theTestName), + fileName (theFileName), + lineNumber (theLineNumber) + { + } - Failure (const std::string& theTestName, - const std::string& theFileName, - long theLineNumber, - const std::string& expected, - const std::string& actual); + Failure (const std::string& theTestName, + const std::string& theFileName, + const std::string& theCondition) + : message (theCondition), + testName (theTestName), + fileName (theFileName), + lineNumber (-1) + { + } - Failure (const std::string& theTestName, - const std::string& theFileName, - const std::string& theCondition); + Failure (const std::string& theTestName, + const std::string& theFileName, + long theLineNumber, + const std::string& expected, + const std::string& actual) + : message("expected " + expected + " but was: " + actual), + testName (theTestName), + fileName (theFileName), + lineNumber (theLineNumber) + { + } std::string message; std::string testName; std::string fileName; long lineNumber; }; - - -#endif diff --git a/CppUnitLite/Test.cpp b/CppUnitLite/Test.cpp index 07230436e..e6a2ad51f 100644 --- a/CppUnitLite/Test.cpp +++ b/CppUnitLite/Test.cpp @@ -18,13 +18,13 @@ #include Test::Test (const std::string& testName) - : name_ (testName) + : name_ (testName), next_(0), lineNumber_(-1), safeCheck_(true) { TestRegistry::addTest (this); } -Test::Test (const std::string& testName, const std::string& filename, long lineNumber, bool safeCheck = true) - : name_(testName), filename_(filename), lineNumber_(lineNumber), safeCheck_(safeCheck) +Test::Test (const std::string& testName, const std::string& filename, long lineNumber, bool safeCheck) + : name_(testName), next_(0), filename_(filename), lineNumber_(lineNumber), safeCheck_(safeCheck) { TestRegistry::addTest (this); } diff --git a/CppUnitLite/Test.h b/CppUnitLite/Test.h index d5d5d1d2f..820ed48cf 100644 --- a/CppUnitLite/Test.h +++ b/CppUnitLite/Test.h @@ -27,8 +27,6 @@ class TestResult; - - class Test { public: From 8dbffd46294046c2d6aeed5bca2ff7acd3c540ed Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 18 Jul 2012 15:47:06 +0000 Subject: [PATCH 638/914] Wrap generates Matlab namespaces, so now 'import gtsam.*' allows class names like Values, NonlinearFactor, to be used. Without import, syntax is gtsam.Values, etc. --- matlab/CMakeLists.txt | 8 +-- matlab/VisualISAMGenerateData.m | 26 ++++---- matlab/VisualISAMInitialize.m | 15 ++--- matlab/VisualISAMPlot.m | 3 +- matlab/VisualISAMStep.m | 7 ++- matlab/examples/LocalizationExample.m | 27 ++++---- matlab/examples/OdometryExample.m | 22 ++++--- matlab/examples/PlanarSLAMExample.m | 36 ++++++----- matlab/examples/PlanarSLAMExample_sampling.m | 40 ++++++------ matlab/examples/Pose2SLAMExample.m | 36 ++++++----- matlab/examples/Pose2SLAMExample_advanced.m | 26 ++++---- matlab/examples/Pose2SLAMExample_circle.m | 8 +-- matlab/examples/Pose2SLAMExample_graph.m | 8 ++- matlab/examples/Pose2SLAMwSPCG.m | 37 ++++++----- matlab/examples/Pose3SLAMExample.m | 8 +-- matlab/examples/Pose3SLAMExample_graph.m | 4 +- matlab/examples/SBAExample.m | 20 +++--- matlab/examples/SFMExample.m | 15 +++-- matlab/examples/StereoVOExample.m | 34 +++++----- matlab/examples/StereoVOExample_large.m | 17 ++--- matlab/load2D.m | 8 +-- matlab/load3D.m | 26 ++++---- matlab/symbol.m | 2 +- matlab/symbolChr.m | 2 +- matlab/symbolIndex.m | 2 +- matlab/tests/testJacobianFactor.m | 12 ++-- matlab/tests/testKalmanFilter.m | 8 ++- matlab/tests/testLocalizationExample.m | 28 +++++---- matlab/tests/testOdometryExample.m | 23 ++++--- matlab/tests/testPlanarSLAMExample.m | 39 +++++++----- matlab/tests/testPose2SLAMExample.m | 40 ++++++------ matlab/tests/testPose3SLAMExample.m | 11 ++-- matlab/tests/testSFMExample.m | 14 +++-- matlab/tests/testStereoVOExample.m | 34 +++++----- wrap/Argument.cpp | 4 +- wrap/Class.cpp | 62 ++++++++++++------- wrap/Class.h | 2 +- wrap/Constructor.cpp | 16 ++--- wrap/Constructor.h | 5 +- wrap/Deconstructor.cpp | 18 +++--- wrap/Deconstructor.h | 4 +- wrap/Method.cpp | 15 ++--- wrap/Method.h | 4 +- wrap/Module.cpp | 22 +++---- wrap/ReturnValue.cpp | 4 +- wrap/StaticMethod.cpp | 15 ++--- wrap/StaticMethod.h | 4 +- .../{ns1ClassA.m => +ns1/ClassA.m} | 6 +- .../{ns1ClassB.m => +ns1/ClassB.m} | 6 +- .../{ns2ns3ClassB.m => +ns2/+ns3/ClassB.m} | 6 +- .../{ns2ClassA.m => +ns2/ClassA.m} | 16 ++--- .../{ns2ClassC.m => +ns2/ClassC.m} | 6 +- .../testNamespaces_wrapper.cpp | 2 +- wrap/tests/testWrap.cpp | 10 +-- wrap/utilities.h | 9 +++ 55 files changed, 493 insertions(+), 389 deletions(-) rename wrap/tests/expected_namespaces/{ns1ClassA.m => +ns1/ClassA.m} (80%) rename wrap/tests/expected_namespaces/{ns1ClassB.m => +ns1/ClassB.m} (80%) rename wrap/tests/expected_namespaces/{ns2ns3ClassB.m => +ns2/+ns3/ClassB.m} (79%) rename wrap/tests/expected_namespaces/{ns2ClassA.m => +ns2/ClassA.m} (84%) rename wrap/tests/expected_namespaces/{ns2ClassC.m => +ns2/ClassC.m} (80%) diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 84df4055c..3e77de602 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -6,12 +6,12 @@ message(STATUS "Installing Matlab Utility Functions") file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m") file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig") set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig}) -install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam) +install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/) # Tests message(STATUS "Installing Matlab Toolbox Tests") file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m") -install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests) +install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_tests) # Examples message(STATUS "Installing Matlab Toolbox Examples") @@ -19,11 +19,11 @@ message(STATUS "Installing Matlab Toolbox Examples") file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m") file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig") set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) -install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) +install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples) message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph") file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt") set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt}) -install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) +install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data) diff --git a/matlab/VisualISAMGenerateData.m b/matlab/VisualISAMGenerateData.m index 1c71185e2..2e972d9af 100644 --- a/matlab/VisualISAMGenerateData.m +++ b/matlab/VisualISAMGenerateData.m @@ -3,33 +3,35 @@ function [data,truth] = VisualISAMGenerateData(options) % Authors: Duy Nguyen Ta and Frank Dellaert %% Generate simulated data +import gtsam.* if options.triangle % Create a triangle target, just 3 points on a plane nrPoints = 3; r = 10; for j=1:nrPoints theta = (j-1)*2*pi/nrPoints; - truth.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]'); + truth.points{j} = Point3([r*cos(theta), r*sin(theta), 0]'); end else % 3D landmarks as vertices of a cube nrPoints = 8; - truth.points = {gtsamPoint3([10 10 10]'),... - gtsamPoint3([-10 10 10]'),... - gtsamPoint3([-10 -10 10]'),... - gtsamPoint3([10 -10 10]'),... - gtsamPoint3([10 10 -10]'),... - gtsamPoint3([-10 10 -10]'),... - gtsamPoint3([-10 -10 -10]'),... - gtsamPoint3([10 -10 -10]')}; + truth.points = {Point3([10 10 10]'),... + Point3([-10 10 10]'),... + Point3([-10 -10 10]'),... + Point3([10 -10 10]'),... + Point3([10 10 -10]'),... + Point3([-10 10 -10]'),... + Point3([-10 -10 -10]'),... + Point3([10 -10 -10]')}; end %% Create camera cameras on a circle around the triangle +import gtsam.* height = 10; r = 40; -truth.K = gtsamCal3_S2(500,500,0,640/2,480/2); +truth.K = Cal3_S2(500,500,0,640/2,480/2); data.K = truth.K; for i=1:options.nrCameras theta = (i-1)*2*pi/options.nrCameras; - t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); - truth.cameras{i} = gtsamSimpleCamera.Lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), truth.K); + t = Point3([r*cos(theta), r*sin(theta), height]'); + truth.cameras{i} = SimpleCamera.Lookat(t, Point3, Point3([0,0,1]'), truth.K); % Create measurements for j=1:nrPoints % All landmarks seen in every frame diff --git a/matlab/VisualISAMInitialize.m b/matlab/VisualISAMInitialize.m index b2b960a7b..cbcb09c5c 100644 --- a/matlab/VisualISAMInitialize.m +++ b/matlab/VisualISAMInitialize.m @@ -3,18 +3,19 @@ function [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options) % Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham %% Initialize iSAM -isam = visualSLAMISAM(options.reorderInterval); +isam = visualSLAM.ISAM(options.reorderInterval); %% Set Noise parameters -noiseModels.pose = gtsamnoiseModelDiagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.odometry = gtsamnoiseModelDiagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.point = gtsamnoiseModelIsotropic.Sigma(3, 0.1); -noiseModels.measurement = gtsamnoiseModelIsotropic.Sigma(2, 1.0); +import gtsam.* +noiseModels.pose = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); +noiseModels.point = noiseModel.Isotropic.Sigma(3, 0.1); +noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0); %% Add constraints/priors % TODO: should not be from ground truth! -newFactors = visualSLAMGraph; -initialEstimates = visualSLAMValues; +newFactors = visualSLAM.Graph; +initialEstimates = visualSLAM.Values; for i=1:2 ii = symbol('x',i); if i==1 diff --git a/matlab/VisualISAMPlot.m b/matlab/VisualISAMPlot.m index e140686d9..1f2b7d710 100644 --- a/matlab/VisualISAMPlot.m +++ b/matlab/VisualISAMPlot.m @@ -21,10 +21,11 @@ for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed end %% Plot cameras +import gtsam.* for i=1:options.cameraInterval:M ii = symbol('x',i); pose_i = result.pose(ii); - if options.hardConstraint & (i==1) + if options.hardConstraint && (i==1) plotPose3(pose_i,[],10); else P = isam.marginalCovariance(ii); diff --git a/matlab/VisualISAMStep.m b/matlab/VisualISAMStep.m index 5033a8b39..ef056553e 100644 --- a/matlab/VisualISAMStep.m +++ b/matlab/VisualISAMStep.m @@ -4,15 +4,17 @@ function [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth, opti % iSAM expects us to give it a new set of factors % along with initial estimates for any new variables introduced. -newFactors = visualSLAMGraph; -initialEstimates = visualSLAMValues; +newFactors = visualSLAM.Graph; +initialEstimates = visualSLAM.Values; %% Add odometry +import gtsam.* i = result.nrPoses+1; odometry = data.odometry{i-1}; newFactors.addRelativePose(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); %% Add visual measurement factors and initializations as necessary +import gtsam.* for k=1:length(data.Z{i}) zij = data.Z{i}{k}; j = data.J{i}{k}; @@ -26,6 +28,7 @@ for k=1:length(data.Z{i}) end %% Initial estimates for the new pose. +import gtsam.* prevPose = result.pose(symbol('x',i-1)); initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index 3f48bb8e4..0a54111b0 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -16,36 +16,41 @@ % - The robot is on a grid, moving 2 meters each step %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add two odometry factors -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +import gtsam.* +odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add three "GPS" measurements +import gtsam.* % We use Pose2 Priors here with high variance on theta -noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.1; 10]); -graph.addPosePrior(1, gtsamPose2(0.0, 0.0, 0.0), noiseModel); -graph.addPosePrior(2, gtsamPose2(2.0, 0.0, 0.0), noiseModel); -graph.addPosePrior(3, gtsamPose2(4.0, 0.0, 0.0), noiseModel); +priorNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 10]); +graph.addPosePrior(1, Pose2(0.0, 0.0, 0.0), priorNoise); +graph.addPosePrior(2, Pose2(2.0, 0.0, 0.0), priorNoise); +graph.addPosePrior(3, Pose2(4.0, 0.0, 0.0), priorNoise); %% print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +import gtsam.* +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +import gtsam.* result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n ')); %% Plot Covariance Ellipses +import gtsam.* cla; X=result.poses(); plot(X(:,1),X(:,2),'k*-'); hold on diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index e90550152..297702b51 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -16,16 +16,18 @@ % - The robot is on a grid, moving 2 meters each step %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add a Gaussian prior on pose x_1 -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +import gtsam.* +priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add two odometry factors -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +import gtsam.* +odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); @@ -33,10 +35,11 @@ graph.addRelativePose(2, 3, odometry, odometryNoise); graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +import gtsam.* +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd @@ -44,6 +47,7 @@ result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n ')); %% Plot Covariance Ellipses +import gtsam.* cla; X=result.poses(); plot(X(:,1),X(:,2),'k*-'); hold on diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index 7557bd0ba..e664d66fc 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -20,40 +20,45 @@ % - Landmarks are 2 meters away from the robot trajectory %% Create keys for variables +import gtsam.* i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it -graph = planarSLAMGraph; +graph = planarSLAM.Graph; %% Add prior -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); +import gtsam.* +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry -odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); +import gtsam.* +odometry = Pose2(2.0, 0.0, 0.0); +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(i1, i2, odometry, odometryNoise); graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors +import gtsam.* degrees = pi/180; -noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); -graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); -graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); -graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); +brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); +graph.addBearingRange(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise); +graph.addBearingRange(i2, j1, Rot2(90*degrees), 2, brNoise); +graph.addBearingRange(i3, j2, Rot2(90*degrees), 2, brNoise); % print graph.print(sprintf('\nFull graph:\n')); %% Initialize to noisy points -initialEstimate = planarSLAMValues; -initialEstimate.insertPose(i1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(i2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(i3, gtsamPose2(4.1, 0.1, 0.1)); -initialEstimate.insertPoint(j1, gtsamPoint2(1.8, 2.1)); -initialEstimate.insertPoint(j2, gtsamPoint2(4.1, 1.8)); +import gtsam.* +initialEstimate = planarSLAM.Values; +initialEstimate.insertPose(i1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(i2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(i3, Pose2(4.1, 0.1, 0.1)); +initialEstimate.insertPoint(j1, Point2(1.8, 2.1)); +initialEstimate.insertPoint(j2, Point2(4.1, 1.8)); initialEstimate.print(sprintf('\nInitial estimate:\n')); @@ -62,6 +67,7 @@ result = graph.optimize(initialEstimate,1); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses +import gtsam.* cla;hold on marginals = graph.marginals(result); for i=1:3 diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m index 560ab7ace..ec68d81e6 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/examples/PlanarSLAMExample_sampling.m @@ -12,37 +12,39 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create the same factor graph as in PlanarSLAMExample +import gtsam.* i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); -graph = planarSLAMGraph; -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); +graph = planarSLAM.Graph; +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph -odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); +odometry = Pose2(2.0, 0.0, 0.0); +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(i1, i2, odometry, odometryNoise); graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Except, for measurements we offer a choice +import gtsam.* j1 = symbol('l',1); j2 = symbol('l',2); degrees = pi/180; -noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); +brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); if 1 - graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); - graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); + graph.addBearingRange(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise); + graph.addBearingRange(i2, j1, Rot2(90*degrees), 2, brNoise); else - bearingModel = gtsamnoiseModelDiagonal.Sigmas(0.1); - graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); - graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); + bearingModel = noiseModel.Diagonal.Sigmas(0.1); + graph.addBearing(i1, j1, Rot2(45*degrees), bearingModel); + graph.addBearing(i2, j1, Rot2(90*degrees), bearingModel); end -graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); +graph.addBearingRange(i3, j2, Rot2(90*degrees), 2, brNoise); %% Initialize MCMC sampler with ground truth -sample = planarSLAMValues; -sample.insertPose(i1, gtsamPose2(0,0,0)); -sample.insertPose(i2, gtsamPose2(2,0,0)); -sample.insertPose(i3, gtsamPose2(4,0,0)); -sample.insertPoint(j1, gtsamPoint2(2,2)); -sample.insertPoint(j2, gtsamPoint2(4,2)); +sample = planarSLAM.Values; +sample.insertPose(i1, Pose2(0,0,0)); +sample.insertPose(i2, Pose2(2,0,0)); +sample.insertPose(i3, Pose2(4,0,0)); +sample.insertPoint(j1, Point2(2,2)); +sample.insertPoint(j2, Point2(4,2)); %% Calculate and plot Covariance Ellipses figure(1);clf;hold on @@ -74,6 +76,6 @@ axis equal N=1000; for s=1:N delta = S{2}*randn(2,1); - proposedPoint = gtsamPoint2(point{2}.x+delta(1),point{2}.y+delta(2)); + proposedPoint = Point2(point{2}.x+delta(1),point{2}.y+delta(2)); plotPoint2(proposedPoint,'k.') end \ No newline at end of file diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index 9cb5b8af4..4bb072fa8 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -19,36 +19,40 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add prior +import gtsam.* % gaussian for prior -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry +import gtsam.* % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addRelativePose(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addRelativePose(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.addRelativePose(5, 2, Pose2(2.0, 0.0, pi/2), model); % print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 )); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 )); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2)); -initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); -initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); +import gtsam.* +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2 )); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insertPose(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insertPose(5, Pose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd diff --git a/matlab/examples/Pose2SLAMExample_advanced.m b/matlab/examples/Pose2SLAMExample_advanced.m index 45d288e50..fc23d67f1 100644 --- a/matlab/examples/Pose2SLAMExample_advanced.m +++ b/matlab/examples/Pose2SLAMExample_advanced.m @@ -21,38 +21,42 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add prior +import gtsam.* % gaussian for prior -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry +import gtsam.* % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add measurements +import gtsam.* % general noisemodel for measurements -measurementNoise = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); +measurementNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); % print graph.print('full graph'); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +import gtsam.* +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print('initial estimate'); %% set up solver, choose ordering and optimize -%params = gtsamNonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15); +%params = NonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15); % %ord = graph.orderingCOLAMD(initialEstimate); % diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index c089f5949..355f1a10e 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -11,15 +11,15 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create a hexagon of poses -hexagon = pose2SLAMValues.Circle(6,1.0); +hexagon = pose2SLAM.Values.Circle(6,1.0); p0 = hexagon.pose(0); p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement -fg = pose2SLAMGraph; +fg = pose2SLAM.Graph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 5*pi/180]); +covariance = gtsam.noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); fg.addRelativePose(0,1, delta, covariance); fg.addRelativePose(1,2, delta, covariance); fg.addRelativePose(2,3, delta, covariance); @@ -28,7 +28,7 @@ fg.addRelativePose(4,5, delta, covariance); fg.addRelativePose(5,0, delta, covariance); %% Create initial config -initial = pose2SLAMValues; +initial = pose2SLAM.Values; initial.insertPose(0, p0); initial.insertPose(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]')); initial.insertPose(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]')); diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index 258730aaa..ac6d1e317 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -11,13 +11,15 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Initialize graph, initial estimate, and odometry noise -model = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 5*pi/180]); +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); [graph,initial]=load2D('../../examples/Data/w100-odom.graph',model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.01; 0.01; 0.01]); +import gtsam.* +priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph %% Plot Initial Estimate diff --git a/matlab/examples/Pose2SLAMwSPCG.m b/matlab/examples/Pose2SLAMwSPCG.m index 3e773689b..5db736fab 100644 --- a/matlab/examples/Pose2SLAMwSPCG.m +++ b/matlab/examples/Pose2SLAMwSPCG.m @@ -17,36 +17,39 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add prior +import gtsam.* % gaussian for prior -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPrior(1, priorMean, priorNoise); % add directly to graph +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); +graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry +import gtsam.* % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addOdometry(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addOdometry(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addOdometry(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addOdometry(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addRelativePose(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.addRelativePose(5, 2, Pose2(2.0, 0.0, pi/2), model); % print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 )); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 )); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2)); -initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); -initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2 )); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insertPose(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insertPose(5, Pose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index c1328585e..d4a8baf99 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -11,15 +11,15 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create a hexagon of poses -hexagon = pose3SLAMValues.Circle(6,1.0); +hexagon = pose3SLAM.Values.Circle(6,1.0); p0 = hexagon.pose(0); p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement -fg = pose3SLAMGraph; +fg = pose3SLAM.Graph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +covariance = gtsam.noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); fg.addRelativePose(0,1, delta, covariance); fg.addRelativePose(1,2, delta, covariance); fg.addRelativePose(2,3, delta, covariance); @@ -28,7 +28,7 @@ fg.addRelativePose(4,5, delta, covariance); fg.addRelativePose(5,0, delta, covariance); %% Create initial config -initial = pose3SLAMValues; +initial = pose3SLAM.Values; s = 0.10; initial.insertPose(0, p0); initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1))); diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m index f39fc306b..cace357ae 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/examples/Pose3SLAMExample_graph.m @@ -16,7 +16,7 @@ N = 2500; filename = '../../examples/Data/sphere2500.txt'; %% Initialize graph, initial estimate, and odometry noise -model = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +model = gtsam.noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); [graph,initial]=load3D(filename,model,true,N); %% Plot Initial Estimate @@ -27,6 +27,6 @@ plot3DTrajectory(initial,'g-',false); %% Read again, now with all constraints, and optimize graph = load3D(filename,model,false,N); -graph.addHardConstraint(0, first); +graph.addPoseConstraint(0, first); result = graph.optimize(initial); plot3DTrajectory(result,'r-',false); axis equal; diff --git a/matlab/examples/SBAExample.m b/matlab/examples/SBAExample.m index 82fdd4646..a0f003eeb 100644 --- a/matlab/examples/SBAExample.m +++ b/matlab/examples/SBAExample.m @@ -30,11 +30,12 @@ cameraNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1 ... 0.001*ones(1,5)]'; %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -graph = sparseBAGraph; +graph = sparseBA.Graph; %% Add factors for all measurements -measurementNoise = gtsamnoiseModelIsotropic.Sigma(2,measurementNoiseSigma); +import gtsam.* +measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; @@ -43,11 +44,12 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -cameraPriorNoise = gtsamnoiseModelDiagonal.Sigmas(cameraNoiseSigmas); -firstCamera = gtsamSimpleCamera(truth.cameras{1}.pose, truth.K); +import gtsam.* +cameraPriorNoise = noiseModel.Diagonal.Sigmas(cameraNoiseSigmas); +firstCamera = SimpleCamera(truth.cameras{1}.pose, truth.K); graph.addSimpleCameraPrior(symbol('c',1), firstCamera, cameraPriorNoise); -pointPriorNoise = gtsamnoiseModelIsotropic.Sigma(3,pointNoiseSigma); +pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph @@ -55,10 +57,11 @@ graph.print(sprintf('\nFactor graph:\n')); %% Initialize cameras and points close to ground truth in this example -initialEstimate = sparseBAValues; +import gtsam.* +initialEstimate = sparseBA.Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); - camera_i = gtsamSimpleCamera(pose_i, truth.K); + camera_i = SimpleCamera(pose_i, truth.K); initialEstimate.insertSimpleCamera(symbol('c',i), camera_i); end for j=1:size(truth.points,2) @@ -69,7 +72,8 @@ initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Fine grain optimization, allowing user to iterate step by step -parameters = gtsamLevenbergMarquardtParams; +import gtsam.* +parameters = LevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 3eef9f916..7c4baa75b 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -29,10 +29,11 @@ pointNoiseSigma = 0.1; poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -graph = visualSLAMGraph; +graph = visualSLAM.Graph; %% Add factors for all measurements -measurementNoise = gtsamnoiseModelIsotropic.Sigma(2,measurementNoiseSigma); +import gtsam.* +measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; @@ -41,16 +42,17 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -posePriorNoise = gtsamnoiseModelDiagonal.Sigmas(poseNoiseSigmas); +import gtsam.* +posePriorNoise = noiseModel.Diagonal.Sigmas(poseNoiseSigmas); graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); -pointPriorNoise = gtsamnoiseModelIsotropic.Sigma(3,pointNoiseSigma); +pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); %% Initialize cameras and points close to ground truth in this example -initialEstimate = visualSLAMValues; +initialEstimate = visualSLAM.Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); initialEstimate.insertPose(symbol('x',i), pose_i); @@ -63,7 +65,8 @@ initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Fine grain optimization, allowing user to iterate step by step -parameters = gtsamLevenbergMarquardtParams; +import gtsam.* +parameters = LevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 9cf838e94..98e1b5845 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -22,37 +22,41 @@ x1 = symbol('x',1); x2 = symbol('x',2); l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); %% Create graph container and add factors to it -graph = visualSLAMGraph; +graph = visualSLAM.Graph; %% add a constraint on the starting pose -first_pose = gtsamPose3(); +import gtsam.* +first_pose = Pose3(); graph.addPoseConstraint(x1, first_pose); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline -K = gtsamCal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); -stereo_model = gtsamnoiseModelDiagonal.Sigmas([1.0; 1.0; 1.0]); +import gtsam.* +K = Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); +stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% Add measurements +import gtsam.* % pose 1 -graph.addStereoMeasurement(gtsamStereoPoint2(520, 480, 440), stereo_model, x1, l1, K); -graph.addStereoMeasurement(gtsamStereoPoint2(120, 80, 440), stereo_model, x1, l2, K); -graph.addStereoMeasurement(gtsamStereoPoint2(320, 280, 140), stereo_model, x1, l3, K); +graph.addStereoMeasurement(StereoPoint2(520, 480, 440), stereo_model, x1, l1, K); +graph.addStereoMeasurement(StereoPoint2(120, 80, 440), stereo_model, x1, l2, K); +graph.addStereoMeasurement(StereoPoint2(320, 280, 140), stereo_model, x1, l3, K); %pose 2 -graph.addStereoMeasurement(gtsamStereoPoint2(570, 520, 490), stereo_model, x2, l1, K); -graph.addStereoMeasurement(gtsamStereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); -graph.addStereoMeasurement(gtsamStereoPoint2(320, 270, 115), stereo_model, x2, l3, K); +graph.addStereoMeasurement(StereoPoint2(570, 520, 490), stereo_model, x2, l1, K); +graph.addStereoMeasurement(StereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); +graph.addStereoMeasurement(StereoPoint2(320, 270, 115), stereo_model, x2, l3, K); %% Create initial estimate for camera poses and landmarks -initialEstimate = visualSLAMValues; +import gtsam.* +initialEstimate = visualSLAM.Values; initialEstimate.insertPose(x1, first_pose); % noisy estimate for pose 2 -initialEstimate.insertPose(x2, gtsamPose3(gtsamRot3(), gtsamPoint3(0.1,-.1,1.1))); -initialEstimate.insertPoint(l1, gtsamPoint3( 1, 1, 5)); -initialEstimate.insertPoint(l2, gtsamPoint3(-1, 1, 5)); -initialEstimate.insertPoint(l3, gtsamPoint3( 0,-.5, 5)); +initialEstimate.insertPose(x2, Pose3(Rot3(), Point3(0.1,-.1,1.1))); +initialEstimate.insertPoint(l1, Point3( 1, 1, 5)); +initialEstimate.insertPoint(l2, Point3(-1, 1, 5)); +initialEstimate.insertPoint(l3, Point3( 0,-.5, 5)); %% optimize fprintf(1,'Optimizing\n'); tic diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/examples/StereoVOExample_large.m index d57628fa1..282f7162c 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/examples/StereoVOExample_large.m @@ -11,40 +11,43 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Load calibration +import gtsam.* % format: fx fy skew cx cy baseline calib = dlmread('../../examples/Data/VO_calibration.txt'); -K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); -stereo_model = gtsamnoiseModelDiagonal.Sigmas([1.0; 1.0; 1.0]); +K = Cal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); +stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% create empty graph and values -graph = visualSLAMGraph; -initial = visualSLAMValues; +graph = visualSLAM.Graph; +initial = visualSLAM.Values; %% load the initial poses from VO % row format: camera_id 4x4 pose (row, major) +import gtsam.* fprintf(1,'Reading data\n'); cameras = dlmread('../../examples/Data/VO_camera_poses_large.txt'); for i=1:size(cameras,1) - pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); + pose = Pose3(reshape(cameras(i,2:17),4,4)'); initial.insertPose(symbol('x',cameras(i,1)),pose); end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z +import gtsam.* measurements = dlmread('../../examples/Data/VO_stereo_factors_large.txt'); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) sf = measurements(i,:); - graph.addStereoMeasurement(gtsamStereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... + graph.addStereoMeasurement(StereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... symbol('x', sf(1)), symbol('l', sf(2)), K); if ~initial.exists(symbol('l',sf(2))) % 3D landmarks are stored in camera coordinates: transform % to world coordinates using the respective initial pose pose = initial.pose(symbol('x', sf(1))); - world_point = pose.transform_from(gtsamPoint3(sf(6),sf(7),sf(8))); + world_point = pose.transform_from(Point3(sf(6),sf(7),sf(8))); initial.insertPoint(symbol('l',sf(2)), world_point); end end diff --git a/matlab/load2D.m b/matlab/load2D.m index e459dfc63..31e96818f 100644 --- a/matlab/load2D.m +++ b/matlab/load2D.m @@ -13,17 +13,17 @@ fclose(fid); lines=columns{1}; % loop over lines and add vertices -graph = pose2SLAMGraph; -initial = pose2SLAMValues; +graph = pose2SLAM.Graph; +initial = pose2SLAM.Values; n=size(lines,1); for i=1:n line_i=lines{i}; if strcmp('VERTEX2',line_i(1:7)) v = textscan(line_i,'%s %d %f %f %f',1); - initial.insertPose(v{2}, gtsamPose2(v{3}, v{4}, v{5})); + initial.insertPose(v{2}, gtsam.Pose2(v{3}, v{4}, v{5})); elseif strcmp('EDGE2',line_i(1:5)) e = textscan(line_i,'%s %d %d %f %f %f',1); - graph.addOdometry(e{2}, e{3}, gtsamPose2(e{4}, e{5}, e{6}), model); + graph.addRelativePose(e{2}, e{3}, gtsam.Pose2(e{4}, e{5}, e{6}), model); end end diff --git a/matlab/load3D.m b/matlab/load3D.m index b457ea1af..5c9d08146 100644 --- a/matlab/load3D.m +++ b/matlab/load3D.m @@ -15,9 +15,9 @@ fclose(fid); lines=columns{1}; % loop over lines and add vertices -graph = pose3SLAMGraph; -initial = pose3SLAMValues; -origin=gtsamPose3; +graph = pose3SLAM.Graph; +initial = pose3SLAM.Values; +origin=gtsam.Pose3; initial.insertPose(0,origin); n=size(lines,1); if nargin<4, N=n;end @@ -26,21 +26,21 @@ for i=1:n line_i=lines{i}; if strcmp('VERTEX3',line_i(1:7)) v = textscan(line_i,'%s %d %f %f %f %f %f %f',1); - i=v{2}; - if (~successive & ii1 diff --git a/matlab/symbol.m b/matlab/symbol.m index c7c4af2c6..10a733593 100644 --- a/matlab/symbol.m +++ b/matlab/symbol.m @@ -1,4 +1,4 @@ function key = symbol(c,i) % generate a key corresponding to a symbol -s = gtsamSymbol(c,i); +s = gtsam.Symbol(c,i); key = s.key(); \ No newline at end of file diff --git a/matlab/symbolChr.m b/matlab/symbolChr.m index 39c92ec85..6cabdb2b2 100644 --- a/matlab/symbolChr.m +++ b/matlab/symbolChr.m @@ -1,4 +1,4 @@ function c = symbolChr(key) % generate the chr from a key -s = gtsamSymbol(key); +s = gtsam.Symbol(key); c = s.chr(); \ No newline at end of file diff --git a/matlab/symbolIndex.m b/matlab/symbolIndex.m index 3046cf229..ad6eaf97d 100644 --- a/matlab/symbolIndex.m +++ b/matlab/symbolIndex.m @@ -1,4 +1,4 @@ function i = symbolIndex(key) % generate the index from a key -s = gtsamSymbol(key); +s = gtsam.Symbol(key); i = s.index(); \ No newline at end of file diff --git a/matlab/tests/testJacobianFactor.m b/matlab/tests/testJacobianFactor.m index 3afd2dc58..3bc8f4edd 100644 --- a/matlab/tests/testJacobianFactor.m +++ b/matlab/tests/testJacobianFactor.m @@ -1,6 +1,8 @@ %----------------------------------------------------------------------- % eliminate +import gtsam.* + % the combined linear factor Ax2 = [ -5., 0. @@ -30,8 +32,8 @@ x1 = 3; % the RHS b2=[-1;1.5;2;-1]; sigmas = [1;1;1;1]; -model4 = gtsamnoiseModelDiagonal.Sigmas(sigmas); -combined = gtsamJacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4); +model4 = noiseModel.Diagonal.Sigmas(sigmas); +combined = JacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4); % eliminate the first variable (x2) in the combined factor, destructive ! actualCG = combined.eliminateFirst(); @@ -50,7 +52,7 @@ S13 = [ +0.00,-8.94427 ]; d=[2.23607;-1.56525]; -expectedCG = gtsamGaussianConditional(x2,d,R11,l1,S12,x1,S13,[1;1]); +expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13,[1;1]); % check if the result matches CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4)); @@ -69,8 +71,8 @@ Bx1 = [ % the RHS b1= [0.0;0.894427]; -model2 = gtsamnoiseModelDiagonal.Sigmas([1;1]); -expectedLF = gtsamJacobianFactor(l1, Bl1, x1, Bx1, b1, model2); +model2 = noiseModel.Diagonal.Sigmas([1;1]); +expectedLF = JacobianFactor(l1, Bl1, x1, Bx1, b1, model2); % check if the result matches the combined (reduced) factor % FIXME: JacobianFactor/GaussianFactor mismatch diff --git a/matlab/tests/testKalmanFilter.m b/matlab/tests/testKalmanFilter.m index 652e37c9e..ee65d18d3 100644 --- a/matlab/tests/testKalmanFilter.m +++ b/matlab/tests/testKalmanFilter.m @@ -19,16 +19,17 @@ % */ %% Create the controls and measurement properties for our example +import gtsam.* F = eye(2,2); B = eye(2,2); u = [1.0; 0.0]; -modelQ = gtsamnoiseModelDiagonal.Sigmas([0.1;0.1]); +modelQ = noiseModel.Diagonal.Sigmas([0.1;0.1]); Q = 0.01*eye(2,2); H = eye(2,2); z1 = [1.0, 0.0]'; z2 = [2.0, 0.0]'; z3 = [3.0, 0.0]'; -modelR = gtsamnoiseModelDiagonal.Sigmas([0.1;0.1]); +modelR = noiseModel.Diagonal.Sigmas([0.1;0.1]); R = 0.01*eye(2,2); %% Create the set of expected output TestValues @@ -48,7 +49,8 @@ P23 = inv(I22) + Q; I33 = inv(P23) + inv(R); %% Create an KalmanFilter object -KF = gtsamKalmanFilter(2); +import gtsam.* +KF = KalmanFilter(2); %% Create the Kalman Filter initialization point x_initial = [0.0;0.0]; diff --git a/matlab/tests/testLocalizationExample.m b/matlab/tests/testLocalizationExample.m index 1efcde4a6..35c16d85f 100644 --- a/matlab/tests/testLocalizationExample.m +++ b/matlab/tests/testLocalizationExample.m @@ -11,30 +11,32 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add two odometry factors -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +import gtsam.* +odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta -groundTruth = pose2SLAMValues; -groundTruth.insertPose(1, gtsamPose2(0.0, 0.0, 0.0)); -groundTruth.insertPose(2, gtsamPose2(2.0, 0.0, 0.0)); -groundTruth.insertPose(3, gtsamPose2(4.0, 0.0, 0.0)); -noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.1; 10]); +import gtsam.* +groundTruth = pose2SLAM.Values; +groundTruth.insertPose(1, Pose2(0.0, 0.0, 0.0)); +groundTruth.insertPose(2, Pose2(2.0, 0.0, 0.0)); +groundTruth.insertPose(3, Pose2(4.0, 0.0, 0.0)); +model = noiseModel.Diagonal.Sigmas([0.1; 0.1; 10]); for i=1:3 - graph.addPosePrior(i, groundTruth.pose(i), noiseModel); + graph.addPosePrior(i, groundTruth.pose(i), model); end %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate,0); diff --git a/matlab/tests/testOdometryExample.m b/matlab/tests/testOdometryExample.m index 21d83c35e..e793df9a8 100644 --- a/matlab/tests/testOdometryExample.m +++ b/matlab/tests/testOdometryExample.m @@ -11,24 +11,27 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add a Gaussian prior on pose x_1 -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta +import gtsam.* +priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add two odometry factors -odometry = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta +import gtsam.* +odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.addRelativePose(1, 2, odometry, odometryNoise); graph.addRelativePose(2, 3, odometry, odometryNoise); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, 0.1)); +import gtsam.* +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate,0); @@ -37,4 +40,4 @@ marginals.marginalCovariance(1); %% Check first pose equality pose_1 = result.pose(1); -CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); +CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); diff --git a/matlab/tests/testPlanarSLAMExample.m b/matlab/tests/testPlanarSLAMExample.m index cb2517526..4c3e6c9da 100644 --- a/matlab/tests/testPlanarSLAMExample.m +++ b/matlab/tests/testPlanarSLAMExample.m @@ -24,45 +24,50 @@ i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it -graph = planarSLAMGraph; +graph = planarSLAM.Graph; %% Add prior -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); +import gtsam.* +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph %% Add odometry -odometry = gtsamPose2(2.0, 0.0, 0.0); -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); +import gtsam.* +odometry = Pose2(2.0, 0.0, 0.0); +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.addRelativePose(i1, i2, odometry, odometryNoise); graph.addRelativePose(i2, i3, odometry, odometryNoise); %% Add bearing/range measurement factors +import gtsam.* degrees = pi/180; -noiseModel = gtsamnoiseModelDiagonal.Sigmas([0.1; 0.2]); -graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); -graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel); -graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); +brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); +graph.addBearingRange(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise); +graph.addBearingRange(i2, j1, Rot2(90*degrees), 2, brNoise); +graph.addBearingRange(i3, j2, Rot2(90*degrees), 2, brNoise); %% Initialize to noisy points -initialEstimate = planarSLAMValues; -initialEstimate.insertPose(i1, gtsamPose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(i2, gtsamPose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(i3, gtsamPose2(4.1, 0.1, 0.1)); -initialEstimate.insertPoint(j1, gtsamPoint2(1.8, 2.1)); -initialEstimate.insertPoint(j2, gtsamPoint2(4.1, 1.8)); +import gtsam.* +initialEstimate = planarSLAM.Values; +initialEstimate.insertPose(i1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insertPose(i2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insertPose(i3, Pose2(4.1, 0.1, 0.1)); +initialEstimate.insertPoint(j1, Point2(1.8, 2.1)); +initialEstimate.insertPoint(j2, Point2(4.1, 1.8)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate,0); marginals = graph.marginals(result); %% Check first pose and point equality +import gtsam.* pose_1 = result.pose(symbol('x',1)); marginals.marginalCovariance(symbol('x',1)); -CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); +CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); point_1 = result.point(symbol('l',1)); marginals.marginalCovariance(symbol('l',1)); -CHECK('point_1.equals(gtsamPoint2(2,2),1e-4)',point_1.equals(gtsamPoint2(2,2),1e-4)); +CHECK('point_1.equals(Point2(2,2),1e-4)',point_1.equals(Point2(2,2),1e-4)); diff --git a/matlab/tests/testPose2SLAMExample.m b/matlab/tests/testPose2SLAMExample.m index 41827c213..cd778cba3 100644 --- a/matlab/tests/testPose2SLAMExample.m +++ b/matlab/tests/testPose2SLAMExample.m @@ -19,33 +19,37 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAMGraph; +graph = pose2SLAM.Graph; %% Add prior +import gtsam.* % gaussian for prior -priorMean = gtsamPose2(0.0, 0.0, 0.0); % prior at origin -priorNoise = gtsamnoiseModelDiagonal.Sigmas([0.3; 0.3; 0.1]); +priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph %% Add odometry % general noisemodel for odometry -odometryNoise = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(1, 2, gtsamPose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addRelativePose(2, 3, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(3, 4, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(4, 5, gtsamPose2(2.0, 0.0, pi/2), odometryNoise); +import gtsam.* +odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); +graph.addRelativePose(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.addRelativePose(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise); %% Add pose constraint -model = gtsamnoiseModelDiagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(5, 2, gtsamPose2(2.0, 0.0, pi/2), model); +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.addRelativePose(5, 2, Pose2(2.0, 0.0, pi/2), model); %% Initialize to noisy points -initialEstimate = pose2SLAMValues; -initialEstimate.insertPose(1, gtsamPose2(0.5, 0.0, 0.2 )); -initialEstimate.insertPose(2, gtsamPose2(2.3, 0.1,-0.2 )); -initialEstimate.insertPose(3, gtsamPose2(4.1, 0.1, pi/2)); -initialEstimate.insertPose(4, gtsamPose2(4.0, 2.0, pi )); -initialEstimate.insertPose(5, gtsamPose2(2.1, 2.1,-pi/2)); +import gtsam.* +initialEstimate = pose2SLAM.Values; +initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2 )); +initialEstimate.insertPose(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insertPose(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insertPose(5, Pose2(2.1, 2.1,-pi/2)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd result = graph.optimize(initialEstimate,0); @@ -56,9 +60,9 @@ marginals = graph.marginals(result); P = marginals.marginalCovariance(1); pose_1 = result.pose(1); -CHECK('pose_1.equals(gtsamPose2,1e-4)',pose_1.equals(gtsamPose2,1e-4)); +CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); poseSPCG_1 = resultSPCG.pose(1); -CHECK('poseSPCG_1.equals(gtsamPose2,1e-4)',poseSPCG_1.equals(gtsamPose2,1e-4)); +CHECK('poseSPCG_1.equals(Pose2,1e-4)',poseSPCG_1.equals(Pose2,1e-4)); diff --git a/matlab/tests/testPose3SLAMExample.m b/matlab/tests/testPose3SLAMExample.m index 97e8b1b42..ac3c0d5bb 100644 --- a/matlab/tests/testPose3SLAMExample.m +++ b/matlab/tests/testPose3SLAMExample.m @@ -11,15 +11,16 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create a hexagon of poses -hexagon = pose3SLAMValues.Circle(6,1.0); +hexagon = pose3SLAM.Values.Circle(6,1.0); p0 = hexagon.pose(0); p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement -fg = pose3SLAMGraph; +import gtsam.* +fg = pose3SLAM.Graph; fg.addPoseConstraint(0, p0); delta = p0.between(p1); -covariance = gtsamnoiseModelDiagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +covariance = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); fg.addRelativePose(0,1, delta, covariance); fg.addRelativePose(1,2, delta, covariance); fg.addRelativePose(2,3, delta, covariance); @@ -28,7 +29,7 @@ fg.addRelativePose(4,5, delta, covariance); fg.addRelativePose(5,0, delta, covariance); %% Create initial config -initial = pose3SLAMValues; +initial = pose3SLAM.Values; s = 0.10; initial.insertPose(0, p0); initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1))); @@ -41,6 +42,6 @@ initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); result = fg.optimize(initial,0); pose_1 = result.pose(1); -CHECK('pose_1.equals(gtsamPose3,1e-4)',pose_1.equals(p1,1e-4)); +CHECK('pose_1.equals(Pose3,1e-4)',pose_1.equals(p1,1e-4)); diff --git a/matlab/tests/testSFMExample.m b/matlab/tests/testSFMExample.m index bcf6aca32..b3595dc18 100644 --- a/matlab/tests/testSFMExample.m +++ b/matlab/tests/testSFMExample.m @@ -20,10 +20,11 @@ measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; -graph = visualSLAMGraph; +graph = visualSLAM.Graph; %% Add factors for all measurements -measurementNoise = gtsamnoiseModelIsotropic.Sigma(2,measurementNoiseSigma); +import gtsam.* +measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; @@ -31,13 +32,13 @@ for i=1:length(data.Z) end end -posePriorNoise = gtsamnoiseModelDiagonal.Sigmas(poseNoiseSigmas); +posePriorNoise = noiseModel.Diagonal.Sigmas(poseNoiseSigmas); graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); -pointPriorNoise = gtsamnoiseModelIsotropic.Sigma(3,pointNoiseSigma); +pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); %% Initial estimate -initialEstimate = visualSLAMValues; +initialEstimate = visualSLAM.Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose; initialEstimate.insertPose(symbol('x',i), pose_i); @@ -48,7 +49,8 @@ for j=1:size(truth.points,2) end %% Optimization -parameters = gtsamLevenbergMarquardtParams; +import gtsam.* +parameters = LevenbergMarquardtParams; optimizer = graph.optimizer(initialEstimate, parameters); for i=1:5 optimizer.iterate(); diff --git a/matlab/tests/testStereoVOExample.m b/matlab/tests/testStereoVOExample.m index da9249128..69fba200d 100644 --- a/matlab/tests/testStereoVOExample.m +++ b/matlab/tests/testStereoVOExample.m @@ -22,38 +22,42 @@ x1 = symbol('x',1); x2 = symbol('x',2); l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); %% Create graph container and add factors to it -graph = visualSLAMGraph; +graph = visualSLAM.Graph; %% add a constraint on the starting pose -first_pose = gtsamPose3(); +import gtsam.* +first_pose = Pose3(); graph.addPoseConstraint(x1, first_pose); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline -K = gtsamCal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); -stereo_model = gtsamnoiseModelDiagonal.Sigmas([1.0; 1.0; 1.0]); +import gtsam.* +K = Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); +stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% Add measurements +import gtsam.* % pose 1 -graph.addStereoMeasurement(gtsamStereoPoint2(520, 480, 440), stereo_model, x1, l1, K); -graph.addStereoMeasurement(gtsamStereoPoint2(120, 80, 440), stereo_model, x1, l2, K); -graph.addStereoMeasurement(gtsamStereoPoint2(320, 280, 140), stereo_model, x1, l3, K); +graph.addStereoMeasurement(StereoPoint2(520, 480, 440), stereo_model, x1, l1, K); +graph.addStereoMeasurement(StereoPoint2(120, 80, 440), stereo_model, x1, l2, K); +graph.addStereoMeasurement(StereoPoint2(320, 280, 140), stereo_model, x1, l3, K); %pose 2 -graph.addStereoMeasurement(gtsamStereoPoint2(570, 520, 490), stereo_model, x2, l1, K); -graph.addStereoMeasurement(gtsamStereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); -graph.addStereoMeasurement(gtsamStereoPoint2(320, 270, 115), stereo_model, x2, l3, K); +graph.addStereoMeasurement(StereoPoint2(570, 520, 490), stereo_model, x2, l1, K); +graph.addStereoMeasurement(StereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); +graph.addStereoMeasurement(StereoPoint2(320, 270, 115), stereo_model, x2, l3, K); %% Create initial estimate for camera poses and landmarks -initialEstimate = visualSLAMValues; +import gtsam.* +initialEstimate = visualSLAM.Values; initialEstimate.insertPose(x1, first_pose); % noisy estimate for pose 2 -initialEstimate.insertPose(x2, gtsamPose3(gtsamRot3(), gtsamPoint3(0.1,-.1,1.1))); -expected_l1 = gtsamPoint3( 1, 1, 5); +initialEstimate.insertPose(x2, Pose3(Rot3(), Point3(0.1,-.1,1.1))); +expected_l1 = Point3( 1, 1, 5); initialEstimate.insertPoint(l1, expected_l1); -initialEstimate.insertPoint(l2, gtsamPoint3(-1, 1, 5)); -initialEstimate.insertPoint(l3, gtsamPoint3( 0,-.5, 5)); +initialEstimate.insertPoint(l2, Point3(-1, 1, 5)); +initialEstimate.insertPoint(l3, Point3( 0,-.5, 5)); %% optimize result = graph.optimize(initialEstimate,0); diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp index 279050e25..6956b310b 100644 --- a/wrap/Argument.cpp +++ b/wrap/Argument.cpp @@ -48,7 +48,7 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const { file.oss << " "; string cppType = qualifiedType("::"); - string matlabType = qualifiedType(); + string matlabUniqueType = qualifiedType(); if (is_ptr) // A pointer: emit an "unwrap_shared_ptr" call which returns a pointer @@ -65,7 +65,7 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const { file.oss << cppType << " " << name << " = unwrap< "; file.oss << cppType << " >(" << matlabName; - if (is_ptr || is_ref) file.oss << ", \"ptr_" << matlabType << "\""; + if (is_ptr || is_ref) file.oss << ", \"ptr_" << matlabUniqueType << "\""; file.oss << ");" << endl; } diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 5f7d7aa6e..8e04543e4 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -24,6 +24,7 @@ #include // works on Linux GCC #include +#include #include #include "Class.h" @@ -34,29 +35,47 @@ using namespace std; using namespace wrap; /* ************************************************************************* */ -void Class::matlab_proxy(const string& classFile, const string& wrapperName, +void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, vector& functionNames) const { - // open destination classFile + + // Create namespace folders + { + using namespace boost::filesystem; + path curPath = toolboxPath; + BOOST_FOREACH(const string& subdir, namespaces) { + curPath /= "+" + subdir; + if(!is_directory(curPath)) + if(exists("+" + subdir)) + throw OutputError("Need to write files to directory " + curPath.string() + ", which already exists as a file but is not a directory"); + else + boost::filesystem::create_directory(curPath); + } + } + + // open destination classFile + string classFile = toolboxPath; + if(!namespaces.empty()) + classFile += "/+" + wrap::qualifiedName("/+", namespaces); + classFile += "/" + name + ".m"; FileWriter proxyFile(classFile, verbose_, "%"); // get the name of actual matlab object - const string matlabName = qualifiedName(), cppName = qualifiedName("::"); - const string matlabBaseName = wrap::qualifiedName("", qualifiedParent); + const string matlabQualName = qualifiedName("."), matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); + const string matlabBaseName = wrap::qualifiedName(".", qualifiedParent); const string cppBaseName = wrap::qualifiedName("::", qualifiedParent); // emit class proxy code // we want our class to inherit the handle class for memory purposes - const string parent = qualifiedParent.empty() ? - "handle" : ::wrap::qualifiedName("", qualifiedParent); - proxyFile.oss << "classdef " << matlabName << " < " << parent << endl; + const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName; + proxyFile.oss << "classdef " << name << " < " << parent << endl; proxyFile.oss << " properties" << endl; - proxyFile.oss << " ptr_" << matlabName << " = 0" << endl; + proxyFile.oss << " ptr_" << matlabUniqueName << " = 0" << endl; proxyFile.oss << " end" << endl; proxyFile.oss << " methods" << endl; // Constructor - proxyFile.oss << " function obj = " << matlabName << "(varargin)" << endl; + proxyFile.oss << " function obj = " << name << "(varargin)" << endl; // Special pointer constructors - one in MATLAB to create an object and // assign a pointer returned from a C++ function. In turn this MATLAB // constructor calls a special C++ function that just adds the object to @@ -70,26 +89,26 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, BOOST_FOREACH(ArgumentList a, constructor.args_list) { const int id = (int)functionNames.size(); - constructor.proxy_fragment(proxyFile, wrapperName, matlabName, matlabBaseName, id, a); + constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(), id, a); const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, - cppName, matlabName, cppBaseName, id, using_namespaces, a); + cppName, matlabUniqueName, cppBaseName, id, using_namespaces, a); wrapperFile.oss << "\n"; functionNames.push_back(wrapFunctionName); } proxyFile.oss << " else\n"; - proxyFile.oss << " error('Arguments do not match any overload of " << matlabName << " constructor');" << endl; + proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');" << endl; proxyFile.oss << " end\n"; if(!qualifiedParent.empty()) proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n"; - proxyFile.oss << " obj.ptr_" << matlabName << " = my_ptr;\n"; + proxyFile.oss << " obj.ptr_" << matlabUniqueName << " = my_ptr;\n"; proxyFile.oss << " end\n\n"; // Deconstructor { const int id = (int)functionNames.size(); - deconstructor.proxy_fragment(proxyFile, wrapperName, matlabName, id); + deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id); proxyFile.oss << "\n"; - const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabName, id, using_namespaces); + const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id, using_namespaces); wrapperFile.oss << "\n"; functionNames.push_back(functionName); } @@ -99,7 +118,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, // Methods BOOST_FOREACH(const Methods::value_type& name_m, methods) { const Method& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, typeAttributes, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, using_namespaces, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } @@ -111,7 +130,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, // Static methods BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { const StaticMethod& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabName, wrapperName, using_namespaces, typeAttributes, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, using_namespaces, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } @@ -131,19 +150,18 @@ string Class::qualifiedName(const string& delim) const { /* ************************************************************************* */ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, vector& functionNames) const { - const string matlabName = qualifiedName(), cppName = qualifiedName("::"); - const string baseMatlabName = wrap::qualifiedName("", qualifiedParent); + const string matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); const string baseCppName = wrap::qualifiedName("::", qualifiedParent); const int collectorInsertId = (int)functionNames.size(); - const string collectorInsertFunctionName = matlabName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(collectorInsertId); + const string collectorInsertFunctionName = matlabUniqueName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(collectorInsertId); functionNames.push_back(collectorInsertFunctionName); int upcastFromVoidId; string upcastFromVoidFunctionName; if(isVirtual) { upcastFromVoidId = (int)functionNames.size(); - upcastFromVoidFunctionName = matlabName + "_upcastFromVoid_" + boost::lexical_cast(upcastFromVoidId); + upcastFromVoidFunctionName = matlabUniqueName + "_upcastFromVoid_" + boost::lexical_cast(upcastFromVoidId); functionNames.push_back(upcastFromVoidFunctionName); } @@ -184,7 +202,7 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra // Get self pointer passed in wrapperFile.oss << " Shared *self = *reinterpret_cast (mxGetData(in[0]));\n"; // Add to collector - wrapperFile.oss << " collector_" << matlabName << ".insert(self);\n"; + wrapperFile.oss << " collector_" << matlabUniqueName << ".insert(self);\n"; // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) if(!qualifiedParent.empty()) { wrapperFile.oss << "\n"; diff --git a/wrap/Class.h b/wrap/Class.h index 9a6ca12c7..c41cbb470 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -53,7 +53,7 @@ struct Class { bool verbose_; ///< verbose flag // And finally MATLAB code is emitted, methods below called by Module::matlab_code - void matlab_proxy(const std::string& classFile, const std::string& wrapperName, const TypeAttributesTable& typeAttributes, + void matlab_proxy(const std::string& toolboxPath, const std::string& wrapperName, const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, std::vector& functionNames) const; ///< emit proxy class std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index afb35f62d..274180e08 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -38,7 +38,7 @@ string Constructor::matlab_wrapper_name(const string& className) const { /* ************************************************************************* */ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperName, - const string& matlabName, const string& matlabBaseName, const int id, const ArgumentList args) const { + bool hasParent, const int id, const ArgumentList args) const { size_t nrArgs = args.size(); // check for number of arguments... file.oss << " elseif nargin == " << nrArgs; @@ -47,14 +47,14 @@ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperNam bool first = true; for(size_t i=0;i& using_namespaces, const ArgumentList& al) const { - const string wrapFunctionName = matlabClassName + "_constructor_" + boost::lexical_cast(id); + const string wrapFunctionName = matlabUniqueName + "_constructor_" + boost::lexical_cast(id); file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; file.oss << "{\n"; @@ -87,7 +87,7 @@ string Constructor::wrapper_fragment(FileWriter& file, if(al.size() > 0) al.matlab_unwrap(file); // unwrap arguments file.oss << " Shared *self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl; - file.oss << " collector_" << matlabClassName << ".insert(self);\n"; + file.oss << " collector_" << matlabUniqueName << ".insert(self);\n"; if(verbose_) file.oss << " std::cout << \"constructed \" << self << \" << std::endl;" << endl; diff --git a/wrap/Constructor.h b/wrap/Constructor.h index 50d0c41f5..e2eca1291 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -50,13 +50,12 @@ struct Constructor { * if nargin == 2, obj.self = new_Pose3_RP(varargin{1},varargin{2}); end */ void proxy_fragment(FileWriter& file, const std::string& wrapperName, - const std::string& className, const std::string& matlabBaseName, const int id, - const ArgumentList args) const; + bool hasParent, const int id, const ArgumentList args) const; /// cpp wrapper std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, - const std::string& matlabClassName, + const std::string& matlabUniqueName, const std::string& cppBaseClassName, int id, const std::vector& using_namespaces, diff --git a/wrap/Deconstructor.cpp b/wrap/Deconstructor.cpp index c02ab0e93..c9239ee74 100644 --- a/wrap/Deconstructor.cpp +++ b/wrap/Deconstructor.cpp @@ -37,23 +37,23 @@ string Deconstructor::matlab_wrapper_name(const string& className) const { /* ************************************************************************* */ void Deconstructor::proxy_fragment(FileWriter& file, const std::string& wrapperName, - const std::string& qualifiedMatlabName, int id) const { + const std::string& matlabUniqueName, int id) const { file.oss << " function delete(obj)\n"; - file.oss << " " << wrapperName << "(" << id << ", obj.ptr_" << qualifiedMatlabName << ");\n"; + file.oss << " " << wrapperName << "(" << id << ", obj.ptr_" << matlabUniqueName << ");\n"; file.oss << " end\n"; } /* ************************************************************************* */ string Deconstructor::wrapper_fragment(FileWriter& file, const string& cppClassName, - const string& matlabClassName, + const string& matlabUniqueName, int id, const vector& using_namespaces) const { - const string matlabName = matlab_wrapper_name(matlabClassName); + const string matlabName = matlab_wrapper_name(matlabUniqueName); - const string wrapFunctionName = matlabClassName + "_deconstructor_" + boost::lexical_cast(id); + const string wrapFunctionName = matlabUniqueName + "_deconstructor_" + boost::lexical_cast(id); file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; file.oss << "{" << endl; @@ -62,11 +62,11 @@ string Deconstructor::wrapper_fragment(FileWriter& file, //Deconstructor takes 1 arg, the mxArray obj file.oss << " checkArguments(\"" << matlabName << "\",nargout,nargin," << "1" << ");" << endl; file.oss << " Shared *self = *reinterpret_cast(mxGetData(in[0]));\n"; - file.oss << " Collector_" << matlabClassName << "::iterator item;\n"; - file.oss << " item = collector_" << matlabClassName << ".find(self);\n"; - file.oss << " if(item != collector_" << matlabClassName << ".end()) {\n"; + file.oss << " Collector_" << matlabUniqueName << "::iterator item;\n"; + file.oss << " item = collector_" << matlabUniqueName << ".find(self);\n"; + file.oss << " if(item != collector_" << matlabUniqueName << ".end()) {\n"; file.oss << " delete self;\n"; - file.oss << " collector_" << matlabClassName << ".erase(item);\n"; + file.oss << " collector_" << matlabUniqueName << ".erase(item);\n"; file.oss << " }\n"; file.oss << "}" << endl; diff --git a/wrap/Deconstructor.h b/wrap/Deconstructor.h index 1ef5b80b0..0d7dadaad 100644 --- a/wrap/Deconstructor.h +++ b/wrap/Deconstructor.h @@ -48,12 +48,12 @@ struct Deconstructor { /// m-file void proxy_fragment(FileWriter& file, const std::string& wrapperName, - const std::string& qualifiedMatlabName, int id) const; + const std::string& matlabUniqueName, int id) const; /// cpp wrapper std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, - const std::string& matlabClassName, + const std::string& matlabUniqueName, int id, const std::vector& using_namespaces) const; }; diff --git a/wrap/Method.cpp b/wrap/Method.cpp index f7ee5c71c..eb143b4dc 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -39,7 +39,8 @@ void Method::addOverload(bool verbose, bool is_const, const std::string& name, void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& cppClassName, - const string& matlabClassName, + const std::string& matlabQualName, + const std::string& matlabUniqueName, const string& wrapperName, const vector& using_namespaces, const TypeAttributesTable& typeAttributes, @@ -63,7 +64,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF bool first = true; for(size_t i=0;i& using_namespaces, @@ -107,7 +108,7 @@ string Method::wrapper_fragment(FileWriter& file, // generate code - const string wrapFunctionName = matlabClassName + "_" + name + "_" + boost::lexical_cast(id); + const string wrapFunctionName = matlabUniqueName + "_" + name + "_" + boost::lexical_cast(id); const ArgumentList& args = argLists[overload]; const ReturnValue& returnVal = returnVals[overload]; @@ -138,7 +139,7 @@ string Method::wrapper_fragment(FileWriter& file, // get class pointer // example: shared_ptr = unwrap_shared_ptr< Test >(in[0], "Test"); - file.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabClassName << "\");" << endl; + file.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl; // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,1); diff --git a/wrap/Method.h b/wrap/Method.h index c23fd7c3d..e23a24186 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -50,7 +50,7 @@ struct Method { // MATLAB code generation // classPath is class directory, e.g., ../matlab/@Point2 void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, - const std::string& cppClassName, const std::string& matlabClassName, + const std::string& cppClassName, const std::string& matlabQualName, const std::string& matlabUniqueName, const std::string& wrapperName, const std::vector& using_namespaces, const TypeAttributesTable& typeAttributes, std::vector& functionNames) const; @@ -58,7 +58,7 @@ struct Method { private: std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, - const std::string& matlabClassname, + const std::string& matlabUniqueName, int overload, int id, const std::vector& using_namespaces, diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 8ad476cd3..1f077b31f 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -14,7 +14,7 @@ * @author Frank Dellaert * @author Alex Cunningham * @author Andrew Melim - * @author Richard Roberts + * @author Richard Roberts **/ #include "Module.h" @@ -448,8 +448,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // create proxy class and wrapper code BOOST_FOREACH(const Class& cls, expandedClasses) { - string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; - cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); + cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); } // finish wrapper file @@ -527,11 +526,12 @@ vector Module::GenerateValidTypes(const vector& classes, const ve void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { // Generate all collectors BOOST_FOREACH(const Class& cls, classes) { - const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); + const string matlabUniqueName = cls.qualifiedName(), + cppName = cls.qualifiedName("::"); wrapperFile.oss << "typedef std::set*> " - << "Collector_" << matlabName << ";\n"; - wrapperFile.oss << "static Collector_" << matlabName << - " collector_" << matlabName << ";\n"; + << "Collector_" << matlabUniqueName << ";\n"; + wrapperFile.oss << "static Collector_" << matlabUniqueName << + " collector_" << matlabUniqueName << ";\n"; } // generate mexAtExit cleanup function @@ -542,10 +542,10 @@ void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::st " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n" " bool anyDeleted = false;\n"; BOOST_FOREACH(const Class& cls, classes) { - const string matlabName = cls.qualifiedName(); + const string matlabUniqueName = cls.qualifiedName(); const string cppName = cls.qualifiedName("::"); - const string collectorType = "Collector_" + matlabName; - const string collectorName = "collector_" + matlabName; + const string collectorType = "Collector_" + matlabUniqueName; + const string collectorName = "collector_" + matlabUniqueName; wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" " iter != " << collectorName << ".end(); ) {\n" @@ -574,7 +574,7 @@ void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& modul BOOST_FOREACH(const Class& cls, classes) { if(cls.isVirtual) wrapperFile.oss << - " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName() << "\"));\n"; + " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n"; } wrapperFile.oss << "\n"; diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index a3efb094e..c209a3131 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -48,8 +48,8 @@ string ReturnValue::qualifiedType2(const string& delim) const { /* ************************************************************************* */ //TODO:Fix this void ReturnValue::wrap_result(const string& result, FileWriter& file, const TypeAttributesTable& typeAttributes) const { - string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1(); - string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2(); + string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1("."); + string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2("."); if (isPair) { // first return value in pair diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 19dcd375e..fcef79857 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -40,7 +40,8 @@ void StaticMethod::addOverload(bool verbose, const std::string& name, void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& cppClassName, - const string& matlabClassName, + const std::string& matlabQualName, + const std::string& matlabUniqueName, const string& wrapperName, const vector& using_namespaces, const TypeAttributesTable& typeAttributes, @@ -66,7 +67,7 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr bool first = true; for(size_t i=0;i& using_namespaces, @@ -110,7 +111,7 @@ string StaticMethod::wrapper_fragment(FileWriter& file, // generate code - const string wrapFunctionName = matlabClassName + "_" + name + "_" + boost::lexical_cast(id); + const string wrapFunctionName = matlabUniqueName + "_" + name + "_" + boost::lexical_cast(id); const ArgumentList& args = argLists[overload]; const ReturnValue& returnVal = returnVals[overload]; @@ -136,7 +137,7 @@ string StaticMethod::wrapper_fragment(FileWriter& file, // check arguments // NOTE: for static functions, there is no object passed - file.oss << " checkArguments(\"" << matlabClassName << "." << name << "\",nargout,nargin," << args.size() << ");\n"; + file.oss << " checkArguments(\"" << matlabUniqueName << "." << name << "\",nargout,nargin," << args.size() << ");\n"; // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,0); // We start at 0 because there is no self object diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index 8951f965b..55d9f3e99 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -50,7 +50,7 @@ struct StaticMethod { // MATLAB code generation // classPath is class directory, e.g., ../matlab/@Point2 void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, - const std::string& cppClassName, const std::string& matlabClassName, + const std::string& cppClassName, const std::string& matlabQualName, const std::string& matlabUniqueName, const std::string& wrapperName, const std::vector& using_namespaces, const TypeAttributesTable& typeAttributes, std::vector& functionNames) const; @@ -58,7 +58,7 @@ struct StaticMethod { private: std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, - const std::string& matlabClassname, + const std::string& matlabUniqueName, int overload, int id, const std::vector& using_namespaces, diff --git a/wrap/tests/expected_namespaces/ns1ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m similarity index 80% rename from wrap/tests/expected_namespaces/ns1ClassA.m rename to wrap/tests/expected_namespaces/+ns1/ClassA.m index 29f48ab4e..f0682c815 100644 --- a/wrap/tests/expected_namespaces/ns1ClassA.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m @@ -1,17 +1,17 @@ % automatically generated by wrap -classdef ns1ClassA < handle +classdef ClassA < handle properties ptr_ns1ClassA = 0 end methods - function obj = ns1ClassA(varargin) + function obj = ClassA(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; testNamespaces_wrapper(0, my_ptr); elseif nargin == 0 my_ptr = testNamespaces_wrapper(1); else - error('Arguments do not match any overload of ns1ClassA constructor'); + error('Arguments do not match any overload of ns1.ClassA constructor'); end obj.ptr_ns1ClassA = my_ptr; end diff --git a/wrap/tests/expected_namespaces/ns1ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m similarity index 80% rename from wrap/tests/expected_namespaces/ns1ClassB.m rename to wrap/tests/expected_namespaces/+ns1/ClassB.m index a1e9bc9a5..a263bc1e8 100644 --- a/wrap/tests/expected_namespaces/ns1ClassB.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m @@ -1,17 +1,17 @@ % automatically generated by wrap -classdef ns1ClassB < handle +classdef ClassB < handle properties ptr_ns1ClassB = 0 end methods - function obj = ns1ClassB(varargin) + function obj = ClassB(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; testNamespaces_wrapper(3, my_ptr); elseif nargin == 0 my_ptr = testNamespaces_wrapper(4); else - error('Arguments do not match any overload of ns1ClassB constructor'); + error('Arguments do not match any overload of ns1.ClassB constructor'); end obj.ptr_ns1ClassB = my_ptr; end diff --git a/wrap/tests/expected_namespaces/ns2ns3ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m similarity index 79% rename from wrap/tests/expected_namespaces/ns2ns3ClassB.m rename to wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m index b5e57ea19..2c19e13a8 100644 --- a/wrap/tests/expected_namespaces/ns2ns3ClassB.m +++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m @@ -1,17 +1,17 @@ % automatically generated by wrap -classdef ns2ns3ClassB < handle +classdef ClassB < handle properties ptr_ns2ns3ClassB = 0 end methods - function obj = ns2ns3ClassB(varargin) + function obj = ClassB(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; testNamespaces_wrapper(13, my_ptr); elseif nargin == 0 my_ptr = testNamespaces_wrapper(14); else - error('Arguments do not match any overload of ns2ns3ClassB constructor'); + error('Arguments do not match any overload of ns2.ns3.ClassB constructor'); end obj.ptr_ns2ns3ClassB = my_ptr; end diff --git a/wrap/tests/expected_namespaces/ns2ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m similarity index 84% rename from wrap/tests/expected_namespaces/ns2ClassA.m rename to wrap/tests/expected_namespaces/+ns2/ClassA.m index 7b3df9ed6..e7a074c08 100644 --- a/wrap/tests/expected_namespaces/ns2ClassA.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m @@ -1,17 +1,17 @@ % automatically generated by wrap -classdef ns2ClassA < handle +classdef ClassA < handle properties ptr_ns2ClassA = 0 end methods - function obj = ns2ClassA(varargin) + function obj = ClassA(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; testNamespaces_wrapper(6, my_ptr); elseif nargin == 0 my_ptr = testNamespaces_wrapper(7); else - error('Arguments do not match any overload of ns2ClassA constructor'); + error('Arguments do not match any overload of ns2.ClassA constructor'); end obj.ptr_ns2ClassA = my_ptr; end @@ -28,15 +28,15 @@ classdef ns2ClassA < handle if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(9, this, varargin{:}); else - error('Arguments do not match any overload of function ns2ClassA.memberFunction'); + error('Arguments do not match any overload of function ns2.ClassA.memberFunction'); end end function varargout = nsArg(this, varargin) - if length(varargin) == 1 && isa(varargin{1},'ns1ClassB') + if length(varargin) == 1 && isa(varargin{1},'ns1.ClassB') varargout{1} = testNamespaces_wrapper(10, this, varargin{:}); else - error('Arguments do not match any overload of function ns2ClassA.nsArg'); + error('Arguments do not match any overload of function ns2.ClassA.nsArg'); end end @@ -44,7 +44,7 @@ classdef ns2ClassA < handle if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = testNamespaces_wrapper(11, this, varargin{:}); else - error('Arguments do not match any overload of function ns2ClassA.nsReturn'); + error('Arguments do not match any overload of function ns2.ClassA.nsReturn'); end end @@ -55,7 +55,7 @@ classdef ns2ClassA < handle if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(12, varargin{:}); else - error('Arguments do not match any overload of function ns2ClassA.Afunction'); + error('Arguments do not match any overload of function ns2.ClassA.Afunction'); end end diff --git a/wrap/tests/expected_namespaces/ns2ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m similarity index 80% rename from wrap/tests/expected_namespaces/ns2ClassC.m rename to wrap/tests/expected_namespaces/+ns2/ClassC.m index 5ba6e7125..f56a9c5cb 100644 --- a/wrap/tests/expected_namespaces/ns2ClassC.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m @@ -1,17 +1,17 @@ % automatically generated by wrap -classdef ns2ClassC < handle +classdef ClassC < handle properties ptr_ns2ClassC = 0 end methods - function obj = ns2ClassC(varargin) + function obj = ClassC(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; testNamespaces_wrapper(16, my_ptr); elseif nargin == 0 my_ptr = testNamespaces_wrapper(17); else - error('Arguments do not match any overload of ns2ClassC constructor'); + error('Arguments do not match any overload of ns2.ClassC constructor'); end obj.ptr_ns2ClassC = my_ptr; end diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 6e65b1a0f..3eb0b0311 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -223,7 +223,7 @@ void ns2ClassA_nsReturn_11(int nargout, mxArray *out[], int nargin, const mxArra checkArguments("nsReturn",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_ns2ClassA"); double q = unwrap< double >(in[1]); - out[0] = wrap_shared_ptr(SharedClassB(new ns2::ns3::ClassB(obj->nsReturn(q))),"ns2ns3ClassB", false); + out[0] = wrap_shared_ptr(SharedClassB(new ns2::ns3::ClassB(obj->nsReturn(q))),"ns2.ns3.ClassB", false); } void ns2ClassA_afunction_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 4aa5b6f58..0ed1f84ef 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -227,11 +227,11 @@ TEST( wrap, matlab_code_namespaces ) { EXPECT(files_equal(exp_path + "ClassD.m" , act_path + "ClassD.m" )); - EXPECT(files_equal(exp_path + "ns1ClassA.m" , act_path + "ns1ClassA.m" )); - EXPECT(files_equal(exp_path + "ns1ClassB.m" , act_path + "ns1ClassB.m" )); - EXPECT(files_equal(exp_path + "ns2ClassA.m" , act_path + "ns2ClassA.m" )); - EXPECT(files_equal(exp_path + "ns2ClassC.m" , act_path + "ns2ClassC.m" )); - EXPECT(files_equal(exp_path + "ns2ns3ClassB.m" , act_path + "ns2ns3ClassB.m" )); + EXPECT(files_equal(exp_path + "+ns1/ClassA.m" , act_path + "+ns1/ClassA.m" )); + EXPECT(files_equal(exp_path + "+ns1/ClassB.m" , act_path + "+ns1/ClassB.m" )); + EXPECT(files_equal(exp_path + "+ns2/ClassA.m" , act_path + "+ns2/ClassA.m" )); + EXPECT(files_equal(exp_path + "+ns2/ClassC.m" , act_path + "+ns2/ClassC.m" )); + EXPECT(files_equal(exp_path + "+ns2/+ns3/ClassB.m" , act_path + "+ns2/+ns3/ClassB.m" )); EXPECT(files_equal(exp_path + "testNamespaces_wrapper.cpp" , act_path + "testNamespaces_wrapper.cpp" )); } diff --git a/wrap/utilities.h b/wrap/utilities.h index 0a252484f..7e28d6793 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -41,6 +41,15 @@ class CantOpenFile : public std::exception { virtual const char* what() const throw() { return what_.c_str(); } }; +class OutputError : public std::exception { +private: + const std::string what_; +public: + OutputError(const std::string& what) : what_(what) {} + ~OutputError() throw() {} + virtual const char* what() const throw() { return what_.c_str(); } +}; + class ParseFailed : public std::exception { private: const std::string what_; From 11981dd8288bd2b6dede905c30e32034c9b0df76 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 18 Jul 2012 18:50:24 +0000 Subject: [PATCH 639/914] Had accidently switched trunk gtsam to a cmake-libs branch - moved svn:externals pointer back to cmake-libs trunk From 9dadbebbd14d088ef51ba80531a589b558130696 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 18 Jul 2012 23:35:36 +0000 Subject: [PATCH 640/914] Wrapped DoglegOptimizer and LevenbergMarquardtOptimizer, added class heirarchy to optimization parameters --- gtsam.h | 85 ++++++++++++++++++++++------- gtsam/nonlinear/DoglegOptimizer.cpp | 23 ++++++++ gtsam/nonlinear/DoglegOptimizer.h | 11 +++- 3 files changed, 98 insertions(+), 21 deletions(-) diff --git a/gtsam.h b/gtsam.h index f32b12131..b6b48e795 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1130,32 +1130,46 @@ class Marginals { Matrix marginalInformation(size_t variable) const; }; -#include -class LevenbergMarquardtParams { - LevenbergMarquardtParams(); - void print(string s) const; +//************************************************************************* +// Nonlinear optimizers +//************************************************************************* - size_t getMaxIterations() const; - double getRelativeErrorTol() const; - double getAbsoluteErrorTol() const; - double getErrorTol() const; - string getVerbosity() const; +#include +virtual class NonlinearOptimizerParams { + NonlinearOptimizerParams(); + void print(string s) const; - void setMaxIterations(size_t value); - void setRelativeErrorTol(double value); - void setAbsoluteErrorTol(double value); - void setErrorTol(double value); - void setVerbosity(string s); + size_t getMaxIterations() const; + double getRelativeErrorTol() const; + double getAbsoluteErrorTol() const; + double getErrorTol() const; + string getVerbosity() const; + + void setMaxIterations(size_t value); + void setRelativeErrorTol(double value); + void setAbsoluteErrorTol(double value); + void setErrorTol(double value); + void setVerbosity(string s); +}; + +#include +virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams { + SuccessiveLinearizationParams(); bool isMultifrontal() const; bool isSequential() const; bool isCholmod() const; bool isCG() const; +}; - double getlambdaInitial() const ; - double getlambdaFactor() const ; +#include +virtual class LevenbergMarquardtParams : gtsam::SuccessiveLinearizationParams { + LevenbergMarquardtParams(); + + double getlambdaInitial() const; + double getlambdaFactor() const; double getlambdaUpperBound() const; - string getVerbosityLM() const ; + string getVerbosityLM() const; void setlambdaInitial(double value); void setlambdaFactor(double value); @@ -1163,22 +1177,53 @@ class LevenbergMarquardtParams { void setVerbosityLM(string s); }; +#include +virtual class DoglegParams : gtsam::SuccessiveLinearizationParams { + DoglegParams(); + + double getDeltaInitial() const; + string getVerbosityDL() const; + + void setDeltaInitial(double deltaInitial) const; + void setVerbosityDL(string verbosityDL) const; +}; + +virtual class NonlinearOptimizer { + gtsam::Values optimizeSafely(); + double error() const; + int iterations() const; + gtsam::Values values() const; + void iterate() const; +}; + +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; +}; + +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; +}; + //************************************************************************* // Nonlinear factor types //************************************************************************* -template +template virtual class PriorFactor : gtsam::NonlinearFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); }; -template +template virtual class BetweenFactor : gtsam::NonlinearFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); }; -template +template virtual class NonlinearEquality : gtsam::NonlinearFactor { // Constructor - forces exact evaluation NonlinearEquality(size_t j, const T& feasible); diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp index b0ee9f460..e3f4e4dcd 100644 --- a/gtsam/nonlinear/DoglegOptimizer.cpp +++ b/gtsam/nonlinear/DoglegOptimizer.cpp @@ -22,10 +22,33 @@ #include #include +#include + using namespace std; namespace gtsam { +/* ************************************************************************* */ +DoglegParams::VerbosityDL DoglegParams::verbosityDLTranslator(const std::string &verbosityDL) const { + std::string s = verbosityDL; boost::algorithm::to_upper(s); + if (s == "SILENT") return DoglegParams::SILENT; + if (s == "VERBOSE") return DoglegParams::VERBOSE; + + /* default is silent */ + return DoglegParams::SILENT; +} + +/* ************************************************************************* */ +std::string DoglegParams::verbosityDLTranslator(VerbosityDL verbosityDL) const { + std::string s; + switch (verbosityDL) { + case DoglegParams::SILENT: s = "SILENT"; break; + case DoglegParams::VERBOSE: s = "VERBOSE"; break; + default: s = "UNDEFINED"; break; + } + return s; +} + /* ************************************************************************* */ void DoglegOptimizer::iterate(void) { diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index 065d0b34d..8a21dd96e 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -50,6 +50,15 @@ public: std::cout << " deltaInitial: " << deltaInitial << "\n"; std::cout.flush(); } + + double getDeltaInitial() const { return deltaInitial; } + std::string getVerbosityDL() const { return verbosityDLTranslator(verbosityDL); } + + void setDeltaInitial(double deltaInitial) { this->deltaInitial = deltaInitial; } + void setVerbosityDL(const std::string& verbosityDL) { this->verbosityDL = verbosityDLTranslator(verbosityDL); } + + VerbosityDL verbosityDLTranslator(const std::string& verbosityDL) const; + std::string verbosityDLTranslator(VerbosityDL verbosityDL) const; }; /** @@ -128,7 +137,7 @@ public: const DoglegState& state() const { return state_; } /** Access the current trust region radius Delta */ - double Delta() const { return state_.Delta; } + double getDelta() const { return state_.Delta; } /// @} From c86548534242f3c25c6ca9625c1711c6bda84518 Mon Sep 17 00:00:00 2001 From: Vadim Indelman Date: Thu, 19 Jul 2012 15:11:11 +0000 Subject: [PATCH 641/914] Richard's changes of RangeFactor. --- gtsam.h | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index b6b48e795..a658c6376 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1237,10 +1237,14 @@ virtual class RangeFactor : gtsam::NonlinearFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); }; -typedef gtsam::RangeFactor RangeFactor2D; -typedef gtsam::RangeFactor RangeFactor3D; -typedef gtsam::RangeFactor RangeFactorCalibratedCamera; -typedef gtsam::RangeFactor RangeFactorSimpleCamera; +typedef gtsam::RangeFactor RangeFactorPosePoint2; +typedef gtsam::RangeFactor RangeFactorPosePoint3; +typedef gtsam::RangeFactor RangeFactorPose2; +typedef gtsam::RangeFactor RangeFactorPose3; +typedef gtsam::RangeFactor RangeFactorCalibratedCameraPoint; +typedef gtsam::RangeFactor RangeFactorSimpleCameraPoint; +typedef gtsam::RangeFactor RangeFactorCalibratedCamera; +typedef gtsam::RangeFactor RangeFactorSimpleCamera; template virtual class BearingFactor : gtsam::NonlinearFactor { From 4b3edb08893ddcd954562c1fde0df6f0e1be58fe Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 19 Jul 2012 19:50:00 +0000 Subject: [PATCH 642/914] Wrapped iSAM2 --- gtsam.h | 90 +++++++++++++++++++++++++++++++++++++++ gtsam/nonlinear/ISAM2.cpp | 43 +++++++++++++++++++ gtsam/nonlinear/ISAM2.h | 89 ++++++++++++++++++++++++++++++++++++++ 3 files changed, 222 insertions(+) diff --git a/gtsam.h b/gtsam.h index a658c6376..276a272a6 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1025,6 +1025,7 @@ class InvertedOrdering { class NonlinearFactorGraph { NonlinearFactorGraph(); void print(string s) const; + size_t size() const; double error(const gtsam::Values& c) const; double probPrime(const gtsam::Values& c) const; gtsam::NonlinearFactor* at(size_t i) const; @@ -1208,6 +1209,95 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { double lambda() 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 ISAM2Params { + ISAM2Params(); + + void print(string str) const; + + /** Getters and Setters for all properties */ + void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params); + void setOptimizationParams(const gtsam::ISAM2DoglegParams& params); + void setRelinearizeThreshold(double relinearizeThreshold); + // TODO: wrap this + //void setRelinearizeThreshold(const FastMap& relinearizeThreshold); + 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 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; +}; + +class ISAM2 { + ISAM2(); + ISAM2(const gtsam::ISAM2Params& params); + + bool equals(const gtsam::ISAM2& other, double tol) const; + void print(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::KeyVector& removeFactorIndices); + // TODO: wrap the full version of update + //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys); + //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys, bool force_relinearize); + + gtsam::Values getLinearizationPoint() const; + gtsam::Values calculateEstimate() const; + gtsam::Values calculateBestEstimate() const; + gtsam::VectorValues getDelta() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; + gtsam::Ordering getOrdering() const; + gtsam::VariableIndex getVariableIndex() const; + gtsam::ISAM2Params params() const; +}; + //************************************************************************* // Nonlinear factor types //************************************************************************* diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 8c470f1aa..16a3ca7b5 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -20,6 +20,7 @@ using namespace boost::assign; #include #include +#include #include #include @@ -39,6 +40,48 @@ using namespace std; static const bool disableReordering = false; static const double batchThreshold = 0.65; +/* ************************************************************************* */ +std::string ISAM2DoglegParams::adaptationModeTranslator(const DoglegOptimizerImpl::TrustRegionAdaptationMode& adaptationMode) const { + std::string s; + switch (adaptationMode) { + case DoglegOptimizerImpl::SEARCH_EACH_ITERATION: s = "SEARCH_EACH_ITERATION"; break; + case DoglegOptimizerImpl::ONE_STEP_PER_ITERATION: s = "ONE_STEP_PER_ITERATION"; break; + default: s = "UNDEFINED"; break; + } + return s; +} + +/* ************************************************************************* */ +DoglegOptimizerImpl::TrustRegionAdaptationMode ISAM2DoglegParams::adaptationModeTranslator(const std::string& adaptationMode) const { + std::string s = adaptationMode; boost::algorithm::to_upper(s); + if (s == "SEARCH_EACH_ITERATION") return DoglegOptimizerImpl::SEARCH_EACH_ITERATION; + if (s == "ONE_STEP_PER_ITERATION") return DoglegOptimizerImpl::ONE_STEP_PER_ITERATION; + + /* default is SEARCH_EACH_ITERATION */ + return DoglegOptimizerImpl::SEARCH_EACH_ITERATION; +} + +/* ************************************************************************* */ +ISAM2Params::Factorization ISAM2Params::factorizationTranslator(const std::string& str) const { + std::string s = str; boost::algorithm::to_upper(s); + if (s == "QR") return ISAM2Params::QR; + if (s == "CHOLESKY") return ISAM2Params::CHOLESKY; + + /* default is CHOLESKY */ + return ISAM2Params::CHOLESKY; +} + +/* ************************************************************************* */ +std::string ISAM2Params::factorizationTranslator(const ISAM2Params::Factorization& value) const { + std::string s; + switch (value) { + case ISAM2Params::QR: s = "QR"; break; + case ISAM2Params::CHOLESKY: s = "CHOLESKY"; break; + default: s = "UNDEFINED"; break; + } + return s; +} + /* ************************************************************************* */ ISAM2::ISAM2(const ISAM2Params& params): deltaDoglegUptodate_(true), deltaUptodate_(true), params_(params) { diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 0d540a729..ab94e60f0 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -40,6 +40,15 @@ struct ISAM2GaussNewtonParams { ISAM2GaussNewtonParams( double _wildfireThreshold = 0.001 ///< see ISAM2GaussNewtonParams public variables, ISAM2GaussNewtonParams::wildfireThreshold ) : wildfireThreshold(_wildfireThreshold) {} + + void print(const std::string str = "") const { + std::cout << str << "type: ISAM2GaussNewtonParams\n"; + std::cout << str << "wildfireThreshold: " << wildfireThreshold << "\n"; + std::cout.flush(); + } + + double getWildfireThreshold() const { return wildfireThreshold; } + void setWildfireThreshold(double wildfireThreshold) { this->wildfireThreshold = wildfireThreshold; } }; /** @@ -62,6 +71,27 @@ struct ISAM2DoglegParams { bool _verbose = false ///< see ISAM2DoglegParams::verbose ) : initialDelta(_initialDelta), wildfireThreshold(_wildfireThreshold), adaptationMode(_adaptationMode), verbose(_verbose) {} + + void print(const std::string str = "") const { + std::cout << str << "type: ISAM2DoglegParams\n"; + std::cout << str << "initialDelta: " << initialDelta << "\n"; + std::cout << str << "wildfireThreshold: " << wildfireThreshold << "\n"; + std::cout << str << "adaptationMode: " << adaptationModeTranslator(adaptationMode) << "\n"; + std::cout.flush(); + } + + double getInitialDelta() const { return initialDelta; } + double getWildfireThreshold() const { return wildfireThreshold; } + std::string getAdaptationMode() const { return adaptationModeTranslator(adaptationMode); }; + bool isVerbose() const { return verbose; }; + + void setInitialDelta(double initialDelta) { this->initialDelta = initialDelta; } + void setWildfireThreshold(double wildfireThreshold) { this->wildfireThreshold = wildfireThreshold; } + void setAdaptationMode(const std::string& adaptationMode) { this->adaptationMode = adaptationModeTranslator(adaptationMode); } + void setVerbose(bool verbose) { this->verbose = verbose; }; + + std::string adaptationModeTranslator(const DoglegOptimizerImpl::TrustRegionAdaptationMode& adaptationMode) const; + DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationModeTranslator(const std::string& adaptationMode) const; }; /** @@ -147,8 +177,57 @@ struct ISAM2Params { evaluateNonlinearError(_evaluateNonlinearError), factorization(_factorization), cacheLinearizedFactors(_cacheLinearizedFactors), keyFormatter(_keyFormatter), enableDetailedResults(false), enablePartialRelinearizationCheck(false) {} + + void print(const std::string& str = "") const { + std::cout << str << "\n"; + if(optimizationParams.type() == typeid(ISAM2GaussNewtonParams)) + boost::get(optimizationParams).print("optimizationParams: "); + else if(optimizationParams.type() == typeid(ISAM2DoglegParams)) + boost::get(optimizationParams).print("optimizationParams: "); + else + std::cout << "optimizationParams: " << "{unknown type}" << "\n"; + if(relinearizeThreshold.type() == typeid(double)) + std::cout << "relinearizeThreshold: " << boost::get(relinearizeThreshold) << "\n"; + else + std::cout << "relinearizeThreshold: " << "{mapped}" << "\n"; + std::cout << "relinearizeSkip: " << relinearizeSkip << "\n"; + std::cout << "enableRelinearization: " << enableRelinearization << "\n"; + std::cout << "evaluateNonlinearError: " << evaluateNonlinearError << "\n"; + std::cout << "factorization: " << factorizationTranslator(factorization) << "\n"; + std::cout << "cacheLinearizedFactors: " << cacheLinearizedFactors << "\n"; + std::cout << "enableDetailedResults: " << enableDetailedResults << "\n"; + std::cout << "enablePartialRelinearizationCheck: " << enablePartialRelinearizationCheck << "\n"; + std::cout.flush(); + } + + /** Getters and Setters for all properties */ + OptimizationParams getOptimizationParams() const { return this->optimizationParams; } + RelinearizationThreshold getRelinearizeThreshold() const { return relinearizeThreshold; } + int getRelinearizeSkip() const { return relinearizeSkip; } + bool isEnableRelinearization() const { return enableRelinearization; } + bool isEvaluateNonlinearError() const { return evaluateNonlinearError; } + std::string getFactorization() const { return factorizationTranslator(factorization); } + bool isCacheLinearizedFactors() const { return cacheLinearizedFactors; } + KeyFormatter getKeyFormatter() const { return keyFormatter; } + bool isEnableDetailedResults() const { return enableDetailedResults; } + bool isEnablePartialRelinearizationCheck() const { return enablePartialRelinearizationCheck; } + + void setOptimizationParams(OptimizationParams optimizationParams) { this->optimizationParams = optimizationParams; } + void setRelinearizeThreshold(RelinearizationThreshold relinearizeThreshold) { this->relinearizeThreshold = relinearizeThreshold; } + void setRelinearizeSkip(int relinearizeSkip) { this->relinearizeSkip = relinearizeSkip; } + void setEnableRelinearization(bool enableRelinearization) { this->enableRelinearization = enableRelinearization; } + void setEvaluateNonlinearError(bool evaluateNonlinearError) { this->evaluateNonlinearError = evaluateNonlinearError; } + void setFactorization(const std::string& factorization) { this->factorization = factorizationTranslator(factorization); } + void setCacheLinearizedFactors(bool cacheLinearizedFactors) { this->cacheLinearizedFactors = cacheLinearizedFactors; } + void setKeyFormatter(KeyFormatter keyFormatter) { this->keyFormatter = keyFormatter; } + void setEnableDetailedResults(bool enableDetailedResults) { this->enableDetailedResults = enableDetailedResults; } + void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck) { this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck; } + + Factorization factorizationTranslator(const std::string& str) const; + std::string factorizationTranslator(const Factorization& value) const; }; + /** * @addtogroup ISAM2 * This struct is returned from ISAM2::update() and contains information about @@ -237,6 +316,16 @@ struct ISAM2Result { /** Detailed results, if enabled by ISAM2Params::enableDetailedResults. See * Detail for information about the results data stored here. */ boost::optional detail; + + + void print(const std::string str = "") const { + std::cout << str << " Reelimintated: " << variablesReeliminated << " Relinearized: " << variablesRelinearized << " Cliques: " << cliques << std::endl; + } + + /** Getters and Setters */ + size_t getVariablesRelinearized() const { return variablesRelinearized; }; + size_t getVariablesReeliminated() const { return variablesReeliminated; }; + size_t getCliques() const { return cliques; }; }; /** From 5ff18708425f850142b96f3109cdaa967f1d1aee Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 21 Jul 2012 19:15:13 +0000 Subject: [PATCH 643/914] Removed workaround for old boost versions in discrete - we now require a higher version anyway --- gtsam/discrete/Signature.cpp | 7 ---- gtsam/discrete/Signature.h | 5 --- .../tests/testAlgebraicDecisionTree.cpp | 12 ------- gtsam/discrete/tests/testDiscreteBayesNet.cpp | 8 ----- .../tests/testDiscreteConditional.cpp | 35 ++++++++++--------- .../tests/testDiscreteFactorGraph.cpp | 6 ---- gtsam/discrete/tests/testSignature.cpp | 2 -- 7 files changed, 19 insertions(+), 56 deletions(-) diff --git a/gtsam/discrete/Signature.cpp b/gtsam/discrete/Signature.cpp index 439f20864..76ccad9db 100644 --- a/gtsam/discrete/Signature.cpp +++ b/gtsam/discrete/Signature.cpp @@ -21,17 +21,13 @@ #include "Signature.h" -#ifdef BOOST_HAVE_PARSER #include // for parsing #include // for qi::_val -#endif namespace gtsam { using namespace std; - -#ifdef BOOST_HAVE_PARSER namespace qi = boost::spirit::qi; namespace ph = boost::phoenix; @@ -109,7 +105,6 @@ namespace gtsam { return true; } } // \namespace parser -#endif ostream& operator <<(ostream &os, const Signature::Row &row) { os << row[0]; @@ -169,7 +164,6 @@ namespace gtsam { Signature& Signature::operator=(const string& spec) { spec_.reset(spec); -#ifdef BOOST_HAVE_PARSER Table table; // NOTE: using simpler parse function to ensure boost back compatibility // parser::It f = spec.begin(), l = spec.end(); @@ -181,7 +175,6 @@ namespace gtsam { normalize(row); table_.reset(table); } -#endif return *this; } diff --git a/gtsam/discrete/Signature.h b/gtsam/discrete/Signature.h index 873365c24..937bd6e1b 100644 --- a/gtsam/discrete/Signature.h +++ b/gtsam/discrete/Signature.h @@ -22,11 +22,6 @@ #include #include -#include // for checking whether we are using boost 1.40 -#if BOOST_VERSION >= 104200 -#define BOOST_HAVE_PARSER -#endif - namespace gtsam { /** diff --git a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp index bfeacb8e4..8ab3b6a14 100644 --- a/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp +++ b/gtsam/discrete/tests/testAlgebraicDecisionTree.cpp @@ -23,10 +23,6 @@ #include #include // for convert only #define DISABLE_TIMING -#include // for checking whether we are using boost 1.40 -#if BOOST_VERSION >= 104200 -#define BOOST_HAVE_PARSER -#endif #include #include @@ -150,7 +146,6 @@ TEST(ADT, joint) { DiscreteKey A(0, 2), S(1, 2), T(2, 2), L(3, 2), B(4, 2), E(5, 2), X(6, 2), D(7, 2); -#ifdef BOOST_HAVE_PARSER resetCounts(); ADT pA = create(A % "99/1"); ADT pS = create(S % "50/50"); @@ -193,7 +188,6 @@ TEST(ADT, joint) EXPECT(assert_equal(pA, fAa)); ADT fAb = pASTL.combine(S, &add_).combine(T, &add_).combine(L, &add_); EXPECT(assert_equal(pA, fAb)); -#endif } /* ************************************************************************* */ @@ -203,7 +197,6 @@ TEST(ADT, inference) DiscreteKey A(0,2), D(1,2),// B(2,2), L(3,2), E(4,2), S(5,2), T(6,2), X(7,2); -#ifdef BOOST_HAVE_PARSER resetCounts(); ADT pA = create(A % "99/1"); ADT pS = create(S % "50/50"); @@ -247,7 +240,6 @@ TEST(ADT, inference) dot(marginal, "Joint-Sum-ADBL"); EXPECT_LONGS_EQUAL(161, adds); printCounts("Asia sum"); -#endif } /* ************************************************************************* */ @@ -255,7 +247,6 @@ TEST(ADT, factor_graph) { DiscreteKey B(0,2), L(1,2), E(2,2), S(3,2), T(4,2), X(5,2); -#ifdef BOOST_HAVE_PARSER resetCounts(); ADT pS = create(S % "50/50"); ADT pT = create(T % "95/5"); @@ -334,7 +325,6 @@ TEST(ADT, factor_graph) fB = fB.combine(L, &add_); dot(fB, "Eliminate-10-fB"); printCounts("Eliminate L"); -#endif } /* ************************************************************************* */ @@ -360,7 +350,6 @@ TEST(ADT, equality_noparser) } /* ************************************************************************* */ -#ifdef BOOST_HAVE_PARSER // test equality TEST(ADT, equality_parser) { @@ -376,7 +365,6 @@ TEST(ADT, equality_parser) ADT pAB2 = apply(pB, pA1, &mul); EXPECT(pAB2 == pAB1); } -#endif /* ******************************************************************************** */ // Factor graph construction diff --git a/gtsam/discrete/tests/testDiscreteBayesNet.cpp b/gtsam/discrete/tests/testDiscreteBayesNet.cpp index bc07d57ca..63f225c35 100644 --- a/gtsam/discrete/tests/testDiscreteBayesNet.cpp +++ b/gtsam/discrete/tests/testDiscreteBayesNet.cpp @@ -25,10 +25,6 @@ #include using namespace boost::assign; -#include // for checking whether we are using boost 1.40 -#if BOOST_VERSION >= 104200 -#define BOOST_HAVE_PARSER -#endif #include @@ -44,7 +40,6 @@ TEST(DiscreteBayesNet, Asia) DiscreteKey A(0,2), S(4,2), T(3,2), L(6,2), B(7,2), E(5,2), X(2,2), D(1,2); // TODO: make a version that doesn't use the parser -#ifdef BOOST_HAVE_PARSER add_front(asia, A % "99/1"); add_front(asia, S % "50/50"); @@ -104,7 +99,6 @@ TEST(DiscreteBayesNet, Asia) S.first, 1)(E.first, 0)(L.first, 0)(B.first, 1); DiscreteFactor::sharedValues actualSample = sample(*chordal2); EXPECT(assert_equal(expectedSample, *actualSample)); -#endif } /* ************************************************************************* */ @@ -114,7 +108,6 @@ TEST_UNSAFE(DiscreteBayesNet, Sugar) DiscreteBayesNet bn; -#ifdef BOOST_HAVE_PARSER // test some mistakes // add(bn, D); // add(bn, D | E); @@ -127,7 +120,6 @@ TEST_UNSAFE(DiscreteBayesNet, Sugar) // // try multivalued add(bn, C % "1/1/2"); add(bn, C | S = "1/1/2 5/2/3"); -#endif } /* ************************************************************************* */ diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp index c11dddef5..8af23e4f8 100644 --- a/gtsam/discrete/tests/testDiscreteConditional.cpp +++ b/gtsam/discrete/tests/testDiscreteConditional.cpp @@ -24,10 +24,6 @@ using namespace boost::assign; #include #include #include -#include // for checking whether we are using boost 1.40 -#if BOOST_VERSION >= 104200 -#define BOOST_HAVE_PARSER -#endif using namespace std; using namespace gtsam; @@ -37,17 +33,31 @@ TEST( DiscreteConditionalTest, constructors) { DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering ! -#ifdef BOOST_HAVE_PARSER DiscreteConditional::shared_ptr expected1 = // boost::make_shared(X | Y = "1/1 2/3 1/4"); -#else + EXPECT(expected1); + DecisionTreeFactor f1(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8"); + DiscreteConditional actual1(1, f1); + EXPECT(assert_equal(*expected1, actual1, 1e-9)); + + DecisionTreeFactor f2(X & Y & Z, + "0.2 0.5 0.3 0.6 0.4 0.7 0.25 0.55 0.35 0.65 0.45 0.75"); + DiscreteConditional actual2(1, f2); + DecisionTreeFactor::shared_ptr actual2factor = actual2.toFactor(); +// EXPECT(assert_equal(f2, *actual2factor, 1e-9)); +} + +/* ************************************************************************* */ +TEST( DiscreteConditionalTest, constructors_alt_interface) +{ + DiscreteKey X(0, 2), Y(2, 3), Z(1, 2); // watch ordering ! + Signature::Table table; Signature::Row r1, r2, r3; r1 += 1.0, 1.0; r2 += 2.0, 3.0; r3 += 1.0, 4.0; table += r1, r2, r3; DiscreteConditional::shared_ptr expected1 = // boost::make_shared(X | Y = table); -#endif EXPECT(expected1); DecisionTreeFactor f1(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8"); DiscreteConditional actual1(1, f1); @@ -63,7 +73,6 @@ TEST( DiscreteConditionalTest, constructors) /* ************************************************************************* */ TEST( DiscreteConditionalTest, constructors2) { -#ifdef BOOST_HAVE_PARSER // Declare keys and ordering DiscreteKey C(0,2), B(1,2); DecisionTreeFactor expected(C & B, "0.8 0.75 0.2 0.25"); @@ -71,13 +80,11 @@ TEST( DiscreteConditionalTest, constructors2) DiscreteConditional actual(signature); DecisionTreeFactor::shared_ptr actualFactor = actual.toFactor(); EXPECT(assert_equal(expected, *actualFactor)); -#endif - } +} /* ************************************************************************* */ TEST( DiscreteConditionalTest, constructors3) { -#ifdef BOOST_HAVE_PARSER // Declare keys and ordering DiscreteKey C(0,2), B(1,2), A(2,2); DecisionTreeFactor expected(C & B & A, "0.8 0.5 0.5 0.2 0.2 0.5 0.5 0.8"); @@ -85,13 +92,9 @@ TEST( DiscreteConditionalTest, constructors3) DiscreteConditional actual(signature); DecisionTreeFactor::shared_ptr actualFactor = actual.toFactor(); EXPECT(assert_equal(expected, *actualFactor)); -#endif } /* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp index 667ce9331..8fdbc5870 100644 --- a/gtsam/discrete/tests/testDiscreteFactorGraph.cpp +++ b/gtsam/discrete/tests/testDiscreteFactorGraph.cpp @@ -24,10 +24,6 @@ #include using namespace boost::assign; -#include // for checking whether we are using boost 1.40 -#if BOOST_VERSION >= 104200 -#define BOOST_HAVE_PARSER -#endif using namespace std; using namespace gtsam; @@ -136,7 +132,6 @@ TEST( DiscreteFactorGraph, test) boost::tie(conditional, newFactor) =// EliminateDiscrete(graph, 1); -#ifdef BOOST_HAVE_PARSER // Check Bayes net CHECK(conditional); DiscreteBayesNet expected; @@ -173,7 +168,6 @@ TEST( DiscreteFactorGraph, test) insert(expectedValues)(0, 0)(1, 0)(2, 0); DiscreteFactor::sharedValues actualValues = solver.optimize(); EXPECT(assert_equal(expectedValues, *actualValues)); -#endif } /* ************************************************************************* */ diff --git a/gtsam/discrete/tests/testSignature.cpp b/gtsam/discrete/tests/testSignature.cpp index 66b1c61b3..bf4aabb7f 100644 --- a/gtsam/discrete/tests/testSignature.cpp +++ b/gtsam/discrete/tests/testSignature.cpp @@ -28,7 +28,6 @@ using namespace boost::assign; DiscreteKey X(0,2), Y(1,3), Z(2,2); -#ifdef BOOST_HAVE_PARSER /* ************************************************************************* */ TEST(testSignature, simple_conditional) { Signature sig(X | Y = "1/1 2/3 1/4"); @@ -43,7 +42,6 @@ TEST(testSignature, simple_conditional) { vector actCpt = sig.cpt(); EXPECT_LONGS_EQUAL(6, actCpt.size()); } -#endif /* ************************************************************************* */ TEST(testSignature, simple_conditional_nonparser) { From c9c43e1cf53495b766aec7c29758ea4e45b06a44 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 21 Jul 2012 20:05:27 +0000 Subject: [PATCH 644/914] Fixed cpack ignores to skip the makestats script --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2a89fb70f..cfe3756bb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -211,7 +211,7 @@ set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory -set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$") +set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makestats.sh$") set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs From ce65f2e925651bf190942177abcc35a5b54f0c52 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 21 Jul 2012 20:05:28 +0000 Subject: [PATCH 645/914] Added cmake script for generating doxygen in more detail, can now generate documentation for all of gtsam and gtsam_unstable --- CMakeLists.txt | 51 ++++------------------------- doc/CMakeLists.txt | 80 ++++++++++++++++++++++++++++++++++++++++++++++ doc/Doxyfile.in | 14 +------- 3 files changed, 87 insertions(+), 58 deletions(-) create mode 100644 doc/CMakeLists.txt diff --git a/CMakeLists.txt b/CMakeLists.txt index cfe3756bb..13d564391 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,9 +36,6 @@ else() set(GTSAM_UNSTABLE_AVAILABLE 0) endif() -# Check for doxygen availability -find_package(Doxygen) - # Configurable Options option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) @@ -156,49 +153,13 @@ endif(GTSAM_BUILD_UNSTABLE) GtsamMakeConfigFile(GTSAM) export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) -# Doxygen documentation configuration -if (DOXYGEN_FOUND) - option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" ON) - - # configure doxygen - option(GTSAM_BUILD_DOC_HTML "Enable/Disable doxygen HTML output" ON) - option(GTSAM_BUILD_DOC_LATEX "Enable/Disable doxygen LaTeX output" OFF) +# Check for doxygen availability - optional dependency +find_package(Doxygen) - # add a target to generate API documentation with Doxygen - if (GTSAM_BUILD_DOCS) - # Convert configuration to YES/NO variables - if (GTSAM_BUILD_DOC_HTML) - set(GTSAM_BUILD_DOC_HTML_YN "YES") - else() - set(GTSAM_BUILD_DOC_HTML_YN "NO") - endif() - - if (GTSAM_BUILD_DOC_LATEX) - set(GTSAM_BUILD_DOC_LATEX_YN "YES") - else() - set(GTSAM_BUILD_DOC_LATEX_YN "NO") - endif() - - # Generate Doxyfile - configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY) - - # Add target to actually build documentation as configured - add_custom_target(doc - ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile - WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/doc - COMMENT "Generating API documentation with Doxygen" VERBATIM - ) - - # Clean target - add_custom_target(doc_clean - COMMAND - cmake -E remove_directory ${CMAKE_CURRENT_SOURCE_DIR}/doc/latex - COMMAND - cmake -E remove_directory ${CMAKE_CURRENT_SOURCE_DIR}/doc/html - COMMENT "Removing Doxygen documentation" - ) - endif() -endif () +# Doxygen documentation - enabling options in subfolder +if (DOXYGEN_FOUND) + add_subdirectory(doc) +endif() # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt new file mode 100644 index 000000000..6441f7223 --- /dev/null +++ b/doc/CMakeLists.txt @@ -0,0 +1,80 @@ +# Doxygen documentation configuration +option(GTSAM_BUILD_DOCS "Enable/Disable building of doxygen docs" ON) + +# configure doxygen +option(GTSAM_BUILD_DOC_HTML "Enable/Disable doxygen HTML output" ON) +option(GTSAM_BUILD_DOC_LATEX "Enable/Disable doxygen LaTeX output" OFF) + +# add a target to generate API documentation with Doxygen +if (GTSAM_BUILD_DOCS) + # Convert configuration to YES/NO variables + if (GTSAM_BUILD_DOC_HTML) + set(GTSAM_BUILD_DOC_HTML_YN "YES") + else() + set(GTSAM_BUILD_DOC_HTML_YN "NO") + endif() + + if (GTSAM_BUILD_DOC_LATEX) + set(GTSAM_BUILD_DOC_LATEX_YN "YES") + else() + set(GTSAM_BUILD_DOC_LATEX_YN "NO") + endif() + + # GTSAM core subfolders + set(gtsam_doc_subdirs + gtsam/base + gtsam/geometry + gtsam/inference + gtsam/discrete + gtsam/linear + gtsam/nonlinear + gtsam/slam + gtsam + ) + + # Optional GTSAM_UNSTABLE subfolders + set(gtsam_unstable_doc_subdirs + gtsam_unstable/base + gtsam_unstable/discrete + gtsam_unstable/linear + gtsam_unstable/nonlinear + gtsam_unstable/slam + gtsam_unstable/dynamics + gtsam_unstable + ) + + # Build a list of folders to include + set(doc_subdirs ${gtsam_doc_subdirs}) + if (GTSAM_BUILD_UNSTABLE) + list(APPEND doc_subdirs ${gtsam_unstable_doc_subdirs}) + endif() + + message(STATUS "Doxgyen inputs (raw) [${doc_subdirs}]") + + # From subfolders, build a list with whitespace separation of paths + set(GTSAM_DOXYGEN_INPUT_PATHS "") + foreach(dir ${doc_subdirs}) + set(GTSAM_DOXYGEN_INPUT_PATHS "${GTSAM_DOXYGEN_INPUT_PATHS} ${PROJECT_SOURCE_DIR}/${dir}") + endforeach() + + message(STATUS "Doxgyen inputs [${GTSAM_DOXYGEN_INPUT_PATHS}]") + + # Generate Doxyfile + configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY) + + # Add target to actually build documentation as configured + add_custom_target(doc + ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + COMMENT "Generating API documentation with Doxygen" VERBATIM + ) + + # Clean target + add_custom_target(doc_clean + COMMAND + cmake -E remove_directory ${CMAKE_CURRENT_SOURCE_DIR}/latex + COMMAND + cmake -E remove_directory ${CMAKE_CURRENT_SOURCE_DIR}/html + COMMENT "Removing Doxygen documentation" + ) +endif() diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in index b6030a567..f12e12217 100644 --- a/doc/Doxyfile.in +++ b/doc/Doxyfile.in @@ -638,19 +638,7 @@ WARN_LOGFILE = # directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = @PROJECT_SOURCE_DIR@/gtsam/base \ - @PROJECT_SOURCE_DIR@/gtsam/geometry \ - @PROJECT_SOURCE_DIR@/gtsam/inference \ - @PROJECT_SOURCE_DIR@/gtsam/discrete \ - @PROJECT_SOURCE_DIR@/gtsam/linear \ - @PROJECT_SOURCE_DIR@/gtsam/nonlinear \ - @PROJECT_SOURCE_DIR@/gtsam -# @PROJECT_SOURCE_DIR@/gtsam/slam \ -# @PROJECT_SOURCE_DIR@/gtsam_unstable/slam \ -# @PROJECT_SOURCE_DIR@/gtsam_unstable/base \ -# @PROJECT_SOURCE_DIR@/gtsam_unstable/geometry \ -# @PROJECT_SOURCE_DIR@/gtsam_unstable/dynamics \ -# @PROJECT_SOURCE_DIR@/gtsam_unstable +INPUT = @GTSAM_DOXYGEN_INPUT_PATHS@ # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is From 96d7b6fea218a45296465c4cd9eaee9b228c8c4e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 21 Jul 2012 20:11:43 +0000 Subject: [PATCH 646/914] Added doxygen support for examples, removed debugging messages --- doc/CMakeLists.txt | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt index 6441f7223..d26b16cd3 100644 --- a/doc/CMakeLists.txt +++ b/doc/CMakeLists.txt @@ -42,23 +42,22 @@ if (GTSAM_BUILD_DOCS) gtsam_unstable/dynamics gtsam_unstable ) - + # Build a list of folders to include set(doc_subdirs ${gtsam_doc_subdirs}) if (GTSAM_BUILD_UNSTABLE) list(APPEND doc_subdirs ${gtsam_unstable_doc_subdirs}) endif() - - message(STATUS "Doxgyen inputs (raw) [${doc_subdirs}]") - + if (GTSAM_BUILD_EXAMPLES) + list(APPEND doc_subdirs examples) + endif() + # From subfolders, build a list with whitespace separation of paths set(GTSAM_DOXYGEN_INPUT_PATHS "") foreach(dir ${doc_subdirs}) set(GTSAM_DOXYGEN_INPUT_PATHS "${GTSAM_DOXYGEN_INPUT_PATHS} ${PROJECT_SOURCE_DIR}/${dir}") endforeach() - message(STATUS "Doxgyen inputs [${GTSAM_DOXYGEN_INPUT_PATHS}]") - # Generate Doxyfile configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY) From cfd1a4157d9ce88a5c7aec636d87044f6722cf36 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 21 Jul 2012 20:26:07 +0000 Subject: [PATCH 647/914] comments only --- doc/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt index d26b16cd3..4cb6d4a40 100644 --- a/doc/CMakeLists.txt +++ b/doc/CMakeLists.txt @@ -43,7 +43,7 @@ if (GTSAM_BUILD_DOCS) gtsam_unstable ) - # Build a list of folders to include + # Build a list of folders to include depending on build options set(doc_subdirs ${gtsam_doc_subdirs}) if (GTSAM_BUILD_UNSTABLE) list(APPEND doc_subdirs ${gtsam_unstable_doc_subdirs}) From ba51443365e837d29284954df845647fbd757ecb Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sat, 21 Jul 2012 22:07:47 +0000 Subject: [PATCH 648/914] Create branch for updating the examples (C++ and Matlab) without the use of the SLAM Namespaces From c8daa4234868250f2fbfd151e342659070f0ab12 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 21 Jul 2012 23:54:55 +0000 Subject: [PATCH 649/914] Wrapped JointMarginal class and joint marginal functions of Marginals --- CMakeLists.txt | 2 +- gtsam.h | 8 ++++++++ gtsam/base/FastVector.h | 5 +++++ gtsam/nonlinear/Marginals.cpp | 14 ++++++++++++++ gtsam/nonlinear/Marginals.h | 7 +++++++ 5 files changed, 35 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 13d564391..66fc43c50 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -108,7 +108,7 @@ endif() if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() -find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time REQUIRED) +find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex REQUIRED) set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY}) # General build settings diff --git a/gtsam.h b/gtsam.h index 276a272a6..4a2cbb66c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1129,6 +1129,14 @@ class Marginals { 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; + void print(string s) const; + void print() const; }; //************************************************************************* diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index c3b8ca761..f55d67b41 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -88,6 +88,11 @@ public: Base::assign(x.begin(), x.end()); } + /** Conversion to a standard STL container */ + operator std::vector() const { + return std::vector(begin(), end()); + } + private: /** Serialization function */ friend class boost::serialization::access; diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index da3632570..f7f1aa00f 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -156,4 +156,18 @@ JointMarginal Marginals::jointMarginalInformation(const std::vector& variab } } +/* ************************************************************************* */ +void JointMarginal::print(const std::string& s, const KeyFormatter& formatter) const { + cout << s << "Joint marginal on keys "; + bool first = true; + BOOST_FOREACH(const Ordering::value_type& key_index, indices_) { + if(!first) + cout << ", "; + else + first = false; + cout << formatter(key_index.first); + } + cout << ". Use 'at' or 'operator()' to query matrix blocks." << endl; +} + } /* namespace gtsam */ diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index f04fe310a..c792167c5 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -117,11 +117,18 @@ public: Block operator()(Key iVariable, Key jVariable) const { return blockView_(indices_[iVariable], indices_[jVariable]); } + /** Synonym for operator() */ + Block at(Key iVariable, Key jVariable) const { + return (*this)(iVariable, jVariable); } + /** Copy constructor */ JointMarginal(const JointMarginal& other); /** Assignment operator */ JointMarginal& operator=(const JointMarginal& rhs); + + /** Print */ + void print(const std::string& s = "", const KeyFormatter& formatter = DefaultKeyFormatter) const; }; } /* namespace gtsam */ From 564ab1dd63b8df7ae5c40727954f2bd844b3e9b7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sun, 22 Jul 2012 00:57:24 +0000 Subject: [PATCH 650/914] Wrapped Values::keys() function --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index 276a272a6..50743c239 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1056,6 +1056,7 @@ class Values { void insert(size_t j, const gtsam::Value& value); bool exists(size_t j) const; gtsam::Value at(size_t j) const; + gtsam::KeyList keys() const; }; // Actually a FastList From f97869cf202eaf4a5e28c1d90b1f9fe994ae4a15 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sun, 22 Jul 2012 00:57:39 +0000 Subject: [PATCH 651/914] Added plot2DTrajectory matlab function to find all Pose2s in a Values and plot them as a trajectory with optional covariance ellipses --- matlab/plot2DTrajectory.m | 43 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 43 insertions(+) create mode 100644 matlab/plot2DTrajectory.m diff --git a/matlab/plot2DTrajectory.m b/matlab/plot2DTrajectory.m new file mode 100644 index 000000000..82c62bb40 --- /dev/null +++ b/matlab/plot2DTrajectory.m @@ -0,0 +1,43 @@ +function plot2DTrajectory(values, marginals) +%PLOT2DTRAJECTORY Plots the Pose2's in a values, with optional covariances +% Finds all the Pose2 objects in the given Values object and plots them +% in increasing key order, connecting consecutive poses with a line. If +% a Marginals object is given, this function will also plot marginal +% covariance ellipses for each pose. + +import gtsam.* + +haveMarginals = exist('marginals', 'var'); +keys = KeyVector(values.keys); + +% Store poses and covariance matrices +lastIndex = []; +for i = 0:keys.size-1 + key = keys.at(i); + x = values.at(key); + if isa(x, 'gtsam.Pose2') + if ~isempty(lastIndex) + % Draw line from last pose then covariance ellipse on top of + % last pose. + lastKey = keys.at(lastIndex); + lastPose = values.at(lastKey); + plot([ x.x; lastPose.x ], [ x.y; lastPose.y ], 'k*-'); + if haveMarginals + P = marginals.marginalCovariance(lastKey); + plotPose2(lastPose, 'g', P); + end + end + lastIndex = i; + end +end + +% Draw final covariance ellipse +if ~isempty(lastIndex) && haveMarginals + lastKey = keys.at(lastIndex); + lastPose = values.at(lastKey); + P = marginals.marginalCovariance(lastKey); + plotPose2(lastPose, 'g', P); +end + +end + From 9e278b394a0177a79da5070197af76ca5cb221e7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sun, 22 Jul 2012 00:57:54 +0000 Subject: [PATCH 652/914] Converted first 2 matlab examples to not use slam namespaces --- matlab/examples/LocalizationExample.m | 38 ++++++++++++--------------- matlab/examples/OdometryExample.m | 34 +++++++++++------------- 2 files changed, 32 insertions(+), 40 deletions(-) diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index 0a54111b0..1c38bc979 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -16,51 +16,47 @@ % - The robot is on a grid, moving 2 meters each step %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAM.Graph; +graph = gtsam.NonlinearFactorGraph; %% Add two odometry factors import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addRelativePose(1, 2, odometry, odometryNoise); -graph.addRelativePose(2, 3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Add three "GPS" measurements import gtsam.* % We use Pose2 Priors here with high variance on theta priorNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 10]); -graph.addPosePrior(1, Pose2(0.0, 0.0, 0.0), priorNoise); -graph.addPosePrior(2, Pose2(2.0, 0.0, 0.0), priorNoise); -graph.addPosePrior(3, Pose2(4.0, 0.0, 0.0), priorNoise); +graph.add(PriorFactorPose2(1, Pose2(0.0, 0.0, 0.0), priorNoise)); +graph.add(PriorFactorPose2(2, Pose2(2.0, 0.0, 0.0), priorNoise)); +graph.add(PriorFactorPose2(3, Pose2(4.0, 0.0, 0.0), priorNoise)); %% print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points import gtsam.* -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd import gtsam.* -result = graph.optimize(initialEstimate,1); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n ')); -%% Plot Covariance Ellipses +%% Plot trajectory and covariance ellipses import gtsam.* cla; -X=result.poses(); -plot(X(:,1),X(:,2),'k*-'); hold on -marginals = graph.marginals(result); -P={}; -for i=1:result.size() - pose_i = result.pose(i); - P{i}=marginals.marginalCovariance(i); - plotPose2(pose_i,'g',P{i}) -end +hold on; + +plot2DTrajectory(result, Marginals(graph, result)); + axis([-0.6 4.8 -1 1]) axis equal view(2) diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index 297702b51..16323a616 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -16,48 +16,44 @@ % - The robot is on a grid, moving 2 meters each step %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAM.Graph; +graph = gtsam.NonlinearFactorGraph; %% Add a Gaussian prior on pose x_1 import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta -graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add two odometry factors import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addRelativePose(1, 2, odometry, odometryNoise); -graph.addRelativePose(2, 3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points import gtsam.* -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,1); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n ')); -%% Plot Covariance Ellipses +%% Plot trajectory and covariance ellipses import gtsam.* cla; -X=result.poses(); -plot(X(:,1),X(:,2),'k*-'); hold on -marginals = graph.marginals(result); -P={}; -for i=1:result.size() - pose_i = result.pose(i); - P{i}=marginals.marginalCovariance(i); - plotPose2(pose_i,'g',P{i}) -end +hold on; + +plot2DTrajectory(result, Marginals(graph, result)); + axis([-0.6 4.8 -1 1]) axis equal view(2) From d259320aed71112eaff6712f9ed7ad3ab35736f5 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 04:35:12 +0000 Subject: [PATCH 653/914] Combined the two versions of Pose2SLAMExample into a single example without SLAM namespaces --- examples/Pose2SLAMExample.cpp | 133 +++++++++++++++++++------ examples/Pose2SLAMExample_advanced.cpp | 82 --------------- 2 files changed, 102 insertions(+), 113 deletions(-) delete mode 100644 examples/Pose2SLAMExample_advanced.cpp diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index 0777301ea..4e660a768 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -11,55 +11,126 @@ /** * @file Pose2SLAMExample.cpp - * @brief A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h + * @brief A 2D Pose SLAM example * @date Oct 21, 2010 * @author Yong Dian Jian */ -// pull in the Pose2 SLAM domain with all typedefs and helper functions defined -#include -#include +/** + * A simple 2D pose slam example + * - The robot moves in a 2 meter square + * - The robot moves 2 meters each step, turning 90 degrees after each step + * - The robot initially faces along the X axis (horizontal, to the right in 2D) + * - We have full odometry between pose + * - We have a loop closure constraint when the robot returns to the first position + */ + +// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent +// the robot positions +#include +#include + +// Each variable in the system (poses) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use simple integer keys +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Between factors for the relative motion described by odometry measurements. +// We will also use a Between Factor to encode the loop closure constraint +// Also, we will initialize the robot at the origin using a Prior factor. +#include +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. +#include + +// Finally, once all of the factors have been added to our factor graph, we will want to +// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values. +// GTSAM includes several nonlinear optimizers to perform this step. Here we will use the +// a Gauss-Newton solver +#include + +// Once the optimized values have been calculated, we can also calculate the marginal covariance +// of desired variables +#include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + using namespace std; using namespace gtsam; -using namespace gtsam::noiseModel; int main(int argc, char** argv) { - // 1. Create graph container and add factors to it - pose2SLAM::Graph graph; + // 1. Create a factor graph container and add factors to it + NonlinearFactorGraph graph; - // 2a. Add Gaussian prior - Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - graph.addPosePrior(1, priorMean, priorNoise); + // 2a. Add a prior on the first pose, setting it to the origin + // A prior factor consists of a mean and a noise model (covariance matrix) + Pose2 prior(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(1, prior, priorNoise)); // 2b. Add odometry factors - SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise); - graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + // For simplicity, we will use the same noise model for each odometry factor + noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + // Create odometry (Between) factors between consecutive poses + graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); - // 2c. Add pose constraint - SharedDiagonal model = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), model); + // 2c. Add the loop closure constraint + // This factor encodes the fact that we have returned to the same pose. In real systems, + // these constraints may be identified in many ways, such as appearance-based techniques + // with camera images. + // We will use another Between Factor to enforce this constraint, with the distance set to zero, + noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + graph.add(BetweenFactor(5, 1, Pose2(0.0, 0.0, 0.0), model)); + graph.print("\nFactor Graph:\n"); // print - // print - graph.print("\nFactor graph:\n"); // 3. Create the data structure to hold the initialEstimate estimate to the solution - pose2SLAM::Values initialEstimate; - initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insertPose(2, Pose2(2.3, 0.1, -0.2)); - initialEstimate.insertPose(3, Pose2(4.1, 0.1, M_PI_2)); - initialEstimate.insertPose(4, Pose2(4.0, 2.0, M_PI)); - initialEstimate.insertPose(5, Pose2(2.1, 2.1, -M_PI_2)); - initialEstimate.print("\nInitial estimate:\n"); + // For illustrative purposes, these have been deliberately set to incorrect values + Values initialEstimate; + initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insert(2, Pose2(2.3, 0.1, 1.1)); + initialEstimate.insert(3, Pose2(2.1, 1.9, 2.8)); + initialEstimate.insert(4, Pose2(-.3, 2.5, 4.2)); + initialEstimate.insert(5, Pose2(0.1,-0.7, 5.8)); + initialEstimate.print("\nInitial Estimate:\n"); // print - // 4. Single Step Optimization using Levenberg-Marquardt - pose2SLAM::Values result = graph.optimize(initialEstimate); - result.print("\nFinal result:\n"); + // 4. Optimize the initial values using a Gauss-Newton nonlinear optimizer + // The optimizer accepts an optional set of configuration parameters, + // controlling things like convergence criteria, the type of linear + // system solver to use, and the amount of information displayed during + // optimization. We will set a few parameters as a demonstration. + GaussNewtonParams parameters; + // Stop iterating once the change in error between steps is less than this value + parameters.relativeErrorTol = 1e-5; + // Do not perform more than N iteration steps + parameters.maxIterations = 100; + // Create the optimizer ... + GaussNewtonOptimizer optimizer(graph, initialEstimate, parameters); + // ... and optimize + Values result = optimizer.optimize(); + result.print("Final Result:\n"); + + // 5. Calculate and print marginal covariances for all variables + Marginals marginals(graph, result); + cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(1) << endl; + cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(2) << endl; + cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(3) << endl; + cout << "Pose 4 covariance:\n" << marginals.marginalCovariance(4) << endl; + cout << "Pose 5 covariance:\n" << marginals.marginalCovariance(5) << endl; return 0; } diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp deleted file mode 100644 index b5fcddfcf..000000000 --- a/examples/Pose2SLAMExample_advanced.cpp +++ /dev/null @@ -1,82 +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 Pose2SLAMExample_advanced.cpp - * @brief Simple Pose2SLAM Example using - * pre-built pose2SLAM domain - * @author Chris Beall - */ - -// pull in the Pose2 SLAM domain with all typedefs and helper functions defined -#include -#include -#include -#include -#include - -#include -#include -#include - -using namespace std; -using namespace gtsam; -using namespace gtsam::noiseModel; - -int main(int argc, char** argv) { - /* 1. create graph container and add factors to it */ - pose2SLAM::Graph graph; - - /* 2.a add prior */ - Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPosePrior(1, priorMean, priorNoise); // add directly to graph - - /* 2.b add odometry */ - SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - graph.addRelativePose(1, 2, odometry, odometryNoise); - graph.addRelativePose(2, 3, odometry, odometryNoise); - graph.print("full graph"); - - /* 3. Create the data structure to hold the initial estimate to the solution - * initialize to noisy points */ - pose2SLAM::Values initial; - initial.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initial.insertPose(2, Pose2(2.3, 0.1, -0.2)); - initial.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initial.print("initial estimate"); - - /* 4.2.1 Alternatively, you can go through the process step by step - * Choose an ordering */ - Ordering ordering = *graph.orderingCOLAMD(initial); - - /* 4.2.2 set up solver and optimize */ - LevenbergMarquardtParams params; - params.absoluteErrorTol = 1e-15; - params.relativeErrorTol = 1e-15; - params.ordering = ordering; - LevenbergMarquardtOptimizer optimizer(graph, initial, params); - - pose2SLAM::Values result = optimizer.optimize(); - result.print("final result"); - - /* Get covariances */ - Marginals marginals(graph, result, Marginals::CHOLESKY); - Matrix covariance1 = marginals.marginalCovariance(1); - Matrix covariance2 = marginals.marginalCovariance(2); - - print(covariance1, "Covariance1"); - print(covariance2, "Covariance2"); - - return 0; -} - From 5da5adb2f1ced42d8010756c4bc1a5c21d7a43f6 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 04:36:40 +0000 Subject: [PATCH 654/914] Combined the PlanarSLAM examples into a single example without SLAM namespaces --- examples/PlanarSLAMExample.cpp | 138 +++++++++++++------ examples/PlanarSLAMExample_selfcontained.cpp | 137 ------------------ 2 files changed, 94 insertions(+), 181 deletions(-) delete mode 100644 examples/PlanarSLAMExample_selfcontained.cpp diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp index f05ffa9b2..c6f6b636f 100644 --- a/examples/PlanarSLAMExample.cpp +++ b/examples/PlanarSLAMExample.cpp @@ -11,22 +11,12 @@ /** * @file PlanarSLAMExample.cpp - * @brief Simple robotics example using the pre-built planar SLAM domain + * @brief Simple robotics example using odometry measurements and bearing-range (laser) measurements * @author Alex Cunningham */ -// pull in the planar SLAM domain with all typedefs and helper functions defined -#include - -// we will use Symbol keys -#include - -using namespace std; -using namespace gtsam; -using namespace gtsam::noiseModel; - /** - * Example of a simple 2D planar slam example with landmarls + * A simple 2D planar slam example with landmarks * - The robot and landmarks are on a 2 meter grid * - Robot poses are facing along the X axis (horizontal, to the right in 2D) * - The robot moves 2 meters each step @@ -34,29 +24,74 @@ using namespace gtsam::noiseModel; * - We have bearing and range information for measurements * - Landmarks are 2 meters away from the robot trajectory */ + +// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent +// the robot positions and Point2 variables (x, y) to represent the landmark coordinates. +#include +#include + +// Each variable in the system (poses and landmarks) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use Symbols +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use a RangeBearing factor for the range-bearing measurements to identified +// landmarks, and Between factors for the relative motion described by odometry measurements. +// Also, we will initialize the robot at the origin using a Prior factor. +#include +#include +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. +#include + +// Finally, once all of the factors have been added to our factor graph, we will want to +// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values. +// GTSAM includes several nonlinear optimizers to perform this step. Here we will use the +// common Levenberg-Marquardt solver +#include + +// Once the optimized values have been calculated, we can also calculate the marginal covariance +// of desired variables +#include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + + +using namespace std; +using namespace gtsam; + int main(int argc, char** argv) { - // create the graph (defined in planarSlam.h, derived from NonlinearFactorGraph) - planarSLAM::Graph graph; + // Create a factor graph + NonlinearFactorGraph graph; - // Create some keys - static Symbol i1('x',1), i2('x',2), i3('x',3); - static Symbol j1('l',1), j2('l',2); + // Create the keys we need for this simple example + static Symbol x1('x',1), x2('x',2), x3('x',3); + static Symbol l1('l',1), l2('l',2); - // add a Gaussian prior on pose x_1 - Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin - SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPosePrior(i1, priorMean, priorNoise); // add directly to graph + // Add a prior on pose x1 at the origin. A prior factor consists of a mean and a noise model (covariance matrix) + Pose2 prior(0.0, 0.0, 0.0); // prior mean is at origin + noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta + graph.add(PriorFactor(x1, prior, priorNoise)); // add directly to graph - // add two odometry factors + // Add two odometry factors Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addRelativePose(i1, i2, odometry, odometryNoise); - graph.addRelativePose(i2, i3, odometry, odometryNoise); + noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta + graph.add(BetweenFactor(x1, x2, odometry, odometryNoise)); + graph.add(BetweenFactor(x2, x3, odometry, odometryNoise)); + // Add Range-Bearing measurements to two different landmarks // create a noise model for the landmark measurements - SharedDiagonal measurementNoise = Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range - + noiseModel::Diagonal::shared_ptr measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); // 0.1 rad std on bearing, 20cm on range // create the measurement values - indices are (pose id, landmark id) Rot2 bearing11 = Rot2::fromDegrees(45), bearing21 = Rot2::fromDegrees(90), @@ -65,27 +100,42 @@ int main(int argc, char** argv) { range21 = 2.0, range32 = 2.0; - // add bearing/range factors (created by "addBearingRange") - graph.addBearingRange(i1, j1, bearing11, range11, measurementNoise); - graph.addBearingRange(i2, j1, bearing21, range21, measurementNoise); - graph.addBearingRange(i3, j2, bearing32, range32, measurementNoise); + // Add Bearing-Range factors + graph.add(BearingRangeFactor(x1, l1, bearing11, range11, measurementNoise)); + graph.add(BearingRangeFactor(x2, l1, bearing21, range21, measurementNoise)); + graph.add(BearingRangeFactor(x3, l2, bearing32, range32, measurementNoise)); - // print - graph.print("Factor graph"); + // Print + graph.print("Factor Graph:\n"); - // create (deliberatly inaccurate) initial estimate - planarSLAM::Values initialEstimate; - initialEstimate.insertPose(i1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insertPose(i2, Pose2(2.3, 0.1,-0.2)); - initialEstimate.insertPose(i3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.insertPoint(j1, Point2(1.8, 2.1)); - initialEstimate.insertPoint(j2, Point2(4.1, 1.8)); + // Create (deliberately inaccurate) initial estimate + Values initialEstimate; + initialEstimate.insert(x1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insert(x2, Pose2(2.3, 0.1,-0.2)); + initialEstimate.insert(x3, Pose2(4.1, 0.1, 0.1)); + initialEstimate.insert(l1, Point2(1.8, 2.1)); + initialEstimate.insert(l2, Point2(4.1, 1.8)); - initialEstimate.print("Initial estimate:\n "); + // Print + initialEstimate.print("Initial Estimate:\n"); - // optimize using Levenberg-Marquardt optimization with an ordering from colamd - planarSLAM::Values result = graph.optimize(initialEstimate); - result.print("Final result:\n "); + // Optimize using Levenberg-Marquardt optimization. The optimizer + // accepts an optional set of configuration parameters, controlling + // things like convergence criteria, the type of linear system solver + // to use, and the amount of information displayed during optimization. + // Here we will use the default set of parameters. See the + // documentation for the full set of parameters. + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); + Values result = optimizer.optimize(); + result.print("Final Result:\n"); + + // Calculate and print marginal covariances for all variables + Marginals marginals(graph, result); + print(marginals.marginalCovariance(x1), "x1 covariance"); + print(marginals.marginalCovariance(x2), "x2 covariance"); + print(marginals.marginalCovariance(x3), "x3 covariance"); + print(marginals.marginalCovariance(l1), "l1 covariance"); + print(marginals.marginalCovariance(l2), "l2 covariance"); return 0; } diff --git a/examples/PlanarSLAMExample_selfcontained.cpp b/examples/PlanarSLAMExample_selfcontained.cpp deleted file mode 100644 index 7c8ccc134..000000000 --- a/examples/PlanarSLAMExample_selfcontained.cpp +++ /dev/null @@ -1,137 +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 PlanarSLAMExample_selfcontained.cpp - * @brief Simple robotics example with all typedefs internal to this script. - * @author Alex Cunningham - */ - -// add in headers for specific factors -#include -#include -#include - -// for all nonlinear keys -#include - -// implementations for structures - needed if self-contained, and these should be included last -#include -#include -#include - -// for modeling measurement uncertainty - all models included here -#include - -// for points and poses -#include -#include - -#include -#include - -using namespace std; -using namespace gtsam; - -/** - * In this version of the system we make the following assumptions: - * - All values are axis aligned - * - Robot poses are facing along the X axis (horizontal, to the right in images) - * - We have bearing and range information for measurements - * - We have full odometry for measurements - * - The robot and landmarks are on a grid, moving 2 meters each step - * - Landmarks are 2 meters away from the robot trajectory - */ -int main(int argc, char** argv) { - // create keys for variables - Symbol i1('x',1), i2('x',2), i3('x',3); - Symbol j1('l',1), j2('l',2); - - // create graph container and add factors to it - NonlinearFactorGraph graph; - - /* add prior */ - // gaussian for prior - SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - PriorFactor posePrior(i1, priorMean, priorNoise); // create the factor - graph.add(posePrior); // add the factor to the graph - - /* add odometry */ - // general noisemodel for odometry - SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - // create between factors to represent odometry - BetweenFactor odom12(i1, i2, odometry, odometryNoise); - BetweenFactor odom23(i2, i3, odometry, odometryNoise); - graph.add(odom12); // add both to graph - graph.add(odom23); - - /* add measurements */ - // general noisemodel for measurements - SharedDiagonal measurementNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); - - // create the measurement values - indices are (pose id, landmark id) - Rot2 bearing11 = Rot2::fromDegrees(45), - bearing21 = Rot2::fromDegrees(90), - bearing32 = Rot2::fromDegrees(90); - double range11 = sqrt(4.0+4.0), - range21 = 2.0, - range32 = 2.0; - - // create bearing/range factors - BearingRangeFactor meas11(i1, j1, bearing11, range11, measurementNoise); - BearingRangeFactor meas21(i2, j1, bearing21, range21, measurementNoise); - BearingRangeFactor meas32(i3, j2, bearing32, range32, measurementNoise); - - // add the factors - graph.add(meas11); - graph.add(meas21); - graph.add(meas32); - - graph.print("Full Graph"); - - // initialize to noisy points - Values initial; - initial.insert(i1, Pose2(0.5, 0.0, 0.2)); - initial.insert(i2, Pose2(2.3, 0.1,-0.2)); - initial.insert(i3, Pose2(4.1, 0.1, 0.1)); - initial.insert(j1, Point2(1.8, 2.1)); - initial.insert(j2, Point2(4.1, 1.8)); - - initial.print("initial estimate"); - - // optimize using Levenberg-Marquardt optimization with an ordering from colamd - - // first using sequential elimination - LevenbergMarquardtParams lmParams; - lmParams.linearSolverType = LevenbergMarquardtParams::SEQUENTIAL_CHOLESKY; - Values resultSequential = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); - resultSequential.print("final result (solved with a sequential solver)"); - - // then using multifrontal, advanced interface - // Note that we keep the original optimizer object so we can use the COLAMD - // ordering it computes. - LevenbergMarquardtOptimizer optimizer(graph, initial); - Values resultMultifrontal = optimizer.optimize(); - resultMultifrontal.print("final result (solved with a multifrontal solver)"); - - // Print marginals covariances for all variables - Marginals marginals(graph, resultMultifrontal, Marginals::CHOLESKY); - print(marginals.marginalCovariance(i1), "i1 covariance"); - print(marginals.marginalCovariance(i2), "i2 covariance"); - print(marginals.marginalCovariance(i3), "i3 covariance"); - print(marginals.marginalCovariance(j1), "j1 covariance"); - print(marginals.marginalCovariance(j2), "j2 covariance"); - - return 0; -} - From 67e2d832feafea9413c5f6d783b6f3d04cf87203 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 04:52:01 +0000 Subject: [PATCH 655/914] Updated the VisualSLAM examples, removing the SLAM namespaces --- examples/VisualISAMExample.cpp | 184 ++++++++++++++++++++------------- examples/VisualSLAMData.h | 89 ---------------- examples/VisualSLAMExample.cpp | 134 ++++++++++++++++++------ 3 files changed, 216 insertions(+), 191 deletions(-) delete mode 100644 examples/VisualSLAMData.h diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index 25e993bca..eab860db0 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -11,99 +11,139 @@ /** * @file VisualISAMExample.cpp - * @brief An ISAM example for synthesis sequence, single camera + * @brief A visualSLAM example for the structure-from-motion problem on a simulated dataset + * This version uses iSAM to solve the problem incrementally * @author Duy-Nguyen Ta */ +/** + * A structure-from-motion example with landmarks + * - The landmarks form a 10 meter cube + * - The robot rotates around the landmarks, always facing towards the cube + */ + +// As this is a full 3D problem, we will use Pose3 variables to represent the camera +// positions and Point3 variables (x, y, z) to represent the landmark coordinates. +// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y). +// We will also need a camera object to hold calibration information and perform projections. +#include +#include +#include +#include + +// Each variable in the system (poses and landmarks) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use Symbols #include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Projection factors to model the camera's landmark observations. +// Also, we will initialize the robot at some location using a Prior factor. +#include +#include + +// We want to use iSAM to solve the structure-from-motion problem incrementally, so +// include iSAM here #include -#include -#include -#include "VisualSLAMData.h" + +// iSAM requires as input a set set of new factors to be added stored in a factor graph, +// and initial guesses for any new variables used in the added factors +#include +#include + +#include using namespace std; using namespace gtsam; -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::L; - /* ************************************************************************* */ int main(int argc, char* argv[]) { - VisualSLAMExampleData data = VisualSLAMExampleData::generate(); + // Define the camera calibration parameters + Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); - /* 1. Create a NonlinearISAM which will be relinearized and reordered after every "relinearizeInterval" updates */ - int relinearizeInterval = 3; - NonlinearISAM isam(relinearizeInterval); + // Define the camera observation noise model + noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v - /* 2. At each frame (poseId) with new camera pose and set of associated measurements, - * create a graph of new factors and update ISAM */ + // Create the set of ground-truth landmarks + std::vector points; + points.push_back(gtsam::Point3(10.0,10.0,10.0)); + points.push_back(gtsam::Point3(-10.0,10.0,10.0)); + points.push_back(gtsam::Point3(-10.0,-10.0,10.0)); + points.push_back(gtsam::Point3(10.0,-10.0,10.0)); + points.push_back(gtsam::Point3(10.0,10.0,-10.0)); + points.push_back(gtsam::Point3(-10.0,10.0,-10.0)); + points.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); + points.push_back(gtsam::Point3(10.0,-10.0,-10.0)); - // Store the current best estimate from ISAM - Values currentEstimate; - - // First two frames: - // Add factors and initial values for the first two poses and landmarks then update ISAM. - // Note: measurements from the first pose only are not enough to update ISAM: - // the system is underconstrained. - { - visualSLAM::Graph newFactors; - - // First pose with prior factor - newFactors.addPosePrior(X(0), data.poses[0], data.noiseX); - - // Second pose with odometry measurement - newFactors.addRelativePose(X(0), X(1), data.odometry, data.noiseX); - - // Visual measurements at both poses - for (size_t i=0; i<2; ++i) { - for (size_t j=0; j poses; + double radius = 30.0; + int i = 0; + double theta = 0.0; + gtsam::Point3 up(0,0,1); + gtsam::Point3 target(0,0,0); + for(; i < 8; ++i, theta += 2*M_PI/8) { + gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0); + gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up); + poses.push_back(camera.pose()); } - // Subsequent frames: Add new odometry and measurement factors and initial values, - // then update ISAM at each frame - for (size_t i=2; i(X(i-1))*data.odometry); + // Create a Factor Graph and Values to hold the new data + NonlinearFactorGraph graph; + Values initialEstimate; - // update ISAM - isam.update(newFactors, initials); - currentEstimate = isam.estimate(); - cout << "****************************************************" << endl; - cout << "Frame " << i << ": " << endl; - currentEstimate.print("Current estimate: "); + // Loop over the different poses, adding the observations to iSAM incrementally + for (size_t i = 0; i < poses.size(); ++i) { + + // Add factors for each landmark observation + for (size_t j = 0; j < points.size(); ++j) { + SimpleCamera camera(poses[i], *K); + Point2 measurement = camera.project(points[j]); + graph.add(GenericProjectionFactor(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K)); + } + + // Add an initial guess for the current pose + // Intentionally initialize the variables off from the ground truth + initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); + + // If this is the first iteration, add a prior on the first pose to set the coordinate frame + // and a prior on the first landmark to set the scale + // Also, as iSAM solves incrementally, we must wait until each is observed at least twice before + // adding it to iSAM. + if( i == 0) { + // Add a prior on pose x0 + noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + graph.add(PriorFactor(Symbol('x', 0), poses[0], poseNoise)); + + // Add a prior on landmark l0 + noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); + graph.add(PriorFactor(Symbol('l', 0), points[0], pointNoise)); // add directly to graph + + // Add initial guesses to all observed landmarks + // Intentionally initialize the variables off from the ground truth + for (size_t j = 0; j < points.size(); ++j) + initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15))); + + } else { + // Update iSAM with the new factors + isam.update(graph, initialEstimate); + Values currentEstimate = isam.estimate(); + cout << "****************************************************" << endl; + cout << "Frame " << i << ": " << endl; + currentEstimate.print("Current estimate: "); + + // Clear the factor graph and values for the next iteration + graph.resize(0); + initialEstimate.clear(); + } } return 0; } /* ************************************************************************* */ - diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h deleted file mode 100644 index 28fa3040c..000000000 --- a/examples/VisualSLAMData.h +++ /dev/null @@ -1,89 +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 VisualSLAMData.cpp - * @brief Generate ground-truth simulated data for VisualSLAM examples - * @author Duy-Nguyen Ta - */ - -#pragma once - -#include -#include -#include - -/* ************************************************************************* */ -/** - * Simulated data for the visual SLAM examples: - * - 8 Landmarks: (10,10,10) (-10,10,10) (-10,-10,10) (10,-10,10) - * (10,10,-10) (-10,10,-10) (-10,-10,-10) (10,-10,-10) - * - n 90-deg-FoV cameras with the same calibration parameters: - * f = 50.0, Image: 100x100, center: 50.0, 50.0 - * and ground-truth poses on a circle around the landmarks looking at the world's origin: - * Rot3(-sin(theta), 0, -cos(theta), - * cos(theta), 0, -sin(theta), - * 0, -1, 0 ), - * Point3(r*cos(theta), r*sin(theta), 0.0) - * (theta += 2*pi/N) - * - Measurement noise: 1 pix sigma - */ -struct VisualSLAMExampleData { - gtsam::shared_ptrK sK; // camera calibration parameters - std::vector poses; // ground-truth camera poses - gtsam::Pose3 odometry; // ground-truth odometry between 2 consecutive poses (simulated data for iSAM) - std::vector points; // ground-truth landmarks - std::map > z; // 2D measurements of landmarks in each camera frame - gtsam::SharedDiagonal noiseZ; // measurement noise (noiseModel::Isotropic::Sigma(2, 5.0f)); - gtsam::SharedDiagonal noiseX; // noise for camera poses - gtsam::SharedDiagonal noiseL; // noise for landmarks - - static const VisualSLAMExampleData generate() { - VisualSLAMExampleData data; - // Landmarks (ground truth) - data.points.push_back(gtsam::Point3(10.0,10.0,10.0)); - data.points.push_back(gtsam::Point3(-10.0,10.0,10.0)); - data.points.push_back(gtsam::Point3(-10.0,-10.0,10.0)); - data.points.push_back(gtsam::Point3(10.0,-10.0,10.0)); - data.points.push_back(gtsam::Point3(10.0,10.0,-10.0)); - data.points.push_back(gtsam::Point3(-10.0,10.0,-10.0)); - data.points.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); - data.points.push_back(gtsam::Point3(10.0,-10.0,-10.0)); - - // Camera calibration parameters - data.sK = gtsam::shared_ptrK(new gtsam::Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); - - // n camera poses - int n = 8; - double theta = 0.0; - double r = 30.0; - for (int i=0; isample()))*/); // you can add noise as desired - } - } - data.noiseX = gtsam::noiseModel::Diagonal::Sigmas(gtsam::Vector_(6, 0.001, 0.001, 0.001, 0.1, 0.1, 0.1)); - data.noiseL = gtsam::noiseModel::Isotropic::Sigma(3, 0.1); - - return data; - } -}; diff --git a/examples/VisualSLAMExample.cpp b/examples/VisualSLAMExample.cpp index 1fc343203..8aed051eb 100644 --- a/examples/VisualSLAMExample.cpp +++ b/examples/VisualSLAMExample.cpp @@ -15,49 +15,123 @@ * @author Duy-Nguyen Ta */ -#include +/** + * A structure-from-motion example with landmarks + * - The landmarks form a 10 meter cube + * - The robot rotates around the landmarks, always facing towards the cube + */ + +// As this is a full 3D problem, we will use Pose3 variables to represent the camera +// positions and Point3 variables (x, y, z) to represent the landmark coordinates. +// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y). +// We will also need a camera object to hold calibration information and perform projections. +#include +#include +#include +#include + +// Each variable in the system (poses and landmarks) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use Symbols #include -#include -#include -#include "VisualSLAMData.h" + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Projection factors to model the camera's landmark observations. +// Also, we will initialize the robot at some location using a Prior factor. +#include +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. +#include + +// Finally, once all of the factors have been added to our factor graph, we will want to +// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values. +// GTSAM includes several nonlinear optimizers to perform this step. Here we will use a +// trust-region method known as Powell's Degleg +#include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + +#include using namespace std; using namespace gtsam; -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::L; - /* ************************************************************************* */ int main(int argc, char* argv[]) { - VisualSLAMExampleData data = VisualSLAMExampleData::generate(); + // Define the camera calibration parameters + Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); - /* 1. Create graph *///using the 2D measurements (features) and the calibration data - visualSLAM::Graph graph; + // Define the camera observation noise model + noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v - /* 2. Add factors to the graph */ - // 2a. Measurement factors - for (size_t i=0; i points; + points.push_back(gtsam::Point3(10.0,10.0,10.0)); + points.push_back(gtsam::Point3(-10.0,10.0,10.0)); + points.push_back(gtsam::Point3(-10.0,-10.0,10.0)); + points.push_back(gtsam::Point3(10.0,-10.0,10.0)); + points.push_back(gtsam::Point3(10.0,10.0,-10.0)); + points.push_back(gtsam::Point3(-10.0,10.0,-10.0)); + points.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); + points.push_back(gtsam::Point3(10.0,-10.0,-10.0)); + + // Create the set of ground-truth poses + std::vector poses; + double radius = 30.0; + int i = 0; + double theta = 0.0; + gtsam::Point3 up(0,0,1); + gtsam::Point3 target(0,0,0); + for(; i < 8; ++i, theta += 2*M_PI/8) { + gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0); + gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up); + poses.push_back(camera.pose()); } - // 2b. Prior factor for the first pose and point to constraint the system - graph.addPosePrior(X(0), data.poses[0], data.noiseX); - graph.addPointPrior(L(0), data.points[0], data.noiseL); - /* 3. Initial estimates for variable nodes, simulated by Gaussian noises */ - Values initial; - for (size_t i=0; isample())*/); // you can add noise if you want - for (size_t j=0; jsample())*/); // you can add noise if you want - initial.print("Intial Estimates: "); + // Create a factor graph + NonlinearFactorGraph graph; - /* 4. Optimize the graph and print results */ - visualSLAM::Values result = GaussNewtonOptimizer(graph, initial).optimize(); -// visualSLAM::Values result = LevenbergMarquardtOptimizer(graph, initial).optimize(); - result.print("Final results: "); + // Add a prior on pose x1. This indirectly specifies where the origin is. + noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + graph.add(PriorFactor(Symbol('x', 0), poses[0], poseNoise)); // add directly to graph + + // Simulated measurements from each camera pose, adding them to the factor graph + for (size_t i = 0; i < poses.size(); ++i) { + for (size_t j = 0; j < points.size(); ++j) { + SimpleCamera camera(poses[i], *K); + Point2 measurement = camera.project(points[j]); + graph.add(GenericProjectionFactor(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K)); + } + } + + // Because the structure-from-motion problem has a scale ambiguity, the problem is still under-constrained + // Here we add a prior on the position of the first landmark. This fixes the scale by indicating the distance + // between the first camera and the first landmark. All other landmark positions are interpreted using this scale. + noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); + graph.add(PriorFactor(Symbol('l', 0), points[0], pointNoise)); // add directly to graph + graph.print("Factor Graph:\n"); + + // Create the data structure to hold the initialEstimate estimate to the solution + // Intentionally initialize the variables off from the ground truth + Values initialEstimate; + for (size_t i = 0; i < poses.size(); ++i) + initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); + for (size_t j = 0; j < points.size(); ++j) + initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15))); + initialEstimate.print("Initial Estimates:\n"); + + /* Optimize the graph and print results */ + Values result = DoglegOptimizer(graph, initialEstimate).optimize(); + result.print("Final results:\n"); return 0; } From 45d1c4f0ed2a73b685ae3a174d6d241fb7e2a565 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 05:21:32 +0000 Subject: [PATCH 656/914] Removed SLAM namespaces from OdometryExample --- examples/OdometryExample.cpp | 117 ++++++++++++++++++++++------------- 1 file changed, 73 insertions(+), 44 deletions(-) diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 36ad5f228..f0874bedb 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -15,62 +15,91 @@ * @author Frank Dellaert */ -// pull in the 2D PoseSLAM domain with all typedefs and helper functions defined -#include - -// include this for marginals -#include - -#include -#include - -using namespace std; -using namespace gtsam; -using namespace gtsam::noiseModel; - /** * Example of a simple 2D localization example * - Robot poses are facing along the X axis (horizontal, to the right in 2D) * - The robot moves 2 meters each step * - We have full odometry between poses */ + +// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent +// the robot positions +#include +#include + +// Each variable in the system (poses) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use symbols +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Between factors for the relative motion described by odometry measurements. +// Also, we will initialize the robot at the origin using a Prior factor. +#include +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. +#include + +// Finally, once all of the factors have been added to our factor graph, we will want to +// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values. +// GTSAM includes several nonlinear optimizers to perform this step. Here we will use the +// Levenberg-Marquardt solver +#include + +// Once the optimized values have been calculated, we can also calculate the marginal covariance +// of desired variables +#include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + + +using namespace std; +using namespace gtsam; + int main(int argc, char** argv) { - // create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) - pose2SLAM::Graph graph; + // Create a factor graph container + NonlinearFactorGraph graph; - // add a Gaussian prior on pose x_1 - Pose2 priorMean(0.0, 0.0, 0.0); // prior mean is at origin - SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); // 30cm std on x,y, 0.1 rad on theta - graph.addPosePrior(1, priorMean, priorNoise); // add directly to graph + // Add a prior on the first pose, setting it to the origin + // A prior factor consists of a mean and a noise model (covariance matrix) + Pose2 prior(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(Symbol('x', 1), prior, priorNoise)); - // add two odometry factors - Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addRelativePose(1, 2, odometry, odometryNoise); - graph.addRelativePose(2, 3, odometry, odometryNoise); + // Add odometry factors + // For simplicity, we will use the same noise model for each odometry factor + noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + // Create odometry (Between) factors between consecutive poses + graph.add(BetweenFactor(Symbol('x', 1), Symbol('x', 2), Pose2(2.0, 0.0, 0.0), odometryNoise)); + graph.add(BetweenFactor(Symbol('x', 2), Symbol('x', 3), Pose2(2.0, 0.0, 0.0), odometryNoise)); + graph.print("\nFactor Graph:\n"); // print - // print - graph.print("\nFactor graph:\n"); + // Create the data structure to hold the initialEstimate estimate to the solution + // For illustrative purposes, these have been deliberately set to incorrect values + Values initialEstimate; + initialEstimate.insert(Symbol('x', 1), Pose2(0.5, 0.0, 0.2)); + initialEstimate.insert(Symbol('x', 2), Pose2(2.3, 0.1, -0.2)); + initialEstimate.insert(Symbol('x', 3), Pose2(4.1, 0.1, 0.1)); + initialEstimate.print("\nInitial Estimate:\n"); // print - // create (deliberatly inaccurate) initial estimate - pose2SLAM::Values initialEstimate; - initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insertPose(2, Pose2(2.3, 0.1, -0.2)); - initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.print("\nInitial estimate:\n "); + // optimize using Levenberg-Marquardt optimization + Values result = LevenbergMarquardtOptimizer(graph, initialEstimate).optimize(); + result.print("Final Result:\n"); - // optimize using Levenberg-Marquardt optimization with an ordering from colamd - pose2SLAM::Values result = graph.optimize(initialEstimate); - result.print("\nFinal result:\n "); + // Calculate and print marginal covariances for all variables + Marginals marginals(graph, result); + cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(Symbol('x', 1)) << endl; + cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(Symbol('x', 2)) << endl; + cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(Symbol('x', 3)) << endl; - // Query the marginals - cout.precision(2); - Marginals marginals = graph.marginals(result); - cout << "\nP1:\n" << marginals.marginalCovariance(1) << endl; - cout << "\nP2:\n" << marginals.marginalCovariance(2) << endl; - cout << "\nP3:\n" << marginals.marginalCovariance(3) << endl; - - return 0; + return 0; } - From e3a6282ff8170f4435dc7d6ed3a5de3f65141a3c Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 05:34:22 +0000 Subject: [PATCH 657/914] Removed SLAM namespaces from SPCG example. Still needs better documentation by someone who knows what SPCG is. --- examples/Pose2SLAMwSPCG.cpp | 130 +++++++++++++++++++++++------------- 1 file changed, 83 insertions(+), 47 deletions(-) diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index e2f3801f7..38a2e18e4 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -16,79 +16,115 @@ * @date June 2, 2012 */ +/** + * A simple 2D pose slam example solved using a Conjugate-Gradient method + * - The robot moves in a 2 meter square + * - The robot moves 2 meters each step, turning 90 degrees after each step + * - The robot initially faces along the X axis (horizontal, to the right in 2D) + * - We have full odometry between pose + * - We have a loop closure constraint when the robot returns to the first position + */ + +// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent +// the robot positions +#include +#include + +// Each variable in the system (poses) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use simple integer keys +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Between factors for the relative motion described by odometry measurements. +// We will also use a Between Factor to encode the loop closure constraint +// Also, we will initialize the robot at the origin using a Prior factor. +#include +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. +#include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + +// ??? #include #include #include -#include -#include -#include + using namespace std; using namespace gtsam; -using namespace gtsam::noiseModel; -/* ************************************************************************* */ -int main(void) { +int main(int argc, char** argv) { - // 1. Create graph container and add factors to it - pose2SLAM::Graph graph ; + // 1. Create a factor graph container and add factors to it + NonlinearFactorGraph graph; - // 2a. Add Gaussian prior - Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - graph.addPosePrior(1, priorMean, priorNoise); + // 2a. Add a prior on the first pose, setting it to the origin + // A prior factor consists of a mean and a noise model (covariance matrix) + Pose2 prior(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(1, prior, priorNoise)); // 2b. Add odometry factors - SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); - graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + // For simplicity, we will use the same noise model for each odometry factor + noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + // Create odometry (Between) factors between consecutive poses + graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); - // 2c. Add pose constraint - SharedDiagonal constraintUncertainty = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + // 2c. Add the loop closure constraint + // This factor encodes the fact that we have returned to the same pose. In real systems, + // these constraints may be identified in many ways, such as appearance-based techniques + // with camera images. + // We will use another Between Factor to enforce this constraint, with the distance set to zero, + noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + graph.add(BetweenFactor(5, 1, Pose2(0.0, 0.0, 0.0), model)); + graph.print("\nFactor Graph:\n"); // print - // print - graph.print("\nFactor graph:\n"); - // 3. Create the data structure to hold the initialEstimate estinmate to the solution - pose2SLAM::Values initialEstimate; - Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); - Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); - Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); - Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); - Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); - initialEstimate.print("\nInitial estimate:\n "); - cout << "initial error = " << graph.error(initialEstimate) << endl ; + // 3. Create the data structure to hold the initialEstimate estimate to the solution + // For illustrative purposes, these have been deliberately set to incorrect values + Values initialEstimate; + initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insert(2, Pose2(2.3, 0.1, 1.1)); + initialEstimate.insert(3, Pose2(2.1, 1.9, 2.8)); + initialEstimate.insert(4, Pose2(-.3, 2.5, 4.2)); + initialEstimate.insert(5, Pose2(0.1,-0.7, 5.8)); + initialEstimate.print("\nInitial Estimate:\n"); // print // 4. Single Step Optimization using Levenberg-Marquardt - LevenbergMarquardtParams param; - param.verbosity = NonlinearOptimizerParams::ERROR; - param.verbosityLM = LevenbergMarquardtParams::LAMBDA; - param.linearSolverType = SuccessiveLinearizationParams::CG; + LevenbergMarquardtParams parameters; + parameters.verbosity = NonlinearOptimizerParams::ERROR; + parameters.verbosityLM = LevenbergMarquardtParams::LAMBDA; + parameters.linearSolverType = SuccessiveLinearizationParams::CG; { - param.iterativeParams = boost::make_shared(); - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); + parameters.iterativeParams = boost::make_shared(); + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); Values result = optimizer.optimize(); - result.print("\nFinal result:\n"); + result.print("Final Result:\n"); cout << "simple spcg solver final error = " << graph.error(result) << endl; } { - param.iterativeParams = boost::make_shared(); - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, param); + parameters.iterativeParams = boost::make_shared(); + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); Values result = optimizer.optimize(); - result.print("\nFinal result:\n"); + result.print("Final Result:\n"); cout << "subgraph solver final error = " << graph.error(result) << endl; } - { - Values result = graph.optimizeSPCG(initialEstimate); - result.print("\nFinal result:\n"); - } - - return 0 ; + return 0; } From ff522a73c05c1f9a76b7bde2c3017e9a1e1eecb0 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 05:43:44 +0000 Subject: [PATCH 658/914] Updated documentation on SimpleRotation example --- examples/SimpleRotation.cpp | 54 ++++++++++++++++++++++++------------- 1 file changed, 35 insertions(+), 19 deletions(-) diff --git a/examples/SimpleRotation.cpp b/examples/SimpleRotation.cpp index 603d345bf..cff9d754e 100644 --- a/examples/SimpleRotation.cpp +++ b/examples/SimpleRotation.cpp @@ -17,20 +17,41 @@ * @author Alex Cunningham */ -#include -#include -#include + /** + * This example will perform a relatively trivial optimization on + * a single variable with a single factor. + */ + +// In this example, a 2D rotation will be used as the variable of interest #include -#include + +// Each variable in the system (poses) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use symbols #include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// We will apply a simple prior on the rotation +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. #include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + +// Finally, once all of the factors have been added to our factor graph, we will want to +// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values. +// GTSAM includes several nonlinear optimizers to perform this step. Here we will use the +// standard Levenberg-Marquardt solver #include -/* - * TODO: make factors independent of RotValues - * TODO: make toplevel documentation - * TODO: Clean up nonlinear optimization API - */ using namespace std; using namespace gtsam; @@ -40,12 +61,7 @@ const double degree = M_PI / 180; int main() { /** - * This example will perform a relatively trivial optimization on - * a single variable with a single factor. - */ - - /** - * Step 1: create a factor on to express a unary constraint + * Step 1: Create a factor to express a unary constraint * The "prior" in this case is the measurement from a sensor, * with a model of the noise on the measurement. * @@ -60,12 +76,12 @@ int main() { */ Rot2 prior = Rot2::fromAngle(30 * degree); prior.print("goal angle"); - SharedDiagonal model = noiseModel::Isotropic::Sigma(1, 1 * degree); + noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(1, 1 * degree); Symbol key('x',1); PriorFactor factor(key, prior, model); /** - * Step 2: create a graph container and add the factor to it + * Step 2: Create a graph container and add the factor to it * Before optimizing, all factors need to be added to a Graph container, * which provides the necessary top-level functionality for defining a * system of constraints. @@ -78,7 +94,7 @@ int main() { graph.print("full graph"); /** - * Step 3: create an initial estimate + * Step 3: Create an initial estimate * An initial estimate of the solution for the system is necessary to * start optimization. This system state is the "RotValues" structure, * which is similar in structure to a STL map, in that it maps @@ -98,7 +114,7 @@ int main() { initial.print("initial estimate"); /** - * Step 4: optimize + * Step 4: Optimize * After formulating the problem with a graph of constraints * and an initial estimate, executing optimization is as simple * as calling a general optimization function with the graph and From 71c6458e961e49a9b6032bb804ceddcb0f9647d9 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 14:57:34 +0000 Subject: [PATCH 659/914] Updated ExtendedKalmanFilter and relkated example, removing the need for the 'inl' header --- examples/easyPoint2KalmanFilter.cpp | 2 +- gtsam/nonlinear/ExtendedKalmanFilter.h | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/easyPoint2KalmanFilter.cpp b/examples/easyPoint2KalmanFilter.cpp index 2b4d2476a..6d75e9149 100644 --- a/examples/easyPoint2KalmanFilter.cpp +++ b/examples/easyPoint2KalmanFilter.cpp @@ -21,7 +21,7 @@ * @author Stephen Williams */ -#include +#include #include #include #include diff --git a/gtsam/nonlinear/ExtendedKalmanFilter.h b/gtsam/nonlinear/ExtendedKalmanFilter.h index 353439d98..ebca4899c 100644 --- a/gtsam/nonlinear/ExtendedKalmanFilter.h +++ b/gtsam/nonlinear/ExtendedKalmanFilter.h @@ -90,3 +90,5 @@ namespace gtsam { }; } // namespace + +#include From 5d46beed8653961440416b584fc4304fe7709e74 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 14:59:22 +0000 Subject: [PATCH 660/914] Put the relinearization interval back to 3 for the iSAM example --- examples/VisualISAMExample.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp index eab860db0..832a2ab83 100644 --- a/examples/VisualISAMExample.cpp +++ b/examples/VisualISAMExample.cpp @@ -91,7 +91,7 @@ int main(int argc, char* argv[]) { } // Create a NonlinearISAM object which will relinearize and reorder the variables every "relinearizeInterval" updates - int relinearizeInterval = 1; + int relinearizeInterval = 3; NonlinearISAM isam(relinearizeInterval); // Create a Factor Graph and Values to hold the new data From 412ffa38c7c3328ada14dffa0beee70741ebf98d Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 15:15:12 +0000 Subject: [PATCH 661/914] Created a iSAM2 version of the Visual SLAM example --- examples/VisualISAM2Example.cpp | 159 ++++++++++++++++++++++++++++++++ 1 file changed, 159 insertions(+) create mode 100644 examples/VisualISAM2Example.cpp diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp new file mode 100644 index 000000000..1485da1e4 --- /dev/null +++ b/examples/VisualISAM2Example.cpp @@ -0,0 +1,159 @@ +/* ---------------------------------------------------------------------------- + + * 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 VisualISAM2Example.cpp + * @brief A visualSLAM example for the structure-from-motion problem on a simulated dataset + * This version uses iSAM2 to solve the problem incrementally + * @author Duy-Nguyen Ta + */ + +/** + * A structure-from-motion example with landmarks + * - The landmarks form a 10 meter cube + * - The robot rotates around the landmarks, always facing towards the cube + */ + +// As this is a full 3D problem, we will use Pose3 variables to represent the camera +// positions and Point3 variables (x, y, z) to represent the landmark coordinates. +// Camera observations of landmarks (i.e. pixel coordinates) will be stored as Point2 (x, y). +// We will also need a camera object to hold calibration information and perform projections. +#include +#include +#include +#include + +// Each variable in the system (poses and landmarks) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use Symbols +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Projection factors to model the camera's landmark observations. +// Also, we will initialize the robot at some location using a Prior factor. +#include +#include + +// We want to use iSAM2 to solve the structure-from-motion problem incrementally, so +// include iSAM2 here +#include + +// iSAM2 requires as input a set set of new factors to be added stored in a factor graph, +// and initial guesses for any new variables used in the added factors +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +int main(int argc, char* argv[]) { + + // Define the camera calibration parameters + Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0)); + + // Define the camera observation noise model + noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); // one pixel in u and v + + // Create the set of ground-truth landmarks + std::vector points; + points.push_back(gtsam::Point3(10.0,10.0,10.0)); + points.push_back(gtsam::Point3(-10.0,10.0,10.0)); + points.push_back(gtsam::Point3(-10.0,-10.0,10.0)); + points.push_back(gtsam::Point3(10.0,-10.0,10.0)); + points.push_back(gtsam::Point3(10.0,10.0,-10.0)); + points.push_back(gtsam::Point3(-10.0,10.0,-10.0)); + points.push_back(gtsam::Point3(-10.0,-10.0,-10.0)); + points.push_back(gtsam::Point3(10.0,-10.0,-10.0)); + + // Create the set of ground-truth poses + std::vector poses; + double radius = 30.0; + int i = 0; + double theta = 0.0; + gtsam::Point3 up(0,0,1); + gtsam::Point3 target(0,0,0); + for(; i < 8; ++i, theta += 2*M_PI/8) { + gtsam::Point3 position = Point3(radius*cos(theta), radius*sin(theta), 0.0); + gtsam::SimpleCamera camera = SimpleCamera::Lookat(position, target, up); + poses.push_back(camera.pose()); + } + + // Create an iSAM2 object. Unlike iSAM1, which performs periodic batch steps to maintain proper linearization + // and efficient variable ordering, iSAM2 performs partial relinearization/reordering at each step. A parameter + // structure is available that allows the user to set various properties, such as the relinearization threshold + // and type of linear solver. For this example, we we set the relinearization threshold small so the iSAM2 result + // will approach the batch result. + ISAM2Params parameters; + parameters.relinearizeThreshold = 0.01; + parameters.relinearizeSkip = 1; + ISAM2 isam(parameters); + + // Create a Factor Graph and Values to hold the new data + NonlinearFactorGraph graph; + Values initialEstimate; + + // Loop over the different poses, adding the observations to iSAM incrementally + for (size_t i = 0; i < poses.size(); ++i) { + + // Add factors for each landmark observation + for (size_t j = 0; j < points.size(); ++j) { + SimpleCamera camera(poses[i], *K); + Point2 measurement = camera.project(points[j]); + graph.add(GenericProjectionFactor(measurement, measurementNoise, Symbol('x', i), Symbol('l', j), K)); + } + + // Add an initial guess for the current pose + // Intentionally initialize the variables off from the ground truth + initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::rodriguez(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20)))); + + // If this is the first iteration, add a prior on the first pose to set the coordinate frame + // and a prior on the first landmark to set the scale + // Also, as iSAM solves incrementally, we must wait until each is observed at least twice before + // adding it to iSAM. + if( i == 0) { + // Add a prior on pose x0 + noiseModel::Diagonal::shared_ptr poseNoise = noiseModel::Diagonal::Sigmas(Vector_(6, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1)); // 30cm std on x,y,z 0.1 rad on roll,pitch,yaw + graph.add(PriorFactor(Symbol('x', 0), poses[0], poseNoise)); + + // Add a prior on landmark l0 + noiseModel::Isotropic::shared_ptr pointNoise = noiseModel::Isotropic::Sigma(3, 0.1); + graph.add(PriorFactor(Symbol('l', 0), points[0], pointNoise)); // add directly to graph + + // Add initial guesses to all observed landmarks + // Intentionally initialize the variables off from the ground truth + for (size_t j = 0; j < points.size(); ++j) + initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15))); + + } else { + // Update iSAM with the new factors + isam.update(graph, initialEstimate); + // Each call to iSAM2 update(*) performs one iteration of the iterative nonlinear solver. + // If accuracy is desired at the expense of time, update(*) can be called additional times + // to perform multiple optimizer iterations every step. + isam.update(); + Values currentEstimate = isam.calculateEstimate(); + cout << "****************************************************" << endl; + cout << "Frame " << i << ": " << endl; + currentEstimate.print("Current estimate: "); + + // Clear the factor graph and values for the next iteration + graph.resize(0); + initialEstimate.clear(); + } + } + + return 0; +} +/* ************************************************************************* */ From 61b82c9109aa2ad5fe8db43cd1866586b6607f84 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 15:47:07 +0000 Subject: [PATCH 662/914] Tiny code formatting change --- examples/Pose2SLAMExample.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index 4e660a768..bf05cc729 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -83,7 +83,7 @@ int main(int argc, char** argv) { // For simplicity, we will use the same noise model for each odometry factor noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // Create odometry (Between) factors between consecutive poses - graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); graph.add(BetweenFactor(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); graph.add(BetweenFactor(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); graph.add(BetweenFactor(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); From f865a9e5513238132bd08fb2faa777195a53b41a Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 22 Jul 2012 16:03:42 +0000 Subject: [PATCH 663/914] Removed SLAM namespaces from Localization Example --- examples/LocalizationExample.cpp | 191 ++++++++++++++++++++++--------- 1 file changed, 135 insertions(+), 56 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index 21fb36860..c9d232df8 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -15,87 +15,166 @@ * @author Frank Dellaert */ -// pull in the 2D PoseSLAM domain with all typedefs and helper functions defined -#include +/** + * A simple 2D pose slam example with "GPS" measurements + * - The robot moves forward 2 meter each iteration + * - The robot initially faces along the X axis (horizontal, to the right in 2D) + * - We have full odometry between pose + * - We have "GPS-like" measurements implemented with a custom factor + */ -// include this for marginals +// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent +// the robot positions +#include + +// Each variable in the system (poses) must be identified with a unique key. +// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). +// Here we will use simple integer keys +#include + +// In GTSAM, measurement functions are represented as 'factors'. Several common factors +// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. +// Here we will use Between factors for the relative motion described by odometry measurements. +// Because we have global measurements in the form of "GPS-like" measurements, we don't +// actually need to provide an initial position prior in this example. We will create our +// custom factor shortly. +#include + +// When the factors are created, we will add them to a Factor Graph. As the factors we are using +// are nonlinear factors, we will need a Nonlinear Factor Graph. +#include + +// The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the +// nonlinear functions around an initial linearization point, then solve the linear system +// to update the linearization point. This happens repeatedly until the solver converges +// to a consistent set of variable values. This requires us to specify an initial guess +// for each variable, held in a Values container. +#include + +// Finally, once all of the factors have been added to our factor graph, we will want to +// solve/optimize to graph to find the best (Maximum A Posteriori) set of variable values. +// GTSAM includes several nonlinear optimizers to perform this step. Here we will use the +// standard Levenberg-Marquardt solver #include + +// Once the optimized values have been calculated, we can also calculate the marginal covariance +// of desired variables #include -#include -#include using namespace std; using namespace gtsam; -using namespace gtsam::noiseModel; -/** - * UnaryFactor - * Example on how to create a GPS-like factor on position alone. - */ + +// Before we begin the example, we must create a custom unary factor to implement a +// "GPS-like" functionality. Because standard GPS measurements provide information +// only on the position, and not on the orientation, we cannot use a simple prior to +// properly model this measurement. +// +// The factor will be a unary factor, affect only a single system variable. It will +// also use a standard Gaussian noise model. Hence, we will derive our new factor from +// the NoiseModelFactor1. +#include class UnaryFactor: public NoiseModelFactor1 { - double mx_, my_; ///< X and Y measurements + + // The factor will hold a measurement consisting of an (X,Y) location + Point2 measurement_; public: + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + // The constructor requires the variable key, the (X, Y) measurement value, and the noise model UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model): - NoiseModelFactor1(model, j), mx_(x), my_(y) {} + NoiseModelFactor1(model, j), measurement_(x, y) {} virtual ~UnaryFactor() {} - Vector evaluateError(const Pose2& q, - boost::optional H = boost::none) const + // By using the NoiseModelFactor base classes, the only two function 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& pose, boost::optional H = boost::none) const { - if (H) (*H) = Matrix_(2,3, 1.0,0.0,0.0, 0.0,1.0,0.0); - return Vector_(2, q.x() - mx_, q.y() - my_); + // 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); + + return Vector_(2, pose.x() - measurement_.x(), pose.y() - measurement_.y()); } + + // The second is a 'clone' function that allows the factor to be copied. Under most + // circumstances, the following code that employs the default copy constructor should + // work fine. + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new UnaryFactor(*this))); } + + // Additionally, custom factors should really provide specific implementations of + // 'equals' to ensure proper operation will all GTSAM functionality, and a custom + // 'print' function, if desired. + virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { + const UnaryFactor* e = dynamic_cast (&expected); + return e != NULL && NoiseModelFactor1::equals(*e, tol) && this->measurement_.equals(e->measurement_, tol); + } + + virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + std::cout << s << "UnaryFactor(" << keyFormatter(this->key()) << ")\n"; + measurement_.print(" measurement: "); + this->noiseModel_->print(" noise model: "); + } + }; -/** - * Example of a more complex 2D localization example - * - Robot poses are facing along the X axis (horizontal, to the right in 2D) - * - The robot moves 2 meters each step - * - We have full odometry between poses - * - We have unary measurement factors at eacht time step - */ + + int main(int argc, char** argv) { - // create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) - pose2SLAM::Graph graph; + // 1. Create a factor graph container and add factors to it + NonlinearFactorGraph graph; - // add two odometry factors - Pose2 odometry(2.0, 0.0, 0.0); // create a measurement for both factors (the same in this case) - SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 20cm std on x,y, 0.1 rad on theta - graph.addRelativePose(1, 2, odometry, odometryNoise); - graph.addRelativePose(2, 3, odometry, odometryNoise); + // 2a. Add odometry factors + // For simplicity, we will use the same noise model for each odometry factor + noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); + // Create odometry (Between) factors between consecutive poses + graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise)); + graph.add(BetweenFactor(2, 3, Pose2(2.0, 0.0, 0.0), odometryNoise)); - // add unary measurement factors, like GPS, on all three poses - SharedDiagonal noiseModel = Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y - graph.push_back(boost::make_shared(1, 0, 0, noiseModel)); - graph.push_back(boost::make_shared(2, 2, 0, noiseModel)); - graph.push_back(boost::make_shared(3, 4, 0, noiseModel)); + // 2b. Add "GPS-like" measurements + // We will use our custom UnaryFactor for this. + noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y + graph.add(UnaryFactor(1, 0.0, 0.0, unaryNoise)); + graph.add(UnaryFactor(3, 4.0, 0.0, unaryNoise)); + graph.print("\nFactor Graph:\n"); // print - // print - graph.print("\nFactor graph:\n"); + // 3. Create the data structure to hold the initialEstimate estimate to the solution + // For illustrative purposes, these have been deliberately set to incorrect values + Values initialEstimate; + initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2)); + initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); + initialEstimate.print("\nInitial Estimate:\n"); // print - // create (deliberatly inaccurate) initial estimate - pose2SLAM::Values initialEstimate; - initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); - initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.print("\nInitial estimate:\n "); + // 4. Optimize using Levenberg-Marquardt optimization. The optimizer + // accepts an optional set of configuration parameters, controlling + // things like convergence criteria, the type of linear system solver + // to use, and the amount of information displayed during optimization. + // Here we will use the default set of parameters. See the + // documentation for the full set of parameters. + LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); + Values result = optimizer.optimize(); + result.print("Final Result:\n"); - // use an explicit Optimizer object - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); - pose2SLAM::Values result = optimizer.optimize(); - result.print("\nFinal result:\n "); + // 5. Calculate and print marginal covariances for all variables + Marginals marginals(graph, result); + cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(1) << endl; + cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(2) << endl; + cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(3) << endl; - // Query the marginals - Marginals marginals(graph, result); - cout.precision(2); - cout << "\nP1:\n" << marginals.marginalCovariance(1) << endl; - cout << "\nP2:\n" << marginals.marginalCovariance(2) << endl; - cout << "\nP3:\n" << marginals.marginalCovariance(3) << endl; - - return 0; + return 0; } - From dda625b2e0fc148f032d05a6cf8486284aef0edf Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 22 Jul 2012 18:46:35 +0000 Subject: [PATCH 664/914] Compile error on Mac, added "this->" --- gtsam/base/FastVector.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/FastVector.h b/gtsam/base/FastVector.h index f55d67b41..33bc5cb7c 100644 --- a/gtsam/base/FastVector.h +++ b/gtsam/base/FastVector.h @@ -90,7 +90,7 @@ public: /** Conversion to a standard STL container */ operator std::vector() const { - return std::vector(begin(), end()); + return std::vector(this->begin(), this->end()); } private: From 46b2971e459d78f89ef2652cdac3735d761a24f4 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 22 Jul 2012 18:49:07 +0000 Subject: [PATCH 665/914] Removed imu dynamics example slam namespace --- gtsam_unstable/dynamics/imuSystem.cpp | 63 --------------- gtsam_unstable/dynamics/imuSystem.h | 78 ------------------- .../dynamics/tests/testIMUSystem.cpp | 74 +++++++++++------- .../dynamics/tests/testVelocityConstraint.cpp | 4 +- gtsam_unstable/gtsam_unstable.h | 39 +--------- 5 files changed, 48 insertions(+), 210 deletions(-) delete mode 100644 gtsam_unstable/dynamics/imuSystem.cpp delete mode 100644 gtsam_unstable/dynamics/imuSystem.h diff --git a/gtsam_unstable/dynamics/imuSystem.cpp b/gtsam_unstable/dynamics/imuSystem.cpp deleted file mode 100644 index 376868583..000000000 --- a/gtsam_unstable/dynamics/imuSystem.cpp +++ /dev/null @@ -1,63 +0,0 @@ -/** - * @file ilm3DSystem.cpp - * @brief Implementations of ilm 3D domain - * @author Alex Cunningham - */ - -#include -#include - -namespace imu { - -using namespace gtsam; - -/* ************************************************************************* */ -void Graph::addPrior(Key key, const PoseRTV& pose, const SharedNoiseModel& noiseModel) { - add(Prior(key, pose, noiseModel)); -} - -/* ************************************************************************* */ -void Graph::addConstraint(Key key, const PoseRTV& pose) { - add(Constraint(key, pose)); -} - -/* ************************************************************************* */ -void Graph::addHeightPrior(Key key, double z, const SharedNoiseModel& noiseModel) { - add(DHeightPrior(key, z, noiseModel)); -} - -/* ************************************************************************* */ -void Graph::addFullIMUMeasurement(Key key1, Key key2, - const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) { - add(FullIMUMeasurement(accel, gyro, dt, key1, key2, noiseModel)); -} - -/* ************************************************************************* */ -void Graph::addIMUMeasurement(Key key1, Key key2, - const Vector& accel, const Vector& gyro, double dt, const SharedNoiseModel& noiseModel) { - add(IMUMeasurement(accel, gyro, dt, key1, key2, noiseModel)); -} - -/* ************************************************************************* */ -void Graph::addVelocityConstraint(Key key1, Key key2, double dt, const SharedNoiseModel& noiseModel) { - add(VelocityConstraint(key1, key2, dt, noiseModel)); -} - -/* ************************************************************************* */ -void Graph::addBetween(Key key1, Key key2, const PoseRTV& z, const SharedNoiseModel& noiseModel) { - add(Between(key1, key2, z, noiseModel)); -} - -/* ************************************************************************* */ -void Graph::addRange(Key key1, Key key2, double z, const SharedNoiseModel& noiseModel) { - add(Range(key1, key2, z, noiseModel)); -} - -/* ************************************************************************* */ -Values Graph::optimize(const Values& init) const { - return LevenbergMarquardtOptimizer(*this, init).optimize(); -} -/* ************************************************************************* */ - -} // \namespace imu - diff --git a/gtsam_unstable/dynamics/imuSystem.h b/gtsam_unstable/dynamics/imuSystem.h deleted file mode 100644 index ef5437fdf..000000000 --- a/gtsam_unstable/dynamics/imuSystem.h +++ /dev/null @@ -1,78 +0,0 @@ -/** - * @file imuSystem.h - * @brief A 3D Dynamic system domain as a demonstration of IMU factors - * @author Alex Cunningham - */ - -#pragma once - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -/** - * This domain focuses on a single class of variables: PoseRTV, which - * models a dynamic pose operating with IMU measurements and assorted priors. - * - * There are also partial priors that constraint certain components of the - * poses, as well as between and range factors to model other between-pose - * information. - */ -namespace imu { - -struct Values : public gtsam::Values { - typedef gtsam::Values Base; - - Values() {} - Values(const Values& values) : Base(values) {} - Values(const Base& values) : Base(values) {} - - void insertPose(gtsam::Key key, const gtsam::PoseRTV& pose) { insert(key, pose); } - gtsam::PoseRTV pose(gtsam::Key key) const { return at(key); } -}; - -// factors -typedef gtsam::IMUFactor IMUMeasurement; // IMU between measurements -typedef gtsam::FullIMUFactor FullIMUMeasurement; // Full-state IMU between measurements -typedef gtsam::BetweenFactor Between; // full odometry (including velocity) -typedef gtsam::NonlinearEquality Constraint; -typedef gtsam::PriorFactor Prior; -typedef gtsam::RangeFactor Range; - -// graph components -struct Graph : public gtsam::NonlinearFactorGraph { - typedef gtsam::NonlinearFactorGraph Base; - - Graph() {} - Graph(const Base& graph) : Base(graph) {} - Graph(const Graph& graph) : Base(graph) {} - - // prior factors - void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::SharedNoiseModel& noiseModel); - void addConstraint(size_t key, const gtsam::PoseRTV& pose); - void addHeightPrior(size_t key, double z, const gtsam::SharedNoiseModel& noiseModel); - - // inertial factors - void addFullIMUMeasurement(size_t key1, size_t key2, const gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel); - void addIMUMeasurement(size_t key1, size_t key2, const gtsam::Vector& accel, const gtsam::Vector& gyro, double dt, const gtsam::SharedNoiseModel& noiseModel); - void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::SharedNoiseModel& noiseModel); - - // other measurements - void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::SharedNoiseModel& noiseModel); - void addRange(size_t key1, size_t key2, double z, const gtsam::SharedNoiseModel& noiseModel); - - // optimization - Values optimize(const Values& init) const; -}; - -} // \namespace imu - diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 783c420d4..2f6b8b201 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -7,23 +7,37 @@ #include -#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include using namespace std; using namespace gtsam; -using namespace imu; const double tol=1e-5; static const Key x0 = 0, x1 = 1, x2 = 2, x3 = 3, x4 = 4; static const Vector g = delta(3, 2, -9.81); +//typedef gtsam::IMUFactor IMUFactor; // IMU between measurements +//typedef gtsam::FullIMUFactor IMUFactor; // Full-state IMU between measurements +//typedef gtsam::BetweenFactor Between; // full odometry (including velocity) +//typedef gtsam::NonlinearEquality Constraint; +//typedef gtsam::PriorFactor Prior; +//typedef gtsam::RangeFactor Range; + /* ************************************************************************* */ TEST(testIMUSystem, instantiations) { // just checking for compilation PoseRTV x1_v; - imu::Values local_values; - Graph graph; gtsam::SharedNoiseModel model1 = gtsam::noiseModel::Unit::Create(1); gtsam::SharedNoiseModel model3 = gtsam::noiseModel::Unit::Create(3); @@ -32,13 +46,13 @@ TEST(testIMUSystem, instantiations) { Vector accel = ones(3), gyro = ones(3); - IMUMeasurement imu(accel, gyro, 0.01, x1, x2, model6); - FullIMUMeasurement full_imu(accel, gyro, 0.01, x1, x2, model9); - Constraint poseHardPrior(x1, x1_v); - Between odom(x1, x2, x1_v, model9); - Range range(x1, x2, 1.0, model1); + IMUFactor imu(accel, gyro, 0.01, x1, x2, model6); + FullIMUFactor full_imu(accel, gyro, 0.01, x1, x2, model9); + NonlinearEquality poseHardPrior(x1, x1_v); + BetweenFactor odom(x1, x2, x1_v, model9); + RangeFactor range(x1, x2, 1.0, model1); VelocityConstraint constraint(x1, x2, 0.1, 10000); - Prior posePrior(x1, x1_v, model9); + PriorFactor posePrior(x1, x1_v, model9); DHeightPrior heightPrior(x1, 0.1, model1); VelocityPrior velPrior(x1, ones(3), model3); } @@ -60,17 +74,17 @@ TEST( testIMUSystem, optimize_chain ) { imu34 = pose3.imuPrediction(pose4, dt); // assemble simple graph with IMU measurements and velocity constraints - Graph graph; - graph.add(Constraint(x1, pose1)); - graph.add(IMUMeasurement(imu12, dt, x1, x2, model)); - graph.add(IMUMeasurement(imu23, dt, x2, x3, model)); - graph.add(IMUMeasurement(imu34, dt, x3, x4, model)); + EasyFactorGraph graph; + graph.add(NonlinearEquality(x1, pose1)); + graph.add(IMUFactor(imu12, dt, x1, x2, model)); + graph.add(IMUFactor(imu23, dt, x2, x3, model)); + graph.add(IMUFactor(imu34, dt, x3, x4, model)); graph.add(VelocityConstraint(x1, x2, dt)); graph.add(VelocityConstraint(x2, x3, dt)); graph.add(VelocityConstraint(x3, x4, dt)); // ground truth values - imu::Values true_values; + Values true_values; true_values.insert(x1, pose1); true_values.insert(x2, pose2); true_values.insert(x3, pose3); @@ -80,13 +94,13 @@ TEST( testIMUSystem, optimize_chain ) { EXPECT_DOUBLES_EQUAL(0, graph.error(true_values), 1e-5); // initialize with zero values and optimize - imu::Values values; + Values values; values.insert(x1, PoseRTV()); values.insert(x2, PoseRTV()); values.insert(x3, PoseRTV()); values.insert(x4, PoseRTV()); - imu::Values actual = graph.optimize(values); + Values actual = graph.optimize(values); EXPECT(assert_equal(true_values, actual, tol)); } @@ -107,14 +121,14 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { imu34 = pose3.imuPrediction(pose4, dt); // assemble simple graph with IMU measurements and velocity constraints - Graph graph; - graph.add(Constraint(x1, pose1)); - graph.add(FullIMUMeasurement(imu12, dt, x1, x2, model)); - graph.add(FullIMUMeasurement(imu23, dt, x2, x3, model)); - graph.add(FullIMUMeasurement(imu34, dt, x3, x4, model)); + EasyFactorGraph graph; + graph.add(NonlinearEquality(x1, pose1)); + graph.add(FullIMUFactor(imu12, dt, x1, x2, model)); + graph.add(FullIMUFactor(imu23, dt, x2, x3, model)); + graph.add(FullIMUFactor(imu34, dt, x3, x4, model)); // ground truth values - imu::Values true_values; + Values true_values; true_values.insert(x1, pose1); true_values.insert(x2, pose2); true_values.insert(x3, pose3); @@ -124,7 +138,7 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { EXPECT_DOUBLES_EQUAL(0, graph.error(true_values), 1e-5); // initialize with zero values and optimize - imu::Values values; + Values values; values.insert(x1, PoseRTV()); values.insert(x2, PoseRTV()); values.insert(x3, PoseRTV()); @@ -132,7 +146,7 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { cout << "Initial Error: " << graph.error(values) << endl; // Initial error is 0.5 - need better prediction model - imu::Values actual = graph.optimize(values); + Values actual = graph.optimize(values); // EXPECT(assert_equal(true_values, actual, tol)); // FAIL } @@ -147,10 +161,10 @@ TEST( testIMUSystem, linear_trajectory) { Vector gyro = delta(3, 0, 0.1); // constant rotation SharedDiagonal model = noiseModel::Unit::Create(9); - imu::Values true_traj, init_traj; - Graph graph; + Values true_traj, init_traj; + EasyFactorGraph graph; - graph.add(Constraint(x0, start)); + graph.add(NonlinearEquality(x0, start)); true_traj.insert(x0, start); init_traj.insert(x0, start); @@ -159,7 +173,7 @@ TEST( testIMUSystem, linear_trajectory) { for (size_t i=1; i(accel - g, gyro, dt, xA, xB, model)); true_traj.insert(xB, cur_pose); init_traj.insert(xB, PoseRTV()); } diff --git a/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp b/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp index 61588841d..ea4a3493d 100644 --- a/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp +++ b/gtsam_unstable/dynamics/tests/testVelocityConstraint.cpp @@ -4,10 +4,10 @@ */ #include -#include + +#include using namespace gtsam; -using namespace imu; const double tol=1e-5; diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index c77c71e22..a14ad34f9 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -102,7 +102,7 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor { NonlinearEquality(size_t j, const T& feasible, double error_gain); }; - +#include template virtual class IMUFactor : gtsam::NonlinearFactor { /** Standard constructor */ @@ -120,7 +120,7 @@ virtual class IMUFactor : gtsam::NonlinearFactor { size_t key2() const; }; - +#include template virtual class FullIMUFactor : gtsam::NonlinearFactor { /** Standard constructor */ @@ -167,38 +167,3 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor { }///\namespace gtsam - -namespace imu { - -#include -class Values { - Values(); - void print(string s) const; - - void insertPose(size_t key, const gtsam::PoseRTV& pose); - gtsam::PoseRTV pose(size_t key) const; -}; - -class Graph { - Graph(); - void print(string s) const; - - // prior factors - void addPrior(size_t key, const gtsam::PoseRTV& pose, const gtsam::noiseModel::Base* noiseModel); - void addConstraint(size_t key, const gtsam::PoseRTV& pose); - void addHeightPrior(size_t key, double z, const gtsam::noiseModel::Base* noiseModel); - - // inertial factors - void addFullIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const gtsam::noiseModel::Base* noiseModel); - void addIMUMeasurement(size_t key1, size_t key2, const Vector& accel, const Vector& gyro, double dt, const gtsam::noiseModel::Base* noiseModel); - void addVelocityConstraint(size_t key1, size_t key2, double dt, const gtsam::noiseModel::Base* noiseModel); - - // other measurements - void addBetween(size_t key1, size_t key2, const gtsam::PoseRTV& z, const gtsam::noiseModel::Base* noiseModel); - void addRange(size_t key1, size_t key2, double z, const gtsam::noiseModel::Base* noiseModel); - - // optimization - imu::Values optimize(const imu::Values& init) const; -}; - -}///\namespace imu From 26fce2d400b14edc50930eb05bde1e392c86f1ee Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 14:09:40 +0000 Subject: [PATCH 666/914] Adding support for global functions - parsing works --- wrap/GlobalFunction.cpp | 29 ++++++++++++++++++++++++++++ wrap/GlobalFunction.h | 42 +++++++++++++++++++++++++++++++++++++++++ wrap/Module.cpp | 32 ++++++++++++++++++++++--------- wrap/Module.h | 4 ++++ wrap/tests/geometry.h | 3 +++ 5 files changed, 101 insertions(+), 9 deletions(-) create mode 100644 wrap/GlobalFunction.cpp create mode 100644 wrap/GlobalFunction.h diff --git a/wrap/GlobalFunction.cpp b/wrap/GlobalFunction.cpp new file mode 100644 index 000000000..e20a1f2f2 --- /dev/null +++ b/wrap/GlobalFunction.cpp @@ -0,0 +1,29 @@ +/** + * @file GlobalFunction.cpp + * + * @date Jul 22, 2012 + * @author Alex Cunningham + */ + +#include "GlobalFunction.h" + +namespace wrap { + +/* ************************************************************************* */ +void GlobalFunction::addOverload(bool verbose, const std::string& name, + const ArgumentList& args, const ReturnValue& retVal, const StrVec& ns_stack) { + this->verbose_ = verbose; + this->name = name; + this->argLists.push_back(args); + this->returnVals.push_back(retVal); + this->namespaces.push_back(ns_stack); +} + +/* ************************************************************************* */ + + +} // \namespace wrap + + + + diff --git a/wrap/GlobalFunction.h b/wrap/GlobalFunction.h new file mode 100644 index 000000000..0899bbdc9 --- /dev/null +++ b/wrap/GlobalFunction.h @@ -0,0 +1,42 @@ +/** + * @file GlobalFunction.h + * + * @brief Implements codegen for a global function wrapped in matlab + * + * @date Jul 22, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include "Argument.h" +#include "ReturnValue.h" + +namespace wrap { + +struct GlobalFunction { + + typedef std::vector StrVec; + + bool verbose_; + std::string name; + + // each overload, regardless of namespace + std::vector argLists; ///< arugments for each overload + std::vector returnVals; ///< returnVals for each overload + std::vector namespaces; ///< Stack of namespaces + + // Constructor only used in Module + GlobalFunction(bool verbose = true) : verbose_(verbose) {} + + // adds an overloaded version of this function + void addOverload(bool verbose, const std::string& name, + const ArgumentList& args, const ReturnValue& retVal, const StrVec& ns_stack); + +}; + +} // \namespace wrap + + + + diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 1f077b31f..786a4de78 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -79,10 +79,10 @@ Module::Module(const string& interfacePath, vector arg_dup; ///keep track of duplicates Constructor constructor0(enable_verbose), constructor(enable_verbose); Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); - //Method method0(enable_verbose), method(enable_verbose); StaticMethod static_method0(enable_verbose), static_method(enable_verbose); Class cls0(enable_verbose),cls(enable_verbose); - ForwardDeclaration fwDec0, fwDec; + GlobalFunction globalFunc0(enable_verbose), globalFunc(enable_verbose); + ForwardDeclaration fwDec0, fwDec; vector namespaces, /// current namespace tag namespaces_return, /// namespace for current return type using_namespace_current; /// All namespaces from "using" declarations @@ -261,12 +261,12 @@ Module::Module(const string& interfacePath, >> ((':' >> classParent_p >> '{') | '{') >> *(functions_p | comments_p) >> str_p("};")) - [assign_a(constructor.name, cls.name)] - [assign_a(cls.constructor, constructor)] + [assign_a(constructor.name, cls.name)] + [assign_a(cls.constructor, constructor)] [assign_a(cls.namespaces, namespaces)] - [assign_a(cls.using_namespaces, using_namespace_current)] - [assign_a(deconstructor.name,cls.name)] - [assign_a(cls.deconstructor, deconstructor)] + [assign_a(cls.using_namespaces, using_namespace_current)] + [assign_a(deconstructor.name,cls.name)] + [assign_a(cls.deconstructor, deconstructor)] [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))] [assign_a(deconstructor,deconstructor0)] [assign_a(constructor, constructor0)] @@ -274,6 +274,20 @@ Module::Module(const string& interfacePath, [clear_a(templateArgument)] [clear_a(templateInstantiations)]; + Rule global_function_p = + (returnType_p >> staticMethodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> ';' >> *comments_p) + [bl::bind(&GlobalFunction::addOverload, + bl::var(global_functions)[bl::var(methodName)], + verbose, + bl::var(methodName), + bl::var(args), + bl::var(retVal), + bl::var(namespaces))] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>'); Rule namespace_def_p = @@ -281,7 +295,7 @@ Module::Module(const string& interfacePath, >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') >> *(include_p | class_p | templateSingleInstantiation_p | namespace_def_p | comments_p) - >> str_p("}///\\namespace") // end namespace, avoid confusion with classes + >> str_p("}///\\namespace") // end namespace, avoid confusion with classes // FIXME: check for absense of semicolon to disambiguate >> !namespace_name_p) [pop_a(namespaces)]; @@ -297,7 +311,7 @@ Module::Module(const string& interfacePath, [push_back_a(forward_declarations, fwDec)] [assign_a(fwDec, fwDec0)]; - Rule module_content_p = comments_p | using_namespace_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | namespace_def_p ; + Rule module_content_p = comments_p | using_namespace_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | global_function_p | namespace_def_p; Rule module_p = *module_content_p >> !end_p; diff --git a/wrap/Module.h b/wrap/Module.h index ce1a87969..a2c77bc9e 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -23,6 +23,7 @@ #include #include "Class.h" +#include "GlobalFunction.h" #include "TemplateInstantiationTypedef.h" #include "ForwardDeclaration.h" @@ -33,6 +34,8 @@ namespace wrap { */ struct Module { + typedef std::map GlobalFunctions; + std::string name; ///< module name std::vector classes; ///< list of classes std::vector templateInstantiationTypedefs; ///< list of template instantiations @@ -40,6 +43,7 @@ struct Module { // std::vector using_namespaces; ///< all default namespaces std::vector forward_declarations; std::vector includes; ///< Include statements + GlobalFunctions global_functions; /// constructor that parses interface file Module(const std::string& interfacePath, diff --git a/wrap/tests/geometry.h b/wrap/tests/geometry.h index 5dfe07b8d..2e92043b2 100644 --- a/wrap/tests/geometry.h +++ b/wrap/tests/geometry.h @@ -82,6 +82,9 @@ class Test { // even more comments at the end! }; + +Vector aGlobalFunction(); + // comments at the end! // even more comments at the end! From e7e564268d67b6976ccd0f9b7a623951b41c4fc5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 14:09:42 +0000 Subject: [PATCH 667/914] global function parsing now tested and working --- wrap/Module.cpp | 2 +- wrap/tests/testNamespaces.h | 6 ++++++ wrap/tests/testWrap.cpp | 38 ++++++++++++++++++++++++++++++++++++- 3 files changed, 44 insertions(+), 2 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 786a4de78..241371b0b 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -294,7 +294,7 @@ Module::Module(const string& interfacePath, (str_p("namespace") >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') - >> *(include_p | class_p | templateSingleInstantiation_p | namespace_def_p | comments_p) + >> *(include_p | class_p | templateSingleInstantiation_p | global_function_p | namespace_def_p | comments_p) >> str_p("}///\\namespace") // end namespace, avoid confusion with classes // FIXME: check for absense of semicolon to disambiguate >> !namespace_name_p) [pop_a(namespaces)]; diff --git a/wrap/tests/testNamespaces.h b/wrap/tests/testNamespaces.h index 644fdb3ea..68b6e041e 100644 --- a/wrap/tests/testNamespaces.h +++ b/wrap/tests/testNamespaces.h @@ -14,6 +14,9 @@ class ClassB { ClassB(); }; +// check namespace handling +Vector aGlobalFunction(); + }///\namespace ns1 #include @@ -41,6 +44,9 @@ class ClassC { ClassC(); }; +// separate namespace global function, same name +Vector aGlobalFunction(); + }///\namespace ns2 class ClassD { diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 0ed1f84ef..2de19f6e4 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -88,6 +88,8 @@ TEST( wrap, parse_geometry ) { strvec exp_includes; exp_includes += "folder/path/to/Test.h"; EXPECT(assert_equal(exp_includes, module.includes)); + LONGS_EQUAL(3, module.classes.size()); + // check first class, Point2 { Class cls = module.classes.at(0); @@ -133,7 +135,6 @@ TEST( wrap, parse_geometry ) { // Test class is the third one { - LONGS_EQUAL(3, module.classes.size()); Class testCls = module.classes.at(2); EXPECT_LONGS_EQUAL( 2, testCls.constructor.args_list.size()); EXPECT_LONGS_EQUAL(19, testCls.methods.size()); @@ -149,6 +150,20 @@ TEST( wrap, parse_geometry ) { EXPECT(m2.returnVals.front().category1 == ReturnValue::EIGEN); EXPECT(m2.returnVals.front().category2 == ReturnValue::EIGEN); } + + // evaluate global functions +// Vector aGlobalFunction(); + LONGS_EQUAL(1, module.global_functions.size()); + CHECK(module.global_functions.find("aGlobalFunction") != module.global_functions.end()); + { + GlobalFunction gfunc = module.global_functions.at("aGlobalFunction"); + EXPECT(assert_equal("aGlobalFunction", gfunc.name)); + LONGS_EQUAL(1, gfunc.returnVals.size()); + EXPECT(assert_equal("Vector", gfunc.returnVals.front().type1)); + EXPECT_LONGS_EQUAL(1, gfunc.argLists.size()); + LONGS_EQUAL(1, gfunc.namespaces.size()); + EXPECT(gfunc.namespaces.front().empty()); + } } /* ************************************************************************* */ @@ -208,6 +223,27 @@ TEST( wrap, parse_namespaces ) { strvec exp_namespaces; EXPECT(assert_equal(exp_namespaces, cls.namespaces)); } + + // evaluate global functions +// Vector ns1::aGlobalFunction(); +// Vector ns2::aGlobalFunction(); + LONGS_EQUAL(1, module.global_functions.size()); + CHECK(module.global_functions.find("aGlobalFunction") != module.global_functions.end()); + { + GlobalFunction gfunc = module.global_functions.at("aGlobalFunction"); + EXPECT(assert_equal("aGlobalFunction", gfunc.name)); + LONGS_EQUAL(2, gfunc.returnVals.size()); + EXPECT(assert_equal("Vector", gfunc.returnVals.front().type1)); + EXPECT_LONGS_EQUAL(2, gfunc.argLists.size()); + + // check namespaces + LONGS_EQUAL(2, gfunc.namespaces.size()); + strvec exp_namespaces1; exp_namespaces1 += "ns1"; + EXPECT(assert_equal(exp_namespaces1, gfunc.namespaces.at(0))); + + strvec exp_namespaces2; exp_namespaces2 += "ns2"; + EXPECT(assert_equal(exp_namespaces2, gfunc.namespaces.at(1))); + } } /* ************************************************************************* */ From ece5888cacebdc940e479263ea91e0490bbc7f14 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 14:09:44 +0000 Subject: [PATCH 668/914] Removed need in wrap to end namespaces in special non-standard tag - can now just use } --- gtsam.h | 15 +++++++-------- wrap/Module.cpp | 3 +-- wrap/tests/testNamespaces.h | 6 +++--- 3 files changed, 11 insertions(+), 13 deletions(-) diff --git a/gtsam.h b/gtsam.h index 4a2cbb66c..5661cb520 100644 --- a/gtsam.h +++ b/gtsam.h @@ -36,8 +36,7 @@ * Namespace definitions * - Names of namespaces must start with a lowercase letter * - start a namespace with "namespace {" - * - end a namespace with exactly "}///\namespace [namespace_name]", optionally adding the name of the namespace - * - This ending is not C++ standard, and must contain "}///\namespace" to parse + * - end a namespace with exactly "}" * - Namespaces can be nested * Namespace usage * - Namespaces can be specified for classes in arguments and return values @@ -1363,7 +1362,7 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor { typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; -}///\namespace gtsam +} //\namespace gtsam //************************************************************************* // Pose2SLAM @@ -1418,7 +1417,7 @@ class Graph { gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; }; -}///\namespace pose2SLAM +} //\namespace pose2SLAM //************************************************************************* // Pose3SLAM @@ -1473,7 +1472,7 @@ class Graph { gtsam::Marginals marginals(const pose3SLAM::Values& solution) const; }; -}///\namespace pose3SLAM +} //\namespace pose3SLAM //************************************************************************* // planarSLAM @@ -1561,7 +1560,7 @@ class Odometry { const gtsam::Ordering& ordering) const; }; -}///\namespace planarSLAM +} //\namespace planarSLAM //************************************************************************* // VisualSLAM @@ -1686,7 +1685,7 @@ class LevenbergMarquardtOptimizer { visualSLAM::Values values() const; }; -}///\namespace visualSLAM +} //\namespace visualSLAM //************************************************************************ // sparse BA @@ -1767,5 +1766,5 @@ class LevenbergMarquardtOptimizer { sparseBA::Values optimizeSafely(); sparseBA::Values values() const; }; -}///\namespace sparseBA +} //\namespace sparseBA diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 241371b0b..757241ca2 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -295,8 +295,7 @@ Module::Module(const string& interfacePath, >> namespace_name_p[push_back_a(namespaces)] >> ch_p('{') >> *(include_p | class_p | templateSingleInstantiation_p | global_function_p | namespace_def_p | comments_p) - >> str_p("}///\\namespace") // end namespace, avoid confusion with classes // FIXME: check for absense of semicolon to disambiguate - >> !namespace_name_p) + >> ch_p('}')) [pop_a(namespaces)]; Rule using_namespace_p = diff --git a/wrap/tests/testNamespaces.h b/wrap/tests/testNamespaces.h index 68b6e041e..2c12686c0 100644 --- a/wrap/tests/testNamespaces.h +++ b/wrap/tests/testNamespaces.h @@ -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(); @@ -47,7 +47,7 @@ class ClassC { // separate namespace global function, same name Vector aGlobalFunction(); -}///\namespace ns2 +} //\namespace ns2 class ClassD { ClassD(); From f4c022c35a8860485be2fac7000f61adf6884169 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 15:33:39 +0000 Subject: [PATCH 669/914] Added required header files to gtsam.h --- gtsam.h | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/gtsam.h b/gtsam.h index 50743c239..13364b210 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1124,6 +1124,7 @@ class KeyVector { void push_back(size_t key) const; }; +#include class Marginals { Marginals(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& solution); @@ -1302,18 +1303,28 @@ class ISAM2 { //************************************************************************* // Nonlinear factor types //************************************************************************* +#include +#include +#include +#include +#include +#include + +#include template virtual class PriorFactor : gtsam::NonlinearFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); }; +#include template virtual class BetweenFactor : gtsam::NonlinearFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); }; +#include template virtual class NonlinearEquality : gtsam::NonlinearFactor { // Constructor - forces exact evaluation @@ -1323,6 +1334,7 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor { }; +#include template virtual class RangeFactor : gtsam::NonlinearFactor { RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel); @@ -1337,6 +1349,8 @@ typedef gtsam::RangeFactor RangeFactorSimple typedef gtsam::RangeFactor RangeFactorCalibratedCamera; typedef gtsam::RangeFactor RangeFactorSimpleCamera; + +#include template virtual class BearingFactor : gtsam::NonlinearFactor { BearingFactor(size_t key1, size_t key2, const ROT& measured, const gtsam::noiseModel::Base* noiseModel); From b7c2177f0bfd5bd8858b06826194a401c11c396e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 18:24:35 +0000 Subject: [PATCH 670/914] Generating code for global functions now works --- wrap/Class.cpp | 14 +- wrap/GlobalFunction.cpp | 142 ++++++++++++++++++ wrap/GlobalFunction.h | 16 ++ wrap/Module.cpp | 5 + wrap/StaticMethod.cpp | 1 + wrap/tests/expected/aGlobalFunction.m | 7 + wrap/tests/expected/geometry_wrapper.cpp | 8 + .../+ns1/aGlobalFunction.m | 7 + .../+ns2/aGlobalFunction.m | 7 + .../testNamespaces_wrapper.cpp | 17 +++ wrap/tests/testWrap.cpp | 1 + wrap/utilities.cpp | 16 ++ wrap/utilities.h | 3 + 13 files changed, 231 insertions(+), 13 deletions(-) create mode 100644 wrap/tests/expected/aGlobalFunction.m create mode 100644 wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m create mode 100644 wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 8e04543e4..749a61707 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -24,7 +24,6 @@ #include // works on Linux GCC #include -#include #include #include "Class.h" @@ -40,18 +39,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, FileWriter& wrapperFile, vector& functionNames) const { // Create namespace folders - { - using namespace boost::filesystem; - path curPath = toolboxPath; - BOOST_FOREACH(const string& subdir, namespaces) { - curPath /= "+" + subdir; - if(!is_directory(curPath)) - if(exists("+" + subdir)) - throw OutputError("Need to write files to directory " + curPath.string() + ", which already exists as a file but is not a directory"); - else - boost::filesystem::create_directory(curPath); - } - } + createNamespaceStructure(namespaces, toolboxPath); // open destination classFile string classFile = toolboxPath; diff --git a/wrap/GlobalFunction.cpp b/wrap/GlobalFunction.cpp index e20a1f2f2..14bb824d2 100644 --- a/wrap/GlobalFunction.cpp +++ b/wrap/GlobalFunction.cpp @@ -6,9 +6,15 @@ */ #include "GlobalFunction.h" +#include "utilities.h" + +#include +#include namespace wrap { +using namespace std; + /* ************************************************************************* */ void GlobalFunction::addOverload(bool verbose, const std::string& name, const ArgumentList& args, const ReturnValue& retVal, const StrVec& ns_stack) { @@ -19,6 +25,142 @@ void GlobalFunction::addOverload(bool verbose, const std::string& name, this->namespaces.push_back(ns_stack); } +/* ************************************************************************* */ +void GlobalFunction::matlab_proxy(const std::string& toolboxPath, const std::string& wrapperName, + const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, + std::vector& functionNames) const { + + // cluster overloads with same namespace + // create new GlobalFunction structures around namespaces - same namespaces and names are overloads + // map of namespace to global function + typedef map GlobalFunctionMap; + GlobalFunctionMap grouped_functions; + for (size_t i=0; i& functionNames) const { + + // create the folder for the namespace + const StrVec& ns = namespaces.front(); + createNamespaceStructure(ns, toolboxPath); + + // open destination mfunctionFileName + string mfunctionFileName = toolboxPath; + if(!ns.empty()) + mfunctionFileName += "/+" + wrap::qualifiedName("/+", ns); + mfunctionFileName += "/" + name + ".m"; + FileWriter mfunctionFile(mfunctionFileName, verbose_, "%"); + + // get the name of actual matlab object + const string + matlabQualName = qualifiedName(".", ns, name), + matlabUniqueName = qualifiedName("", ns, name), + cppName = qualifiedName("::", ns, name); + + mfunctionFile.oss << "function varargout = " << name << "(varargin)\n"; + + for(size_t overload = 0; overload < argLists.size(); ++overload) { + const ArgumentList& args = argLists[overload]; + const ReturnValue& returnVal = returnVals[overload]; + size_t nrArgs = args.size(); + + const int id = functionNames.size(); + + // Output proxy matlab code + + // check for number of arguments... + mfunctionFile.oss << (overload==0?"":"else") << "if length(varargin) == " << nrArgs; + if (nrArgs>0) mfunctionFile.oss << " && "; + // ...and their types + bool first = true; + for(size_t i=0;i(id); + + // call + wrapperFile.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + // start + wrapperFile.oss << "{\n"; + + if(returnVal.isPair) + { + if(returnVal.category1 == ReturnValue::CLASS) + wrapperFile.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + if(returnVal.category2 == ReturnValue::CLASS) + wrapperFile.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; + } + else { + if (returnVal.category1 == ReturnValue::CLASS) + wrapperFile.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + } + + // check arguments + // NOTE: for static functions, there is no object passed + wrapperFile.oss << " checkArguments(\"" << matlabUniqueName << "\",nargout,nargin," << args.size() << ");\n"; + + // unwrap arguments, see Argument.cpp + args.matlab_unwrap(wrapperFile,0); // We start at 0 because there is no self object + + // call method with default type and wrap result + if (returnVal.type1!="void") + returnVal.wrap_result(cppName+"("+args.names()+")", wrapperFile, typeAttributes); + else + wrapperFile.oss << cppName+"("+args.names()+");\n"; + + // finish + wrapperFile.oss << "}\n"; + + // Add to function list + functionNames.push_back(wrapFunctionName); + } + + mfunctionFile.oss << "else\n"; + mfunctionFile.oss << " error('Arguments do not match any overload of function " << matlabQualName << "');" << endl; + mfunctionFile.oss << "end" << endl; + + // Close file + mfunctionFile.emit(true); +} + /* ************************************************************************* */ diff --git a/wrap/GlobalFunction.h b/wrap/GlobalFunction.h index 0899bbdc9..e281e6a6d 100644 --- a/wrap/GlobalFunction.h +++ b/wrap/GlobalFunction.h @@ -29,10 +29,26 @@ struct GlobalFunction { // Constructor only used in Module GlobalFunction(bool verbose = true) : verbose_(verbose) {} + // Used to reconstruct + GlobalFunction(const std::string& name_, bool verbose = true) + : verbose_(verbose), name(name_) {} + // adds an overloaded version of this function void addOverload(bool verbose, const std::string& name, const ArgumentList& args, const ReturnValue& retVal, const StrVec& ns_stack); + // codegen function called from Module to build the cpp and matlab versions of the function + void matlab_proxy(const std::string& toolboxPath, const std::string& wrapperName, + const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, + std::vector& functionNames) const; + +private: + + // Creates a single global function - all in same namespace + void generateSingleFunction(const std::string& toolboxPath, const std::string& wrapperName, + const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile, + std::vector& functionNames) const; + }; } // \namespace wrap diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 757241ca2..35b0d2ff8 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -464,6 +464,11 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); } + // create matlab files and wrapper code for global functions + BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions) { + p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); + } + // finish wrapper file wrapperFile.oss << "\n"; finish_wrapper(wrapperFile, functionNames); diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index fcef79857..f123a31ac 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -38,6 +38,7 @@ void StaticMethod::addOverload(bool verbose, const std::string& name, this->returnVals.push_back(retVal); } +/* ************************************************************************* */ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& cppClassName, const std::string& matlabQualName, diff --git a/wrap/tests/expected/aGlobalFunction.m b/wrap/tests/expected/aGlobalFunction.m new file mode 100644 index 000000000..80d6b1f6b --- /dev/null +++ b/wrap/tests/expected/aGlobalFunction.m @@ -0,0 +1,7 @@ +% automatically generated by wrap +function varargout = aGlobalFunction(varargin) +if length(varargin) == 0 + varargout{1} = geometry_wrapper(40, varargin{:}); +else + error('Arguments do not match any overload of function aGlobalFunction'); +end diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index a520803ee..d403073d4 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -495,6 +495,11 @@ using namespace geometry; out[0] = wrap< Vector >(obj->return_vector2(value)); } +void aGlobalFunction_40(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("aGlobalFunction",nargout,nargin,0); + out[0] = wrap< Vector >(aGlobalFunction()); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { @@ -626,6 +631,9 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) case 39: Test_return_vector2_39(nargout, out, nargin-1, in+1); break; + case 40: + aGlobalFunction_40(nargout, out, nargin-1, in+1); + break; } std::cout.rdbuf(outbuf); diff --git a/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m b/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m new file mode 100644 index 000000000..fc1e780af --- /dev/null +++ b/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m @@ -0,0 +1,7 @@ +% automatically generated by wrap +function varargout = aGlobalFunction(varargin) +if length(varargin) == 0 + varargout{1} = testNamespaces_wrapper(22, varargin{:}); +else + error('Arguments do not match any overload of function ns1.aGlobalFunction'); +end diff --git a/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m b/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m new file mode 100644 index 000000000..2bdf45dd6 --- /dev/null +++ b/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m @@ -0,0 +1,7 @@ +% automatically generated by wrap +function varargout = aGlobalFunction(varargin) +if length(varargin) == 0 + varargout{1} = testNamespaces_wrapper(23, varargin{:}); +else + error('Arguments do not match any overload of function ns2.aGlobalFunction'); +end diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 3eb0b0311..c75c6a388 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -332,6 +332,17 @@ void ClassD_deconstructor_21(int nargout, mxArray *out[], int nargin, const mxAr } } +void ns1aGlobalFunction_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("ns1aGlobalFunction",nargout,nargin,0); + out[0] = wrap< Vector >(ns1::aGlobalFunction()); +} + +void ns2aGlobalFunction_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + checkArguments("ns2aGlobalFunction",nargout,nargin,0); + out[0] = wrap< Vector >(ns2::aGlobalFunction()); +} void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { @@ -409,6 +420,12 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) case 21: ClassD_deconstructor_21(nargout, out, nargin-1, in+1); break; + case 22: + ns1aGlobalFunction_22(nargout, out, nargin-1, in+1); + break; + case 23: + ns2aGlobalFunction_23(nargout, out, nargin-1, in+1); + break; } std::cout.rdbuf(outbuf); diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 2de19f6e4..29fc1891a 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -291,6 +291,7 @@ TEST( wrap, matlab_code_geometry ) { EXPECT(files_equal(epath + "Point2.m" , apath + "Point2.m" )); EXPECT(files_equal(epath + "Point3.m" , apath + "Point3.m" )); EXPECT(files_equal(epath + "Test.m" , apath + "Test.m" )); + EXPECT(files_equal(epath + "aGlobalFunction.m" , apath + "aGlobalFunction.m" )); } /* ************************************************************************* */ diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 6eb47c55d..6b6e57094 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -20,6 +20,7 @@ #include #include +#include #include "utilities.h" @@ -137,6 +138,21 @@ string qualifiedName(const string& separator, const vector& names, const return result; } +/* ************************************************************************* */ +void createNamespaceStructure(const std::vector& namespaces, const std::string& toolboxPath) { + using namespace boost::filesystem; + path curPath = toolboxPath; + BOOST_FOREACH(const string& subdir, namespaces) { + curPath /= "+" + subdir; + if(!is_directory(curPath)) { + if(exists("+" + subdir)) + throw OutputError("Need to write files to directory " + curPath.string() + ", which already exists as a file but is not a directory"); + else + boost::filesystem::create_directory(curPath); + } + } +} + /* ************************************************************************* */ } // \namespace wrap diff --git a/wrap/utilities.h b/wrap/utilities.h index 7e28d6793..2eaf5397a 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -133,4 +133,7 @@ void generateUsingNamespace(FileWriter& file, const std::vector& us */ std::string qualifiedName(const std::string& separator, const std::vector& names, const std::string& finalName = ""); +/** creates the necessary folders for namespaces, as specified by a namespace stack */ +void createNamespaceStructure(const std::vector& namespaces, const std::string& toolboxPath); + } // \namespace wrap From 5d008d43faa83cac64e1de7ce38e7b0e417baa51 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 18:24:37 +0000 Subject: [PATCH 671/914] Added example namespace function to gtsam - works in matlab --- gtsam.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam.h b/gtsam.h index 5661cb520..120d585aa 100644 --- a/gtsam.h +++ b/gtsam.h @@ -85,6 +85,9 @@ namespace gtsam { // base //************************************************************************* +/** gtsam namespace functions */ +bool linear_independent(Matrix A, Matrix B, double tol); + virtual class Value { // No constructors because this is an abstract class From 79c9bc99ffc71540d61176f2b07d57969300ad5b Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 18:24:39 +0000 Subject: [PATCH 672/914] Some additional cleanup in wrap --- gtsam.h | 5 ++++- wrap/Class.cpp | 2 +- wrap/GlobalFunction.cpp | 12 +----------- wrap/GlobalFunction.h | 2 +- wrap/Module.h | 1 - wrap/ReturnValue.cpp | 14 ++++++++++++++ wrap/ReturnValue.h | 2 ++ wrap/StaticMethod.cpp | 11 +---------- 8 files changed, 24 insertions(+), 25 deletions(-) diff --git a/gtsam.h b/gtsam.h index 120d585aa..04d6b7e9b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -48,6 +48,10 @@ * - 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 @@ -74,7 +78,6 @@ /** * Status: - * - TODO: global functions * - TODO: default values for arguments * - TODO: Handle gtsam::Rot3M conversions to quaternions */ diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 749a61707..5110ab6cd 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -308,7 +308,7 @@ std::string Class::getTypedef() const { result += ("namespace " + namesp + " { "); } result += ("typedef " + typedefName + " " + name + ";"); - BOOST_FOREACH(const string& namesp, namespaces) { + for (size_t i = 0; i Shared" << returnVal.type1 << ";"<< endl; - if(returnVal.category2 == ReturnValue::CLASS) - wrapperFile.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; - } - else { - if (returnVal.category1 == ReturnValue::CLASS) - wrapperFile.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; - } + returnVal.wrapTypeUnwrap(wrapperFile); // check arguments // NOTE: for static functions, there is no object passed diff --git a/wrap/GlobalFunction.h b/wrap/GlobalFunction.h index e281e6a6d..37a70df2a 100644 --- a/wrap/GlobalFunction.h +++ b/wrap/GlobalFunction.h @@ -24,7 +24,7 @@ struct GlobalFunction { // each overload, regardless of namespace std::vector argLists; ///< arugments for each overload std::vector returnVals; ///< returnVals for each overload - std::vector namespaces; ///< Stack of namespaces + std::vector namespaces; ///< Stack of namespaces // Constructor only used in Module GlobalFunction(bool verbose = true) : verbose_(verbose) {} diff --git a/wrap/Module.h b/wrap/Module.h index a2c77bc9e..ca8b0bb1a 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -40,7 +40,6 @@ struct Module { std::vector classes; ///< list of classes std::vector templateInstantiationTypedefs; ///< list of template instantiations bool verbose; ///< verbose flag -// std::vector using_namespaces; ///< all default namespaces std::vector forward_declarations; std::vector includes; ///< Include statements GlobalFunctions global_functions; diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index c209a3131..37e6b15ff 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -122,5 +122,19 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type } /* ************************************************************************* */ +void ReturnValue::wrapTypeUnwrap(FileWriter& wrapperFile) const { + if(isPair) + { + if(category1 == ReturnValue::CLASS) + wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedType1("::") << "> Shared" << type1 << ";"<< endl; + if(category2 == ReturnValue::CLASS) + wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedType2("::") << "> Shared" << type2 << ";"<< endl; + } + else { + if (category1 == ReturnValue::CLASS) + wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedType1("::") << "> Shared" << type1 << ";"<< endl; + } +} +/* ************************************************************************* */ diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h index 8ff5d712b..2bffef680 100644 --- a/wrap/ReturnValue.h +++ b/wrap/ReturnValue.h @@ -52,6 +52,8 @@ struct ReturnValue { void wrap_result(const std::string& result, FileWriter& file, const TypeAttributesTable& typeAttributes) const; + void wrapTypeUnwrap(FileWriter& wrapperFile) const; + }; } // \namespace wrap diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index f123a31ac..ed80d7890 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -123,16 +123,7 @@ string StaticMethod::wrapper_fragment(FileWriter& file, file.oss << "{\n"; generateUsingNamespace(file, using_namespaces); - if(returnVal.isPair) - { - if(returnVal.category1 == ReturnValue::CLASS) - file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; - if(returnVal.category2 == ReturnValue::CLASS) - file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2 << ";"<< endl; - } - else - if(returnVal.category1 == ReturnValue::CLASS) - file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1 << ";"<< endl; + returnVal.wrapTypeUnwrap(file); file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; From 656f573c0a54fee32ce0101c21a325e494accbc9 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 23 Jul 2012 18:24:43 +0000 Subject: [PATCH 673/914] Removed from wrap the use of "using namespace xxx" statements - wasn't fully supported before, and now we have real namespace support --- gtsam.h | 3 --- wrap/Class.cpp | 10 ++++---- wrap/Class.h | 1 - wrap/Constructor.cpp | 2 -- wrap/Constructor.h | 1 - wrap/Deconstructor.cpp | 4 +--- wrap/Deconstructor.h | 3 +-- wrap/Method.cpp | 5 +--- wrap/Method.h | 4 +--- wrap/Module.cpp | 10 ++------ wrap/StaticMethod.cpp | 5 +--- wrap/StaticMethod.h | 4 +--- wrap/tests/expected/geometry_wrapper.cpp | 29 ------------------------ wrap/tests/geometry.h | 3 --- wrap/tests/testWrap.cpp | 6 ----- wrap/utilities.cpp | 7 ------ wrap/utilities.h | 5 ---- 17 files changed, 12 insertions(+), 90 deletions(-) diff --git a/gtsam.h b/gtsam.h index 04d6b7e9b..35975f710 100644 --- a/gtsam.h +++ b/gtsam.h @@ -41,9 +41,6 @@ * 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" - * Using namespace: FIXME: this functionality is currently broken - * - To use a namespace (e.g., generate a "using namespace x" line in cpp files), add "using namespace x;" - * - This declaration applies to all classes *after* the declaration, regardless of brackets * Includes in C++ wrappers * - All includes will be collected and added in a single file * - All namespaces must have angle brackets: diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 5110ab6cd..00fdba011 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -79,7 +79,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, const int id = (int)functionNames.size(); constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(), id, a); const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, - cppName, matlabUniqueName, cppBaseName, id, using_namespaces, a); + cppName, matlabUniqueName, cppBaseName, id, a); wrapperFile.oss << "\n"; functionNames.push_back(wrapFunctionName); } @@ -96,7 +96,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, const int id = (int)functionNames.size(); deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id); proxyFile.oss << "\n"; - const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id, using_namespaces); + const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id); wrapperFile.oss << "\n"; functionNames.push_back(functionName); } @@ -106,7 +106,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, // Methods BOOST_FOREACH(const Methods::value_type& name_m, methods) { const Method& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, using_namespaces, typeAttributes, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } @@ -118,7 +118,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, // Static methods BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { const StaticMethod& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, using_namespaces, typeAttributes, functionNames); + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); proxyFile.oss << "\n"; wrapperFile.oss << "\n"; } @@ -183,7 +183,6 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; wrapperFile.oss << "{\n"; wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; - generateUsingNamespace(wrapperFile, using_namespaces); // Typedef boost::shared_ptr wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n"; wrapperFile.oss << "\n"; @@ -273,7 +272,6 @@ Class expandClassTemplate(const Class& cls, const string& templateArg, const vec inst.methods = expandMethodTemplate(cls.methods, templateArg, instName); inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName); inst.namespaces = cls.namespaces; - inst.using_namespaces = cls.using_namespaces; inst.constructor = cls.constructor; inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName); inst.constructor.name = inst.name; diff --git a/wrap/Class.h b/wrap/Class.h index c41cbb470..2d10d691a 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -47,7 +47,6 @@ struct Class { Methods methods; ///< Class methods StaticMethods static_methods; ///< Static methods std::vector namespaces; ///< Stack of namespaces - std::vector using_namespaces;///< default namespaces Constructor constructor; ///< Class constructors Deconstructor deconstructor; ///< Deconstructor to deallocate C++ object bool verbose_; ///< verbose flag diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp index 274180e08..7d18cb8db 100644 --- a/wrap/Constructor.cpp +++ b/wrap/Constructor.cpp @@ -70,7 +70,6 @@ string Constructor::wrapper_fragment(FileWriter& file, const string& matlabUniqueName, const string& cppBaseClassName, int id, - const vector& using_namespaces, const ArgumentList& al) const { const string wrapFunctionName = matlabUniqueName + "_constructor_" + boost::lexical_cast(id); @@ -78,7 +77,6 @@ string Constructor::wrapper_fragment(FileWriter& file, file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; file.oss << "{\n"; file.oss << " mexAtExit(&_deleteAllObjects);\n"; - generateUsingNamespace(file, using_namespaces); //Typedef boost::shared_ptr file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;\n"; file.oss << "\n"; diff --git a/wrap/Constructor.h b/wrap/Constructor.h index e2eca1291..fe8a96ccd 100644 --- a/wrap/Constructor.h +++ b/wrap/Constructor.h @@ -58,7 +58,6 @@ struct Constructor { const std::string& matlabUniqueName, const std::string& cppBaseClassName, int id, - const std::vector& using_namespaces, const ArgumentList& al) const; /// constructor function diff --git a/wrap/Deconstructor.cpp b/wrap/Deconstructor.cpp index c9239ee74..b2355f20e 100644 --- a/wrap/Deconstructor.cpp +++ b/wrap/Deconstructor.cpp @@ -48,8 +48,7 @@ void Deconstructor::proxy_fragment(FileWriter& file, string Deconstructor::wrapper_fragment(FileWriter& file, const string& cppClassName, const string& matlabUniqueName, - int id, - const vector& using_namespaces) const { + int id) const { const string matlabName = matlab_wrapper_name(matlabUniqueName); @@ -57,7 +56,6 @@ string Deconstructor::wrapper_fragment(FileWriter& file, file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; file.oss << "{" << endl; - generateUsingNamespace(file, using_namespaces); file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl; //Deconstructor takes 1 arg, the mxArray obj file.oss << " checkArguments(\"" << matlabName << "\",nargout,nargin," << "1" << ");" << endl; diff --git a/wrap/Deconstructor.h b/wrap/Deconstructor.h index 0d7dadaad..a3b71b04e 100644 --- a/wrap/Deconstructor.h +++ b/wrap/Deconstructor.h @@ -54,8 +54,7 @@ struct Deconstructor { std::string wrapper_fragment(FileWriter& file, const std::string& cppClassName, const std::string& matlabUniqueName, - int id, - const std::vector& using_namespaces) const; + int id) const; }; } // \namespace wrap diff --git a/wrap/Method.cpp b/wrap/Method.cpp index eb143b4dc..cc7c5a865 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -42,7 +42,6 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF const std::string& matlabQualName, const std::string& matlabUniqueName, const string& wrapperName, - const vector& using_namespaces, const TypeAttributesTable& typeAttributes, vector& functionNames) const { @@ -82,7 +81,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF // Output C++ wrapper code const string wrapFunctionName = wrapper_fragment( - wrapperFile, cppClassName, matlabUniqueName, overload, id, using_namespaces, typeAttributes); + wrapperFile, cppClassName, matlabUniqueName, overload, id, typeAttributes); // Add to function list functionNames.push_back(wrapFunctionName); @@ -103,7 +102,6 @@ string Method::wrapper_fragment(FileWriter& file, const string& matlabUniqueName, int overload, int id, - const vector& using_namespaces, const TypeAttributesTable& typeAttributes) const { // generate code @@ -117,7 +115,6 @@ string Method::wrapper_fragment(FileWriter& file, file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; // start file.oss << "{\n"; - generateUsingNamespace(file, using_namespaces); if(returnVal.isPair) { diff --git a/wrap/Method.h b/wrap/Method.h index e23a24186..4185732cf 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -51,8 +51,7 @@ struct Method { // classPath is class directory, e.g., ../matlab/@Point2 void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& cppClassName, const std::string& matlabQualName, const std::string& matlabUniqueName, - const std::string& wrapperName, const std::vector& using_namespaces, - const TypeAttributesTable& typeAttributes, + const std::string& wrapperName, const TypeAttributesTable& typeAttributes, std::vector& functionNames) const; private: @@ -61,7 +60,6 @@ private: const std::string& matlabUniqueName, int overload, int id, - const std::vector& using_namespaces, const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper }; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 35b0d2ff8..8c564e92f 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -84,8 +84,7 @@ Module::Module(const string& interfacePath, GlobalFunction globalFunc0(enable_verbose), globalFunc(enable_verbose); ForwardDeclaration fwDec0, fwDec; vector namespaces, /// current namespace tag - namespaces_return, /// namespace for current return type - using_namespace_current; /// All namespaces from "using" declarations + namespaces_return; /// namespace for current return type string templateArgument; vector templateInstantiationNamespace; vector > templateInstantiations; @@ -264,7 +263,6 @@ Module::Module(const string& interfacePath, [assign_a(constructor.name, cls.name)] [assign_a(cls.constructor, constructor)] [assign_a(cls.namespaces, namespaces)] - [assign_a(cls.using_namespaces, using_namespace_current)] [assign_a(deconstructor.name,cls.name)] [assign_a(cls.deconstructor, deconstructor)] [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))] @@ -298,10 +296,6 @@ Module::Module(const string& interfacePath, >> ch_p('}')) [pop_a(namespaces)]; - Rule using_namespace_p = - str_p("using") >> str_p("namespace") - >> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';'); - Rule forward_declaration_p = !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) >> str_p("class") @@ -310,7 +304,7 @@ Module::Module(const string& interfacePath, [push_back_a(forward_declarations, fwDec)] [assign_a(fwDec, fwDec0)]; - Rule module_content_p = comments_p | using_namespace_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | global_function_p | namespace_def_p; + Rule module_content_p = comments_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | global_function_p | namespace_def_p; Rule module_p = *module_content_p >> !end_p; diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index ed80d7890..3def66b0f 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -44,7 +44,6 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr const std::string& matlabQualName, const std::string& matlabUniqueName, const string& wrapperName, - const vector& using_namespaces, const TypeAttributesTable& typeAttributes, vector& functionNames) const { @@ -86,7 +85,7 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr // Output C++ wrapper code const string wrapFunctionName = wrapper_fragment( - wrapperFile, cppClassName, matlabUniqueName, overload, id, using_namespaces, typeAttributes); + wrapperFile, cppClassName, matlabUniqueName, overload, id, typeAttributes); // Add to function list functionNames.push_back(wrapFunctionName); @@ -107,7 +106,6 @@ string StaticMethod::wrapper_fragment(FileWriter& file, const string& matlabUniqueName, int overload, int id, - const vector& using_namespaces, const TypeAttributesTable& typeAttributes) const { // generate code @@ -121,7 +119,6 @@ string StaticMethod::wrapper_fragment(FileWriter& file, file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; // start file.oss << "{\n"; - generateUsingNamespace(file, using_namespaces); returnVal.wrapTypeUnwrap(file); diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index 55d9f3e99..fc82105f0 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -51,8 +51,7 @@ struct StaticMethod { // classPath is class directory, e.g., ../matlab/@Point2 void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& cppClassName, const std::string& matlabQualName, const std::string& matlabUniqueName, - const std::string& wrapperName, const std::vector& using_namespaces, - const TypeAttributesTable& typeAttributes, + const std::string& wrapperName, const TypeAttributesTable& typeAttributes, std::vector& functionNames) const; private: @@ -61,7 +60,6 @@ private: const std::string& matlabUniqueName, int overload, int id, - const std::vector& using_namespaces, const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper }; diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index d403073d4..93fde1ca4 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -180,7 +180,6 @@ void Point2_y_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void Point3_collectorInsertAndMakeBase_11(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); -using namespace geometry; typedef boost::shared_ptr Shared; Shared *self = *reinterpret_cast (mxGetData(in[0])); @@ -190,7 +189,6 @@ using namespace geometry; void Point3_constructor_12(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); -using namespace geometry; typedef boost::shared_ptr Shared; double x = unwrap< double >(in[0]); @@ -204,7 +202,6 @@ using namespace geometry; void Point3_deconstructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("delete_Point3",nargout,nargin,1); Shared *self = *reinterpret_cast(mxGetData(in[0])); @@ -218,7 +215,6 @@ using namespace geometry; void Point3_norm_14(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("norm",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Point3"); @@ -227,7 +223,6 @@ using namespace geometry; void Point3_StaticFunctionRet_15(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedPoint3; typedef boost::shared_ptr Shared; checkArguments("Point3.StaticFunctionRet",nargout,nargin,1); @@ -237,7 +232,6 @@ using namespace geometry; void Point3_staticFunction_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("Point3.staticFunction",nargout,nargin,0); out[0] = wrap< double >(Point3::staticFunction()); @@ -246,7 +240,6 @@ using namespace geometry; void Test_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); -using namespace geometry; typedef boost::shared_ptr Shared; Shared *self = *reinterpret_cast (mxGetData(in[0])); @@ -256,7 +249,6 @@ using namespace geometry; void Test_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); -using namespace geometry; typedef boost::shared_ptr Shared; Shared *self = new Shared(new Test()); @@ -268,7 +260,6 @@ using namespace geometry; void Test_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); -using namespace geometry; typedef boost::shared_ptr Shared; double a = unwrap< double >(in[0]); @@ -281,7 +272,6 @@ using namespace geometry; void Test_deconstructor_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("delete_Test",nargout,nargin,1); Shared *self = *reinterpret_cast(mxGetData(in[0])); @@ -295,7 +285,6 @@ using namespace geometry; void Test_arg_EigenConstRef_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("arg_EigenConstRef",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -305,7 +294,6 @@ using namespace geometry; void Test_create_MixedPtrs_22(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; @@ -317,7 +305,6 @@ using namespace geometry; void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; @@ -329,7 +316,6 @@ using namespace geometry; void Test_print_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("print",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -338,7 +324,6 @@ using namespace geometry; void Test_return_Point2Ptr_25(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedPoint2; typedef boost::shared_ptr Shared; checkArguments("return_Point2Ptr",nargout,nargin-1,1); @@ -349,7 +334,6 @@ using namespace geometry; void Test_return_Test_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("return_Test",nargout,nargin-1,1); @@ -360,7 +344,6 @@ using namespace geometry; void Test_return_TestPtr_27(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; checkArguments("return_TestPtr",nargout,nargin-1,1); @@ -371,7 +354,6 @@ using namespace geometry; void Test_return_bool_28(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_bool",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -381,7 +363,6 @@ using namespace geometry; void Test_return_double_29(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_double",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -391,7 +372,6 @@ using namespace geometry; void Test_return_field_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_field",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -401,7 +381,6 @@ using namespace geometry; void Test_return_int_31(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_int",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -411,7 +390,6 @@ using namespace geometry; void Test_return_matrix1_32(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_matrix1",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -421,7 +399,6 @@ using namespace geometry; void Test_return_matrix2_33(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_matrix2",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -431,7 +408,6 @@ using namespace geometry; void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_pair",nargout,nargin-1,2); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -443,7 +419,6 @@ using namespace geometry; void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr SharedTest; typedef boost::shared_ptr Shared; @@ -457,7 +432,6 @@ using namespace geometry; void Test_return_size_t_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_size_t",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -467,7 +441,6 @@ using namespace geometry; void Test_return_string_37(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_string",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -477,7 +450,6 @@ using namespace geometry; void Test_return_vector1_38(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_vector1",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); @@ -487,7 +459,6 @@ using namespace geometry; void Test_return_vector2_39(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { -using namespace geometry; typedef boost::shared_ptr Shared; checkArguments("return_vector2",nargout,nargin-1,1); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); diff --git a/wrap/tests/geometry.h b/wrap/tests/geometry.h index 2e92043b2..54694a1cf 100644 --- a/wrap/tests/geometry.h +++ b/wrap/tests/geometry.h @@ -15,9 +15,6 @@ class Point2 { VectorNotEigen vectorConfusion(); }; -// flag a namespace as in use - only applies *after* the declaration -using namespace geometry; - class Point3 { Point3(double x, double y, double z); double norm() const; diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index 29fc1891a..844281775 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -76,9 +76,6 @@ TEST( wrap, parse_geometry ) { Module module(markup_header_path.c_str(), "geometry",enable_verbose); EXPECT_LONGS_EQUAL(3, module.classes.size()); - // check using declarations - strvec exp_using1, exp_using2; exp_using2 += "geometry"; - // forward declarations LONGS_EQUAL(2, module.forward_declarations.size()); EXPECT(assert_equal("VectorNotEigen", module.forward_declarations[0].name)); @@ -98,7 +95,6 @@ TEST( wrap, parse_geometry ) { EXPECT_LONGS_EQUAL(7, cls.methods.size()); EXPECT_LONGS_EQUAL(0, cls.static_methods.size()); EXPECT_LONGS_EQUAL(0, cls.namespaces.size()); - EXPECT(assert_equal(exp_using1, cls.using_namespaces)); } // check second class, Point3 @@ -109,7 +105,6 @@ TEST( wrap, parse_geometry ) { EXPECT_LONGS_EQUAL(1, cls.methods.size()); EXPECT_LONGS_EQUAL(2, cls.static_methods.size()); EXPECT_LONGS_EQUAL(0, cls.namespaces.size()); - EXPECT(assert_equal(exp_using2, cls.using_namespaces)); // first constructor takes 3 doubles ArgumentList c1 = cls.constructor.args_list.front(); @@ -140,7 +135,6 @@ TEST( wrap, parse_geometry ) { EXPECT_LONGS_EQUAL(19, testCls.methods.size()); EXPECT_LONGS_EQUAL( 0, testCls.static_methods.size()); EXPECT_LONGS_EQUAL( 0, testCls.namespaces.size()); - EXPECT(assert_equal(exp_using2, testCls.using_namespaces)); // function to parse: pair return_pair (Vector v, Matrix A) const; CHECK(testCls.methods.find("return_pair") != testCls.methods.end()); diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 6b6e57094..52ed3c750 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -115,13 +115,6 @@ string maybe_shared_ptr(bool add, const string& qtype, const string& type) { return str; } -/* ************************************************************************* */ -void generateUsingNamespace(FileWriter& file, const vector& using_namespaces) { - if (using_namespaces.empty()) return; - BOOST_FOREACH(const string& s, using_namespaces) - file.oss << "using namespace " << s << ";" << endl; -} - /* ************************************************************************* */ string qualifiedName(const string& separator, const vector& names, const string& finalName) { string result; diff --git a/wrap/utilities.h b/wrap/utilities.h index 2eaf5397a..85a2246a2 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -122,11 +122,6 @@ bool assert_equal(const std::vector& expected, const std::vector& using_namespaces); - /** * Return a qualified name, if finalName is empty, only the names vector will * be used (i.e. there won't be a trailing separator on the qualified name). From d397139fa9b77a2b6e2b233ef133b114e38d8156 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:20:53 +0000 Subject: [PATCH 674/914] Fixed dimensions bug in Marginals and added unit test --- gtsam/inference/GenericSequentialSolver-inl.h | 2 +- gtsam/nonlinear/Marginals.cpp | 13 +++-- tests/testMarginals.cpp | 55 +++++++++++++++++++ 3 files changed, 64 insertions(+), 6 deletions(-) diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h index 53dee3dcd..368aae831 100644 --- a/gtsam/inference/GenericSequentialSolver-inl.h +++ b/gtsam/inference/GenericSequentialSolver-inl.h @@ -88,7 +88,7 @@ namespace gtsam { GenericSequentialSolver::jointFactorGraph( const std::vector& js, Eliminate function) const { - // Compute a COLAMD permutation with the marginal variable constrained to the end. + // Compute a COLAMD permutation with the marginal variables constrained to the end. Permutation::shared_ptr permutation(inference::PermutationCOLAMD(*structure_, js)); Permutation::shared_ptr permutationInverse(permutation->inverse()); diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index f7f1aa00f..52c507374 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -110,11 +110,11 @@ JointMarginal Marginals::jointMarginalInformation(const std::vector& variab return JointMarginal(info, dims, indices); } else { - // Convert keys to linear indices + // Obtain requested variables as ordered indices vector indices(variables.size()); for(size_t i=0; i& variab jointFG = *GaussianSequentialSolver(graph_, true).jointFactorGraph(indices); } - // Conversion from variable keys to position in factor graph variables, + // Build map from variable keys to position in factor graph variables, // which are sorted in index order. Ordering variableConversion; { + // First build map from index to key FastMap usedIndices; for(size_t i=0; i Index_Key; BOOST_FOREACH(const Index_Key& index_key, usedIndices) { @@ -145,8 +147,9 @@ JointMarginal Marginals::jointMarginalInformation(const std::vector& variab // Get dimensions from factor graph std::vector dims(indices.size(), 0); - for(size_t i = 0; i < variables.size(); ++i) - dims[i] = values_.at(variables[i]).dim(); + BOOST_FOREACH(Key key, variables) { + dims[variableConversion[key]] = values_.at(key).dim(); + } // Get information matrix Matrix augmentedInfo = jointFG.denseHessian(); diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index da7157a1e..c9bd43b27 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -180,7 +180,62 @@ TEST(Marginals, planarSLAMmarginals) { EXPECT(assert_equal(expectedx1, Matrix(joint_l2x1(x1,x1)), 1e-6)); } +/* ************************************************************************* */ +TEST(Marginals, order) { + NonlinearFactorGraph fg; + fg.add(PriorFactor(0, Pose2(), noiseModel::Unit::Create(3))); + fg.add(BetweenFactor(0, 1, Pose2(1,0,0), noiseModel::Unit::Create(3))); + fg.add(BetweenFactor(1, 2, Pose2(1,0,0), noiseModel::Unit::Create(3))); + fg.add(BetweenFactor(2, 3, Pose2(1,0,0), noiseModel::Unit::Create(3))); + Values vals; + vals.insert(0, Pose2()); + vals.insert(1, Pose2(1,0,0)); + vals.insert(2, Pose2(2,0,0)); + vals.insert(3, Pose2(3,0,0)); + + vals.insert(100, Point2(0,1)); + vals.insert(101, Point2(1,1)); + + fg.add(BearingRangeFactor(0, 100, + vals.at(0).bearing(vals.at(100)), + vals.at(0).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(0, 101, + vals.at(0).bearing(vals.at(101)), + vals.at(0).range(vals.at(101)), noiseModel::Unit::Create(2))); + + fg.add(BearingRangeFactor(1, 100, + vals.at(1).bearing(vals.at(100)), + vals.at(1).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(1, 101, + vals.at(1).bearing(vals.at(101)), + vals.at(1).range(vals.at(101)), noiseModel::Unit::Create(2))); + + fg.add(BearingRangeFactor(2, 100, + vals.at(2).bearing(vals.at(100)), + vals.at(2).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(2, 101, + vals.at(2).bearing(vals.at(101)), + vals.at(2).range(vals.at(101)), noiseModel::Unit::Create(2))); + + fg.add(BearingRangeFactor(3, 100, + vals.at(3).bearing(vals.at(100)), + vals.at(3).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(3, 101, + vals.at(3).bearing(vals.at(101)), + vals.at(3).range(vals.at(101)), noiseModel::Unit::Create(2))); + + Marginals marginals(fg, vals); + FastVector keys(fg.keys()); + JointMarginal joint = marginals.jointMarginalCovariance(keys); + + LONGS_EQUAL(3, joint(0,0).rows()); + LONGS_EQUAL(3, joint(1,1).rows()); + LONGS_EQUAL(3, joint(2,2).rows()); + LONGS_EQUAL(3, joint(3,3).rows()); + LONGS_EQUAL(2, joint(100,100).rows()); + LONGS_EQUAL(2, joint(101,101).rows()); +} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} From 5b584c3b73b0413e7b6082bb6a0aa1a373ca6029 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:20:56 +0000 Subject: [PATCH 675/914] Added SuccessiveLinearizationParams.ordering and BearingRangeFactor in matlab interface --- gtsam.h | 15 +++++++++++---- .../nonlinear/SuccessiveLinearizationOptimizer.h | 16 ++++++---------- gtsam/slam/BearingFactor.h | 4 ++-- gtsam/slam/BearingRangeFactor.h | 4 ++-- 4 files changed, 21 insertions(+), 18 deletions(-) diff --git a/gtsam.h b/gtsam.h index 08c4ed9d3..7cb46fc55 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1167,6 +1167,7 @@ virtual class NonlinearOptimizerParams { virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams { SuccessiveLinearizationParams(); + void setOrdering(const gtsam::Ordering& ordering); bool isMultifrontal() const; bool isSequential() const; bool isCholmod() const; @@ -1357,16 +1358,22 @@ typedef gtsam::RangeFactor RangeFactorSimple typedef gtsam::RangeFactor RangeFactorCalibratedCamera; typedef gtsam::RangeFactor RangeFactorSimpleCamera; - -#include -template +template virtual class BearingFactor : gtsam::NonlinearFactor { - BearingFactor(size_t key1, size_t key2, const ROT& measured, const gtsam::noiseModel::Base* noiseModel); + BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel); }; typedef gtsam::BearingFactor BearingFactor2D; +template +virtual class BearingRangeFactor : gtsam::NonlinearFactor { + BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); +}; + +typedef gtsam::BearingRangeFactor BearingRangeFactor2D; + + #include template virtual class GenericProjectionFactor : gtsam::NonlinearFactor { diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 7033613ac..2556134c0 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -78,20 +78,16 @@ public: } inline bool isMultifrontal() const { - return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); - } + return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); } inline bool isSequential() const { - return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); - } + return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); } - inline bool isCholmod() const { - return (linearSolverType == CHOLMOD); - } + inline bool isCholmod() const { return (linearSolverType == CHOLMOD); } - inline bool isCG() const { - return (linearSolverType == CG); - } + inline bool isCG() const { return (linearSolverType == CG); } + + void setOrdering(const Ordering& ordering) { this->ordering = ordering; } GaussianFactorGraph::Eliminate getEliminationFunction() { switch (linearSolverType) { diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index 62e46d53e..326491e8c 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -25,12 +25,12 @@ namespace gtsam { /** * Binary factor for a bearing measurement */ - template + template class BearingFactor: public NoiseModelFactor2 { private: typedef POSE Pose; - typedef ROT Rot; + typedef ROTATION Rot; typedef POINT Point; typedef BearingFactor This; diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 933333fdf..bf5b6b3a5 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -27,12 +27,12 @@ namespace gtsam { /** * Binary factor for a bearing measurement */ - template + template class BearingRangeFactor: public NoiseModelFactor2 { private: typedef POSE Pose; - typedef typename POSE::Rotation Rot; + typedef ROTATION Rot; typedef POINT Point; typedef BearingRangeFactor This; From 080dd7d57ccc4890af3171e0a7d50cf2d99cbe17 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:21:00 +0000 Subject: [PATCH 676/914] Updated some of the matlab utility functions --- matlab/covarianceEllipse3D.m | 2 +- matlab/examples/findExampleDataFile.m | 19 ++++++++ matlab/load2D.m | 10 +++-- matlab/plot2DPoints.m | 34 +++++++++++++++ matlab/plot2DTrajectory.m | 17 ++++++-- matlab/plot3DTrajectory.m | 63 +++++++++++++++++++++------ matlab/plotPose3.m | 26 ++++++----- 7 files changed, 137 insertions(+), 34 deletions(-) create mode 100644 matlab/examples/findExampleDataFile.m create mode 100644 matlab/plot2DPoints.m diff --git a/matlab/covarianceEllipse3D.m b/matlab/covarianceEllipse3D.m index 6d6ed9127..d3ef1f8a7 100644 --- a/matlab/covarianceEllipse3D.m +++ b/matlab/covarianceEllipse3D.m @@ -11,7 +11,7 @@ k = 11.82; radii = k*sqrt(diag(s)); % generate data for "unrotated" ellipsoid -[xc,yc,zc] = ellipsoid(0,0,0,radii(1),radii(2),radii(3)); +[xc,yc,zc] = ellipsoid(0,0,0,radii(1),radii(2),radii(3),8); % rotate data with orientation matrix U and center M data = kron(e(:,1),xc) + kron(e(:,2),yc) + kron(e(:,3),zc); diff --git a/matlab/examples/findExampleDataFile.m b/matlab/examples/findExampleDataFile.m new file mode 100644 index 000000000..7719dfcfa --- /dev/null +++ b/matlab/examples/findExampleDataFile.m @@ -0,0 +1,19 @@ +function datafile = findExampleDataFile(datasetName) +%FINDEXAMPLEDATAFILE Find a dataset in the examples folder + +[ myPath, ~, ~ ] = fileparts(mfilename('fullpath')); +searchPath = { ... + fullfile(myPath, [ '../../examples/Data/' datasetName ]) ... + fullfile(myPath, [ 'Data/' datasetName ]) }; +datafile = []; +for path = searchPath + if exist(path{:}, 'file') + datafile = path{:}; + end +end +if isempty(datafile) + error([ 'Could not find example data file ' datasetName ]); +end + +end + diff --git a/matlab/load2D.m b/matlab/load2D.m index 31e96818f..c4b2e105d 100644 --- a/matlab/load2D.m +++ b/matlab/load2D.m @@ -2,6 +2,8 @@ function [graph,initial] = load2D(filename,model) % load2D: read TORO pose graph % cannot read noise model from file yet, uses specified model +import gtsam.* + fid = fopen(filename); if fid < 0 error(['load2D: Cannot open file ' filename]); @@ -13,17 +15,17 @@ fclose(fid); lines=columns{1}; % loop over lines and add vertices -graph = pose2SLAM.Graph; -initial = pose2SLAM.Values; +graph = NonlinearFactorGraph; +initial = Values; n=size(lines,1); for i=1:n line_i=lines{i}; if strcmp('VERTEX2',line_i(1:7)) v = textscan(line_i,'%s %d %f %f %f',1); - initial.insertPose(v{2}, gtsam.Pose2(v{3}, v{4}, v{5})); + initial.insert(v{2}, Pose2(v{3}, v{4}, v{5})); elseif strcmp('EDGE2',line_i(1:5)) e = textscan(line_i,'%s %d %d %f %f %f',1); - graph.addRelativePose(e{2}, e{3}, gtsam.Pose2(e{4}, e{5}, e{6}), model); + graph.add(BetweenFactorPose2(e{2}, e{3}, Pose2(e{4}, e{5}, e{6}), model)); end end diff --git a/matlab/plot2DPoints.m b/matlab/plot2DPoints.m new file mode 100644 index 000000000..0065b55c4 --- /dev/null +++ b/matlab/plot2DPoints.m @@ -0,0 +1,34 @@ +function plot2DPoints(values, marginals) +%PLOT2DPOINTS Plots the Point2's in a values, with optional covariances +% Finds all the Point2 objects in the given Values object and plots them. +% If a Marginals object is given, this function will also plot marginal +% covariance ellipses for each point. + +import gtsam.* + +haveMarginals = exist('marginals', 'var'); +keys = KeyVector(values.keys); + +holdstate = ishold; +hold on + +% Plot points and covariance matrices +for i = 0:keys.size-1 + key = keys.at(i); + p = values.at(key); + if isa(p, 'gtsam.Point2') + if haveMarginals + P = marginals.marginalCovariance(key); + plotPoint2(p, 'g', P); + else + plotPoint2(p, 'g'); + end + end +end + +if ~holdstate + hold off +end + +end + diff --git a/matlab/plot2DTrajectory.m b/matlab/plot2DTrajectory.m index 82c62bb40..fcbfe4b92 100644 --- a/matlab/plot2DTrajectory.m +++ b/matlab/plot2DTrajectory.m @@ -1,4 +1,4 @@ -function plot2DTrajectory(values, marginals) +function plot2DTrajectory(values, linespec, marginals) %PLOT2DTRAJECTORY Plots the Pose2's in a values, with optional covariances % Finds all the Pose2 objects in the given Values object and plots them % in increasing key order, connecting consecutive poses with a line. If @@ -7,10 +7,17 @@ function plot2DTrajectory(values, marginals) import gtsam.* +if ~exist('linespec', 'var') || isempty(linespec) + linespec = 'k*-'; +end + haveMarginals = exist('marginals', 'var'); keys = KeyVector(values.keys); -% Store poses and covariance matrices +holdstate = ishold; +hold on + +% Plot poses and covariance matrices lastIndex = []; for i = 0:keys.size-1 key = keys.at(i); @@ -21,7 +28,7 @@ for i = 0:keys.size-1 % last pose. lastKey = keys.at(lastIndex); lastPose = values.at(lastKey); - plot([ x.x; lastPose.x ], [ x.y; lastPose.y ], 'k*-'); + plot([ x.x; lastPose.x ], [ x.y; lastPose.y ], linespec); if haveMarginals P = marginals.marginalCovariance(lastKey); plotPose2(lastPose, 'g', P); @@ -39,5 +46,9 @@ if ~isempty(lastIndex) && haveMarginals plotPose2(lastPose, 'g', P); end +if ~holdstate + hold off +end + end diff --git a/matlab/plot3DTrajectory.m b/matlab/plot3DTrajectory.m index 83d3d76e2..771d567fa 100644 --- a/matlab/plot3DTrajectory.m +++ b/matlab/plot3DTrajectory.m @@ -1,18 +1,53 @@ -function plot3DTrajectory(values,style,frames,scale) +function plot3DTrajectory(values,linespec,frames,scale,marginals) % plot3DTrajectory -if nargin<3,frames=false;end -if nargin<4,scale=0;end +if ~exist('scale','var') || isempty(scale), scale=1; end +if ~exist('frames','var'), scale=[]; end -T=values.translations() -plot3(T(:,1),T(:,2),T(:,3),style); hold on -if frames - N=values.size; - for i=0:N-1 - pose = values.pose(i); - t = pose.translation; - R = pose.rotation.matrix; - quiver3(t.x,t.y,t.z,R(1,1),R(2,1),R(3,1),scale,'r'); - quiver3(t.x,t.y,t.z,R(1,2),R(2,2),R(3,2),scale,'g'); - quiver3(t.x,t.y,t.z,R(1,3),R(2,3),R(3,3),scale,'b'); +import gtsam.* + +haveMarginals = exist('marginals', 'var'); +keys = KeyVector(values.keys); + +holdstate = ishold; +hold on + +% Plot poses and covariance matrices +lastIndex = []; +for i = 0:keys.size-1 + key = keys.at(i); + x = values.at(key); + if isa(x, 'gtsam.Pose3') + if ~isempty(lastIndex) + % Draw line from last pose then covariance ellipse on top of + % last pose. + lastKey = keys.at(lastIndex); + lastPose = values.at(lastKey); + plot3([ x.x; lastPose.x ], [ x.y; lastPose.y ], [ x.z; lastPose.z ], linespec); + if haveMarginals + P = marginals.marginalCovariance(lastKey); + else + P = []; + end + plotPose3(lastPose, P, scale); + end + lastIndex = i; end +end + +% Draw final pose +if ~isempty(lastIndex) + lastKey = keys.at(lastIndex); + lastPose = values.at(lastKey); + if haveMarginals + P = marginals.marginalCovariance(lastKey); + else + P = []; + end + plotPose3(lastPose, P, scale); +end + +if ~holdstate + hold off +end + end \ No newline at end of file diff --git a/matlab/plotPose3.m b/matlab/plotPose3.m index 262d1dfc1..956b231be 100644 --- a/matlab/plotPose3.m +++ b/matlab/plotPose3.m @@ -6,18 +6,20 @@ if nargin<3,axisLength=0.1;end gRp = pose.rotation().matrix(); % rotation from pose to global C = pose.translation().vector(); -% draw the camera axes -xAxis = C+gRp(:,1)*axisLength; -L = [C xAxis]'; -line(L(:,1),L(:,2),L(:,3),'Color','r'); - -yAxis = C+gRp(:,2)*axisLength; -L = [C yAxis]'; -line(L(:,1),L(:,2),L(:,3),'Color','g'); - -zAxis = C+gRp(:,3)*axisLength; -L = [C zAxis]'; -line(L(:,1),L(:,2),L(:,3),'Color','b'); +if ~isempty(axisLength) + % draw the camera axes + xAxis = C+gRp(:,1)*axisLength; + L = [C xAxis]'; + line(L(:,1),L(:,2),L(:,3),'Color','r'); + + yAxis = C+gRp(:,2)*axisLength; + L = [C yAxis]'; + line(L(:,1),L(:,2),L(:,3),'Color','g'); + + zAxis = C+gRp(:,3)*axisLength; + L = [C zAxis]'; + line(L(:,1),L(:,2),L(:,3),'Color','b'); +end % plot the covariance if (nargin>2) && (~isempty(P)) From 62f28bb798dca3845eb843bda045c855b29919f7 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:21:05 +0000 Subject: [PATCH 677/914] Updated more matlab examples --- matlab/examples/LocalizationExample.m | 2 +- matlab/examples/OdometryExample.m | 2 +- matlab/examples/PlanarSLAMExample.m | 59 +++++++----------- matlab/examples/PlanarSLAMExample_sampling.m | 61 ++++++++----------- matlab/examples/Pose2SLAMExample.m | 43 ++++++------- matlab/examples/Pose2SLAMExample_advanced.m | 33 +++++----- matlab/examples/Pose2SLAMExample_circle.m | 44 +++++++------ matlab/examples/Pose2SLAMExample_graph.m | 22 ++++--- matlab/examples/Pose2SLAMwSPCG.m | 29 ++++----- matlab/examples/Pose3SLAMExample.m | 41 +++++++------ matlab/examples/Pose3SLAMExample_graph.m | 30 +++++---- matlab/examples/gtsamExamples.fig | Bin 9270 -> 10455 bytes matlab/examples/gtsamExamples.m | 34 +++++++++-- 13 files changed, 211 insertions(+), 189 deletions(-) diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/LocalizationExample.m index 1c38bc979..e4ee76d7c 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/examples/LocalizationExample.m @@ -55,7 +55,7 @@ import gtsam.* cla; hold on; -plot2DTrajectory(result, Marginals(graph, result)); +plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/OdometryExample.m b/matlab/examples/OdometryExample.m index 16323a616..81733cfb0 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/examples/OdometryExample.m @@ -52,7 +52,7 @@ import gtsam.* cla; hold on; -plot2DTrajectory(result, Marginals(graph, result)); +plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index e664d66fc..f82b3aea4 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -25,72 +25,59 @@ i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it -graph = planarSLAM.Graph; +graph = gtsam.NonlinearFactorGraph; %% Add prior import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph %% Add odometry import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(i1, i2, odometry, odometryNoise); -graph.addRelativePose(i2, i3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Add bearing/range measurement factors import gtsam.* degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); -graph.addBearingRange(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise); -graph.addBearingRange(i2, j1, Rot2(90*degrees), 2, brNoise); -graph.addBearingRange(i3, j2, Rot2(90*degrees), 2, brNoise); +graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); +graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); +graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); % print graph.print(sprintf('\nFull graph:\n')); %% Initialize to noisy points import gtsam.* -initialEstimate = planarSLAM.Values; -initialEstimate.insertPose(i1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(i2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(i3, Pose2(4.1, 0.1, 0.1)); -initialEstimate.insertPoint(j1, Point2(1.8, 2.1)); -initialEstimate.insertPoint(j2, Point2(4.1, 1.8)); +initialEstimate = Values; +initialEstimate.insert(i1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(i2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(i3, Pose2(4.1, 0.1, 0.1)); +initialEstimate.insert(j1, Point2(1.8, 2.1)); +initialEstimate.insert(j2, Point2(4.1, 1.8)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,1); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses import gtsam.* cla;hold on -marginals = graph.marginals(result); -for i=1:3 - key = symbol('x',i); - pose{i} = result.pose(key); - P{i}=marginals.marginalCovariance(key); - if i>1 - plot([pose{i-1}.x;pose{i}.x],[pose{i-1}.y;pose{i}.y],'r-'); - end -end -for i=1:3 - plotPose2(pose{i},'g',P{i}) -end -point = {}; -for j=1:2 - key = symbol('l',j); - point{j} = result.point(key); - Q{j}=marginals.marginalCovariance(key); - plotPoint2(point{j},'b',Q{j}) -end -plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-'); -plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-'); -plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-'); + +marginals = Marginals(graph, result); +plot2DTrajectory(result, [], marginals); +plot2DPoints(result, marginals); + +plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-'); +plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-'); +plot([result.at(i3).x; result.at(j2).x],[result.at(i3).y; result.at(j2).y], 'c-'); axis([-0.6 4.8 -1 1]) axis equal view(2) diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m index ec68d81e6..35d3232a1 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/examples/PlanarSLAMExample_sampling.m @@ -14,14 +14,14 @@ %% Create the same factor graph as in PlanarSLAMExample import gtsam.* i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); -graph = planarSLAM.Graph; +graph = NonlinearFactorGraph; priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph odometry = Pose2(2.0, 0.0, 0.0); odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(i1, i2, odometry, odometryNoise); -graph.addRelativePose(i2, i3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Except, for measurements we offer a choice import gtsam.* @@ -29,48 +29,41 @@ j1 = symbol('l',1); j2 = symbol('l',2); degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); if 1 - graph.addBearingRange(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise); - graph.addBearingRange(i2, j1, Rot2(90*degrees), 2, brNoise); + graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); + graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); else bearingModel = noiseModel.Diagonal.Sigmas(0.1); - graph.addBearing(i1, j1, Rot2(45*degrees), bearingModel); - graph.addBearing(i2, j1, Rot2(90*degrees), bearingModel); + graph.add(BearingFactor2D(i1, j1, Rot2(45*degrees), bearingModel)); + graph.add(BearingFactor2D(i2, j1, Rot2(90*degrees), bearingModel)); end -graph.addBearingRange(i3, j2, Rot2(90*degrees), 2, brNoise); +graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); %% Initialize MCMC sampler with ground truth -sample = planarSLAM.Values; -sample.insertPose(i1, Pose2(0,0,0)); -sample.insertPose(i2, Pose2(2,0,0)); -sample.insertPose(i3, Pose2(4,0,0)); -sample.insertPoint(j1, Point2(2,2)); -sample.insertPoint(j2, Point2(4,2)); +sample = Values; +sample.insert(i1, Pose2(0,0,0)); +sample.insert(i2, Pose2(2,0,0)); +sample.insert(i3, Pose2(4,0,0)); +sample.insert(j1, Point2(2,2)); +sample.insert(j2, Point2(4,2)); %% Calculate and plot Covariance Ellipses -figure(1);clf;hold on -marginals = graph.marginals(sample); -for i=1:3 - key = symbol('x',i); - pose{i} = sample.pose(key); - P{i}=marginals.marginalCovariance(key); - if i>1 - plot([pose{i-1}.x;pose{i}.x],[pose{i-1}.y;pose{i}.y],'r-'); - end -end -for i=1:3 - plotPose2(pose{i},'g',P{i}) -end +cla;hold on +marginals = Marginals(graph, sample); + +plot2DTrajectory(sample, [], marginals); +plot2DPoints(sample, marginals); + for j=1:2 key = symbol('l',j); - point{j} = sample.point(key); + point{j} = sample.at(key); Q{j}=marginals.marginalCovariance(key); S{j}=chol(Q{j}); % for sampling - plotPoint2(point{j},'b',Q{j}) end -plot([pose{1}.x;point{1}.x],[pose{1}.y;point{1}.y],'c-'); -plot([pose{2}.x;point{1}.x],[pose{2}.y;point{1}.y],'c-'); -plot([pose{3}.x;point{2}.x],[pose{3}.y;point{2}.y],'c-'); -axis equal + +plot([sample.at(i1).x; sample.at(j1).x],[sample.at(i1).y; sample.at(j1).y], 'c-'); +plot([sample.at(i2).x; sample.at(j1).x],[sample.at(i2).y; sample.at(j1).y], 'c-'); +plot([sample.at(i3).x; sample.at(j2).x],[sample.at(i3).y; sample.at(j2).y], 'c-'); +view(2); axis auto; axis equal %% Do Sampling on point 2 N=1000; diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m index 4bb072fa8..1e26ce33d 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/examples/Pose2SLAMExample.m @@ -19,58 +19,55 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAM.Graph; +graph = NonlinearFactorGraph; %% Add prior import gtsam.* % gaussian for prior priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry import gtsam.* % general noisemodel for odometry odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addRelativePose(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.add(BetweenFactorPose2(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise)); +graph.add(BetweenFactorPose2(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise)); +graph.add(BetweenFactorPose2(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise)); %% Add pose constraint import gtsam.* model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(5, 2, Pose2(2.0, 0.0, pi/2), model); +graph.add(BetweenFactorPose2(5, 2, Pose2(2.0, 0.0, pi/2), model)); % print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points import gtsam.* -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2 )); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2 )); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, pi/2)); -initialEstimate.insertPose(4, Pose2(4.0, 2.0, pi )); -initialEstimate.insertPose(5, Pose2(2.1, 2.1,-pi/2)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2 )); +initialEstimate.insert(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,1); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses cla; -X=result.poses(); -plot(X(:,1),X(:,2),'k*-'); hold on -plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-'); -marginals = graph.marginals(result); +hold on +plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-','LineWidth',2); +marginals = Marginals(graph, result); + +plot2DTrajectory(result, [], marginals); -for i=1:result.size() - pose_i = result.pose(i); - P = marginals.marginalCovariance(i) - plotPose2(pose_i,'g',P); -end axis([-0.6 4.8 -1 1]) axis equal view(2) diff --git a/matlab/examples/Pose2SLAMExample_advanced.m b/matlab/examples/Pose2SLAMExample_advanced.m index fc23d67f1..b496c44e7 100644 --- a/matlab/examples/Pose2SLAMExample_advanced.m +++ b/matlab/examples/Pose2SLAMExample_advanced.m @@ -21,22 +21,22 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAM.Graph; +graph = NonlinearFactorGraph; %% Add prior import gtsam.* % gaussian for prior priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin -graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry import gtsam.* % general noisemodel for odometry odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) -graph.addRelativePose(1, 2, odometry, odometryNoise); -graph.addRelativePose(2, 3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Add measurements import gtsam.* @@ -48,23 +48,23 @@ graph.print('full graph'); %% Initialize to noisy points import gtsam.* -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print('initial estimate'); %% set up solver, choose ordering and optimize -%params = NonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15); -% -%ord = graph.orderingCOLAMD(initialEstimate); -% -%result = pose2SLAMOptimizer(graph,initialEstimate,ord,params); -%result.print('final result'); +params = DoglegParams; +params.setAbsoluteErrorTol(1e-15); +params.setRelativeErrorTol(1e-15); +params.setVerbosity('ERROR'); +params.setVerbosityDL('VERBOSE'); +params.setOrdering(graph.orderingCOLAMD(initialEstimate)); +optimizer = DoglegOptimizer(graph, initialEstimate, params); -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,1); +result = optimizer.optimizeSafely(); result.print('final result'); %% Get the corresponding dense matrix @@ -78,3 +78,4 @@ Ab=sparse(IJS(1,:),IJS(2,:),IJS(3,:)); A = Ab(:,1:end-1); b = full(Ab(:,end)); spy(A); +title('Non-zero entries in measurement Jacobian'); diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index 355f1a10e..e16edf9cb 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -16,33 +16,37 @@ p0 = hexagon.pose(0); p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement -fg = pose2SLAM.Graph; -fg.addPoseConstraint(0, p0); +import gtsam.* +fg = NonlinearFactorGraph; +fg.add(NonlinearEqualityPose2(0, p0)); delta = p0.between(p1); -covariance = gtsam.noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -fg.addRelativePose(0,1, delta, covariance); -fg.addRelativePose(1,2, delta, covariance); -fg.addRelativePose(2,3, delta, covariance); -fg.addRelativePose(3,4, delta, covariance); -fg.addRelativePose(4,5, delta, covariance); -fg.addRelativePose(5,0, delta, covariance); +covariance = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); +fg.add(BetweenFactorPose2(0,1, delta, covariance)); +fg.add(BetweenFactorPose2(1,2, delta, covariance)); +fg.add(BetweenFactorPose2(2,3, delta, covariance)); +fg.add(BetweenFactorPose2(3,4, delta, covariance)); +fg.add(BetweenFactorPose2(4,5, delta, covariance)); +fg.add(BetweenFactorPose2(5,0, delta, covariance)); %% Create initial config -initial = pose2SLAM.Values; -initial.insertPose(0, p0); -initial.insertPose(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]')); -initial.insertPose(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]')); -initial.insertPose(3, hexagon.pose(3).retract([-0.1, 0.1,-0.1]')); -initial.insertPose(4, hexagon.pose(4).retract([ 0.1,-0.1, 0.1]')); -initial.insertPose(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]')); +initial = Values; +initial.insert(0, p0); +initial.insert(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]')); +initial.insert(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]')); +initial.insert(3, hexagon.pose(3).retract([-0.1, 0.1,-0.1]')); +initial.insert(4, hexagon.pose(4).retract([ 0.1,-0.1, 0.1]')); +initial.insert(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]')); %% Plot Initial Estimate -figure(1);clf -plot(initial.xs(),initial.ys(),'g-*'); axis equal +cla +plot2DTrajectory(initial, 'g*-'); axis equal %% optimize -result = fg.optimize(initial); +optimizer = DoglegOptimizer(fg, initial); +result = optimizer.optimizeSafely; %% Show Result -hold on; plot(result.xs(),result.ys(),'b-*') +hold on; plot2DTrajectory(result, 'b*-'); +view(2); +axis([-1.5 1.5 -1.5 1.5]); result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index ac6d1e317..2cfe900a0 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -10,33 +10,39 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%% Find data file +datafile = findExampleDataFile('w100-odom.graph'); + %% Initialize graph, initial estimate, and odometry noise import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -[graph,initial]=load2D('../../examples/Data/w100-odom.graph',model); +[graph,initial] = load2D(datafile, model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); -graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(0, priorMean, priorNoise)); % add directly to graph %% Plot Initial Estimate -figure(1);clf -plot(initial.xs(),initial.ys(),'g-*'); axis equal +cla +plot2DTrajectory(initial, 'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initial); -hold on; plot(result.xs(),result.ys(),'b-*') +optimizer = LevenbergMarquardtOptimizer(graph, initial); +result = optimizer.optimizeSafely; +hold on; plot2DTrajectory(result, 'b-*'); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses -marginals = graph.marginals(result); +marginals = Marginals(graph, result); P={}; for i=1:result.size()-1 - pose_i = result.pose(i); + pose_i = result.at(i); P{i}=marginals.marginalCovariance(i); plotPose2(pose_i,'b',P{i}) end +view(2) +axis([-15 10 -15 10]); axis equal; fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file diff --git a/matlab/examples/Pose2SLAMwSPCG.m b/matlab/examples/Pose2SLAMwSPCG.m index 5db736fab..dca31ac94 100644 --- a/matlab/examples/Pose2SLAMwSPCG.m +++ b/matlab/examples/Pose2SLAMwSPCG.m @@ -17,41 +17,42 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAM.Graph; +graph = NonlinearFactorGraph; %% Add prior import gtsam.* % gaussian for prior priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry import gtsam.* % general noisemodel for odometry odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addRelativePose(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.add(BetweenFactorPose2(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise)); +graph.add(BetweenFactorPose2(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise)); +graph.add(BetweenFactorPose2(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise)); %% Add pose constraint import gtsam.* model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(5, 2, Pose2(2.0, 0.0, pi/2), model); +graph.add(BetweenFactorPose2(5, 2, Pose2(2.0, 0.0, pi/2), model)); % print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2 )); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2 )); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, pi/2)); -initialEstimate.insertPose(4, Pose2(4.0, 2.0, pi )); -initialEstimate.insertPose(5, Pose2(2.1, 2.1,-pi/2)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2 )); +initialEstimate.insert(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimizeSPCG(initialEstimate); +optimizer = DoglegOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n')); \ No newline at end of file diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index d4a8baf99..86c5c23c8 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -16,37 +16,38 @@ p0 = hexagon.pose(0); p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement -fg = pose3SLAM.Graph; -fg.addPoseConstraint(0, p0); +import gtsam.* +fg = NonlinearFactorGraph; +fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); -covariance = gtsam.noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -fg.addRelativePose(0,1, delta, covariance); -fg.addRelativePose(1,2, delta, covariance); -fg.addRelativePose(2,3, delta, covariance); -fg.addRelativePose(3,4, delta, covariance); -fg.addRelativePose(4,5, delta, covariance); -fg.addRelativePose(5,0, delta, covariance); +covariance = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +fg.add(BetweenFactorPose3(0,1, delta, covariance)); +fg.add(BetweenFactorPose3(1,2, delta, covariance)); +fg.add(BetweenFactorPose3(2,3, delta, covariance)); +fg.add(BetweenFactorPose3(3,4, delta, covariance)); +fg.add(BetweenFactorPose3(4,5, delta, covariance)); +fg.add(BetweenFactorPose3(5,0, delta, covariance)); %% Create initial config -initial = pose3SLAM.Values; +initial = Values; s = 0.10; -initial.insertPose(0, p0); -initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1))); -initial.insertPose(2, hexagon.pose(2).retract(s*randn(6,1))); -initial.insertPose(3, hexagon.pose(3).retract(s*randn(6,1))); -initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1))); -initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); +initial.insert(0, p0); +initial.insert(1, hexagon.pose(1).retract(s*randn(6,1))); +initial.insert(2, hexagon.pose(2).retract(s*randn(6,1))); +initial.insert(3, hexagon.pose(3).retract(s*randn(6,1))); +initial.insert(4, hexagon.pose(4).retract(s*randn(6,1))); +initial.insert(5, hexagon.pose(5).retract(s*randn(6,1))); %% Plot Initial Estimate cla -T=initial.translations(); -plot3(T(:,1),T(:,2),T(:,3),'g-*'); +plot3DTrajectory(initial, 'g-*'); %% optimize -result = fg.optimize(initial,1); +optimizer = DoglegOptimizer(fg, initial); +result = optimizer.optimizeSafely(); %% Show Result -hold on; plot3DTrajectory(result,'b-*', true, 0.3); +hold on; plot3DTrajectory(result, 'b-*', true, 0.3); axis([-2 2 -2 2 -1 1]); axis equal view(-37,40) diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m index cace357ae..b6a5444a2 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/examples/Pose3SLAMExample_graph.m @@ -10,23 +10,31 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%% Find data file N = 2500; -% filename = '../../examples/Data/sphere_smallnoise.graph'; -% filename = '../../examples/Data/sphere2500_groundtruth.txt'; -filename = '../../examples/Data/sphere2500.txt'; +% dataset = 'sphere_smallnoise.graph'; +% dataset = 'sphere2500_groundtruth.txt'; +dataset = 'sphere2500.txt'; + +datafile = findExampleDataFile(dataset); %% Initialize graph, initial estimate, and odometry noise -model = gtsam.noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -[graph,initial]=load3D(filename,model,true,N); +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); +[graph,initial]=load3D(datafile,model,true,N); %% Plot Initial Estimate -figure(1);clf -first = initial.pose(0); +cla +first = initial.at(0); plot3(first.x(),first.y(),first.z(),'r*'); hold on plot3DTrajectory(initial,'g-',false); %% Read again, now with all constraints, and optimize -graph = load3D(filename,model,false,N); -graph.addPoseConstraint(0, first); -result = graph.optimize(initial); -plot3DTrajectory(result,'r-',false); axis equal; +import gtsam.* +graph = load3D(datafile, model, false, N); +graph.add(NonlinearEqualityPose3(0, first)); +optimizer = DoglegOptimizer(graph, initial); +result = optimizer.optimizeSafely(); +plot3DTrajectory(result, 'r-', false); axis equal; + +view(0); axis equal; \ No newline at end of file diff --git a/matlab/examples/gtsamExamples.fig b/matlab/examples/gtsamExamples.fig index be72daf9c4674e0533e2c13c720f7edb58c385cf..d0037027882c4ee90461dea6d8bd52368f58de0a 100644 GIT binary patch literal 10455 zcma*NcQ71o^e(PT5TXmBw~*+)Z4e}S3Bt0X1<||JmWbYaCwfHhy+rSX=-pzmi>$s_ zdq3ZMf4`ag=Y8g#_q>0ddFPyYX3lfY(Ny@Tp`gej#xKaCsqpd57kfvW*DN}Y7M@>R z+?}LZbd-!fXo-uyW>IptvGBC9W^r+rX3=zUW>NEUWDyo&5fYIW5|$Q{Vi6V;5@z{- zga$X({{i*~O|t)9gIrixzPX4`Q`(FYR1y>6T(3B0K`nCc{3~!M6mv`|#C{2X4+y5h zAxfM#9F&3Qd1VQ#h=^YPwepxqQm=e`dQu8w^tUTz@_YN0PuYOlKsU?}Q6FUGZ#(=N zfl&Mr=WFSEA$x&WgeqNZ3-X1LchqGu&m>}OMxY*_p2B)l7A$V8E2DFKFlYpW?1jd#zGR7oXxVdNbn zEyV7RRwd0O9F_HF8B=UDzF z^L5**gRG7{p=;lIU+LtGRM`{mq}zSs2nry!?U+JwKdWD2aZFPo0yo9tpHE)8RCGeC#JD#&6u6FBphCcDx%zUPlu}asGbW*uI7M8R(phyV2kR69n zI(EjrXkqX7U7eAYmaHA%DOiebxfm*NLoj|Ei+T%T-%qLFL{KbW@{iOcPeVuzWM7|~nxg=?4 zDyl^<5m!8H0IhNZRORjpTz%MqxZ`-?s@*7DA=p!EZ9mTheu_9AgU2e`J1jC_dmL*G z)*Icp?(M4N$^Hf%Qt$)McpOv&8N{5cN7@G3-6C{nzfzy`?LVkJkyIe>b)T+{edyy> zK1So?GS{6|*G%#oUX_qZY}t4UYL5;-^XiUnI`jgzl+^H=)f1fDj4*$Xm2c@;1>fyY z&kIf1KW%paO7sL8Jxl>3vTOzN18DZ$2-b#c*7~l)rJP$)KVlbU=^k2C@1P@A<3Z-8 zH;XjRTgF5oLhgH(OmhAFPGwC(J6pDQaP!*ovq4Tt_6-iW6H2t7^a>c_C-MAs_Mft% zw%9g2k0~GH_y@~1t}Z42ZW=FrP!)OVV5+lLZ6(XCzaS$|ZHQ(H(kYrZ-l6G61e zp}Bn@g)h;=cG`VjSPGQ)4kwrx!A%X47_$ek9<{2|U3jy{@BQs(iB-}L@ajv+R8e3N z{JiQ)@dT%}Pj=E*ZMR1BhdKCd@3_zicskklyE;R3HUMc;g+iJ7e zCc54Z7~qpVh3`srFa7}zw|$-nM2sihLXZ=W_eaX?+T4Ms)cWmw%*X5ScG;U>m&QIL zX--iNTIl!%D^F&L$QV5#vhc|ib~?<8tMsF90&)jEG7vh#x5P&L?Y%sVV~|8OuUJ~^ zA@c5s%B0>!sSeIt$;FIFuT|$M5U3kEv&zCJ9RN{}18N1PYc>nI4IsYF-ut}#Ef~`M zyO)YyqL~Gy54@$1u76=(DKAVL_yDEq1q6)6w3E-x?@^sWJ?d%`P$^4#ynI^KU?Wuwsf&922{{K znlzy8dQW1vz9X6Ha);VWsq40s{1; 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@@ -104,6 +104,20 @@ echo on Pose2SLAMExample echo off +% --- Executes on button press in Pose2SLAMCircle. +function Pose2SLAMCircle_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose2SLAMExample_circle +echo off + +% --- Executes on button press in Pose2SLAMManhattan. +function Pose2SLAMManhattan_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose2SLAMExample_graph +echo off + % --- Executes on button press in Pose3SLAM. function Pose3SLAM_Callback(hObject, eventdata, handles) axes(handles.axes3); @@ -111,6 +125,13 @@ echo on Pose3SLAMExample echo off +% --- Executes on button press in Pose3SLAMSphere. +function Pose3SLAMSphere_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +Pose3SLAMExample_graph +echo off + % --- Executes on button press in PlanarSLAM. function PlanarSLAM_Callback(hObject, eventdata, handles) axes(handles.axes3); @@ -118,6 +139,13 @@ echo on PlanarSLAMExample echo off +% --- Executes on button press in PlanarSLAMSampling. +function PlanarSLAMSampling_Callback(hObject, eventdata, handles) +axes(handles.axes3); +echo on +PlanarSLAMExample_sampling +echo off + % --- Executes on button press in SFM. function SFM_Callback(hObject, eventdata, handles) axes(handles.axes3); @@ -138,7 +166,3 @@ axes(handles.axes3); echo on StereoVOExample echo off - -% --- Executes on button press in Future. -function Future_Callback(hObject, eventdata, handles) -fprintf(1,'Future demo not implemented yet :-)\n'); From ec07bf400bd717db12af7be97a94eb6ac75b3d02 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:21:08 +0000 Subject: [PATCH 678/914] In wrap tests, read file in text mode to translate line endings --- wrap/utilities.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 6eb47c55d..9c5d93c76 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -29,7 +29,7 @@ using namespace std; /* ************************************************************************* */ string file_contents(const string& filename, bool skipheader) { - ifstream ifs(filename.c_str(), ios::binary); // Do not do LF/CRLF translation - we always write in binary mode too + ifstream ifs(filename.c_str()); if(!ifs) throw CantOpenFile(filename); // read file into stringstream From c32d1c7e027f4b6dc7505fd6fe3de26a49e09481 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:29:52 +0000 Subject: [PATCH 679/914] Fixed dimensions bug in Marginals and added unit test --- gtsam/inference/GenericSequentialSolver-inl.h | 2 +- gtsam/nonlinear/Marginals.cpp | 13 +++-- tests/testMarginals.cpp | 55 +++++++++++++++++++ 3 files changed, 64 insertions(+), 6 deletions(-) diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h index 53dee3dcd..368aae831 100644 --- a/gtsam/inference/GenericSequentialSolver-inl.h +++ b/gtsam/inference/GenericSequentialSolver-inl.h @@ -88,7 +88,7 @@ namespace gtsam { GenericSequentialSolver::jointFactorGraph( const std::vector& js, Eliminate function) const { - // Compute a COLAMD permutation with the marginal variable constrained to the end. + // Compute a COLAMD permutation with the marginal variables constrained to the end. Permutation::shared_ptr permutation(inference::PermutationCOLAMD(*structure_, js)); Permutation::shared_ptr permutationInverse(permutation->inverse()); diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index f7f1aa00f..52c507374 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -110,11 +110,11 @@ JointMarginal Marginals::jointMarginalInformation(const std::vector& variab return JointMarginal(info, dims, indices); } else { - // Convert keys to linear indices + // Obtain requested variables as ordered indices vector indices(variables.size()); for(size_t i=0; i& variab jointFG = *GaussianSequentialSolver(graph_, true).jointFactorGraph(indices); } - // Conversion from variable keys to position in factor graph variables, + // Build map from variable keys to position in factor graph variables, // which are sorted in index order. Ordering variableConversion; { + // First build map from index to key FastMap usedIndices; for(size_t i=0; i Index_Key; BOOST_FOREACH(const Index_Key& index_key, usedIndices) { @@ -145,8 +147,9 @@ JointMarginal Marginals::jointMarginalInformation(const std::vector& variab // Get dimensions from factor graph std::vector dims(indices.size(), 0); - for(size_t i = 0; i < variables.size(); ++i) - dims[i] = values_.at(variables[i]).dim(); + BOOST_FOREACH(Key key, variables) { + dims[variableConversion[key]] = values_.at(key).dim(); + } // Get information matrix Matrix augmentedInfo = jointFG.denseHessian(); diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp index da7157a1e..c9bd43b27 100644 --- a/tests/testMarginals.cpp +++ b/tests/testMarginals.cpp @@ -180,7 +180,62 @@ TEST(Marginals, planarSLAMmarginals) { EXPECT(assert_equal(expectedx1, Matrix(joint_l2x1(x1,x1)), 1e-6)); } +/* ************************************************************************* */ +TEST(Marginals, order) { + NonlinearFactorGraph fg; + fg.add(PriorFactor(0, Pose2(), noiseModel::Unit::Create(3))); + fg.add(BetweenFactor(0, 1, Pose2(1,0,0), noiseModel::Unit::Create(3))); + fg.add(BetweenFactor(1, 2, Pose2(1,0,0), noiseModel::Unit::Create(3))); + fg.add(BetweenFactor(2, 3, Pose2(1,0,0), noiseModel::Unit::Create(3))); + Values vals; + vals.insert(0, Pose2()); + vals.insert(1, Pose2(1,0,0)); + vals.insert(2, Pose2(2,0,0)); + vals.insert(3, Pose2(3,0,0)); + + vals.insert(100, Point2(0,1)); + vals.insert(101, Point2(1,1)); + + fg.add(BearingRangeFactor(0, 100, + vals.at(0).bearing(vals.at(100)), + vals.at(0).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(0, 101, + vals.at(0).bearing(vals.at(101)), + vals.at(0).range(vals.at(101)), noiseModel::Unit::Create(2))); + + fg.add(BearingRangeFactor(1, 100, + vals.at(1).bearing(vals.at(100)), + vals.at(1).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(1, 101, + vals.at(1).bearing(vals.at(101)), + vals.at(1).range(vals.at(101)), noiseModel::Unit::Create(2))); + + fg.add(BearingRangeFactor(2, 100, + vals.at(2).bearing(vals.at(100)), + vals.at(2).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(2, 101, + vals.at(2).bearing(vals.at(101)), + vals.at(2).range(vals.at(101)), noiseModel::Unit::Create(2))); + + fg.add(BearingRangeFactor(3, 100, + vals.at(3).bearing(vals.at(100)), + vals.at(3).range(vals.at(100)), noiseModel::Unit::Create(2))); + fg.add(BearingRangeFactor(3, 101, + vals.at(3).bearing(vals.at(101)), + vals.at(3).range(vals.at(101)), noiseModel::Unit::Create(2))); + + Marginals marginals(fg, vals); + FastVector keys(fg.keys()); + JointMarginal joint = marginals.jointMarginalCovariance(keys); + + LONGS_EQUAL(3, joint(0,0).rows()); + LONGS_EQUAL(3, joint(1,1).rows()); + LONGS_EQUAL(3, joint(2,2).rows()); + LONGS_EQUAL(3, joint(3,3).rows()); + LONGS_EQUAL(2, joint(100,100).rows()); + LONGS_EQUAL(2, joint(101,101).rows()); +} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} From 065b7ee1e6dff19eaf2a6be2cc7e8a6d42f9913c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 19:29:57 +0000 Subject: [PATCH 680/914] In wrap tests, read file in text mode to translate line endings --- wrap/utilities.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index 52ed3c750..973778d71 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -30,7 +30,7 @@ using namespace std; /* ************************************************************************* */ string file_contents(const string& filename, bool skipheader) { - ifstream ifs(filename.c_str(), ios::binary); // Do not do LF/CRLF translation - we always write in binary mode too + ifstream ifs(filename.c_str()); if(!ifs) throw CantOpenFile(filename); // read file into stringstream From 87d1e0a488603d8b1d87965fd63991c8222f5afc Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 21:27:36 +0000 Subject: [PATCH 681/914] Added 'This' keyword in wrap templates to substitute instantiated class --- gtsam.h | 3 +++ wrap/Class.cpp | 32 ++++++++++++++++++--------- wrap/Class.h | 2 +- wrap/TemplateInstantiationTypedef.cpp | 2 +- 4 files changed, 26 insertions(+), 13 deletions(-) diff --git a/gtsam.h b/gtsam.h index b13bcb092..4e1437f06 100644 --- a/gtsam.h +++ b/gtsam.h @@ -66,6 +66,9 @@ * 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. diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 00fdba011..c1fac2c0b 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -217,7 +217,7 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra } /* ************************************************************************* */ -vector expandArgumentListsTemplate(const vector& argLists, const string& templateArg, const vector& instName) { +vector expandArgumentListsTemplate(const vector& argLists, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { vector result; BOOST_FOREACH(const ArgumentList& argList, argLists) { ArgumentList instArgList; @@ -226,6 +226,9 @@ vector expandArgumentListsTemplate(const vector& arg if(arg.type == templateArg) { instArg.namespaces.assign(instName.begin(), instName.end()-1); instArg.type = instName.back(); + } else if(arg.type == "This") { + instArg.namespaces.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); + instArg.type = expandedClassName; } instArgList.push_back(instArg); } @@ -236,23 +239,29 @@ vector expandArgumentListsTemplate(const vector& arg /* ************************************************************************* */ template -map expandMethodTemplate(const map& methods, const string& templateArg, const vector& instName) { +map expandMethodTemplate(const map& methods, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { map result; typedef pair Name_Method; BOOST_FOREACH(const Name_Method& name_method, methods) { const METHOD& method = name_method.second; METHOD instMethod = method; - instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName); + instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName, expandedClassNamespace, expandedClassName); instMethod.returnVals.clear(); BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) { ReturnValue instRetVal = retVal; if(retVal.type1 == templateArg) { instRetVal.namespaces1.assign(instName.begin(), instName.end()-1); instRetVal.type1 = instName.back(); + } else if(retVal.type1 == "This") { + instRetVal.namespaces1.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); + instRetVal.type1 = expandedClassName; } if(retVal.type2 == templateArg) { instRetVal.namespaces2.assign(instName.begin(), instName.end()-1); instRetVal.type2 = instName.back(); + } else if(retVal.type1 == "This") { + instRetVal.namespaces2.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); + instRetVal.type2 = expandedClassName; } instMethod.returnVals.push_back(instRetVal); } @@ -262,18 +271,18 @@ map expandMethodTemplate(const map& methods, con } /* ************************************************************************* */ -Class expandClassTemplate(const Class& cls, const string& templateArg, const vector& instName) { +Class expandClassTemplate(const Class& cls, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { Class inst; inst.name = cls.name; inst.templateArgs = cls.templateArgs; inst.typedefName = cls.typedefName; inst.isVirtual = cls.isVirtual; inst.qualifiedParent = cls.qualifiedParent; - inst.methods = expandMethodTemplate(cls.methods, templateArg, instName); - inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName); + inst.methods = expandMethodTemplate(cls.methods, templateArg, instName, expandedClassNamespace, expandedClassName); + inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName, expandedClassNamespace, expandedClassName); inst.namespaces = cls.namespaces; inst.constructor = cls.constructor; - inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName); + inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName, expandedClassNamespace, expandedClassName); inst.constructor.name = inst.name; inst.deconstructor = cls.deconstructor; inst.deconstructor.name = inst.name; @@ -285,8 +294,9 @@ Class expandClassTemplate(const Class& cls, const string& templateArg, const vec vector Class::expandTemplate(const string& templateArg, const vector >& instantiations) const { vector result; BOOST_FOREACH(const vector& instName, instantiations) { - Class inst = expandClassTemplate(*this, templateArg, instName); - inst.name = name + instName.back(); + const string expandedName = name + instName.back(); + Class inst = expandClassTemplate(*this, templateArg, instName, this->namespaces, expandedName); + inst.name = expandedName; inst.templateArgs.clear(); inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">"; result.push_back(inst); @@ -295,8 +305,8 @@ vector Class::expandTemplate(const string& templateArg, const vector& instantiation) const { - return expandClassTemplate(*this, templateArg, instantiation); +Class Class::expandTemplate(const string& templateArg, const vector& instantiation, const std::vector& expandedClassNamespace, const string& expandedClassName) const { + return expandClassTemplate(*this, templateArg, instantiation, expandedClassNamespace, expandedClassName); } /* ************************************************************************* */ diff --git a/wrap/Class.h b/wrap/Class.h index 2d10d691a..6b60f8219 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -57,7 +57,7 @@ struct Class { std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter std::vector expandTemplate(const std::string& templateArg, const std::vector >& instantiations) const; - Class expandTemplate(const std::string& templateArg, const std::vector& instantiation) const; + Class expandTemplate(const std::string& templateArg, const std::vector& instantiation, const std::vector& expandedClassNamespace, const std::string& expandedClassName) const; // The typedef line for this class, if this class is a typedef, otherwise returns an empty string. std::string getTypedef() const; diff --git a/wrap/TemplateInstantiationTypedef.cpp b/wrap/TemplateInstantiationTypedef.cpp index da1e8f616..b822f732b 100644 --- a/wrap/TemplateInstantiationTypedef.cpp +++ b/wrap/TemplateInstantiationTypedef.cpp @@ -42,7 +42,7 @@ namespace wrap { // Instantiate it Class classInst = *clsIt; for(size_t i = 0; i < typeList.size(); ++i) - classInst = classInst.expandTemplate(classInst.templateArgs[i], typeList[i]); + classInst = classInst.expandTemplate(classInst.templateArgs[i], typeList[i], namespaces, name); // Fix class properties classInst.name = name; From 0b08923c41a3f4fe1cae7f58e1df915c3fed05f3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 21:27:38 +0000 Subject: [PATCH 682/914] Generated code formatting fix --- wrap/StaticMethod.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 3def66b0f..61b54434c 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -131,8 +131,6 @@ string StaticMethod::wrapper_fragment(FileWriter& file, // unwrap arguments, see Argument.cpp args.matlab_unwrap(file,0); // We start at 0 because there is no self object - file.oss << " "; - // call method with default type and wrap result if (returnVal.type1!="void") returnVal.wrap_result(cppClassName+"::"+name+"("+args.names()+")", file, typeAttributes); From bcad0b661cbb676b85ab421787b1f1a51561e196 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 21:27:40 +0000 Subject: [PATCH 683/914] Added workaround for MSVC limitation on number of consecutive loops --- wrap/Module.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 8c564e92f..229a9810f 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -558,13 +558,15 @@ void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::st const string cppName = cls.qualifiedName("::"); const string collectorType = "Collector_" + matlabUniqueName; const string collectorName = "collector_" + matlabUniqueName; + // The extra curly-braces around the for loops work around a limitation in MSVC (existing + // since 2005!) preventing more than 248 blocks. wrapperFile.oss << - " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" + " { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" " iter != " << collectorName << ".end(); ) {\n" " delete *iter;\n" " " << collectorName << ".erase(iter++);\n" " anyDeleted = true;\n" - " }\n"; + " } }\n"; } wrapperFile.oss << " if(anyDeleted)\n" From cd69779754ee0bacc339ddb122be7ef11d7af296 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 21:27:42 +0000 Subject: [PATCH 684/914] Wrapped GeneralSFMFactor and added placeholders for Cal3DS2 once it has a 'calibrate' function --- gtsam.h | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 57 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 4e1437f06..af2dc3a3b 100644 --- a/gtsam.h +++ b/gtsam.h @@ -593,6 +593,43 @@ virtual class SimpleCamera : gtsam::Value { double range(const gtsam::Pose3& point); // FIXME, overload }; +// TODO: Add this back in when Cal3DS2 has a calibrate function +//template +//virtual class PinholeCamera : gtsam::Value { +// // Standard Constructors and Named Constructors +// PinholeCamera(); +// PinholeCamera(const gtsam::Pose3& pose); +// PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K); +// static This Level(const gtsam::Cal3DS2& K, +// const gtsam::Pose2& pose, double height); +// static This Level(const gtsam::Pose2& pose, double height); // FIXME overload +// static This Lookat(const gtsam::Point3& eye, +// const gtsam::Point3& target, const gtsam::Point3& upVector, +// const gtsam::Cal3DS2& 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(const 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_to_camera(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& point); // FIXME, overload +//}; + //************************************************************************* // inference //************************************************************************* @@ -1388,7 +1425,26 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor { CALIBRATION* calibration() const; }; typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; -typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; +// FIXME: Add Cal3DS2 when it has a 'calibrate' function +//typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; + + +#include +template +virtual class GeneralSFMFactor : gtsam::NonlinearFactor { + 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; +// FIXME: Add Cal3DS2 when it has a 'calibrate' function +//typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; + +// FIXME: Add Cal3DS2 when it has a 'calibrate' function +template +virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor { + GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey); + gtsam::Point2 measured() const; +}; } //\namespace gtsam From 1db1663800943cc44e4069e89f8cf1bafcfd7f47 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 21:27:44 +0000 Subject: [PATCH 685/914] Updated MATLAB SBAExample --- matlab/examples/SBAExample.m | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/matlab/examples/SBAExample.m b/matlab/examples/SBAExample.m index a0f003eeb..9d5d22047 100644 --- a/matlab/examples/SBAExample.m +++ b/matlab/examples/SBAExample.m @@ -30,7 +30,8 @@ cameraNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1 ... 0.001*ones(1,5)]'; %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -graph = sparseBA.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% Add factors for all measurements @@ -39,7 +40,7 @@ measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; - graph.addSimpleCameraMeasurement(data.Z{i}{k}, measurementNoise, symbol('c',i), symbol('p',j)); + graph.add(GeneralSFMFactorCal3_S2(data.Z{i}{k}, measurementNoise, symbol('c',i), symbol('p',j))); end end @@ -47,10 +48,10 @@ end import gtsam.* cameraPriorNoise = noiseModel.Diagonal.Sigmas(cameraNoiseSigmas); firstCamera = SimpleCamera(truth.cameras{1}.pose, truth.K); -graph.addSimpleCameraPrior(symbol('c',1), firstCamera, cameraPriorNoise); +graph.add(PriorFactorSimpleCamera(symbol('c',1), firstCamera, cameraPriorNoise)); pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); -graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); +graph.add(PriorFactorPoint3(symbol('p',1), truth.points{1}, pointPriorNoise)); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); @@ -58,15 +59,15 @@ graph.print(sprintf('\nFactor graph:\n')); %% Initialize cameras and points close to ground truth in this example import gtsam.* -initialEstimate = sparseBA.Values; +initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); camera_i = SimpleCamera(pose_i, truth.K); - initialEstimate.insertSimpleCamera(symbol('c',i), camera_i); + initialEstimate.insert(symbol('c',i), camera_i); end for j=1:size(truth.points,2) point_j = truth.points{j}.retract(0.1*randn(3,1)); - initialEstimate.insertPoint(symbol('p',j), point_j); + initialEstimate.insert(symbol('p',j), point_j); end initialEstimate.print(sprintf('\nInitial estimate:\n ')); @@ -77,7 +78,7 @@ parameters = LevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); -optimizer = graph.optimizer(initialEstimate, parameters); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate, parameters); for i=1:5 optimizer.iterate(); From a99595dda8608027319c7c82c4fb3014d077304d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 22:15:05 +0000 Subject: [PATCH 686/914] Updated some MATLAB utility plotting functions --- matlab/examples/PlanarSLAMExample.m | 2 +- matlab/examples/PlanarSLAMExample_sampling.m | 2 +- matlab/examples/Pose3SLAMExample_graph.m | 5 +++-- matlab/load3D.m | 16 +++++++++------- matlab/plot2DPoints.m | 9 ++++++--- matlab/plotPoint2.m | 7 +++---- 6 files changed, 23 insertions(+), 18 deletions(-) diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m index f82b3aea4..9b4600578 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/examples/PlanarSLAMExample.m @@ -73,7 +73,7 @@ cla;hold on marginals = Marginals(graph, result); plot2DTrajectory(result, [], marginals); -plot2DPoints(result, marginals); +plot2DPoints(result, [], marginals); plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-'); plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-'); diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/examples/PlanarSLAMExample_sampling.m index 35d3232a1..58686c362 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/examples/PlanarSLAMExample_sampling.m @@ -51,7 +51,7 @@ cla;hold on marginals = Marginals(graph, sample); plot2DTrajectory(sample, [], marginals); -plot2DPoints(sample, marginals); +plot2DPoints(sample, [], marginals); for j=1:2 key = symbol('l',j); diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/examples/Pose3SLAMExample_graph.m index b6a5444a2..6efb58199 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/examples/Pose3SLAMExample_graph.m @@ -28,13 +28,14 @@ cla first = initial.at(0); plot3(first.x(),first.y(),first.z(),'r*'); hold on plot3DTrajectory(initial,'g-',false); +drawnow; %% Read again, now with all constraints, and optimize import gtsam.* graph = load3D(datafile, model, false, N); graph.add(NonlinearEqualityPose3(0, first)); -optimizer = DoglegOptimizer(graph, initial); +optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely(); plot3DTrajectory(result, 'r-', false); axis equal; -view(0); axis equal; \ No newline at end of file +view(3); axis equal; \ No newline at end of file diff --git a/matlab/load3D.m b/matlab/load3D.m index 5c9d08146..c0ccd545f 100644 --- a/matlab/load3D.m +++ b/matlab/load3D.m @@ -3,6 +3,8 @@ function [graph,initial] = load3D(filename,model,successive,N) % cannot read noise model from file yet, uses specified model % if [successive] is tru, constructs initial estimate from odometry +import gtsam.* + if nargin<3, successive=false; end fid = fopen(filename); if fid < 0 @@ -15,10 +17,10 @@ fclose(fid); lines=columns{1}; % loop over lines and add vertices -graph = pose3SLAM.Graph; -initial = pose3SLAM.Values; +graph = NonlinearFactorGraph; +initial = Values; origin=gtsam.Pose3; -initial.insertPose(0,origin); +initial.insert(0,origin); n=size(lines,1); if nargin<4, N=n;end @@ -30,7 +32,7 @@ for i=1:n if (~successive && i1i1 - initial.insertPose(i2,initial.pose(i1).compose(dpose)); + initial.insert(i2,initial.at(i1).compose(dpose)); else - initial.insertPose(i1,initial.pose(i2).compose(dpose.inverse)); + initial.insert(i1,initial.at(i2).compose(dpose.inverse)); end end end diff --git a/matlab/plot2DPoints.m b/matlab/plot2DPoints.m index 0065b55c4..d03676699 100644 --- a/matlab/plot2DPoints.m +++ b/matlab/plot2DPoints.m @@ -1,4 +1,4 @@ -function plot2DPoints(values, marginals) +function plot2DPoints(values, linespec, marginals) %PLOT2DPOINTS Plots the Point2's in a values, with optional covariances % Finds all the Point2 objects in the given Values object and plots them. % If a Marginals object is given, this function will also plot marginal @@ -6,6 +6,9 @@ function plot2DPoints(values, marginals) import gtsam.* +if ~exist('linespec', 'var') || isempty(linespec) + linespec = 'g'; +end haveMarginals = exist('marginals', 'var'); keys = KeyVector(values.keys); @@ -19,9 +22,9 @@ for i = 0:keys.size-1 if isa(p, 'gtsam.Point2') if haveMarginals P = marginals.marginalCovariance(key); - plotPoint2(p, 'g', P); + plotPoint2(p, linespec, P); else - plotPoint2(p, 'g'); + plotPoint2(p, linespec); end end end diff --git a/matlab/plotPoint2.m b/matlab/plotPoint2.m index ae45455f6..fcc274d90 100644 --- a/matlab/plotPoint2.m +++ b/matlab/plotPoint2.m @@ -1,11 +1,10 @@ function plotPoint2(p,color,P) -% plotPose2: show a Pose2, possibly with covariance matrix +% plotPoint2: show a Point2, possibly with covariance matrix if size(color,2)==1 plot(p.x,p.y,[color '*']); else plot(p.x,p.y,color); end -if nargin>2 - pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame - covarianceEllipse([p.x;p.y],pPp,color(1)); +if exist('P', 'var') + covarianceEllipse([p.x;p.y],P,color(1)); end \ No newline at end of file From da598b428d10fe905f1d5cafb6ba0651dba25768 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 23 Jul 2012 22:15:08 +0000 Subject: [PATCH 687/914] Updated matlab SFMExample --- matlab/examples/SFMExample.m | 35 +++++++++++++++-------------------- 1 file changed, 15 insertions(+), 20 deletions(-) diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 7c4baa75b..1416fb7e3 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -29,7 +29,8 @@ pointNoiseSigma = 0.1; poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -graph = visualSLAM.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% Add factors for all measurements import gtsam.* @@ -37,29 +38,30 @@ measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; - graph.addMeasurement(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('p',j), data.K); + graph.add(GenericProjectionFactorCal3_S2(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('p',j), data.K)); end end %% Add Gaussian priors for a pose and a landmark to constrain the system import gtsam.* posePriorNoise = noiseModel.Diagonal.Sigmas(poseNoiseSigmas); -graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); +graph.add(PriorFactorPose3(symbol('x',1), truth.cameras{1}.pose, posePriorNoise)); pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); -graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); +graph.add(PriorFactorPoint3(symbol('p',1), truth.points{1}, pointPriorNoise)); %% Print the graph graph.print(sprintf('\nFactor graph:\n')); %% Initialize cameras and points close to ground truth in this example -initialEstimate = visualSLAM.Values; +import gtsam.* +initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); - initialEstimate.insertPose(symbol('x',i), pose_i); + initialEstimate.insert(symbol('x',i), pose_i); end for j=1:size(truth.points,2) point_j = truth.points{j}.retract(0.1*randn(3,1)); - initialEstimate.insertPoint(symbol('p',j), point_j); + initialEstimate.insert(symbol('p',j), point_j); end initialEstimate.print(sprintf('\nInitial estimate:\n ')); @@ -70,7 +72,7 @@ parameters = LevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); -optimizer = graph.optimizer(initialEstimate, parameters); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate, parameters); for i=1:5 optimizer.iterate(); @@ -79,21 +81,14 @@ result = optimizer.values(); result.print(sprintf('\nFinal result:\n ')); %% Plot results with covariance ellipses -marginals = graph.marginals(result); +import gtsam.* +marginals = Marginals(graph, result); cla hold on; -for j=1:result.nrPoints - P = marginals.marginalCovariance(symbol('p',j)); - point_j = result.point(symbol('p',j)); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); -end -for i=1:result.nrPoses - P = marginals.marginalCovariance(symbol('x',i)); - pose_i = result.pose(symbol('x',i)); - plotPose3(pose_i,P,10); -end +plot3DPoints(result, [], marginals); +plot3DTrajectory(result, '*', 1, 8, marginals); + axis([-40 40 -40 40 -10 20]);axis equal view(3) colormap('hot') From f56d9c18e5442d3fbe0b4b0d6679fdec284fe986 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:41:53 +0000 Subject: [PATCH 688/914] Removed SLAM namespace from testDoglegOptimizer --- tests/testDoglegOptimizer.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index 9a4f6bf25..3c5409af7 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -15,14 +15,13 @@ * @author Richard Roberts */ -#include #include #include #include #include #include #include -#include +#include #include #include From 0863b4148dc1b6779859a4783f56a2527a69e521 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:42:42 +0000 Subject: [PATCH 689/914] Removed SLAM namespace from testGaussianISAM2 --- tests/testGaussianISAM2.cpp | 106 +++++++++++++++++++----------------- 1 file changed, 56 insertions(+), 50 deletions(-) diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 2c932680d..67fa287d3 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -6,15 +6,21 @@ #include #include +#include +#include #include -#include #include #include #include #include +#include +#include +#include #include +#include +#include +#include #include -#include #include @@ -39,21 +45,21 @@ SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas(Vector_(2, M_PI/100.0, 0.1 ISAM2 createSlamlikeISAM2( boost::optional init_values = boost::none, - boost::optional full_graph = boost::none, + boost::optional full_graph = boost::none, const ISAM2Params& params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true)) { // These variables will be reused and accumulate factors and values ISAM2 isam(params); Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; // i keeps track of the time step size_t i = 0; // Add a prior at time 0 and update isam { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + NonlinearFactorGraph newfactors; + newfactors.add(PriorFactor(0, Pose2(0.0, 0.0, 0.0), odoNoise)); fullgraph.push_back(newfactors); Values init; @@ -65,8 +71,8 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 0 to time 5 for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); fullgraph.push_back(newfactors); Values init; @@ -78,10 +84,10 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 5 to 6 and landmark measurement at time 5 { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); + newfactors.add(BearingRangeFactor(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise)); + newfactors.add(BearingRangeFactor(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise)); fullgraph.push_back(newfactors); Values init; @@ -98,8 +104,8 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 6 to time 10 for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); fullgraph.push_back(newfactors); Values init; @@ -111,10 +117,10 @@ ISAM2 createSlamlikeISAM2( // Add odometry from time 10 to 11 and landmark measurement at time 10 { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); + newfactors.add(BearingRangeFactor(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); + newfactors.add(BearingRangeFactor(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); fullgraph.push_back(newfactors); Values init; @@ -298,8 +304,8 @@ TEST_UNSAFE(ISAM2, ImplRemoveVariables) { // typedef GaussianISAM2::Impl Impl; // // Ordering ordering; ordering += (0), (0), (1); -// planarSLAM::Graph graph; -// graph.addPosePrior((0), Pose2(), noiseModel::Unit::Create(Pose2::dimension)); +// NonlinearFactorGraph graph; +// graph.add(PriorFactor((0), Pose2(), noiseModel::Unit::Create(Pose2::dimension)); // graph.addRange((0), (0), 1.0, noiseModel::Unit::Create(1)); // // FastSet expected; @@ -378,7 +384,7 @@ TEST(ISAM2, optimize2) { } /* ************************************************************************* */ -bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, const ISAM2& isam, Test& test, TestResult& result) { +bool isam_check(const NonlinearFactorGraph& fullgraph, const Values& fullinit, const ISAM2& isam, Test& test, TestResult& result) { TestResult& result_ = result; const std::string name_ = test.getName(); @@ -439,7 +445,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton) { // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); // Compare solutions @@ -451,7 +457,7 @@ TEST(ISAM2, slamlike_solution_dogleg) { // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false)); // Compare solutions @@ -463,7 +469,7 @@ TEST(ISAM2, slamlike_solution_gaussnewton_qr) { // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, false, ISAM2Params::QR)); // Compare solutions @@ -475,7 +481,7 @@ TEST(ISAM2, slamlike_solution_dogleg_qr) { // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2DoglegParams(1.0), 0.0, 0, false, false, ISAM2Params::QR)); // Compare solutions @@ -584,13 +590,13 @@ TEST(ISAM2, removeFactors) // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); // Remove the 2nd measurement on landmark 0 (Key 100) FastVector toRemove; toRemove.push_back(12); - isam.update(planarSLAM::Graph(), Values(), toRemove); + isam.update(NonlinearFactorGraph(), Values(), toRemove); // Remove the factor from the full system fullgraph.remove(12); @@ -604,14 +610,14 @@ TEST_UNSAFE(ISAM2, removeVariables) { // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); // Remove the measurement on landmark 0 (Key 100) FastVector toRemove; toRemove.push_back(7); toRemove.push_back(14); - isam.update(planarSLAM::Graph(), Values(), toRemove); + isam.update(NonlinearFactorGraph(), Values(), toRemove); // Remove the factors and variable from the full system fullgraph.remove(7); @@ -629,7 +635,7 @@ TEST_UNSAFE(ISAM2, swapFactors) // then swaps the 2nd-to-last landmark measurement with a different one Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph); // Remove the measurement on landmark 0 and replace with a different one @@ -639,15 +645,15 @@ TEST_UNSAFE(ISAM2, swapFactors) toRemove.push_back(swap_idx); fullgraph.remove(swap_idx); - planarSLAM::Graph swapfactors; -// swapfactors.addBearingRange(10, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); // original factor - swapfactors.addBearingRange(10, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 5.0, brNoise); + NonlinearFactorGraph swapfactors; +// swapfactors.add(BearingRange(10, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); // original factor + swapfactors.add(BearingRangeFactor(10, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 5.0, brNoise)); fullgraph.push_back(swapfactors); isam.update(swapfactors, Values(), toRemove); } // Compare solutions - EXPECT(assert_equal(fullgraph, planarSLAM::Graph(isam.getFactorsUnsafe()))); + EXPECT(assert_equal(fullgraph, NonlinearFactorGraph(isam.getFactorsUnsafe()))); EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_)); // Check gradient at each node @@ -685,7 +691,7 @@ TEST(ISAM2, constrained_ordering) // These variables will be reused and accumulate factors and values ISAM2 isam(ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false)); Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; // We will constrain x3 and x4 to the end FastMap constrained; @@ -697,8 +703,8 @@ TEST(ISAM2, constrained_ordering) // Add a prior at time 0 and update isam { - planarSLAM::Graph newfactors; - newfactors.addPosePrior(0, Pose2(0.0, 0.0, 0.0), odoNoise); + NonlinearFactorGraph newfactors; + newfactors.add(PriorFactor(0, Pose2(0.0, 0.0, 0.0), odoNoise)); fullgraph.push_back(newfactors); Values init; @@ -712,8 +718,8 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 0 to time 5 for( ; i<5; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); fullgraph.push_back(newfactors); Values init; @@ -728,10 +734,10 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 5 to 6 and landmark measurement at time 5 { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); + newfactors.add(BearingRangeFactor(i, 100, Rot2::fromAngle(M_PI/4.0), 5.0, brNoise)); + newfactors.add(BearingRangeFactor(i, 101, Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise)); fullgraph.push_back(newfactors); Values init; @@ -748,8 +754,8 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 6 to time 10 for( ; i<10; ++i) { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); fullgraph.push_back(newfactors); Values init; @@ -761,10 +767,10 @@ TEST(ISAM2, constrained_ordering) // Add odometry from time 10 to 11 and landmark measurement at time 10 { - planarSLAM::Graph newfactors; - newfactors.addRelativePose(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + NonlinearFactorGraph newfactors; + newfactors.add(BetweenFactor(i, i+1, Pose2(1.0, 0.0, 0.0), odoNoise)); + newfactors.add(BearingRangeFactor(i, 100, Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); + newfactors.add(BearingRangeFactor(i, 101, Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); fullgraph.push_back(newfactors); Values init; @@ -816,7 +822,7 @@ TEST(ISAM2, slamlike_solution_partial_relinearization_check) // These variables will be reused and accumulate factors and values Values fullinit; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph fullgraph; ISAM2Params params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false); params.enablePartialRelinearizationCheck = true; ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, params); From fb33b8a609d1ca81302d3cf6347d12fcc4eeee59 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:43:17 +0000 Subject: [PATCH 690/914] removed SLAM namespace from testGaussianJunctionTreeB --- tests/testGaussianJunctionTreeB.cpp | 48 ++++++++++++++++------------- 1 file changed, 26 insertions(+), 22 deletions(-) diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp index 883011da2..422e52377 100644 --- a/tests/testGaussianJunctionTreeB.cpp +++ b/tests/testGaussianJunctionTreeB.cpp @@ -16,14 +16,18 @@ */ #include -#include -#include +#include +#include +#include +#include +#include #include #include #include #include #include -#include +#include +#include #include #include #include @@ -128,29 +132,29 @@ TEST( GaussianJunctionTreeB, optimizeMultiFrontal2) /* ************************************************************************* */ TEST(GaussianJunctionTreeB, slamlike) { Values init; - planarSLAM::Graph newfactors; - planarSLAM::Graph fullgraph; + NonlinearFactorGraph newfactors; + NonlinearFactorGraph fullgraph; SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.1, M_PI/100.0)); SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas(Vector_(2, M_PI/100.0, 0.1)); size_t i = 0; - newfactors = planarSLAM::Graph(); - newfactors.addPosePrior(X(0), Pose2(0.0, 0.0, 0.0), odoNoise); + newfactors = NonlinearFactorGraph(); + newfactors.add(PriorFactor(X(0), Pose2(0.0, 0.0, 0.0), odoNoise)); init.insert(X(0), Pose2(0.01, 0.01, 0.01)); fullgraph.push_back(newfactors); for( ; i<5; ++i) { - newfactors = planarSLAM::Graph(); - newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors = NonlinearFactorGraph(); + newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } - newfactors = planarSLAM::Graph(); - newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(X(i), L(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise); - newfactors.addBearingRange(X(i), L(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise); + newfactors = NonlinearFactorGraph(); + newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); + newfactors.add(BearingRangeFactor(X(i), L(0), Rot2::fromAngle(M_PI/4.0), 5.0, brNoise)); + newfactors.add(BearingRangeFactor(X(i), L(1), Rot2::fromAngle(-M_PI/4.0), 5.0, brNoise)); init.insert(X(i+1), Pose2(1.01, 0.01, 0.01)); init.insert(L(0), Point2(5.0/sqrt(2.0), 5.0/sqrt(2.0))); init.insert(L(1), Point2(5.0/sqrt(2.0), -5.0/sqrt(2.0))); @@ -158,16 +162,16 @@ TEST(GaussianJunctionTreeB, slamlike) { ++ i; for( ; i<5; ++i) { - newfactors = planarSLAM::Graph(); - newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); + newfactors = NonlinearFactorGraph(); + newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); init.insert(X(i+1), Pose2(double(i+1)+0.1, -0.1, 0.01)); fullgraph.push_back(newfactors); } - newfactors = planarSLAM::Graph(); - newfactors.addRelativePose(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise); - newfactors.addBearingRange(X(i), L(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise); - newfactors.addBearingRange(X(i), L(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise); + newfactors = NonlinearFactorGraph(); + newfactors.add(BetweenFactor(X(i), X(i+1), Pose2(1.0, 0.0, 0.0), odoNoise)); + newfactors.add(BearingRangeFactor(X(i), L(0), Rot2::fromAngle(M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); + newfactors.add(BearingRangeFactor(X(i), L(1), Rot2::fromAngle(-M_PI/4.0 + M_PI/16.0), 4.5, brNoise)); init.insert(X(i+1), Pose2(6.9, 0.1, 0.01)); fullgraph.push_back(newfactors); ++ i; @@ -193,9 +197,9 @@ TEST(GaussianJunctionTreeB, simpleMarginal) { typedef BayesTree GaussianBayesTree; // Create a simple graph - pose2SLAM::Graph fg; - fg.addPosePrior(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0)); - fg.addRelativePose(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector_(3, 10.0, 1.0, 1.0))); + NonlinearFactorGraph fg; + fg.add(PriorFactor(X(0), Pose2(), noiseModel::Isotropic::Sigma(3, 10.0))); + fg.add(BetweenFactor(X(0), X(1), Pose2(1.0, 0.0, 0.0), noiseModel::Diagonal::Sigmas(Vector_(3, 10.0, 1.0, 1.0)))); Values init; init.insert(X(0), Pose2()); From a641f599f67e3c7ae635c335ea15e3eed7693a9c Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:44:02 +0000 Subject: [PATCH 691/914] Removed SLAM namespace from testGradientDescentOptimizer --- tests/testGradientDescentOptimizer.cpp | 46 ++++++++++++++------------ 1 file changed, 25 insertions(+), 21 deletions(-) diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index fefa2a05f..c72c6f716 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -5,8 +5,12 @@ * @date Jun 11, 2012 */ -#include +#include +#include #include +#include +#include +#include #include @@ -19,34 +23,34 @@ using namespace std; using namespace gtsam; -boost::tuple generateProblem() { +boost::tuple generateProblem() { // 1. Create graph container and add factors to it - pose2SLAM::Graph graph ; + NonlinearFactorGraph graph ; // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); - graph.addPosePrior(1, priorMean, priorNoise); + graph.add(PriorFactor(1, priorMean, priorNoise)); // 2b. Add odometry factors SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); - graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); - graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); + graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); + graph.add(BetweenFactor(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); // 2c. Add pose constraint SharedDiagonal constraintUncertainty = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty); + graph.add(BetweenFactor(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty)); // 3. Create the data structure to hold the initialEstimate estinmate to the solution - pose2SLAM::Values initialEstimate; - Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insertPose(1, x1); - Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insertPose(2, x2); - Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3); - Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insertPose(4, x4); - Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5); + Values initialEstimate; + Pose2 x1(0.5, 0.0, 0.2 ); initialEstimate.insert(1, x1); + Pose2 x2(2.3, 0.1,-0.2 ); initialEstimate.insert(2, x2); + Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insert(3, x3); + Pose2 x4(4.0, 2.0, M_PI ); initialEstimate.insert(4, x4); + Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insert(5, x5); return boost::tie(graph, initialEstimate); } @@ -55,8 +59,8 @@ boost::tuple generateProblem() { /* ************************************************************************* */ TEST(optimize, GradientDescentOptimizer) { - pose2SLAM::Graph graph ; - pose2SLAM::Values initialEstimate; + NonlinearFactorGraph graph; + Values initialEstimate; boost::tie(graph, initialEstimate) = generateProblem(); // cout << "initial error = " << graph.error(initialEstimate) << endl ; @@ -79,8 +83,8 @@ TEST(optimize, GradientDescentOptimizer) { /* ************************************************************************* */ TEST(optimize, ConjugateGradientOptimizer) { - pose2SLAM::Graph graph ; - pose2SLAM::Values initialEstimate; + NonlinearFactorGraph graph; + Values initialEstimate; boost::tie(graph, initialEstimate) = generateProblem(); // cout << "initial error = " << graph.error(initialEstimate) << endl ; @@ -102,8 +106,8 @@ TEST(optimize, ConjugateGradientOptimizer) { /* ************************************************************************* */ TEST(optimize, GradientDescentOptimizer2) { - pose2SLAM::Graph graph ; - pose2SLAM::Values initialEstimate; + NonlinearFactorGraph graph; + Values initialEstimate; boost::tie(graph, initialEstimate) = generateProblem(); // cout << "initial error = " << graph.error(initialEstimate) << endl ; From 2de44904adf3c2f864d9114367d820f5161a484a Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:45:07 +0000 Subject: [PATCH 692/914] Removed SLAM namespace from testGraph --- gtsam/inference/graph.h | 2 ++ tests/testGraph.cpp | 17 +++++++++-------- 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/gtsam/inference/graph.h b/gtsam/inference/graph.h index 98d41940b..88ab5d0e8 100644 --- a/gtsam/inference/graph.h +++ b/gtsam/inference/graph.h @@ -108,3 +108,5 @@ namespace gtsam { } // namespace gtsam + +#include diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index 5f99d60c6..93ecd6dbe 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -16,8 +16,10 @@ * @brief unit test for graph-inl.h */ -#include -#include +#include +#include +#include +#include #include @@ -75,13 +77,13 @@ TEST( Graph, predecessorMap2Graph ) /* ************************************************************************* */ TEST( Graph, composePoses ) { - pose2SLAM::Graph graph; + NonlinearFactorGraph graph; SharedNoiseModel cov = noiseModel::Unit::Create(3); Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9); Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3); - graph.addRelativePose(1,2, p12, cov); - graph.addRelativePose(2,3, p23, cov); - graph.addRelativePose(4,3, p43, cov); + graph.add(BetweenFactor(1,2, p12, cov)); + graph.add(BetweenFactor(2,3, p23, cov)); + graph.add(BetweenFactor(4,3, p43, cov)); PredecessorMap tree; tree.insert(1,2); @@ -91,8 +93,7 @@ TEST( Graph, composePoses ) Pose2 rootPose = p2; - boost::shared_ptr actual = composePoses (graph, tree, rootPose); + boost::shared_ptr actual = composePoses, Pose2, Key> (graph, tree, rootPose); Values expected; expected.insert(1, p1); From 0e6762e5c9eae8269783a5753cecf0f2a6b3309a Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:45:46 +0000 Subject: [PATCH 693/914] Removed SLAM namespace from testInferenceB --- tests/testInferenceB.cpp | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp index 3e68780c4..9b8127473 100644 --- a/tests/testInferenceB.cpp +++ b/tests/testInferenceB.cpp @@ -17,10 +17,17 @@ #include +#include +#include +#include +#include +#include #include #include #include -#include +#include +#include +#include #include @@ -54,16 +61,16 @@ TEST( inference, marginals ) /* ************************************************************************* */ TEST( inference, marginals2) { - planarSLAM::Graph fg; + NonlinearFactorGraph fg; SharedDiagonal poseModel(noiseModel::Isotropic::Sigma(3, 0.1)); SharedDiagonal pointModel(noiseModel::Isotropic::Sigma(3, 0.1)); - fg.addPosePrior(X(0), Pose2(), poseModel); - fg.addRelativePose(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel); - fg.addRelativePose(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel); - fg.addBearingRange(X(0), L(0), Rot2(), 1.0, pointModel); - fg.addBearingRange(X(1), L(0), Rot2(), 1.0, pointModel); - fg.addBearingRange(X(2), L(0), Rot2(), 1.0, pointModel); + fg.add(PriorFactor(X(0), Pose2(), poseModel)); + fg.add(BetweenFactor(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel)); + fg.add(BetweenFactor(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel)); + fg.add(BearingRangeFactor(X(0), L(0), Rot2(), 1.0, pointModel)); + fg.add(BearingRangeFactor(X(1), L(0), Rot2(), 1.0, pointModel)); + fg.add(BearingRangeFactor(X(2), L(0), Rot2(), 1.0, pointModel)); Values init; init.insert(X(0), Pose2(0.0,0.0,0.0)); From c8f3356af5698ad5dbf0fdc9cef482960ef81dec Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:46:21 +0000 Subject: [PATCH 694/914] Removed SLAM namespace from testNonlinearEquality --- tests/testNonlinearEquality.cpp | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp index 1efc40cad..2b580560f 100644 --- a/tests/testNonlinearEquality.cpp +++ b/tests/testNonlinearEquality.cpp @@ -17,12 +17,17 @@ #include #include -#include +#include #include #include #include #include +#include #include +#include +#include +#include +#include #include @@ -510,7 +515,7 @@ static Cal3_S2 K(fov,w,h); static boost::shared_ptr shK(new Cal3_S2(K)); // typedefs for visual SLAM example -typedef visualSLAM::Graph VGraph; +typedef NonlinearFactorGraph VGraph; // factors for visual slam typedef NonlinearEquality2 Point3Equality; @@ -537,13 +542,13 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) { VGraph graph; // create equality constraints for poses - graph.addPoseConstraint(x1, camera1.pose()); - graph.addPoseConstraint(x2, camera2.pose()); + graph.add(NonlinearEquality(x1, camera1.pose())); + graph.add(NonlinearEquality(x2, camera2.pose())); // create factors SharedDiagonal vmodel = noiseModel::Unit::Create(3); - graph.addMeasurement(camera1.project(landmark), vmodel, x1, l1, shK); - graph.addMeasurement(camera2.project(landmark), vmodel, x2, l2, shK); + graph.add(GenericProjectionFactor(camera1.project(landmark), vmodel, x1, l1, shK)); + graph.add(GenericProjectionFactor(camera2.project(landmark), vmodel, x2, l2, shK)); // add equality constraint graph.add(Point3Equality(l1, l2)); From 7a0030070c7008d3a6b81b3e486c7dd1e40bf7b3 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:46:55 +0000 Subject: [PATCH 695/914] Removed SLAM namespace from testNonlinearISAM --- tests/testNonlinearISAM.cpp | 36 ++++++++++++++++++++---------------- 1 file changed, 20 insertions(+), 16 deletions(-) diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp index 980ea8033..142fba7eb 100644 --- a/tests/testNonlinearISAM.cpp +++ b/tests/testNonlinearISAM.cpp @@ -5,13 +5,17 @@ #include -#include +#include +#include #include +#include +#include #include -#include +#include +#include + using namespace gtsam; -using namespace planarSLAM; typedef NonlinearISAM PlanarISAM; @@ -27,22 +31,22 @@ TEST(testNonlinearISAM, markov_chain ) { // create initial graph Pose2 cur_pose; // start at origin - Graph start_factors; - start_factors.addPoseConstraint(0, cur_pose); + NonlinearFactorGraph start_factors; + start_factors.add(NonlinearEquality(0, cur_pose)); - planarSLAM::Values init; - planarSLAM::Values expected; - init.insertPose(0, cur_pose); - expected.insertPose(0, cur_pose); + Values init; + Values expected; + init.insert(0, cur_pose); + expected.insert(0, cur_pose); isam.update(start_factors, init); // loop for a period of time to verify memory usage size_t nrPoses = 21; Pose2 z(1.0, 2.0, 0.1); for (size_t i=1; i<=nrPoses; ++i) { - Graph new_factors; - new_factors.addRelativePose(i-1, i, z, model); - planarSLAM::Values new_init; + NonlinearFactorGraph new_factors; + new_factors.add(BetweenFactor(i-1, i, z, model)); + Values new_init; // perform a check on changing orderings if (i == 5) { @@ -60,15 +64,15 @@ TEST(testNonlinearISAM, markov_chain ) { } cur_pose = cur_pose.compose(z); - new_init.insertPose(i, cur_pose.retract(sampler.sample())); - expected.insertPose(i, cur_pose); + new_init.insert(i, cur_pose.retract(sampler.sample())); + expected.insert(i, cur_pose); isam.update(new_factors, new_init); } // verify values - all but the last one should be very close - planarSLAM::Values actual = isam.estimate(); + Values actual = isam.estimate(); for (size_t i=0; i(i), actual.at(i), tol)); } } From 01bcd9e9395ab346ff655a5be2ee9525e7cff51a Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:47:31 +0000 Subject: [PATCH 696/914] Removed SLAM namespace from testNonlinearOptimizer --- tests/testNonlinearOptimizer.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index eb7585420..cb5e8f482 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -16,7 +16,10 @@ */ #include -#include +#include +#include +#include +#include #include #include #include @@ -24,6 +27,7 @@ #include #include #include +#include #include #include @@ -174,9 +178,9 @@ TEST( NonlinearOptimizer, Factorization ) config.insert(X(1), Pose2(0.,0.,0.)); config.insert(X(2), Pose2(1.5,0.,0.)); - pose2SLAM::Graph graph; - graph.addPosePrior(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); - graph.addRelativePose(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); + NonlinearFactorGraph graph; + graph.add(PriorFactor(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10))); + graph.add(BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1))); Ordering ordering; ordering.push_back(X(1)); From c2daf40c5df71258abb6f498af2ac37be044035f Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:50:21 +0000 Subject: [PATCH 697/914] Removed SLAM namespaces from testSerializationSLAM. Instead of testing each SLAM namespace individually, a single test was created that instanciates all variable-factor combinations. However, there is currently an issue with LieVector that should be resolved. --- tests/testSerializationSLAM.cpp | 525 +++++++++++++++++++++++++------- 1 file changed, 422 insertions(+), 103 deletions(-) diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index d9094111e..27f74c222 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -18,11 +18,31 @@ #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 +#include +#include + #include #include @@ -30,17 +50,70 @@ using namespace std; using namespace gtsam; using namespace gtsam::serializationTestHelpers; +// Creating as many permutations of factors as possible +typedef PriorFactor PriorFactorLieVector; +typedef PriorFactor PriorFactorLieMatrix; +typedef PriorFactor PriorFactorPoint2; +typedef PriorFactor PriorFactorStereoPoint2; +typedef PriorFactor PriorFactorPoint3; +typedef PriorFactor PriorFactorRot2; +typedef PriorFactor PriorFactorRot3; +typedef PriorFactor PriorFactorPose2; +typedef PriorFactor PriorFactorPose3; +typedef PriorFactor PriorFactorCal3_S2; +typedef PriorFactor PriorFactorCal3DS2; +typedef PriorFactor PriorFactorCalibratedCamera; +typedef PriorFactor PriorFactorSimpleCamera; + +typedef BetweenFactor BetweenFactorLieVector; +typedef BetweenFactor BetweenFactorLieMatrix; +typedef BetweenFactor BetweenFactorPoint2; +typedef BetweenFactor BetweenFactorPoint3; +typedef BetweenFactor BetweenFactorRot2; +typedef BetweenFactor BetweenFactorRot3; +typedef BetweenFactor BetweenFactorPose2; +typedef BetweenFactor BetweenFactorPose3; + +typedef NonlinearEquality NonlinearEqualityLieVector; +typedef NonlinearEquality NonlinearEqualityLieMatrix; +typedef NonlinearEquality NonlinearEqualityPoint2; +typedef NonlinearEquality NonlinearEqualityStereoPoint2; +typedef NonlinearEquality NonlinearEqualityPoint3; +typedef NonlinearEquality NonlinearEqualityRot2; +typedef NonlinearEquality NonlinearEqualityRot3; +typedef NonlinearEquality NonlinearEqualityPose2; +typedef NonlinearEquality NonlinearEqualityPose3; +typedef NonlinearEquality NonlinearEqualityCal3_S2; +typedef NonlinearEquality NonlinearEqualityCal3DS2; +typedef NonlinearEquality NonlinearEqualityCalibratedCamera; +typedef NonlinearEquality NonlinearEqualitySimpleCamera; + +typedef RangeFactor RangeFactorPosePoint2; +typedef RangeFactor RangeFactorPosePoint3; +typedef RangeFactor RangeFactorPose2; +typedef RangeFactor RangeFactorPose3; +typedef RangeFactor RangeFactorCalibratedCameraPoint; +typedef RangeFactor RangeFactorSimpleCameraPoint; +typedef RangeFactor RangeFactorCalibratedCamera; +typedef RangeFactor RangeFactorSimpleCamera; + +typedef BearingFactor BearingFactor2D; +typedef BearingFactor BearingFactor3D; + +typedef BearingRangeFactor BearingRangeFactor2D; +typedef BearingRangeFactor BearingRangeFactor3D; + +typedef GenericProjectionFactor GenericProjectionFactorCal3_S2; +typedef GenericProjectionFactor GenericProjectionFactorCal3DS2; + + // Convenience for named keys using symbol_shorthand::X; using symbol_shorthand::L; -/* Create GUIDs for factors */ -/* ************************************************************************* */ -BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); -BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor"); +/* Create GUIDs for Noisemodels */ /* ************************************************************************* */ -// Export Noisemodels BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal"); BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian"); @@ -50,6 +123,82 @@ BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropi BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel"); BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal"); +/* Create GUIDs for geometry */ +/* ************************************************************************* */ +BOOST_CLASS_EXPORT(gtsam::LieVector); +BOOST_CLASS_EXPORT(gtsam::LieMatrix); +BOOST_CLASS_EXPORT(gtsam::Point2); +BOOST_CLASS_EXPORT(gtsam::StereoPoint2); +BOOST_CLASS_EXPORT(gtsam::Point3); +BOOST_CLASS_EXPORT(gtsam::Rot2); +BOOST_CLASS_EXPORT(gtsam::Rot3); +BOOST_CLASS_EXPORT(gtsam::Pose2); +BOOST_CLASS_EXPORT(gtsam::Pose3); +BOOST_CLASS_EXPORT(gtsam::Cal3_S2); +BOOST_CLASS_EXPORT(gtsam::Cal3DS2); +BOOST_CLASS_EXPORT(gtsam::CalibratedCamera); +BOOST_CLASS_EXPORT(gtsam::SimpleCamera); + + +/* Create GUIDs for factors */ +/* ************************************************************************* */ +BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); +BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor"); + +BOOST_CLASS_EXPORT_GUID(PriorFactorLieVector, "gtsam::PriorFactorLieVector"); +BOOST_CLASS_EXPORT_GUID(PriorFactorLieMatrix, "gtsam::PriorFactorLieMatrix"); +BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2"); +BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2"); +BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3"); +BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2"); +BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3"); +BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2"); +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(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorLieMatrix, "gtsam::BetweenFactorLieMatrix"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2"); +BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3"); + +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieVector, "gtsam::NonlinearEqualityLieVector"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityLieMatrix, "gtsam::NonlinearEqualityLieMatrix"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3"); +BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2"); +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(RangeFactorPosePoint2, "gtsam::RangeFactorPosePoint2"); +BOOST_CLASS_EXPORT_GUID(RangeFactorPosePoint3, "gtsam::RangeFactorPosePoint3"); +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(BearingFactor2D, "gtsam::BearingFactor2D"); + +BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); + +BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2"); +BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2"); + + /* ************************************************************************* */ TEST (Serialization, smallExample_linear) { using namespace example; @@ -85,12 +234,11 @@ TEST (Serialization, gaussianISAM) { BOOST_CLASS_EXPORT_GUID(simulated2D::Prior, "gtsam::simulated2D::Prior" ) BOOST_CLASS_EXPORT_GUID(simulated2D::Odometry, "gtsam::simulated2D::Odometry" ) BOOST_CLASS_EXPORT_GUID(simulated2D::Measurement, "gtsam::simulated2D::Measurement") -BOOST_CLASS_EXPORT(gtsam::Point2) /* ************************************************************************* */ -TEST (Serialization, smallExample) { +TEST (Serialization, smallExample_nonlinear) { using namespace example; - Graph nfg = createNonlinearFactorGraph(); + NonlinearFactorGraph nfg = createNonlinearFactorGraph(); Values c1 = createValues(); EXPECT(equalsObj(nfg)); EXPECT(equalsXML(nfg)); @@ -100,113 +248,284 @@ TEST (Serialization, smallExample) { } /* ************************************************************************* */ -/* Create GUIDs for factors */ -BOOST_CLASS_EXPORT_GUID(planarSLAM::Prior, "gtsam::planarSLAM::Prior"); -BOOST_CLASS_EXPORT_GUID(planarSLAM::Bearing, "gtsam::planarSLAM::Bearing"); -BOOST_CLASS_EXPORT_GUID(planarSLAM::Range, "gtsam::planarSLAM::Range"); -BOOST_CLASS_EXPORT_GUID(planarSLAM::BearingRange,"gtsam::planarSLAM::BearingRange"); -BOOST_CLASS_EXPORT_GUID(planarSLAM::Odometry, "gtsam::planarSLAM::Odometry"); -BOOST_CLASS_EXPORT_GUID(planarSLAM::Constraint, "gtsam::planarSLAM::Constraint"); +TEST (Serialization, factors) { -BOOST_CLASS_EXPORT(gtsam::Pose2) + LieVector lieVector(4, 1.0, 2.0, 3.0, 4.0); + LieMatrix lieMatrix(2, 3, 1.0, 2.0, 3.0, 4.0, 5.0 ,6.0); + Point2 point2(1.0, 2.0); + StereoPoint2 stereoPoint2(1.0, 2.0, 3.0); + Point3 point3(1.0, 2.0, 3.0); + Rot2 rot2(1.0); + Rot3 rot3(Rot3::RzRyRx(1.0, 2.0, 3.0)); + Pose2 pose2(rot2, point2); + Pose3 pose3(rot3, point3); + Cal3_S2 cal3_s2(1.0, 2.0, 3.0, 4.0, 5.0); + Cal3DS2 cal3ds2(1.0, 2.0, 3.0, 4.0, 5.0,6.0, 7.0, 8.0, 9.0); + CalibratedCamera calibratedCamera(pose3); + SimpleCamera simpleCamera(pose3, cal3_s2); + + + Symbol a01('a',1), a02('a',2), a03('a',3), a04('a',4), a05('a',5), a06('a',6), a07('a',7), a08('a',8), a09('a',9), a10('a',10), a11('a',11), a12('a',12), a13('a',13); + Symbol b01('b',1), b02('b',2), b03('b',3), b04('b',4), b05('b',5), b06('b',6), b07('b',7), b08('b',8), b09('b',9), b10('b',10), b11('b',11), b12('b',12), b13('b',13); + + Values values; +// values.insert(a01, lieVector); +// values.insert(a02, lieMatrix); + values.insert(a03, point2); + values.insert(a04, stereoPoint2); + values.insert(a05, point3); + values.insert(a06, rot2); + values.insert(a07, rot3); + values.insert(a08, pose2); + values.insert(a09, pose3); + values.insert(a10, cal3_s2); + values.insert(a11, cal3ds2); + values.insert(a12, calibratedCamera); + values.insert(a13, simpleCamera); -/* ************************************************************************* */ -TEST (Serialization, planar_system) { - using namespace planarSLAM; - planarSLAM::Values values; - Symbol i2('x',2), i3('x',3), i4('x',4), i9('x',9), j3('l',3), j5('l',5), j9('l',9); - values.insert(j3, Point2(1.0, 2.0)); - values.insert(i4, Pose2(1.0, 2.0, 0.3)); SharedNoiseModel model1 = noiseModel::Isotropic::Sigma(1, 0.3); SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.3); SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.3); + SharedNoiseModel model4 = noiseModel::Isotropic::Sigma(4, 0.3); + SharedNoiseModel model5 = noiseModel::Isotropic::Sigma(5, 0.3); + SharedNoiseModel model6 = noiseModel::Isotropic::Sigma(6, 0.3); + SharedNoiseModel model9 = noiseModel::Isotropic::Sigma(9, 0.3); + SharedNoiseModel model11 = noiseModel::Isotropic::Sigma(11, 0.3); - Prior prior(i3, Pose2(0.1,-0.3, 0.2), model1); - Bearing bearing(i3, j5, Rot2::fromDegrees(0.5), model1); - Range range(i2, j9, 7.0, model1); - BearingRange bearingRange(i2, j3, Rot2::fromDegrees(0.6), 2.0, model2); - Odometry odometry(i2, i3, Pose2(1.0, 2.0, 0.3), model3); - Constraint constraint(i9, Pose2(2.0,-1.0, 0.2)); - Graph graph; - graph.add(prior); - graph.add(bearing); - graph.add(range); - graph.add(bearingRange); - graph.add(odometry); - graph.add(constraint); + + PriorFactorLieVector priorFactorLieVector(a01, lieVector, model4); + PriorFactorLieMatrix priorFactorLieMatrix(a02, lieMatrix, model6); + PriorFactorPoint2 priorFactorPoint2(a03, point2, model2); + PriorFactorStereoPoint2 priorFactorStereoPoint2(a04, stereoPoint2, model3); + PriorFactorPoint3 priorFactorPoint3(a05, point3, model3); + PriorFactorRot2 priorFactorRot2(a06, rot2, model1); + PriorFactorRot3 priorFactorRot3(a07, rot3, model3); + PriorFactorPose2 priorFactorPose2(a08, pose2, model3); + PriorFactorPose3 priorFactorPose3(a09, pose3, model6); + PriorFactorCal3_S2 priorFactorCal3_S2(a10, cal3_s2, model5); + PriorFactorCal3DS2 priorFactorCal3DS2(a11, cal3ds2, model9); + PriorFactorCalibratedCamera priorFactorCalibratedCamera(a12, calibratedCamera, model6); + PriorFactorSimpleCamera priorFactorSimpleCamera(a13, simpleCamera, model11); + + BetweenFactorLieVector betweenFactorLieVector(a01, b01, lieVector, model4); + BetweenFactorLieMatrix betweenFactorLieMatrix(a02, b02, lieMatrix, model6); + BetweenFactorPoint2 betweenFactorPoint2(a03, b03, point2, model2); + BetweenFactorPoint3 betweenFactorPoint3(a05, b05, point3, model3); + BetweenFactorRot2 betweenFactorRot2(a06, b06, rot2, model1); + BetweenFactorRot3 betweenFactorRot3(a07, b07, rot3, model3); + BetweenFactorPose2 betweenFactorPose2(a08, b08, pose2, model3); + BetweenFactorPose3 betweenFactorPose3(a09, b09, pose3, model6); + + NonlinearEqualityLieVector nonlinearEqualityLieVector(a01, lieVector); + NonlinearEqualityLieMatrix nonlinearEqualityLieMatrix(a02, lieMatrix); + NonlinearEqualityPoint2 nonlinearEqualityPoint2(a03, point2); + NonlinearEqualityStereoPoint2 nonlinearEqualityStereoPoint2(a04, stereoPoint2); + NonlinearEqualityPoint3 nonlinearEqualityPoint3(a05, point3); + NonlinearEqualityRot2 nonlinearEqualityRot2(a06, rot2); + NonlinearEqualityRot3 nonlinearEqualityRot3(a07, rot3); + NonlinearEqualityPose2 nonlinearEqualityPose2(a08, pose2); + NonlinearEqualityPose3 nonlinearEqualityPose3(a09, pose3); + NonlinearEqualityCal3_S2 nonlinearEqualityCal3_S2(a10, cal3_s2); + NonlinearEqualityCal3DS2 nonlinearEqualityCal3DS2(a11, cal3ds2); + NonlinearEqualityCalibratedCamera nonlinearEqualityCalibratedCamera(a12, calibratedCamera); + NonlinearEqualitySimpleCamera nonlinearEqualitySimpleCamera(a13, simpleCamera); + + RangeFactorPosePoint2 rangeFactorPosePoint2(a08, a03, 2.0, model1); + RangeFactorPosePoint3 rangeFactorPosePoint3(a09, a05, 2.0, model1); + 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); + RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1); + RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1); + + BearingFactor2D bearingFactor2D(a08, a03, rot2, model1); + + BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2); + + GenericProjectionFactorCal3_S2 genericProjectionFactorCal3_S2(point2, model2, a09, a05, boost::make_shared(cal3_s2)); + GenericProjectionFactorCal3DS2 genericProjectionFactorCal3DS2(point2, model2, a09, a05, boost::make_shared(cal3ds2)); + + + + + NonlinearFactorGraph graph; +// graph.add(priorFactorLieVector); +// graph.add(priorFactorLieMatrix); + graph.add(priorFactorPoint2); + graph.add(priorFactorStereoPoint2); + graph.add(priorFactorPoint3); + graph.add(priorFactorRot2); + graph.add(priorFactorRot3); + graph.add(priorFactorPose2); + graph.add(priorFactorPose3); + graph.add(priorFactorCal3_S2); + graph.add(priorFactorCal3_S2); + graph.add(priorFactorCalibratedCamera); + graph.add(priorFactorSimpleCamera); + +// graph.add(betweenFactorLieVector); +// graph.add(betweenFactorLieMatrix); + graph.add(betweenFactorPoint2); + graph.add(betweenFactorPoint3); + graph.add(betweenFactorRot2); + graph.add(betweenFactorRot3); + graph.add(betweenFactorPose2); + graph.add(betweenFactorPose3); + +// graph.add(nonlinearEqualityLieVector); +// graph.add(nonlinearEqualityLieMatrix); + graph.add(nonlinearEqualityPoint2); + graph.add(nonlinearEqualityStereoPoint2); + graph.add(nonlinearEqualityPoint3); + graph.add(nonlinearEqualityRot2); + graph.add(nonlinearEqualityRot3); + graph.add(nonlinearEqualityPose2); + graph.add(nonlinearEqualityPose3); + graph.add(nonlinearEqualityCal3_S2); + graph.add(nonlinearEqualityCal3DS2); + graph.add(nonlinearEqualityCalibratedCamera); + graph.add(nonlinearEqualitySimpleCamera); + + graph.add(rangeFactorPosePoint2); + graph.add(rangeFactorPosePoint3); + graph.add(rangeFactorPose2); + graph.add(rangeFactorPose3); + graph.add(rangeFactorCalibratedCameraPoint); + graph.add(rangeFactorSimpleCameraPoint); + graph.add(rangeFactorCalibratedCamera); + graph.add(rangeFactorSimpleCamera); + + graph.add(bearingFactor2D); + + graph.add(bearingRangeFactor2D); + + graph.add(genericProjectionFactorCal3_S2); + graph.add(genericProjectionFactorCal3DS2); + // text - EXPECT(equalsObj(i2)); - EXPECT(equalsObj(j3)); - EXPECT(equalsObj(values)); - EXPECT(equalsObj(prior)); - EXPECT(equalsObj(bearing)); - EXPECT(equalsObj(bearingRange)); - EXPECT(equalsObj(range)); - EXPECT(equalsObj(odometry)); - EXPECT(equalsObj(constraint)); - EXPECT(equalsObj(graph)); + EXPECT(equalsObj(a01)); + EXPECT(equalsObj(b02)); + EXPECT(equalsObj(values)); + EXPECT(equalsObj(graph)); + +// EXPECT(equalsObj(priorFactorLieVector)); +// EXPECT(equalsObj(priorFactorLieMatrix)); + EXPECT(equalsObj(priorFactorPoint2)); + EXPECT(equalsObj(priorFactorStereoPoint2)); + EXPECT(equalsObj(priorFactorPoint3)); + EXPECT(equalsObj(priorFactorRot2)); + EXPECT(equalsObj(priorFactorRot3)); + EXPECT(equalsObj(priorFactorPose2)); + EXPECT(equalsObj(priorFactorPose3)); + EXPECT(equalsObj(priorFactorCal3_S2)); + EXPECT(equalsObj(priorFactorCal3DS2)); + EXPECT(equalsObj(priorFactorCalibratedCamera)); + EXPECT(equalsObj(priorFactorSimpleCamera)); + +// EXPECT(equalsObj(betweenFactorLieVector)); +// EXPECT(equalsObj(betweenFactorLieMatrix)); + EXPECT(equalsObj(betweenFactorPoint2)); + EXPECT(equalsObj(betweenFactorPoint3)); + EXPECT(equalsObj(betweenFactorRot2)); + EXPECT(equalsObj(betweenFactorRot3)); + EXPECT(equalsObj(betweenFactorPose2)); + EXPECT(equalsObj(betweenFactorPose3)); + +// EXPECT(equalsObj(nonlinearEqualityLieVector)); +// EXPECT(equalsObj(nonlinearEqualityLieMatrix)); + EXPECT(equalsObj(nonlinearEqualityPoint2)); + EXPECT(equalsObj(nonlinearEqualityStereoPoint2)); + EXPECT(equalsObj(nonlinearEqualityPoint3)); + EXPECT(equalsObj(nonlinearEqualityRot2)); + EXPECT(equalsObj(nonlinearEqualityRot3)); + EXPECT(equalsObj(nonlinearEqualityPose2)); + EXPECT(equalsObj(nonlinearEqualityPose3)); + EXPECT(equalsObj(nonlinearEqualityCal3_S2)); + EXPECT(equalsObj(nonlinearEqualityCal3DS2)); + EXPECT(equalsObj(nonlinearEqualityCalibratedCamera)); + EXPECT(equalsObj(nonlinearEqualitySimpleCamera)); + + EXPECT(equalsObj(rangeFactorPosePoint2)); + EXPECT(equalsObj(rangeFactorPosePoint3)); + EXPECT(equalsObj(rangeFactorPose2)); + EXPECT(equalsObj(rangeFactorPose3)); + EXPECT(equalsObj(rangeFactorCalibratedCameraPoint)); + EXPECT(equalsObj(rangeFactorSimpleCameraPoint)); + EXPECT(equalsObj(rangeFactorCalibratedCamera)); + EXPECT(equalsObj(rangeFactorSimpleCamera)); + + EXPECT(equalsObj(bearingFactor2D)); + + EXPECT(equalsObj(bearingRangeFactor2D)); + + EXPECT(equalsObj(genericProjectionFactorCal3_S2)); + EXPECT(equalsObj(genericProjectionFactorCal3DS2)); + // xml - EXPECT(equalsXML(i2)); - EXPECT(equalsXML(j3)); - EXPECT(equalsXML(values)); - EXPECT(equalsXML(prior)); - EXPECT(equalsXML(bearing)); - EXPECT(equalsXML(bearingRange)); - EXPECT(equalsXML(range)); - EXPECT(equalsXML(odometry)); - EXPECT(equalsXML(constraint)); - EXPECT(equalsXML(graph)); + EXPECT(equalsXML(a01)); + EXPECT(equalsXML(b02)); + EXPECT(equalsXML(values)); + EXPECT(equalsXML(graph)); + +// EXPECT(equalsXML(priorFactorLieVector)); +// EXPECT(equalsXML(priorFactorLieMatrix)); + EXPECT(equalsXML(priorFactorPoint2)); + EXPECT(equalsXML(priorFactorStereoPoint2)); + EXPECT(equalsXML(priorFactorPoint3)); + EXPECT(equalsXML(priorFactorRot2)); + EXPECT(equalsXML(priorFactorRot3)); + EXPECT(equalsXML(priorFactorPose2)); + EXPECT(equalsXML(priorFactorPose3)); + EXPECT(equalsXML(priorFactorCal3_S2)); + EXPECT(equalsXML(priorFactorCal3DS2)); + EXPECT(equalsXML(priorFactorCalibratedCamera)); + EXPECT(equalsXML(priorFactorSimpleCamera)); + +// EXPECT(equalsXML(betweenFactorLieVector)); +// EXPECT(equalsXML(betweenFactorLieMatrix)); + EXPECT(equalsXML(betweenFactorPoint2)); + EXPECT(equalsXML(betweenFactorPoint3)); + EXPECT(equalsXML(betweenFactorRot2)); + EXPECT(equalsXML(betweenFactorRot3)); + EXPECT(equalsXML(betweenFactorPose2)); + EXPECT(equalsXML(betweenFactorPose3)); + +// EXPECT(equalsXML(nonlinearEqualityLieVector)); +// EXPECT(equalsXML(nonlinearEqualityLieMatrix)); + EXPECT(equalsXML(nonlinearEqualityPoint2)); + EXPECT(equalsXML(nonlinearEqualityStereoPoint2)); + EXPECT(equalsXML(nonlinearEqualityPoint3)); + EXPECT(equalsXML(nonlinearEqualityRot2)); + EXPECT(equalsXML(nonlinearEqualityRot3)); + EXPECT(equalsXML(nonlinearEqualityPose2)); + EXPECT(equalsXML(nonlinearEqualityPose3)); + EXPECT(equalsXML(nonlinearEqualityCal3_S2)); + EXPECT(equalsXML(nonlinearEqualityCal3DS2)); + EXPECT(equalsXML(nonlinearEqualityCalibratedCamera)); + EXPECT(equalsXML(nonlinearEqualitySimpleCamera)); + + EXPECT(equalsXML(rangeFactorPosePoint2)); + EXPECT(equalsXML(rangeFactorPosePoint3)); + EXPECT(equalsXML(rangeFactorPose2)); + EXPECT(equalsXML(rangeFactorPose3)); + EXPECT(equalsXML(rangeFactorCalibratedCameraPoint)); + EXPECT(equalsXML(rangeFactorSimpleCameraPoint)); + EXPECT(equalsXML(rangeFactorCalibratedCamera)); + EXPECT(equalsXML(rangeFactorSimpleCamera)); + + EXPECT(equalsXML(bearingFactor2D)); + + EXPECT(equalsXML(bearingRangeFactor2D)); + + EXPECT(equalsXML(genericProjectionFactorCal3_S2)); + EXPECT(equalsXML(genericProjectionFactorCal3DS2)); } -/* ************************************************************************* */ -/* Create GUIDs for factors */ -BOOST_CLASS_EXPORT_GUID(visualSLAM::PoseConstraint, "gtsam::visualSLAM::PoseConstraint"); -BOOST_CLASS_EXPORT_GUID(visualSLAM::PointConstraint, "gtsam::visualSLAM::PointConstraint"); -BOOST_CLASS_EXPORT_GUID(visualSLAM::PosePrior, "gtsam::visualSLAM::PosePrior"); -BOOST_CLASS_EXPORT_GUID(visualSLAM::PointPrior, "gtsam::visualSLAM::PointPrior"); -BOOST_CLASS_EXPORT_GUID(visualSLAM::ProjectionFactor,"gtsam::visualSLAM::ProjectionFactor"); -BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoFactor"); - -BOOST_CLASS_EXPORT(gtsam::Pose3) -BOOST_CLASS_EXPORT(gtsam::Point3) - -static Point3 pt3(1.0, 2.0, 3.0); -static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); -static Pose3 pose3(rt3, pt3); -static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); - -/* ************************************************************************* */ -TEST (Serialization, visual_system) { - using namespace visualSLAM; - visualSLAM::Values values; - Symbol x1('x',1), x2('x',2); - Symbol l1('l',1), l2('l',2); - Pose3 pose1 = pose3, pose2 = pose3.inverse(); - Point3 pt1(1.0, 2.0, 3.0), pt2(4.0, 5.0, 6.0); - values.insert(x1, pose1); - values.insert(l1, pt1); - SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.3); - SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.3); - SharedNoiseModel model6 = noiseModel::Isotropic::Sigma(6, 0.3); - boost::shared_ptr K(new Cal3_S2(cal1)); - - Graph graph; - graph.addMeasurement(Point2(1.0, 2.0), model2, x1, l1, K); - graph.addPointConstraint(l1, pt1); - graph.addPointPrior(l1, pt2, model3); - graph.addPoseConstraint(x1, pose1); - graph.addPosePrior(x1, pose2, model6); - - EXPECT(equalsObj(values)); - EXPECT(equalsObj(graph)); - - EXPECT(equalsXML(values)); - EXPECT(equalsXML(graph)); -} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } From e2e780de4d1633a812887e67be19e6cf269115ff Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 23 Jul 2012 22:51:18 +0000 Subject: [PATCH 698/914] Removed SLAM namespaces from testLinearizedFactor --- gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp index d15bcd150..9c0438e49 100644 --- a/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp +++ b/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp @@ -6,7 +6,8 @@ #include #include #include -#include +#include +#include #include From 1b935dbdc5aed9279d2da7efd5b27fb981dec5ab Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 24 Jul 2012 13:35:04 +0000 Subject: [PATCH 699/914] Added matlab utility functions for plotting 3D points --- matlab/plot3DPoints.m | 36 ++++++++++++++++++++++++++++++++++++ matlab/plotPoint3.m | 13 +++++++++++++ 2 files changed, 49 insertions(+) create mode 100644 matlab/plot3DPoints.m create mode 100644 matlab/plotPoint3.m diff --git a/matlab/plot3DPoints.m b/matlab/plot3DPoints.m new file mode 100644 index 000000000..264298ef4 --- /dev/null +++ b/matlab/plot3DPoints.m @@ -0,0 +1,36 @@ +function plot3DPoints(values, linespec, marginals) +%PLOT3DPOINTS Plots the Point3's in a values, with optional covariances +% Finds all the Point3 objects in the given Values object and plots them. +% If a Marginals object is given, this function will also plot marginal +% covariance ellipses for each point. + +import gtsam.* + +if ~exist('linespec', 'var') || isempty(linespec) + linespec = 'g'; +end +haveMarginals = exist('marginals', 'var'); +keys = KeyVector(values.keys); + +holdstate = ishold; +hold on + +% Plot points and covariance matrices +for i = 0:keys.size-1 + key = keys.at(i); + p = values.at(key); + if isa(p, 'gtsam.Point3') + if haveMarginals + P = marginals.marginalCovariance(key); + plotPoint3(p, linespec, P); + else + plotPoint3(p, linespec); + end + end +end + +if ~holdstate + hold off +end + +end diff --git a/matlab/plotPoint3.m b/matlab/plotPoint3.m new file mode 100644 index 000000000..89d5613d5 --- /dev/null +++ b/matlab/plotPoint3.m @@ -0,0 +1,13 @@ +function plotPoint3(p, color, P) +%PLOTPOINT3 Plot a Point3 with an optional covariance matrix +if size(color,2)==1 + plot3(p.x,p.y,p.z,[color '*']); +else + plot3(p.x,p.y,p.z,color); +end +if exist('P', 'var') + covarianceEllipse3D([p.x;p.y;p.z],P); +end + +end + From cceebbf41c434d554067cabb00788343e58ce41f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 24 Jul 2012 13:35:11 +0000 Subject: [PATCH 700/914] Moved utility functions that are example-specific to a 'support' namespace inside the examples folder --- matlab/CMakeLists.txt | 6 ++---- matlab/VisualISAM_gui.fig | Bin 9761 -> 0 bytes .../+support}/VisualISAMGenerateData.m | 0 .../+support}/VisualISAMInitialize.m | 3 ++- matlab/{ => examples/+support}/VisualISAMPlot.m | 0 matlab/{ => examples/+support}/VisualISAMStep.m | 0 .../{ => +support}/findExampleDataFile.m | 4 ++-- matlab/examples/Pose2SLAMExample_graph.m | 2 +- matlab/examples/Pose3SLAMExample_graph.m | 2 +- matlab/examples/SBAExample.m | 2 +- matlab/examples/VisualISAMExample.m | 10 +++++----- matlab/examples/VisualISAM_gui.fig | Bin 0 -> 10226 bytes matlab/{ => examples}/VisualISAM_gui.m | 14 +++++++------- 13 files changed, 21 insertions(+), 22 deletions(-) delete mode 100644 matlab/VisualISAM_gui.fig rename matlab/{ => examples/+support}/VisualISAMGenerateData.m (100%) rename matlab/{ => examples/+support}/VisualISAMInitialize.m (93%) rename matlab/{ => examples/+support}/VisualISAMPlot.m (100%) rename matlab/{ => examples/+support}/VisualISAMStep.m (100%) rename matlab/examples/{ => +support}/findExampleDataFile.m (76%) create mode 100644 matlab/examples/VisualISAM_gui.fig rename matlab/{ => examples}/VisualISAM_gui.m (94%) diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 3e77de602..0b07b51b1 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -16,10 +16,8 @@ install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_te # Examples message(STATUS "Installing Matlab Toolbox Examples") # Matlab files: *.m and *.fig -file(GLOB matlab_examples_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.m") -file(GLOB matlab_examples_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/*.fig") -set(matlab_examples ${matlab_examples_m} ${matlab_examples_fig}) -install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples) +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.m") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.fig") message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt diff --git a/matlab/VisualISAM_gui.fig b/matlab/VisualISAM_gui.fig deleted file mode 100644 index 7140cbf7333b38b5712208c676d6da9caadbbf26..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 9761 zcma)hXEYpK)UFai^d6lMy#^uL=p|Z^=rsu{=56fIs5Fr*Ewgcy`JZkZJ_#6Usa7uMofasK=q}lv#Yz42-gdDM?YsT z9}oF|Hg(;n(jr{yK2DB)PH(xqJmtB}|Mky-o?MbrTu-FrCFSI$|0xoZPq_Yn#hDlH ze+6IHfa;&N#)F3k%11C8c(KXMEC#n4^lJxwOI0C?lIyD=sbW(p7&i~lRM&f|oAE#p zT&)y&AHZVIm!T0l`B?!{uvai1R0$& 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b/matlab/examples/VisualISAM_gui.m @@ -230,12 +230,12 @@ global frame_i truth data noiseModels isam result options initOptions(handles) % Generate Data -[data,truth] = VisualISAMGenerateData(options); +[data,truth] = support.VisualISAMGenerateData(options); % Initialize and plot -[noiseModels,isam,result] = VisualISAMInitialize(data,truth,options); +[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options); cla -VisualISAMPlot(truth, data, isam, result, options) +support.VisualISAMPlot(truth, data, isam, result, options) frame_i = 2; showFramei(hObject, handles) @@ -246,10 +246,10 @@ global frame_i truth data noiseModels isam result options while (frame_i Date: Tue, 24 Jul 2012 14:23:36 +0000 Subject: [PATCH 701/914] Wrapped GenericStereoFactor --- gtsam.h | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/gtsam.h b/gtsam.h index af2dc3a3b..869ee6a09 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1446,6 +1446,17 @@ virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor { gtsam::Point2 measured() const; }; + +#include +template +virtual class GenericStereoFactor : gtsam::NonlinearFactor { + 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; +}; +typedef gtsam::GenericStereoFactor GenericStereoFactor3D; + } //\namespace gtsam //************************************************************************* From b63201b20d50a31785f65407033279cf19068796 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 24 Jul 2012 14:23:39 +0000 Subject: [PATCH 702/914] Updated remaining matlab examples --- matlab/examples/SFMExample.m | 2 +- matlab/examples/StereoVOExample.m | 52 +++++++++++------------- matlab/examples/StereoVOExample_large.m | 48 +++++++++------------- matlab/examples/gtsamExamples.fig | Bin 10455 -> 10561 bytes matlab/examples/gtsamExamples.m | 11 ++--- 5 files changed, 50 insertions(+), 63 deletions(-) diff --git a/matlab/examples/SFMExample.m b/matlab/examples/SFMExample.m index 1416fb7e3..2153ba647 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/examples/SFMExample.m @@ -22,7 +22,7 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = VisualISAMGenerateData(options); +[data,truth] = support.VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; diff --git a/matlab/examples/StereoVOExample.m b/matlab/examples/StereoVOExample.m index 98e1b5845..468123529 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/examples/StereoVOExample.m @@ -22,12 +22,13 @@ x1 = symbol('x',1); x2 = symbol('x',2); l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); %% Create graph container and add factors to it -graph = visualSLAM.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% add a constraint on the starting pose import gtsam.* first_pose = Pose3(); -graph.addPoseConstraint(x1, first_pose); +graph.add(NonlinearEqualityPose3(x1, first_pose)); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline @@ -38,48 +39,41 @@ stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% Add measurements import gtsam.* % pose 1 -graph.addStereoMeasurement(StereoPoint2(520, 480, 440), stereo_model, x1, l1, K); -graph.addStereoMeasurement(StereoPoint2(120, 80, 440), stereo_model, x1, l2, K); -graph.addStereoMeasurement(StereoPoint2(320, 280, 140), stereo_model, x1, l3, K); +graph.add(GenericStereoFactor3D(StereoPoint2(520, 480, 440), stereo_model, x1, l1, K)); +graph.add(GenericStereoFactor3D(StereoPoint2(120, 80, 440), stereo_model, x1, l2, K)); +graph.add(GenericStereoFactor3D(StereoPoint2(320, 280, 140), stereo_model, x1, l3, K)); %pose 2 -graph.addStereoMeasurement(StereoPoint2(570, 520, 490), stereo_model, x2, l1, K); -graph.addStereoMeasurement(StereoPoint2( 70, 20, 490), stereo_model, x2, l2, K); -graph.addStereoMeasurement(StereoPoint2(320, 270, 115), stereo_model, x2, l3, K); +graph.add(GenericStereoFactor3D(StereoPoint2(570, 520, 490), stereo_model, x2, l1, K)); +graph.add(GenericStereoFactor3D(StereoPoint2( 70, 20, 490), stereo_model, x2, l2, K)); +graph.add(GenericStereoFactor3D(StereoPoint2(320, 270, 115), stereo_model, x2, l3, K)); %% Create initial estimate for camera poses and landmarks import gtsam.* -initialEstimate = visualSLAM.Values; -initialEstimate.insertPose(x1, first_pose); +initialEstimate = Values; +initialEstimate.insert(x1, first_pose); % noisy estimate for pose 2 -initialEstimate.insertPose(x2, Pose3(Rot3(), Point3(0.1,-.1,1.1))); -initialEstimate.insertPoint(l1, Point3( 1, 1, 5)); -initialEstimate.insertPoint(l2, Point3(-1, 1, 5)); -initialEstimate.insertPoint(l3, Point3( 0,-.5, 5)); +initialEstimate.insert(x2, Pose3(Rot3(), Point3(0.1,-.1,1.1))); +initialEstimate.insert(l1, Point3( 1, 1, 5)); +initialEstimate.insert(l2, Point3(-1, 1, 5)); +initialEstimate.insert(l3, Point3( 0,-.5, 5)); %% optimize fprintf(1,'Optimizing\n'); tic -result = graph.optimize(initialEstimate,1); +import gtsam.* +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); toc %% visualize initial trajectory, final trajectory, and final points cla; hold on; axis normal -axis([-1 6 -2 2 -1.5 1.5]); +axis([-1.5 1.5 -2 2 -1 6]); axis equal view(-38,12) +camup([0;1;0]); -% initial trajectory in red (rotated so Z is up) -T=initialEstimate.translations; -plot3(T(:,3),-T(:,1),-T(:,2), '-*r','LineWidth',2); - -% final trajectory in green (rotated so Z is up) -T=result.translations; -plot3(T(:,3),-T(:,1),-T(:,2), '-*g','LineWidth',2); -xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); - -% optimized 3D points (rotated so Z is up) -P = result.points(); -plot3(P(:,3),-P(:,1),-P(:,2),'*'); - +plot3DTrajectory(initialEstimate, 'r', 1, 0.3); +plot3DTrajectory(result, 'g', 1, 0.3); +plot3DPoints(result); diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/examples/StereoVOExample_large.m index 282f7162c..fb45dd8a7 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/examples/StereoVOExample_large.m @@ -13,73 +13,65 @@ %% Load calibration import gtsam.* % format: fx fy skew cx cy baseline -calib = dlmread('../../examples/Data/VO_calibration.txt'); +calib = dlmread(support.findExampleDataFile('VO_calibration.txt')); K = Cal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% create empty graph and values -graph = visualSLAM.Graph; -initial = visualSLAM.Values; +graph = NonlinearFactorGraph; +initial = Values; %% load the initial poses from VO % row format: camera_id 4x4 pose (row, major) import gtsam.* fprintf(1,'Reading data\n'); -cameras = dlmread('../../examples/Data/VO_camera_poses_large.txt'); +cameras = dlmread(support.findExampleDataFile('VO_camera_poses_large.txt')); for i=1:size(cameras,1) pose = Pose3(reshape(cameras(i,2:17),4,4)'); - initial.insertPose(symbol('x',cameras(i,1)),pose); + initial.insert(symbol('x',cameras(i,1)),pose); end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z import gtsam.* -measurements = dlmread('../../examples/Data/VO_stereo_factors_large.txt'); +measurements = dlmread(support.findExampleDataFile('VO_stereo_factors_large.txt')); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) sf = measurements(i,:); - graph.addStereoMeasurement(StereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... - symbol('x', sf(1)), symbol('l', sf(2)), K); + graph.add(GenericStereoFactor3D(StereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ... + symbol('x', sf(1)), symbol('l', sf(2)), K)); if ~initial.exists(symbol('l',sf(2))) % 3D landmarks are stored in camera coordinates: transform % to world coordinates using the respective initial pose - pose = initial.pose(symbol('x', sf(1))); + pose = initial.at(symbol('x', sf(1))); world_point = pose.transform_from(Point3(sf(6),sf(7),sf(8))); - initial.insertPoint(symbol('l',sf(2)), world_point); + initial.insert(symbol('l',sf(2)), world_point); end end toc %% add a constraint on the starting pose key = symbol('x',1); -first_pose = initial.pose(key); -graph.addPoseConstraint(key, first_pose); +first_pose = initial.at(key); +graph.add(NonlinearEqualityPose3(key, first_pose)); %% optimize fprintf(1,'Optimizing\n'); tic -result = graph.optimize(initial,1); +optimizer = LevenbergMarquardtOptimizer(graph, initial); +result = optimizer.optimizeSafely(); toc %% visualize initial trajectory, final trajectory, and final points -figure(1); clf; hold on; +cla; hold on; -% initial trajectory in red (rotated so Z is up) -plot3(initial.zs(),-initial.xs(),-initial.ys(), '-*r','LineWidth',2); +plot3DTrajectory(initial, 'r', 1, 0.5); +plot3DTrajectory(result, 'g', 1, 0.5); 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z(gK(_JyJ#Mi^vUd33+CazXK@~yw53VlTIQd7|gl`MuojQ}HX0&+Pj5c1x-k{?`}( zUVWj3_+q%-`T}|Sl%I9nnvV5D78juNeDt^17vj$R?)u`~o8i#KJXSlxFS-8-+wLOJ z4*&oFg8={lc%1E6J5Iwu5FM{SiIdo|q2Va$kx(ci3JT~fD;Omrax4Qv+<+r+1WHPd zz!7M;14m#tUdNA-6Nu7K>`0@x?|EkTdHpFiB%94cWoz*o<*G!Jj&g*%;qGq00*IR3JR<();GEe4+dh`&91(A6rZp zfT-Jms5^kDyMU;BfT(u>QSSnx?gOIU14O+Ki248!^#Bm{5D@htAnFmr{}gyHZ?yS8 zfZs@6KZg2%)qAX7@uO<^$>*xy;SufjKjeOlf8*cyH#Gi@f8*cyH~x)( Date: Tue, 24 Jul 2012 14:50:01 +0000 Subject: [PATCH 703/914] Fixed serialization for LieVector and LieMatrix --- gtsam/base/LieMatrix.h | 14 ++++++++++++ gtsam/base/LieVector.h | 12 ++++++++++ tests/testSerializationSLAM.cpp | 40 ++++++++++++++++----------------- 3 files changed, 46 insertions(+), 20 deletions(-) diff --git a/gtsam/base/LieMatrix.h b/gtsam/base/LieMatrix.h index 2ab15a054..5844e8201 100644 --- a/gtsam/base/LieMatrix.h +++ b/gtsam/base/LieMatrix.h @@ -22,6 +22,7 @@ #include #include #include +#include namespace gtsam { @@ -135,5 +136,18 @@ struct LieMatrix : public Matrix, public DerivedValue { static inline Vector Logmap(const LieMatrix& p) { return Eigen::Map(&p(0,0), p.dim()); } +private: + + // Serialization function + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int version) { + ar & boost::serialization::make_nvp("LieMatrix", + boost::serialization::base_object(*this)); + ar & boost::serialization::make_nvp("Matrix", + boost::serialization::base_object(*this)); + + } + }; } // \namespace gtsam diff --git a/gtsam/base/LieVector.h b/gtsam/base/LieVector.h index ef31e93cc..916730fd3 100644 --- a/gtsam/base/LieVector.h +++ b/gtsam/base/LieVector.h @@ -119,5 +119,17 @@ struct LieVector : public Vector, public DerivedValue { /** Logmap around identity - just returns with default cast back */ static inline Vector Logmap(const LieVector& p) { return p; } +private: + + // Serialization function + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int version) { + ar & boost::serialization::make_nvp("LieVector", + boost::serialization::base_object(*this)); + ar & boost::serialization::make_nvp("Vector", + boost::serialization::base_object(*this)); + } + }; } // \namespace gtsam diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index 27f74c222..c0cdb6a93 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -269,8 +269,8 @@ TEST (Serialization, factors) { Symbol b01('b',1), b02('b',2), b03('b',3), b04('b',4), b05('b',5), b06('b',6), b07('b',7), b08('b',8), b09('b',9), b10('b',10), b11('b',11), b12('b',12), b13('b',13); Values values; -// values.insert(a01, lieVector); -// values.insert(a02, lieMatrix); + values.insert(a01, lieVector); + values.insert(a02, lieMatrix); values.insert(a03, point2); values.insert(a04, stereoPoint2); values.insert(a05, point3); @@ -352,8 +352,8 @@ TEST (Serialization, factors) { NonlinearFactorGraph graph; -// graph.add(priorFactorLieVector); -// graph.add(priorFactorLieMatrix); + graph.add(priorFactorLieVector); + graph.add(priorFactorLieMatrix); graph.add(priorFactorPoint2); graph.add(priorFactorStereoPoint2); graph.add(priorFactorPoint3); @@ -366,8 +366,8 @@ TEST (Serialization, factors) { graph.add(priorFactorCalibratedCamera); graph.add(priorFactorSimpleCamera); -// graph.add(betweenFactorLieVector); -// graph.add(betweenFactorLieMatrix); + graph.add(betweenFactorLieVector); + graph.add(betweenFactorLieMatrix); graph.add(betweenFactorPoint2); graph.add(betweenFactorPoint3); graph.add(betweenFactorRot2); @@ -375,8 +375,8 @@ TEST (Serialization, factors) { graph.add(betweenFactorPose2); graph.add(betweenFactorPose3); -// graph.add(nonlinearEqualityLieVector); -// graph.add(nonlinearEqualityLieMatrix); + graph.add(nonlinearEqualityLieVector); + graph.add(nonlinearEqualityLieMatrix); graph.add(nonlinearEqualityPoint2); graph.add(nonlinearEqualityStereoPoint2); graph.add(nonlinearEqualityPoint3); @@ -412,8 +412,8 @@ TEST (Serialization, factors) { EXPECT(equalsObj(values)); EXPECT(equalsObj(graph)); -// EXPECT(equalsObj(priorFactorLieVector)); -// EXPECT(equalsObj(priorFactorLieMatrix)); + EXPECT(equalsObj(priorFactorLieVector)); + EXPECT(equalsObj(priorFactorLieMatrix)); EXPECT(equalsObj(priorFactorPoint2)); EXPECT(equalsObj(priorFactorStereoPoint2)); EXPECT(equalsObj(priorFactorPoint3)); @@ -426,8 +426,8 @@ TEST (Serialization, factors) { EXPECT(equalsObj(priorFactorCalibratedCamera)); EXPECT(equalsObj(priorFactorSimpleCamera)); -// EXPECT(equalsObj(betweenFactorLieVector)); -// EXPECT(equalsObj(betweenFactorLieMatrix)); + EXPECT(equalsObj(betweenFactorLieVector)); + EXPECT(equalsObj(betweenFactorLieMatrix)); EXPECT(equalsObj(betweenFactorPoint2)); EXPECT(equalsObj(betweenFactorPoint3)); EXPECT(equalsObj(betweenFactorRot2)); @@ -435,8 +435,8 @@ TEST (Serialization, factors) { EXPECT(equalsObj(betweenFactorPose2)); EXPECT(equalsObj(betweenFactorPose3)); -// EXPECT(equalsObj(nonlinearEqualityLieVector)); -// EXPECT(equalsObj(nonlinearEqualityLieMatrix)); + EXPECT(equalsObj(nonlinearEqualityLieVector)); + EXPECT(equalsObj(nonlinearEqualityLieMatrix)); EXPECT(equalsObj(nonlinearEqualityPoint2)); EXPECT(equalsObj(nonlinearEqualityStereoPoint2)); EXPECT(equalsObj(nonlinearEqualityPoint3)); @@ -472,8 +472,8 @@ TEST (Serialization, factors) { EXPECT(equalsXML(values)); EXPECT(equalsXML(graph)); -// EXPECT(equalsXML(priorFactorLieVector)); -// EXPECT(equalsXML(priorFactorLieMatrix)); + EXPECT(equalsXML(priorFactorLieVector)); + EXPECT(equalsXML(priorFactorLieMatrix)); EXPECT(equalsXML(priorFactorPoint2)); EXPECT(equalsXML(priorFactorStereoPoint2)); EXPECT(equalsXML(priorFactorPoint3)); @@ -486,8 +486,8 @@ TEST (Serialization, factors) { EXPECT(equalsXML(priorFactorCalibratedCamera)); EXPECT(equalsXML(priorFactorSimpleCamera)); -// EXPECT(equalsXML(betweenFactorLieVector)); -// EXPECT(equalsXML(betweenFactorLieMatrix)); + EXPECT(equalsXML(betweenFactorLieVector)); + EXPECT(equalsXML(betweenFactorLieMatrix)); EXPECT(equalsXML(betweenFactorPoint2)); EXPECT(equalsXML(betweenFactorPoint3)); EXPECT(equalsXML(betweenFactorRot2)); @@ -495,8 +495,8 @@ TEST (Serialization, factors) { EXPECT(equalsXML(betweenFactorPose2)); EXPECT(equalsXML(betweenFactorPose3)); -// EXPECT(equalsXML(nonlinearEqualityLieVector)); -// EXPECT(equalsXML(nonlinearEqualityLieMatrix)); + EXPECT(equalsXML(nonlinearEqualityLieVector)); + EXPECT(equalsXML(nonlinearEqualityLieMatrix)); EXPECT(equalsXML(nonlinearEqualityPoint2)); EXPECT(equalsXML(nonlinearEqualityStereoPoint2)); EXPECT(equalsXML(nonlinearEqualityPoint3)); From 6bee17b60332a19aabcd36dba64b92011c960d9e Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 24 Jul 2012 15:48:33 +0000 Subject: [PATCH 704/914] Added support for SPCG in matlab wrapper --- gtsam.h | 15 ++++++++ gtsam/nonlinear/DoglegOptimizer.h | 1 + gtsam/nonlinear/EasyFactorGraph.cpp | 2 +- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 1 + gtsam/nonlinear/NonlinearOptimizer.h | 1 + .../SuccessiveLinearizationOptimizer.h | 35 ++++++++++++++++--- 6 files changed, 49 insertions(+), 6 deletions(-) diff --git a/gtsam.h b/gtsam.h index 869ee6a09..e48ced5ee 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1209,13 +1209,22 @@ virtual class NonlinearOptimizerParams { virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams { SuccessiveLinearizationParams(); + string getLinearSolverType() const; + + void setLinearSolverType(string solver); void setOrdering(const gtsam::Ordering& ordering); + bool isMultifrontal() const; bool isSequential() const; bool isCholmod() const; bool isCG() const; }; +#include +virtual class GaussNewtonParams : gtsam::SuccessiveLinearizationParams { + GaussNewtonParams(); +}; + #include virtual class LevenbergMarquardtParams : gtsam::SuccessiveLinearizationParams { LevenbergMarquardtParams(); @@ -1243,6 +1252,7 @@ virtual class DoglegParams : gtsam::SuccessiveLinearizationParams { }; virtual class NonlinearOptimizer { + gtsam::Values optimize(); gtsam::Values optimizeSafely(); double error() const; int iterations() const; @@ -1250,6 +1260,11 @@ virtual class NonlinearOptimizer { void iterate() const; }; +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); +}; + 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); diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index 8a21dd96e..70d55d192 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -57,6 +57,7 @@ public: void setDeltaInitial(double deltaInitial) { this->deltaInitial = deltaInitial; } void setVerbosityDL(const std::string& verbosityDL) { this->verbosityDL = verbosityDLTranslator(verbosityDL); } +private: VerbosityDL verbosityDLTranslator(const std::string& verbosityDL) const; std::string verbosityDLTranslator(VerbosityDL verbosityDL) const; }; diff --git a/gtsam/nonlinear/EasyFactorGraph.cpp b/gtsam/nonlinear/EasyFactorGraph.cpp index 28e344efe..5031975f7 100644 --- a/gtsam/nonlinear/EasyFactorGraph.cpp +++ b/gtsam/nonlinear/EasyFactorGraph.cpp @@ -44,7 +44,7 @@ namespace gtsam { size_t verbosity) const { LevenbergMarquardtParams p; p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity; - p.linearSolverType = SuccessiveLinearizationParams::CG; + p.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT; p.iterativeParams = boost::make_shared(); return optimizer(initialEstimate, p).optimizeSafely(); } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 5677f6c08..4b3f8d391 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -61,6 +61,7 @@ public: inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; } inline void setVerbosityLM(const std::string &s) { verbosityLM = verbosityLMTranslator(s); } +private: VerbosityLM verbosityLMTranslator(const std::string &s) const; std::string verbosityLMTranslator(VerbosityLM value) const; }; diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h index 1c071faef..03f3a5e34 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.h +++ b/gtsam/nonlinear/NonlinearOptimizer.h @@ -63,6 +63,7 @@ public: void setErrorTol(double value) { errorTol = value ; } void setVerbosity(const std::string &src) { verbosity = verbosityTranslator(src); } +private: Verbosity verbosityTranslator(const std::string &s) const; std::string verbosityTranslator(Verbosity value) const; }; diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 2556134c0..b46686fe7 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -31,7 +31,7 @@ public: MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR, - CG, /* Experimental Flag */ + CONJUGATE_GRADIENT, /* Experimental Flag */ CHOLMOD, /* Experimental Flag */ }; @@ -61,7 +61,7 @@ public: case CHOLMOD: std::cout << " linear solver type: CHOLMOD\n"; break; - case CG: + case CONJUGATE_GRADIENT: std::cout << " linear solver type: CG\n"; break; default: @@ -85,9 +85,7 @@ public: inline bool isCholmod() const { return (linearSolverType == CHOLMOD); } - inline bool isCG() const { return (linearSolverType == CG); } - - void setOrdering(const Ordering& ordering) { this->ordering = ordering; } + inline bool isCG() const { return (linearSolverType == CONJUGATE_GRADIENT); } GaussianFactorGraph::Eliminate getEliminationFunction() { switch (linearSolverType) { @@ -105,6 +103,33 @@ public: break; } } + + std::string getLinearSolverType() const { return linearSolverTranslator(linearSolverType); } + + void setLinearSolverType(const std::string& solver) { linearSolverType = linearSolverTranslator(solver); } + void setOrdering(const Ordering& ordering) { this->ordering = ordering; } + +private: + std::string linearSolverTranslator(LinearSolverType linearSolverType) const { + switch(linearSolverType) { + case MULTIFRONTAL_CHOLESKY: return "MULTIFRONTAL_CHOLESKY"; + case MULTIFRONTAL_QR: return "MULTIFRONTAL_QR"; + case SEQUENTIAL_CHOLESKY: return "SEQUENTIAL_CHOLESKY"; + case SEQUENTIAL_QR: return "SEQUENTIAL_QR"; + case CONJUGATE_GRADIENT: return "CONJUGATE_GRADIENT"; + case CHOLMOD: return "CHOLMOD"; + default: throw std::invalid_argument("Unknown linear solver type in SuccessiveLinearizationOptimizer"); + } + } + LinearSolverType linearSolverTranslator(const std::string& linearSolverType) const { + if(linearSolverType == "MULTIFRONTAL_CHOLESKY") return MULTIFRONTAL_CHOLESKY; + if(linearSolverType == "MULTIFRONTAL_QR") return MULTIFRONTAL_QR; + if(linearSolverType == "SEQUENTIAL_CHOLESKY") return SEQUENTIAL_CHOLESKY; + if(linearSolverType == "SEQUENTIAL_QR") return SEQUENTIAL_QR; + if(linearSolverType == "CONJUGATE_GRADIENT") return CONJUGATE_GRADIENT; + if(linearSolverType == "CHOLMOD") return CHOLMOD; + throw std::invalid_argument("Unknown linear solver type in SuccessiveLinearizationOptimizer"); + } }; } /* namespace gtsam */ From 1724267c852523e71d27da6dcc9c857388ab94f2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 24 Jul 2012 15:48:39 +0000 Subject: [PATCH 705/914] Updating matlab unit tests --- matlab/tests/testLocalizationExample.m | 37 +++++++++++--------- matlab/tests/testOdometryExample.m | 24 +++++++------ matlab/tests/testPlanarSLAMExample.m | 37 +++++++++++--------- matlab/tests/testPose2SLAMExample.m | 48 ++++++++++++++++---------- matlab/tests/testPose3SLAMExample.m | 35 ++++++++++--------- matlab/tests/testSFMExample.m | 36 +++++++++---------- 6 files changed, 118 insertions(+), 99 deletions(-) diff --git a/matlab/tests/testLocalizationExample.m b/matlab/tests/testLocalizationExample.m index 35c16d85f..bbe91641d 100644 --- a/matlab/tests/testLocalizationExample.m +++ b/matlab/tests/testLocalizationExample.m @@ -11,41 +11,46 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAM.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% Add two odometry factors import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addRelativePose(1, 2, odometry, odometryNoise); -graph.addRelativePose(2, 3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta import gtsam.* -groundTruth = pose2SLAM.Values; -groundTruth.insertPose(1, Pose2(0.0, 0.0, 0.0)); -groundTruth.insertPose(2, Pose2(2.0, 0.0, 0.0)); -groundTruth.insertPose(3, Pose2(4.0, 0.0, 0.0)); +groundTruth = Values; +groundTruth.insert(1, Pose2(0.0, 0.0, 0.0)); +groundTruth.insert(2, Pose2(2.0, 0.0, 0.0)); +groundTruth.insert(3, Pose2(4.0, 0.0, 0.0)); model = noiseModel.Diagonal.Sigmas([0.1; 0.1; 10]); for i=1:3 - graph.addPosePrior(i, groundTruth.pose(i), model); + graph.add(PriorFactorPose2(i, groundTruth.at(i), model)); end %% Initialize to noisy points -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); +import gtsam.* +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,0); +import gtsam.* +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); %% Plot Covariance Ellipses -marginals = graph.marginals(result); +import gtsam.* +marginals = Marginals(graph, result); P={}; for i=1:result.size() - pose_i = result.pose(i); - CHECK('pose_i.equals(groundTruth.pose(i)',pose_i.equals(groundTruth.pose(i),1e-4)); + pose_i = result.at(i); + CHECK('pose_i.equals(groundTruth.pose(i)',pose_i.equals(groundTruth.at(i),1e-4)); P{i}=marginals.marginalCovariance(i); end diff --git a/matlab/tests/testOdometryExample.m b/matlab/tests/testOdometryExample.m index e793df9a8..17b90157a 100644 --- a/matlab/tests/testOdometryExample.m +++ b/matlab/tests/testOdometryExample.m @@ -11,33 +11,35 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = pose2SLAM.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% Add a Gaussian prior on pose x_1 import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta -graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add two odometry factors import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta -graph.addRelativePose(1, 2, odometry, odometryNoise); -graph.addRelativePose(2, 3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Initialize to noisy points import gtsam.* -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, 0.1)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,0); -marginals = graph.marginals(result); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); +marginals = Marginals(graph, result); marginals.marginalCovariance(1); %% Check first pose equality -pose_1 = result.pose(1); +pose_1 = result.at(1); CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); diff --git a/matlab/tests/testPlanarSLAMExample.m b/matlab/tests/testPlanarSLAMExample.m index 4c3e6c9da..c6d4cb352 100644 --- a/matlab/tests/testPlanarSLAMExample.m +++ b/matlab/tests/testPlanarSLAMExample.m @@ -24,49 +24,52 @@ i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it -graph = planarSLAM.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% Add prior import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPosePrior(i1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph %% Add odometry import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(i1, i2, odometry, odometryNoise); -graph.addRelativePose(i2, i3, odometry, odometryNoise); +graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); +graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Add bearing/range measurement factors import gtsam.* degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); -graph.addBearingRange(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise); -graph.addBearingRange(i2, j1, Rot2(90*degrees), 2, brNoise); -graph.addBearingRange(i3, j2, Rot2(90*degrees), 2, brNoise); +graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); +graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); +graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); %% Initialize to noisy points import gtsam.* -initialEstimate = planarSLAM.Values; -initialEstimate.insertPose(i1, Pose2(0.5, 0.0, 0.2)); -initialEstimate.insertPose(i2, Pose2(2.3, 0.1,-0.2)); -initialEstimate.insertPose(i3, Pose2(4.1, 0.1, 0.1)); -initialEstimate.insertPoint(j1, Point2(1.8, 2.1)); -initialEstimate.insertPoint(j2, Point2(4.1, 1.8)); +initialEstimate = Values; +initialEstimate.insert(i1, Pose2(0.5, 0.0, 0.2)); +initialEstimate.insert(i2, Pose2(2.3, 0.1,-0.2)); +initialEstimate.insert(i3, Pose2(4.1, 0.1, 0.1)); +initialEstimate.insert(j1, Point2(1.8, 2.1)); +initialEstimate.insert(j2, Point2(4.1, 1.8)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,0); -marginals = graph.marginals(result); +import gtsam.* +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); +marginals = Marginals(graph, result); %% Check first pose and point equality import gtsam.* -pose_1 = result.pose(symbol('x',1)); +pose_1 = result.at(symbol('x',1)); marginals.marginalCovariance(symbol('x',1)); CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); -point_1 = result.point(symbol('l',1)); +point_1 = result.at(symbol('l',1)); marginals.marginalCovariance(symbol('l',1)); CHECK('point_1.equals(Point2(2,2),1e-4)',point_1.equals(Point2(2,2),1e-4)); diff --git a/matlab/tests/testPose2SLAMExample.m b/matlab/tests/testPose2SLAMExample.m index cd778cba3..9d934aab9 100644 --- a/matlab/tests/testPose2SLAMExample.m +++ b/matlab/tests/testPose2SLAMExample.m @@ -19,50 +19,60 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -graph = pose2SLAM.Graph; +import gtsam.* +graph = NonlinearFactorGraph; %% Add prior import gtsam.* % gaussian for prior priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.addPosePrior(1, priorMean, priorNoise); % add directly to graph +graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry % general noisemodel for odometry import gtsam.* odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise); -graph.addRelativePose(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise); -graph.addRelativePose(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise); +graph.add(BetweenFactorPose2(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); +graph.add(BetweenFactorPose2(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise)); +graph.add(BetweenFactorPose2(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise)); +graph.add(BetweenFactorPose2(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise)); %% Add pose constraint import gtsam.* model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.addRelativePose(5, 2, Pose2(2.0, 0.0, pi/2), model); +graph.add(BetweenFactorPose2(5, 2, Pose2(2.0, 0.0, pi/2), model)); %% Initialize to noisy points import gtsam.* -initialEstimate = pose2SLAM.Values; -initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2 )); -initialEstimate.insertPose(2, Pose2(2.3, 0.1,-0.2 )); -initialEstimate.insertPose(3, Pose2(4.1, 0.1, pi/2)); -initialEstimate.insertPose(4, Pose2(4.0, 2.0, pi )); -initialEstimate.insertPose(5, Pose2(2.1, 2.1,-pi/2)); +initialEstimate = Values; +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2 )); +initialEstimate.insert(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initialEstimate,0); -resultSPCG = graph.optimizeSPCG(initialEstimate,0); +import gtsam.* +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimizeSafely(); + +%% Optimize using SPCG +%import gtsam.* +%params = LevenbergMarquardtParams; +%params.setLinearSolverType('CONJUGATE_GRADIENT'); +%optimizerSPCG = LevenbergMarquardtOptimizer(graph, initialEstimate, params); +%resultSPCG = optimizerSPCG.optimize(); %% Plot Covariance Ellipses -marginals = graph.marginals(result); +import gtsam.* +marginals = Marginals(graph, result); P = marginals.marginalCovariance(1); -pose_1 = result.pose(1); +pose_1 = result.at(1); CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); -poseSPCG_1 = resultSPCG.pose(1); -CHECK('poseSPCG_1.equals(Pose2,1e-4)',poseSPCG_1.equals(Pose2,1e-4)); +%poseSPCG_1 = resultSPCG.at(1); +%CHECK('poseSPCG_1.equals(Pose2,1e-4)',poseSPCG_1.equals(Pose2,1e-4)); diff --git a/matlab/tests/testPose3SLAMExample.m b/matlab/tests/testPose3SLAMExample.m index ac3c0d5bb..0d47990e8 100644 --- a/matlab/tests/testPose3SLAMExample.m +++ b/matlab/tests/testPose3SLAMExample.m @@ -17,31 +17,32 @@ p1 = hexagon.pose(1); %% create a Pose graph with one equality constraint and one measurement import gtsam.* -fg = pose3SLAM.Graph; -fg.addPoseConstraint(0, p0); +fg = NonlinearFactorGraph; +fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); covariance = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -fg.addRelativePose(0,1, delta, covariance); -fg.addRelativePose(1,2, delta, covariance); -fg.addRelativePose(2,3, delta, covariance); -fg.addRelativePose(3,4, delta, covariance); -fg.addRelativePose(4,5, delta, covariance); -fg.addRelativePose(5,0, delta, covariance); +fg.add(BetweenFactorPose3(0,1, delta, covariance)); +fg.add(BetweenFactorPose3(1,2, delta, covariance)); +fg.add(BetweenFactorPose3(2,3, delta, covariance)); +fg.add(BetweenFactorPose3(3,4, delta, covariance)); +fg.add(BetweenFactorPose3(4,5, delta, covariance)); +fg.add(BetweenFactorPose3(5,0, delta, covariance)); %% Create initial config -initial = pose3SLAM.Values; +initial = Values; s = 0.10; -initial.insertPose(0, p0); -initial.insertPose(1, hexagon.pose(1).retract(s*randn(6,1))); -initial.insertPose(2, hexagon.pose(2).retract(s*randn(6,1))); -initial.insertPose(3, hexagon.pose(3).retract(s*randn(6,1))); -initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1))); -initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1))); +initial.insert(0, p0); +initial.insert(1, hexagon.pose(1).retract(s*randn(6,1))); +initial.insert(2, hexagon.pose(2).retract(s*randn(6,1))); +initial.insert(3, hexagon.pose(3).retract(s*randn(6,1))); +initial.insert(4, hexagon.pose(4).retract(s*randn(6,1))); +initial.insert(5, hexagon.pose(5).retract(s*randn(6,1))); %% optimize -result = fg.optimize(initial,0); +optimizer = LevenbergMarquardtOptimizer(fg, initial); +result = optimizer.optimizeSafely; -pose_1 = result.pose(1); +pose_1 = result.at(1); CHECK('pose_1.equals(Pose3,1e-4)',pose_1.equals(p1,1e-4)); diff --git a/matlab/tests/testSFMExample.m b/matlab/tests/testSFMExample.m index b3595dc18..d83517c7e 100644 --- a/matlab/tests/testSFMExample.m +++ b/matlab/tests/testSFMExample.m @@ -10,17 +10,19 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + options.triangle = false; options.nrCameras = 10; options.showImages = false; -[data,truth] = VisualISAMGenerateData(options); +[data,truth] = support.VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; -graph = visualSLAM.Graph; +graph = NonlinearFactorGraph; %% Add factors for all measurements import gtsam.* @@ -28,47 +30,43 @@ measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) j = data.J{i}{k}; - graph.addMeasurement(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('p',j), data.K); + graph.add(GenericProjectionFactorCal3_S2(data.Z{i}{k}, measurementNoise, symbol('x',i), symbol('p',j), data.K)); end end posePriorNoise = noiseModel.Diagonal.Sigmas(poseNoiseSigmas); -graph.addPosePrior(symbol('x',1), truth.cameras{1}.pose, posePriorNoise); +graph.add(PriorFactorPose3(symbol('x',1), truth.cameras{1}.pose, posePriorNoise)); pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); -graph.addPointPrior(symbol('p',1), truth.points{1}, pointPriorNoise); +graph.add(PriorFactorPose3(symbol('p',1), truth.points{1}, pointPriorNoise)); %% Initial estimate -initialEstimate = visualSLAM.Values; +initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose; - initialEstimate.insertPose(symbol('x',i), pose_i); + initialEstimate.insert(symbol('x',i), pose_i); end for j=1:size(truth.points,2) point_j = truth.points{j}; - initialEstimate.insertPoint(symbol('p',j), point_j); + initialEstimate.insert(symbol('p',j), point_j); end %% Optimization import gtsam.* -parameters = LevenbergMarquardtParams; -optimizer = graph.optimizer(initialEstimate, parameters); +optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); for i=1:5 optimizer.iterate(); end result = optimizer.values(); %% Marginalization -marginals = graph.marginals(result); +marginals = Marginals(graph, result); marginals.marginalCovariance(symbol('p',1)); marginals.marginalCovariance(symbol('x',1)); %% Check optimized results, should be equal to ground truth -for i=1:size(truth.cameras,2) - pose_i = result.pose(symbol('x',i)); - CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5)) -end - -for j=1:size(truth.points,2) - point_j = result.point(symbol('p',j)); - CHECK('point_j.equals(truth.points{j},1e-5)',point_j.equals(truth.points{j},1e-5)) +keys = truth.keys; +for i=0:keys.size-1 + truth_i = truth.at(keys.at(i)); + result_i = result.at(keys.at(i)); + CHECK('result_i.equals(truth_i,1e-5)',result_i.equals(truth_i,1e-5)) end From a66a42189cd9bcb6c9a595a7650003e0c85279b4 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 24 Jul 2012 20:44:13 +0000 Subject: [PATCH 706/914] fixes for Boost 1.50 --- CMakeLists.txt | 2 +- gtsam/CMakeLists.txt | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 66fc43c50..d94f259f9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -109,7 +109,7 @@ if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex REQUIRED) -set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY}) +set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY}) # General build settings include_directories( diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 39ae67507..56bce727b 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -85,7 +85,7 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") if (GTSAM_BUILD_STATIC_LIBRARY) message(STATUS "Building GTSAM - static") add_library(gtsam-static STATIC ${gtsam_srcs}) - target_link_libraries(gtsam-static ${Boost_SERIALIZATION_LIBRARY}) + target_link_libraries(gtsam-static ${GTSAM_BOOST_LIBRARIES}) set_target_properties(gtsam-static PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 @@ -100,7 +100,7 @@ endif (GTSAM_BUILD_STATIC_LIBRARY) if (GTSAM_BUILD_SHARED_LIBRARY) message(STATUS "Building GTSAM - shared") add_library(gtsam-shared SHARED ${gtsam_srcs}) - target_link_libraries(gtsam-shared ${Boost_SERIALIZATION_LIBRARY}) + target_link_libraries(gtsam-shared ${GTSAM_BOOST_LIBRARIES}) set_target_properties(gtsam-shared PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 From 168ddf5457ce57377d49d6aabb42f336f27ca39e Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 24 Jul 2012 21:06:33 +0000 Subject: [PATCH 707/914] add Cal3DS2.calibrate() with fixed point iteration reorg nonlinear conjugate gradient solvers wrapper for the linear solvers --- gtsam/geometry/Cal3DS2.cpp | 30 ++++ gtsam/geometry/Cal3DS2.h | 3 + gtsam/geometry/Cal3_S2.h | 4 +- gtsam/geometry/tests/testCal3DS2.cpp | 10 +- gtsam/nonlinear/GaussNewtonOptimizer.cpp | 20 +-- gtsam/nonlinear/GradientDescentOptimizer.cpp | 138 ------------------ .../nonlinear/LevenbergMarquardtOptimizer.cpp | 35 +---- .../NonlinearConjugateGradientOptimizer.cpp | 64 ++++++++ ... => NonlinearConjugateGradientOptimizer.h} | 114 +++++---------- .../SuccessiveLinearizationOptimizer.cpp | 81 ++++++++++ .../SuccessiveLinearizationOptimizer.h | 42 +----- tests/testGradientDescentOptimizer.cpp | 56 +------ 12 files changed, 236 insertions(+), 361 deletions(-) delete mode 100644 gtsam/nonlinear/GradientDescentOptimizer.cpp create mode 100644 gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp rename gtsam/nonlinear/{GradientDescentOptimizer.h => NonlinearConjugateGradientOptimizer.h} (71%) create mode 100644 gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp diff --git a/gtsam/geometry/Cal3DS2.cpp b/gtsam/geometry/Cal3DS2.cpp index dcb6d6d54..8f15f81d2 100644 --- a/gtsam/geometry/Cal3DS2.cpp +++ b/gtsam/geometry/Cal3DS2.cpp @@ -78,6 +78,36 @@ Point2 Cal3DS2::uncalibrate(const Point2& p, return Point2(fx_* x2 + s_ * y2 + u0_, fy_ * y2 + v0_) ; } +/* ************************************************************************* */ +Point2 Cal3DS2::calibrate(const Point2& pi, const double tol) 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_)); + + // 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 ( uncalibrate(pn).dist(pi) <= tol ) break; + const double x = pn.x(), y = pn.y(), xy = x*y, xx = x*x, yy = y*y ; + const double r = xx + yy ; + const double g = (1+k1_*r+k2_*r*r) ; + const double dx = 2*k3_*xy + k4_*(r+2*xx) ; + const double dy = 2*k4_*xy + k3_*(r+2*yy) ; + pn = (invKPi - Point2(dx,dy))/g ; + } + + if ( iteration >= maxIterations ) + throw std::runtime_error("Cal3DS2::calibrate fails to converge. need a better initialization"); + + return pn; +} + /* ************************************************************************* */ Matrix Cal3DS2::D2d_intrinsic(const Point2& p) const { //const double fx = fx_, fy = fy_, s = s_ ; diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index d26b9a19d..d33b452c1 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -96,6 +96,9 @@ public: boost::optional H1 = boost::none, boost::optional H2 = boost::none) const ; + /// Conver a pixel coordinate to ideal coordinate + Point2 calibrate(const Point2& p, const double tol=1e-5) const; + /// Derivative of uncalibrate wrpt intrinsic coordinates Matrix D2d_intrinsic(const Point2& p) const ; diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index 9d6cb4fbf..3c88aaeb2 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -136,8 +136,8 @@ namespace gtsam { /// convert image coordinates uv to intrinsic coordinates xy Point2 calibrate(const Point2& p) const { const double u = p.x(), v = p.y(); - return Point2((1 / fx_) * (u - u0_ - (s_ / fy_) * (v - v0_)), (1 / fy_) - * (v - v0_)); + return Point2((1 / fx_) * (u - u0_ - (s_ / fy_) * (v - v0_)), + (1 / fy_) * (v - v0_)); } /// @} diff --git a/gtsam/geometry/tests/testCal3DS2.cpp b/gtsam/geometry/tests/testCal3DS2.cpp index 9f8777e49..c73ae1182 100644 --- a/gtsam/geometry/tests/testCal3DS2.cpp +++ b/gtsam/geometry/tests/testCal3DS2.cpp @@ -29,7 +29,7 @@ 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, calibrate) +TEST( Cal3DS2, uncalibrate) { Vector k = K.k() ; double r = p.x()*p.x() + p.y()*p.y() ; @@ -43,6 +43,14 @@ TEST( Cal3DS2, calibrate) CHECK(assert_equal(q,p_i)); } +TEST( Cal3DS2, calibrate ) +{ + Point2 pn(0.5, 0.5); + Point2 pi = K.uncalibrate(pn); + Point2 pn_hat = K.calibrate(pi); + CHECK( pn.equals(pn_hat, 1e-5)); +} + Point2 uncalibrate_(const Cal3DS2& k, const Point2& pt) { return k.uncalibrate(pt); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp index c447a39e3..05ba56a21 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp +++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp @@ -16,8 +16,6 @@ * @date Feb 26, 2012 */ -#include -#include #include using namespace std; @@ -32,22 +30,8 @@ void GaussNewtonOptimizer::iterate() { // Linearize graph GaussianFactorGraph::shared_ptr linear = graph_.linearize(current.values, *params_.ordering); - // Optimize - VectorValues delta; - { - if ( params_.isMultifrontal() ) { - delta = GaussianJunctionTree(*linear).optimize(params_.getEliminationFunction()); - } - else if ( params_.isSequential() ) { - delta = gtsam::optimize(*EliminationTree::Create(*linear)->eliminate(params_.getEliminationFunction())); - } - else if ( params_.isCG() ) { - throw runtime_error("todo: "); - } - else { - throw runtime_error("Optimization parameter is invalid: GaussNewtonParams::elimination"); - } - } + // Solve Factor Graph + const VectorValues delta = solveGaussianFactorGraph(*linear, params_); // Maybe show output if(params_.verbosity >= NonlinearOptimizerParams::DELTA) delta.print("delta"); diff --git a/gtsam/nonlinear/GradientDescentOptimizer.cpp b/gtsam/nonlinear/GradientDescentOptimizer.cpp deleted file mode 100644 index 4a471de4d..000000000 --- a/gtsam/nonlinear/GradientDescentOptimizer.cpp +++ /dev/null @@ -1,138 +0,0 @@ -/** - * @file GradientDescentOptimizer.cpp - * @brief - * @author ydjian - * @date Jun 11, 2012 - */ - -#include -#include -#include -#include -#include - -#include - -using namespace std; - -namespace gtsam { - -/** - * Return the gradient vector of a nonlinear factor given a linearization point and a variable ordering - * Can be moved to NonlinearFactorGraph.h if desired - */ -void gradientInPlace(const NonlinearFactorGraph &nfg, const Values &values, const Ordering &ordering, VectorValues &g) { - - // Linearize graph - GaussianFactorGraph::shared_ptr linear = nfg.linearize(values, ordering); - FactorGraph jfg; jfg.reserve(linear->size()); - BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, *linear) { - if(boost::shared_ptr jf = boost::dynamic_pointer_cast(factor)) - jfg.push_back((jf)); - else - jfg.push_back(boost::make_shared(*factor)); - } - - // compute the gradient direction - gradientAtZero(jfg, g); -} - - -/* ************************************************************************* */ -void GradientDescentOptimizer::iterate() { - - - // Pull out parameters we'll use - const NonlinearOptimizerParams::Verbosity nloVerbosity = params_.verbosity; - - // compute the gradient vector - gradientInPlace(graph_, state_.values, *ordering_, *gradient_); - - /* normalize it such that it becomes a unit vector */ - const double g = gradient_->vector().norm(); - gradient_->vector() /= g; - - // perform the golden section search algorithm to decide the the optimal step size - // detail refer to http://en.wikipedia.org/wiki/Golden_section_search - VectorValues step = VectorValues::SameStructure(*gradient_); - const double phi = 0.5*(1.0+std::sqrt(5.0)), resphi = 2.0 - phi, tau = 1e-5; - double minStep = -1.0, maxStep = 0, - newStep = minStep + (maxStep-minStep) / (phi+1.0) ; - - step.vector() = newStep * gradient_->vector(); - Values newValues = state_.values.retract(step, *ordering_); - double newError = graph_.error(newValues); - - if ( nloVerbosity ) { - std::cout << "minStep = " << minStep << ", maxStep = " << maxStep << ", newStep = " << newStep << ", newError = " << newError << std::endl; - } - - while (true) { - const bool flag = (maxStep - newStep > newStep - minStep) ? true : false ; - const double testStep = flag ? - newStep + resphi * (maxStep - newStep) : newStep - resphi * (newStep - minStep); - - if ( (maxStep- minStep) < tau * (std::fabs(testStep) + std::fabs(newStep)) ) { - newStep = 0.5*(minStep+maxStep); - step.vector() = newStep * gradient_->vector(); - newValues = state_.values.retract(step, *ordering_); - newError = graph_.error(newValues); - - if ( newError < state_.error ) { - state_.values = state_.values.retract(step, *ordering_); - state_.error = graph_.error(state_.values); - } - - break; - } - - step.vector() = testStep * gradient_->vector(); - const Values testValues = state_.values.retract(step, *ordering_); - const double testError = graph_.error(testValues); - - // update the working range - if ( testError >= newError ) { - if ( flag ) maxStep = testStep; - else minStep = testStep; - } - else { - if ( flag ) { - minStep = newStep; - newStep = testStep; - newError = testError; - } - else { - maxStep = newStep; - newStep = testStep; - newError = testError; - } - } - - if ( nloVerbosity ) { - std::cout << "minStep = " << minStep << ", maxStep = " << maxStep << ", newStep = " << newStep << ", newError = " << newError << std::endl; - } - } - // Increment the iteration counter - ++state_.iterations; -} - -double ConjugateGradientOptimizer::System::error(const State &state) const { - return graph_.error(state); -} - -ConjugateGradientOptimizer::System::Gradient ConjugateGradientOptimizer::System::gradient(const State &state) const { - Gradient result = state.zeroVectors(ordering_); - gradientInPlace(graph_, state, ordering_, result); - return result; -} -ConjugateGradientOptimizer::System::State ConjugateGradientOptimizer::System::advance(const State ¤t, const double alpha, const Gradient &g) const { - Gradient step = g; - step.vector() *= alpha; - return current.retract(step, ordering_); -} - -Values ConjugateGradientOptimizer::optimize() { - return conjugateGradient(System(graph_, *ordering_), initialEstimate_, params_, !cg_); -} - -} /* namespace gtsam */ diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 15c2262fa..256763c59 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -19,12 +19,9 @@ #include #include +#include #include // For NegativeMatrixException -#include -#include -#include -#include #include #include @@ -106,34 +103,8 @@ void LevenbergMarquardtOptimizer::iterate() { // Try solving try { - - // Optimize - VectorValues delta; - if ( params_.isMultifrontal() ) { - delta = GaussianJunctionTree(dampedSystem).optimize(params_.getEliminationFunction()); - } - else if ( params_.isSequential() ) { - delta = gtsam::optimize(*EliminationTree::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); - } - else if ( params_.isCG() ) { - - if ( !params_.iterativeParams ) throw runtime_error("LMSolver: cg parameter has to be assigned ..."); - - if ( boost::dynamic_pointer_cast(params_.iterativeParams)) { - SimpleSPCGSolver solver (dampedSystem, *boost::dynamic_pointer_cast(params_.iterativeParams)); - delta = solver.optimize(); - } - else if ( boost::dynamic_pointer_cast(params_.iterativeParams) ) { - SubgraphSolver solver (dampedSystem, *boost::dynamic_pointer_cast(params_.iterativeParams)); - delta = solver.optimize(); - } - else { - throw runtime_error("LMSolver: special cg parameter type is not handled in LM solver ..."); - } - } - else { - throw runtime_error("Optimization parameter is invalid: LevenbergMarquardtParams::elimination"); - } + // Solve Damped Gaussian Factor Graph + const VectorValues delta = solveGaussianFactorGraph(dampedSystem, params_); if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "linear delta norm = " << delta.vector().norm() << endl; if (lmVerbosity >= LevenbergMarquardtParams::TRYDELTA) delta.print("delta"); diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp new file mode 100644 index 000000000..f0b3852ef --- /dev/null +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp @@ -0,0 +1,64 @@ +/** + * @file GradientDescentOptimizer.cpp + * @brief + * @author ydjian + * @date Jun 11, 2012 + */ + +#include +#include +#include +#include +#include + +#include + +using namespace std; + +namespace gtsam { + +/* Return the gradient vector of a nonlinear factor given a linearization point and a variable ordering + * Can be moved to NonlinearFactorGraph.h if desired */ +void gradientInPlace(const NonlinearFactorGraph &nfg, const Values &values, const Ordering &ordering, VectorValues &g) { + // Linearize graph + GaussianFactorGraph::shared_ptr linear = nfg.linearize(values, ordering); + FactorGraph jfg; jfg.reserve(linear->size()); + BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, *linear) { + if(boost::shared_ptr jf = boost::dynamic_pointer_cast(factor)) + jfg.push_back((jf)); + else + jfg.push_back(boost::make_shared(*factor)); + } + // compute the gradient direction + gradientAtZero(jfg, g); +} + +double NonlinearConjugateGradientOptimizer::System::error(const State &state) const { + return graph_.error(state); +} + +NonlinearConjugateGradientOptimizer::System::Gradient NonlinearConjugateGradientOptimizer::System::gradient(const State &state) const { + Gradient result = state.zeroVectors(ordering_); + gradientInPlace(graph_, state, ordering_, result); + return result; +} +NonlinearConjugateGradientOptimizer::System::State NonlinearConjugateGradientOptimizer::System::advance(const State ¤t, const double alpha, const Gradient &g) const { + Gradient step = g; + step.vector() *= alpha; + return current.retract(step, ordering_); +} + +void NonlinearConjugateGradientOptimizer::iterate() { + size_t dummy ; + boost::tie(state_.values, dummy) = nonlinearConjugateGradient(System(graph_, *ordering_), state_.values, params_, true /* single iterations */); + ++state_.iterations; + state_.error = graph_.error(state_.values); +} + +const Values& NonlinearConjugateGradientOptimizer::optimize() { + boost::tie(state_.values, state_.iterations) = nonlinearConjugateGradient(System(graph_, *ordering_), state_.values, params_, false /* up to convergent */); + state_.error = graph_.error(state_.values); + return state_.values; +} + +} /* namespace gtsam */ diff --git a/gtsam/nonlinear/GradientDescentOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h similarity index 71% rename from gtsam/nonlinear/GradientDescentOptimizer.h rename to gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h index 2407ee39f..5bac11f5e 100644 --- a/gtsam/nonlinear/GradientDescentOptimizer.h +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h @@ -1,7 +1,7 @@ /** * @file GradientDescentOptimizer.cpp * @brief - * @author ydjian + * @author Yong-Dian Jian * @date Jun 11, 2012 */ @@ -9,75 +9,31 @@ #include #include +#include namespace gtsam { -/* an implementation of gradient-descent method using the NLO interface */ - -class GradientDescentState : public NonlinearOptimizerState { - +/** An implementation of the nonlinear cg method using the template below */ +class NonlinearConjugateGradientState : public NonlinearOptimizerState { public: - typedef NonlinearOptimizerState Base; - - GradientDescentState(const NonlinearFactorGraph& graph, const Values& values) + NonlinearConjugateGradientState(const NonlinearFactorGraph& graph, const Values& values) : Base(graph, values) {} }; -class GradientDescentOptimizer : public NonlinearOptimizer { - -public: - - typedef boost::shared_ptr shared_ptr; - typedef NonlinearOptimizer Base; - typedef GradientDescentState States; - typedef NonlinearOptimizerParams Parameters; - -protected: - - Parameters params_; - States state_; - Ordering::shared_ptr ordering_; - VectorValues::shared_ptr gradient_; - -public: - - GradientDescentOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params = Parameters()) - : Base(graph), params_(params), state_(graph, initialValues), - ordering_(initialValues.orderingArbitrary()), - gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))) {} - - virtual ~GradientDescentOptimizer() {} - - virtual void iterate(); - -protected: - - virtual const NonlinearOptimizerState& _state() const { return state_; } - virtual const NonlinearOptimizerParams& _params() const { return params_; } -}; - - -/** - * An implementation of the nonlinear cg method using the template below - */ - -class ConjugateGradientOptimizer { - +class NonlinearConjugateGradientOptimizer : public NonlinearOptimizer { + /* a class for the nonlinearConjugateGradient template */ class System { - public: - typedef Values State; typedef VectorValues Gradient; + typedef NonlinearOptimizerParams Parameters; protected: - - NonlinearFactorGraph graph_; - Ordering ordering_; + const NonlinearFactorGraph &graph_; + const Ordering &ordering_; public: - System(const NonlinearFactorGraph &graph, const Ordering &ordering): graph_(graph), ordering_(ordering) {} double error(const State &state) const ; Gradient gradient(const State &state) const ; @@ -85,35 +41,32 @@ class ConjugateGradientOptimizer { }; public: - + typedef NonlinearOptimizer Base; + typedef NonlinearConjugateGradientState States; typedef NonlinearOptimizerParams Parameters; - typedef boost::shared_ptr shared_ptr; + typedef boost::shared_ptr shared_ptr; protected: - - NonlinearFactorGraph graph_; - Values initialEstimate_; + States state_; Parameters params_; Ordering::shared_ptr ordering_; VectorValues::shared_ptr gradient_; - bool cg_; public: - ConjugateGradientOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, - const Parameters& params = Parameters(), const bool cg = true) - : graph_(graph), initialEstimate_(initialValues), params_(params), - ordering_(initialValues.orderingArbitrary()), - gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))), - cg_(cg) {} + NonlinearConjugateGradientOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues, + const Parameters& params = Parameters()) + : Base(graph), state_(graph, initialValues), params_(params), ordering_(initialValues.orderingArbitrary()), + gradient_(new VectorValues(initialValues.zeroVectors(*ordering_))){} - virtual ~ConjugateGradientOptimizer() {} - virtual Values optimize () ; + virtual ~NonlinearConjugateGradientOptimizer() {} + virtual void iterate(); + virtual const Values& optimize (); + virtual const NonlinearOptimizerState& _state() const { return state_; } + virtual const NonlinearOptimizerParams& _params() const { return params_; } }; -/** - * Implement the golden-section line search algorithm - */ +/** Implement the golden-section line search algorithm */ template double lineSearch(const S &system, const V currentValues, const W &gradient) { @@ -171,18 +124,20 @@ double lineSearch(const S &system, const V currentValues, const W &gradient) { * * The last parameter is a switch between gradient-descent and conjugate gradient */ - template -V conjugateGradient(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms, const bool gradientDescent) { +boost::tuple nonlinearConjugateGradient(const S &system, const V &initial, const NonlinearOptimizerParams ¶ms, const bool singleIteration, const bool gradientDescent = false) { - GTSAM_CONCEPT_MANIFOLD_TYPE(V); + // GTSAM_CONCEPT_MANIFOLD_TYPE(V); + + Index iteration = 0; // check if we're already close enough double currentError = system.error(initial); if(currentError <= params.errorTol) { - if (params.verbosity >= NonlinearOptimizerParams::ERROR) + if (params.verbosity >= NonlinearOptimizerParams::ERROR){ std::cout << "Exiting, as error = " << currentError << " < " << params.errorTol << std::endl; - return initial; + } + return boost::tie(initial, iteration); } V currentValues = initial; @@ -194,14 +149,12 @@ V conjugateGradient(const S &system, const V &initial, const NonlinearOptimizerP double alpha = lineSearch(system, currentValues, direction); currentValues = system.advance(prevValues, alpha, direction); currentError = system.error(currentValues); - Index iteration = 0; // Maybe show output if (params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "Initial error: " << currentError << std::endl; // Iterative loop do { - if ( gradientDescent == true) { direction = system.gradient(currentValues); } @@ -222,13 +175,14 @@ V conjugateGradient(const S &system, const V &initial, const NonlinearOptimizerP // Maybe show output if(params.verbosity >= NonlinearOptimizerParams::ERROR) std::cout << "currentError: " << currentError << std::endl; } while( ++iteration < params.maxIterations && + !singleIteration && !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, prevError, currentError, params.verbosity)); // Printing if verbose if (params.verbosity >= NonlinearOptimizerParams::ERROR && iteration >= params.maxIterations) - std::cout << "Terminating because reached maximum iterations" << std::endl; + std::cout << "nonlinearConjugateGradient: Terminating because reached maximum iterations" << std::endl; - return currentValues; + return boost::tie(currentValues, iteration); } diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp new file mode 100644 index 000000000..0fe0440ae --- /dev/null +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp @@ -0,0 +1,81 @@ +/** + * @file SuccessiveLinearizationOptimizer.cpp + * @brief + * @date Jul 24, 2012 + * @author Yong-Dian Jian + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gtsam { + +void SuccessiveLinearizationParams::print(const std::string& str) const { + NonlinearOptimizerParams::print(str); + switch ( linearSolverType ) { + case MULTIFRONTAL_CHOLESKY: + std::cout << " linear solver type: MULTIFRONTAL CHOLESKY\n"; + break; + case MULTIFRONTAL_QR: + std::cout << " linear solver type: MULTIFRONTAL QR\n"; + break; + case SEQUENTIAL_CHOLESKY: + std::cout << " linear solver type: SEQUENTIAL CHOLESKY\n"; + break; + case SEQUENTIAL_QR: + std::cout << " linear solver type: SEQUENTIAL QR\n"; + break; + case CHOLMOD: + std::cout << " linear solver type: CHOLMOD\n"; + break; + case CG: + std::cout << " linear solver type: CG\n"; + break; + default: + std::cout << " linear solver type: (invalid)\n"; + break; + } + + if(ordering) + std::cout << " ordering: custom\n"; + else + std::cout << " ordering: COLAMD\n"; + + std::cout.flush(); +} + +VectorValues solveGaussianFactorGraph(const GaussianFactorGraph &gfg, const SuccessiveLinearizationParams ¶ms) { + VectorValues delta; + if ( params.isMultifrontal() ) { + delta = GaussianJunctionTree(gfg).optimize(params.getEliminationFunction()); + } + else if ( params.isSequential() ) { + delta = gtsam::optimize(*EliminationTree::Create(gfg)->eliminate(params.getEliminationFunction())); + } + else if ( params.isCG() ) { + if ( !params.iterativeParams ) throw std::runtime_error("solveGaussianFactorGraph: cg parameter has to be assigned ..."); + if ( boost::dynamic_pointer_cast(params.iterativeParams)) { + SimpleSPCGSolver solver (gfg, *boost::dynamic_pointer_cast(params.iterativeParams)); + delta = solver.optimize(); + } + else if ( boost::dynamic_pointer_cast(params.iterativeParams) ) { + SubgraphSolver solver (gfg, *boost::dynamic_pointer_cast(params.iterativeParams)); + delta = solver.optimize(); + } + else { + throw std::runtime_error("solveGaussianFactorGraph: special cg parameter type is not handled in LM solver ..."); + } + } + else { + throw std::runtime_error("solveGaussianFactorGraph: Optimization parameter is invalid"); + } + return delta; +} + +} diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index 7033613ac..be66f37d4 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -40,43 +40,8 @@ public: IterativeOptimizationParameters::shared_ptr iterativeParams; ///< The container for iterativeOptimization parameters. used in CG Solvers. SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {} - virtual ~SuccessiveLinearizationParams() {} - virtual void print(const std::string& str = "") const { - NonlinearOptimizerParams::print(str); - switch ( linearSolverType ) { - case MULTIFRONTAL_CHOLESKY: - std::cout << " linear solver type: MULTIFRONTAL CHOLESKY\n"; - break; - case MULTIFRONTAL_QR: - std::cout << " linear solver type: MULTIFRONTAL QR\n"; - break; - case SEQUENTIAL_CHOLESKY: - std::cout << " linear solver type: SEQUENTIAL CHOLESKY\n"; - break; - case SEQUENTIAL_QR: - std::cout << " linear solver type: SEQUENTIAL QR\n"; - break; - case CHOLMOD: - std::cout << " linear solver type: CHOLMOD\n"; - break; - case CG: - std::cout << " linear solver type: CG\n"; - break; - default: - std::cout << " linear solver type: (invalid)\n"; - break; - } - - if(ordering) - std::cout << " ordering: custom\n"; - else - std::cout << " ordering: COLAMD\n"; - - std::cout.flush(); - } - inline bool isMultifrontal() const { return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); } @@ -93,7 +58,9 @@ public: return (linearSolverType == CG); } - GaussianFactorGraph::Eliminate getEliminationFunction() { + virtual void print(const std::string& str) const; + + GaussianFactorGraph::Eliminate getEliminationFunction() const { switch (linearSolverType) { case MULTIFRONTAL_CHOLESKY: case SEQUENTIAL_CHOLESKY: @@ -111,4 +78,7 @@ public: } }; +/* a wrapper for solving a GaussianFactorGraph according to the parameters */ +VectorValues solveGaussianFactorGraph(const GaussianFactorGraph &gfg, const SuccessiveLinearizationParams ¶ms) ; + } /* namespace gtsam */ diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index fefa2a05f..bb7743bd9 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -6,7 +6,7 @@ */ #include -#include +#include #include @@ -51,31 +51,6 @@ boost::tuple generateProblem() { return boost::tie(graph, initialEstimate); } - -/* ************************************************************************* */ -TEST(optimize, GradientDescentOptimizer) { - - pose2SLAM::Graph graph ; - pose2SLAM::Values initialEstimate; - - boost::tie(graph, initialEstimate) = generateProblem(); - // cout << "initial error = " << graph.error(initialEstimate) << endl ; - - // Single Step Optimization using Levenberg-Marquardt - NonlinearOptimizerParams param; - param.maxIterations = 500; /* requires a larger number of iterations to converge */ - param.verbosity = NonlinearOptimizerParams::SILENT; - - GradientDescentOptimizer optimizer(graph, initialEstimate, param); - Values result = optimizer.optimize(); -// cout << "gd1 solver final error = " << graph.error(result) << endl; - - /* the optimality of the solution is not comparable to the */ - DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); - - CHECK(1); -} - /* ************************************************************************* */ TEST(optimize, ConjugateGradientOptimizer) { @@ -90,8 +65,7 @@ TEST(optimize, ConjugateGradientOptimizer) { param.maxIterations = 500; /* requires a larger number of iterations to converge */ param.verbosity = NonlinearOptimizerParams::SILENT; - - ConjugateGradientOptimizer optimizer(graph, initialEstimate, param, true); + NonlinearConjugateGradientOptimizer optimizer(graph, initialEstimate, param); Values result = optimizer.optimize(); // cout << "cg final error = " << graph.error(result) << endl; @@ -99,32 +73,6 @@ TEST(optimize, ConjugateGradientOptimizer) { DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); } -/* ************************************************************************* */ -TEST(optimize, GradientDescentOptimizer2) { - - pose2SLAM::Graph graph ; - pose2SLAM::Values initialEstimate; - - boost::tie(graph, initialEstimate) = generateProblem(); -// cout << "initial error = " << graph.error(initialEstimate) << endl ; - - // Single Step Optimization using Levenberg-Marquardt - NonlinearOptimizerParams param; - param.maxIterations = 500; /* requires a larger number of iterations to converge */ - param.verbosity = NonlinearOptimizerParams::SILENT; - - - ConjugateGradientOptimizer optimizer(graph, initialEstimate, param, false); - Values result = optimizer.optimize(); -// cout << "gd2 solver final error = " << graph.error(result) << endl; - - /* the optimality of the solution is not comparable to the */ - DOUBLES_EQUAL(0.0, graph.error(result), 1e-2); -} - - - - /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From dff2fc6de2b8446dc1b12c354032067d36728d2d Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 24 Jul 2012 21:08:30 +0000 Subject: [PATCH 708/914] remove files accidentally checked-in before --- .settings/org.eclipse.cdt.core.prefs | 16 ---------------- 1 file changed, 16 deletions(-) delete mode 100644 .settings/org.eclipse.cdt.core.prefs diff --git a/.settings/org.eclipse.cdt.core.prefs b/.settings/org.eclipse.cdt.core.prefs deleted file mode 100644 index 3278fdadc..000000000 --- a/.settings/org.eclipse.cdt.core.prefs +++ /dev/null @@ -1,16 +0,0 @@ -eclipse.preferences.version=1 -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/PATH/delimiter=\: -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/PATH/operation=append -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/PATH/value=/home/ydjian/matlab/R2012a/bin -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/append=true -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.127261216/appendContributed=true -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/PATH/delimiter=\: -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/PATH/operation=append -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/PATH/value=/home/ydjian/matlab/R2012a/bin -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/append=true -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.1441575890/appendContributed=true -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/PATH/delimiter=\: -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/PATH/operation=append -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/PATH/value=/home/ydjian/matlab/R2012a/bin -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/append=true -environment/project/cdt.managedbuild.toolchain.gnu.macosx.base.1359703544/appendContributed=true From a44b602d19367ee546eb1918b61ff9545421434c Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Wed, 25 Jul 2012 21:04:00 +0000 Subject: [PATCH 709/914] Changed parameter name from CG to CONJUGATE_GRADIENT --- examples/Pose2SLAMwSPCG.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 38a2e18e4..240361db7 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -108,7 +108,7 @@ int main(int argc, char** argv) { LevenbergMarquardtParams parameters; parameters.verbosity = NonlinearOptimizerParams::ERROR; parameters.verbosityLM = LevenbergMarquardtParams::LAMBDA; - parameters.linearSolverType = SuccessiveLinearizationParams::CG; + parameters.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT; { parameters.iterativeParams = boost::make_shared(); From 7fc6a622bf9aa15204e8303a767ad10e07776277 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Wed, 25 Jul 2012 22:13:22 +0000 Subject: [PATCH 710/914] Added additional factors to the serialization unit test --- gtsam/geometry/StereoCamera.h | 4 +- gtsam/slam/GeneralSFMFactor.h | 5 +++ gtsam/slam/StereoFactor.h | 4 +- tests/testSerializationSLAM.cpp | 76 ++++++++++++++++++++++++++++++--- 4 files changed, 80 insertions(+), 9 deletions(-) diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h index 867844fbb..140ab1bdf 100644 --- a/gtsam/geometry/StereoCamera.h +++ b/gtsam/geometry/StereoCamera.h @@ -141,7 +141,9 @@ private: friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int version) { - ar & BOOST_SERIALIZATION_NVP(leftCamPose_); + ar & boost::serialization::make_nvp("StereoCamera", + boost::serialization::base_object(*this)); + ar & BOOST_SERIALIZATION_NVP(leftCamPose_); ar & BOOST_SERIALIZATION_NVP(K_); } diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index d94c162af..a9db7dcbe 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -111,6 +111,8 @@ namespace gtsam { 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_); } }; @@ -143,6 +145,7 @@ namespace gtsam { */ GeneralSFMFactor2(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key landmarkKey, Key calibKey) : Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {} + GeneralSFMFactor2():measured_(0.0,0.0) {} ///< default constructor virtual ~GeneralSFMFactor2() {} ///< destructor @@ -197,6 +200,8 @@ namespace gtsam { friend class boost::serialization::access; template void serialize(Archive & ar, const unsigned int version) { + ar & boost::serialization::make_nvp("NoiseModelFactor3", + boost::serialization::base_object(*this)); ar & BOOST_SERIALIZATION_NVP(measured_); } }; diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index d0c0bda6a..5be783aaf 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -74,7 +74,7 @@ public: /** * equals */ - virtual bool equals(const NonlinearFactor& f, double tol) const { + virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const { const GenericStereoFactor* p = dynamic_cast (&f); return p && Base::equals(f) && measured_.equals(p->measured_, tol); } @@ -102,6 +102,8 @@ private: 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(K_); } diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp index c0cdb6a93..4f9664e20 100644 --- a/tests/testSerializationSLAM.cpp +++ b/tests/testSerializationSLAM.cpp @@ -17,13 +17,17 @@ */ #include - -#include -#include +//#include #include -#include #include +#include +//#include +#include +//#include +#include #include +#include +#include #include #include #include @@ -42,6 +46,7 @@ #include #include #include +#include #include #include @@ -64,6 +69,7 @@ typedef PriorFactor PriorFactorCal3_S2; typedef PriorFactor PriorFactorCal3DS2; typedef PriorFactor PriorFactorCalibratedCamera; typedef PriorFactor PriorFactorSimpleCamera; +typedef PriorFactor PriorFactorStereoCamera; typedef BetweenFactor BetweenFactorLieVector; typedef BetweenFactor BetweenFactorLieMatrix; @@ -87,6 +93,7 @@ typedef NonlinearEquality NonlinearEqualityCal3_S2; typedef NonlinearEquality NonlinearEqualityCal3DS2; typedef NonlinearEquality NonlinearEqualityCalibratedCamera; typedef NonlinearEquality NonlinearEqualitySimpleCamera; +typedef NonlinearEquality NonlinearEqualityStereoCamera; typedef RangeFactor RangeFactorPosePoint2; typedef RangeFactor RangeFactorPosePoint3; @@ -106,6 +113,13 @@ typedef BearingRangeFactor BearingRangeFactor3D; typedef GenericProjectionFactor GenericProjectionFactorCal3_S2; typedef GenericProjectionFactor GenericProjectionFactorCal3DS2; +typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3_S2; +//typedef gtsam::GeneralSFMFactor GeneralSFMFactorCal3DS2; + +typedef gtsam::GeneralSFMFactor2 GeneralSFMFactor2Cal3_S2; + +typedef gtsam::GenericStereoFactor GenericStereoFactor3D; + // Convenience for named keys using symbol_shorthand::X; @@ -136,8 +150,10 @@ BOOST_CLASS_EXPORT(gtsam::Pose2); BOOST_CLASS_EXPORT(gtsam::Pose3); BOOST_CLASS_EXPORT(gtsam::Cal3_S2); BOOST_CLASS_EXPORT(gtsam::Cal3DS2); +BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo); BOOST_CLASS_EXPORT(gtsam::CalibratedCamera); BOOST_CLASS_EXPORT(gtsam::SimpleCamera); +BOOST_CLASS_EXPORT(gtsam::StereoCamera); /* Create GUIDs for factors */ @@ -158,6 +174,7 @@ 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"); BOOST_CLASS_EXPORT_GUID(BetweenFactorLieMatrix, "gtsam::BetweenFactorLieMatrix"); @@ -181,6 +198,7 @@ BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_ 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(RangeFactorPosePoint2, "gtsam::RangeFactorPosePoint2"); BOOST_CLASS_EXPORT_GUID(RangeFactorPosePoint3, "gtsam::RangeFactorPosePoint3"); @@ -198,6 +216,13 @@ BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2"); 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(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2"); + +BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D"); + /* ************************************************************************* */ TEST (Serialization, smallExample_linear) { @@ -261,12 +286,18 @@ TEST (Serialization, factors) { Pose3 pose3(rot3, point3); Cal3_S2 cal3_s2(1.0, 2.0, 3.0, 4.0, 5.0); Cal3DS2 cal3ds2(1.0, 2.0, 3.0, 4.0, 5.0,6.0, 7.0, 8.0, 9.0); + Cal3_S2Stereo cal3_s2stereo(1.0, 2.0, 3.0, 4.0, 5.0, 1.0); CalibratedCamera calibratedCamera(pose3); SimpleCamera simpleCamera(pose3, cal3_s2); + StereoCamera stereoCamera(pose3, boost::make_shared(cal3_s2stereo)); - Symbol a01('a',1), a02('a',2), a03('a',3), a04('a',4), a05('a',5), a06('a',6), a07('a',7), a08('a',8), a09('a',9), a10('a',10), a11('a',11), a12('a',12), a13('a',13); - Symbol b01('b',1), b02('b',2), b03('b',3), b04('b',4), b05('b',5), b06('b',6), b07('b',7), b08('b',8), b09('b',9), b10('b',10), b11('b',11), b12('b',12), b13('b',13); + Symbol a01('a',1), a02('a',2), a03('a',3), a04('a',4), a05('a',5), + a06('a',6), a07('a',7), a08('a',8), a09('a',9), a10('a',10), + a11('a',11), a12('a',12), a13('a',13), a14('a',14), a15('a',15); + Symbol b01('b',1), b02('b',2), b03('b',3), b04('b',4), b05('b',5), + b06('b',6), b07('b',7), b08('b',8), b09('b',9), b10('b',10), + b11('b',11), b12('b',12), b13('b',13), b14('b',14), b15('b',15); Values values; values.insert(a01, lieVector); @@ -282,6 +313,7 @@ TEST (Serialization, factors) { values.insert(a11, cal3ds2); values.insert(a12, calibratedCamera); values.insert(a13, simpleCamera); + values.insert(a14, stereoCamera); SharedNoiseModel model1 = noiseModel::Isotropic::Sigma(1, 0.3); @@ -308,6 +340,7 @@ TEST (Serialization, factors) { PriorFactorCal3DS2 priorFactorCal3DS2(a11, cal3ds2, model9); PriorFactorCalibratedCamera priorFactorCalibratedCamera(a12, calibratedCamera, model6); PriorFactorSimpleCamera priorFactorSimpleCamera(a13, simpleCamera, model11); + PriorFactorStereoCamera priorFactorStereoCamera(a14, stereoCamera, model11); BetweenFactorLieVector betweenFactorLieVector(a01, b01, lieVector, model4); BetweenFactorLieMatrix betweenFactorLieMatrix(a02, b02, lieMatrix, model6); @@ -331,6 +364,7 @@ TEST (Serialization, factors) { NonlinearEqualityCal3DS2 nonlinearEqualityCal3DS2(a11, cal3ds2); NonlinearEqualityCalibratedCamera nonlinearEqualityCalibratedCamera(a12, calibratedCamera); NonlinearEqualitySimpleCamera nonlinearEqualitySimpleCamera(a13, simpleCamera); + NonlinearEqualityStereoCamera nonlinearEqualityStereoCamera(a14, stereoCamera); RangeFactorPosePoint2 rangeFactorPosePoint2(a08, a03, 2.0, model1); RangeFactorPosePoint3 rangeFactorPosePoint3(a09, a05, 2.0, model1); @@ -348,7 +382,11 @@ TEST (Serialization, factors) { GenericProjectionFactorCal3_S2 genericProjectionFactorCal3_S2(point2, model2, a09, a05, boost::make_shared(cal3_s2)); GenericProjectionFactorCal3DS2 genericProjectionFactorCal3DS2(point2, model2, a09, a05, boost::make_shared(cal3ds2)); + GeneralSFMFactorCal3_S2 generalSFMFactorCal3_S2(point2, model2, a13, a05); + GeneralSFMFactor2Cal3_S2 generalSFMFactor2Cal3_S2(point2, model2, a09, a05, a10); + + GenericStereoFactor3D genericStereoFactor3D(stereoPoint2, model3, a09, a05, boost::make_shared(cal3_s2stereo)); NonlinearFactorGraph graph; @@ -362,9 +400,10 @@ TEST (Serialization, factors) { graph.add(priorFactorPose2); graph.add(priorFactorPose3); graph.add(priorFactorCal3_S2); - graph.add(priorFactorCal3_S2); + graph.add(priorFactorCal3DS2); graph.add(priorFactorCalibratedCamera); graph.add(priorFactorSimpleCamera); + graph.add(priorFactorStereoCamera); graph.add(betweenFactorLieVector); graph.add(betweenFactorLieMatrix); @@ -388,6 +427,7 @@ TEST (Serialization, factors) { graph.add(nonlinearEqualityCal3DS2); graph.add(nonlinearEqualityCalibratedCamera); graph.add(nonlinearEqualitySimpleCamera); + graph.add(nonlinearEqualityStereoCamera); graph.add(rangeFactorPosePoint2); graph.add(rangeFactorPosePoint3); @@ -405,6 +445,12 @@ TEST (Serialization, factors) { graph.add(genericProjectionFactorCal3_S2); graph.add(genericProjectionFactorCal3DS2); + graph.add(generalSFMFactorCal3_S2); + + graph.add(generalSFMFactor2Cal3_S2); + + graph.add(genericStereoFactor3D); + // text EXPECT(equalsObj(a01)); @@ -425,6 +471,7 @@ TEST (Serialization, factors) { EXPECT(equalsObj(priorFactorCal3DS2)); EXPECT(equalsObj(priorFactorCalibratedCamera)); EXPECT(equalsObj(priorFactorSimpleCamera)); + EXPECT(equalsObj(priorFactorStereoCamera)); EXPECT(equalsObj(betweenFactorLieVector)); EXPECT(equalsObj(betweenFactorLieMatrix)); @@ -448,6 +495,7 @@ TEST (Serialization, factors) { EXPECT(equalsObj(nonlinearEqualityCal3DS2)); EXPECT(equalsObj(nonlinearEqualityCalibratedCamera)); EXPECT(equalsObj(nonlinearEqualitySimpleCamera)); + EXPECT(equalsObj(nonlinearEqualityStereoCamera)); EXPECT(equalsObj(rangeFactorPosePoint2)); EXPECT(equalsObj(rangeFactorPosePoint3)); @@ -465,6 +513,12 @@ TEST (Serialization, factors) { EXPECT(equalsObj(genericProjectionFactorCal3_S2)); EXPECT(equalsObj(genericProjectionFactorCal3DS2)); + EXPECT(equalsObj(generalSFMFactorCal3_S2)); + + EXPECT(equalsObj(generalSFMFactor2Cal3_S2)); + + EXPECT(equalsObj(genericStereoFactor3D)); + // xml EXPECT(equalsXML(a01)); @@ -485,6 +539,7 @@ TEST (Serialization, factors) { EXPECT(equalsXML(priorFactorCal3DS2)); EXPECT(equalsXML(priorFactorCalibratedCamera)); EXPECT(equalsXML(priorFactorSimpleCamera)); + EXPECT(equalsXML(priorFactorStereoCamera)); EXPECT(equalsXML(betweenFactorLieVector)); EXPECT(equalsXML(betweenFactorLieMatrix)); @@ -508,6 +563,7 @@ TEST (Serialization, factors) { EXPECT(equalsXML(nonlinearEqualityCal3DS2)); EXPECT(equalsXML(nonlinearEqualityCalibratedCamera)); EXPECT(equalsXML(nonlinearEqualitySimpleCamera)); + EXPECT(equalsXML(nonlinearEqualityStereoCamera)); EXPECT(equalsXML(rangeFactorPosePoint2)); EXPECT(equalsXML(rangeFactorPosePoint3)); @@ -524,6 +580,12 @@ TEST (Serialization, factors) { EXPECT(equalsXML(genericProjectionFactorCal3_S2)); EXPECT(equalsXML(genericProjectionFactorCal3DS2)); + + EXPECT(equalsXML(generalSFMFactorCal3_S2)); + + EXPECT(equalsXML(generalSFMFactor2Cal3_S2)); + + EXPECT(equalsXML(genericStereoFactor3D)); } From 29f48e1127e6dde2eab15d049de7bf04010ef604 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 25 Jul 2012 22:15:20 +0000 Subject: [PATCH 711/914] Fixed examples --- matlab/examples/Pose2SLAMExample_circle.m | 8 +++++--- matlab/examples/Pose2SLAMExample_graph.m | 10 ++++++---- matlab/examples/StereoVOExample_large.m | 12 +++++++----- 3 files changed, 18 insertions(+), 12 deletions(-) diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index 355f1a10e..8f281d34f 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -38,11 +38,13 @@ initial.insertPose(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]')); %% Plot Initial Estimate figure(1);clf -plot(initial.xs(),initial.ys(),'g-*'); axis equal +P=initial.poses; +plot(P(:,1),P(:,2),'g-*'); axis equal %% optimize -result = fg.optimize(initial); +result = fg.optimize(initial,1); %% Show Result -hold on; plot(result.xs(),result.ys(),'b-*') +P=result.poses; +hold on; plot(P(:,1),P(:,2),'b-*') result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index ac6d1e317..e3dea348c 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -13,7 +13,7 @@ %% Initialize graph, initial estimate, and odometry noise import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -[graph,initial]=load2D('../../examples/Data/w100-odom.graph',model); +[graph,initial]=load2D('Data/w100-odom.graph',model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 @@ -24,11 +24,13 @@ graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph %% Plot Initial Estimate figure(1);clf -plot(initial.xs(),initial.ys(),'g-*'); axis equal +P=initial.poses; +plot(P(:,1),P(:,2),'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initial); -hold on; plot(result.xs(),result.ys(),'b-*') +result = graph.optimize(initial,1); +P=result.poses; +hold on; plot(P(:,1),P(:,2),'b-*') result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/examples/StereoVOExample_large.m index 282f7162c..7d670c99c 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/examples/StereoVOExample_large.m @@ -13,7 +13,7 @@ %% Load calibration import gtsam.* % format: fx fy skew cx cy baseline -calib = dlmread('../../examples/Data/VO_calibration.txt'); +calib = dlmread('Data/VO_calibration.txt'); K = Cal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); @@ -26,7 +26,7 @@ initial = visualSLAM.Values; % row format: camera_id 4x4 pose (row, major) import gtsam.* fprintf(1,'Reading data\n'); -cameras = dlmread('../../examples/Data/VO_camera_poses_large.txt'); +cameras = dlmread('Data/VO_camera_poses_large.txt'); for i=1:size(cameras,1) pose = Pose3(reshape(cameras(i,2:17),4,4)'); initial.insertPose(symbol('x',cameras(i,1)),pose); @@ -35,7 +35,7 @@ end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z import gtsam.* -measurements = dlmread('../../examples/Data/VO_stereo_factors_large.txt'); +measurements = dlmread('Data/VO_stereo_factors_large.txt'); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) @@ -67,10 +67,12 @@ toc figure(1); clf; hold on; % initial trajectory in red (rotated so Z is up) -plot3(initial.zs(),-initial.xs(),-initial.ys(), '-*r','LineWidth',2); +P = initial.translations; +plot3(P(:,3),-P(:,1),-P(:,2), '-*r','LineWidth',2); % final trajectory in green (rotated so Z is up) -plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2); +P = result.translations; +plot3(P(:,3),-P(:,1),-P(:,2), '-*g','LineWidth',2); xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)'); % switch to XZ view From 5becf405f8e6e0bd87b1a76dd7feab90d9a1c00d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 26 Jul 2012 01:40:07 +0000 Subject: [PATCH 712/914] load2D wrapped, but pair argument does not work? --- .cproject | 326 +++++++++++++++--------------- examples/Pose2SLAMExample_graph.m | 47 +++++ 2 files changed, 205 insertions(+), 168 deletions(-) create mode 100644 examples/Pose2SLAMExample_graph.m diff --git a/.cproject b/.cproject index 91d9c7689..2439190b6 100644 --- a/.cproject +++ b/.cproject @@ -309,6 +309,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -335,7 +343,6 @@ make - tests/testBayesTree.run true false @@ -343,7 +350,6 @@ make - testBinaryBayesNet.run true false @@ -391,7 +397,6 @@ make - testSymbolicBayesNet.run true false @@ -399,7 +404,6 @@ make - tests/testSymbolicFactor.run true false @@ -407,7 +411,6 @@ make - testSymbolicFactorGraph.run true false @@ -423,20 +426,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -525,22 +519,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -557,6 +535,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -581,26 +575,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -685,26 +679,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -959,7 +953,6 @@ make - testGraph.run true false @@ -967,7 +960,6 @@ make - testJunctionTree.run true false @@ -975,7 +967,6 @@ make - testSymbolicBayesNetB.run true false @@ -1111,7 +1102,6 @@ make - testErrors.run true false @@ -1575,6 +1565,7 @@ make + testSimulated2DOriented.run true false @@ -1614,6 +1605,7 @@ make + testSimulated2D.run true false @@ -1621,6 +1613,7 @@ make + testSimulated3D.run true false @@ -1836,6 +1829,7 @@ make + tests/testGaussianISAM2 true false @@ -1857,14 +1851,110 @@ true true - + make -j2 - install + 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 + -j1 + install + true + false + true + make -j2 @@ -1875,10 +1965,10 @@ make - -j5 + -j1 check true - true + false true @@ -2058,7 +2148,6 @@ cpack - -G DEB true false @@ -2066,7 +2155,6 @@ cpack - -G RPM true false @@ -2074,7 +2162,6 @@ cpack - -G TGZ true false @@ -2082,7 +2169,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2224,98 +2310,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap 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 + -j5 + wrap true true true @@ -2359,38 +2381,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/examples/Pose2SLAMExample_graph.m b/examples/Pose2SLAMExample_graph.m new file mode 100644 index 000000000..65271c053 --- /dev/null +++ b/examples/Pose2SLAMExample_graph.m @@ -0,0 +1,47 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Initialize graph, initial estimate, and odometry noise +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); +maxID = 0; +addNoise = false; +smart = true; +[graph,initial]=load2D('Data/w100-odom.graph',model,maxID,addNoise,smart); +initial.print(sprintf('Initial estimate:\n')); + +%% Add a Gaussian prior on pose x_1 +import gtsam.* +priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); +graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph + +%% Plot Initial Estimate +figure(1);clf +P=initial.poses; +plot(P(:,1),P(:,2),'g-*'); axis equal + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +result = graph.optimize(initial,1); +P=result.poses; +hold on; plot(P(:,1),P(:,2),'b-*') +result.print(sprintf('\nFinal result:\n')); + +%% Plot Covariance Ellipses +marginals = graph.marginals(result); +P={}; +for i=1:result.size()-1 + pose_i = result.pose(i); + P{i}=marginals.marginalCovariance(i); + plotPose2(pose_i,'b',P{i}) +end +fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file From 5c2265419431b8fb0a668522f922f25c7e717d00 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 26 Jul 2012 01:40:25 +0000 Subject: [PATCH 713/914] load2D wrapped, but pair argument does not work? --- gtsam.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam.h b/gtsam.h index 35975f710..5a331f1e0 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1365,6 +1365,10 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor { typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3_S2; typedef gtsam::GenericProjectionFactor GenericProjectionFactorCal3DS2; +#include +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); + } //\namespace gtsam //************************************************************************* From f93760327ea1bac8a6ac61850d28ba9ffd5c2b95 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 26 Jul 2012 13:08:54 +0000 Subject: [PATCH 714/914] Added matlab functions for generating poses in a circle. This replaces the need for the SLAM namespace functions of the same purpose. --- matlab/circlePose2.m | 19 +++++++++++++++++++ matlab/circlePose3.m | 29 +++++++++++++++++++++++++++++ 2 files changed, 48 insertions(+) create mode 100644 matlab/circlePose2.m create mode 100644 matlab/circlePose3.m diff --git a/matlab/circlePose2.m b/matlab/circlePose2.m new file mode 100644 index 000000000..4da70f9bf --- /dev/null +++ b/matlab/circlePose2.m @@ -0,0 +1,19 @@ +function values = circlePose2(numPoses, radius, symbolChar) +% circlePose2: generate a set of poses in a circle. This function +% returns those poses inside a gtsam.Values object, with sequential +% keys starting from 1. An optional character may be provided, which +% will be stored in the msb of each key (i.e. gtsam.Symbol). + +if nargin<3,symbolChar=0x00;end +if nargin<2,radius=1.0;end +if nargin<1,numPoses=8;end + +values = gtsam.Values; +theta = 0.0; +dtheta = 2*pi()/numPoses; +for i = 1:numPoses + key = gtsam.Symbol(symbolChar, i); + pose = gtsam.Pose2(radius*cos(theta), radius*sin(theta), pi()/2 + theta); + values.insert(key, pose); + theta = theta + dtheta; +end diff --git a/matlab/circlePose3.m b/matlab/circlePose3.m new file mode 100644 index 000000000..bd102ad78 --- /dev/null +++ b/matlab/circlePose3.m @@ -0,0 +1,29 @@ +function values = circlePose2(numPoses, radius, symbolChar) +% circlePose3: generate a set of poses in a circle. This function +% returns those poses inside a gtsam.Values object, with sequential +% keys starting from 1. An optional character may be provided, which +% will be stored in the msb of each key (i.e. gtsam.Symbol). +% +% We use aerospace/navlab convention, X forward, Y right, Z down +% First pose will be at (R,0,0) +% ^y ^ X +% | | +% z-->xZ--> Y (z pointing towards viewer, Z pointing away from viewer) +% Vehicle at p0 is looking towards y axis (X-axis points towards world y) + +if nargin<3,symbolChar=0x00;end +if nargin<2,radius=1.0;end +if nargin<1,numPoses=8;end + +values = gtsam.Values; +theta = 0.0; +dtheta = 2*pi()/numPoses; +gR0 = gtsam.Rot3(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +for i = 1:numPoses + key = gtsam.Symbol(symbolChar, i); + gti = Point3(radius*cos(theta), radius*sin(theta), 0); + _0Ri = gtsam.Rot3.yaw(-theta); % negative yaw goes counterclockwise, with Z down ! + gTi = gtsam.Pose3(gR0.compose(_0Ri), gti); + values.insert(key, gTi); + theta = theta + dtheta; +end From 078eb1bb4fd8929a07952fd81db339a1a4465de6 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 26 Jul 2012 13:23:04 +0000 Subject: [PATCH 715/914] Added matlab functions for generating poses in a circle. This replaces the need for the SLAM namespace functions of the same purpose. I mean it this time. Edited the wrong copy before committing. --- matlab/circlePose2.m | 19 +++++++++++++++---- matlab/circlePose3.m | 20 ++++++++++++-------- 2 files changed, 27 insertions(+), 12 deletions(-) diff --git a/matlab/circlePose2.m b/matlab/circlePose2.m index 4da70f9bf..7153fc128 100644 --- a/matlab/circlePose2.m +++ b/matlab/circlePose2.m @@ -1,18 +1,29 @@ function values = circlePose2(numPoses, radius, symbolChar) -% circlePose2: generate a set of poses in a circle. This function +% circlePose3: generate a set of poses in a circle. This function % returns those poses inside a gtsam.Values object, with sequential -% keys starting from 1. An optional character may be provided, which +% keys starting from 0. An optional character may be provided, which % will be stored in the msb of each key (i.e. gtsam.Symbol). +% +% We use aerospace/navlab convention, X forward, Y right, Z down +% First pose will be at (R,0,0) +% ^y ^ X +% | | +% z-->xZ--> Y (z pointing towards viewer, Z pointing away from viewer) +% Vehicle at p0 is looking towards y axis (X-axis points towards world y) -if nargin<3,symbolChar=0x00;end +if nargin<3,symbolChar=0;end if nargin<2,radius=1.0;end if nargin<1,numPoses=8;end +% Force symbolChar to be a single character +symbolChar = char(symbolChar); +symbolChar = symbolChar(1); + values = gtsam.Values; theta = 0.0; dtheta = 2*pi()/numPoses; for i = 1:numPoses - key = gtsam.Symbol(symbolChar, i); + key = gtsam.Symbol(symbolChar, i-1).key(); pose = gtsam.Pose2(radius*cos(theta), radius*sin(theta), pi()/2 + theta); values.insert(key, pose); theta = theta + dtheta; diff --git a/matlab/circlePose3.m b/matlab/circlePose3.m index bd102ad78..0e74a2f1b 100644 --- a/matlab/circlePose3.m +++ b/matlab/circlePose3.m @@ -1,7 +1,7 @@ -function values = circlePose2(numPoses, radius, symbolChar) +function values = circlePose3(numPoses, radius, symbolChar) % circlePose3: generate a set of poses in a circle. This function % returns those poses inside a gtsam.Values object, with sequential -% keys starting from 1. An optional character may be provided, which +% keys starting from 0. An optional character may be provided, which % will be stored in the msb of each key (i.e. gtsam.Symbol). % % We use aerospace/navlab convention, X forward, Y right, Z down @@ -11,19 +11,23 @@ function values = circlePose2(numPoses, radius, symbolChar) % z-->xZ--> Y (z pointing towards viewer, Z pointing away from viewer) % Vehicle at p0 is looking towards y axis (X-axis points towards world y) -if nargin<3,symbolChar=0x00;end +if nargin<3,symbolChar=0;end if nargin<2,radius=1.0;end if nargin<1,numPoses=8;end +% Force symbolChar to be a single character +symbolChar = char(symbolChar); +symbolChar = symbolChar(1); + values = gtsam.Values; theta = 0.0; dtheta = 2*pi()/numPoses; -gR0 = gtsam.Rot3(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); +gRo = gtsam.Rot3([0, 1, 0 ; 1, 0, 0 ; 0, 0, -1]); for i = 1:numPoses - key = gtsam.Symbol(symbolChar, i); - gti = Point3(radius*cos(theta), radius*sin(theta), 0); - _0Ri = gtsam.Rot3.yaw(-theta); % negative yaw goes counterclockwise, with Z down ! - gTi = gtsam.Pose3(gR0.compose(_0Ri), gti); + key = gtsam.Symbol(symbolChar, i-1).key(); + gti = gtsam.Point3(radius*cos(theta), radius*sin(theta), 0); + oRi = gtsam.Rot3.Yaw(-theta); % negative yaw goes counterclockwise, with Z down ! + gTi = gtsam.Pose3(gRo.compose(oRi), gti); values.insert(key, gTi); theta = theta + dtheta; end From c2935c5dd19ae0e1c58782a56897d97c1d64a29f Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 26 Jul 2012 13:33:40 +0000 Subject: [PATCH 716/914] Replaced calls to the namespace Circle functions with the newly added matlab function --- matlab/examples/Pose2SLAMExample_circle.m | 19 ++++++++++--------- matlab/examples/Pose3SLAMExample.m | 19 ++++++++++--------- matlab/tests/testPose3SLAMExample.m | 19 ++++++++++--------- 3 files changed, 30 insertions(+), 27 deletions(-) diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/examples/Pose2SLAMExample_circle.m index e16edf9cb..3d2265d76 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/examples/Pose2SLAMExample_circle.m @@ -10,13 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Create a hexagon of poses -hexagon = pose2SLAM.Values.Circle(6,1.0); -p0 = hexagon.pose(0); -p1 = hexagon.pose(1); +hexagon = circlePose2(6,1.0); +p0 = hexagon.at(0); +p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement -import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose2(0, p0)); delta = p0.between(p1); @@ -31,11 +32,11 @@ fg.add(BetweenFactorPose2(5,0, delta, covariance)); %% Create initial config initial = Values; initial.insert(0, p0); -initial.insert(1, hexagon.pose(1).retract([-0.1, 0.1,-0.1]')); -initial.insert(2, hexagon.pose(2).retract([ 0.1,-0.1, 0.1]')); -initial.insert(3, hexagon.pose(3).retract([-0.1, 0.1,-0.1]')); -initial.insert(4, hexagon.pose(4).retract([ 0.1,-0.1, 0.1]')); -initial.insert(5, hexagon.pose(5).retract([-0.1, 0.1,-0.1]')); +initial.insert(1, hexagon.at(1).retract([-0.1, 0.1,-0.1]')); +initial.insert(2, hexagon.at(2).retract([ 0.1,-0.1, 0.1]')); +initial.insert(3, hexagon.at(3).retract([-0.1, 0.1,-0.1]')); +initial.insert(4, hexagon.at(4).retract([ 0.1,-0.1, 0.1]')); +initial.insert(5, hexagon.at(5).retract([-0.1, 0.1,-0.1]')); %% Plot Initial Estimate cla diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/examples/Pose3SLAMExample.m index 86c5c23c8..0d2bd237f 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/examples/Pose3SLAMExample.m @@ -10,13 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Create a hexagon of poses -hexagon = pose3SLAM.Values.Circle(6,1.0); -p0 = hexagon.pose(0); -p1 = hexagon.pose(1); +hexagon = circlePose3(6,1.0); +p0 = hexagon.at(0); +p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement -import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); @@ -32,11 +33,11 @@ fg.add(BetweenFactorPose3(5,0, delta, covariance)); initial = Values; s = 0.10; initial.insert(0, p0); -initial.insert(1, hexagon.pose(1).retract(s*randn(6,1))); -initial.insert(2, hexagon.pose(2).retract(s*randn(6,1))); -initial.insert(3, hexagon.pose(3).retract(s*randn(6,1))); -initial.insert(4, hexagon.pose(4).retract(s*randn(6,1))); -initial.insert(5, hexagon.pose(5).retract(s*randn(6,1))); +initial.insert(1, hexagon.at(1).retract(s*randn(6,1))); +initial.insert(2, hexagon.at(2).retract(s*randn(6,1))); +initial.insert(3, hexagon.at(3).retract(s*randn(6,1))); +initial.insert(4, hexagon.at(4).retract(s*randn(6,1))); +initial.insert(5, hexagon.at(5).retract(s*randn(6,1))); %% Plot Initial Estimate cla diff --git a/matlab/tests/testPose3SLAMExample.m b/matlab/tests/testPose3SLAMExample.m index 0d47990e8..dafad4e47 100644 --- a/matlab/tests/testPose3SLAMExample.m +++ b/matlab/tests/testPose3SLAMExample.m @@ -10,13 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Create a hexagon of poses -hexagon = pose3SLAM.Values.Circle(6,1.0); -p0 = hexagon.pose(0); -p1 = hexagon.pose(1); +hexagon = circlePose3(6,1.0); +p0 = hexagon.at(0); +p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement -import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); @@ -32,11 +33,11 @@ fg.add(BetweenFactorPose3(5,0, delta, covariance)); initial = Values; s = 0.10; initial.insert(0, p0); -initial.insert(1, hexagon.pose(1).retract(s*randn(6,1))); -initial.insert(2, hexagon.pose(2).retract(s*randn(6,1))); -initial.insert(3, hexagon.pose(3).retract(s*randn(6,1))); -initial.insert(4, hexagon.pose(4).retract(s*randn(6,1))); -initial.insert(5, hexagon.pose(5).retract(s*randn(6,1))); +initial.insert(1, hexagon.at(1).retract(s*randn(6,1))); +initial.insert(2, hexagon.at(2).retract(s*randn(6,1))); +initial.insert(3, hexagon.at(3).retract(s*randn(6,1))); +initial.insert(4, hexagon.at(4).retract(s*randn(6,1))); +initial.insert(5, hexagon.at(5).retract(s*randn(6,1))); %% optimize optimizer = LevenbergMarquardtOptimizer(fg, initial); From 6a88497a6e1580c91936700a47259d2379fc8e65 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 26 Jul 2012 14:06:33 +0000 Subject: [PATCH 717/914] Made load2D throw exception on error instead of calling 'exit', to allow error handling and not cause matlab to exit --- gtsam/slam/dataset.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index e1c282594..0502bb69b 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -90,10 +90,8 @@ pair load2D( bool addNoise, bool smart) { cout << "Will try to read " << filename << endl; ifstream is(filename.c_str()); - if (!is) { - cout << "load2D: can not find the file!"; - exit(-1); - } + if (!is) + throw std::invalid_argument("load2D: can not find the file!"); pose2SLAM::Values::shared_ptr poses(new pose2SLAM::Values); pose2SLAM::Graph::shared_ptr graph(new pose2SLAM::Graph); From 021641e91260f54e740e931903708cb13208c0be Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 26 Jul 2012 14:06:37 +0000 Subject: [PATCH 718/914] Fixed typo and prevented double-evaluation of function when returning a pair in a wrapped function --- wrap/ReturnValue.cpp | 33 ++++++++++++++++++--------------- 1 file changed, 18 insertions(+), 15 deletions(-) diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index 37e6b15ff..4f5a030cc 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -19,8 +19,8 @@ using namespace wrap; string ReturnValue::return_type(bool add_ptr, pairing p) const { if (p==pair && isPair) { string str = "pair< " + - maybe_shared_ptr(add_ptr && isPtr1, qualifiedType1("::"), type1) + ", " + - maybe_shared_ptr(add_ptr && isPtr2, qualifiedType2("::"), type2) + " >"; + maybe_shared_ptr(add_ptr || isPtr1, qualifiedType1("::"), type1) + ", " + + maybe_shared_ptr(add_ptr || isPtr2, qualifiedType2("::"), type2) + " >"; return str; } else return maybe_shared_ptr(add_ptr && isPtr1, (p==arg2)? qualifiedType2("::") : qualifiedType1("::"), (p==arg2)? type2 : type1); @@ -52,6 +52,9 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2("."); if (isPair) { + // For a pair, store the returned pair so we do not evaluate the function twice + file.oss << " " << return_type(false, pair) << " pairResult = " << result << ";\n"; + // first return value in pair if (category1 == ReturnValue::CLASS) { // if we are going to make one string objCopy, ptrType; @@ -59,21 +62,21 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type const bool isVirtual = typeAttributes.at(cppType1).isVirtual; if(isVirtual) { if(isPtr1) - objCopy = result + ".first"; + objCopy = "pairResult.first"; else - objCopy = result + ".first.clone()"; + objCopy = "pairResult.first.clone()"; } else { if(isPtr1) - objCopy = result + ".first"; + objCopy = "pairResult.first"; else - objCopy = ptrType + "(new " + cppType1 + "(" + result + ".first))"; + objCopy = ptrType + "(new " + cppType1 + "(pairResult.first))"; } file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n"; } else if(isPtr1) { - file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ".first);" << endl; + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(pairResult.first);" << endl; file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\", false);\n"; } else // if basis type - file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ".first);\n"; + file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(pairResult.first);\n"; // second return value in pair if (category2 == ReturnValue::CLASS) { // if we are going to make one @@ -82,21 +85,21 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type const bool isVirtual = typeAttributes.at(cppType2).isVirtual; if(isVirtual) { if(isPtr2) - objCopy = result + ".second"; + objCopy = "pairResult.second"; else - objCopy = result + ".second.clone()"; + objCopy = "pairResult.second.clone()"; } else { if(isPtr2) - objCopy = result + ".second"; + objCopy = "pairResult.second"; else - objCopy = ptrType + "(new " + cppType2 + "(" + result + ".second))"; + objCopy = ptrType + "(new " + cppType2 + "(pairResult.second))"; } - file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType2 << "\", " << (isVirtual ? "true" : "false") << ");\n"; + file.oss << " out[1] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType2 << "\", " << (isVirtual ? "true" : "false") << ");\n"; } else if(isPtr2) { - file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(" << result << ".second);" << endl; + file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(pairResult.second);" << endl; file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else - file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(" << result << ".second);\n"; + file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(pairResult.second);\n"; } else if (category1 == ReturnValue::CLASS){ string objCopy, ptrType; From 40cdab999b17eca78f98fb1bf04806fd1422505c Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 26 Jul 2012 14:48:33 +0000 Subject: [PATCH 719/914] Updated expected files so that testWrap passes --- wrap/tests/expected/geometry_wrapper.cpp | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index 93fde1ca4..d18ad2ec1 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -299,8 +299,9 @@ void Test_create_MixedPtrs_22(int nargout, mxArray *out[], int nargin, const mxA typedef boost::shared_ptr Shared; checkArguments("create_MixedPtrs",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); - out[0] = wrap_shared_ptr(SharedTest(new Test(obj->create_MixedPtrs().first)),"Test", false); - out[0] = wrap_shared_ptr(obj->create_MixedPtrs().second,"Test", false); + pair< Test, SharedTest > pairResult = obj->create_MixedPtrs(); + out[0] = wrap_shared_ptr(SharedTest(new Test(pairResult.first)),"Test", false); + out[1] = wrap_shared_ptr(pairResult.second,"Test", false); } void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -310,8 +311,9 @@ void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray typedef boost::shared_ptr Shared; checkArguments("create_ptrs",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); - out[0] = wrap_shared_ptr(obj->create_ptrs().first,"Test", false); - out[0] = wrap_shared_ptr(obj->create_ptrs().second,"Test", false); + pair< SharedTest, SharedTest > 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_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -413,8 +415,9 @@ void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Vector v = unwrap< Vector >(in[1]); Matrix A = unwrap< Matrix >(in[2]); - out[0] = wrap< Vector >(obj->return_pair(v,A).first); - out[1] = wrap< Matrix >(obj->return_pair(v,A).second); + pair< Vector, Matrix > pairResult = obj->return_pair(v,A); + out[0] = wrap< Vector >(pairResult.first); + out[1] = wrap< Matrix >(pairResult.second); } void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -426,8 +429,9 @@ void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray Shared 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"); - out[0] = wrap_shared_ptr(obj->return_ptrs(p1,p2).first,"Test", false); - out[0] = wrap_shared_ptr(obj->return_ptrs(p1,p2).second,"Test", false); + pair< SharedTest, SharedTest > 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_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) From b32931f8798496c2fcd66c5b88bffa7e22c77804 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 27 Jul 2012 04:44:02 +0000 Subject: [PATCH 720/914] Examples that 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1861 1580 -0.958794 -0.0714379 1.60479 1 0 1 1 0 0 +EDGE2 1861 1660 -1.01394 -0.0954709 1.60415 1 0 1 1 0 0 +EDGE2 1861 1840 -1.07262 0.00438499 -1.55238 1 0 1 1 0 0 +EDGE2 1861 1560 -1.00554 -0.00611692 -1.54451 1 0 1 1 0 0 +EDGE2 1861 1380 -1.09091 -0.013192 1.57172 1 0 1 1 0 0 +EDGE2 1862 1861 -0.960317 0.107115 0.024251 1 0 1 1 0 0 +EDGE2 1862 1663 1.0226 -0.0342615 -0.032342 1 0 1 1 0 0 +EDGE2 1862 1662 -0.0745043 -0.097562 -0.0260048 1 0 1 1 0 0 +EDGE2 1862 1383 0.974705 0.0160442 -0.00175295 1 0 1 1 0 0 +EDGE2 1862 1382 -0.00350574 0.0114831 -0.00495718 1 0 1 1 0 0 +EDGE2 1862 1381 -1.06812 0.0658491 -0.0107244 1 0 1 1 0 0 +EDGE2 1862 1661 -1.00335 0.0685799 0.0134195 1 0 1 1 0 0 +EDGE2 1863 1663 0.00316345 0.0232278 0.0226405 1 0 1 1 0 0 +EDGE2 1863 1384 1.04128 -0.0700233 -0.0163782 1 0 1 1 0 0 +EDGE2 1863 1664 1.04742 -0.0176801 -0.00498765 1 0 1 1 0 0 +EDGE2 1863 1662 -1.11608 -0.0156545 -0.00207484 1 0 1 1 0 0 +EDGE2 1863 1862 -0.973637 -0.00525541 -0.0120268 1 0 1 1 0 0 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1924 1903 -0.961285 -0.00713156 -0.0462119 1 0 1 1 0 0 +EDGE2 1924 1923 -1.00823 -0.0663444 -0.0146487 1 0 1 1 0 0 +EDGE2 1924 1363 -0.979154 -0.0111048 -0.0216112 1 0 1 1 0 0 +EDGE2 1924 1483 -1.0023 0.0316609 0.00744754 1 0 1 1 0 0 +EDGE2 1924 1503 -1.06498 0.0795478 0.0173792 1 0 1 1 0 0 +EDGE2 1924 1343 -0.934273 0.0127517 -0.0202089 1 0 1 1 0 0 +EDGE2 1924 1344 0.0479136 0.0159307 0.00831286 1 0 1 1 0 0 +EDGE2 1924 1484 -0.0708825 -0.0125296 0.0142826 1 0 1 1 0 0 +EDGE2 1924 1504 0.041128 -0.0120209 -0.0242446 1 0 1 1 0 0 +EDGE2 1924 1904 0.0927567 -0.00594958 0.00858608 1 0 1 1 0 0 +EDGE2 1924 1364 0.00731296 0.112036 0.0204088 1 0 1 1 0 0 +EDGE2 1924 1525 1.04269 0.0397186 -3.11705 1 0 1 1 0 0 +EDGE2 1924 1905 0.88703 -0.0899499 0.0163723 1 0 1 1 0 0 +EDGE2 1924 1645 0.994546 0.00696027 -3.14971 1 0 1 1 0 0 +EDGE2 1924 1485 0.981254 -0.0463748 0.0072504 1 0 1 1 0 0 +EDGE2 1924 1505 0.925258 0.0498853 -0.00336086 1 0 1 1 0 0 +EDGE2 1924 1365 0.928863 0.0233349 0.00193224 1 0 1 1 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1 0 1 1 0 0 +EDGE2 1925 1365 0.0231411 -0.0291304 0.0191285 1 0 1 1 0 0 +EDGE2 1925 1325 0.0632302 -0.0647082 -3.14489 1 0 1 1 0 0 +EDGE2 1925 1524 1.03742 -0.0036676 -3.15437 1 0 1 1 0 0 +EDGE2 1925 1644 1.02195 -0.111937 -3.13973 1 0 1 1 0 0 +EDGE2 1925 1324 0.930818 0.015278 -3.15928 1 0 1 1 0 0 +EDGE2 1925 1486 0.0479892 1.03951 1.55823 1 0 1 1 0 0 +EDGE2 1925 1906 0.0962932 0.999711 1.598 1 0 1 1 0 0 +EDGE2 1925 1326 0.0216972 1.0644 1.56615 1 0 1 1 0 0 +EDGE2 1925 1346 0.00186423 0.908698 1.59737 1 0 1 1 0 0 +EDGE2 1926 1345 -0.946023 -0.00889775 1.55853 1 0 1 1 0 0 +EDGE2 1926 1526 0.0408744 0.0533576 -0.00516767 1 0 1 1 0 0 +EDGE2 1926 1507 1.03979 -0.00757356 0.0361578 1 0 1 1 0 0 +EDGE2 1926 1527 0.969525 -0.0253599 0.0063938 1 0 1 1 0 0 +EDGE2 1926 1647 1.05649 0.0912232 0.001141 1 0 1 1 0 0 +EDGE2 1926 1367 0.993554 -0.00732757 0.020302 1 0 1 1 0 0 +EDGE2 1926 1646 -0.0221794 -0.00820338 0.0127201 1 0 1 1 0 0 +EDGE2 1926 1366 0.0563478 0.0806374 -0.00116458 1 0 1 1 0 0 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0 +EDGE2 1927 1367 0.0471152 0.0105449 0.00829287 1 0 1 1 0 0 +EDGE2 1927 1926 -0.936487 -0.0180098 -0.00895083 1 0 1 1 0 0 +EDGE2 1927 1646 -1.10923 0.0700709 0.0419977 1 0 1 1 0 0 +EDGE2 1927 1366 -1.02572 -0.00134996 -0.0125451 1 0 1 1 0 0 +EDGE2 1927 1506 -1.02771 -0.0147067 -0.015888 1 0 1 1 0 0 +EDGE2 1928 1509 0.984241 -0.0313617 0.00251376 1 0 1 1 0 0 +EDGE2 1928 1649 0.909234 0.12653 0.00215458 1 0 1 1 0 0 +EDGE2 1928 1529 1.04818 -0.0652808 -0.00384624 1 0 1 1 0 0 +EDGE2 1928 1369 0.935847 0.0175466 0.0317745 1 0 1 1 0 0 +EDGE2 1928 1648 0.0142586 0.0301668 0.0424222 1 0 1 1 0 0 +EDGE2 1928 1368 -0.031812 -0.0466325 0.0496814 1 0 1 1 0 0 +EDGE2 1928 1508 -0.0454259 -0.0132046 0.0133768 1 0 1 1 0 0 +EDGE2 1928 1528 -0.000614644 0.010382 0.0237269 1 0 1 1 0 0 +EDGE2 1928 1507 -1.0129 -0.0483348 -0.0171306 1 0 1 1 0 0 +EDGE2 1928 1527 -1.0421 0.0509869 0.00266875 1 0 1 1 0 0 +EDGE2 1928 1647 -1.06577 -0.000331678 -0.0190397 1 0 1 1 0 0 +EDGE2 1928 1927 -0.99986 0.141486 0.00346934 1 0 1 1 0 0 +EDGE2 1928 1367 -1.02192 -0.0248335 -0.0238515 1 0 1 1 0 0 +EDGE2 1929 1650 1.035 0.00552517 -0.00367858 1 0 1 1 0 0 +EDGE2 1929 1710 0.986524 -0.0563593 -3.15767 1 0 1 1 0 0 +EDGE2 1929 1870 0.982325 -0.0157898 -3.14987 1 0 1 1 0 0 +EDGE2 1929 1670 1.12961 0.0122504 -3.12631 1 0 1 1 0 0 +EDGE2 1929 1470 0.981267 0.0453936 -3.10595 1 0 1 1 0 0 +EDGE2 1929 1510 1.03099 -3.67613e-06 0.00226581 1 0 1 1 0 0 +EDGE2 1929 1530 1.09429 -0.0481022 -0.0339342 1 0 1 1 0 0 +EDGE2 1929 1370 0.915433 -0.0421856 0.00382214 1 0 1 1 0 0 +EDGE2 1929 1509 -0.00798813 -0.0159478 0.00697559 1 0 1 1 0 0 +EDGE2 1929 1649 0.0233463 0.00396669 0.0177237 1 0 1 1 0 0 +EDGE2 1929 1529 -0.0702881 0.00273256 0.0509124 1 0 1 1 0 0 +EDGE2 1929 1369 -0.0232394 -0.0472523 0.0325185 1 0 1 1 0 0 +EDGE2 1929 1648 -1.04786 0.0523444 0.0345407 1 0 1 1 0 0 +EDGE2 1929 1928 -0.980475 0.0718548 -0.0345145 1 0 1 1 0 0 +EDGE2 1929 1368 -1.04349 0.000440483 0.0103178 1 0 1 1 0 0 +EDGE2 1929 1508 -0.92013 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-0.0249184 0.0240037 1 0 1 1 0 0 +EDGE2 1930 1371 -0.0986071 1.01418 1.58027 1 0 1 1 0 0 +EDGE2 1930 1531 0.0258226 0.981698 1.59234 1 0 1 1 0 0 +EDGE2 1930 1651 0.0305577 0.950806 1.6015 1 0 1 1 0 0 +EDGE2 1930 1511 0.0263469 0.990409 1.55188 1 0 1 1 0 0 +EDGE2 1930 1509 -1.04051 -0.0555789 -0.0213137 1 0 1 1 0 0 +EDGE2 1930 1649 -1.05262 0.0289954 -0.00125596 1 0 1 1 0 0 +EDGE2 1930 1929 -1.04199 -0.0538462 -0.0182036 1 0 1 1 0 0 +EDGE2 1930 1529 -1.03861 0.0419143 0.0111443 1 0 1 1 0 0 +EDGE2 1930 1369 -0.91365 -0.0551283 0.011519 1 0 1 1 0 0 +EDGE2 1931 1872 1.04746 -0.00653092 0.0437383 1 0 1 1 0 0 +EDGE2 1931 1672 0.934309 -0.0178322 0.0255706 1 0 1 1 0 0 +EDGE2 1931 1712 0.953154 -0.0518308 0.00128186 1 0 1 1 0 0 +EDGE2 1931 1472 1.01587 -0.127458 -0.0162898 1 0 1 1 0 0 +EDGE2 1931 1671 -0.0260868 -0.0429042 0.0188764 1 0 1 1 0 0 +EDGE2 1931 1711 -0.110892 0.0412966 -0.00552373 1 0 1 1 0 0 +EDGE2 1931 1871 0.0156599 -0.0372949 -0.000689601 1 0 1 1 0 0 +EDGE2 1931 1471 -0.0586721 0.0410617 -0.012478 1 0 1 1 0 0 +EDGE2 1931 1650 -0.958774 0.055045 1.56441 1 0 1 1 0 0 +EDGE2 1931 1710 -0.931106 0.0626128 -1.55378 1 0 1 1 0 0 +EDGE2 1931 1870 -0.912305 -0.0418819 -1.58984 1 0 1 1 0 0 +EDGE2 1931 1930 -0.970215 -0.0464159 1.56517 1 0 1 1 0 0 +EDGE2 1931 1670 -1.03502 -0.0031821 -1.56117 1 0 1 1 0 0 +EDGE2 1931 1470 -1.02313 -0.0362519 -1.55718 1 0 1 1 0 0 +EDGE2 1931 1510 -0.999106 0.0256453 1.57218 1 0 1 1 0 0 +EDGE2 1931 1530 -1.0135 0.0343861 1.5778 1 0 1 1 0 0 +EDGE2 1931 1370 -0.962713 -0.0356623 1.57378 1 0 1 1 0 0 +EDGE2 1932 1931 -0.912905 -0.0741969 0.0184383 1 0 1 1 0 0 +EDGE2 1932 1873 0.953148 0.0400551 -0.0105957 1 0 1 1 0 0 +EDGE2 1932 1872 -0.0500024 0.0359666 -0.0315131 1 0 1 1 0 0 +EDGE2 1932 1473 0.983568 -0.0204425 0.0162382 1 0 1 1 0 0 +EDGE2 1932 1673 0.917149 -0.0413293 -0.00850215 1 0 1 1 0 0 +EDGE2 1932 1713 1.03839 0.0533624 0.009614 1 0 1 1 0 0 +EDGE2 1932 1672 0.032106 0.00110091 0.00324305 1 0 1 1 0 0 +EDGE2 1932 1712 -0.00872175 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1933 1712 -0.938587 0.0178127 0.0338959 1 0 1 1 0 0 +EDGE2 1933 1472 -1.06872 0.117652 0.0275472 1 0 1 1 0 0 +EDGE2 1934 1715 1.08122 -0.0304904 -0.0394568 1 0 1 1 0 0 +EDGE2 1934 1895 0.990511 0.0633266 -3.14203 1 0 1 1 0 0 +EDGE2 1934 1875 0.984554 0.0110221 -0.00293273 1 0 1 1 0 0 +EDGE2 1934 1873 -0.953388 0.0477524 -0.00383329 1 0 1 1 0 0 +EDGE2 1934 1874 0.0559124 0.0117542 -0.0344552 1 0 1 1 0 0 +EDGE2 1934 1475 1.0238 0.155461 -0.029924 1 0 1 1 0 0 +EDGE2 1934 1675 0.947324 -0.00852081 -0.0150878 1 0 1 1 0 0 +EDGE2 1934 1695 1.10042 -0.0814414 -3.12801 1 0 1 1 0 0 +EDGE2 1934 1474 0.0148178 -0.110744 0.0282529 1 0 1 1 0 0 +EDGE2 1934 1674 -0.0429776 -0.0119989 0.0208425 1 0 1 1 0 0 +EDGE2 1934 1714 0.107079 -0.0557314 0.0111421 1 0 1 1 0 0 +EDGE2 1934 1933 -0.940417 -0.00404717 0.00727145 1 0 1 1 0 0 +EDGE2 1934 1473 -1.09454 0.0256614 0.00492747 1 0 1 1 0 0 +EDGE2 1934 1673 -1.00033 -0.0365396 -0.0280731 1 0 1 1 0 0 +EDGE2 1934 1713 -1.0199 -0.0360094 0.0128371 1 0 1 1 0 0 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0 0 +EDGE2 1939 1698 -1.01578 -0.0190258 -0.0581155 1 0 1 1 0 0 +EDGE2 1939 1718 -0.988268 -0.0454941 -0.000120059 1 0 1 1 0 0 +EDGE2 1940 1739 1.03187 0.0208339 -3.12805 1 0 1 1 0 0 +EDGE2 1940 1459 0.914214 -0.0131432 -3.14093 1 0 1 1 0 0 +EDGE2 1940 1701 0.0403988 1.08904 1.57204 1 0 1 1 0 0 +EDGE2 1940 1741 -0.0490469 -0.984587 -1.55392 1 0 1 1 0 0 +EDGE2 1940 1721 0.124352 -1.04108 -1.57582 1 0 1 1 0 0 +EDGE2 1940 1700 0.0116281 0.0993578 -0.0102082 1 0 1 1 0 0 +EDGE2 1940 1720 -0.0245387 -0.0221942 -0.0235424 1 0 1 1 0 0 +EDGE2 1940 1740 0.0492673 0.0722759 -3.17219 1 0 1 1 0 0 +EDGE2 1940 1460 -0.0426789 -0.0507494 -3.13017 1 0 1 1 0 0 +EDGE2 1940 1461 -0.13582 0.955406 1.52179 1 0 1 1 0 0 +EDGE2 1940 1719 -0.940341 -0.00614897 -0.00977855 1 0 1 1 0 0 +EDGE2 1940 1939 -1.06332 -0.00700492 -0.0142188 1 0 1 1 0 0 +EDGE2 1940 1699 -0.977971 0.0570568 0.0463126 1 0 1 1 0 0 +EDGE2 1941 1742 0.9166 0.0455438 -0.00281198 1 0 1 1 0 0 +EDGE2 1941 1940 -0.932483 0.0706479 1.58152 1 0 1 1 0 0 +EDGE2 1941 1741 -0.0177832 -0.0163406 0.00271883 1 0 1 1 0 0 +EDGE2 1941 1722 1.04815 0.0326636 -0.00693261 1 0 1 1 0 0 +EDGE2 1941 1721 0.0178443 -0.00989616 0.030542 1 0 1 1 0 0 +EDGE2 1941 1700 -1.10257 -0.0311705 1.59143 1 0 1 1 0 0 +EDGE2 1941 1720 -1.01559 0.0581611 1.57857 1 0 1 1 0 0 +EDGE2 1941 1740 -0.978107 -0.0632292 -1.54931 1 0 1 1 0 0 +EDGE2 1941 1460 -0.963574 0.0164426 -1.57193 1 0 1 1 0 0 +EDGE2 1942 1742 0.0362251 -0.0162346 -0.0160384 1 0 1 1 0 0 +EDGE2 1942 1723 1.0266 -0.00523751 -0.0308562 1 0 1 1 0 0 +EDGE2 1942 1743 1.00178 -0.0442399 0.0323575 1 0 1 1 0 0 +EDGE2 1942 1741 -1.13368 0.0599982 0.0179641 1 0 1 1 0 0 +EDGE2 1942 1941 -0.950484 0.05123 -0.0187543 1 0 1 1 0 0 +EDGE2 1942 1722 0.109837 0.0962231 -0.00681835 1 0 1 1 0 0 +EDGE2 1942 1721 -0.991135 -0.0428786 0.00333721 1 0 1 1 0 0 +EDGE2 1943 1742 -1.0091 -0.0144612 0.0155337 1 0 1 1 0 0 +EDGE2 1943 1744 1.07834 -0.0525364 0.0201693 1 0 1 1 0 0 +EDGE2 1943 1724 1.05104 0.0101483 0.00011197 1 0 1 1 0 0 +EDGE2 1943 1723 -0.0099691 -0.087424 0.0381181 1 0 1 1 0 0 +EDGE2 1943 1743 0.106004 0.0723469 -0.00581399 1 0 1 1 0 0 +EDGE2 1943 1942 -0.936872 0.047842 0.0124432 1 0 1 1 0 0 +EDGE2 1943 1722 -1.03097 0.111263 0.00187455 1 0 1 1 0 0 +EDGE2 1944 1745 1.05954 0.0532014 0.0475307 1 0 1 1 0 0 +EDGE2 1944 1943 -1.0113 0.0549972 0.0182784 1 0 1 1 0 0 +EDGE2 1944 1744 -0.0259137 0.0196609 0.00589767 1 0 1 1 0 0 +EDGE2 1944 1725 1.00211 -0.0969017 0.0143581 1 0 1 1 0 0 +EDGE2 1944 1724 0.0107431 0.0144517 -0.0603633 1 0 1 1 0 0 +EDGE2 1944 1723 -0.99582 -0.079623 -0.00186937 1 0 1 1 0 0 +EDGE2 1944 1743 -1.0559 -0.0489055 -0.0570636 1 0 1 1 0 0 +EDGE2 1945 1746 0.0328817 0.917474 1.57951 1 0 1 1 0 0 +EDGE2 1945 1726 0.00502576 1.03875 1.58201 1 0 1 1 0 0 +EDGE2 1945 1745 -0.0238766 -0.0466072 0.0155758 1 0 1 1 0 0 +EDGE2 1945 1744 -1.03177 -0.0950939 0.0146745 1 0 1 1 0 0 +EDGE2 1945 1944 -1.08911 -0.0393698 -0.000274343 1 0 1 1 0 0 +EDGE2 1945 1725 0.0329463 0.0205138 0.0255857 1 0 1 1 0 0 +EDGE2 1945 1724 -0.989239 -0.0724414 0.00578542 1 0 1 1 0 0 +EDGE2 1946 1727 1.0669 -0.01524 0.0176557 1 0 1 1 0 0 +EDGE2 1946 1747 0.90362 0.133978 -0.0164479 1 0 1 1 0 0 +EDGE2 1946 1746 -0.00506293 -0.0339215 0.0134331 1 0 1 1 0 0 +EDGE2 1946 1726 0.0128006 0.0253146 0.0231588 1 0 1 1 0 0 +EDGE2 1946 1745 -0.931773 -0.0910893 -1.64313 1 0 1 1 0 0 +EDGE2 1946 1945 -0.960055 -0.100114 -1.55956 1 0 1 1 0 0 +EDGE2 1946 1725 -1.02632 0.0902186 -1.55526 1 0 1 1 0 0 +EDGE2 1947 1727 0.042112 -0.045823 0.00606999 1 0 1 1 0 0 +EDGE2 1947 1728 1.00372 -0.0767748 0.00828399 1 0 1 1 0 0 +EDGE2 1947 1748 0.989853 -0.0507537 0.0111542 1 0 1 1 0 0 +EDGE2 1947 1747 0.0254995 0.0205662 -0.0132315 1 0 1 1 0 0 +EDGE2 1947 1746 -0.921138 0.00548209 0.0245406 1 0 1 1 0 0 +EDGE2 1947 1946 -1.03869 0.0204681 -0.0228178 1 0 1 1 0 0 +EDGE2 1947 1726 -0.946322 0.00390248 -0.0117262 1 0 1 1 0 0 +EDGE2 1948 1749 1.02771 0.0236449 -0.0156386 1 0 1 1 0 0 +EDGE2 1948 1729 1.01239 -0.0155394 -0.00113215 1 0 1 1 0 0 +EDGE2 1948 1727 -0.970799 0.0225408 -0.00876162 1 0 1 1 0 0 +EDGE2 1948 1947 -1.0536 0.0564209 -0.011933 1 0 1 1 0 0 +EDGE2 1948 1728 0.0341724 -0.0465192 -0.00217459 1 0 1 1 0 0 +EDGE2 1948 1748 0.0449377 -0.0240675 -0.00680101 1 0 1 1 0 0 +EDGE2 1948 1747 -1.01795 0.047013 0.0549715 1 0 1 1 0 0 +EDGE2 1949 1948 -1.04201 0.0193283 0.00806039 1 0 1 1 0 0 +EDGE2 1949 1750 0.996837 0.0317135 0.00892525 1 0 1 1 0 0 +EDGE2 1949 1730 1.00664 0.00569943 0.00483779 1 0 1 1 0 0 +EDGE2 1949 1749 -0.0433132 -0.00669647 -0.0312158 1 0 1 1 0 0 +EDGE2 1949 1729 0.062398 0.0163671 -0.00208004 1 0 1 1 0 0 +EDGE2 1949 1728 -1.00679 0.0210522 0.0148563 1 0 1 1 0 0 +EDGE2 1949 1748 -1.03802 -0.0473024 -0.0150728 1 0 1 1 0 0 +EDGE2 1950 1750 -0.00459823 0.0406054 -0.0255372 1 0 1 1 0 0 +EDGE2 1950 1949 -1.00524 0.00857809 -0.0138023 1 0 1 1 0 0 +EDGE2 1950 1730 -0.101284 0.137102 0.0288636 1 0 1 1 0 0 +EDGE2 1950 1731 -0.0686287 1.0647 1.5711 1 0 1 1 0 0 +EDGE2 1950 1751 -0.00266126 0.986564 1.55767 1 0 1 1 0 0 +EDGE2 1950 1749 -1.01301 0.0292874 0.0032008 1 0 1 1 0 0 +EDGE2 1950 1729 -1.01234 0.0443516 0.0352338 1 0 1 1 0 0 +EDGE2 1951 1750 -0.959169 0.0275384 1.55596 1 0 1 1 0 0 +EDGE2 1951 1950 -1.03189 0.0470438 1.57812 1 0 1 1 0 0 +EDGE2 1951 1730 -1.08012 -0.0438711 1.55656 1 0 1 1 0 0 +EDGE2 1952 1951 -1.0225 -0.00128052 -0.0215143 1 0 1 1 0 0 +EDGE2 1953 1952 -0.943011 0.0709763 0.00281239 1 0 1 1 0 0 +EDGE2 1954 1953 -1.05417 0.00142752 0.0283419 1 0 1 1 0 0 +EDGE2 1955 1954 -1.06581 0.0927918 0.0287701 1 0 1 1 0 0 +EDGE2 1956 1955 -1.01682 0.0252341 1.5651 1 0 1 1 0 0 +EDGE2 1957 1956 -1.03777 0.0180557 0.0156521 1 0 1 1 0 0 +EDGE2 1958 1957 -0.906424 -0.0434791 -0.00809637 1 0 1 1 0 0 +EDGE2 1959 1958 -0.924016 -0.0355233 0.0261924 1 0 1 1 0 0 +EDGE2 1960 1959 -1.0605 -0.00812216 0.0268935 1 0 1 1 0 0 +EDGE2 1961 1960 -0.964846 -0.0931329 -1.55245 1 0 1 1 0 0 +EDGE2 1962 1961 -1.05809 -0.0414948 0.0105518 1 0 1 1 0 0 +EDGE2 1963 1962 -0.993888 -0.0589607 -0.0370754 1 0 1 1 0 0 +EDGE2 1964 1963 -0.966421 -0.0306585 -0.0240633 1 0 1 1 0 0 +EDGE2 1965 1964 -0.994873 -0.00466666 0.0224142 1 0 1 1 0 0 +EDGE2 1966 1965 -1.0033 0.00377487 -1.58998 1 0 1 1 0 0 +EDGE2 1967 1966 -0.971765 0.0319893 -0.00646729 1 0 1 1 0 0 +EDGE2 1968 1967 -0.946994 0.00991469 -0.00483266 1 0 1 1 0 0 +EDGE2 1969 1968 -0.93351 0.0334612 0.00776193 1 0 1 1 0 0 +EDGE2 1970 1969 -0.915027 -0.00921922 0.0389372 1 0 1 1 0 0 +EDGE2 1971 1970 -1.04248 -0.0188794 -1.5627 1 0 1 1 0 0 +EDGE2 1972 1971 -0.988714 0.0426255 -0.00833797 1 0 1 1 0 0 +EDGE2 1973 1972 -0.923307 -0.00502572 0.0160189 1 0 1 1 0 0 +EDGE2 1974 1973 -0.96362 0.0269859 0.0183691 1 0 1 1 0 0 +EDGE2 1974 1955 0.98267 -0.0587952 -3.16323 1 0 1 1 0 0 +EDGE2 1975 1954 1.06649 0.0363914 -3.16319 1 0 1 1 0 0 +EDGE2 1975 1974 -0.96762 -0.001388 0.00169247 1 0 1 1 0 0 +EDGE2 1975 1955 0.0431246 -0.024315 -3.13667 1 0 1 1 0 0 +EDGE2 1975 1956 -0.0451835 0.994651 1.61509 1 0 1 1 0 0 +EDGE2 1976 1975 -0.986738 -0.0104457 -1.55557 1 0 1 1 0 0 +EDGE2 1976 1955 -0.978853 0.0634217 1.61061 1 0 1 1 0 0 +EDGE2 1976 1956 -0.00423246 -0.050154 -0.0162084 1 0 1 1 0 0 +EDGE2 1976 1957 0.992492 0.044839 0.000239347 1 0 1 1 0 0 +EDGE2 1977 1956 -0.996629 -0.108151 -0.0454251 1 0 1 1 0 0 +EDGE2 1977 1976 -1.04692 -0.0243873 -0.00703196 1 0 1 1 0 0 +EDGE2 1977 1957 -0.0144798 -0.00277489 0.0273135 1 0 1 1 0 0 +EDGE2 1977 1958 0.967213 -0.0691074 -0.00575115 1 0 1 1 0 0 +EDGE2 1978 1977 -1.08013 0.0333463 0.0102876 1 0 1 1 0 0 +EDGE2 1978 1957 -0.987933 -0.0058788 -0.0171579 1 0 1 1 0 0 +EDGE2 1978 1958 0.0444829 0.0833283 -0.0577801 1 0 1 1 0 0 +EDGE2 1978 1959 0.966877 0.0235905 0.00500637 1 0 1 1 0 0 +EDGE2 1979 1978 -0.952346 -0.0401466 0.0123793 1 0 1 1 0 0 +EDGE2 1979 1958 -1.01589 0.0054175 -0.0215536 1 0 1 1 0 0 +EDGE2 1979 1959 -0.0389842 -0.0862518 -0.0169288 1 0 1 1 0 0 +EDGE2 1979 1960 0.975895 -0.0495453 0.0197864 1 0 1 1 0 0 +EDGE2 1980 1979 -1.00598 0.0532653 0.0216999 1 0 1 1 0 0 +EDGE2 1980 1959 -1.02501 0.0344823 -0.0127801 1 0 1 1 0 0 +EDGE2 1980 1960 -0.0471652 0.0863481 0.0062378 1 0 1 1 0 0 +EDGE2 1980 1961 0.00901442 1.03347 1.57827 1 0 1 1 0 0 +EDGE2 1981 1962 0.940742 0.00341825 0.0168041 1 0 1 1 0 0 +EDGE2 1981 1960 -1.00015 0.0438103 -1.53363 1 0 1 1 0 0 +EDGE2 1981 1980 -0.958201 0.02756 -1.58033 1 0 1 1 0 0 +EDGE2 1981 1961 0.0170745 0.0725172 -0.00124512 1 0 1 1 0 0 +EDGE2 1982 1981 -1.01578 -0.0214548 0.0311474 1 0 1 1 0 0 +EDGE2 1982 1963 1.05768 -0.0226734 0.017436 1 0 1 1 0 0 +EDGE2 1982 1962 -0.0532055 0.045735 -0.028132 1 0 1 1 0 0 +EDGE2 1982 1961 -1.03548 -0.0648484 -0.0257451 1 0 1 1 0 0 +EDGE2 1983 1964 1.00276 -0.00835625 -0.0055426 1 0 1 1 0 0 +EDGE2 1983 1982 -0.969956 -0.0322649 -0.00018619 1 0 1 1 0 0 +EDGE2 1983 1963 0.0564916 0.0369334 0.00443873 1 0 1 1 0 0 +EDGE2 1983 1962 -0.985286 0.0122176 -0.0124195 1 0 1 1 0 0 +EDGE2 1984 1964 0.0717805 0.000804701 0.000489767 1 0 1 1 0 0 +EDGE2 1984 1965 0.895167 0.0815251 -0.009058 1 0 1 1 0 0 +EDGE2 1984 1963 -0.982849 -0.0757825 -0.0479688 1 0 1 1 0 0 +EDGE2 1984 1983 -1.05478 -0.0364054 -0.0194313 1 0 1 1 0 0 +EDGE2 1985 1964 -0.999001 0.0168539 0.00163576 1 0 1 1 0 0 +EDGE2 1985 1965 -0.0197151 -0.048047 -0.0300131 1 0 1 1 0 0 +EDGE2 1985 1966 0.031442 0.977049 1.60526 1 0 1 1 0 0 +EDGE2 1985 1984 -0.949048 -0.0212716 -0.0366859 1 0 1 1 0 0 +EDGE2 1986 1967 0.937513 0.0493326 0.0199668 1 0 1 1 0 0 +EDGE2 1986 1965 -0.913676 0.02738 -1.57373 1 0 1 1 0 0 +EDGE2 1986 1985 -1.00978 0.0450655 -1.53487 1 0 1 1 0 0 +EDGE2 1986 1966 0.0626167 0.0246417 0.0179191 1 0 1 1 0 0 +EDGE2 1987 1968 0.971278 -0.0317633 0.02737 1 0 1 1 0 0 +EDGE2 1987 1986 -1.07877 -0.0756139 -0.0266188 1 0 1 1 0 0 +EDGE2 1987 1967 0.0208396 -0.0404893 -0.0377407 1 0 1 1 0 0 +EDGE2 1987 1966 -0.969448 -0.0362498 0.00101759 1 0 1 1 0 0 +EDGE2 1988 1969 1.01257 -0.0335056 0.0145992 1 0 1 1 0 0 +EDGE2 1988 1968 -0.0622395 -0.0165413 -0.00719098 1 0 1 1 0 0 +EDGE2 1988 1967 -0.993366 -0.0737222 -0.0367186 1 0 1 1 0 0 +EDGE2 1988 1987 -0.963401 0.0261517 -0.00716377 1 0 1 1 0 0 +EDGE2 1989 1970 0.948275 -0.0146619 0.0318573 1 0 1 1 0 0 +EDGE2 1989 1969 -0.0171098 -0.0273623 0.00880636 1 0 1 1 0 0 +EDGE2 1989 1968 -0.979076 -0.0709008 0.00710372 1 0 1 1 0 0 +EDGE2 1989 1988 -1.04271 -0.0833517 0.0264933 1 0 1 1 0 0 +EDGE2 1990 1970 -0.00689206 0.0189439 -0.00670274 1 0 1 1 0 0 +EDGE2 1990 1971 -0.0331747 1.01305 1.61178 1 0 1 1 0 0 +EDGE2 1990 1969 -1.03999 -0.0194879 -0.0191377 1 0 1 1 0 0 +EDGE2 1990 1989 -0.970665 -0.0273407 0.00485176 1 0 1 1 0 0 +EDGE2 1991 1970 -0.986906 0.0371399 1.55516 1 0 1 1 0 0 +EDGE2 1991 1990 -1.0075 0.030087 1.60491 1 0 1 1 0 0 +EDGE2 1992 1991 -0.889089 0.00876667 -0.0115424 1 0 1 1 0 0 +EDGE2 1993 1992 -0.979778 -0.0577887 -0.0228168 1 0 1 1 0 0 +EDGE2 1994 1993 -1.003 -0.0523314 -0.0176558 1 0 1 1 0 0 +EDGE2 1995 1994 -1.0749 -0.00669704 0.00311574 1 0 1 1 0 0 +EDGE2 1996 1995 -1.07875 0.0332414 -1.55955 1 0 1 1 0 0 +EDGE2 1997 1996 -0.973014 -0.0101613 -0.00368584 1 0 1 1 0 0 +EDGE2 1998 1997 -0.994255 -0.0436559 -0.00811794 1 0 1 1 0 0 +EDGE2 1999 1998 -0.999811 0.0197544 0.0182535 1 0 1 1 0 0 +EDGE2 2000 1999 -0.947696 -0.0869239 0.0102297 1 0 1 1 0 0 +EDGE2 2001 2000 -0.973752 0.0691682 -1.60947 1 0 1 1 0 0 +EDGE2 2002 2001 -1.05464 0.123964 0.0183274 1 0 1 1 0 0 +EDGE2 2003 2002 -1.0143 0.0423181 -0.00525544 1 0 1 1 0 0 +EDGE2 2004 2003 -1.09083 -0.0351689 0.00792952 1 0 1 1 0 0 +EDGE2 2005 2004 -0.908782 -0.0254165 -0.0143975 1 0 1 1 0 0 +EDGE2 2006 2005 -1.01976 -0.0331941 1.56854 1 0 1 1 0 0 +EDGE2 2007 2006 -1.0568 0.0397136 0.0251142 1 0 1 1 0 0 +EDGE2 2008 2007 -0.958366 0.00878078 -0.0209455 1 0 1 1 0 0 +EDGE2 2009 2008 -0.965193 0.01105 -0.00803488 1 0 1 1 0 0 +EDGE2 2010 2009 -0.976531 0.0809394 0.00656133 1 0 1 1 0 0 +EDGE2 2011 2010 -1.07244 0.0756217 -1.58931 1 0 1 1 0 0 +EDGE2 2012 2011 -0.953108 0.0135975 0.0299713 1 0 1 1 0 0 +EDGE2 2013 2012 -1.08004 0.0101901 -0.0191886 1 0 1 1 0 0 +EDGE2 2014 2013 -0.896443 0.0700767 -0.0157352 1 0 1 1 0 0 +EDGE2 2015 2014 -1.01383 0.00596184 -0.00901969 1 0 1 1 0 0 +EDGE2 2016 2015 -1.05566 -0.0720228 1.57461 1 0 1 1 0 0 +EDGE2 2017 2016 -0.996657 -0.0580298 0.0212475 1 0 1 1 0 0 +EDGE2 2018 2017 -1.02126 -0.0525167 -0.00246928 1 0 1 1 0 0 +EDGE2 2019 2018 -1.07095 0.00424662 -0.000571737 1 0 1 1 0 0 +EDGE2 2020 2019 -0.974978 0.0683737 0.0115495 1 0 1 1 0 0 +EDGE2 2021 2020 -1.0224 0.00545924 -1.55022 1 0 1 1 0 0 +EDGE2 2022 2021 -0.93369 -0.0720647 -0.0111007 1 0 1 1 0 0 +EDGE2 2023 2022 -0.891795 0.0678456 -0.0134894 1 0 1 1 0 0 +EDGE2 2024 2023 -0.92219 0.0205852 0.0148953 1 0 1 1 0 0 +EDGE2 2025 2024 -0.989427 -0.0474381 -0.0113209 1 0 1 1 0 0 +EDGE2 2026 2025 -1.06307 0.00217862 -1.58854 1 0 1 1 0 0 +EDGE2 2027 2026 -1.03087 0.0852776 0.0164415 1 0 1 1 0 0 +EDGE2 2028 2027 -1.04948 -0.0192385 0.0214181 1 0 1 1 0 0 +EDGE2 2029 2028 -1.07877 -0.0576971 -0.00977899 1 0 1 1 0 0 +EDGE2 2029 1770 0.967999 0.068146 -3.1459 1 0 1 1 0 0 +EDGE2 2030 2029 -1.0711 0.0793798 0.00827537 1 0 1 1 0 0 +EDGE2 2030 1770 -0.123098 0.0633544 -3.16166 1 0 1 1 0 0 +EDGE2 2030 1771 0.0515934 -1.04544 -1.55233 1 0 1 1 0 0 +EDGE2 2030 1769 1.04109 -0.0316559 -3.13415 1 0 1 1 0 0 +EDGE2 2031 1770 -1.07055 -0.0662899 -1.5828 1 0 1 1 0 0 +EDGE2 2031 2030 -0.995306 0.0415322 1.56804 1 0 1 1 0 0 +EDGE2 2031 1771 -0.00946214 -0.0364417 0.0106513 1 0 1 1 0 0 +EDGE2 2031 1772 1.06457 0.0331958 0.00722261 1 0 1 1 0 0 +EDGE2 2032 2031 -1.1349 -0.0164872 0.00476837 1 0 1 1 0 0 +EDGE2 2032 1771 -1.06965 -0.0186978 -0.00491418 1 0 1 1 0 0 +EDGE2 2032 1772 -0.0388556 0.0117188 0.0207303 1 0 1 1 0 0 +EDGE2 2032 1773 1.05593 -0.0637715 0.00746517 1 0 1 1 0 0 +EDGE2 2033 2032 -0.874984 0.0170643 0.0221874 1 0 1 1 0 0 +EDGE2 2033 1772 -1.02996 -0.0163435 -0.0235294 1 0 1 1 0 0 +EDGE2 2033 1773 -0.0274608 -0.00322703 0.0251846 1 0 1 1 0 0 +EDGE2 2033 1774 0.980111 -0.0052702 0.00889805 1 0 1 1 0 0 +EDGE2 2034 2033 -0.963029 -0.0441092 0.0523526 1 0 1 1 0 0 +EDGE2 2034 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9762 +EQUIV 9783 9763 +EQUIV 9784 9764 +EQUIV 9785 9765 +EQUIV 9786 9766 +EQUIV 9787 9767 +EQUIV 9788 9768 +EQUIV 9789 9769 +EQUIV 9790 9770 +EQUIV 9791 9771 +EQUIV 9792 9772 +EQUIV 9793 9773 +EQUIV 9794 9774 +EQUIV 9795 9775 +EQUIV 9796 9776 +EQUIV 9797 9777 +EQUIV 9798 9778 +EQUIV 9799 9779 +EQUIV 9800 9780 +EQUIV 9801 9761 +EQUIV 9802 9762 +EQUIV 9803 9763 +EQUIV 9804 9764 +EQUIV 9805 9765 +EQUIV 9806 9766 +EQUIV 9807 9767 +EQUIV 9808 9768 +EQUIV 9809 9769 +EQUIV 9810 9770 +EQUIV 9851 9771 +EQUIV 9852 9772 +EQUIV 9853 9773 +EQUIV 9854 9774 +EQUIV 9855 9775 +EQUIV 9856 9776 +EQUIV 9857 9777 +EQUIV 9858 9778 +EQUIV 9859 9779 +EQUIV 9860 9780 +EQUIV 9861 9761 +EQUIV 9862 9762 +EQUIV 9863 9763 +EQUIV 9864 9764 +EQUIV 9865 9765 +EQUIV 9911 9891 +EQUIV 9912 9892 +EQUIV 9913 9893 +EQUIV 9914 9894 +EQUIV 9915 9895 +EQUIV 9951 9931 +EQUIV 9952 9932 +EQUIV 9953 9933 +EQUIV 9954 9934 +EQUIV 9955 9935 +EQUIV 9956 9936 +EQUIV 9957 9937 +EQUIV 9958 9938 +EQUIV 9959 9939 +EQUIV 9960 9940 +EQUIV 9961 9941 +EQUIV 9962 9942 +EQUIV 9963 9943 +EQUIV 9964 9944 +EQUIV 9965 9945 +EQUIV 9966 9946 +EQUIV 9967 9947 +EQUIV 9968 9948 +EQUIV 9969 9949 +EQUIV 9970 9950 +EQUIV 9971 9931 +EQUIV 9972 9932 +EQUIV 9973 9933 +EQUIV 9974 9934 +EQUIV 9975 9935 +EQUIV 9976 9936 +EQUIV 9977 9937 +EQUIV 9978 9938 +EQUIV 9979 9939 +EQUIV 9980 9940 +EQUIV 9981 9941 +EQUIV 9982 9942 +EQUIV 9983 9943 +EQUIV 9984 9944 +EQUIV 9985 9945 +EQUIV 9986 9946 +EQUIV 9987 9947 +EQUIV 9988 9948 +EQUIV 9989 9949 +EQUIV 9990 9950 +EQUIV 9991 9931 +EQUIV 9992 9932 +EQUIV 9993 9933 +EQUIV 9994 9934 +EQUIV 9995 9935 diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/examples/Pose2SLAMExample_graph.m index e3dea348c..0481f021e 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/examples/Pose2SLAMExample_graph.m @@ -12,12 +12,14 @@ %% Initialize graph, initial estimate, and odometry noise import gtsam.* -model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -[graph,initial]=load2D('Data/w100-odom.graph',model); +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]); +maxID=0; +addNoise=false; +smart=true; +[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 -import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph @@ -28,7 +30,9 @@ P=initial.poses; plot(P(:,1),P(:,2),'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +tic result = graph.optimize(initial,1); +toc P=result.poses; hold on; plot(P(:,1),P(:,2),'b-*') result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/examples/Pose2SLAMExample_graph1.m b/matlab/examples/Pose2SLAMExample_graph1.m new file mode 100644 index 000000000..ef8002209 --- /dev/null +++ b/matlab/examples/Pose2SLAMExample_graph1.m @@ -0,0 +1,36 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +%% Initialize graph, initial estimate, and odometry noise +import gtsam.* +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]); +maxID=0; +addNoise=false; +smart=true; +[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); + +%% Add a Gaussian prior on pose x_1 +priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); +graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph + +%% Plot Initial Estimate +figure(1);clf +P=initial.poses; +plot(P(:,1),P(:,2),'r-'); axis equal + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +tic +result = graph.optimize(initial,1); +toc +P=result.poses; +hold on; plot(P(:,1),P(:,2),'b-') diff --git a/matlab/examples/Pose2SLAMExample_graph2.m b/matlab/examples/Pose2SLAMExample_graph2.m new file mode 100644 index 000000000..0eb0dc31d --- /dev/null +++ b/matlab/examples/Pose2SLAMExample_graph2.m @@ -0,0 +1,52 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +import gtsam.* +maxID=0; +addNoise=false; +smart=true; +priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); + +%% Create graph, disregarding translation measurements by setting sigma high +model = noiseModel.Diagonal.Sigmas([100000; 100000; 1*pi/180]); +[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); + +%% Add a Gaussian prior on pose x_1 +graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph + +%% Plot Initial Estimate +figure(1);clf +P=initial.poses; +plot(P(:,1),P(:,2),'r-'); axis equal + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +tic +result1 = graph.optimize(initial,1); +toc +P=result1.poses; +hold on; plot(P(:,1),P(:,2),'g-') + +%% Read again, with correct noise now... +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]); +graph=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); + +%% Add a Gaussian prior on pose x_1 +graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +tic +result2 = graph.optimize(result1,1); +toc +P=result2.poses; +hold on; plot(P(:,1),P(:,2),'b-') + From a3ee762dac5f25f0db98080f0f7a79be44ac4740 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 27 Jul 2012 19:01:51 +0000 Subject: [PATCH 721/914] Fixed svn merging problem in SuccessiveLinearizationOptimizer --- .../SuccessiveLinearizationOptimizer.cpp | 62 +++++++++---------- .../SuccessiveLinearizationOptimizer.h | 34 ---------- 2 files changed, 31 insertions(+), 65 deletions(-) diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp index 0fe0440ae..af3f70ddc 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp @@ -17,37 +17,37 @@ namespace gtsam { void SuccessiveLinearizationParams::print(const std::string& str) const { - NonlinearOptimizerParams::print(str); - switch ( linearSolverType ) { - case MULTIFRONTAL_CHOLESKY: - std::cout << " linear solver type: MULTIFRONTAL CHOLESKY\n"; - break; - case MULTIFRONTAL_QR: - std::cout << " linear solver type: MULTIFRONTAL QR\n"; - break; - case SEQUENTIAL_CHOLESKY: - std::cout << " linear solver type: SEQUENTIAL CHOLESKY\n"; - break; - case SEQUENTIAL_QR: - std::cout << " linear solver type: SEQUENTIAL QR\n"; - break; - case CHOLMOD: - std::cout << " linear solver type: CHOLMOD\n"; - break; - case CG: - std::cout << " linear solver type: CG\n"; - break; - default: - std::cout << " linear solver type: (invalid)\n"; - break; - } - - if(ordering) - std::cout << " ordering: custom\n"; - else - std::cout << " ordering: COLAMD\n"; - - std::cout.flush(); + NonlinearOptimizerParams::print(str); + switch ( linearSolverType ) { + case MULTIFRONTAL_CHOLESKY: + std::cout << " linear solver type: MULTIFRONTAL CHOLESKY\n"; + break; + case MULTIFRONTAL_QR: + std::cout << " linear solver type: MULTIFRONTAL QR\n"; + break; + case SEQUENTIAL_CHOLESKY: + std::cout << " linear solver type: SEQUENTIAL CHOLESKY\n"; + break; + case SEQUENTIAL_QR: + std::cout << " linear solver type: SEQUENTIAL QR\n"; + break; + case CHOLMOD: + std::cout << " linear solver type: CHOLMOD\n"; + break; + case CONJUGATE_GRADIENT: + std::cout << " linear solver type: CONJUGATE GRADIENT\n"; + break; + default: + std::cout << " linear solver type: (invalid)\n"; + break; + } + + if(ordering) + std::cout << " ordering: custom\n"; + else + std::cout << " ordering: COLAMD\n"; + + std::cout.flush(); } VectorValues solveGaussianFactorGraph(const GaussianFactorGraph &gfg, const SuccessiveLinearizationParams ¶ms) { diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index fc44621f6..e79a364c5 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -42,40 +42,6 @@ public: SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {} virtual ~SuccessiveLinearizationParams() {} - virtual void print(const std::string& str = "") const { - NonlinearOptimizerParams::print(str); - switch ( linearSolverType ) { - case MULTIFRONTAL_CHOLESKY: - std::cout << " linear solver type: MULTIFRONTAL CHOLESKY\n"; - break; - case MULTIFRONTAL_QR: - std::cout << " linear solver type: MULTIFRONTAL QR\n"; - break; - case SEQUENTIAL_CHOLESKY: - std::cout << " linear solver type: SEQUENTIAL CHOLESKY\n"; - break; - case SEQUENTIAL_QR: - std::cout << " linear solver type: SEQUENTIAL QR\n"; - break; - case CHOLMOD: - std::cout << " linear solver type: CHOLMOD\n"; - break; - case CONJUGATE_GRADIENT: - std::cout << " linear solver type: CONJUGATE GRADIENT\n"; - break; - default: - std::cout << " linear solver type: (invalid)\n"; - break; - } - - if(ordering) - std::cout << " ordering: custom\n"; - else - std::cout << " ordering: COLAMD\n"; - - std::cout.flush(); - } - inline bool isMultifrontal() const { return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); } From aef5ae269fd2b75b2d8f24120551e98ba45bbe82 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 27 Jul 2012 19:01:53 +0000 Subject: [PATCH 722/914] Added argument and return type checking for global wrapped functions --- wrap/Module.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 229a9810f..b2f061838 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -416,6 +416,9 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); // Check that all classes have been defined somewhere + verifyArguments(validTypes, global_functions); + verifyReturnTypes(validTypes, global_functions); + BOOST_FOREACH(const Class& cls, expandedClasses) { // verify all of the function arguments //TODO:verifyArguments(validTypes, cls.constructor.args_list); From 9d2a3bf14edb2e07d91559758692b4aa42ee315c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 27 Jul 2012 19:02:11 +0000 Subject: [PATCH 723/914] Finished denamespacing and reorganizing matlab code --- gtsam.h | 423 +----------------- gtsam/nonlinear/Symbol.h | 9 + gtsam/slam/dataset.cpp | 20 +- gtsam/slam/dataset.h | 16 +- matlab/{ => +gtsam_utils}/CHECK.m | 0 matlab/{ => +gtsam_utils}/EQUALITY.m | 0 .../VisualISAMGenerateData.m | 0 .../VisualISAMInitialize.m | 43 +- .../VisualISAMPlot.m | 34 +- matlab/+gtsam_utils/VisualISAMStep.m | 44 ++ matlab/{ => +gtsam_utils}/circlePose2.m | 2 +- matlab/{ => +gtsam_utils}/circlePose3.m | 2 +- matlab/{ => +gtsam_utils}/covarianceEllipse.m | 66 +-- .../{ => +gtsam_utils}/covarianceEllipse3D.m | 0 .../findExampleDataFile.m | 4 +- matlab/{ => +gtsam_utils}/load2D.m | 0 matlab/{ => +gtsam_utils}/load3D.m | 0 matlab/{ => +gtsam_utils}/plot2DPoints.m | 4 +- matlab/{ => +gtsam_utils}/plot2DTrajectory.m | 4 +- matlab/{ => +gtsam_utils}/plot3DPoints.m | 4 +- matlab/{ => +gtsam_utils}/plot3DTrajectory.m | 4 +- matlab/{ => +gtsam_utils}/plotCamera.m | 0 matlab/{ => +gtsam_utils}/plotPoint2.m | 2 +- matlab/{ => +gtsam_utils}/plotPoint3.m | 2 +- matlab/{ => +gtsam_utils}/plotPose2.m | 2 +- matlab/{ => +gtsam_utils}/plotPose3.m | 2 +- matlab/CMakeLists.txt | 11 +- matlab/examples/+support/VisualISAMStep.m | 44 -- .../LocalizationExample.m | 2 +- .../OdometryExample.m | 2 +- .../PlanarSLAMExample.m | 4 +- .../PlanarSLAMExample_sampling.m | 9 +- .../Pose2SLAMExample.m | 4 +- .../Pose2SLAMExample_advanced.m | 1 + .../Pose2SLAMExample_circle.m | 14 +- .../Pose2SLAMExample_graph.m | 13 +- .../Pose2SLAMwSPCG.m | 0 .../Pose3SLAMExample.m | 14 +- .../Pose3SLAMExample_graph.m | 11 +- .../{examples => gtsam_examples}/SBAExample.m | 2 +- .../{examples => gtsam_examples}/SFMExample.m | 6 +- .../StereoVOExample.m | 7 +- .../StereoVOExample_large.m | 14 +- .../VisualISAMDemo.m | 0 .../VisualISAMExample.m | 10 +- .../VisualISAM_gui.fig | Bin .../VisualISAM_gui.m | 20 +- .../gtsamExamples.fig | Bin .../gtsamExamples.m | 0 .../testJacobianFactor.m | 1 + .../{tests => gtsam_tests}/testKalmanFilter.m | 4 + .../testLocalizationExample.m | 1 + .../testOdometryExample.m | 2 + .../testPlanarSLAMExample.m | 2 + .../testPose2SLAMExample.m | 1 + .../testPose3SLAMExample.m | 7 +- .../{tests => gtsam_tests}/testSFMExample.m | 22 +- .../testStereoVOExample.m | 40 +- .../testVisualISAMExample.m | 11 +- matlab/{tests => gtsam_tests}/test_gtsam.m | 18 +- matlab/symbol.m | 4 - matlab/symbolChr.m | 4 - matlab/symbolIndex.m | 4 - 63 files changed, 324 insertions(+), 672 deletions(-) rename matlab/{ => +gtsam_utils}/CHECK.m (100%) rename matlab/{ => +gtsam_utils}/EQUALITY.m (100%) rename matlab/{examples/+support => +gtsam_utils}/VisualISAMGenerateData.m (100%) rename matlab/{examples/+support => +gtsam_utils}/VisualISAMInitialize.m (54%) rename matlab/{examples/+support => +gtsam_utils}/VisualISAMPlot.m (55%) create mode 100644 matlab/+gtsam_utils/VisualISAMStep.m rename matlab/{ => +gtsam_utils}/circlePose2.m (95%) rename matlab/{ => +gtsam_utils}/circlePose3.m (96%) rename matlab/{ => +gtsam_utils}/covarianceEllipse.m (96%) rename matlab/{ => +gtsam_utils}/covarianceEllipse3D.m (100%) rename matlab/{examples/+support => +gtsam_utils}/findExampleDataFile.m (74%) rename matlab/{ => +gtsam_utils}/load2D.m (100%) rename matlab/{ => +gtsam_utils}/load3D.m (100%) rename matlab/{ => +gtsam_utils}/plot2DPoints.m (88%) rename matlab/{ => +gtsam_utils}/plot2DTrajectory.m (93%) rename matlab/{ => +gtsam_utils}/plot3DPoints.m (88%) rename matlab/{ => +gtsam_utils}/plot3DTrajectory.m (91%) rename matlab/{ => +gtsam_utils}/plotCamera.m (100%) rename matlab/{ => +gtsam_utils}/plotPoint2.m (76%) rename matlab/{ => +gtsam_utils}/plotPoint3.m (80%) rename matlab/{ => +gtsam_utils}/plotPose2.m (84%) rename matlab/{ => +gtsam_utils}/plotPose3.m (94%) delete mode 100644 matlab/examples/+support/VisualISAMStep.m rename matlab/{examples => gtsam_examples}/LocalizationExample.m (96%) rename matlab/{examples => gtsam_examples}/OdometryExample.m (96%) rename matlab/{examples => gtsam_examples}/PlanarSLAMExample.m (96%) rename matlab/{examples => gtsam_examples}/PlanarSLAMExample_sampling.m (92%) rename matlab/{examples => gtsam_examples}/Pose2SLAMExample.m (96%) rename matlab/{examples => gtsam_examples}/Pose2SLAMExample_advanced.m (99%) rename matlab/{examples => gtsam_examples}/Pose2SLAMExample_circle.m (87%) rename matlab/{examples => gtsam_examples}/Pose2SLAMExample_graph.m (79%) rename matlab/{examples => gtsam_examples}/Pose2SLAMwSPCG.m (100%) rename matlab/{examples => gtsam_examples}/Pose3SLAMExample.m (88%) rename matlab/{examples => gtsam_examples}/Pose3SLAMExample_graph.m (77%) rename matlab/{examples => gtsam_examples}/SBAExample.m (97%) rename matlab/{examples => gtsam_examples}/SFMExample.m (94%) rename matlab/{examples => gtsam_examples}/StereoVOExample.m (94%) rename matlab/{examples => gtsam_examples}/StereoVOExample_large.m (84%) rename matlab/{examples => gtsam_examples}/VisualISAMDemo.m (100%) rename matlab/{examples => gtsam_examples}/VisualISAMExample.m (75%) rename matlab/{examples => gtsam_examples}/VisualISAM_gui.fig (100%) rename matlab/{examples => gtsam_examples}/VisualISAM_gui.m (92%) rename matlab/{examples => gtsam_examples}/gtsamExamples.fig (100%) rename matlab/{examples => gtsam_examples}/gtsamExamples.m (100%) rename matlab/{tests => gtsam_tests}/testJacobianFactor.m (98%) rename matlab/{tests => gtsam_tests}/testKalmanFilter.m (96%) rename matlab/{tests => gtsam_tests}/testLocalizationExample.m (98%) rename matlab/{tests => gtsam_tests}/testOdometryExample.m (98%) rename matlab/{tests => gtsam_tests}/testPlanarSLAMExample.m (98%) rename matlab/{tests => gtsam_tests}/testPose2SLAMExample.m (99%) rename matlab/{tests => gtsam_tests}/testPose3SLAMExample.m (96%) rename matlab/{tests => gtsam_tests}/testSFMExample.m (77%) rename matlab/{tests => gtsam_tests}/testStereoVOExample.m (59%) rename matlab/{tests => gtsam_tests}/testVisualISAMExample.m (82%) rename matlab/{tests => gtsam_tests}/test_gtsam.m (100%) delete mode 100644 matlab/symbol.m delete mode 100644 matlab/symbolChr.m delete mode 100644 matlab/symbolIndex.m diff --git a/gtsam.h b/gtsam.h index 646e44141..6f87670ca 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1023,14 +1023,9 @@ class KalmanFilter { //************************************************************************* #include -class Symbol { - Symbol(char c, size_t j); - Symbol(size_t k); - void print(string s) const; - size_t key() const; - size_t index() const; - char chr() const; -}; +size_t symbol(char chr, size_t index); +char symbolChr(size_t key); +size_t symbolIndex(size_t key); #include class Ordering { @@ -1415,6 +1410,8 @@ typedef gtsam::RangeFactor RangeFactorSimple typedef gtsam::RangeFactor RangeFactorCalibratedCamera; typedef gtsam::RangeFactor RangeFactorSimpleCamera; + +#include template virtual class BearingFactor : gtsam::NonlinearFactor { BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel); @@ -1423,6 +1420,7 @@ virtual class BearingFactor : gtsam::NonlinearFactor { typedef gtsam::BearingFactor BearingFactor2D; +#include template virtual class BearingRangeFactor : gtsam::NonlinearFactor { BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel); @@ -1473,412 +1471,7 @@ virtual class GenericStereoFactor : gtsam::NonlinearFactor { typedef gtsam::GenericStereoFactor GenericStereoFactor3D; #include -pair load2D(string filename, +pair load2D(string filename, gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); -} //\namespace gtsam - -//************************************************************************* -// Pose2SLAM -//************************************************************************* - -namespace pose2SLAM { - -#include -class Values { - Values(); - Values(const pose2SLAM::Values& values); - size_t size() const; - void print(string s) const; - bool exists(size_t key); - gtsam::KeyVector keys() const; // Note the switch to KeyVector, rather than KeyList - - static pose2SLAM::Values Circle(size_t n, double R); - void insertPose(size_t key, const gtsam::Pose2& pose); - void updatePose(size_t key, const gtsam::Pose2& pose); - gtsam::Pose2 pose(size_t i); - Matrix poses() const; -}; - -#include -class Graph { - Graph(); - Graph(const gtsam::NonlinearFactorGraph& graph); - Graph(const pose2SLAM::Graph& graph); - - // FactorGraph - void print(string s) const; - bool equals(const pose2SLAM::Graph& fg, double tol) const; - size_t size() const; - bool empty() const; - void remove(size_t i); - size_t nrFactors() const; - gtsam::NonlinearFactor* at(size_t i) const; - - // NonlinearFactorGraph - double error(const pose2SLAM::Values& values) const; - double probPrime(const pose2SLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const pose2SLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const pose2SLAM::Values& values, - const gtsam::Ordering& ordering) const; - - // pose2SLAM-specific - void addPoseConstraint(size_t key, const gtsam::Pose2& pose); - void addPosePrior(size_t key, const gtsam::Pose2& pose, const gtsam::noiseModel::Base* noiseModel); - void addRelativePose(size_t key1, size_t key2, const gtsam::Pose2& relativePoseMeasurement, const gtsam::noiseModel::Base* noiseModel); - pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate, size_t verbosity) const; - pose2SLAM::Values optimizeSPCG(const pose2SLAM::Values& initialEstimate, size_t verbosity) const; - gtsam::Marginals marginals(const pose2SLAM::Values& solution) const; -}; - -} //\namespace pose2SLAM - -//************************************************************************* -// Pose3SLAM -//************************************************************************* - -namespace pose3SLAM { - -#include -class Values { - Values(); - Values(const pose3SLAM::Values& values); - size_t size() const; - void print(string s) const; - bool exists(size_t key); - gtsam::KeyVector keys() const; // Note the switch to KeyVector, rather than KeyList - - static pose3SLAM::Values Circle(size_t n, double R); - void insertPose(size_t key, const gtsam::Pose3& pose); - void updatePose(size_t key, const gtsam::Pose3& pose); - gtsam::Pose3 pose(size_t i); - Matrix translations() const; -}; - -#include -class Graph { - Graph(); - Graph(const gtsam::NonlinearFactorGraph& graph); - Graph(const pose3SLAM::Graph& graph); - - // FactorGraph - void print(string s) const; - bool equals(const pose3SLAM::Graph& fg, double tol) const; - size_t size() const; - bool empty() const; - void remove(size_t i); - size_t nrFactors() const; - gtsam::NonlinearFactor* at(size_t i) const; - - // NonlinearFactorGraph - double error(const pose3SLAM::Values& values) const; - double probPrime(const pose3SLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const pose3SLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const pose3SLAM::Values& values, - const gtsam::Ordering& ordering) const; - - // pose3SLAM-specific - void addPoseConstraint(size_t i, const gtsam::Pose3& p); - void addPosePrior(size_t key, const gtsam::Pose3& p, const gtsam::noiseModel::Base* model); - void addRelativePose(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::noiseModel::Base* model); - pose3SLAM::Values optimize(const pose3SLAM::Values& initialEstimate, size_t verbosity) const; - // FIXME gtsam::LevenbergMarquardtOptimizer optimizer(const pose3SLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; - gtsam::Marginals marginals(const pose3SLAM::Values& solution) const; -}; - -} //\namespace pose3SLAM - -//************************************************************************* -// planarSLAM -//************************************************************************* - -namespace planarSLAM { - -#include -class Values { - Values(); - Values(const planarSLAM::Values& values); - size_t size() const; - void print(string s) const; - bool exists(size_t key); - gtsam::KeyVector keys() const; // Note the switch to KeyVector, rather than KeyList - - // inherited from pose2SLAM - static planarSLAM::Values Circle(size_t n, double R); - void insertPose(size_t key, const gtsam::Pose2& pose); - void updatePose(size_t key, const gtsam::Pose2& pose); - gtsam::Pose2 pose(size_t i); - Matrix poses() const; - - // Access to poses - planarSLAM::Values allPoses() const; - size_t nrPoses() const; - gtsam::KeyVector poseKeys() const; // Note the switch to KeyVector, rather than KeyList - - // Access to points - planarSLAM::Values allPoints() const; - size_t nrPoints() const; - gtsam::KeyVector pointKeys() const; // Note the switch to KeyVector, rather than KeyList - - void insertPoint(size_t key, const gtsam::Point2& point); - void updatePoint(size_t key, const gtsam::Point2& point); - gtsam::Point2 point(size_t key) const; - Matrix points() const; -}; - -#include -class Graph { - Graph(); - Graph(const gtsam::NonlinearFactorGraph& graph); - Graph(const pose2SLAM::Graph& graph); - Graph(const planarSLAM::Graph& graph); - - // FactorGraph - void print(string s) const; - bool equals(const planarSLAM::Graph& fg, double tol) const; - size_t size() const; - bool empty() const; - void remove(size_t i); - size_t nrFactors() const; - gtsam::NonlinearFactor* at(size_t i) const; - - // NonlinearFactorGraph - double error(const planarSLAM::Values& values) const; - double probPrime(const planarSLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const planarSLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const planarSLAM::Values& values, - const gtsam::Ordering& ordering) const; - - // pose2SLAM-inherited - void addPoseConstraint(size_t key, const gtsam::Pose2& pose); - void addPosePrior(size_t key, const gtsam::Pose2& pose, const gtsam::noiseModel::Base* noiseModel); - void addRelativePose(size_t key1, size_t key2, const gtsam::Pose2& relativePoseMeasurement, const gtsam::noiseModel::Base* noiseModel); - planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate, size_t verbosity) const; - planarSLAM::Values optimizeSPCG(const planarSLAM::Values& initialEstimate, size_t verbosity) const; - gtsam::Marginals marginals(const planarSLAM::Values& solution) const; - - // planarSLAM-specific - void addPointConstraint(size_t pointKey, const gtsam::Point2& p); - void addPointPrior(size_t pointKey, const gtsam::Point2& p, const gtsam::noiseModel::Base* model); - void addBearing(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing, const gtsam::noiseModel::Base* noiseModel); - void addRange(size_t poseKey, size_t pointKey, double range, const gtsam::noiseModel::Base* noiseModel); - void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::noiseModel::Base* noiseModel); -}; - -#include -class Odometry { - Odometry(size_t key1, size_t key2, const gtsam::Pose2& measured, - const gtsam::noiseModel::Base* model); - void print(string s) const; - gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, - const gtsam::Ordering& ordering) const; -}; - -} //\namespace planarSLAM - -//************************************************************************* -// VisualSLAM -//************************************************************************* - -namespace visualSLAM { - -#include -class Values { - Values(); - Values(const visualSLAM::Values& values); - size_t size() const; - void print(string s) const; - bool exists(size_t key); - gtsam::KeyVector keys() const; // Note the switch to KeyVector, rather than KeyList - - // pose3SLAM inherited - static visualSLAM::Values Circle(size_t n, double R); - void insertPose(size_t key, const gtsam::Pose3& pose); - void updatePose(size_t key, const gtsam::Pose3& pose); - gtsam::Pose3 pose(size_t i); - Matrix translations() const; - - // Access to poses - visualSLAM::Values allPoses() const; - size_t nrPoses() const; - gtsam::KeyVector poseKeys() const; // Note the switch to KeyVector, rather than KeyList - - // Access to points - visualSLAM::Values allPoints() const; - size_t nrPoints() const; - gtsam::KeyVector pointKeys() const; // Note the switch to KeyVector, rather than KeyList - - void insertPoint(size_t key, const gtsam::Point3& pose); - void updatePoint(size_t key, const gtsam::Point3& pose); - gtsam::Point3 point(size_t j); - void insertBackprojections(const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth); - void perturbPoints(double sigma, size_t seed); - Matrix points() const; -}; - -#include -class Graph { - Graph(); - Graph(const gtsam::NonlinearFactorGraph& graph); - Graph(const pose3SLAM::Graph& graph); - Graph(const visualSLAM::Graph& graph); - - // FactorGraph - void print(string s) const; - bool equals(const visualSLAM::Graph& fg, double tol) const; - size_t size() const; - bool empty() const; - void remove(size_t i); - size_t nrFactors() const; - gtsam::NonlinearFactor* at(size_t i) const; - - double error(const visualSLAM::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const visualSLAM::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const visualSLAM::Values& values, - const gtsam::Ordering& ordering) const; - - // pose3SLAM-inherited - void addPoseConstraint(size_t i, const gtsam::Pose3& p); - void addPosePrior(size_t key, const gtsam::Pose3& p, const gtsam::noiseModel::Base* model); - void addRelativePose(size_t key1, size_t key2, const gtsam::Pose3& z, const gtsam::noiseModel::Base* model); - visualSLAM::Values optimize(const visualSLAM::Values& initialEstimate, size_t verbosity) const; - visualSLAM::LevenbergMarquardtOptimizer optimizer(const visualSLAM::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; - gtsam::Marginals marginals(const visualSLAM::Values& solution) const; - - // Priors and constraints - void addPointConstraint(size_t pointKey, const gtsam::Point3& p); - void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::noiseModel::Base* model); - void addRangeFactor(size_t poseKey, size_t pointKey, double range, const gtsam::noiseModel::Base* model); - - // Measurements - void addMeasurement(const gtsam::Point2& measured, - const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, - const gtsam::Cal3_S2* K); - void addMeasurements(size_t i, Vector J, Matrix Z, - const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K); - void addStereoMeasurement(const gtsam::StereoPoint2& measured, - const gtsam::noiseModel::Base* model, size_t poseKey, size_t pointKey, - const gtsam::Cal3_S2Stereo* K); - - // Information - Matrix reprojectionErrors(const visualSLAM::Values& values) const; - -}; - -#include -class ISAM { - ISAM(); - ISAM(int reorderInterval); - void print(string s) const; - void printStats() const; - void saveGraph(string s) const; - visualSLAM::Values estimate() const; - Matrix marginalCovariance(size_t key) const; - int reorderInterval() const; - int reorderCounter() const; - void update(const visualSLAM::Graph& newFactors, const visualSLAM::Values& initialValues); - void reorder_relinearize(); - void addKey(size_t key); - void setOrdering(const gtsam::Ordering& new_ordering); - - // These might be expensive as instead of a reference the wrapper will make a copy - gtsam::GaussianISAM bayesTree() const; - visualSLAM::Values getLinearizationPoint() const; - gtsam::Ordering getOrdering() const; - gtsam::NonlinearFactorGraph getFactorsUnsafe() const; -}; - -#include -class LevenbergMarquardtOptimizer { - double lambda() const; - void iterate(); - double error() const; - size_t iterations() const; - visualSLAM::Values optimize(); - visualSLAM::Values optimizeSafely(); - visualSLAM::Values values() const; -}; - -} //\namespace visualSLAM - -//************************************************************************ -// sparse BA -//************************************************************************ - -namespace sparseBA { - -#include -class Values { - Values(); - Values(const sparseBA::Values& values); - size_t size() const; - void print(string s) const; - bool exists(size_t key); - gtsam::KeyVector keys() const; - - // Access to cameras - sparseBA::Values allSimpleCameras() const ; - size_t nrSimpleCameras() const ; - gtsam::KeyVector simpleCameraKeys() const ; - void insertSimpleCamera(size_t j, const gtsam::SimpleCamera& camera); - void updateSimpleCamera(size_t j, const gtsam::SimpleCamera& camera); - gtsam::SimpleCamera simpleCamera(size_t j) const; - - // Access to points, inherited from visualSLAM - sparseBA::Values allPoints() const; - size_t nrPoints() const; - gtsam::KeyVector pointKeys() const; // Note the switch to KeyVector, rather than KeyList - void insertPoint(size_t key, const gtsam::Point3& pose); - void updatePoint(size_t key, const gtsam::Point3& pose); - gtsam::Point3 point(size_t j); - Matrix points() const; -}; - -#include -class Graph { - Graph(); - Graph(const gtsam::NonlinearFactorGraph& graph); - Graph(const sparseBA::Graph& graph); - - // Information - Matrix reprojectionErrors(const sparseBA::Values& values) const; - - // inherited from FactorGraph - void print(string s) const; - bool equals(const sparseBA::Graph& fg, double tol) const; - size_t size() const; - bool empty() const; - void remove(size_t i); - size_t nrFactors() const; - gtsam::NonlinearFactor* at(size_t i) const; - - double error(const sparseBA::Values& values) const; - gtsam::Ordering* orderingCOLAMD(const sparseBA::Values& values) const; - gtsam::GaussianFactorGraph* linearize(const sparseBA::Values& values, const gtsam::Ordering& ordering) const; - - sparseBA::Values optimize(const sparseBA::Values& initialEstimate, size_t verbosity) const; - sparseBA::LevenbergMarquardtOptimizer optimizer(const sparseBA::Values& initialEstimate, const gtsam::LevenbergMarquardtParams& parameters) const; - gtsam::Marginals marginals(const sparseBA::Values& solution) const; - - // inherited from visualSLAM - void addPointConstraint(size_t pointKey, const gtsam::Point3& p); - void addPointPrior(size_t pointKey, const gtsam::Point3& p, const gtsam::noiseModel::Base* model); - - // add factors - void addSimpleCameraPrior(size_t cameraKey, const gtsam::SimpleCamera &camera, gtsam::noiseModel::Base* model); - void addSimpleCameraConstraint(size_t cameraKey, const gtsam::SimpleCamera &camera); - void addSimpleCameraMeasurement(const gtsam::Point2 &z, gtsam::noiseModel::Base* model, size_t cameraKey, size_t pointKey); -}; - -#include -class LevenbergMarquardtOptimizer { - double lambda() const; - void iterate(); - double error() const; - size_t iterations() const; - sparseBA::Values optimize(); - sparseBA::Values optimizeSafely(); - sparseBA::Values values() const; -}; -} //\namespace sparseBA - +} diff --git a/gtsam/nonlinear/Symbol.h b/gtsam/nonlinear/Symbol.h index b4bda4f1a..c128b1105 100644 --- a/gtsam/nonlinear/Symbol.h +++ b/gtsam/nonlinear/Symbol.h @@ -122,6 +122,15 @@ private: } }; +/** Create a symbol key from a character and index, i.e. x5. */ +inline Key symbol(unsigned char c, size_t j) { return (Key)Symbol(c,j); } + +/** Return the character portion of a symbol key. */ +inline unsigned char symbolChr(Key key) { return Symbol(key).chr(); } + +/** Return the index portion of a symbol key. */ +inline size_t symbolIndex(Key key) { return Symbol(key).index(); } + namespace symbol_shorthand { inline Key A(size_t j) { return Symbol('a', j); } inline Key B(size_t j) { return Symbol('b', j); } diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 0502bb69b..59df1da67 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -20,8 +20,10 @@ #include #include +#include #include #include +#include using namespace std; @@ -78,23 +80,23 @@ pair > dataset(const string& dataset, } /* ************************************************************************* */ -pair load2D( - pair > dataset, +pair load2D( + pair > dataset, int maxID, bool addNoise, bool smart) { return load2D(dataset.first, dataset.second, maxID, addNoise, smart); } /* ************************************************************************* */ -pair load2D( - const string& filename, boost::optional model, int maxID, +pair load2D( + const string& filename, boost::optional model, int maxID, bool addNoise, bool smart) { cout << "Will try to read " << filename << endl; ifstream is(filename.c_str()); if (!is) throw std::invalid_argument("load2D: can not find the file!"); - pose2SLAM::Values::shared_ptr poses(new pose2SLAM::Values); - pose2SLAM::Graph::shared_ptr graph(new pose2SLAM::Graph); + Values::shared_ptr poses(new Values); + NonlinearFactorGraph::shared_ptr graph(new NonlinearFactorGraph); string tag; @@ -155,7 +157,7 @@ pair load2D( if (!poses->exists(id2)) poses->insert(id2, poses->at(id1) * l1Xl2); - pose2SLAM::Graph::sharedFactor factor( + NonlinearFactor::shared_ptr factor( new BetweenFactor(id1, id2, l1Xl2, *model)); graph->push_back(factor); } @@ -169,8 +171,8 @@ pair load2D( } /* ************************************************************************* */ -void save2D(const pose2SLAM::Graph& graph, const Values& config, - const SharedDiagonal model, const string& filename) { +void save2D(const NonlinearFactorGraph& graph, const Values& config, + const noiseModel::Diagonal::shared_ptr model, const string& filename) { fstream stream(filename.c_str(), fstream::out); diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index a099fb3d5..d3f00aae2 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -18,7 +18,9 @@ #pragma once -#include +#include +#include + #include namespace gtsam { @@ -39,8 +41,8 @@ namespace gtsam { * @param addNoise add noise to the edges * @param smart try to reduce complexity of covariance to cheapest model */ - std::pair load2D( - std::pair > dataset, + std::pair load2D( + std::pair > dataset, int maxID = 0, bool addNoise = false, bool smart = true); /** @@ -51,15 +53,15 @@ namespace gtsam { * @param addNoise add noise to the edges * @param smart try to reduce complexity of covariance to cheapest model */ - std::pair load2D( + std::pair load2D( const std::string& filename, boost::optional model = boost::optional< - gtsam::SharedDiagonal>(), int maxID = 0, bool addNoise = false, + noiseModel::Diagonal::shared_ptr>(), int maxID = 0, bool addNoise = false, bool smart = true); /** save 2d graph */ - void save2D(const pose2SLAM::Graph& graph, const Values& config, - const gtsam::SharedDiagonal model, const std::string& filename); + void save2D(const NonlinearFactorGraph& graph, const Values& config, + const noiseModel::Diagonal::shared_ptr model, const std::string& filename); /** * Load TORO 3D Graph diff --git a/matlab/CHECK.m b/matlab/+gtsam_utils/CHECK.m similarity index 100% rename from matlab/CHECK.m rename to matlab/+gtsam_utils/CHECK.m diff --git a/matlab/EQUALITY.m b/matlab/+gtsam_utils/EQUALITY.m similarity index 100% rename from matlab/EQUALITY.m rename to matlab/+gtsam_utils/EQUALITY.m diff --git a/matlab/examples/+support/VisualISAMGenerateData.m b/matlab/+gtsam_utils/VisualISAMGenerateData.m similarity index 100% rename from matlab/examples/+support/VisualISAMGenerateData.m rename to matlab/+gtsam_utils/VisualISAMGenerateData.m diff --git a/matlab/examples/+support/VisualISAMInitialize.m b/matlab/+gtsam_utils/VisualISAMInitialize.m similarity index 54% rename from matlab/examples/+support/VisualISAMInitialize.m rename to matlab/+gtsam_utils/VisualISAMInitialize.m index 90ba1e0c5..1e408d3d9 100644 --- a/matlab/examples/+support/VisualISAMInitialize.m +++ b/matlab/+gtsam_utils/VisualISAMInitialize.m @@ -1,66 +1,75 @@ -function [noiseModels,isam,result] = VisualISAMInitialize(data,truth,options) +function [noiseModels,isam,result,nextPoseIndex] = VisualISAMInitialize(data,truth,options) % VisualInitialize: initialize visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham %% Initialize iSAM -isam = visualSLAM.ISAM(options.reorderInterval); +import gtsam.* +params = gtsam.ISAM2Params; +if options.alwaysRelinearize + params.setRelinearizeSkip(1); +end +isam = ISAM2; %% Set Noise parameters import gtsam.* noiseModels.pose = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); %noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); -noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.1 0.1 0.1 1.0 1.0 1.0]'); +noiseModels.odometry = noiseModel.Diagonal.Sigmas([0.05 0.05 0.05 0.2 0.2 0.2]'); noiseModels.point = noiseModel.Isotropic.Sigma(3, 0.1); noiseModels.measurement = noiseModel.Isotropic.Sigma(2, 1.0); %% Add constraints/priors % TODO: should not be from ground truth! -newFactors = visualSLAM.Graph; -initialEstimates = visualSLAM.Values; +import gtsam.* +newFactors = NonlinearFactorGraph; +initialEstimates = Values; for i=1:2 ii = symbol('x',i); if i==1 if options.hardConstraint % add hard constraint - newFactors.addPoseConstraint(ii,truth.cameras{1}.pose); + newFactors.add(NonlinearEqualityPose3(ii,truth.cameras{1}.pose)); else - newFactors.addPosePrior(ii,truth.cameras{i}.pose, noiseModels.pose); + newFactors.add(PriorFactorPose3(ii,truth.cameras{i}.pose, noiseModels.pose)); end end - initialEstimates.insertPose(ii,truth.cameras{i}.pose); + initialEstimates.insert(ii,truth.cameras{i}.pose); end +nextPoseIndex = 3; + %% Add visual measurement factors from two first poses and initialize observed landmarks +import gtsam.* for i=1:2 ii = symbol('x',i); for k=1:length(data.Z{i}) j = data.J{i}{k}; jj = symbol('l',data.J{i}{k}); - newFactors.addMeasurement(data.Z{i}{k}, noiseModels.measurement, ii, jj, data.K); + newFactors.add(GenericProjectionFactorCal3_S2(data.Z{i}{k}, noiseModels.measurement, ii, jj, data.K)); % TODO: initial estimates should not be from ground truth! if ~initialEstimates.exists(jj) - initialEstimates.insertPoint(jj, truth.points{j}); + initialEstimates.insert(jj, truth.points{j}); end if options.pointPriors % add point priors - newFactors.addPointPrior(jj, truth.points{j}, noiseModels.point); + newFactors.add(priorFactorPoint3(jj, truth.points{j}, noiseModels.point)); end end end %% Add odometry between frames 1 and 2 -newFactors.addRelativePose(symbol('x',1), symbol('x',2), data.odometry{1}, noiseModels.odometry); +import gtsam.* +newFactors.add(BetweenFactorPose3(symbol('x',1), symbol('x',2), data.odometry{1}, noiseModels.odometry)); %% Update ISAM +import gtsam.* if options.batchInitialization % Do a full optimize for first two poses - fullyOptimized = newFactors.optimize(initialEstimates,0); + batchOptimizer = LevenbergMarquardtOptimizer(newFactors, initialEstimates); + fullyOptimized = batchOptimizer.optimize(); isam.update(newFactors, fullyOptimized); else isam.update(newFactors, initialEstimates); end % figure(1);tic; % t=toc; plot(frame_i,t,'r.'); tic -result = isam.estimate(); +result = isam.calculateEstimate(); % t=toc; plot(frame_i,t,'g.'); -if options.alwaysRelinearize % re-linearize - isam.reorder_relinearize(); -end diff --git a/matlab/examples/+support/VisualISAMPlot.m b/matlab/+gtsam_utils/VisualISAMPlot.m similarity index 55% rename from matlab/examples/+support/VisualISAMPlot.m rename to matlab/+gtsam_utils/VisualISAMPlot.m index 1f2b7d710..41aa49ac6 100644 --- a/matlab/examples/+support/VisualISAMPlot.m +++ b/matlab/+gtsam_utils/VisualISAMPlot.m @@ -1,39 +1,33 @@ function VisualISAMPlot(truth, data, isam, result, options) -% VisualISAMPlot: plot current state of visualSLAM::iSAM object +% VisualISAMPlot: plot current state of ISAM2 object % Authors: Duy Nguyen Ta and Frank Dellaert -M = result.nrPoses; -N = result.nrPoints; - h=gca; cla(h); hold on; %% Plot points % Can't use data because current frame might not see all points -pointKeys = result.allPoints().keys(); -for j=0:N-1 % NOTE: uses indexing directly from a C++ vector, so zero-indexed - jj = pointKeys.at(j); - point_j = result.point(jj); - plot3(point_j.x, point_j.y, point_j.z,'marker','o'); - P = isam.marginalCovariance(jj); - covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P); -end +marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); % TODO - this is slow +gtsam_utils.plot3DPoints(result, [], marginals); %% Plot cameras import gtsam.* -for i=1:options.cameraInterval:M - ii = symbol('x',i); - pose_i = result.pose(ii); - if options.hardConstraint && (i==1) - plotPose3(pose_i,[],10); +M = 1; +while result.exists(symbol('x',M)) + ii = symbol('x',M); + pose_i = result.at(ii); + if options.hardConstraint && (M==1) + gtsam_utils.plotPose3(pose_i,[],10); else - P = isam.marginalCovariance(ii); - plotPose3(pose_i,P,10); + P = marginals.marginalCovariance(ii); + gtsam_utils.plotPose3(pose_i,P,10); end if options.drawTruePoses % show ground truth - plotPose3(truth.cameras{i}.pose,[],10); + gtsam_utils.plotPose3(truth.cameras{M}.pose,[],10); end + + M = M + options.cameraInterval; end %% draw diff --git a/matlab/+gtsam_utils/VisualISAMStep.m b/matlab/+gtsam_utils/VisualISAMStep.m new file mode 100644 index 000000000..71b1c849c --- /dev/null +++ b/matlab/+gtsam_utils/VisualISAMStep.m @@ -0,0 +1,44 @@ +function [isam,result,nextPoseIndex] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPoseIndex) +% VisualISAMStep: execute one update step of visualSLAM::iSAM object +% Authors: Duy Nguyen Ta and Frank Dellaert + +% iSAM expects us to give it a new set of factors +% along with initial estimates for any new variables introduced. +import gtsam.* +newFactors = NonlinearFactorGraph; +initialEstimates = Values; + +%% Add odometry +import gtsam.* +odometry = data.odometry{nextPoseIndex-1}; +newFactors.add(BetweenFactorPose3(symbol('x',nextPoseIndex-1), symbol('x',nextPoseIndex), odometry, noiseModels.odometry)); + +%% Add visual measurement factors and initializations as necessary +import gtsam.* +for k=1:length(data.Z{nextPoseIndex}) + zij = data.Z{nextPoseIndex}{k}; + j = data.J{nextPoseIndex}{k}; + jj = symbol('l', j); + newFactors.add(GenericProjectionFactorCal3_S2(zij, noiseModels.measurement, symbol('x',nextPoseIndex), jj, data.K)); + % TODO: initialize with something other than truth + if ~result.exists(jj) && ~initialEstimates.exists(jj) + lmInit = truth.points{j}; + initialEstimates.insert(jj, lmInit); + end +end + +%% Initial estimates for the new pose. +import gtsam.* +prevPose = result.at(symbol('x',nextPoseIndex-1)); +initialEstimates.insert(symbol('x',nextPoseIndex), prevPose.compose(odometry)); + +%% Update ISAM +% figure(1);tic; +isam.update(newFactors, initialEstimates); +% t=toc; plot(frame_i,t,'r.'); tic +result = isam.calculateEstimate(); +% t=toc; plot(frame_i,t,'g.'); + +% Update nextPoseIndex to return +nextPoseIndex = nextPoseIndex + 1; + diff --git a/matlab/circlePose2.m b/matlab/+gtsam_utils/circlePose2.m similarity index 95% rename from matlab/circlePose2.m rename to matlab/+gtsam_utils/circlePose2.m index 7153fc128..0679c16b3 100644 --- a/matlab/circlePose2.m +++ b/matlab/+gtsam_utils/circlePose2.m @@ -23,7 +23,7 @@ values = gtsam.Values; theta = 0.0; dtheta = 2*pi()/numPoses; for i = 1:numPoses - key = gtsam.Symbol(symbolChar, i-1).key(); + key = gtsam.symbol(symbolChar, i-1); pose = gtsam.Pose2(radius*cos(theta), radius*sin(theta), pi()/2 + theta); values.insert(key, pose); theta = theta + dtheta; diff --git a/matlab/circlePose3.m b/matlab/+gtsam_utils/circlePose3.m similarity index 96% rename from matlab/circlePose3.m rename to matlab/+gtsam_utils/circlePose3.m index 0e74a2f1b..9085ab0d0 100644 --- a/matlab/circlePose3.m +++ b/matlab/+gtsam_utils/circlePose3.m @@ -24,7 +24,7 @@ theta = 0.0; dtheta = 2*pi()/numPoses; gRo = gtsam.Rot3([0, 1, 0 ; 1, 0, 0 ; 0, 0, -1]); for i = 1:numPoses - key = gtsam.Symbol(symbolChar, i-1).key(); + key = gtsam.symbol(symbolChar, i-1); gti = gtsam.Point3(radius*cos(theta), radius*sin(theta), 0); oRi = gtsam.Rot3.Yaw(-theta); % negative yaw goes counterclockwise, with Z down ! gTi = gtsam.Pose3(gRo.compose(oRi), gti); diff --git a/matlab/covarianceEllipse.m b/matlab/+gtsam_utils/covarianceEllipse.m similarity index 96% rename from matlab/covarianceEllipse.m rename to matlab/+gtsam_utils/covarianceEllipse.m index 491e099c3..b4579862e 100644 --- a/matlab/covarianceEllipse.m +++ b/matlab/+gtsam_utils/covarianceEllipse.m @@ -1,34 +1,34 @@ -function covarianceEllipse(x,P,color) -% covarianceEllipse: plot a Gaussian as an uncertainty ellipse -% Based on Maybeck Vol 1, page 366 -% k=2.296 corresponds to 1 std, 68.26% of all probability -% k=11.82 corresponds to 3 std, 99.74% of all probability -% -% covarianceEllipse(x,P,color) -% it is assumed x and y are the first two components of state x - -[e,s] = eig(P(1:2,1:2)); -s1 = s(1,1); -s2 = s(2,2); -k = 2.296; -[ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) ); -line(ex,ey,'color',color); - - function [x,y] = ellipse(a,b,c); - % ellipse: return the x and y coordinates for an ellipse - % [x,y] = ellipse(a,b,c); - % a, and b are the axes. c is the center - - global ellipse_x ellipse_y - if ~exist('elipse_x') - q =0:2*pi/25:2*pi; - ellipse_x = cos(q); - ellipse_y = sin(q); - end - - points = a*ellipse_x + b*ellipse_y; - x = c(1) + points(1,:); - y = c(2) + points(2,:); - end - +function covarianceEllipse(x,P,color) +% covarianceEllipse: plot a Gaussian as an uncertainty ellipse +% Based on Maybeck Vol 1, page 366 +% k=2.296 corresponds to 1 std, 68.26% of all probability +% k=11.82 corresponds to 3 std, 99.74% of all probability +% +% covarianceEllipse(x,P,color) +% it is assumed x and y are the first two components of state x + +[e,s] = eig(P(1:2,1:2)); +s1 = s(1,1); +s2 = s(2,2); +k = 2.296; +[ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) ); +line(ex,ey,'color',color); + + function [x,y] = ellipse(a,b,c); + % ellipse: return the x and y coordinates for an ellipse + % [x,y] = ellipse(a,b,c); + % a, and b are the axes. c is the center + + global ellipse_x ellipse_y + if ~exist('elipse_x') + q =0:2*pi/25:2*pi; + ellipse_x = cos(q); + ellipse_y = sin(q); + end + + points = a*ellipse_x + b*ellipse_y; + x = c(1) + points(1,:); + y = c(2) + points(2,:); + end + end \ No newline at end of file diff --git a/matlab/covarianceEllipse3D.m b/matlab/+gtsam_utils/covarianceEllipse3D.m similarity index 100% rename from matlab/covarianceEllipse3D.m rename to matlab/+gtsam_utils/covarianceEllipse3D.m diff --git a/matlab/examples/+support/findExampleDataFile.m b/matlab/+gtsam_utils/findExampleDataFile.m similarity index 74% rename from matlab/examples/+support/findExampleDataFile.m rename to matlab/+gtsam_utils/findExampleDataFile.m index 5fd23352e..9c40960b9 100644 --- a/matlab/examples/+support/findExampleDataFile.m +++ b/matlab/+gtsam_utils/findExampleDataFile.m @@ -3,8 +3,8 @@ function datafile = findExampleDataFile(datasetName) [ myPath, ~, ~ ] = fileparts(mfilename('fullpath')); searchPath = { ... - fullfile(myPath, [ '../../../examples/Data/' datasetName ]) ... - fullfile(myPath, [ '../Data/' datasetName ]) }; + fullfile(myPath, [ '../../examples/Data/' datasetName ]) ... + fullfile(myPath, [ '../gtsam_examples/Data/' datasetName ]) }; datafile = []; for path = searchPath if exist(path{:}, 'file') diff --git a/matlab/load2D.m b/matlab/+gtsam_utils/load2D.m similarity index 100% rename from matlab/load2D.m rename to matlab/+gtsam_utils/load2D.m diff --git a/matlab/load3D.m b/matlab/+gtsam_utils/load3D.m similarity index 100% rename from matlab/load3D.m rename to matlab/+gtsam_utils/load3D.m diff --git a/matlab/plot2DPoints.m b/matlab/+gtsam_utils/plot2DPoints.m similarity index 88% rename from matlab/plot2DPoints.m rename to matlab/+gtsam_utils/plot2DPoints.m index d03676699..b98434627 100644 --- a/matlab/plot2DPoints.m +++ b/matlab/+gtsam_utils/plot2DPoints.m @@ -22,9 +22,9 @@ for i = 0:keys.size-1 if isa(p, 'gtsam.Point2') if haveMarginals P = marginals.marginalCovariance(key); - plotPoint2(p, linespec, P); + gtsam_utils.plotPoint2(p, linespec, P); else - plotPoint2(p, linespec); + gtsam_utils.plotPoint2(p, linespec); end end end diff --git a/matlab/plot2DTrajectory.m b/matlab/+gtsam_utils/plot2DTrajectory.m similarity index 93% rename from matlab/plot2DTrajectory.m rename to matlab/+gtsam_utils/plot2DTrajectory.m index fcbfe4b92..c962c993b 100644 --- a/matlab/plot2DTrajectory.m +++ b/matlab/+gtsam_utils/plot2DTrajectory.m @@ -31,7 +31,7 @@ for i = 0:keys.size-1 plot([ x.x; lastPose.x ], [ x.y; lastPose.y ], linespec); if haveMarginals P = marginals.marginalCovariance(lastKey); - plotPose2(lastPose, 'g', P); + gtsam_utils.plotPose2(lastPose, 'g', P); end end lastIndex = i; @@ -43,7 +43,7 @@ if ~isempty(lastIndex) && haveMarginals lastKey = keys.at(lastIndex); lastPose = values.at(lastKey); P = marginals.marginalCovariance(lastKey); - plotPose2(lastPose, 'g', P); + gtsam_utils.plotPose2(lastPose, 'g', P); end if ~holdstate diff --git a/matlab/plot3DPoints.m b/matlab/+gtsam_utils/plot3DPoints.m similarity index 88% rename from matlab/plot3DPoints.m rename to matlab/+gtsam_utils/plot3DPoints.m index 264298ef4..e7a5ab0a0 100644 --- a/matlab/plot3DPoints.m +++ b/matlab/+gtsam_utils/plot3DPoints.m @@ -22,9 +22,9 @@ for i = 0:keys.size-1 if isa(p, 'gtsam.Point3') if haveMarginals P = marginals.marginalCovariance(key); - plotPoint3(p, linespec, P); + gtsam_utils.plotPoint3(p, linespec, P); else - plotPoint3(p, linespec); + gtsam_utils.plotPoint3(p, linespec); end end end diff --git a/matlab/plot3DTrajectory.m b/matlab/+gtsam_utils/plot3DTrajectory.m similarity index 91% rename from matlab/plot3DTrajectory.m rename to matlab/+gtsam_utils/plot3DTrajectory.m index 771d567fa..08b2f0daa 100644 --- a/matlab/plot3DTrajectory.m +++ b/matlab/+gtsam_utils/plot3DTrajectory.m @@ -28,7 +28,7 @@ for i = 0:keys.size-1 else P = []; end - plotPose3(lastPose, P, scale); + gtsam_utils.plotPose3(lastPose, P, scale); end lastIndex = i; end @@ -43,7 +43,7 @@ if ~isempty(lastIndex) else P = []; end - plotPose3(lastPose, P, scale); + gtsam_utils.plotPose3(lastPose, P, scale); end if ~holdstate diff --git a/matlab/plotCamera.m b/matlab/+gtsam_utils/plotCamera.m similarity index 100% rename from matlab/plotCamera.m rename to matlab/+gtsam_utils/plotCamera.m diff --git a/matlab/plotPoint2.m b/matlab/+gtsam_utils/plotPoint2.m similarity index 76% rename from matlab/plotPoint2.m rename to matlab/+gtsam_utils/plotPoint2.m index fcc274d90..a1bc85a88 100644 --- a/matlab/plotPoint2.m +++ b/matlab/+gtsam_utils/plotPoint2.m @@ -6,5 +6,5 @@ else plot(p.x,p.y,color); end if exist('P', 'var') - covarianceEllipse([p.x;p.y],P,color(1)); + gtsam_utils.covarianceEllipse([p.x;p.y],P,color(1)); end \ No newline at end of file diff --git a/matlab/plotPoint3.m b/matlab/+gtsam_utils/plotPoint3.m similarity index 80% rename from matlab/plotPoint3.m rename to matlab/+gtsam_utils/plotPoint3.m index 89d5613d5..6aafd5f21 100644 --- a/matlab/plotPoint3.m +++ b/matlab/+gtsam_utils/plotPoint3.m @@ -6,7 +6,7 @@ else plot3(p.x,p.y,p.z,color); end if exist('P', 'var') - covarianceEllipse3D([p.x;p.y;p.z],P); + gtsam_utils.covarianceEllipse3D([p.x;p.y;p.z],P); end end diff --git a/matlab/plotPose2.m b/matlab/+gtsam_utils/plotPose2.m similarity index 84% rename from matlab/plotPose2.m rename to matlab/+gtsam_utils/plotPose2.m index 54b1e68f0..a9997dc2c 100644 --- a/matlab/plotPose2.m +++ b/matlab/+gtsam_utils/plotPose2.m @@ -9,5 +9,5 @@ quiver(pose.x,pose.y,c,s,axisLength,color); if nargin>2 pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame gRp = [c -s;s c]; % rotation from pose to global - covarianceEllipse([pose.x;pose.y],gRp*pPp*gRp',color); + gtsam_utils.covarianceEllipse([pose.x;pose.y],gRp*pPp*gRp',color); end \ No newline at end of file diff --git a/matlab/plotPose3.m b/matlab/+gtsam_utils/plotPose3.m similarity index 94% rename from matlab/plotPose3.m rename to matlab/+gtsam_utils/plotPose3.m index 956b231be..d24a998c8 100644 --- a/matlab/plotPose3.m +++ b/matlab/+gtsam_utils/plotPose3.m @@ -25,7 +25,7 @@ end if (nargin>2) && (~isempty(P)) pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame - covarianceEllipse3D(C,gPp); + gtsam_utils.covarianceEllipse3D(C,gPp); end end diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 0b07b51b1..66fa99def 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -10,14 +10,17 @@ install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/) # Tests message(STATUS "Installing Matlab Toolbox Tests") -file(GLOB matlab_tests "${GTSAM_SOURCE_ROOT_DIR}/matlab/tests/*.m") -install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_tests) +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_tests" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") # Examples message(STATUS "Installing Matlab Toolbox Examples") # Matlab files: *.m and *.fig -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.m") -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/examples/" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples" FILES_MATCHING PATTERN "*.fig") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.fig") + +# Utilities +message(STATUS "Installing Matlab Toolbox Utilities") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam_utils" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt diff --git a/matlab/examples/+support/VisualISAMStep.m b/matlab/examples/+support/VisualISAMStep.m deleted file mode 100644 index ef056553e..000000000 --- a/matlab/examples/+support/VisualISAMStep.m +++ /dev/null @@ -1,44 +0,0 @@ -function [isam,result] = VisualISAMStep(data,noiseModels,isam,result,truth, options) -% VisualISAMStep: execute one update step of visualSLAM::iSAM object -% Authors: Duy Nguyen Ta and Frank Dellaert - -% iSAM expects us to give it a new set of factors -% along with initial estimates for any new variables introduced. -newFactors = visualSLAM.Graph; -initialEstimates = visualSLAM.Values; - -%% Add odometry -import gtsam.* -i = result.nrPoses+1; -odometry = data.odometry{i-1}; -newFactors.addRelativePose(symbol('x',i-1), symbol('x',i), odometry, noiseModels.odometry); - -%% Add visual measurement factors and initializations as necessary -import gtsam.* -for k=1:length(data.Z{i}) - zij = data.Z{i}{k}; - j = data.J{i}{k}; - jj = symbol('l', j); - newFactors.addMeasurement(zij, noiseModels.measurement, symbol('x',i), jj, data.K); - % TODO: initialize with something other than truth - if ~result.exists(jj) && ~initialEstimates.exists(jj) - lmInit = truth.points{j}; - initialEstimates.insertPoint(jj, lmInit); - end -end - -%% Initial estimates for the new pose. -import gtsam.* -prevPose = result.pose(symbol('x',i-1)); -initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry)); - -%% Update ISAM -% figure(1);tic; -isam.update(newFactors, initialEstimates); -% t=toc; plot(frame_i,t,'r.'); tic -result = isam.estimate(); -% t=toc; plot(frame_i,t,'g.'); - -if options.alwaysRelinearize % re-linearize - isam.reorder_relinearize(); -end diff --git a/matlab/examples/LocalizationExample.m b/matlab/gtsam_examples/LocalizationExample.m similarity index 96% rename from matlab/examples/LocalizationExample.m rename to matlab/gtsam_examples/LocalizationExample.m index e4ee76d7c..aad3af98c 100644 --- a/matlab/examples/LocalizationExample.m +++ b/matlab/gtsam_examples/LocalizationExample.m @@ -55,7 +55,7 @@ import gtsam.* cla; hold on; -plot2DTrajectory(result, [], Marginals(graph, result)); +gtsam_utils.plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/OdometryExample.m b/matlab/gtsam_examples/OdometryExample.m similarity index 96% rename from matlab/examples/OdometryExample.m rename to matlab/gtsam_examples/OdometryExample.m index 81733cfb0..e47becda5 100644 --- a/matlab/examples/OdometryExample.m +++ b/matlab/gtsam_examples/OdometryExample.m @@ -52,7 +52,7 @@ import gtsam.* cla; hold on; -plot2DTrajectory(result, [], Marginals(graph, result)); +gtsam_utils.plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/gtsam_examples/PlanarSLAMExample.m similarity index 96% rename from matlab/examples/PlanarSLAMExample.m rename to matlab/gtsam_examples/PlanarSLAMExample.m index 9b4600578..056db501e 100644 --- a/matlab/examples/PlanarSLAMExample.m +++ b/matlab/gtsam_examples/PlanarSLAMExample.m @@ -72,8 +72,8 @@ import gtsam.* cla;hold on marginals = Marginals(graph, result); -plot2DTrajectory(result, [], marginals); -plot2DPoints(result, [], marginals); +gtsam_utils.plot2DTrajectory(result, [], marginals); +gtsam_utils.plot2DPoints(result, [], marginals); plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-'); plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-'); diff --git a/matlab/examples/PlanarSLAMExample_sampling.m b/matlab/gtsam_examples/PlanarSLAMExample_sampling.m similarity index 92% rename from matlab/examples/PlanarSLAMExample_sampling.m rename to matlab/gtsam_examples/PlanarSLAMExample_sampling.m index 58686c362..5604d0ddc 100644 --- a/matlab/examples/PlanarSLAMExample_sampling.m +++ b/matlab/gtsam_examples/PlanarSLAMExample_sampling.m @@ -39,6 +39,7 @@ end graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); %% Initialize MCMC sampler with ground truth +import gtsam.* sample = Values; sample.insert(i1, Pose2(0,0,0)); sample.insert(i2, Pose2(2,0,0)); @@ -47,11 +48,12 @@ sample.insert(j1, Point2(2,2)); sample.insert(j2, Point2(4,2)); %% Calculate and plot Covariance Ellipses +import gtsam.* cla;hold on marginals = Marginals(graph, sample); -plot2DTrajectory(sample, [], marginals); -plot2DPoints(sample, [], marginals); +gtsam_utils.plot2DTrajectory(sample, [], marginals); +gtsam_utils.plot2DPoints(sample, [], marginals); for j=1:2 key = symbol('l',j); @@ -66,9 +68,10 @@ plot([sample.at(i3).x; sample.at(j2).x],[sample.at(i3).y; sample.at(j2).y], 'c-' view(2); axis auto; axis equal %% Do Sampling on point 2 +import gtsam.* N=1000; for s=1:N delta = S{2}*randn(2,1); proposedPoint = Point2(point{2}.x+delta(1),point{2}.y+delta(2)); - plotPoint2(proposedPoint,'k.') + gtsam_utils.plotPoint2(proposedPoint,'k.') end \ No newline at end of file diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/gtsam_examples/Pose2SLAMExample.m similarity index 96% rename from matlab/examples/Pose2SLAMExample.m rename to matlab/gtsam_examples/Pose2SLAMExample.m index 1e26ce33d..a8ad32254 100644 --- a/matlab/examples/Pose2SLAMExample.m +++ b/matlab/gtsam_examples/Pose2SLAMExample.m @@ -56,17 +56,19 @@ initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses +import gtsam.* cla; hold on plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-','LineWidth',2); marginals = Marginals(graph, result); -plot2DTrajectory(result, [], marginals); +gtsam_utils.plot2DTrajectory(result, [], marginals); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/examples/Pose2SLAMExample_advanced.m b/matlab/gtsam_examples/Pose2SLAMExample_advanced.m similarity index 99% rename from matlab/examples/Pose2SLAMExample_advanced.m rename to matlab/gtsam_examples/Pose2SLAMExample_advanced.m index b496c44e7..fab340f2a 100644 --- a/matlab/examples/Pose2SLAMExample_advanced.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_advanced.m @@ -77,5 +77,6 @@ IJS = gfg.sparseJacobian_(); Ab=sparse(IJS(1,:),IJS(2,:),IJS(3,:)); A = Ab(:,1:end-1); b = full(Ab(:,end)); +clf spy(A); title('Non-zero entries in measurement Jacobian'); diff --git a/matlab/examples/Pose2SLAMExample_circle.m b/matlab/gtsam_examples/Pose2SLAMExample_circle.m similarity index 87% rename from matlab/examples/Pose2SLAMExample_circle.m rename to matlab/gtsam_examples/Pose2SLAMExample_circle.m index 3d2265d76..b40c67322 100644 --- a/matlab/examples/Pose2SLAMExample_circle.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_circle.m @@ -10,14 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -import gtsam.* - %% Create a hexagon of poses -hexagon = circlePose2(6,1.0); +import gtsam.* +hexagon = gtsam_utils.circlePose2(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement +import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose2(0, p0)); delta = p0.between(p1); @@ -30,6 +30,7 @@ fg.add(BetweenFactorPose2(4,5, delta, covariance)); fg.add(BetweenFactorPose2(5,0, delta, covariance)); %% Create initial config +import gtsam.* initial = Values; initial.insert(0, p0); initial.insert(1, hexagon.at(1).retract([-0.1, 0.1,-0.1]')); @@ -39,15 +40,18 @@ initial.insert(4, hexagon.at(4).retract([ 0.1,-0.1, 0.1]')); initial.insert(5, hexagon.at(5).retract([-0.1, 0.1,-0.1]')); %% Plot Initial Estimate +import gtsam.* cla -plot2DTrajectory(initial, 'g*-'); axis equal +gtsam_utils.plot2DTrajectory(initial, 'g*-'); axis equal %% optimize +import gtsam.* optimizer = DoglegOptimizer(fg, initial); result = optimizer.optimizeSafely; %% Show Result -hold on; plot2DTrajectory(result, 'b*-'); +import gtsam.* +hold on; gtsam_utils.plot2DTrajectory(result, 'b*-'); view(2); axis([-1.5 1.5 -1.5 1.5]); result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/examples/Pose2SLAMExample_graph.m b/matlab/gtsam_examples/Pose2SLAMExample_graph.m similarity index 79% rename from matlab/examples/Pose2SLAMExample_graph.m rename to matlab/gtsam_examples/Pose2SLAMExample_graph.m index f5193a7de..980a11cfa 100644 --- a/matlab/examples/Pose2SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_graph.m @@ -11,12 +11,12 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Find data file -datafile = support.findExampleDataFile('w100-odom.graph'); +datafile = gtsam_utils.findExampleDataFile('w100-odom.graph'); %% Initialize graph, initial estimate, and odometry noise import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -[graph,initial] = load2D(datafile, model); +[graph,initial] = gtsam_utils.load2D(datafile, model); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 @@ -26,22 +26,25 @@ priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); graph.add(PriorFactorPose2(0, priorMean, priorNoise)); % add directly to graph %% Plot Initial Estimate +import gtsam.* cla -plot2DTrajectory(initial, 'g-*'); axis equal +gtsam_utils.plot2DTrajectory(initial, 'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely; -hold on; plot2DTrajectory(result, 'b-*'); +hold on; gtsam_utils.plot2DTrajectory(result, 'b-*'); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses +import gtsam.* marginals = Marginals(graph, result); P={}; for i=1:result.size()-1 pose_i = result.at(i); P{i}=marginals.marginalCovariance(i); - plotPose2(pose_i,'b',P{i}) + gtsam_utils.plotPose2(pose_i,'b',P{i}) end view(2) axis([-15 10 -15 10]); axis equal; diff --git a/matlab/examples/Pose2SLAMwSPCG.m b/matlab/gtsam_examples/Pose2SLAMwSPCG.m similarity index 100% rename from matlab/examples/Pose2SLAMwSPCG.m rename to matlab/gtsam_examples/Pose2SLAMwSPCG.m diff --git a/matlab/examples/Pose3SLAMExample.m b/matlab/gtsam_examples/Pose3SLAMExample.m similarity index 88% rename from matlab/examples/Pose3SLAMExample.m rename to matlab/gtsam_examples/Pose3SLAMExample.m index 0d2bd237f..bdc101b9d 100644 --- a/matlab/examples/Pose3SLAMExample.m +++ b/matlab/gtsam_examples/Pose3SLAMExample.m @@ -10,14 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -import gtsam.* - %% Create a hexagon of poses -hexagon = circlePose3(6,1.0); +import gtsam.* +hexagon = gtsam_utils.circlePose3(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement +import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); @@ -30,6 +30,7 @@ fg.add(BetweenFactorPose3(4,5, delta, covariance)); fg.add(BetweenFactorPose3(5,0, delta, covariance)); %% Create initial config +import gtsam.* initial = Values; s = 0.10; initial.insert(0, p0); @@ -40,15 +41,18 @@ initial.insert(4, hexagon.at(4).retract(s*randn(6,1))); initial.insert(5, hexagon.at(5).retract(s*randn(6,1))); %% Plot Initial Estimate +import gtsam.* cla -plot3DTrajectory(initial, 'g-*'); +gtsam_utils.plot3DTrajectory(initial, 'g-*'); %% optimize +import gtsam.* optimizer = DoglegOptimizer(fg, initial); result = optimizer.optimizeSafely(); %% Show Result -hold on; plot3DTrajectory(result, 'b-*', true, 0.3); +import gtsam.* +hold on; gtsam_utils.plot3DTrajectory(result, 'b-*', true, 0.3); axis([-2 2 -2 2 -1 1]); axis equal view(-37,40) diff --git a/matlab/examples/Pose3SLAMExample_graph.m b/matlab/gtsam_examples/Pose3SLAMExample_graph.m similarity index 77% rename from matlab/examples/Pose3SLAMExample_graph.m rename to matlab/gtsam_examples/Pose3SLAMExample_graph.m index 1d33c30e4..574894878 100644 --- a/matlab/examples/Pose3SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose3SLAMExample_graph.m @@ -16,26 +16,27 @@ N = 2500; % dataset = 'sphere2500_groundtruth.txt'; dataset = 'sphere2500.txt'; -datafile = support.findExampleDataFile(dataset); +datafile = gtsam_utils.findExampleDataFile(dataset); %% Initialize graph, initial estimate, and odometry noise import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -[graph,initial]=load3D(datafile,model,true,N); +[graph,initial]=gtsam_utils.load3D(datafile,model,true,N); %% Plot Initial Estimate +import gtsam.* cla first = initial.at(0); plot3(first.x(),first.y(),first.z(),'r*'); hold on -plot3DTrajectory(initial,'g-',false); +gtsam_utils.plot3DTrajectory(initial,'g-',false); drawnow; %% Read again, now with all constraints, and optimize import gtsam.* -graph = load3D(datafile, model, false, N); +graph = gtsam_utils.load3D(datafile, model, false, N); graph.add(NonlinearEqualityPose3(0, first)); optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely(); -plot3DTrajectory(result, 'r-', false); axis equal; +gtsam_utils.plot3DTrajectory(result, 'r-', false); axis equal; view(3); axis equal; \ No newline at end of file diff --git a/matlab/examples/SBAExample.m b/matlab/gtsam_examples/SBAExample.m similarity index 97% rename from matlab/examples/SBAExample.m rename to matlab/gtsam_examples/SBAExample.m index a9f101613..852c83fdc 100644 --- a/matlab/examples/SBAExample.m +++ b/matlab/gtsam_examples/SBAExample.m @@ -22,7 +22,7 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = support.VisualISAMGenerateData(options); +[data,truth] = gtsam_utils.VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; diff --git a/matlab/examples/SFMExample.m b/matlab/gtsam_examples/SFMExample.m similarity index 94% rename from matlab/examples/SFMExample.m rename to matlab/gtsam_examples/SFMExample.m index 2153ba647..7f583b386 100644 --- a/matlab/examples/SFMExample.m +++ b/matlab/gtsam_examples/SFMExample.m @@ -22,7 +22,7 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = support.VisualISAMGenerateData(options); +[data,truth] = gtsam_utils.VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; @@ -86,8 +86,8 @@ marginals = Marginals(graph, result); cla hold on; -plot3DPoints(result, [], marginals); -plot3DTrajectory(result, '*', 1, 8, marginals); +gtsam_utils.plot3DPoints(result, [], marginals); +gtsam_utils.plot3DTrajectory(result, '*', 1, 8, marginals); axis([-40 40 -40 40 -10 20]);axis equal view(3) diff --git a/matlab/examples/StereoVOExample.m b/matlab/gtsam_examples/StereoVOExample.m similarity index 94% rename from matlab/examples/StereoVOExample.m rename to matlab/gtsam_examples/StereoVOExample.m index 468123529..e62c4395c 100644 --- a/matlab/examples/StereoVOExample.m +++ b/matlab/gtsam_examples/StereoVOExample.m @@ -18,6 +18,7 @@ % - No noise on measurements %% Create keys for variables +import gtsam.* x1 = symbol('x',1); x2 = symbol('x',2); l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); @@ -74,6 +75,6 @@ axis equal view(-38,12) camup([0;1;0]); -plot3DTrajectory(initialEstimate, 'r', 1, 0.3); -plot3DTrajectory(result, 'g', 1, 0.3); -plot3DPoints(result); +gtsam_utils.plot3DTrajectory(initialEstimate, 'r', 1, 0.3); +gtsam_utils.plot3DTrajectory(result, 'g', 1, 0.3); +gtsam_utils.plot3DPoints(result); diff --git a/matlab/examples/StereoVOExample_large.m b/matlab/gtsam_examples/StereoVOExample_large.m similarity index 84% rename from matlab/examples/StereoVOExample_large.m rename to matlab/gtsam_examples/StereoVOExample_large.m index fb45dd8a7..5ae3a8fd7 100644 --- a/matlab/examples/StereoVOExample_large.m +++ b/matlab/gtsam_examples/StereoVOExample_large.m @@ -13,7 +13,7 @@ %% Load calibration import gtsam.* % format: fx fy skew cx cy baseline -calib = dlmread(support.findExampleDataFile('VO_calibration.txt')); +calib = dlmread(gtsam_utils.findExampleDataFile('VO_calibration.txt')); K = Cal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); @@ -26,7 +26,7 @@ initial = Values; % row format: camera_id 4x4 pose (row, major) import gtsam.* fprintf(1,'Reading data\n'); -cameras = dlmread(support.findExampleDataFile('VO_camera_poses_large.txt')); +cameras = dlmread(gtsam_utils.findExampleDataFile('VO_camera_poses_large.txt')); for i=1:size(cameras,1) pose = Pose3(reshape(cameras(i,2:17),4,4)'); initial.insert(symbol('x',cameras(i,1)),pose); @@ -35,7 +35,7 @@ end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z import gtsam.* -measurements = dlmread(support.findExampleDataFile('VO_stereo_factors_large.txt')); +measurements = dlmread(gtsam_utils.findExampleDataFile('VO_stereo_factors_large.txt')); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) @@ -54,11 +54,13 @@ end toc %% add a constraint on the starting pose +import gtsam.* key = symbol('x',1); first_pose = initial.at(key); graph.add(NonlinearEqualityPose3(key, first_pose)); %% optimize +import gtsam.* fprintf(1,'Optimizing\n'); tic optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely(); @@ -67,9 +69,9 @@ toc %% visualize initial trajectory, final trajectory, and final points cla; hold on; -plot3DTrajectory(initial, 'r', 1, 0.5); -plot3DTrajectory(result, 'g', 1, 0.5); -plot3DPoints(result); +gtsam_utils.plot3DTrajectory(initial, 'r', 1, 0.5); +gtsam_utils.plot3DTrajectory(result, 'g', 1, 0.5); +gtsam_utils.plot3DPoints(result); axis([-5 20 -20 20 0 100]); axis equal diff --git a/matlab/examples/VisualISAMDemo.m b/matlab/gtsam_examples/VisualISAMDemo.m similarity index 100% rename from matlab/examples/VisualISAMDemo.m rename to matlab/gtsam_examples/VisualISAMDemo.m diff --git a/matlab/examples/VisualISAMExample.m b/matlab/gtsam_examples/VisualISAMExample.m similarity index 75% rename from matlab/examples/VisualISAMExample.m rename to matlab/gtsam_examples/VisualISAMExample.m index 7553ed2a4..64634d336 100644 --- a/matlab/examples/VisualISAMExample.m +++ b/matlab/gtsam_examples/VisualISAMExample.m @@ -32,17 +32,17 @@ options.saveFigures = false; options.saveDotFiles = false; %% Generate data -[data,truth] = support.VisualISAMGenerateData(options); +[data,truth] = gtsam_utils.VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options); +[noiseModels,isam,result,nextPose] = gtsam_utils.VisualISAMInitialize(data,truth,options); cla; -support.VisualISAMPlot(truth, data, isam, result, options) +gtsam_utils.VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras - [isam,result] = support.VisualISAMStep(data,noiseModels,isam,result,truth,options); + [isam,result,nextPose] = gtsam_utils.VisualISAMStep(data,noiseModels,isam,result,truth,nextPose); if mod(frame_i,options.drawInterval)==0 - support.VisualISAMPlot(truth, data, isam, result, options) + gtsam_utils.VisualISAMPlot(truth, data, isam, result, options) end end diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/gtsam_examples/VisualISAM_gui.fig similarity index 100% rename from matlab/examples/VisualISAM_gui.fig rename to matlab/gtsam_examples/VisualISAM_gui.fig diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/gtsam_examples/VisualISAM_gui.m similarity index 92% rename from matlab/examples/VisualISAM_gui.m rename to matlab/gtsam_examples/VisualISAM_gui.m index 765a6f5ac..f7990268f 100644 --- a/matlab/examples/VisualISAM_gui.m +++ b/matlab/gtsam_examples/VisualISAM_gui.m @@ -224,32 +224,32 @@ function saveGraphsCB_Callback(hObject, ~, handles) % --- Executes on button press in intializeButton. function intializeButton_Callback(hObject, ~, handles) -global frame_i truth data noiseModels isam result options +global frame_i truth data noiseModels isam result nextPoseIndex options % initialize global options initOptions(handles) % Generate Data -[data,truth] = support.VisualISAMGenerateData(options); +[data,truth] = gtsam_utils.VisualISAMGenerateData(options); % Initialize and plot -[noiseModels,isam,result] = support.VisualISAMInitialize(data,truth,options); +[noiseModels,isam,result,nextPoseIndex] = gtsam_utils.VisualISAMInitialize(data,truth,options); cla -support.VisualISAMPlot(truth, data, isam, result, options) +gtsam_utils.VisualISAMPlot(truth, data, isam, result, options) frame_i = 2; showFramei(hObject, handles) % --- Executes on button press in runButton. function runButton_Callback(hObject, ~, handles) -global frame_i truth data noiseModels isam result options +global frame_i truth data noiseModels isam result nextPoseIndex options while (frame_i Date: Fri, 27 Jul 2012 19:15:58 +0000 Subject: [PATCH 724/914] Fixed missing renames --- tests/testGradientDescentOptimizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp index 6f03bc017..4f556eb0f 100644 --- a/tests/testGradientDescentOptimizer.cpp +++ b/tests/testGradientDescentOptimizer.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include #include @@ -69,7 +69,7 @@ TEST(optimize, GradientDescentOptimizer) { param.maxIterations = 500; /* requires a larger number of iterations to converge */ param.verbosity = NonlinearOptimizerParams::SILENT; - GradientDescentOptimizer optimizer(graph, initialEstimate, param); + NonlinearConjugateGradientOptimizer optimizer(graph, initialEstimate, param); Values result = optimizer.optimize(); // cout << "gd1 solver final error = " << graph.error(result) << endl; From d95ca7857b0e0cf605ae1dab43a4321749658063 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 27 Jul 2012 19:16:00 +0000 Subject: [PATCH 725/914] Updated wrap unit tests --- wrap/tests/expected/geometry_wrapper.cpp | 36 ++++++++++--------- .../testNamespaces_wrapper.cpp | 26 +++++++------- 2 files changed, 33 insertions(+), 29 deletions(-) diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index 93fde1ca4..b546aa65f 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -19,24 +19,24 @@ void _deleteAllObjects() std::streambuf *outbuf = std::cout.rdbuf(&mout); bool anyDeleted = false; - for(Collector_Point2::iterator iter = collector_Point2.begin(); + { for(Collector_Point2::iterator iter = collector_Point2.begin(); iter != collector_Point2.end(); ) { delete *iter; collector_Point2.erase(iter++); anyDeleted = true; - } - for(Collector_Point3::iterator iter = collector_Point3.begin(); + } } + { for(Collector_Point3::iterator iter = collector_Point3.begin(); iter != collector_Point3.end(); ) { delete *iter; collector_Point3.erase(iter++); anyDeleted = true; - } - for(Collector_Test::iterator iter = collector_Test.begin(); + } } + { for(Collector_Test::iterator iter = collector_Test.begin(); iter != collector_Test.end(); ) { delete *iter; collector_Test.erase(iter++); anyDeleted = true; - } + } } if(anyDeleted) cout << "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" @@ -227,14 +227,14 @@ void Point3_StaticFunctionRet_15(int nargout, mxArray *out[], int nargin, const typedef boost::shared_ptr Shared; checkArguments("Point3.StaticFunctionRet",nargout,nargin,1); double z = unwrap< double >(in[0]); - out[0] = wrap_shared_ptr(SharedPoint3(new Point3(Point3::StaticFunctionRet(z))),"Point3", false); + out[0] = wrap_shared_ptr(SharedPoint3(new Point3(Point3::StaticFunctionRet(z))),"Point3", false); } void Point3_staticFunction_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef boost::shared_ptr Shared; checkArguments("Point3.staticFunction",nargout,nargin,0); - out[0] = wrap< double >(Point3::staticFunction()); + out[0] = wrap< double >(Point3::staticFunction()); } void Test_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -299,8 +299,9 @@ void Test_create_MixedPtrs_22(int nargout, mxArray *out[], int nargin, const mxA typedef boost::shared_ptr Shared; checkArguments("create_MixedPtrs",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); - out[0] = wrap_shared_ptr(SharedTest(new Test(obj->create_MixedPtrs().first)),"Test", false); - out[0] = wrap_shared_ptr(obj->create_MixedPtrs().second,"Test", false); + pair< Test, SharedTest > pairResult = obj->create_MixedPtrs(); + out[0] = wrap_shared_ptr(SharedTest(new Test(pairResult.first)),"Test", false); + out[1] = wrap_shared_ptr(pairResult.second,"Test", false); } void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -310,8 +311,9 @@ void Test_create_ptrs_23(int nargout, mxArray *out[], int nargin, const mxArray typedef boost::shared_ptr Shared; checkArguments("create_ptrs",nargout,nargin-1,0); Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); - out[0] = wrap_shared_ptr(obj->create_ptrs().first,"Test", false); - out[0] = wrap_shared_ptr(obj->create_ptrs().second,"Test", false); + pair< SharedTest, SharedTest > 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_24(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -413,8 +415,9 @@ void Test_return_pair_34(int nargout, mxArray *out[], int nargin, const mxArray Shared obj = unwrap_shared_ptr(in[0], "ptr_Test"); Vector v = unwrap< Vector >(in[1]); Matrix A = unwrap< Matrix >(in[2]); - out[0] = wrap< Vector >(obj->return_pair(v,A).first); - out[1] = wrap< Matrix >(obj->return_pair(v,A).second); + pair< Vector, Matrix > pairResult = obj->return_pair(v,A); + out[0] = wrap< Vector >(pairResult.first); + out[1] = wrap< Matrix >(pairResult.second); } void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray *in[]) @@ -426,8 +429,9 @@ void Test_return_ptrs_35(int nargout, mxArray *out[], int nargin, const mxArray Shared 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"); - out[0] = wrap_shared_ptr(obj->return_ptrs(p1,p2).first,"Test", false); - out[0] = wrap_shared_ptr(obj->return_ptrs(p1,p2).second,"Test", false); + pair< SharedTest, SharedTest > 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_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index c75c6a388..d199e59ab 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -29,42 +29,42 @@ void _deleteAllObjects() std::streambuf *outbuf = std::cout.rdbuf(&mout); bool anyDeleted = false; - for(Collector_ns1ClassA::iterator iter = collector_ns1ClassA.begin(); + { 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(); + } } + { 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(); + } } + { 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(); + } } + { 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(); + } } + { 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(); + } } + { for(Collector_ClassD::iterator iter = collector_ClassD.begin(); iter != collector_ClassD.end(); ) { delete *iter; collector_ClassD.erase(iter++); anyDeleted = true; - } + } } if(anyDeleted) cout << "WARNING: Wrap modules with variables in the workspace have been reloaded due to\n" @@ -230,7 +230,7 @@ void ns2ClassA_afunction_12(int nargout, mxArray *out[], int nargin, const mxArr { typedef boost::shared_ptr Shared; checkArguments("ns2ClassA.afunction",nargout,nargin,0); - out[0] = wrap< double >(ns2::ClassA::afunction()); + out[0] = wrap< double >(ns2::ClassA::afunction()); } void ns2ns3ClassB_collectorInsertAndMakeBase_13(int nargout, mxArray *out[], int nargin, const mxArray *in[]) From 32f9ea526d052bb301d65db71d6f949f8c72bf84 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 28 Jul 2012 16:01:49 +0000 Subject: [PATCH 726/914] Removed dataset function from gtsam (moved to CitySLAM, see previous commit) --- gtsam/slam/dataset.cpp | 48 ------------------------------------------ gtsam/slam/dataset.h | 9 -------- 2 files changed, 57 deletions(-) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 59df1da67..29154f686 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -31,54 +31,6 @@ using namespace std; namespace gtsam { -/* ************************************************************************* */ -pair > dataset(const string& dataset, - const string& user_path) { - string path = user_path, set = dataset; - boost::optional null_model; - boost::optional identity(noiseModel::Unit::Create(3)); - boost::optional small( - noiseModel::Diagonal::Variances( - gtsam::Vector_(3, 0.0001, 0.0001, 0.0003))); - - if (path.empty()) - path = string(getenv("HOME")) + "/data"; - if (set.empty()) - set = string(getenv("DATASET")); - - if (set == "intel") - return make_pair(path + "/Intel/intel.graph", null_model); - if (set == "intel-gfs") - return make_pair(path + "/Intel/intel.gfs.graph", null_model); - if (set == "Killian-gfs") - return make_pair(path + "/Killian/Killian.gfs.graph", null_model); - if (set == "Killian") - return make_pair(path + "/Killian/Killian.graph", small); - if (set == "Killian-noised") - return make_pair(path + "/Killian/Killian-noised.graph", null_model); - if (set == "3") - return make_pair(path + "/TORO/w3-odom.graph", identity); - if (set == "100") - return make_pair(path + "/TORO/w100-odom.graph", identity); - if (set == "10K") - return make_pair(path + "/TORO/w10000-odom.graph", identity); - if (set == "10K2") - return make_pair(path + "/hogman/data/2D/w10000.graph", - noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05))); - if (set == "Eiffel100") - return make_pair(path + "/TORO/w100-Eiffel.graph", identity); - if (set == "Eiffel10K") - return make_pair(path + "/TORO/w10000-Eiffel.graph", identity); - if (set == "olson") - return make_pair(path + "/Olson/olson06icra.graph", null_model); - if (set == "victoria") - return make_pair(path + "/VictoriaPark/victoria_park.graph", null_model); - if (set == "beijing") - return make_pair(path + "/Beijing/beijingData_trips.graph", null_model); - - return make_pair("unknown", null_model); -} - /* ************************************************************************* */ pair load2D( pair > dataset, diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index d3f00aae2..c881ce2bd 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -24,15 +24,6 @@ #include namespace gtsam { - /** - * Construct dataset filename from short name - * Currently has "Killian" "intel.gfs", "10K", etc... - * @param filename - * @param optional dataset, if empty will try to getenv $DATASET - * @param optional path, if empty will try to getenv $HOME - */ - std::pair > - dataset(const std::string& dataset = "", const std::string& path = ""); /** * Load TORO 2D Graph From 25ffc8adda49b837c6055dd3252f28777e920412 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 28 Jul 2012 17:04:20 +0000 Subject: [PATCH 727/914] Moved to CitySLAM --- matlab/examples/Pose2SLAMExample_graph1.m | 36 ---------------- matlab/examples/Pose2SLAMExample_graph2.m | 52 ----------------------- 2 files changed, 88 deletions(-) delete mode 100644 matlab/examples/Pose2SLAMExample_graph1.m delete mode 100644 matlab/examples/Pose2SLAMExample_graph2.m diff --git a/matlab/examples/Pose2SLAMExample_graph1.m b/matlab/examples/Pose2SLAMExample_graph1.m deleted file mode 100644 index ef8002209..000000000 --- a/matlab/examples/Pose2SLAMExample_graph1.m +++ /dev/null @@ -1,36 +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 -% -% @brief Read graph from file and perform GraphSLAM -% @author Frank Dellaert -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Initialize graph, initial estimate, and odometry noise -import gtsam.* -model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]); -maxID=0; -addNoise=false; -smart=true; -[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); - -%% Add a Gaussian prior on pose x_1 -priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); -graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph - -%% Plot Initial Estimate -figure(1);clf -P=initial.poses; -plot(P(:,1),P(:,2),'r-'); axis equal - -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -tic -result = graph.optimize(initial,1); -toc -P=result.poses; -hold on; plot(P(:,1),P(:,2),'b-') diff --git a/matlab/examples/Pose2SLAMExample_graph2.m b/matlab/examples/Pose2SLAMExample_graph2.m deleted file mode 100644 index 0eb0dc31d..000000000 --- a/matlab/examples/Pose2SLAMExample_graph2.m +++ /dev/null @@ -1,52 +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 -% -% @brief Read graph from file and perform GraphSLAM -% @author Frank Dellaert -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -import gtsam.* -maxID=0; -addNoise=false; -smart=true; -priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); - -%% Create graph, disregarding translation measurements by setting sigma high -model = noiseModel.Diagonal.Sigmas([100000; 100000; 1*pi/180]); -[graph,initial]=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); - -%% Add a Gaussian prior on pose x_1 -graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph - -%% Plot Initial Estimate -figure(1);clf -P=initial.poses; -plot(P(:,1),P(:,2),'r-'); axis equal - -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -tic -result1 = graph.optimize(initial,1); -toc -P=result1.poses; -hold on; plot(P(:,1),P(:,2),'g-') - -%% Read again, with correct noise now... -model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 1*pi/180]); -graph=load2D('Data/w10000-odom.graph',model,maxID,addNoise,smart); - -%% Add a Gaussian prior on pose x_1 -graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph - -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -tic -result2 = graph.optimize(result1,1); -toc -P=result2.poses; -hold on; plot(P(:,1),P(:,2),'b-') - From 08c72e2a8dc7888e8d8c3e4aa68f2dfbc80276b0 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 14:59:18 +0000 Subject: [PATCH 728/914] Updated Pose2SLAMExample_graph to remove SLAM namespaces --- examples/Pose2SLAMExample_graph.cpp | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp index d27e184d8..cc873eb08 100644 --- a/examples/Pose2SLAMExample_graph.cpp +++ b/examples/Pose2SLAMExample_graph.cpp @@ -17,32 +17,35 @@ */ #include -#include +#include #include +#include +#include +#include +#include #include #include using namespace std; using namespace gtsam; -using namespace gtsam::noiseModel; int main(int argc, char** argv) { // Read File and create graph and initial estimate // we are in build/examples, data is in examples/Data - pose2SLAM::Graph::shared_ptr graph ; - pose2SLAM::Values::shared_ptr initial; - SharedDiagonal model = Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0)); + NonlinearFactorGraph::shared_ptr graph ; + Values::shared_ptr initial; + SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 5.0*M_PI/180.0)); boost::tie(graph,initial) = load2D("../../examples/Data/w100-odom.graph",model); initial->print("Initial estimate:\n"); // Add a Gaussian prior on first poses Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin - SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.01, 0.01, 0.01)); - graph->addPosePrior(0, priorMean, priorNoise); + SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.01, 0.01, 0.01)); + graph->add(PriorFactor(0, priorMean, priorNoise)); // Single Step Optimization using Levenberg-Marquardt - pose2SLAM::Values result = graph->optimize(*initial); + Values result = LevenbergMarquardtOptimizer(*graph, *initial).optimize(); result.print("\nFinal result:\n"); // Plot the covariance of the last pose From 4cf6f104581e651982901b2e04e0770d23a637af Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 15:34:18 +0000 Subject: [PATCH 729/914] Removed SLAM namespace from testAntiFactor --- gtsam/slam/tests/testAntiFactor.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp index d99313767..0dd576aed 100644 --- a/gtsam/slam/tests/testAntiFactor.cpp +++ b/gtsam/slam/tests/testAntiFactor.cpp @@ -17,10 +17,12 @@ #include -#include #include -#include +#include +#include #include +#include +#include #include #include @@ -95,12 +97,12 @@ TEST( AntiFactor, EquivalentBayesNet) Pose3 z(Rot3(), Point3(1, 1, 1)); SharedNoiseModel sigma(noiseModel::Unit::Create(Pose3::Dim())); - boost::shared_ptr graph(new pose3SLAM::Graph()); - graph->addPosePrior(1, pose1, sigma); - graph->addRelativePose(1, 2, pose1.between(pose2), sigma); + NonlinearFactorGraph::shared_ptr graph(new NonlinearFactorGraph()); + graph->add(PriorFactor(1, pose1, sigma)); + graph->add(BetweenFactor(1, 2, pose1.between(pose2), sigma)); // Create a configuration corresponding to the ground truth - boost::shared_ptr values(new Values()); + Values::shared_ptr values(new Values()); values->insert(1, pose1); values->insert(2, pose2); From c49a2e5933686f21743d79382bac4be5e591b401 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 15:34:42 +0000 Subject: [PATCH 730/914] Removed SLAM namespaces from testProjectionFactor --- gtsam/slam/tests/testProjectionFactor.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp index ac9a6891d..1bda97951 100644 --- a/gtsam/slam/tests/testProjectionFactor.cpp +++ b/gtsam/slam/tests/testProjectionFactor.cpp @@ -16,9 +16,13 @@ * @date Nov 2009 */ -#include +#include +#include +#include #include #include +#include +#include #include using namespace std; @@ -80,7 +84,7 @@ TEST( ProjectionFactor, error ) CHECK(assert_equal(expected,*actual,1e-3)); // linearize graph - visualSLAM::Graph graph; + NonlinearFactorGraph graph; graph.push_back(factor); FactorGraph expected_lfg; expected_lfg.push_back(actual); From 094d3952381941a6c6980321daa3e8244bb64f20 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 15:35:19 +0000 Subject: [PATCH 731/914] Removed SLAM namespaces from testStereoFactor --- gtsam/slam/StereoFactor.h | 1 + gtsam/slam/tests/testStereoFactor.cpp | 20 +++++++++----------- 2 files changed, 10 insertions(+), 11 deletions(-) diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 5be783aaf..94af6e10e 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -18,6 +18,7 @@ #pragma once +#include #include namespace gtsam { diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp index b38dae990..f6a861354 100644 --- a/gtsam/slam/tests/testStereoFactor.cpp +++ b/gtsam/slam/tests/testStereoFactor.cpp @@ -15,13 +15,16 @@ * @author Chris Beall */ -#include #include -#include +#include #include +#include +#include #include #include +#include #include +#include #include @@ -35,8 +38,7 @@ static Pose3 camera1(Matrix_(3,3, ), Point3(0,0,6.25)); -static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); -static StereoCamera stereoCam(Pose3(), K); +static boost::shared_ptr K(new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5)); // point X Y Z in meters static Point3 p(0, 0, 5); @@ -46,20 +48,16 @@ static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); using symbol_shorthand::X; using symbol_shorthand::L; -typedef GenericStereoFactor MyStereoFactor; - /* ************************************************************************* */ TEST( StereoFactor, singlePoint) { - //Cal3_S2 K(625, 625, 0, 320, 240, 0.5); - boost::shared_ptr K(new Cal3_S2Stereo(625, 625, 0, 320, 240, 0.5)); NonlinearFactorGraph graph; - graph.add(NonlinearEquality(X(1),camera1)); + graph.add(NonlinearEquality(X(1), camera1)); - StereoPoint2 z14(320,320.0-50, 240); + StereoPoint2 z14(320, 320.0-50, 240); // arguments: measurement, sigma, cam#, measurement #, K, baseline (m) - graph.add(MyStereoFactor(z14,sigma, X(1), L(1), K)); + graph.add(GenericStereoFactor(z14, sigma, X(1), L(1), K)); // Create a configuration corresponding to the ground truth Values values; From 15cfa7e70239045f3fafa7078d47b0b990c431d1 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 15:38:58 +0000 Subject: [PATCH 732/914] Remove namespace files --- gtsam/slam/planarSLAM.cpp | 63 --- gtsam/slam/planarSLAM.h | 122 ------ gtsam/slam/pose2SLAM.cpp | 66 --- gtsam/slam/pose2SLAM.h | 107 ----- gtsam/slam/pose3SLAM.cpp | 73 ---- gtsam/slam/pose3SLAM.h | 120 ------ gtsam/slam/sparseBA.cpp | 60 --- gtsam/slam/sparseBA.h | 143 ------- gtsam/slam/tests/testPlanarSLAM.cpp | 218 ---------- gtsam/slam/tests/testPose2SLAM.cpp | 608 ---------------------------- gtsam/slam/tests/testPose3SLAM.cpp | 211 ---------- gtsam/slam/tests/testSparseBA.cpp | 193 --------- gtsam/slam/tests/testVisualSLAM.cpp | 344 ---------------- gtsam/slam/visualSLAM.cpp | 116 ------ gtsam/slam/visualSLAM.h | 186 --------- 15 files changed, 2630 deletions(-) delete mode 100644 gtsam/slam/planarSLAM.cpp delete mode 100644 gtsam/slam/planarSLAM.h delete mode 100644 gtsam/slam/pose2SLAM.cpp delete mode 100644 gtsam/slam/pose2SLAM.h delete mode 100644 gtsam/slam/pose3SLAM.cpp delete mode 100644 gtsam/slam/pose3SLAM.h delete mode 100644 gtsam/slam/sparseBA.cpp delete mode 100644 gtsam/slam/sparseBA.h delete mode 100644 gtsam/slam/tests/testPlanarSLAM.cpp delete mode 100644 gtsam/slam/tests/testPose2SLAM.cpp delete mode 100644 gtsam/slam/tests/testPose3SLAM.cpp delete mode 100644 gtsam/slam/tests/testSparseBA.cpp delete mode 100644 gtsam/slam/tests/testVisualSLAM.cpp delete mode 100644 gtsam/slam/visualSLAM.cpp delete mode 100644 gtsam/slam/visualSLAM.h diff --git a/gtsam/slam/planarSLAM.cpp b/gtsam/slam/planarSLAM.cpp deleted file mode 100644 index 20c149b66..000000000 --- a/gtsam/slam/planarSLAM.cpp +++ /dev/null @@ -1,63 +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 planarSLAM.cpp - * @brief: bearing/range measurements in 2D plane - * @author Frank Dellaert - **/ - -#include -#include - -// Use planarSLAM namespace for specific SLAM instance -namespace planarSLAM { - - /* ************************************************************************* */ - Matrix Values::points() const { - size_t j=0; - ConstFiltered points = filter(); - Matrix result(points.size(),2); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, points) - result.row(j++) = keyValue.value.vector(); - return result; - } - - /* ************************************************************************* */ - void Graph::addPointConstraint(Key pointKey, const Point2& p) { - push_back(boost::make_shared >(pointKey, p)); - } - - /* ************************************************************************* */ - void Graph::addPointPrior(Key pointKey, const Point2& p, const SharedNoiseModel& model) { - push_back(boost::make_shared >(pointKey, p, model)); - } - - /* ************************************************************************* */ - void Graph::addBearing(Key i, Key j, const Rot2& z, const SharedNoiseModel& model) { - push_back(boost::make_shared >(i, j, z, model)); - } - - /* ************************************************************************* */ - void Graph::addRange(Key i, Key j, double z, const SharedNoiseModel& model) { - push_back(boost::make_shared >(i, j, z, model)); - } - - /* ************************************************************************* */ - void Graph::addBearingRange(Key i, Key j, const Rot2& z1, - double z2, const SharedNoiseModel& model) { - push_back(boost::make_shared >(i, j, z1, z2, model)); - } - - /* ************************************************************************* */ - -} // planarSLAM - diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h deleted file mode 100644 index 967d91581..000000000 --- a/gtsam/slam/planarSLAM.h +++ /dev/null @@ -1,122 +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 planarSLAM.h - * @brief bearing/range measurements in 2D plane - * @author Frank Dellaert - */ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -// Use planarSLAM namespace for specific SLAM instance -namespace planarSLAM { - - using namespace gtsam; - - /* - * Values class, inherited from pose2SLAM::Values, mainly used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Values: public pose2SLAM::Values { - - typedef boost::shared_ptr shared_ptr; - typedef gtsam::Values::ConstFiltered PoseFiltered; - typedef gtsam::Values::ConstFiltered PointFiltered; - - /// Default constructor - Values() {} - - /// Copy constructor - Values(const gtsam::Values& values) : - pose2SLAM::Values(values) { - } - - /// Constructor from filtered values view of poses - Values(const PoseFiltered& view) : pose2SLAM::Values(view) {} - - /// Constructor from filtered values view of points - Values(const PointFiltered& view) : pose2SLAM::Values(view) {} - - PoseFiltered allPoses() const { return this->filter(); } ///< pose view - size_t nrPoses() const { return allPoses().size(); } ///< get number of poses - KeyList poseKeys() const { return allPoses().keys(); } ///< get keys to poses only - - PointFiltered allPoints() const { return this->filter(); } ///< point view - size_t nrPoints() const { return allPoints().size(); } ///< get number of points - KeyList pointKeys() const { return allPoints().keys(); } ///< get keys to points only - - /// insert a point - void insertPoint(Key j, const Point2& point) { insert(j, point); } - - /// update a point - void updatePoint(Key j, const Point2& point) { update(j, point); } - - /// get a point - Point2 point(Key j) const { return at(j); } - - /// get all [x,y] coordinates in a 2*n matrix - Matrix points() const; -}; - - /** - * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Graph: public pose2SLAM::Graph { - - /// Default constructor - Graph(){} - - /// Copy constructor given any other NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph): - pose2SLAM::Graph(graph) {} - - /// Creates a hard constraint on a point - void addPointConstraint(Key j, const Point2& p); - - /// Adds a prior with mean p and given noise model on point j - void addPointPrior(Key j, const Point2& p, const SharedNoiseModel& model); - - /// Creates a bearing measurement from pose i to point j - void addBearing(Key i, Key j, const Rot2& bearing, const SharedNoiseModel& model); - - /// Creates a range measurement from pose i to point j - void addRange(Key i, Key k, double range, const SharedNoiseModel& model); - - /// Creates a range/bearing measurement from pose i to point j - void addBearingRange(Key i, Key j, const Rot2& bearing, double range, const SharedNoiseModel& model); - }; - -} // planarSLAM - - -/** - * Backwards compatibility and wrap use only, avoid using - */ -namespace planarSLAM { - typedef gtsam::NonlinearEquality Constraint; ///< \deprecated typedef for backwards compatibility - typedef gtsam::PriorFactor Prior; ///< \deprecated typedef for backwards compatibility - typedef gtsam::BetweenFactor Odometry; ///< \deprecated typedef for backwards compatibility - typedef gtsam::BearingFactor Bearing; ///< \deprecated typedef for backwards compatibility - typedef gtsam::RangeFactor Range; ///< \deprecated typedef for backwards compatibility - typedef gtsam::BearingRangeFactor BearingRange; ///< \deprecated typedef for backwards compatibility -} - - diff --git a/gtsam/slam/pose2SLAM.cpp b/gtsam/slam/pose2SLAM.cpp deleted file mode 100644 index cc549d84a..000000000 --- a/gtsam/slam/pose2SLAM.cpp +++ /dev/null @@ -1,66 +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 pose2SLAM.cpp - * @brief: Odometry measurements in 2D plane - * @author Frank Dellaert - **/ - -#include - -// Use pose2SLAM namespace for specific SLAM instance - -namespace pose2SLAM { - - /* ************************************************************************* */ - Values Values::Circle(size_t n, double R) { - Values x; - double theta = 0, dtheta = 2 * M_PI / n; - for (size_t i = 0; i < n; i++, theta += dtheta) - x.insert(i, Pose2(cos(theta), sin(theta), M_PI_2 + theta)); - return x; - } - - /* ************************************************************************* */ - Matrix Values::poses() const { - size_t j=0; - ConstFiltered poses = filter(); - Matrix result(poses.size(),3); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) { - const Pose2& r = keyValue.value; - result.row(j++) = Matrix_(1,3, r.x(), r.y(), r.theta()); - } - return result; - } - - /* ************************************************************************* */ - void Graph::addPoseConstraint(Key i, const Pose2& p) { - sharedFactor factor(new NonlinearEquality(i, p)); - push_back(factor); - } - - /* ************************************************************************* */ - void Graph::addPosePrior(Key i, const Pose2& p, const SharedNoiseModel& model) { - sharedFactor factor(new PriorFactor(i, p, model)); - push_back(factor); - } - - /* ************************************************************************* */ - void Graph::addRelativePose(Key i1, Key i2, const Pose2& z, - const SharedNoiseModel& model) { - sharedFactor factor(new BetweenFactor(i1, i2, z, model)); - push_back(factor); - } - - /* ************************************************************************* */ - -} // pose2SLAM diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h deleted file mode 100644 index 018090c6a..000000000 --- a/gtsam/slam/pose2SLAM.h +++ /dev/null @@ -1,107 +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 pose2SLAM.h - * @brief: 2D Pose SLAM - * @author Frank Dellaert - **/ - -#pragma once - -#include -#include -#include -#include -#include - -// Use pose2SLAM namespace for specific SLAM instance -namespace pose2SLAM { - - using namespace gtsam; - - /* - * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Values: public gtsam::Values { - - typedef boost::shared_ptr shared_ptr; - - /// Default constructor - Values() {} - - /// Copy constructor - Values(const gtsam::Values& values) : - gtsam::Values(values) { - } - - /** - * Create a circle of n 2D poses tangent to circle of radius R, first pose at (R,0) - * @param n number of poses - * @param R radius of circle - * @param c character to use for keys - * @return circle of n 2D poses - */ - static Values Circle(size_t n, double R); - - /// insert a pose - void insertPose(Key i, const Pose2& pose) { insert(i, pose); } - - /// update a pose - void updatePose(Key i, const Pose2& pose) { update(i, pose); } - - /// get a pose - Pose2 pose(Key i) const { return at(i); } - - /// get all [x,y,theta] coordinates in a 3*m matrix - Matrix poses() const; - }; - - /** - * List of typedefs for factors - */ - - /** - * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Graph: public EasyFactorGraph { - - typedef boost::shared_ptr shared_ptr; - - /// Default constructor - Graph(){} - - /// Copy constructor given any other NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph): - EasyFactorGraph(graph) {} - - /// Creates a hard constraint for key i with the given Pose2 p. - void addPoseConstraint(Key i, const Pose2& p); - - /// Adds a Pose2 prior with mean p and given noise model on pose i - void addPosePrior(Key i, const Pose2& p, const SharedNoiseModel& model); - - /// Creates an relative pose factor between poses with keys i1 and i2 - void addRelativePose(Key i1, Key i2, const Pose2& z, const SharedNoiseModel& model); - }; - -} // pose2SLAM - -/** - * Backwards compatibility and wrap use only, avoid using - */ -namespace pose2SLAM { - typedef gtsam::NonlinearEquality HardConstraint; ///< \deprecated typedef for backwards compatibility - typedef gtsam::PriorFactor Prior; ///< \deprecated typedef for backwards compatibility - typedef gtsam::BetweenFactor Odometry; ///< \deprecated typedef for backwards compatibility -} diff --git a/gtsam/slam/pose3SLAM.cpp b/gtsam/slam/pose3SLAM.cpp deleted file mode 100644 index 07a89e419..000000000 --- a/gtsam/slam/pose3SLAM.cpp +++ /dev/null @@ -1,73 +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 pose3SLAM.cpp - * @brief: bearing/range measurements in 2D plane - * @author Frank Dellaert - **/ - -#include -#include - -// Use pose3SLAM namespace for specific SLAM instance -namespace pose3SLAM { - - /* ************************************************************************* */ - Values Values::Circle(size_t n, double radius) { - Values x; - double theta = 0, dtheta = 2 * M_PI / n; - // We use aerospace/navlab convention, X forward, Y right, Z down - // First pose will be at (R,0,0) - // ^y ^ X - // | | - // z-->xZ--> Y (z pointing towards viewer, Z pointing away from viewer) - // Vehicle at p0 is looking towards y axis (X-axis points towards world y) - Rot3 gR0(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1)); - for (size_t i = 0; i < n; i++, theta += dtheta) { - Point3 gti(radius*cos(theta), radius*sin(theta), 0); - Rot3 _0Ri = Rot3::yaw(-theta); // negative yaw goes counterclockwise, with Z down ! - Pose3 gTi(gR0 * _0Ri, gti); - x.insert(i, gTi); - } - return x; - } - - /* ************************************************************************* */ - Matrix Values::translations() const { - size_t j=0; - ConstFiltered poses = filter(); - Matrix result(poses.size(),3); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, poses) - result.row(j++) = keyValue.value.translation().vector(); - return result; - } - - /* ************************************************************************* */ - void Graph::addPoseConstraint(Key i, const Pose3& p) { - sharedFactor factor(new NonlinearEquality(i, p)); - push_back(factor); - } - - /* ************************************************************************* */ - void Graph::addPosePrior(Key i, const Pose3& p, const SharedNoiseModel& model) { - sharedFactor factor(new PriorFactor(i, p, model)); - push_back(factor); - } - - /* ************************************************************************* */ - void Graph::addRelativePose(Key i1, Key i2, const Pose3& z, const SharedNoiseModel& model) { - push_back(boost::make_shared >(i1, i2, z, model)); - } - - /* ************************************************************************* */ - -} // pose3SLAM diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h deleted file mode 100644 index 20ea8b0d5..000000000 --- a/gtsam/slam/pose3SLAM.h +++ /dev/null @@ -1,120 +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 pose3SLAM.h - * @brief: 3D Pose SLAM - * @author Frank Dellaert - **/ - -#pragma once - -#include -#include -#include -#include -#include - -/// Use pose3SLAM namespace for specific SLAM instance -namespace pose3SLAM { - - using namespace gtsam; - - /* - * Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Values: public gtsam::Values { - - typedef boost::shared_ptr shared_ptr; - - /// Default constructor - Values() {} - - /// Copy constructor - Values(const gtsam::Values& values) : - gtsam::Values(values) { - } - - /** - * Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0) - * @param n number of poses - * @param R radius of circle - * @return circle of n 3D poses - */ - static Values Circle(size_t n, double R); - - /// insert a pose - void insertPose(Key i, const Pose3& pose) { insert(i, pose); } - - /// update a pose - void updatePose(Key i, const Pose3& pose) { update(i, pose); } - - /// get a pose - Pose3 pose(Key i) const { return at(i); } - - Matrix translations() const; ///< get all pose translations coordinates in a matrix - }; - - /** - * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Graph: public EasyFactorGraph { - - /// Default constructor - Graph(){} - - /// Copy constructor given any other NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph): - EasyFactorGraph(graph) {} - - /** - * Add a prior on a pose - * @param key variable key of the camera pose - * @param p around which soft prior is defined - * @param model uncertainty model of this prior - */ - void addPosePrior(Key poseKey, const Pose3& p = Pose3(), const SharedNoiseModel& model = noiseModel::Unit::Create(6)); - - /** - * Add a constraint on a pose (for now, *must* be satisfied in any Values) - * @param key variable key of the camera pose - * @param p to which pose to constrain it to - */ - void addPoseConstraint(Key poseKey, const Pose3& p = Pose3()); - - /** - * Add a relative pose measurement between two poses - * @param x1 variable key of the first camera pose - * @param x2 variable key of the second camera pose - * @param relative pose measurement from x1 to x2 (x1.between(x2)) - * @param model uncertainty model of this measurement - */ - void addRelativePose(Key x1, Key x2, const Pose3& z, const SharedNoiseModel& model); - }; - -} // pose3SLAM - -/** - * Backwards compatibility and wrap use only, avoid using - */ -namespace pose3SLAM { - typedef gtsam::PriorFactor Prior; ///< \deprecated typedef for backwards compatibility - typedef gtsam::BetweenFactor Constraint; ///< \deprecated typedef for backwards compatibility - typedef gtsam::NonlinearEquality HardConstraint; ///< \deprecated typedef for backwards compatibility -} -namespace gtsam { - typedef pose3SLAM::Prior Pose3Prior; ///< \deprecated typedef for backwards compatibility - typedef pose3SLAM::Constraint Pose3Factor; ///< \deprecated typedef for backwards compatibility - typedef pose3SLAM::Graph Pose3Graph; ///< \deprecated typedef for backwards compatibility -} - diff --git a/gtsam/slam/sparseBA.cpp b/gtsam/slam/sparseBA.cpp deleted file mode 100644 index 0ff4e1c64..000000000 --- a/gtsam/slam/sparseBA.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/** - * @file sparseBA.cpp - * @brief - * @date Jul 6, 2012 - * @author Yong-Dian Jian - */ - -#include - -namespace sparseBA { - -/* ************************************************************************* */ -void Graph::addSimpleCameraConstraint(Key cameraKey, const SimpleCamera &camera) { - addCameraConstraint(cameraKey, camera); -} - -/* ************************************************************************* */ -void Graph::addSimpleCameraPrior(Key cameraKey, const SimpleCamera &camera, SharedNoiseModel &model) { - addCameraPrior(cameraKey, camera, model); -} - -/* ************************************************************************* */ -void Graph::addSimpleCameraMeasurement(const Point2 &z, SharedNoiseModel& model, Index cameraKey, Index pointKey) { - addMeasurement(z, model, cameraKey, pointKey); -} - -/* ************************************************************************* */ -Matrix Graph::reprojectionErrors(const Values& values) const { - - // TODO: support the other calibration objects. Now it only works for Cal3_S2. - - typedef GeneralSFMFactor SFMFactor; - typedef GeneralSFMFactor2 SFMFactor2; - - // first count - size_t K = 0, k=0; - BOOST_FOREACH(const sharedFactor& f, *this) - if (boost::dynamic_pointer_cast(f)) ++K; - else if (boost::dynamic_pointer_cast(f)) ++K; - - // now fill - Matrix errors(2,K); - BOOST_FOREACH(const sharedFactor& f, *this) { - boost::shared_ptr p = boost::dynamic_pointer_cast(f); - if (p) { - errors.col(k++) = p->unwhitenedError(values); - continue; - } - - boost::shared_ptr p2 = boost::dynamic_pointer_cast(f); - if (p2) { - errors.col(k++) = p2->unwhitenedError(values); - } - } - return errors; -} -/* ************************************************************************* */ -} - - diff --git a/gtsam/slam/sparseBA.h b/gtsam/slam/sparseBA.h deleted file mode 100644 index 07aaa5817..000000000 --- a/gtsam/slam/sparseBA.h +++ /dev/null @@ -1,143 +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 sba.h - * @brief a suite for sparse bundle adjustment - * @date Jul 5, 2012 - * @author ydjian - */ - -#pragma once - -#include -#include -#include - -namespace sparseBA { - - using namespace gtsam; - - /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - struct Values: public visualSLAM::Values { - - typedef boost::shared_ptr shared_ptr; - typedef gtsam::Values::ConstFiltered SimpleCameraFiltered; - typedef gtsam::Values::ConstFiltered Cal3_S2Filtered; - - /// Default constructor - Values() {} - - /// Copy constructor - Values(const gtsam::Values& values) : visualSLAM::Values(values) {} - - /// Constructor from filtered values view of poses - Values(const SimpleCameraFiltered& view) : visualSLAM::Values(view) {} - - /// Constructor from filtered values view of points - Values(const PointFiltered& view) : visualSLAM::Values(view) {} - - SimpleCameraFiltered allSimpleCameras() const { return this->filter(); } ///< camera view - size_t nrSimpleCameras() const { return allSimpleCameras().size(); } ///< get number of poses - KeyList simpleCameraKeys() const { return allSimpleCameras().keys(); } ///< get keys to poses only - - /// insert a camera - void insertSimpleCamera(Key j, const SimpleCamera& camera) { insert(j, camera); } - - /// update a camera - void updateSimpleCamera(Key j, const SimpleCamera& camera) { update(j, camera); } - - /// get a camera - SimpleCamera simpleCamera(Key j) const { return at(j); } - }; - - /** - * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper - * @addtogroup SLAM - */ - struct Graph: public visualSLAM::Graph { - - /// Default constructor - Graph(){} - - /// Copy constructor given any other NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph): visualSLAM::Graph(graph) {} - - /// check if two graphs are equal - bool equals(const Graph& p, double tol = 1e-9) const { - return NonlinearFactorGraph::equals(p, tol); - } - - /** - * Add a prior on a pose - * @param key variable key of the camera - * @param p around which soft prior is defined - * @param model uncertainty model of this prior - */ - template - void addCameraPrior(Key cameraKey, const Camera &camera, SharedNoiseModel &model = noiseModel::Unit::Create(Camera::Dim())) { - sharedFactor factor(new PriorFactor(cameraKey, camera, model)); - push_back(factor); - } - - /** - * Add a constraint on a camera - * @param key variable key of the camera - * @param p to which camera to constrain it to - */ - template - void addCameraConstraint(Key cameraKey, const Camera &camera) { - sharedFactor factor(new NonlinearEquality(cameraKey, camera)); - push_back(factor); - } - - /** - * Add a 2d projection measurement - * @param z the measurement - * @param model the noise model for the measurement - * @param cameraKey variable key for the pose+calibration - * @param pointKey variable key for the point - */ - template - void addMeasurement(const Point2 &z, const SharedNoiseModel& model, const Index cameraKey, const Index pointKey) { - typedef GeneralSFMFactor SFMFactor; - boost::shared_ptr factor(new SFMFactor(z, model, cameraKey, pointKey)); - push_back(factor); - } - - /** - * Add a 2d projection measurement, but supports separated (or shared) pose and calibration object - * @param z the measurement - * @param model the noise model for the measurement - * @param poseKey variable key for the pose - * @param pointKey variable key for the point - * @param calibKey variable key for the calibration - */ - template - void addMeasurement(const Point2 &z, const SharedNoiseModel& model, const Index posekey, const Index pointkey, const Index calibkey) { - typedef GeneralSFMFactor2 SFMFactor; - boost::shared_ptr factor(new SFMFactor(z, model, posekey, pointkey, calibkey)); - push_back(factor); - } - - /// Return a 2*K Matrix of reprojection errors - Matrix reprojectionErrors(const Values& values) const; - - /** - * Matlab-specific wrappers - */ - - void addSimpleCameraPrior(Key cameraKey, const SimpleCamera &camera, SharedNoiseModel &model); - void addSimpleCameraConstraint(Key cameraKey, const SimpleCamera &camera) ; - void addSimpleCameraMeasurement(const Point2 &z, SharedNoiseModel& model, Index cameraKey, Index pointKey); - }; - -} diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp deleted file mode 100644 index 5652b71b4..000000000 --- a/gtsam/slam/tests/testPlanarSLAM.cpp +++ /dev/null @@ -1,218 +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 testPlanarSLAM.cpp - * @author Frank Dellaert - **/ - -#include -#include -#include -#include - -#include -#include - -using namespace std; -using namespace gtsam; - -// some shared test values -static Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4); -static Point2 l1(1, 0), l2(1, 1), l3(2, 2), l4(1, 3); -static Symbol i2('x',2), i3('x',3), j3('l',3); - -SharedNoiseModel - sigma(noiseModel::Isotropic::Sigma(1,0.1)), - sigma2(noiseModel::Isotropic::Sigma(2,0.1)), - I3(noiseModel::Unit::Create(3)); - -/* ************************************************************************* */ -TEST( planarSLAM, PriorFactor_equals ) -{ - PriorFactor factor1(i2, x1, I3), factor2(i2, x2, I3); - EXPECT(assert_equal(factor1, factor1, 1e-5)); - EXPECT(assert_equal(factor2, factor2, 1e-5)); - EXPECT(assert_inequal(factor1, factor2, 1e-5)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, BearingFactor ) -{ - // Create factor - Rot2 z = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - BearingFactor factor(i2, j3, z, sigma); - - // create config - planarSLAM::Values c; - c.insert(i2, x2); - c.insert(j3, l3); - - // Check error - Vector actual = factor.unwhitenedError(c); - EXPECT(assert_equal(Vector_(1,-0.1),actual)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, BearingFactor_equals ) -{ - BearingFactor - factor1(i2, j3, Rot2::fromAngle(0.1), sigma), - factor2(i2, j3, Rot2::fromAngle(2.3), sigma); - EXPECT(assert_equal(factor1, factor1, 1e-5)); - EXPECT(assert_equal(factor2, factor2, 1e-5)); - EXPECT(assert_inequal(factor1, factor2, 1e-5)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, RangeFactor ) -{ - // Create factor - double z(sqrt(2.0) - 0.22); // h(x) - z = 0.22 - RangeFactor factor(i2, j3, z, sigma); - - // create config - planarSLAM::Values c; - c.insert(i2, x2); - c.insert(j3, l3); - - // Check error - Vector actual = factor.unwhitenedError(c); - EXPECT(assert_equal(Vector_(1,0.22),actual)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, RangeFactor_equals ) -{ - RangeFactor factor1(i2, j3, 1.2, sigma), factor2(i2, j3, 7.2, sigma); - EXPECT(assert_equal(factor1, factor1, 1e-5)); - EXPECT(assert_equal(factor2, factor2, 1e-5)); - EXPECT(assert_inequal(factor1, factor2, 1e-5)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, BearingRangeFactor ) -{ - // Create factor - Rot2 r = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - double b(sqrt(2.0) - 0.22); // h(x) - z = 0.22 - BearingRangeFactor factor(i2, j3, r, b, sigma2); - - // create config - planarSLAM::Values c; - c.insert(i2, x2); - c.insert(j3, l3); - - // Check error - Vector actual = factor.unwhitenedError(c); - EXPECT(assert_equal(Vector_(2,-0.1, 0.22),actual)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, BearingRangeFactor_equals ) -{ - BearingRangeFactor - factor1(i2, j3, Rot2::fromAngle(0.1), 7.3, sigma2), - factor2(i2, j3, Rot2::fromAngle(3), 2.0, sigma2); - EXPECT(assert_equal(factor1, factor1, 1e-5)); - EXPECT(assert_equal(factor2, factor2, 1e-5)); - EXPECT(assert_inequal(factor1, factor2, 1e-5)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, BearingRangeFactor_poses ) -{ - typedef BearingRangeFactor PoseBearingRange; - PoseBearingRange actual(2, 3, Rot2::fromDegrees(60.0), 12.3, sigma2); -} - -/* ************************************************************************* */ -TEST( planarSLAM, PoseConstraint_equals ) -{ - NonlinearEquality factor1(i2, x2), factor2(i2, x3); - EXPECT(assert_equal(factor1, factor1, 1e-5)); - EXPECT(assert_equal(factor2, factor2, 1e-5)); - EXPECT(assert_inequal(factor1, factor2, 1e-5)); -} - -/* ************************************************************************* */ -TEST( planarSLAM, constructor ) -{ - // create config - planarSLAM::Values c; - c.insert(i2, x2); - c.insert(i3, x3); - c.insert(j3, l3); - - // create graph - planarSLAM::Graph G; - - // Add pose constraint - G.addPoseConstraint(i2, x2); // make it feasible :-) - - // Add odometry - G.addRelativePose(i2, i3, Pose2(0, 0, M_PI_4), I3); - - // Create bearing factor - Rot2 z1 = Rot2::fromAngle(M_PI_4 + 0.1); // h(x) - z = -0.1 - G.addBearing(i2, j3, z1, sigma); - - // Create range factor - double z2(sqrt(2.0) - 0.22); // h(x) - z = 0.22 - G.addRange(i2, j3, z2, sigma); - - Vector expected0 = Vector_(3, 0.0, 0.0, 0.0); - Vector expected1 = Vector_(3, 0.0, 0.0, 0.0); - Vector expected2 = Vector_(1, -0.1); - Vector expected3 = Vector_(1, 0.22); - // Get NoiseModelFactors - EXPECT(assert_equal(expected0, boost::dynamic_pointer_cast(G[0])->unwhitenedError(c))); - EXPECT(assert_equal(expected1, boost::dynamic_pointer_cast(G[1])->unwhitenedError(c))); - EXPECT(assert_equal(expected2, boost::dynamic_pointer_cast(G[2])->unwhitenedError(c))); - EXPECT(assert_equal(expected3, boost::dynamic_pointer_cast(G[3])->unwhitenedError(c))); -} - -/* ************************************************************************* */ -TEST( planarSLAM, keys_and_view ) -{ - // create config - planarSLAM::Values c; - c.insert(i2, x2); - c.insert(i3, x3); - c.insert(j3, l3); - LONGS_EQUAL(2,c.nrPoses()); - LONGS_EQUAL(1,c.nrPoints()); - { - FastList expected, actual; - expected += j3, i2, i3; - actual = c.keys(); - CHECK(expected == actual); - } - { - FastList expected, actual; - expected += i2, i3; - actual = c.poseKeys(); - CHECK(expected == actual); - } - { - FastList expected, actual; - expected += j3; - actual = c.pointKeys(); - CHECK(expected == actual); - } -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp deleted file mode 100644 index 766d06ded..000000000 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ /dev/null @@ -1,608 +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 testPose2SLAM.cpp - * @author Frank Dellaert, Viorela Ila - **/ - -#include -#include -#include -#include -#include -#include -using namespace gtsam; - -#include - -#include -#include -using namespace boost; -using namespace boost::assign; - -#include -using namespace std; - -typedef BetweenFactor Pose2Factor; - -// common measurement covariance -static double sx=0.5, sy=0.5,st=0.1; -static Matrix cov(Matrix_(3, 3, - sx*sx, 0.0, 0.0, - 0.0, sy*sy, 0.0, - 0.0, 0.0, st*st - )); -static noiseModel::Gaussian::shared_ptr covariance(noiseModel::Gaussian::Covariance(cov)); - -/* ************************************************************************* */ -TEST_UNSAFE( Pose2SLAM, XYT ) -{ - pose2SLAM::Values values; - values.insertPose(1,Pose2(1,2,3)); - values.insertPose(2,Pose2(4,5,6)); - Matrix expected = Matrix_(2,3, 1.0,2.0,3.0, 4.0,5.0,6.0-2*M_PI); - EXPECT(assert_equal(expected,values.poses())); -} - -/* ************************************************************************* */ -// Test constraint, small displacement -Vector f1(const Pose2& pose1, const Pose2& pose2) { - Pose2 z(2.1130913087, 0.468461064817, 0.436332312999); - Pose2Factor constraint(1, 2, z, covariance); - return constraint.evaluateError(pose1, pose2); -} - -TEST_UNSAFE( Pose2SLAM, constraint1 ) -{ - // create a factor between unknown poses p1 and p2 - Pose2 pose1, pose2(2.1130913087, 0.468461064817, 0.436332312999); - Pose2Factor constraint(1, 2, pose2, covariance); - Matrix H1, H2; - Vector actual = constraint.evaluateError(pose1, pose2, H1, H2); - - Matrix numericalH1 = numericalDerivative21(&f1 , pose1, pose2); - EXPECT(assert_equal(numericalH1,H1,5e-3)); - - Matrix numericalH2 = numericalDerivative22(&f1 , pose1, pose2); - EXPECT(assert_equal(numericalH2,H2)); -} - -/* ************************************************************************* */ -// Test constraint, large displacement -Vector f2(const Pose2& pose1, const Pose2& pose2) { - Pose2 z(2,2,M_PI_2); - Pose2Factor constraint(1, 2, z, covariance); - return constraint.evaluateError(pose1, pose2); -} - -TEST_UNSAFE( Pose2SLAM, constraint2 ) -{ - // create a factor between unknown poses p1 and p2 - Pose2 pose1, pose2(2,2,M_PI_2); - Pose2Factor constraint(1, 2, pose2, covariance); - Matrix H1, H2; - Vector actual = constraint.evaluateError(pose1, pose2, H1, H2); - - Matrix numericalH1 = numericalDerivative21(&f2 , pose1, pose2); - EXPECT(assert_equal(numericalH1,H1,5e-3)); - - Matrix numericalH2 = numericalDerivative22(&f2 , pose1, pose2); - EXPECT(assert_equal(numericalH2,H2)); -} - -/* ************************************************************************* */ -TEST_UNSAFE( Pose2SLAM, constructor ) -{ - // create a factor between unknown poses p1 and p2 - Pose2 measured(2,2,M_PI_2); - pose2SLAM::Graph graph; - graph.addRelativePose(1,2,measured, covariance); - // get the size of the graph - size_t actual = graph.size(); - // verify - size_t expected = 1; - CHECK(actual == expected); -} - -/* ************************************************************************* */ -TEST_UNSAFE( Pose2SLAM, linearization ) -{ - // create a factor between unknown poses p1 and p2 - Pose2 measured(2,2,M_PI_2); - Pose2Factor constraint(1, 2, measured, covariance); - pose2SLAM::Graph graph; - graph.addRelativePose(1,2,measured, covariance); - - // Choose a linearization point - Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) - Pose2 p2(-1,4.1,M_PI); // robot at (-1,4) looking at negative (ground truth is at 4.1,2) - pose2SLAM::Values config; - config.insert(1,p1); - config.insert(2,p2); - // Linearize - Ordering ordering(*config.orderingArbitrary()); - boost::shared_ptr > lfg_linearized = graph.linearize(config, ordering); - //lfg_linearized->print("lfg_actual"); - - // the expected linear factor - FactorGraph lfg_expected; - Matrix A1 = Matrix_(3,3, - 0.0,-2.0, -4.2, - 2.0, 0.0, -4.2, - 0.0, 0.0,-10.0); - - Matrix A2 = Matrix_(3,3, - 2.0, 0.0, 0.0, - 0.0, 2.0, 0.0, - 0.0, 0.0, 10.0); - - Vector b = Vector_(3,-0.1/sx,0.1/sy,0.0); - SharedDiagonal probModel1 = noiseModel::Unit::Create(3); - lfg_expected.push_back(JacobianFactor::shared_ptr(new JacobianFactor(ordering[1], A1, ordering[2], A2, b, probModel1))); - - CHECK(assert_equal(lfg_expected, *lfg_linearized)); -} - -/* ************************************************************************* */ -TEST_UNSAFE(Pose2SLAM, optimize) { - - // create a Pose graph with one equality constraint and one measurement - pose2SLAM::Graph fg; - fg.addPoseConstraint(0, Pose2(0,0,0)); - fg.addRelativePose(0, 1, Pose2(1,2,M_PI_2), covariance); - - // Create initial config - Values initial; - initial.insert(0, Pose2(0,0,0)); - initial.insert(1, Pose2(0,0,0)); - - // Choose an ordering and optimize - Ordering ordering; - ordering += 0, 1; - - LevenbergMarquardtParams params; - params.relativeErrorTol = 1e-15; - params.ordering = ordering; - Values actual = LevenbergMarquardtOptimizer(fg, initial, params).optimize(); - - // Check with expected config - Values expected; - expected.insert(0, Pose2(0,0,0)); - expected.insert(1, Pose2(1,2,M_PI_2)); - CHECK(assert_equal(expected, actual)); - - // Check marginals - Marginals marginals = fg.marginals(actual); - // Matrix expectedP0 = Infinity, as we have a pose constraint !? - // Matrix actualP0 = marginals.marginalCovariance(0); - // EQUALITY(expectedP0, actualP0); - Matrix expectedP1 = cov; // the second pose really should have just the noise covariance - Matrix actualP1 = marginals.marginalCovariance(1); - EQUALITY(expectedP1, actualP1); -} - -/* ************************************************************************* */ -TEST_UNSAFE(Pose2SLAM, optimizeSPCG) { - - // create a Pose graph with one equality constraint and one measurement - pose2SLAM::Graph fg; - fg.addPosePrior(0, Pose2(0,0,0), noiseModel::Diagonal::Sigmas(Vector_(3,3.0,3.0,1.0))); - fg.addRelativePose(0, 1, Pose2(1,2,M_PI_2), covariance); - - // [Duy] For some unknown reason, SPCG needs this constraint to work. GaussNewton doesn't need this. - fg.addRelativePose(0, 1, Pose2(1,2,M_PI_2), noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1))); - - // Create initial config - Values initial; - initial.insert(0, Pose2(0,0,0)); - initial.insert(1, Pose2(0,0,0)); - - // Optimize using SPCG - Values actual = fg.optimizeSPCG(initial,0); - - // Try GaussNewton without the above constraint to see if the problem is underconstrained. Still works! - Values actual2 = GaussNewtonOptimizer(fg, initial).optimize(); - - // Check with expected config - Values expected; - expected.insert(0, Pose2(0,0,0)); - expected.insert(1, Pose2(1,2,M_PI_2)); - CHECK(assert_equal(expected, actual)); - CHECK(assert_equal(expected, actual2)); -} - -/* ************************************************************************* */ -// test optimization with 3 poses, note we use plain Keys here, not symbols -TEST_UNSAFE(Pose2SLAM, optimizeThreePoses) { - - // Create a hexagon of poses - pose2SLAM::Values hexagon = pose2SLAM::Values::Circle(3,1.0); - Pose2 p0 = hexagon.pose(0), p1 = hexagon.pose(1); - - // create a Pose graph with one equality constraint and one measurement - pose2SLAM::Graph fg; - fg.addPoseConstraint(0, p0); - Pose2 delta = p0.between(p1); - fg.addRelativePose(0, 1, delta, covariance); - fg.addRelativePose(1, 2, delta, covariance); - fg.addRelativePose(2, 0, delta, covariance); - - // Create initial config - pose2SLAM::Values initial; - initial.insertPose(0, p0); - initial.insertPose(1, hexagon.pose(1).retract(Vector_(3,-0.1, 0.1,-0.1))); - initial.insertPose(2, hexagon.pose(2).retract(Vector_(3, 0.1,-0.1, 0.1))); - - // Choose an ordering - Ordering ordering; - ordering += 0,1,2; - - // optimize - LevenbergMarquardtParams params; - params.relativeErrorTol = 1e-15; - params.ordering = ordering; - Values actual = LevenbergMarquardtOptimizer(fg, initial, params).optimize(); - - // Check with ground truth - CHECK(assert_equal((const Values&)hexagon, actual)); -} - -/* ************************************************************************* */ -// test optimization with 6 poses arranged in a hexagon and a loop closure -TEST_UNSAFE(Pose2SLAM, optimizeCircle) { - - // Create a hexagon of poses - pose2SLAM::Values hexagon = pose2SLAM::Values::Circle(6,1.0); - Pose2 p0 = hexagon.pose(0), p1 = hexagon.pose(1); - - // create a Pose graph with one equality constraint and one measurement - pose2SLAM::Graph fg; - fg.addPoseConstraint(0, p0); - Pose2 delta = p0.between(p1); - fg.addRelativePose(0,1, delta, covariance); - fg.addRelativePose(1,2, delta, covariance); - fg.addRelativePose(2,3, delta, covariance); - fg.addRelativePose(3,4, delta, covariance); - fg.addRelativePose(4,5, delta, covariance); - fg.addRelativePose(5,0, delta, covariance); - - // Create initial config - pose2SLAM::Values initial; - initial.insertPose(0, p0); - initial.insertPose(1, hexagon.pose(1).retract(Vector_(3,-0.1, 0.1,-0.1))); - initial.insertPose(2, hexagon.pose(2).retract(Vector_(3, 0.1,-0.1, 0.1))); - initial.insertPose(3, hexagon.pose(3).retract(Vector_(3,-0.1, 0.1,-0.1))); - initial.insertPose(4, hexagon.pose(4).retract(Vector_(3, 0.1,-0.1, 0.1))); - initial.insertPose(5, hexagon.pose(5).retract(Vector_(3,-0.1, 0.1,-0.1))); - - // Choose an ordering - Ordering ordering; - ordering += 0,1,2,3,4,5; - - // optimize - LevenbergMarquardtParams params; - params.relativeErrorTol = 1e-15; - params.ordering = ordering; - Values actual = LevenbergMarquardtOptimizer(fg, initial, params).optimize(); - - // Check with ground truth - CHECK(assert_equal((const Values&)hexagon, actual)); - - // Check loop closure - CHECK(assert_equal(delta, actual.at(5).between(actual.at(0)))); - -// Pose2SLAMOptimizer myOptimizer("3"); - -// Matrix A1 = myOptimizer.a1(); -// LONGS_EQUAL(3, A1.rows()); -// LONGS_EQUAL(17, A1.cols()); // 7 + 7 + 3 -// -// Matrix A2 = myOptimizer.a2(); -// LONGS_EQUAL(3, A1.rows()); -// LONGS_EQUAL(7, A2.cols()); // 7 -// -// Vector b1 = myOptimizer.b1(); -// LONGS_EQUAL(9, b1.size()); // 3 + 3 + 3 -// -// Vector b2 = myOptimizer.b2(); -// LONGS_EQUAL(3, b2.size()); // 3 -// -// // Here, call matlab to -// // A=[A1;A2], b=[b1;b2] -// // R=qr(A1) -// // call pcg on A,b, with preconditioner R -> get x -// -// Vector x = myOptimizer.optimize(); -// LONGS_EQUAL(9, x.size()); // 3 + 3 + 3 -// -// myOptimizer.update(x); -// -// Values expected; -// expected.insert(0, Pose2(0.,0.,0.)); -// expected.insert(1, Pose2(1.,0.,0.)); -// expected.insert(2, Pose2(2.,0.,0.)); -// -// // Check with ground truth -// CHECK(assert_equal(expected, *myOptimizer.theta())); -} - -/* ************************************************************************* */ -TEST_UNSAFE(Pose2SLAM, optimize2) { -// Pose2SLAMOptimizer myOptimizer("100"); -// Matrix A1 = myOptimizer.a1(); -// Matrix A2 = myOptimizer.a2(); -// cout << "A1: " << A1.rows() << " " << A1.cols() << endl; -// cout << "A2: " << A2.rows() << " " << A2.cols() << endl; -// -// //cout << "error: " << myOptimizer.error() << endl; -// for(int i = 0; i<10; i++) { -// myOptimizer.linearize(); -// Vector x = myOptimizer.optimize(); -// myOptimizer.update(x); -// } -// //cout << "error: " << myOptimizer.error() << endl; -// CHECK(myOptimizer.error() < 1.); -} - -///* ************************************************************************* */ -// SL-NEEDED? TEST_UNSAFE(Pose2SLAM, findMinimumSpanningTree) { -// pose2SLAM::Graph G, T, C; -// G.addPoseConstraint(1, 2, Pose2(0.,0.,0.), I3); -// G.addPoseConstraint(1, 3, Pose2(0.,0.,0.), I3); -// G.addPoseConstraint(2, 3, Pose2(0.,0.,0.), I3); -// -// PredecessorMap tree = -// G.findMinimumSpanningTree(); -// CHECK(tree[1] == 1); -// CHECK(tree[2] == 1); -// CHECK(tree[3] == 1); -//} -// -///* ************************************************************************* */ -// SL-NEEDED? TEST_UNSAFE(Pose2SLAM, split) { -// pose2SLAM::Graph G, T, C; -// G.addPoseConstraint(1, 2, Pose2(0.,0.,0.), I3); -// G.addPoseConstraint(1, 3, Pose2(0.,0.,0.), I3); -// G.addPoseConstraint(2, 3, Pose2(0.,0.,0.), I3); -// -// PredecessorMap tree; -// tree.insert(1,2); -// tree.insert(2,2); -// tree.insert(3,2); -// -// G.split(tree, T, C); -// LONGS_EQUAL(2, T.size()); -// LONGS_EQUAL(1, C.size()); -//} - -using namespace pose2SLAM; - -/* ************************************************************************* */ -TEST_UNSAFE(Pose2Values, pose2Circle ) -{ - // expected is 4 poses tangent to circle with radius 1m - pose2SLAM::Values expected; - expected.insert(0, Pose2( 1, 0, M_PI_2)); - expected.insert(1, Pose2( 0, 1, - M_PI )); - expected.insert(2, Pose2(-1, 0, - M_PI_2)); - expected.insert(3, Pose2( 0, -1, 0 )); - - pose2SLAM::Values actual = pose2SLAM::Values::Circle(4,1.0); - CHECK(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -TEST_UNSAFE(Pose2SLAM, expmap ) -{ - // expected is circle shifted to right - pose2SLAM::Values expected; - expected.insert(0, Pose2( 1.1, 0, M_PI_2)); - expected.insert(1, Pose2( 0.1, 1, - M_PI )); - expected.insert(2, Pose2(-0.9, 0, - M_PI_2)); - expected.insert(3, Pose2( 0.1, -1, 0 )); - - // Note expmap coordinates are in local coordinates, so shifting to right requires thought !!! - pose2SLAM::Values circle = pose2SLAM::Values::Circle(4,1.0); - Ordering ordering(*circle.orderingArbitrary()); - VectorValues delta(circle.dims(ordering)); - delta[ordering[0]] = Vector_(3, 0.0,-0.1,0.0); - delta[ordering[1]] = Vector_(3, -0.1,0.0,0.0); - delta[ordering[2]] = Vector_(3, 0.0,0.1,0.0); - delta[ordering[3]] = Vector_(3, 0.1,0.0,0.0); - pose2SLAM::Values actual = circle.retract(delta, ordering); - CHECK(assert_equal(expected,actual)); -} - -// Common measurement covariance -static SharedNoiseModel sigmas = noiseModel::Diagonal::Sigmas(Vector_(3,sx,sy,st)); - -/* ************************************************************************* */ -// Very simple test establishing Ax-b \approx z-h(x) -TEST_UNSAFE( Pose2Prior, error ) -{ - // Choose a linearization point - Pose2 p1(1, 0, 0); // robot at (1,0) - pose2SLAM::Values x0; - x0.insert(1, p1); - - // Create factor - PriorFactor factor(1, p1, sigmas); - - // Actual linearization - Ordering ordering(*x0.orderingArbitrary()); - boost::shared_ptr linear = - boost::dynamic_pointer_cast(factor.linearize(x0, ordering)); - - // Check error at x0, i.e. delta = zero ! - VectorValues delta(VectorValues::Zero(x0.dims(ordering))); - delta[ordering[1]] = zero(3); - Vector error_at_zero = Vector_(3,0.0,0.0,0.0); - CHECK(assert_equal(error_at_zero,factor.whitenedError(x0))); - CHECK(assert_equal(-error_at_zero,linear->error_vector(delta))); - - // Check error after increasing p2 - VectorValues addition(VectorValues::Zero(x0.dims(ordering))); - addition[ordering[1]] = Vector_(3, 0.1, 0.0, 0.0); - VectorValues plus = delta + addition; - pose2SLAM::Values x1 = x0.retract(plus, ordering); - Vector error_at_plus = Vector_(3,0.1/sx,0.0,0.0); // h(x)-z = 0.1 ! - CHECK(assert_equal(error_at_plus,factor.whitenedError(x1))); - CHECK(assert_equal(error_at_plus,linear->error_vector(plus))); -} - -/* ************************************************************************* */ -// common Pose2Prior for tests below -static gtsam::Pose2 priorVal(2,2,M_PI_2); -static PriorFactor priorFactor(1, priorVal, sigmas); - -/* ************************************************************************* */ -// The error |A*dx-b| approximates (h(x0+dx)-z) = -error_vector -// Hence i.e., b = approximates z-h(x0) = error_vector(x0) -LieVector hprior(const Pose2& p1) { - return LieVector(sigmas->whiten(priorFactor.evaluateError(p1))); -} - -/* ************************************************************************* */ -TEST_UNSAFE( Pose2Prior, linearize ) -{ - // Choose a linearization point at ground truth - pose2SLAM::Values x0; - x0.insertPose(1, priorVal); - - // Actual linearization - Ordering ordering(*x0.orderingArbitrary()); - boost::shared_ptr actual = - boost::dynamic_pointer_cast(priorFactor.linearize(x0, ordering)); - - // Test with numerical derivative - Matrix numericalH = numericalDerivative11(hprior, priorVal); - CHECK(assert_equal(numericalH,actual->getA(actual->find(ordering[1])))); -} - -/* ************************************************************************* */ -// Very simple test establishing Ax-b \approx z-h(x) -TEST_UNSAFE( Pose2Factor, error ) -{ - // Choose a linearization point - Pose2 p1; // robot at origin - Pose2 p2(1, 0, 0); // robot at (1,0) - pose2SLAM::Values x0; - x0.insertPose(1, p1); - x0.insertPose(2, p2); - - // Create factor - Pose2 z = p1.between(p2); - Pose2Factor factor(1, 2, z, covariance); - - // Actual linearization - Ordering ordering(*x0.orderingArbitrary()); - boost::shared_ptr linear = - boost::dynamic_pointer_cast(factor.linearize(x0, ordering)); - - // Check error at x0, i.e. delta = zero ! - VectorValues delta(x0.dims(ordering)); - delta[ordering[1]] = zero(3); - delta[ordering[2]] = zero(3); - Vector error_at_zero = Vector_(3,0.0,0.0,0.0); - CHECK(assert_equal(error_at_zero,factor.unwhitenedError(x0))); - CHECK(assert_equal(-error_at_zero, linear->error_vector(delta))); - - // Check error after increasing p2 - VectorValues plus = delta; - plus[ordering[2]] = Vector_(3, 0.1, 0.0, 0.0); - pose2SLAM::Values x1 = x0.retract(plus, ordering); - Vector error_at_plus = Vector_(3,0.1/sx,0.0,0.0); // h(x)-z = 0.1 ! - CHECK(assert_equal(error_at_plus,factor.whitenedError(x1))); - CHECK(assert_equal(error_at_plus,linear->error_vector(plus))); -} - -/* ************************************************************************* */ -// common Pose2Factor for tests below -static Pose2 measured(2,2,M_PI_2); -static Pose2Factor factor(1,2,measured, covariance); - -/* ************************************************************************* */ -TEST_UNSAFE( Pose2Factor, rhs ) -{ - // Choose a linearization point - Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2) - Pose2 p2(-1,4.1,M_PI); // robot at (-1,4.1) looking at negative (ground truth is at -1,4) - pose2SLAM::Values x0; - x0.insert(1,p1); - x0.insert(2,p2); - - // Actual linearization - Ordering ordering(*x0.orderingArbitrary()); - boost::shared_ptr linear = - boost::dynamic_pointer_cast(factor.linearize(x0, ordering)); - - // Check RHS - Pose2 hx0 = p1.between(p2); - CHECK(assert_equal(Pose2(2.1, 2.1, M_PI_2),hx0)); - Vector expected_b = Vector_(3, -0.1/sx, 0.1/sy, 0.0); - CHECK(assert_equal(expected_b,-factor.whitenedError(x0))); - CHECK(assert_equal(expected_b,linear->getb())); -} - -/* ************************************************************************* */ -// The error |A*dx-b| approximates (h(x0+dx)-z) = -error_vector -// Hence i.e., b = approximates z-h(x0) = error_vector(x0) -LieVector h(const Pose2& p1,const Pose2& p2) { - return LieVector(covariance->whiten(factor.evaluateError(p1,p2))); -} - -/* ************************************************************************* */ -TEST_UNSAFE( Pose2Factor, linearize ) -{ - // Choose a linearization point at ground truth - Pose2 p1(1,2,M_PI_2); - Pose2 p2(-1,4,M_PI); - pose2SLAM::Values x0; - x0.insert(1,p1); - x0.insert(2,p2); - - // expected linearization - Matrix expectedH1 = covariance->Whiten(Matrix_(3,3, - 0.0,-1.0,-2.0, - 1.0, 0.0,-2.0, - 0.0, 0.0,-1.0 - )); - Matrix expectedH2 = covariance->Whiten(Matrix_(3,3, - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0 - )); - Vector expected_b = Vector_(3, 0.0, 0.0, 0.0); - - // expected linear factor - Ordering ordering(*x0.orderingArbitrary()); - SharedDiagonal probModel1 = noiseModel::Unit::Create(3); - JacobianFactor expected(ordering[1], expectedH1, ordering[2], expectedH2, expected_b, probModel1); - - // Actual linearization - boost::shared_ptr actual = - boost::dynamic_pointer_cast(factor.linearize(x0, ordering)); - CHECK(assert_equal(expected,*actual)); - - // Numerical do not work out because BetweenFactor is approximate ? - Matrix numericalH1 = numericalDerivative21(h, p1, p2); - CHECK(assert_equal(expectedH1,numericalH1)); - Matrix numericalH2 = numericalDerivative22(h, p1, p2); - CHECK(assert_equal(expectedH2,numericalH2)); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/gtsam/slam/tests/testPose3SLAM.cpp b/gtsam/slam/tests/testPose3SLAM.cpp deleted file mode 100644 index 23367bd8a..000000000 --- a/gtsam/slam/tests/testPose3SLAM.cpp +++ /dev/null @@ -1,211 +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 testpose3SLAM.cpp - * @author Frank Dellaert - * @author Viorela Ila - **/ - -#include -#include -#include - -#include - -#include -#include -#include -using namespace boost; -using namespace boost::assign; - -#include - -using namespace std; -using namespace gtsam; - -// common measurement covariance -static noiseModel::Gaussian::shared_ptr covariance(noiseModel::Unit::Create(6)); - -const double tol=1e-5; - -/* ************************************************************************* */ -// test optimization with 6 poses arranged in a hexagon and a loop closure -TEST(Pose3Graph, optimizeCircle) { - - // Create a hexagon of poses - double radius = 10; - Values hexagon = pose3SLAM::Values::Circle(6,radius); - Pose3 gT0 = hexagon.at(0), gT1 = hexagon.at(1); - - // create a Pose graph with one equality constraint and one measurement - pose3SLAM::Graph fg; - fg.addPoseConstraint(0, gT0); - Pose3 _0T1 = gT0.between(gT1); // inv(gT0)*gT1 - double theta = M_PI/3.0; - CHECK(assert_equal(Pose3(Rot3::yaw(-theta),Point3(radius*sin(theta),-radius*cos(theta),0)),_0T1)); - fg.addRelativePose(0,1, _0T1, covariance); - fg.addRelativePose(1,2, _0T1, covariance); - fg.addRelativePose(2,3, _0T1, covariance); - fg.addRelativePose(3,4, _0T1, covariance); - fg.addRelativePose(4,5, _0T1, covariance); - fg.addRelativePose(5,0, _0T1, covariance); - - // Create initial config - Values initial; - initial.insert(0, gT0); - initial.insert(1, hexagon.at(1).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); - initial.insert(2, hexagon.at(2).retract(Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1))); - initial.insert(3, hexagon.at(3).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); - initial.insert(4, hexagon.at(4).retract(Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1))); - initial.insert(5, hexagon.at(5).retract(Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1))); - - // Choose an ordering and optimize - Ordering ordering; - ordering += 0,1,2,3,4,5; - - Values actual = LevenbergMarquardtOptimizer(fg, initial, ordering).optimize(); - - // Check with ground truth - CHECK(assert_equal(hexagon, actual,1e-4)); - - // Check loop closure - CHECK(assert_equal(_0T1, actual.at(5).between(actual.at(0)),1e-5)); -} - -/* ************************************************************************* */ -TEST(Pose3Graph, partial_prior_height) { - typedef PartialPriorFactor Partial; - - // reference: Pose3 Expmap - (0-2: Rot3) (3-5: Point3) - - // height prior - single element interface - double exp_height = 5.0; - SharedDiagonal model = noiseModel::Unit::Create(1); - Pose3 init(Rot3(), Point3(1.0, 2.0, 3.0)), expected(Rot3(), Point3(1.0, 2.0, exp_height)); - Partial height(1, 5, exp_height, model); - Matrix actA; - EXPECT(assert_equal(Vector_(1,-2.0), height.evaluateError(init, actA), tol)); - Matrix expA = Matrix_(1, 6, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0); - EXPECT(assert_equal(expA, actA)); - - pose3SLAM::Graph graph; - graph.add(height); - - Values values; - values.insert(1, init); - - // linearization - EXPECT_DOUBLES_EQUAL(2.0, height.error(values), tol); - - Values actual = LevenbergMarquardtOptimizer(graph, values).optimize(); - EXPECT(assert_equal(expected, actual.at(1), tol)); - EXPECT_DOUBLES_EQUAL(0.0, graph.error(actual), tol); -} - -/* ************************************************************************* */ -TEST( Pose3Factor, error ) -{ - // Create example - Pose3 t1; // origin - Pose3 t2(Rot3::rodriguez(0.1,0.2,0.3),Point3(0,1,0)); - Pose3 z(Rot3::rodriguez(0.2,0.2,0.3),Point3(0,1.1,0));; - - // Create factor - SharedNoiseModel I6(noiseModel::Unit::Create(6)); - BetweenFactor factor(1, 2, z, I6); - - // Create config - Values x; - x.insert(1,t1); - x.insert(2,t2); - - // Get error h(x)-z -> localCoordinates(z,h(x)) = localCoordinates(z,between(t1,t2)) - Vector actual = factor.unwhitenedError(x); - Vector expected = z.localCoordinates(t1.between(t2)); - CHECK(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -TEST(Pose3Graph, partial_prior_xy) { - typedef PartialPriorFactor Partial; - - // XY prior - full mask interface - Vector exp_xy = Vector_(2, 3.0, 4.0); - SharedDiagonal model = noiseModel::Unit::Create(2); - Pose3 init(Rot3(), Point3(1.0,-2.0, 3.0)), expected(Rot3(), Point3(3.0, 4.0, 3.0)); - vector mask; mask += 3, 4; - Partial priorXY(1, mask, exp_xy, model); - Matrix actA; - EXPECT(assert_equal(Vector_(2,-2.0,-6.0), priorXY.evaluateError(init, actA), tol)); - Matrix expA = Matrix_(2, 6, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 1.0, 0.0); - EXPECT(assert_equal(expA, actA)); - - pose3SLAM::Graph graph; - graph.add(priorXY); - - Values values; - values.insert(1, init); - - Values actual = LevenbergMarquardtOptimizer(graph, values).optimize(); - EXPECT(assert_equal(expected, actual.at(1), tol)); - EXPECT_DOUBLES_EQUAL(0.0, graph.error(actual), tol); -} - -// The world coordinate system has z pointing up, y north, x east -// The vehicle has X forward, Y right, Z down -Rot3 R1(Point3( 0, 1, 0), Point3( 1, 0, 0), Point3(0, 0, -1)); -Rot3 R2(Point3(-1, 0, 0), Point3( 0, 1, 0), Point3(0, 0, -1)); -Rot3 R3(Point3( 0,-1, 0), Point3(-1, 0, 0), Point3(0, 0, -1)); -Rot3 R4(Point3( 1, 0, 0), Point3( 0,-1, 0), Point3(0, 0, -1)); - -/* ************************************************************************* */ -TEST( Values, pose3Circle ) -{ - // expected is 4 poses tangent to circle with radius 1m - Values expected; - expected.insert(0, Pose3(R1, Point3( 1, 0, 0))); - expected.insert(1, Pose3(R2, Point3( 0, 1, 0))); - expected.insert(2, Pose3(R3, Point3(-1, 0, 0))); - expected.insert(3, Pose3(R4, Point3( 0,-1, 0))); - - Values actual = pose3SLAM::Values::Circle(4,1.0); - CHECK(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -TEST( Values, expmap ) -{ - Values expected; - expected.insert(0, Pose3(R1, Point3( 1.0, 0.1, 0))); - expected.insert(1, Pose3(R2, Point3(-0.1, 1.0, 0))); - expected.insert(2, Pose3(R3, Point3(-1.0,-0.1, 0))); - expected.insert(3, Pose3(R4, Point3( 0.1,-1.0, 0))); - - Ordering ordering(*expected.orderingArbitrary()); - VectorValues delta(expected.dims(ordering)); - delta.vector() = Vector_(24, - 0.0,0.0,0.0, 0.1, 0.0, 0.0, - 0.0,0.0,0.0, 0.1, 0.0, 0.0, - 0.0,0.0,0.0, 0.1, 0.0, 0.0, - 0.0,0.0,0.0, 0.1, 0.0, 0.0); - Values actual = pose3SLAM::Values::Circle(4,1.0).retract(delta, ordering); - CHECK(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} -/* ************************************************************************* */ diff --git a/gtsam/slam/tests/testSparseBA.cpp b/gtsam/slam/tests/testSparseBA.cpp deleted file mode 100644 index cc6e11400..000000000 --- a/gtsam/slam/tests/testSparseBA.cpp +++ /dev/null @@ -1,193 +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 testsparseBA.cpp - * @brief - * @date Jul 5, 2012 - * @author Yong-Dian Jian - */ - -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -using namespace boost; -using namespace gtsam; - -/* ************************************************************************* */ - -static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); - -// Convenience for named keys -using symbol_shorthand::X; /* pose3 */ -using symbol_shorthand::K; /* calibration */ -using symbol_shorthand::C; /* camera = [pose calibration] */ -using symbol_shorthand::L; /* point3 */ - -static Point3 landmark1(-1.0,-1.0, 0.0); -static Point3 landmark2(-1.0, 1.0, 0.0); -static Point3 landmark3( 1.0, 1.0, 0.0); -static Point3 landmark4( 1.0,-1.0, 0.0); - -static Pose3 pose1(Matrix_(3,3, - 1., 0., 0., - 0.,-1., 0., - 0., 0.,-1.), - Point3(0,0,6.25)); - -static Pose3 pose2(Matrix_(3,3, - 1., 0., 0., - 0.,-1., 0., - 0., 0.,-1.), - Point3(0,0,5.00)); - -static Cal3_S2 calib1 (625, 625, 0, 0, 0); -static Cal3_S2 calib2 (625, 625, 0, 0, 0); - - -typedef PinholeCamera Camera; - -static Camera camera1(pose1, calib1); -static Camera camera2(pose2, calib2); - -/* ************************************************************************* */ -sparseBA::Graph testGraph1() { - Point2 z11(-100, 100); - Point2 z12(-100,-100); - Point2 z13( 100,-100); - Point2 z14( 100, 100); - Point2 z21(-125, 125); - Point2 z22(-125,-125); - Point2 z23( 125,-125); - Point2 z24( 125, 125); - - - sparseBA::Graph g; - g.addMeasurement(z11, sigma, C(1), L(1)); - g.addMeasurement(z12, sigma, C(1), L(2)); - g.addMeasurement(z13, sigma, C(1), L(3)); - g.addMeasurement(z14, sigma, C(1), L(4)); - g.addMeasurement(z21, sigma, C(2), L(1)); - g.addMeasurement(z22, sigma, C(2), L(2)); - g.addMeasurement(z23, sigma, C(2), L(3)); - g.addMeasurement(z24, sigma, C(2), L(4)); - return g; -} - -sparseBA::Graph testGraph2() { - Point2 z11(-100, 100); - Point2 z12(-100,-100); - Point2 z13( 100,-100); - Point2 z14( 100, 100); - Point2 z21(-125, 125); - Point2 z22(-125,-125); - Point2 z23( 125,-125); - Point2 z24( 125, 125); - - sparseBA::Graph g; - g.addMeasurement(z11, sigma, X(1), L(1), K(1)); - g.addMeasurement(z12, sigma, X(1), L(2), K(1)); - g.addMeasurement(z13, sigma, X(1), L(3), K(1)); - g.addMeasurement(z14, sigma, X(1), L(4), K(1)); - g.addMeasurement(z21, sigma, X(2), L(1), K(1)); - g.addMeasurement(z22, sigma, X(2), L(2), K(1)); - g.addMeasurement(z23, sigma, X(2), L(3), K(1)); - g.addMeasurement(z24, sigma, X(2), L(4), K(1)); - return g; -} - -/* ************************************************************************* */ -TEST( optimizeLM1, sparseBA ) -{ - // build a graph - sparseBA::Graph graph(testGraph1()); - - // add 3 landmark constraints - graph.addPointConstraint(L(1), landmark1); - graph.addPointConstraint(L(2), landmark2); - graph.addPointConstraint(L(3), landmark3); - - // Create an initial values structure corresponding to the ground truth - Values initialEstimate; - initialEstimate.insert(C(1), camera1); - initialEstimate.insert(C(2), camera2); - initialEstimate.insert(L(1), landmark1); - initialEstimate.insert(L(2), landmark2); - initialEstimate.insert(L(3), landmark3); - initialEstimate.insert(L(4), landmark4); - - // Create an ordering of the variables - Ordering ordering; - ordering += L(1),L(2),L(3),L(4),C(1),C(2); - - // Create an optimizer and check its error - // We expect the initial to be zero because config is the ground truth - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, ordering); - DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // Iterate once, and the config should not have changed because we started - // with the ground truth - optimizer.iterate(); - DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // check if correct - CHECK(assert_equal(initialEstimate, optimizer.values())); -} - -/* ************************************************************************* */ -TEST( optimizeLM2, sparseBA ) -{ - // build a graph - sparseBA::Graph graph(testGraph2()); - - // add 3 landmark constraints - graph.addPointConstraint(L(1), landmark1); - graph.addPointConstraint(L(2), landmark2); - graph.addPointConstraint(L(3), landmark3); - - // Create an initial values structure corresponding to the ground truth - Values initialEstimate; - initialEstimate.insert(X(1), pose1); - initialEstimate.insert(X(2), pose2); - initialEstimate.insert(L(1), landmark1); - initialEstimate.insert(L(2), landmark2); - initialEstimate.insert(L(3), landmark3); - initialEstimate.insert(L(4), landmark4); - initialEstimate.insert(K(1), calib2); - - // Create an ordering of the variables - Ordering ordering; - ordering += L(1),L(2),L(3),L(4),X(1),X(2),K(1); - - // Create an optimizer and check its error - // We expect the initial to be zero because config is the ground truth - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, ordering); - DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // Iterate once, and the config should not have changed because we started - // with the ground truth - optimizer.iterate(); - DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // check if correct - CHECK(assert_equal(initialEstimate, optimizer.values())); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp deleted file mode 100644 index 65c31adf9..000000000 --- a/gtsam/slam/tests/testVisualSLAM.cpp +++ /dev/null @@ -1,344 +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 testVisualSLAM.cpp - * @brief Unit test for two cameras and four landmarks, single camera - * @author Chris Beall - * @author Frank Dellaert - * @author Viorela Ila - */ - -#include -#include -#include -#include - -#include -#include -using namespace boost; - -using namespace std; -using namespace gtsam; - -/* ************************************************************************* */ - -static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); - -// Convenience for named keys -using symbol_shorthand::X; -using symbol_shorthand::L; - -static Point3 landmark1(-1.0,-1.0, 0.0); -static Point3 landmark2(-1.0, 1.0, 0.0); -static Point3 landmark3( 1.0, 1.0, 0.0); -static Point3 landmark4( 1.0,-1.0, 0.0); - -static Pose3 pose1(Matrix_(3,3, - 1., 0., 0., - 0.,-1., 0., - 0., 0.,-1. - ), - Point3(0,0,6.25)); - -static Pose3 pose2(Matrix_(3,3, - 1., 0., 0., - 0.,-1., 0., - 0., 0.,-1. - ), - Point3(0,0,5.00)); - -/* ************************************************************************* */ -visualSLAM::Graph testGraph() { - Point2 z11(-100, 100); - Point2 z12(-100,-100); - Point2 z13( 100,-100); - Point2 z14( 100, 100); - Point2 z21(-125, 125); - Point2 z22(-125,-125); - Point2 z23( 125,-125); - Point2 z24( 125, 125); - - shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0)); - visualSLAM::Graph g; - g.addMeasurement(z11, sigma, X(1), L(1), sK); - g.addMeasurement(z12, sigma, X(1), L(2), sK); - g.addMeasurement(z13, sigma, X(1), L(3), sK); - g.addMeasurement(z14, sigma, X(1), L(4), sK); - g.addMeasurement(z21, sigma, X(2), L(1), sK); - g.addMeasurement(z22, sigma, X(2), L(2), sK); - g.addMeasurement(z23, sigma, X(2), L(3), sK); - g.addMeasurement(z24, sigma, X(2), L(4), sK); - return g; -} - -/* ************************************************************************* */ -TEST( VisualSLAM, optimizeLM) -{ - // build a graph - visualSLAM::Graph graph(testGraph()); - // add 3 landmark constraints - graph.addPointConstraint(L(1), landmark1); - graph.addPointConstraint(L(2), landmark2); - graph.addPointConstraint(L(3), landmark3); - - // Create an initial values structure corresponding to the ground truth - Values initialEstimate; - initialEstimate.insert(X(1), pose1); - initialEstimate.insert(X(2), pose2); - initialEstimate.insert(L(1), landmark1); - initialEstimate.insert(L(2), landmark2); - initialEstimate.insert(L(3), landmark3); - initialEstimate.insert(L(4), landmark4); - - // Create an ordering of the variables - Ordering ordering; - ordering += L(1),L(2),L(3),L(4),X(1),X(2); - - // Create an optimizer and check its error - // We expect the initial to be zero because config is the ground truth - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, ordering); - DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // Iterate once, and the config should not have changed because we started - // with the ground truth - optimizer.iterate(); - DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // check if correct - CHECK(assert_equal(initialEstimate, optimizer.values())); -} - - -/* ************************************************************************* */ -TEST( VisualSLAM, optimizeLM2) -{ - // build a graph - visualSLAM::Graph graph(testGraph()); - // add 2 camera constraints - graph.addPoseConstraint(X(1), pose1); - graph.addPoseConstraint(X(2), pose2); - - // Create an initial values structure corresponding to the ground truth - Values initialEstimate; - initialEstimate.insert(X(1), pose1); - initialEstimate.insert(X(2), pose2); - initialEstimate.insert(L(1), landmark1); - initialEstimate.insert(L(2), landmark2); - initialEstimate.insert(L(3), landmark3); - initialEstimate.insert(L(4), landmark4); - - // Create an ordering of the variables - Ordering ordering; - ordering += L(1),L(2),L(3),L(4),X(1),X(2); - - // Create an optimizer and check its error - // We expect the initial to be zero because config is the ground truth - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, ordering); - EXPECT_DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // Iterate once, and the config should not have changed because we started - // with the ground truth - optimizer.iterate(); - EXPECT_DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // check if correct - CHECK(assert_equal(initialEstimate, optimizer.values())); -} - -/* ************************************************************************* */ -TEST( VisualSLAM, LMoptimizer) -{ - // build a graph - visualSLAM::Graph graph(testGraph()); - // add 2 camera constraints - graph.addPoseConstraint(X(1), pose1); - graph.addPoseConstraint(X(2), pose2); - - // Create an initial values structure corresponding to the ground truth - Values initialEstimate; - initialEstimate.insert(X(1), pose1); - initialEstimate.insert(X(2), pose2); - initialEstimate.insert(L(1), landmark1); - initialEstimate.insert(L(2), landmark2); - initialEstimate.insert(L(3), landmark3); - initialEstimate.insert(L(4), landmark4); - - // Create an optimizer and check its error - // We expect the initial to be zero because config is the ground truth - LevenbergMarquardtOptimizer optimizer = graph.optimizer(initialEstimate); - EXPECT_DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // Iterate once, and the config should not have changed because we started - // with the ground truth - optimizer.iterate(); - EXPECT_DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // check if correct - CHECK(assert_equal(initialEstimate, optimizer.values())); - - // check errors - Matrix errors = graph.reprojectionErrors(optimizer.values()); - CHECK(assert_equal(zeros(2,8), errors)); -} - - -/* ************************************************************************* */ -TEST( VisualSLAM, CHECK_ORDERING) -{ - // build a graph - visualSLAM::Graph graph = testGraph(); - // add 2 camera constraints - graph.addPoseConstraint(X(1), pose1); - graph.addPoseConstraint(X(2), pose2); - - // Create an initial values structure corresponding to the ground truth - Values initialEstimate; - initialEstimate.insert(X(1), pose1); - initialEstimate.insert(X(2), pose2); - initialEstimate.insert(L(1), landmark1); - initialEstimate.insert(L(2), landmark2); - initialEstimate.insert(L(3), landmark3); - initialEstimate.insert(L(4), landmark4); - - // Create an optimizer and check its error - // We expect the initial to be zero because config is the ground truth - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate); - EXPECT_DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // Iterate once, and the config should not have changed because we started - // with the ground truth - optimizer.iterate(); - EXPECT_DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); - - // check if correct - CHECK(assert_equal(initialEstimate, optimizer.values())); -} - -/* ************************************************************************* */ -TEST( VisualSLAM, update_with_large_delta) { - // this test ensures that if the update for delta is larger than - // the size of the config, it only updates existing variables - Values init; - init.insert(X(1), Pose3()); - init.insert(L(1), Point3(1.0, 2.0, 3.0)); - - Values expected; - expected.insert(X(1), Pose3(Rot3(), Point3(0.1, 0.1, 0.1))); - expected.insert(L(1), Point3(1.1, 2.1, 3.1)); - - Ordering largeOrdering; - Values largeValues = init; - largeValues.insert(X(2), Pose3()); - largeOrdering += X(1),L(1),X(2); - VectorValues delta(largeValues.dims(largeOrdering)); - delta[largeOrdering[X(1)]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1); - delta[largeOrdering[L(1)]] = Vector_(3, 0.1, 0.1, 0.1); - delta[largeOrdering[X(2)]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1); - Values actual = init.retract(delta, largeOrdering); - - CHECK(assert_equal(expected,actual)); -} - -/* ************************************************************************* */ -TEST( VisualSLAM, dataAssociation) { - visualSLAM::ISAM isam; - // add two landmarks - // add two cameras and constraint and odometry -// std::pair actualJoint = isam.jointPrediction(); // 4*4 - // std::pair actualMarginals = isam.individualPredictions(); // 2 times 2*2 - // std::pair actualChowLiu = isam.chowLiuPredictions(); // 2 times 2*2 -} - -/* ************************************************************************* */ -TEST( VisualSLAM, filteredValues) { - visualSLAM::Values full; - full.insert(X(1), Pose3(Pose2(1.0, 2.0, 0.3))); - full.insert(L(1), Point3(1.0, 2.0, 3.0)); - - visualSLAM::Values actPoses(full.allPoses()); - visualSLAM::Values expPoses; expPoses.insert(X(1), Pose3(Pose2(1.0, 2.0, 0.3))); - EXPECT(assert_equal(expPoses, actPoses)); - - visualSLAM::Values actPoints(full.allPoints()); - visualSLAM::Values expPoints; expPoints.insert(L(1), Point3(1.0, 2.0, 3.0)); - EXPECT(assert_equal(expPoints, actPoints)); -} - -/* ************************************************************************* */ -TEST( VisualSLAM, keys_and_view ) -{ - // create config - visualSLAM::Values c; - c.insert(X(1), pose1); - c.insert(X(2), pose2); - c.insert(L(2), landmark2); - LONGS_EQUAL(2,c.nrPoses()); - LONGS_EQUAL(1,c.nrPoints()); - { - FastList expected, actual; - expected += L(2), X(1), X(2); - actual = c.keys(); - CHECK(expected == actual); - } - { - FastList expected, actual; - expected += X(1), X(2); - actual = c.poseKeys(); - CHECK(expected == actual); - } - { - FastList expected, actual; - expected += L(2); - actual = c.pointKeys(); - CHECK(expected == actual); - } -} - -/* ************************************************************************* */ -TEST( VisualSLAM, addMeasurements ) -{ - // create config - visualSLAM::Graph g; - Vector J = Vector_(3,1.0,2.0,3.0); - Matrix Z = Matrix_(2,3, -1.0,0.0,1.0, -1.0,0.0,1.0); - shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0)); - g.addMeasurements(0,J,Z,sigma,sK); - EXPECT_LONGS_EQUAL(3,g.size()); -} - -/* ************************************************************************* */ -TEST( VisualSLAM, insertBackProjections ) -{ - // create config - visualSLAM::Values c; - SimpleCamera camera(pose1); - Vector J = Vector_(3,1.0,2.0,3.0); - Matrix Z = Matrix_(2,3, -1.0,0.0,1.0, -1.0,0.0,1.0); - c.insertBackprojections(camera,J,Z,1.0); - EXPECT_LONGS_EQUAL(3,c.nrPoints()); -} - -/* ************************************************************************* */ -TEST( VisualSLAM, perturbPoints ) -{ - visualSLAM::Values c1,c2; - c1.insert(L(2), landmark2); - c1.perturbPoints(0.01,42u); - CHECK(assert_equal(Point3(-0.986984, 0.999534, -0.0147962),c1.point(L(2)),1e-6)); - c2.insert(L(2), landmark2); - c2.perturbPoints(0.01,42u); - CHECK(assert_equal(Point3(-0.986984, 0.999534, -0.0147962),c2.point(L(2)),1e-6)); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ diff --git a/gtsam/slam/visualSLAM.cpp b/gtsam/slam/visualSLAM.cpp deleted file mode 100644 index 2133c0ee8..000000000 --- a/gtsam/slam/visualSLAM.cpp +++ /dev/null @@ -1,116 +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 visualSLAM.cpp - * @date Jan 14, 2010 - * @author richard - */ - -#include -#include -#include -#include -#include - -namespace visualSLAM { - - using boost::make_shared; - - /* ************************************************************************* */ - void Values::insertBackprojections(const SimpleCamera& camera, - const Vector& J, const Matrix& Z, double depth) { - if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); - if (Z.cols() != J.size()) throw std::invalid_argument( - "insertBackProjections: J and Z must have same number of entries"); - for(int k=0;k points = allPoints(); - noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,sigma); - Sampler sampler(model, seed); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, points) { - update(keyValue.key, keyValue.value.retract(sampler.sample())); - } - } - - /* ************************************************************************* */ - Matrix Values::points() const { - size_t j=0; - ConstFiltered points = allPoints(); - Matrix result(points.size(),3); - BOOST_FOREACH(const ConstFiltered::KeyValuePair& keyValue, points) - result.row(j++) = keyValue.value.vector(); - return result; - } - - /* ************************************************************************* */ - void Graph::addPointConstraint(Key pointKey, const Point3& p) { - push_back(make_shared >(pointKey, p)); - } - - /* ************************************************************************* */ - void Graph::addPointPrior(Key pointKey, const Point3& p, const SharedNoiseModel& model) { - push_back(make_shared >(pointKey, p, model)); - } - - /* ************************************************************************* */ - void Graph::addMeasurement(const Point2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrK K) { - push_back( - make_shared > - (measured, model, poseKey, pointKey, K)); - } - - /* ************************************************************************* */ - void Graph::addMeasurements(Key i, const Vector& J, const Matrix& Z, - const SharedNoiseModel& model, const shared_ptrK K) { - if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); - if (Z.cols() != J.size()) throw std::invalid_argument( - "addMeasurements: J and Z must have same number of entries"); - for (int k = 0; k < Z.cols(); k++) - addMeasurement(Point2(Z(0, k), Z(1, k)), model, i, J(k), K); - } - - /* ************************************************************************* */ - void Graph::addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrKStereo K) { - push_back(make_shared >(measured, model, poseKey, pointKey, K)); - } - - /* ************************************************************************* */ - void Graph::addRangeFactor(Key poseKey, Key pointKey, double range, const SharedNoiseModel& model) { - push_back(make_shared >(poseKey, pointKey, range, model)); - } - - /* ************************************************************************* */ - Matrix Graph::reprojectionErrors(const Values& values) const { - // first count - size_t K = 0, k=0; - BOOST_FOREACH(const sharedFactor& f, *this) - if (boost::dynamic_pointer_cast(f)) ++K; - // now fill - Matrix errors(2,K); - BOOST_FOREACH(const sharedFactor& f, *this) { - boost::shared_ptr p = - boost::dynamic_pointer_cast(f); - if (p) errors.col(k++) = p->unwhitenedError(values); - } - return errors; - } - /* ************************************************************************* */ -} diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h deleted file mode 100644 index ae2956c5f..000000000 --- a/gtsam/slam/visualSLAM.h +++ /dev/null @@ -1,186 +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 visualSLAM.h - * @brief Basic typedefs for general VisualSLAM problems. Useful for monocular and stereo systems. - * @date Jan 14, 2010 - * @author Richard Roberts - * @author Chris Beall - */ - -#pragma once - -#include -#include -#include -#include -#include -#include - -namespace visualSLAM { - - using namespace gtsam; - - /// Values class, inherited from Values, mainly used as a convenience for MATLAB wrapper - struct Values: public pose3SLAM::Values { - - typedef boost::shared_ptr shared_ptr; - typedef gtsam::Values::ConstFiltered PoseFiltered; - typedef gtsam::Values::ConstFiltered PointFiltered; - - /// Default constructor - Values() {} - - /// Copy constructor - Values(const gtsam::Values& values) : - pose3SLAM::Values(values) { - } - - /// Constructor from filtered values view of poses - Values(const PoseFiltered& view) : pose3SLAM::Values(view) {} - - /// Constructor from filtered values view of points - Values(const PointFiltered& view) : pose3SLAM::Values(view) {} - - PoseFiltered allPoses() const { return this->filter(); } ///< pose view - size_t nrPoses() const { return allPoses().size(); } ///< get number of poses - KeyList poseKeys() const { return allPoses().keys(); } ///< get keys to poses only - - PointFiltered allPoints() const { return this->filter(); } ///< point view - size_t nrPoints() const { return allPoints().size(); } ///< get number of points - KeyList pointKeys() const { return allPoints().keys(); } ///< get keys to points only - - /// insert a point - void insertPoint(Key j, const Point3& point) { insert(j, point); } - - /// update a point - void updatePoint(Key j, const Point3& point) { update(j, point); } - - /// get a point - Point3 point(Key j) const { return at(j); } - - /// insert a number of initial point values by backprojecting - void insertBackprojections(const SimpleCamera& c, const Vector& J, - const Matrix& Z, double depth); - - /// perturb all points using normally distributed noise - void perturbPoints(double sigma, int32_t seed = 42u); - - /// get all point coordinates in a matrix - Matrix points() const; - - }; - - /** - * Non-linear factor graph for vanilla visual SLAM - */ - struct Graph: public pose3SLAM::Graph { - - /// shared pointer to this type of graph - typedef boost::shared_ptr shared_graph; - - /// Default constructor - Graph(){} - - /// Copy constructor given any other NonlinearFactorGraph - Graph(const NonlinearFactorGraph& graph): - pose3SLAM::Graph(graph) {} - - /// check if two graphs are equal - bool equals(const Graph& p, double tol = 1e-9) const { - return NonlinearFactorGraph::equals(p, tol); - } - - /** - * Add a constraint on a point (for now, *must* be satisfied in any Values) - * @param key variable key of the point - * @param p point around which soft prior is defined - */ - void addPointConstraint(Key pointKey, const Point3& p = Point3()); - - /** - * Add a prior on a point - * @param key variable key of the point - * @param p to which point to constrain it to - * @param model uncertainty model of this prior - */ - void addPointPrior(Key pointKey, const Point3& p = Point3(), - const SharedNoiseModel& model = noiseModel::Unit::Create(3)); - - /** - * Add a range prior to a point - * @param poseKey variable key of the camera pose - * @param pointKey variable key of the point - * @param range approximate range to point - * @param model uncertainty model of this prior - */ - void addRangeFactor(Key poseKey, Key pointKey, double range, - const SharedNoiseModel& model = noiseModel::Unit::Create(1)); - - /** - * Add a projection factor measurement (monocular) - * @param measured the measurement - * @param model the noise model for the measurement - * @param poseKey variable key for the camera pose - * @param pointKey variable key for the point - * @param K shared pointer to calibration object - */ - void addMeasurement(const Point2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrK K); - - /** - * Add a number of measurements at the same time - * @param i variable key for the camera pose - * @param J variable keys for the point, KeyVector of size K - * @param Z the 2*K measurements as a matrix - * @param model the noise model for the measurement - * @param K shared pointer to calibration object - */ - void addMeasurements(Key i, const Vector& J, const Matrix& Z, - const SharedNoiseModel& model, const shared_ptrK K); - - /** - * Add a stereo factor measurement - * @param measured the measurement - * @param model the noise model for the measurement - * @param poseKey variable key for the camera pose - * @param pointKey variable key for the point - * @param K shared pointer to stereo calibration object - */ - void addStereoMeasurement(const StereoPoint2& measured, const SharedNoiseModel& model, - Key poseKey, Key pointKey, const shared_ptrKStereo K); - - /// Return a 2*K Matrix of reprojection errors - Matrix reprojectionErrors(const Values& values) const; - - }; // Graph - - /** - * Non-linear ISAM for vanilla incremental visual SLAM inference - */ - typedef gtsam::NonlinearISAM ISAM; - -} // visualSLAM - -/** - * Backwards compatibility and wrap use only, avoid using - */ -namespace visualSLAM { - typedef gtsam::NonlinearEquality PoseConstraint; ///< \deprecated typedef for backwards compatibility - typedef gtsam::NonlinearEquality PointConstraint; ///< \deprecated typedef for backwards compatibility - typedef gtsam::PriorFactor PosePrior; ///< \deprecated typedef for backwards compatibility - typedef gtsam::PriorFactor PointPrior; ///< \deprecated typedef for backwards compatibility - typedef gtsam::RangeFactor RangeFactor; ///< \deprecated typedef for backwards compatibility - typedef gtsam::GenericProjectionFactor ProjectionFactor; ///< \deprecated typedef for backwards compatibility - typedef gtsam::GenericStereoFactor StereoFactor; ///< \deprecated typedef for backwards compatibility -} - From 47f92ccdf252c68a4d865a6a5c4f54ada8501514 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 15:40:58 +0000 Subject: [PATCH 733/914] Added matlab.h, a temporary file holding special namespace functions. These need to be reviewed and a permanent home found. --- gtsam.h | 19 ++++++++ matlab.h | 129 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 148 insertions(+) create mode 100644 matlab.h diff --git a/gtsam.h b/gtsam.h index 6f87670ca..891520547 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1474,4 +1474,23 @@ typedef gtsam::GenericStereoFactor GenericStereoFac pair load2D(string filename, gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); + +//************************************************************************* +// Utilities +//************************************************************************* + +namespace utilities { + + #include + Matrix extractPoint2(const gtsam::Values& values); + Matrix extractPoint3(const gtsam::Values& values); + Matrix extractPose2(const gtsam::Values& values); + Matrix extractPose3(const gtsam::Values& values); + void perturbPoint2(gtsam::Values& values, double sigma, int seed); + void perturbPoint3(gtsam::Values& values, double sigma, int seed); + void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth); + Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values); + +} //\namespace utilities + } diff --git a/matlab.h b/matlab.h new file mode 100644 index 000000000..1a9af8396 --- /dev/null +++ b/matlab.h @@ -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 matlab.h + * @brief Contains *generic* global functions designed particularly for the matlab interface + * @author Stephen Williams + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace gtsam { + + namespace utilities { + + /// Extract all Point2 values into a single matrix [x y] + Matrix extractPoint2(const Values& values) { + size_t j=0; + Values::ConstFiltered points = values.filter(); + Matrix result(points.size(),2); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, points) + result.row(j++) = key_value.value.vector(); + return result; + } + + /// Extract all Point3 values into a single matrix [x y z] + Matrix extractPoint3(const Values& values) { + size_t j=0; + Values::ConstFiltered points = values.filter(); + Matrix result(points.size(),3); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, points) + result.row(j++) = key_value.value.vector(); + return result; + } + + /// Extract all Pose2 values into a single matrix [x y theta] + Matrix extractPose2(const Values& values) { + size_t j=0; + Values::ConstFiltered poses = values.filter(); + Matrix result(poses.size(),3); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, poses) + result.row(j++) << key_value.value.x(), key_value.value.y(), key_value.value.theta(); + return result; + } + + /// Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z] + Matrix extractPose3(const Values& values) { + size_t j=0; + Values::ConstFiltered poses = values.filter(); + Matrix result(poses.size(),12); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, poses) { + result.row(j).segment(0, 3) << key_value.value.rotation().matrix().row(0); + result.row(j).segment(3, 3) << key_value.value.rotation().matrix().row(1); + result.row(j).segment(6, 3) << key_value.value.rotation().matrix().row(2); + result.row(j).tail(3) = key_value.value.translation().vector(); + j++; + } + return result; + } + + + /// perturb all Point2 using normally distributed noise + void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) { + noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,sigma); + Sampler sampler(model, seed); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, values.filter()) { + values.update(key_value.key, key_value.value.retract(sampler.sample())); + } + } + + /// perturb all Point3 using normally distributed noise + void perturbPoint3(Values& values, double sigma, int32_t seed = 42u) { + noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,sigma); + Sampler sampler(model, seed); + BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, values.filter()) { + values.update(key_value.key, key_value.value.retract(sampler.sample())); + } + } + + /// insert a number of initial point values by backprojecting + void insertBackprojections(Values& values, const SimpleCamera& camera, const Vector& J, const Matrix& Z, double depth) { + if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); + if (Z.cols() != J.size()) throw std::invalid_argument("insertBackProjections: J and Z must have same number of entries"); + for(int k=0;k >(f)) ++K; + // now fill + Matrix errors(2,K); + BOOST_FOREACH(const NonlinearFactor::shared_ptr& f, graph) { + boost::shared_ptr > p = boost::dynamic_pointer_cast >(f); + if (p) errors.col(k++) = p->unwhitenedError(values); + } + return errors; + } + + } + +} + From a13ef979870a10f90cd769006e52f7383b243e55 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 30 Jul 2012 18:34:47 +0000 Subject: [PATCH 734/914] Wrapped default-argument versions of load2D --- gtsam.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/gtsam.h b/gtsam.h index 891520547..bdda534e0 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1473,6 +1473,12 @@ typedef gtsam::GenericStereoFactor GenericStereoFac #include pair load2D(string filename, gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise); +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model, int maxID); +pair load2D(string filename, + gtsam::noiseModel::Diagonal* model); //************************************************************************* From da1a732eff14e4c58665fea13576b3da793be56d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 30 Jul 2012 18:34:50 +0000 Subject: [PATCH 735/914] Merged duplicate Pose2SLAMExample_graph.m examples in different directories --- examples/Pose2SLAMExample_graph.m | 47 ------------------- .../gtsam_examples/Pose2SLAMExample_graph.m | 5 +- 2 files changed, 4 insertions(+), 48 deletions(-) delete mode 100644 examples/Pose2SLAMExample_graph.m diff --git a/examples/Pose2SLAMExample_graph.m b/examples/Pose2SLAMExample_graph.m deleted file mode 100644 index 65271c053..000000000 --- a/examples/Pose2SLAMExample_graph.m +++ /dev/null @@ -1,47 +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 -% -% @brief Read graph from file and perform GraphSLAM -% @author Frank Dellaert -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%% Initialize graph, initial estimate, and odometry noise -import gtsam.* -model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -maxID = 0; -addNoise = false; -smart = true; -[graph,initial]=load2D('Data/w100-odom.graph',model,maxID,addNoise,smart); -initial.print(sprintf('Initial estimate:\n')); - -%% Add a Gaussian prior on pose x_1 -import gtsam.* -priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin -priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); -graph.addPosePrior(0, priorMean, priorNoise); % add directly to graph - -%% Plot Initial Estimate -figure(1);clf -P=initial.poses; -plot(P(:,1),P(:,2),'g-*'); axis equal - -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -result = graph.optimize(initial,1); -P=result.poses; -hold on; plot(P(:,1),P(:,2),'b-*') -result.print(sprintf('\nFinal result:\n')); - -%% Plot Covariance Ellipses -marginals = graph.marginals(result); -P={}; -for i=1:result.size()-1 - pose_i = result.pose(i); - P{i}=marginals.marginalCovariance(i); - plotPose2(pose_i,'b',P{i}) -end -fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file diff --git a/matlab/gtsam_examples/Pose2SLAMExample_graph.m b/matlab/gtsam_examples/Pose2SLAMExample_graph.m index 980a11cfa..cc8b38cdb 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_graph.m @@ -16,7 +16,10 @@ datafile = gtsam_utils.findExampleDataFile('w100-odom.graph'); %% Initialize graph, initial estimate, and odometry noise import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -[graph,initial] = gtsam_utils.load2D(datafile, model); +maxID = 0; +addNoise = false; +smart = true; +[graph,initial] = gtsam.load2D(datafile, model, maxID, addNoise, smart); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 From 305ab998fc1351a384554d63e7dabc0b566fc0bc Mon Sep 17 00:00:00 2001 From: Kyel Ok Date: Mon, 30 Jul 2012 20:16:54 +0000 Subject: [PATCH 736/914] wrapped dist() for Point2 --- gtsam.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index 5a331f1e0..42a419230 100644 --- a/gtsam.h +++ b/gtsam.h @@ -184,12 +184,13 @@ virtual class Point2 : gtsam::Value { // Lie Group static gtsam::Point2 Expmap(Vector v); - static Vector Logmap(const gtsam::Point2& p); + static Vector Logmap(const gtsam::Point2& p); // Standard Interface double x() const; - double y() const; + double y() const; Vector vector() const; + double dist(const gtsam::Point2& p2) const; }; virtual class StereoPoint2 : gtsam::Value { From fd4f11d21e4f38b364e742075431799811175225 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Mon, 30 Jul 2012 21:19:24 +0000 Subject: [PATCH 737/914] Wrapped per-variable thresholds for iSAM2 --- gtsam.h | 23 +++++++++++++++++++++-- gtsam/nonlinear/ISAM2.h | 7 +++++++ 2 files changed, 28 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index 42a419230..dc2f8363a 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1247,6 +1247,26 @@ class ISAM2DoglegParams { 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(); @@ -1256,8 +1276,7 @@ class ISAM2Params { void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params); void setOptimizationParams(const gtsam::ISAM2DoglegParams& params); void setRelinearizeThreshold(double relinearizeThreshold); - // TODO: wrap this - //void setRelinearizeThreshold(const FastMap& relinearizeThreshold); + void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& relinearizeThreshold); int getRelinearizeSkip() const; void setRelinearizeSkip(int relinearizeSkip); bool isEnableRelinearization() const; diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index ab94e60f0..52e5bccef 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -98,6 +98,8 @@ struct ISAM2DoglegParams { * @addtogroup ISAM2 * Parameters for the ISAM2 algorithm. Default parameter values are listed below. */ +typedef FastMap ISAM2ThresholdMap; +typedef ISAM2ThresholdMap::value_type ISAM2ThresholdMapValue; struct ISAM2Params { typedef boost::variant OptimizationParams; ///< Either ISAM2GaussNewtonParams or ISAM2DoglegParams typedef boost::variant > RelinearizationThreshold; ///< Either a constant relinearization threshold or a per-variable-type set of thresholds @@ -189,7 +191,12 @@ struct ISAM2Params { if(relinearizeThreshold.type() == typeid(double)) std::cout << "relinearizeThreshold: " << boost::get(relinearizeThreshold) << "\n"; else + { std::cout << "relinearizeThreshold: " << "{mapped}" << "\n"; + BOOST_FOREACH(const ISAM2ThresholdMapValue& value, boost::get(relinearizeThreshold)) { + std::cout << " '" << value.first << "' -> [" << value.second.transpose() << " ]\n"; + } + } std::cout << "relinearizeSkip: " << relinearizeSkip << "\n"; std::cout << "enableRelinearization: " << enableRelinearization << "\n"; std::cout << "evaluateNonlinearError: " << evaluateNonlinearError << "\n"; From 483e2ec9592f56bc47a1c0682abc93fd0c58f206 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Wed, 1 Aug 2012 13:42:38 +0000 Subject: [PATCH 738/914] Converted VariableIndex to use a deque instead of a vector. The deque performs incremental memory allocation, resulting in a significant speed improvement in iSAM2. --- gtsam/inference/VariableIndex.cpp | 2 +- gtsam/inference/VariableIndex.h | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp index 4e5eb8649..b24e2f5fc 100644 --- a/gtsam/inference/VariableIndex.cpp +++ b/gtsam/inference/VariableIndex.cpp @@ -68,7 +68,7 @@ void VariableIndex::outputMetisFormat(ostream& os) const { /* ************************************************************************* */ void VariableIndex::permuteInPlace(const Permutation& permutation) { // Create new index and move references to data into it in permuted order - vector newIndex(this->size()); + deque newIndex(this->size()); for(Index i = 0; i < newIndex.size(); ++i) newIndex[i].swap(this->index_[permutation[i]]); diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index 739067dd2..d747d1122 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -18,6 +18,7 @@ #pragma once #include +#include #include #include @@ -33,7 +34,7 @@ namespace gtsam { * factor graph. The factor graph stores a collection of factors, each of * which involves a set of variables. In contrast, the VariableIndex is built * from a factor graph prior to elimination, and stores the list of factors - * that involve each variable. This information is stored as a vector of + * that involve each variable. This information is stored as a deque of * lists of factor indices. * \nosubgrouping */ @@ -46,7 +47,7 @@ public: typedef Factors::const_iterator Factor_const_iterator; protected: - std::vector index_; + std::deque index_; size_t nFactors_; // Number of factors in the original factor graph. size_t nEntries_; // Sum of involved variable counts of each factor. From 98aa3b06273ecd87074c881face60c765c3643fb Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Wed, 1 Aug 2012 21:07:50 +0000 Subject: [PATCH 739/914] In BayesTree, return a const reference to the 'nodes' structure, instead of a copy --- gtsam/inference/BayesTree.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 7391e9a10..34e5c0c45 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -202,7 +202,7 @@ namespace gtsam { } /** return nodes */ - Nodes nodes() const { return nodes_; } + const Nodes& nodes() const { return nodes_; } /** return root clique */ const sharedClique& root() const { return root_; } From 1a8dc9bdcc11eed010279280588863ee4070803e Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Wed, 1 Aug 2012 21:31:19 +0000 Subject: [PATCH 740/914] Only execute the RemoveVariables code in iSAM2 if there actually are variables to remove. --- gtsam/nonlinear/ISAM2.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 16a3ca7b5..b09133c4d 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -747,17 +747,20 @@ ISAM2Result ISAM2::update( // After the top of the tree has been redone and may have index gaps from // unused keys, condense the indices to remove gaps by rearranging indices // in all data structures. - Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, - deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); - + if(!unusedKeys.empty()) { + tic(10,"remove variables"); + Impl::RemoveVariables(unusedKeys, root_, theta_, variableIndex_, delta_, deltaNewton_, RgProd_, + deltaReplacedMask_, ordering_, Base::nodes_, linearFactors_); + toc(10,"remove variables"); + } result.cliques = this->nodes().size(); deltaDoglegUptodate_ = false; deltaUptodate_ = false; - tic(10,"evaluate error after"); + tic(11,"evaluate error after"); if(params_.evaluateNonlinearError) result.errorAfter.reset(nonlinearFactors_.error(calculateEstimate())); - toc(10,"evaluate error after"); + toc(11,"evaluate error after"); return result; } From cf0c5bde3a448944a3d2fc27f3e73578f0180ef4 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 2 Aug 2012 18:41:07 +0000 Subject: [PATCH 741/914] Changed helper function signature to match the actual variables used in the function call --- gtsam/linear/GaussianFactorGraph.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index cd436a0b2..dafe74d0d 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -177,7 +177,7 @@ namespace gtsam { /* ************************************************************************* */ // Helper functions for Combine - static boost::tuple, size_t, size_t> countDims(const std::vector& factors, const VariableSlots& variableSlots) { + static boost::tuple, size_t, size_t> countDims(const FactorGraph& factors, const VariableSlots& variableSlots) { #ifndef NDEBUG vector varDims(variableSlots.size(), numeric_limits::max()); #else From 55adfb2082f94e4a9836a9f8fac239f0b70ef8a0 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 2 Aug 2012 18:55:35 +0000 Subject: [PATCH 742/914] Added another constructor for Cal3_S2 --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index dc2f8363a..ddfe7dcd9 100644 --- a/gtsam.h +++ b/gtsam.h @@ -448,6 +448,7 @@ virtual class Cal3_S2 : gtsam::Value { 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; From 93d9023a616d8fea9491d827259b745b3b5e4817 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 2 Aug 2012 19:27:36 +0000 Subject: [PATCH 743/914] added InverseDepth factor based on Montiel/Civera's paramaterization. MOntiel06rss, Civera08tro --- gtsam_unstable/slam/InvDepthCamera3.h | 179 ++++++++++++++ gtsam_unstable/slam/InvDepthFactor3.h | 111 +++++++++ .../slam/tests/testInvDepthFactor3.cpp | 223 ++++++++++++++++++ 3 files changed, 513 insertions(+) create mode 100644 gtsam_unstable/slam/InvDepthCamera3.h create mode 100644 gtsam_unstable/slam/InvDepthFactor3.h create mode 100644 gtsam_unstable/slam/tests/testInvDepthFactor3.cpp diff --git a/gtsam_unstable/slam/InvDepthCamera3.h b/gtsam_unstable/slam/InvDepthCamera3.h new file mode 100644 index 000000000..54f5c2939 --- /dev/null +++ b/gtsam_unstable/slam/InvDepthCamera3.h @@ -0,0 +1,179 @@ + +/** + * @file InvDepthCamera3.h + * @brief + * @author Chris Beall + * @date Apr 14, 2012 + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gtsam { + + /** + * A pinhole camera class that has a Pose3 and a Calibration. + * @ingroup geometry + * \nosubgrouping + */ + template + class InvDepthCamera3 { + private: + Pose3 pose_; + boost::shared_ptr k_; + + public: + + /// @name Standard Constructors + /// @{ + + /** default constructor */ + InvDepthCamera3() {} + + /** constructor with pose and calibration */ + InvDepthCamera3(const Pose3& pose, const boost::shared_ptr& k) : + pose_(pose),k_(k) {} + + /// @} + /// @name Standard Interface + /// @{ + + virtual ~InvDepthCamera3() {} + + /// return pose + inline Pose3& pose() { return pose_; } + + /// return calibration + inline const boost::shared_ptr& calibration() const { return k_; } + + /// print + void print(const std::string& s = "") const { + pose_.print("pose3"); + k_.print("calibration"); + } + + static gtsam::Point3 invDepthTo3D(const gtsam::LieVector& pw, const gtsam::LieScalar& inv) { + gtsam::Point3 ray_base(pw.vector().segment(0,3)); + double theta = pw(3), phi = pw(4); + double rho = inv.value(); // inverse depth + gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); + return ray_base + m/rho; + } + + /** project a point from world InvDepth parameterization to the image + * @param pw is a point in the world coordinate + * @param H1 is the jacobian w.r.t. [pose3 calibration] + * @param H2 is the jacobian w.r.t. inv_depth_landmark + */ + inline gtsam::Point2 project(const gtsam::LieVector& pw, + const gtsam::LieScalar& inv_depth, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none, + boost::optional H3 = boost::none) const { + + gtsam::Point3 ray_base(pw.vector().segment(0,3)); + double theta = pw(3), phi = pw(4); + double rho = inv_depth.value(); // inverse depth + gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); + const gtsam::Point3 landmark = ray_base + m/rho; + + gtsam::PinholeCamera camera(pose_, *k_); + + if (!H1 && !H2 && !H3) { + gtsam::Point2 uv= camera.project(landmark); + return uv; + } + else { + gtsam::Matrix J2; + gtsam::Point2 uv= camera.project(landmark,H1, J2); + if (H1) { + *H1 = (*H1) * gtsam::eye(6); + } + + double cos_theta = cos(theta); + double sin_theta = sin(theta); + double cos_phi = cos(phi); + double sin_phi = sin(phi); + double rho2 = rho * rho; + + if (H2) { + double H11 = 1; + double H12 = 0; + double H13 = 0; + double H14 = -cos_phi*sin_theta/rho; + double H15 = -cos_theta*sin_phi/rho; + + double H21 = 0; + double H22 = 1; + double H23 = 0; + double H24 = cos_phi*cos_theta/rho; + double H25 = -sin_phi*sin_theta/rho; + + double H31 = 0; + double H32 = 0; + double H33 = 1; + double H34 = 0; + double H35 = cos_phi/rho; + + *H2 = J2 * gtsam::Matrix_(3,5, + H11, H12, H13, H14, H15, + H21, H22, H23, H24, H25, + H31, H32, H33, H34, H35); + } + if(H3) { + double H16 = -cos_phi*cos_theta/rho2; + double H26 = -cos_phi*sin_theta/rho2; + double H36 = -sin_phi/rho2; + *H3 = J2 * gtsam::Matrix_(3,1, + H16, + H26, + H36); + } + return uv; + } + } + + /** + * backproject a 2-dimensional point to an Inverse Depth landmark + * useful for point initialization + */ + + inline std::pair backproject(const gtsam::Point2& pi, const double depth) const { + const gtsam::Point2 pn = k_->calibrate(pi); + gtsam::Point3 pc(pn.x(), pn.y(), 1.0); + pc = pc/pc.norm(); + gtsam::Point3 pw = pose_.transform_from(pc); + const gtsam::Point3& pt = pose_.translation(); + gtsam::Point3 ray = pw - pt; + double theta = atan2(ray.y(), ray.x()); // longitude + double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y())); + return std::make_pair(gtsam::LieVector(5, pt.x(),pt.y(),pt.z(), theta, phi), + gtsam::LieScalar(1./depth)); + } + +private: + + /// @} + /// @name Advanced Interface + /// @{ + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_NVP(pose_); + ar & BOOST_SERIALIZATION_NVP(k_); + } + /// @} + }; +} diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h new file mode 100644 index 000000000..17875e80d --- /dev/null +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -0,0 +1,111 @@ + +/** + * @file InvDepthFactor3.h + * @brief Inverse Depth Factor + * @author Chris Beall + */ + +#pragma once + +#include +#include +#include +#include + +namespace gtsam { + + template + class InvDepthFactor3: public gtsam::NoiseModelFactor3 { + protected: + + // Keep a copy of measurement and calibration for I/O + gtsam::Point2 measured_; ///< 2D measurement + boost::shared_ptr K_; ///< shared pointer to calibration object + + public: + + /// shorthand for base class type + typedef gtsam::NoiseModelFactor3 Base; + + /// shorthand for this class + typedef InvDepthFactor3 This; + + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; + + /// Default constructor + InvDepthFactor3() : K_(new gtsam::Cal3_S2(444, 555, 666, 777, 888)) {} + + /** + * Constructor + * TODO: Mark argument order standard (keys, measurement, parameters) + * @param z is the 2 dimensional location of point in image (the measurement) + * @param model is the standard deviation + * @param j_pose is basically the frame number + * @param j_landmark is the index of the landmark + * @param K shared pointer to the constant calibration + */ + InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, + const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const gtsam::shared_ptrK& K) : + Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {} + + /** Virtual destructor */ + virtual ~InvDepthFactor3() {} + + /** + * print + * @param s optional string naming the factor + */ + void print(const std::string& s = "InvDepthFactor3", + const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { + Base::print(s, keyFormatter); + measured_.print(s + ".z"); + } + + /// equals + virtual bool equals(const gtsam::NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol); + } + + /// Evaluate error h(x)-z and optionally derivatives + gtsam::Vector evaluateError(const POSE& pose, const gtsam::LieVector& point, const INVDEPTH& invDepth, + boost::optional H1=boost::none, + boost::optional H2=boost::none, + boost::optional H3=boost::none) const { + try { + InvDepthCamera3 camera(pose, K_); + gtsam::Point2 reprojectionError(camera.project(point, invDepth, H1, H2, H3) - measured_); + return reprojectionError.vector(); + } catch( CheiralityException& e) { + if (H1) *H1 = gtsam::zeros(2,6); + if (H2) *H2 = gtsam::zeros(2,5); + if (H3) *H2 = gtsam::zeros(2,1); + std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << + " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; + return gtsam::ones(2) * 2.0 * K_->fx(); + } + } + + /** return the measurement */ + const gtsam::Point2& imagePoint() const { + return measured_; + } + + /** return the calibration object */ + inline const gtsam::Cal3_S2::shared_ptr calibration() const { + return K_; + } + + 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(measured_); + ar & BOOST_SERIALIZATION_NVP(K_); + } + }; +} // \ namespace gtsam diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp new file mode 100644 index 000000000..11986fc6a --- /dev/null +++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp @@ -0,0 +1,223 @@ +/* + * testInvDepthFactor.cpp + * + * Created on: Apr 13, 2012 + * Author: cbeall3 + */ + +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace gtsam; + +/* ************************************************************************* */ +static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); +Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); +SimpleCamera level_camera(level_pose, *K); + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project1) { + + // landmark 5 meters infront of camera + Point3 landmark(5, 0, 1); + + Point2 expected_uv = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector inv_landmark(5, 1., 0., 1., 0., 0.); + LieScalar inv_depth(1./4); + Point2 actual_uv = inv_camera.project(inv_landmark, inv_depth); + CHECK(assert_equal(expected_uv, actual_uv)); + CHECK(assert_equal(Point2(640,480), actual_uv)); + +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project2) { + + // landmark 1m to the left and 1m up from camera + // inv landmark xyz is same as camera xyz, so depth actually doesn't matter + Point3 landmark(1, 1, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1/sqrt(2))); + LieScalar inv_depth(1/sqrt(3)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project3) { + + // landmark 1m to the left and 1m up from camera + // inv depth landmark xyz at origion + Point3 landmark(1, 1, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2))); + LieScalar inv_depth( 1./sqrt(1+1+4)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project4) { + + // landmark 4m to the left and 1m up from camera + // inv depth landmark xyz at origion + Point3 landmark(1, 4, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 0., atan(4/1), atan(2./sqrt(1+16))); + LieScalar inv_depth(1./sqrt(1+16+4)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + CHECK(assert_equal(expected, actual)); +} + + +/* ************************************************************************* */ +Point2 project_(const Pose3& pose, const LieVector& landmark, const LieScalar& inv_depth) { + return InvDepthCamera3(pose,K).project(landmark, inv_depth); } + +TEST( InvDepthFactor, Dproject_pose) +{ + LieVector landmark(6,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative31(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, actual, boost::none, boost::none); + CHECK(assert_equal(expected,actual,1e-6)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Dproject_landmark) +{ + LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative32(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, actual, boost::none); + CHECK(assert_equal(expected,actual,1e-7)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Dproject_inv_depth) +{ + LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative33(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, boost::none, actual); + CHECK(assert_equal(expected,actual,1e-7)); +} + +/* ************************************************************************* */ +TEST(InvDepthFactor, backproject) +{ + LieVector expected(5,0.,0.,1., 0.1,0.2); + LieScalar inv_depth(1./4); + InvDepthCamera3 inv_camera(level_pose,K); + Point2 z = inv_camera.project(expected, inv_depth); + + LieVector actual_vec; + LieScalar actual_inv; + boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 4); + CHECK(assert_equal(expected,actual_vec,1e-7)); + CHECK(assert_equal(inv_depth,actual_inv,1e-7)); +} + +/* ************************************************************************* */ +TEST(InvDepthFactor, backproject2) +{ + // backwards facing camera + LieVector expected(5,-5.,-5.,2., 3., -0.1); + LieScalar inv_depth(1./10); + InvDepthCamera3 inv_camera(Pose3(Rot3::ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K); + Point2 z = inv_camera.project(expected, inv_depth); + + LieVector actual_vec; + LieScalar actual_inv; + boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 10); + CHECK(assert_equal(expected,actual_vec,1e-7)); + CHECK(assert_equal(inv_depth,actual_inv,1e-7)); +} + +static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); +typedef InvDepthFactor3 InverseDepthFactor; +typedef NonlinearEquality PoseConstraint; + +/* ************************************************************************* */ +TEST( InvDepthFactor, optimize) { + + // landmark 5 meters infront of camera + Point3 landmark(5, 0, 1); + + Point2 expected_uv = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector inv_landmark(5, 1., 0., 1., 0., 0.); + LieScalar inv_depth(1./4); + + gtsam::NonlinearFactorGraph graph; + Values initial; + + InverseDepthFactor::shared_ptr factor(new InverseDepthFactor(expected_uv, sigma, + Symbol('x',1), Symbol('l',1), Symbol('d',1), K)); + graph.push_back(factor); + graph.add(PoseConstraint(Symbol('x',1),level_pose)); + initial.insert(Symbol('x',1), level_pose); + initial.insert(Symbol('l',1), inv_landmark); + initial.insert(Symbol('d',1), inv_depth); + + LevenbergMarquardtParams lmParams; + Values result = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); + CHECK(assert_equal(initial, result, 1e-9)); + + /// Add a second camera + + // add a camera 1 meter to the right + Pose3 right_pose = level_pose * Pose3(Rot3(), Point3(2,0,0)); + SimpleCamera right_camera(right_pose, *K); + + InvDepthCamera3 right_inv_camera(right_pose, K); + + Point3 landmark1(6,0,1); + Point2 right_uv = right_camera.project(landmark1); + + + InverseDepthFactor::shared_ptr factor1(new InverseDepthFactor(right_uv, sigma, + Symbol('x',2), Symbol('l',1),Symbol('d',1),K)); + graph.push_back(factor1); + + graph.add(PoseConstraint(Symbol('x',2),right_pose)); + + initial.insert(Symbol('x',2), right_pose); + + // TODO: need to add priors to make this work with +// Values result2 = optimize(graph, initial, +// NonlinearOptimizationParameters(),MULTIFRONTAL, GN); + + Values result2 = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); + Point3 l1_result2 = InvDepthCamera3::invDepthTo3D( + result2.at(Symbol('l',1)), + result2.at(Symbol('d',1))); + + CHECK(assert_equal(landmark1, l1_result2, 1e-9)); +} + + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr);} +/* ************************************************************************* */ From 4c836c6e3a27964d23e76314101e0f10afe797b0 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 2 Aug 2012 19:57:10 +0000 Subject: [PATCH 744/914] Wrapped Pose[Translation|Rotation]Factor --- gtsam_unstable/gtsam_unstable.h | 19 +++++++++++++- gtsam_unstable/slam/PoseRotationPrior.h | 23 ++++++++++++----- gtsam_unstable/slam/PoseTranslationPrior.h | 29 +++++++++++++++------- 3 files changed, 55 insertions(+), 16 deletions(-) diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index a14ad34f9..60bd833ff 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -6,6 +6,7 @@ virtual class gtsam::Value; virtual class gtsam::Point3; virtual class gtsam::Rot3; +virtual class gtsam::Pose2; virtual class gtsam::Pose3; virtual class gtsam::noiseModel::Base; virtual class gtsam::NonlinearFactor; @@ -165,5 +166,21 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor { DGroundConstraint(size_t key, Vector constraint, const gtsam::noiseModel::Base* model); }; +//************************************************************************* +// General nonlinear factor types +//************************************************************************* +#include -}///\namespace gtsam +#include +template +virtual class PoseTranslationPrior : gtsam::NonlinearFactor { + PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); +}; + +#include +template +virtual class PoseRotationPrior : gtsam::NonlinearFactor { + PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); +}; + +} //\namespace gtsam diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam_unstable/slam/PoseRotationPrior.h index c5f039f7f..c4a7a7de7 100644 --- a/gtsam_unstable/slam/PoseRotationPrior.h +++ b/gtsam_unstable/slam/PoseRotationPrior.h @@ -29,9 +29,23 @@ public: /** standard constructor */ PoseRotationPrior(Key key, const Rotation& rot_z, const SharedNoiseModel& model) - : Base(key, model) - { - assert(rot_z.dim() == model->dim()); + : Base(key, model) { + initialize(rot_z); + } + + /** Constructor that pulls the translation from an incoming POSE */ + PoseRotationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model) + : Base(key, model) { + initialize(pose_z.rotation()); + } + + /** get the rotation used to create the measurement */ + Rotation priorRotation() const { return Rotation::Expmap(this->prior_); } + +protected: + /** loads the underlying partial prior factor */ + void initialize(const Rotation& rot_z) { + assert(rot_z.dim() == this->noiseModel_->dim()); // Calculate the prior applied this->prior_ = Rotation::Logmap(rot_z); @@ -52,9 +66,6 @@ public: this->fillH(); } - /** get the rotation used to create the measurement */ - Rotation priorRotation() const { return Rotation::Expmap(this->prior_); } - }; } // \namespace gtsam diff --git a/gtsam_unstable/slam/PoseTranslationPrior.h b/gtsam_unstable/slam/PoseTranslationPrior.h index 0e4d34b8b..4219e3252 100644 --- a/gtsam_unstable/slam/PoseTranslationPrior.h +++ b/gtsam_unstable/slam/PoseTranslationPrior.h @@ -28,17 +28,31 @@ public: GTSAM_CONCEPT_LIE_TYPE(Translation) /** standard constructor */ - PoseTranslationPrior(Key key, const Translation& rot_z, const SharedNoiseModel& model) - : Base(key, model) - { - assert(rot_z.dim() == model->dim()); + PoseTranslationPrior(Key key, const Translation& trans_z, const SharedNoiseModel& model) + : Base(key, model) { + initialize(trans_z); + } + + /** Constructor that pulls the translation from an incoming POSE */ + PoseTranslationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model) + : Base(key, model) { + initialize(pose_z.translation()); + } + + /** get the rotation used to create the measurement */ + Translation priorTranslation() const { return Translation::Expmap(this->prior_); } + +protected: + /** loads the underlying partial prior factor */ + void initialize(const Translation& trans_z) { + assert(trans_z.dim() == this->noiseModel_->dim()); // Calculate the prior applied - this->prior_ = Translation::Logmap(rot_z); + this->prior_ = Translation::Logmap(trans_z); // Create the mask for partial prior size_t pose_dim = Pose::identity().dim(); - size_t rot_dim = rot_z.dim(); + size_t rot_dim = trans_z.dim(); // get the interval of the lie coordinates corresponding to rotation std::pair interval = Pose::translationInterval(); @@ -52,9 +66,6 @@ public: this->fillH(); } - /** get the rotation used to create the measurement */ - Translation priorTranslation() const { return Translation::Expmap(this->prior_); } - }; } // \namespace gtsam From b211c1070dd6262d63c266b1be8a630e9eb47c28 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 2 Aug 2012 20:47:16 +0000 Subject: [PATCH 745/914] Rearranged the inverse depth factor/camera, created a gtsam_unstable/geometry folder - run cmake to find the new/moved files --- .cproject | 334 ++++++++++-------- gtsam_unstable/CMakeLists.txt | 2 + gtsam_unstable/geometry/CMakeLists.txt | 22 ++ gtsam_unstable/geometry/InvDepthCamera3.h | 179 ++++++++++ .../geometry/tests/testInvDepthCamera3.cpp | 157 ++++++++ gtsam_unstable/slam/InvDepthCamera3.h | 179 ---------- gtsam_unstable/slam/InvDepthFactor3.h | 167 ++++----- .../slam/tests/testInvDepthFactor3.cpp | 147 +------- 8 files changed, 633 insertions(+), 554 deletions(-) create mode 100644 gtsam_unstable/geometry/CMakeLists.txt create mode 100644 gtsam_unstable/geometry/InvDepthCamera3.h create mode 100644 gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp delete mode 100644 gtsam_unstable/slam/InvDepthCamera3.h diff --git a/.cproject b/.cproject index 2439190b6..b09810484 100644 --- a/.cproject +++ b/.cproject @@ -309,14 +309,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -343,6 +335,7 @@ make + tests/testBayesTree.run true false @@ -350,6 +343,7 @@ make + testBinaryBayesNet.run true false @@ -397,6 +391,7 @@ make + testSymbolicBayesNet.run true false @@ -404,6 +399,7 @@ make + tests/testSymbolicFactor.run true false @@ -411,6 +407,7 @@ make + testSymbolicFactorGraph.run true false @@ -426,11 +423,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -519,22 +525,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -551,6 +541,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -575,26 +581,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -679,26 +685,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -775,6 +781,14 @@ true true + + make + -j5 + testInvDepthFactor3.run + true + true + true + make -j5 @@ -807,6 +821,14 @@ true true + + make + -j5 + testInvDepthCamera3.run + true + true + true + make -j2 @@ -953,6 +975,7 @@ make + testGraph.run true false @@ -960,6 +983,7 @@ make + testJunctionTree.run true false @@ -967,6 +991,7 @@ make + testSymbolicBayesNetB.run true false @@ -1102,6 +1127,7 @@ make + testErrors.run true false @@ -1565,7 +1591,6 @@ make - testSimulated2DOriented.run true false @@ -1605,7 +1630,6 @@ make - testSimulated2D.run true false @@ -1613,7 +1637,6 @@ make - testSimulated3D.run true false @@ -1829,7 +1852,6 @@ make - tests/testGaussianISAM2 true false @@ -1851,102 +1873,6 @@ 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 -j1 @@ -2148,6 +2074,7 @@ cpack + -G DEB true false @@ -2155,6 +2082,7 @@ cpack + -G RPM true false @@ -2162,6 +2090,7 @@ cpack + -G TGZ true false @@ -2169,6 +2098,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2310,34 +2240,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap + -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 @@ -2381,6 +2375,38 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 64311cdca..c38015db9 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -2,6 +2,7 @@ # and also build tests set (gtsam_unstable_subdirs base + geometry discrete # linear dynamics @@ -31,6 +32,7 @@ endforeach(subdir) # assemble gtsam_unstable components set(gtsam_unstable_srcs ${base_srcs} + ${geometry_srcs} ${discrete_srcs} ${dynamics_srcs} #${linear_srcs} diff --git a/gtsam_unstable/geometry/CMakeLists.txt b/gtsam_unstable/geometry/CMakeLists.txt new file mode 100644 index 000000000..d6b6a706d --- /dev/null +++ b/gtsam_unstable/geometry/CMakeLists.txt @@ -0,0 +1,22 @@ +# Install headers +file(GLOB geometry_headers "*.h") +install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry) + +# Components to link tests in this subfolder against +set(geometry_local_libs + #geometry_unstable # No sources currently, so no convenience lib + geometry + base + ccolamd +) + +set (geometry_full_libs + gtsam-static + gtsam_unstable-static) + +# Exclude tests that don't work +set (geometry_excluded_tests "") + +# Add all tests +gtsam_add_subdir_tests(geometry_unstable "${geometry_local_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}") +add_dependencies(check.unstable check.geometry_unstable) diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h new file mode 100644 index 000000000..d0b9ccd88 --- /dev/null +++ b/gtsam_unstable/geometry/InvDepthCamera3.h @@ -0,0 +1,179 @@ + +/** + * @file InvDepthCamera3.h + * @brief + * @author Chris Beall + * @date Apr 14, 2012 + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gtsam { + +/** + * A pinhole camera class that has a Pose3 and a Calibration. + * @ingroup geometry + * \nosubgrouping + */ +template +class InvDepthCamera3 { +private: + Pose3 pose_; + boost::shared_ptr k_; + +public: + + /// @name Standard Constructors + /// @{ + + /** default constructor */ + InvDepthCamera3() {} + + /** constructor with pose and calibration */ + InvDepthCamera3(const Pose3& pose, const boost::shared_ptr& k) : + pose_(pose),k_(k) {} + + /// @} + /// @name Standard Interface + /// @{ + + virtual ~InvDepthCamera3() {} + + /// return pose + inline Pose3& pose() { return pose_; } + + /// return calibration + inline const boost::shared_ptr& calibration() const { return k_; } + + /// print + void print(const std::string& s = "") const { + pose_.print("pose3"); + k_.print("calibration"); + } + + static gtsam::Point3 invDepthTo3D(const gtsam::LieVector& pw, const gtsam::LieScalar& inv) { + gtsam::Point3 ray_base(pw.vector().segment(0,3)); + double theta = pw(3), phi = pw(4); + double rho = inv.value(); // inverse depth + gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); + return ray_base + m/rho; + } + + /** project a point from world InvDepth parameterization to the image + * @param pw is a point in the world coordinate + * @param H1 is the jacobian w.r.t. [pose3 calibration] + * @param H2 is the jacobian w.r.t. inv_depth_landmark + */ + inline gtsam::Point2 project(const gtsam::LieVector& pw, + const gtsam::LieScalar& inv_depth, + boost::optional H1 = boost::none, + boost::optional H2 = boost::none, + boost::optional H3 = boost::none) const { + + gtsam::Point3 ray_base(pw.vector().segment(0,3)); + double theta = pw(3), phi = pw(4); + double rho = inv_depth.value(); // inverse depth + gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); + const gtsam::Point3 landmark = ray_base + m/rho; + + gtsam::PinholeCamera camera(pose_, *k_); + + if (!H1 && !H2 && !H3) { + gtsam::Point2 uv= camera.project(landmark); + return uv; + } + else { + gtsam::Matrix J2; + gtsam::Point2 uv= camera.project(landmark,H1, J2); + if (H1) { + *H1 = (*H1) * gtsam::eye(6); + } + + double cos_theta = cos(theta); + double sin_theta = sin(theta); + double cos_phi = cos(phi); + double sin_phi = sin(phi); + double rho2 = rho * rho; + + if (H2) { + double H11 = 1; + double H12 = 0; + double H13 = 0; + double H14 = -cos_phi*sin_theta/rho; + double H15 = -cos_theta*sin_phi/rho; + + double H21 = 0; + double H22 = 1; + double H23 = 0; + double H24 = cos_phi*cos_theta/rho; + double H25 = -sin_phi*sin_theta/rho; + + double H31 = 0; + double H32 = 0; + double H33 = 1; + double H34 = 0; + double H35 = cos_phi/rho; + + *H2 = J2 * gtsam::Matrix_(3,5, + H11, H12, H13, H14, H15, + H21, H22, H23, H24, H25, + H31, H32, H33, H34, H35); + } + if(H3) { + double H16 = -cos_phi*cos_theta/rho2; + double H26 = -cos_phi*sin_theta/rho2; + double H36 = -sin_phi/rho2; + *H3 = J2 * gtsam::Matrix_(3,1, + H16, + H26, + H36); + } + return uv; + } + } + + /** + * backproject a 2-dimensional point to an Inverse Depth landmark + * useful for point initialization + */ + + inline std::pair backproject(const gtsam::Point2& pi, const double depth) const { + const gtsam::Point2 pn = k_->calibrate(pi); + gtsam::Point3 pc(pn.x(), pn.y(), 1.0); + pc = pc/pc.norm(); + gtsam::Point3 pw = pose_.transform_from(pc); + const gtsam::Point3& pt = pose_.translation(); + gtsam::Point3 ray = pw - pt; + double theta = atan2(ray.y(), ray.x()); // longitude + double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y())); + return std::make_pair(gtsam::LieVector(5, pt.x(),pt.y(),pt.z(), theta, phi), + gtsam::LieScalar(1./depth)); + } + +private: + + /// @} + /// @name Advanced Interface + /// @{ + + /** Serialization function */ + friend class boost::serialization::access; + template + void serialize(Archive & ar, const unsigned int version) { + ar & BOOST_SERIALIZATION_NVP(pose_); + ar & BOOST_SERIALIZATION_NVP(k_); + } + /// @} +}; // \class InvDepthCamera +} // \namesapce gtsam diff --git a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp new file mode 100644 index 000000000..1e1dae189 --- /dev/null +++ b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp @@ -0,0 +1,157 @@ +/* + * testInvDepthFactor.cpp + * + * Created on: Apr 13, 2012 + * Author: cbeall3 + */ + +#include + +#include +#include +#include + +#include + +using namespace std; +using namespace gtsam; + +static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); +Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); +SimpleCamera level_camera(level_pose, *K); + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project1) { + + // landmark 5 meters infront of camera + Point3 landmark(5, 0, 1); + + Point2 expected_uv = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector inv_landmark(5, 1., 0., 1., 0., 0.); + LieScalar inv_depth(1./4); + Point2 actual_uv = inv_camera.project(inv_landmark, inv_depth); + EXPECT(assert_equal(expected_uv, actual_uv)); + EXPECT(assert_equal(Point2(640,480), actual_uv)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project2) { + + // landmark 1m to the left and 1m up from camera + // inv landmark xyz is same as camera xyz, so depth actually doesn't matter + Point3 landmark(1, 1, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1/sqrt(2))); + LieScalar inv_depth(1/sqrt(3)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + EXPECT(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project3) { + + // landmark 1m to the left and 1m up from camera + // inv depth landmark xyz at origion + Point3 landmark(1, 1, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2))); + LieScalar inv_depth( 1./sqrt(1+1+4)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + EXPECT(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Project4) { + + // landmark 4m to the left and 1m up from camera + // inv depth landmark xyz at origion + Point3 landmark(1, 4, 2); + Point2 expected = level_camera.project(landmark); + + InvDepthCamera3 inv_camera(level_pose, K); + LieVector diag_landmark(5, 0., 0., 0., atan(4/1), atan(2./sqrt(1+16))); + LieScalar inv_depth(1./sqrt(1+16+4)); + Point2 actual = inv_camera.project(diag_landmark, inv_depth); + EXPECT(assert_equal(expected, actual)); +} + + +/* ************************************************************************* */ +Point2 project_(const Pose3& pose, const LieVector& landmark, const LieScalar& inv_depth) { + return InvDepthCamera3(pose,K).project(landmark, inv_depth); } + +TEST( InvDepthFactor, Dproject_pose) +{ + LieVector landmark(6,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative31(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, actual, boost::none, boost::none); + EXPECT(assert_equal(expected,actual,1e-6)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Dproject_landmark) +{ + LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative32(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, actual, boost::none); + EXPECT(assert_equal(expected,actual,1e-7)); +} + +/* ************************************************************************* */ +TEST( InvDepthFactor, Dproject_inv_depth) +{ + LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); + LieScalar inv_depth(1./4); + Matrix expected = numericalDerivative33(project_,level_pose, landmark, inv_depth); + InvDepthCamera3 inv_camera(level_pose,K); + Matrix actual; + Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, boost::none, actual); + EXPECT(assert_equal(expected,actual,1e-7)); +} + +/* ************************************************************************* */ +TEST(InvDepthFactor, backproject) +{ + LieVector expected(5,0.,0.,1., 0.1,0.2); + LieScalar inv_depth(1./4); + InvDepthCamera3 inv_camera(level_pose,K); + Point2 z = inv_camera.project(expected, inv_depth); + + LieVector actual_vec; + LieScalar actual_inv; + boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 4); + EXPECT(assert_equal(expected,actual_vec,1e-7)); + EXPECT(assert_equal(inv_depth,actual_inv,1e-7)); +} + +/* ************************************************************************* */ +TEST(InvDepthFactor, backproject2) +{ + // backwards facing camera + LieVector expected(5,-5.,-5.,2., 3., -0.1); + LieScalar inv_depth(1./10); + InvDepthCamera3 inv_camera(Pose3(Rot3::ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K); + Point2 z = inv_camera.project(expected, inv_depth); + + LieVector actual_vec; + LieScalar actual_inv; + boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 10); + EXPECT(assert_equal(expected,actual_vec,1e-7)); + EXPECT(assert_equal(inv_depth,actual_inv,1e-7)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr);} +/* ************************************************************************* */ diff --git a/gtsam_unstable/slam/InvDepthCamera3.h b/gtsam_unstable/slam/InvDepthCamera3.h deleted file mode 100644 index 54f5c2939..000000000 --- a/gtsam_unstable/slam/InvDepthCamera3.h +++ /dev/null @@ -1,179 +0,0 @@ - -/** - * @file InvDepthCamera3.h - * @brief - * @author Chris Beall - * @date Apr 14, 2012 - */ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace gtsam { - - /** - * A pinhole camera class that has a Pose3 and a Calibration. - * @ingroup geometry - * \nosubgrouping - */ - template - class InvDepthCamera3 { - private: - Pose3 pose_; - boost::shared_ptr k_; - - public: - - /// @name Standard Constructors - /// @{ - - /** default constructor */ - InvDepthCamera3() {} - - /** constructor with pose and calibration */ - InvDepthCamera3(const Pose3& pose, const boost::shared_ptr& k) : - pose_(pose),k_(k) {} - - /// @} - /// @name Standard Interface - /// @{ - - virtual ~InvDepthCamera3() {} - - /// return pose - inline Pose3& pose() { return pose_; } - - /// return calibration - inline const boost::shared_ptr& calibration() const { return k_; } - - /// print - void print(const std::string& s = "") const { - pose_.print("pose3"); - k_.print("calibration"); - } - - static gtsam::Point3 invDepthTo3D(const gtsam::LieVector& pw, const gtsam::LieScalar& inv) { - gtsam::Point3 ray_base(pw.vector().segment(0,3)); - double theta = pw(3), phi = pw(4); - double rho = inv.value(); // inverse depth - gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); - return ray_base + m/rho; - } - - /** project a point from world InvDepth parameterization to the image - * @param pw is a point in the world coordinate - * @param H1 is the jacobian w.r.t. [pose3 calibration] - * @param H2 is the jacobian w.r.t. inv_depth_landmark - */ - inline gtsam::Point2 project(const gtsam::LieVector& pw, - const gtsam::LieScalar& inv_depth, - boost::optional H1 = boost::none, - boost::optional H2 = boost::none, - boost::optional H3 = boost::none) const { - - gtsam::Point3 ray_base(pw.vector().segment(0,3)); - double theta = pw(3), phi = pw(4); - double rho = inv_depth.value(); // inverse depth - gtsam::Point3 m(cos(theta)*cos(phi),sin(theta)*cos(phi),sin(phi)); - const gtsam::Point3 landmark = ray_base + m/rho; - - gtsam::PinholeCamera camera(pose_, *k_); - - if (!H1 && !H2 && !H3) { - gtsam::Point2 uv= camera.project(landmark); - return uv; - } - else { - gtsam::Matrix J2; - gtsam::Point2 uv= camera.project(landmark,H1, J2); - if (H1) { - *H1 = (*H1) * gtsam::eye(6); - } - - double cos_theta = cos(theta); - double sin_theta = sin(theta); - double cos_phi = cos(phi); - double sin_phi = sin(phi); - double rho2 = rho * rho; - - if (H2) { - double H11 = 1; - double H12 = 0; - double H13 = 0; - double H14 = -cos_phi*sin_theta/rho; - double H15 = -cos_theta*sin_phi/rho; - - double H21 = 0; - double H22 = 1; - double H23 = 0; - double H24 = cos_phi*cos_theta/rho; - double H25 = -sin_phi*sin_theta/rho; - - double H31 = 0; - double H32 = 0; - double H33 = 1; - double H34 = 0; - double H35 = cos_phi/rho; - - *H2 = J2 * gtsam::Matrix_(3,5, - H11, H12, H13, H14, H15, - H21, H22, H23, H24, H25, - H31, H32, H33, H34, H35); - } - if(H3) { - double H16 = -cos_phi*cos_theta/rho2; - double H26 = -cos_phi*sin_theta/rho2; - double H36 = -sin_phi/rho2; - *H3 = J2 * gtsam::Matrix_(3,1, - H16, - H26, - H36); - } - return uv; - } - } - - /** - * backproject a 2-dimensional point to an Inverse Depth landmark - * useful for point initialization - */ - - inline std::pair backproject(const gtsam::Point2& pi, const double depth) const { - const gtsam::Point2 pn = k_->calibrate(pi); - gtsam::Point3 pc(pn.x(), pn.y(), 1.0); - pc = pc/pc.norm(); - gtsam::Point3 pw = pose_.transform_from(pc); - const gtsam::Point3& pt = pose_.translation(); - gtsam::Point3 ray = pw - pt; - double theta = atan2(ray.y(), ray.x()); // longitude - double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y())); - return std::make_pair(gtsam::LieVector(5, pt.x(),pt.y(),pt.z(), theta, phi), - gtsam::LieScalar(1./depth)); - } - -private: - - /// @} - /// @name Advanced Interface - /// @{ - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int version) { - ar & BOOST_SERIALIZATION_NVP(pose_); - ar & BOOST_SERIALIZATION_NVP(k_); - } - /// @} - }; -} diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h index 17875e80d..daaf64575 100644 --- a/gtsam_unstable/slam/InvDepthFactor3.h +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -9,103 +9,106 @@ #include #include -#include -#include +#include namespace gtsam { - template - class InvDepthFactor3: public gtsam::NoiseModelFactor3 { - protected: +/** + * Ternary factor representing a visual measurement that includes inverse depth + */ +template +class InvDepthFactor3: public gtsam::NoiseModelFactor3 { +protected: - // Keep a copy of measurement and calibration for I/O - gtsam::Point2 measured_; ///< 2D measurement - boost::shared_ptr K_; ///< shared pointer to calibration object + // Keep a copy of measurement and calibration for I/O + gtsam::Point2 measured_; ///< 2D measurement + boost::shared_ptr K_; ///< shared pointer to calibration object - public: +public: - /// shorthand for base class type - typedef gtsam::NoiseModelFactor3 Base; + /// shorthand for base class type + typedef gtsam::NoiseModelFactor3 Base; - /// shorthand for this class - typedef InvDepthFactor3 This; + /// shorthand for this class + typedef InvDepthFactor3 This; - /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; - /// Default constructor - InvDepthFactor3() : K_(new gtsam::Cal3_S2(444, 555, 666, 777, 888)) {} + /// Default constructor + InvDepthFactor3() : K_(new gtsam::Cal3_S2(444, 555, 666, 777, 888)) {} - /** - * Constructor - * TODO: Mark argument order standard (keys, measurement, parameters) - * @param z is the 2 dimensional location of point in image (the measurement) - * @param model is the standard deviation - * @param j_pose is basically the frame number - * @param j_landmark is the index of the landmark - * @param K shared pointer to the constant calibration - */ - InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, - const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const gtsam::shared_ptrK& K) : - Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {} + /** + * Constructor + * TODO: Mark argument order standard (keys, measurement, parameters) + * @param z is the 2 dimensional location of point in image (the measurement) + * @param model is the standard deviation + * @param j_pose is basically the frame number + * @param j_landmark is the index of the landmark + * @param K shared pointer to the constant calibration + */ + InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, + const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const gtsam::shared_ptrK& K) : + Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {} - /** Virtual destructor */ - virtual ~InvDepthFactor3() {} + /** Virtual destructor */ + virtual ~InvDepthFactor3() {} - /** - * print - * @param s optional string naming the factor - */ - void print(const std::string& s = "InvDepthFactor3", - const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { - Base::print(s, keyFormatter); - measured_.print(s + ".z"); + /** + * print + * @param s optional string naming the factor + */ + void print(const std::string& s = "InvDepthFactor3", + const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { + Base::print(s, keyFormatter); + measured_.print(s + ".z"); + } + + /// equals + virtual bool equals(const gtsam::NonlinearFactor& p, double tol = 1e-9) const { + const This *e = dynamic_cast(&p); + return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol); + } + + /// Evaluate error h(x)-z and optionally derivatives + gtsam::Vector evaluateError(const POSE& pose, const gtsam::LieVector& point, const INVDEPTH& invDepth, + boost::optional H1=boost::none, + boost::optional H2=boost::none, + boost::optional H3=boost::none) const { + try { + InvDepthCamera3 camera(pose, K_); + gtsam::Point2 reprojectionError(camera.project(point, invDepth, H1, H2, H3) - measured_); + return reprojectionError.vector(); + } catch( CheiralityException& e) { + if (H1) *H1 = gtsam::zeros(2,6); + if (H2) *H2 = gtsam::zeros(2,5); + if (H3) *H2 = gtsam::zeros(2,1); + std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << + " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; + return gtsam::ones(2) * 2.0 * K_->fx(); } + return gtsam::Vector_(1, 0.0); + } - /// equals - virtual bool equals(const gtsam::NonlinearFactor& p, double tol = 1e-9) const { - const This *e = dynamic_cast(&p); - return e && Base::equals(p, tol) && this->measured_.equals(e->measured_, tol) && this->K_->equals(*e->K_, tol); - } + /** return the measurement */ + const gtsam::Point2& imagePoint() const { + return measured_; + } - /// Evaluate error h(x)-z and optionally derivatives - gtsam::Vector evaluateError(const POSE& pose, const gtsam::LieVector& point, const INVDEPTH& invDepth, - boost::optional H1=boost::none, - boost::optional H2=boost::none, - boost::optional H3=boost::none) const { - try { - InvDepthCamera3 camera(pose, K_); - gtsam::Point2 reprojectionError(camera.project(point, invDepth, H1, H2, H3) - measured_); - return reprojectionError.vector(); - } catch( CheiralityException& e) { - if (H1) *H1 = gtsam::zeros(2,6); - if (H2) *H2 = gtsam::zeros(2,5); - if (H3) *H2 = gtsam::zeros(2,1); - std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2()) << - " moved behind camera " << DefaultKeyFormatter(this->key1()) << std::endl; - return gtsam::ones(2) * 2.0 * K_->fx(); - } - } + /** return the calibration object */ + inline const gtsam::Cal3_S2::shared_ptr calibration() const { + return K_; + } - /** return the measurement */ - const gtsam::Point2& imagePoint() const { - return measured_; - } +private: - /** return the calibration object */ - inline const gtsam::Cal3_S2::shared_ptr calibration() const { - return K_; - } - - 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(measured_); - ar & BOOST_SERIALIZATION_NVP(K_); - } - }; + /// 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(measured_); + ar & BOOST_SERIALIZATION_NVP(K_); + } +}; } // \ namespace gtsam diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp index 11986fc6a..5567bc9ce 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp @@ -5,156 +5,25 @@ * Author: cbeall3 */ -#include -#include #include + +#include #include #include #include #include +#include + using namespace std; using namespace gtsam; -/* ************************************************************************* */ static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); +static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); + Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); SimpleCamera level_camera(level_pose, *K); -/* ************************************************************************* */ -TEST( InvDepthFactor, Project1) { - - // landmark 5 meters infront of camera - Point3 landmark(5, 0, 1); - - Point2 expected_uv = level_camera.project(landmark); - - InvDepthCamera3 inv_camera(level_pose, K); - LieVector inv_landmark(5, 1., 0., 1., 0., 0.); - LieScalar inv_depth(1./4); - Point2 actual_uv = inv_camera.project(inv_landmark, inv_depth); - CHECK(assert_equal(expected_uv, actual_uv)); - CHECK(assert_equal(Point2(640,480), actual_uv)); - -} - -/* ************************************************************************* */ -TEST( InvDepthFactor, Project2) { - - // landmark 1m to the left and 1m up from camera - // inv landmark xyz is same as camera xyz, so depth actually doesn't matter - Point3 landmark(1, 1, 2); - Point2 expected = level_camera.project(landmark); - - InvDepthCamera3 inv_camera(level_pose, K); - LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1/sqrt(2))); - LieScalar inv_depth(1/sqrt(3)); - Point2 actual = inv_camera.project(diag_landmark, inv_depth); - CHECK(assert_equal(expected, actual)); -} - -/* ************************************************************************* */ -TEST( InvDepthFactor, Project3) { - - // landmark 1m to the left and 1m up from camera - // inv depth landmark xyz at origion - Point3 landmark(1, 1, 2); - Point2 expected = level_camera.project(landmark); - - InvDepthCamera3 inv_camera(level_pose, K); - LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2))); - LieScalar inv_depth( 1./sqrt(1+1+4)); - Point2 actual = inv_camera.project(diag_landmark, inv_depth); - CHECK(assert_equal(expected, actual)); -} - -/* ************************************************************************* */ -TEST( InvDepthFactor, Project4) { - - // landmark 4m to the left and 1m up from camera - // inv depth landmark xyz at origion - Point3 landmark(1, 4, 2); - Point2 expected = level_camera.project(landmark); - - InvDepthCamera3 inv_camera(level_pose, K); - LieVector diag_landmark(5, 0., 0., 0., atan(4/1), atan(2./sqrt(1+16))); - LieScalar inv_depth(1./sqrt(1+16+4)); - Point2 actual = inv_camera.project(diag_landmark, inv_depth); - CHECK(assert_equal(expected, actual)); -} - - -/* ************************************************************************* */ -Point2 project_(const Pose3& pose, const LieVector& landmark, const LieScalar& inv_depth) { - return InvDepthCamera3(pose,K).project(landmark, inv_depth); } - -TEST( InvDepthFactor, Dproject_pose) -{ - LieVector landmark(6,0.1,0.2,0.3, 0.1,0.2); - LieScalar inv_depth(1./4); - Matrix expected = numericalDerivative31(project_,level_pose, landmark, inv_depth); - InvDepthCamera3 inv_camera(level_pose,K); - Matrix actual; - Point2 uv = inv_camera.project(landmark, inv_depth, actual, boost::none, boost::none); - CHECK(assert_equal(expected,actual,1e-6)); -} - -/* ************************************************************************* */ -TEST( InvDepthFactor, Dproject_landmark) -{ - LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); - LieScalar inv_depth(1./4); - Matrix expected = numericalDerivative32(project_,level_pose, landmark, inv_depth); - InvDepthCamera3 inv_camera(level_pose,K); - Matrix actual; - Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, actual, boost::none); - CHECK(assert_equal(expected,actual,1e-7)); -} - -/* ************************************************************************* */ -TEST( InvDepthFactor, Dproject_inv_depth) -{ - LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2); - LieScalar inv_depth(1./4); - Matrix expected = numericalDerivative33(project_,level_pose, landmark, inv_depth); - InvDepthCamera3 inv_camera(level_pose,K); - Matrix actual; - Point2 uv = inv_camera.project(landmark, inv_depth, boost::none, boost::none, actual); - CHECK(assert_equal(expected,actual,1e-7)); -} - -/* ************************************************************************* */ -TEST(InvDepthFactor, backproject) -{ - LieVector expected(5,0.,0.,1., 0.1,0.2); - LieScalar inv_depth(1./4); - InvDepthCamera3 inv_camera(level_pose,K); - Point2 z = inv_camera.project(expected, inv_depth); - - LieVector actual_vec; - LieScalar actual_inv; - boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 4); - CHECK(assert_equal(expected,actual_vec,1e-7)); - CHECK(assert_equal(inv_depth,actual_inv,1e-7)); -} - -/* ************************************************************************* */ -TEST(InvDepthFactor, backproject2) -{ - // backwards facing camera - LieVector expected(5,-5.,-5.,2., 3., -0.1); - LieScalar inv_depth(1./10); - InvDepthCamera3 inv_camera(Pose3(Rot3::ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K); - Point2 z = inv_camera.project(expected, inv_depth); - - LieVector actual_vec; - LieScalar actual_inv; - boost::tie(actual_vec, actual_inv) = inv_camera.backproject(z, 10); - CHECK(assert_equal(expected,actual_vec,1e-7)); - CHECK(assert_equal(inv_depth,actual_inv,1e-7)); -} - -static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); typedef InvDepthFactor3 InverseDepthFactor; typedef NonlinearEquality PoseConstraint; @@ -183,7 +52,7 @@ TEST( InvDepthFactor, optimize) { LevenbergMarquardtParams lmParams; Values result = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); - CHECK(assert_equal(initial, result, 1e-9)); + EXPECT(assert_equal(initial, result, 1e-9)); /// Add a second camera @@ -214,7 +83,7 @@ TEST( InvDepthFactor, optimize) { result2.at(Symbol('l',1)), result2.at(Symbol('d',1))); - CHECK(assert_equal(landmark1, l1_result2, 1e-9)); + EXPECT(assert_equal(landmark1, l1_result2, 1e-9)); } From f39bad0d137d56603c050d53b09e15743cfaaab6 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Fri, 3 Aug 2012 19:05:48 +0000 Subject: [PATCH 746/914] When erasing cached shortcut conditionals in the Bayes Tree, only erase the chains of shortcuts that exist instead of the whole tree. --- gtsam/inference/BayesTreeCliqueBase-inl.h | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/gtsam/inference/BayesTreeCliqueBase-inl.h b/gtsam/inference/BayesTreeCliqueBase-inl.h index f96566536..344f845ac 100644 --- a/gtsam/inference/BayesTreeCliqueBase-inl.h +++ b/gtsam/inference/BayesTreeCliqueBase-inl.h @@ -268,12 +268,19 @@ namespace gtsam { /* ************************************************************************* */ template void BayesTreeCliqueBase::deleteCachedShorcuts() { - //Delete CachedShortcut for this clique - this->resetCachedShortcut(); - // Recursive call over all child cliques - BOOST_FOREACH(derived_ptr& child, children_) { - child->deleteCachedShorcuts(); - } + + // When a shortcut is requested, all of the shortcuts between it and the + // root are also generated. So, if this clique's cached shortcut is set, + // recursively call over all child cliques. Otherwise, it is unnecessary. + if(cachedShortcut_) { + BOOST_FOREACH(derived_ptr& child, children_) { + child->deleteCachedShorcuts(); + } + + //Delete CachedShortcut for this clique + this->resetCachedShortcut(); + } + } } From 73d64d04a8d6ef73dbae6e846eedb92d6148ea3b Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 3 Aug 2012 19:49:26 +0000 Subject: [PATCH 747/914] Removed unused make targets, changed wrap structure for PosePartialPriors --- .cproject | 16 ---------------- gtsam_unstable/gtsam_unstable.h | 10 ++++++++-- 2 files changed, 8 insertions(+), 18 deletions(-) diff --git a/.cproject b/.cproject index b09810484..f5675f5ee 100644 --- a/.cproject +++ b/.cproject @@ -2192,22 +2192,6 @@ true true - - make - -j5 - wrap_gtsam_clean - true - true - true - - - make - -j5 - wrap_gtsam_unstable_clean - true - true - true - make -j5 diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 60bd833ff..1bb6d20e0 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -172,15 +172,21 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor { #include #include -template +template virtual class PoseTranslationPrior : gtsam::NonlinearFactor { PoseTranslationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); }; +typedef gtsam::PoseTranslationPrior PoseTranslationPrior2D; +typedef gtsam::PoseTranslationPrior PoseTranslationPrior3D; + #include -template +template virtual class PoseRotationPrior : gtsam::NonlinearFactor { PoseRotationPrior(size_t key, const POSE& pose_z, const gtsam::noiseModel::Base* noiseModel); }; +typedef gtsam::PoseRotationPrior PoseRotationPrior2D; +typedef gtsam::PoseRotationPrior PoseRotationPrior3D; + } //\namespace gtsam From a9864dab238fa317bcdcc87ed4aed52301172204 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 3 Aug 2012 20:23:08 +0000 Subject: [PATCH 748/914] Wrapped ISAM1 --- gtsam.h | 47 ++++++++++++++++++++++++++++++++++++++++------- 1 file changed, 40 insertions(+), 7 deletions(-) diff --git a/gtsam.h b/gtsam.h index ddfe7dcd9..023b5c6f3 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1028,15 +1028,25 @@ class InvertedOrdering { class NonlinearFactorGraph { NonlinearFactorGraph(); - void print(string s) const; - size_t size() const; - double error(const gtsam::Values& c) const; - double probPrime(const gtsam::Values& c) const; - gtsam::NonlinearFactor* at(size_t i) const; + 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); + size_t nrFactors() const; void add(const gtsam::NonlinearFactor* factor); - gtsam::Ordering* orderingCOLAMD(const gtsam::Values& c) const; + gtsam::NonlinearFactor* at(size_t i) const; + + // NonlinearFactorGraph + double error(const gtsam::Values& values) const; + double probPrime(const gtsam::Values& values) const; + gtsam::Ordering* orderingCOLAMD(const gtsam::Values& values) const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; - gtsam::GaussianFactorGraph* linearize(const gtsam::Values& c, const gtsam::Ordering& ordering) const; + gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values, + const gtsam::Ordering& ordering) const; gtsam::NonlinearFactorGraph clone() const; }; @@ -1329,6 +1339,29 @@ class ISAM2 { 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(); + void addKey(size_t key); + void setOrdering(const gtsam::Ordering& new_ordering); + + // These might be expensive as instead of a reference the wrapper will make a copy + gtsam::GaussianISAM bayesTree() const; + gtsam::Values getLinearizationPoint() const; + gtsam::Ordering getOrdering() const; + gtsam::NonlinearFactorGraph getFactorsUnsafe() const; +}; + //************************************************************************* // Nonlinear factor types //************************************************************************* From d93aac12d01cca5e9ff88b9eb0abec2e36238ddf Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 3 Aug 2012 21:02:37 +0000 Subject: [PATCH 749/914] Fixed ambiguous sqrt/atan errors --- .../geometry/tests/testInvDepthCamera3.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp index 1e1dae189..a69410e34 100644 --- a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp +++ b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp @@ -45,8 +45,8 @@ TEST( InvDepthFactor, Project2) { Point2 expected = level_camera.project(landmark); InvDepthCamera3 inv_camera(level_pose, K); - LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1/sqrt(2))); - LieScalar inv_depth(1/sqrt(3)); + LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1.0/sqrt(2.0))); + LieScalar inv_depth(1/sqrt(3.0)); Point2 actual = inv_camera.project(diag_landmark, inv_depth); EXPECT(assert_equal(expected, actual)); } @@ -60,8 +60,8 @@ TEST( InvDepthFactor, Project3) { Point2 expected = level_camera.project(landmark); InvDepthCamera3 inv_camera(level_pose, K); - LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2))); - LieScalar inv_depth( 1./sqrt(1+1+4)); + LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2.0))); + LieScalar inv_depth( 1./sqrt(1.0+1+4)); Point2 actual = inv_camera.project(diag_landmark, inv_depth); EXPECT(assert_equal(expected, actual)); } @@ -75,8 +75,8 @@ TEST( InvDepthFactor, Project4) { Point2 expected = level_camera.project(landmark); InvDepthCamera3 inv_camera(level_pose, K); - LieVector diag_landmark(5, 0., 0., 0., atan(4/1), atan(2./sqrt(1+16))); - LieScalar inv_depth(1./sqrt(1+16+4)); + LieVector diag_landmark(5, 0., 0., 0., atan(4.0/1), atan(2./sqrt(1.+16.))); + LieScalar inv_depth(1./sqrt(1.+16.+4.)); Point2 actual = inv_camera.project(diag_landmark, inv_depth); EXPECT(assert_equal(expected, actual)); } From 84924ad663c24333cad1f47b36c21661d580aa9c Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 3 Aug 2012 21:02:39 +0000 Subject: [PATCH 750/914] Removed remaining reference to slam namespace headers --- gtsam_unstable/slam/tests/testPosePriors.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/slam/tests/testPosePriors.cpp b/gtsam_unstable/slam/tests/testPosePriors.cpp index 4aa835266..1a40dd335 100644 --- a/gtsam_unstable/slam/tests/testPosePriors.cpp +++ b/gtsam_unstable/slam/tests/testPosePriors.cpp @@ -9,12 +9,12 @@ #include +#include +#include + #include #include -#include -#include - #include using namespace gtsam; From 061b6ddc08ba41541860a28a5cff515e67dd16c4 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 3 Aug 2012 21:02:45 +0000 Subject: [PATCH 751/914] Moved all in gtsam_utils to gtsam namespace --- matlab/{+gtsam_utils => +gtsam}/CHECK.m | 0 matlab/{+gtsam_utils => +gtsam}/EQUALITY.m | 0 .../VisualISAMGenerateData.m | 0 .../VisualISAMInitialize.m | 0 .../{+gtsam_utils => +gtsam}/VisualISAMPlot.m | 8 ++--- .../{+gtsam_utils => +gtsam}/VisualISAMStep.m | 0 matlab/{+gtsam_utils => +gtsam}/circlePose2.m | 0 matlab/{+gtsam_utils => +gtsam}/circlePose3.m | 0 .../covarianceEllipse.m | 0 .../covarianceEllipse3D.m | 0 .../findExampleDataFile.m | 0 matlab/{+gtsam_utils => +gtsam}/load3D.m | 0 .../{+gtsam_utils => +gtsam}/plot2DPoints.m | 4 +-- .../plot2DTrajectory.m | 4 +-- .../{+gtsam_utils => +gtsam}/plot3DPoints.m | 4 +-- .../plot3DTrajectory.m | 4 +-- matlab/{+gtsam_utils => +gtsam}/plotCamera.m | 0 matlab/{+gtsam_utils => +gtsam}/plotPoint2.m | 2 +- matlab/{+gtsam_utils => +gtsam}/plotPoint3.m | 2 +- matlab/{+gtsam_utils => +gtsam}/plotPose2.m | 2 +- matlab/{+gtsam_utils => +gtsam}/plotPose3.m | 2 +- matlab/+gtsam_utils/load2D.m | 31 ------------------- matlab/CMakeLists.txt | 2 +- matlab/gtsam_examples/LocalizationExample.m | 2 +- matlab/gtsam_examples/OdometryExample.m | 2 +- matlab/gtsam_examples/PlanarSLAMExample.m | 4 +-- .../PlanarSLAMExample_sampling.m | 6 ++-- matlab/gtsam_examples/Pose2SLAMExample.m | 2 +- .../gtsam_examples/Pose2SLAMExample_circle.m | 6 ++-- .../gtsam_examples/Pose2SLAMExample_graph.m | 8 ++--- matlab/gtsam_examples/Pose3SLAMExample.m | 6 ++-- .../gtsam_examples/Pose3SLAMExample_graph.m | 10 +++--- matlab/gtsam_examples/SBAExample.m | 2 +- matlab/gtsam_examples/SFMExample.m | 6 ++-- matlab/gtsam_examples/StereoVOExample.m | 6 ++-- matlab/gtsam_examples/StereoVOExample_large.m | 12 +++---- matlab/gtsam_examples/VisualISAMExample.m | 10 +++--- matlab/gtsam_examples/VisualISAM_gui.m | 14 ++++----- matlab/gtsam_tests/testJacobianFactor.m | 1 - matlab/gtsam_tests/testKalmanFilter.m | 8 ++--- matlab/gtsam_tests/testLocalizationExample.m | 1 - matlab/gtsam_tests/testOdometryExample.m | 2 +- matlab/gtsam_tests/testPlanarSLAMExample.m | 1 - matlab/gtsam_tests/testPose2SLAMExample.m | 1 - matlab/gtsam_tests/testPose3SLAMExample.m | 1 - matlab/gtsam_tests/testSFMExample.m | 2 -- matlab/gtsam_tests/testStereoVOExample.m | 1 - matlab/gtsam_tests/testVisualISAMExample.m | 6 ++-- 48 files changed, 73 insertions(+), 112 deletions(-) rename matlab/{+gtsam_utils => +gtsam}/CHECK.m (100%) rename matlab/{+gtsam_utils => +gtsam}/EQUALITY.m (100%) rename matlab/{+gtsam_utils => +gtsam}/VisualISAMGenerateData.m (100%) rename matlab/{+gtsam_utils => +gtsam}/VisualISAMInitialize.m (100%) rename matlab/{+gtsam_utils => +gtsam}/VisualISAMPlot.m (86%) rename matlab/{+gtsam_utils => +gtsam}/VisualISAMStep.m (100%) rename matlab/{+gtsam_utils => +gtsam}/circlePose2.m (100%) rename matlab/{+gtsam_utils => +gtsam}/circlePose3.m (100%) rename matlab/{+gtsam_utils => +gtsam}/covarianceEllipse.m (100%) rename matlab/{+gtsam_utils => +gtsam}/covarianceEllipse3D.m (100%) rename matlab/{+gtsam_utils => +gtsam}/findExampleDataFile.m (100%) rename matlab/{+gtsam_utils => +gtsam}/load3D.m (100%) rename matlab/{+gtsam_utils => +gtsam}/plot2DPoints.m (88%) rename matlab/{+gtsam_utils => +gtsam}/plot2DTrajectory.m (93%) rename matlab/{+gtsam_utils => +gtsam}/plot3DPoints.m (88%) rename matlab/{+gtsam_utils => +gtsam}/plot3DTrajectory.m (91%) rename matlab/{+gtsam_utils => +gtsam}/plotCamera.m (100%) rename matlab/{+gtsam_utils => +gtsam}/plotPoint2.m (76%) rename matlab/{+gtsam_utils => +gtsam}/plotPoint3.m (80%) rename matlab/{+gtsam_utils => +gtsam}/plotPose2.m (84%) rename matlab/{+gtsam_utils => +gtsam}/plotPose3.m (94%) delete mode 100644 matlab/+gtsam_utils/load2D.m diff --git a/matlab/+gtsam_utils/CHECK.m b/matlab/+gtsam/CHECK.m similarity index 100% rename from matlab/+gtsam_utils/CHECK.m rename to matlab/+gtsam/CHECK.m diff --git a/matlab/+gtsam_utils/EQUALITY.m b/matlab/+gtsam/EQUALITY.m similarity index 100% rename from matlab/+gtsam_utils/EQUALITY.m rename to matlab/+gtsam/EQUALITY.m diff --git a/matlab/+gtsam_utils/VisualISAMGenerateData.m b/matlab/+gtsam/VisualISAMGenerateData.m similarity index 100% rename from matlab/+gtsam_utils/VisualISAMGenerateData.m rename to matlab/+gtsam/VisualISAMGenerateData.m diff --git a/matlab/+gtsam_utils/VisualISAMInitialize.m b/matlab/+gtsam/VisualISAMInitialize.m similarity index 100% rename from matlab/+gtsam_utils/VisualISAMInitialize.m rename to matlab/+gtsam/VisualISAMInitialize.m diff --git a/matlab/+gtsam_utils/VisualISAMPlot.m b/matlab/+gtsam/VisualISAMPlot.m similarity index 86% rename from matlab/+gtsam_utils/VisualISAMPlot.m rename to matlab/+gtsam/VisualISAMPlot.m index 41aa49ac6..5ef64cf62 100644 --- a/matlab/+gtsam_utils/VisualISAMPlot.m +++ b/matlab/+gtsam/VisualISAMPlot.m @@ -9,7 +9,7 @@ hold on; %% Plot points % Can't use data because current frame might not see all points marginals = Marginals(isam.getFactorsUnsafe(), isam.calculateEstimate()); % TODO - this is slow -gtsam_utils.plot3DPoints(result, [], marginals); +gtsam.plot3DPoints(result, [], marginals); %% Plot cameras import gtsam.* @@ -18,13 +18,13 @@ while result.exists(symbol('x',M)) ii = symbol('x',M); pose_i = result.at(ii); if options.hardConstraint && (M==1) - gtsam_utils.plotPose3(pose_i,[],10); + gtsam.plotPose3(pose_i,[],10); else P = marginals.marginalCovariance(ii); - gtsam_utils.plotPose3(pose_i,P,10); + gtsam.plotPose3(pose_i,P,10); end if options.drawTruePoses % show ground truth - gtsam_utils.plotPose3(truth.cameras{M}.pose,[],10); + gtsam.plotPose3(truth.cameras{M}.pose,[],10); end M = M + options.cameraInterval; diff --git a/matlab/+gtsam_utils/VisualISAMStep.m b/matlab/+gtsam/VisualISAMStep.m similarity index 100% rename from matlab/+gtsam_utils/VisualISAMStep.m rename to matlab/+gtsam/VisualISAMStep.m diff --git a/matlab/+gtsam_utils/circlePose2.m b/matlab/+gtsam/circlePose2.m similarity index 100% rename from matlab/+gtsam_utils/circlePose2.m rename to matlab/+gtsam/circlePose2.m diff --git a/matlab/+gtsam_utils/circlePose3.m b/matlab/+gtsam/circlePose3.m similarity index 100% rename from matlab/+gtsam_utils/circlePose3.m rename to matlab/+gtsam/circlePose3.m diff --git a/matlab/+gtsam_utils/covarianceEllipse.m b/matlab/+gtsam/covarianceEllipse.m similarity index 100% rename from matlab/+gtsam_utils/covarianceEllipse.m rename to matlab/+gtsam/covarianceEllipse.m diff --git a/matlab/+gtsam_utils/covarianceEllipse3D.m b/matlab/+gtsam/covarianceEllipse3D.m similarity index 100% rename from matlab/+gtsam_utils/covarianceEllipse3D.m rename to matlab/+gtsam/covarianceEllipse3D.m diff --git a/matlab/+gtsam_utils/findExampleDataFile.m b/matlab/+gtsam/findExampleDataFile.m similarity index 100% rename from matlab/+gtsam_utils/findExampleDataFile.m rename to matlab/+gtsam/findExampleDataFile.m diff --git a/matlab/+gtsam_utils/load3D.m b/matlab/+gtsam/load3D.m similarity index 100% rename from matlab/+gtsam_utils/load3D.m rename to matlab/+gtsam/load3D.m diff --git a/matlab/+gtsam_utils/plot2DPoints.m b/matlab/+gtsam/plot2DPoints.m similarity index 88% rename from matlab/+gtsam_utils/plot2DPoints.m rename to matlab/+gtsam/plot2DPoints.m index b98434627..d4703a5d7 100644 --- a/matlab/+gtsam_utils/plot2DPoints.m +++ b/matlab/+gtsam/plot2DPoints.m @@ -22,9 +22,9 @@ for i = 0:keys.size-1 if isa(p, 'gtsam.Point2') if haveMarginals P = marginals.marginalCovariance(key); - gtsam_utils.plotPoint2(p, linespec, P); + gtsam.plotPoint2(p, linespec, P); else - gtsam_utils.plotPoint2(p, linespec); + gtsam.plotPoint2(p, linespec); end end end diff --git a/matlab/+gtsam_utils/plot2DTrajectory.m b/matlab/+gtsam/plot2DTrajectory.m similarity index 93% rename from matlab/+gtsam_utils/plot2DTrajectory.m rename to matlab/+gtsam/plot2DTrajectory.m index c962c993b..329026398 100644 --- a/matlab/+gtsam_utils/plot2DTrajectory.m +++ b/matlab/+gtsam/plot2DTrajectory.m @@ -31,7 +31,7 @@ for i = 0:keys.size-1 plot([ x.x; lastPose.x ], [ x.y; lastPose.y ], linespec); if haveMarginals P = marginals.marginalCovariance(lastKey); - gtsam_utils.plotPose2(lastPose, 'g', P); + gtsam.plotPose2(lastPose, 'g', P); end end lastIndex = i; @@ -43,7 +43,7 @@ if ~isempty(lastIndex) && haveMarginals lastKey = keys.at(lastIndex); lastPose = values.at(lastKey); P = marginals.marginalCovariance(lastKey); - gtsam_utils.plotPose2(lastPose, 'g', P); + gtsam.plotPose2(lastPose, 'g', P); end if ~holdstate diff --git a/matlab/+gtsam_utils/plot3DPoints.m b/matlab/+gtsam/plot3DPoints.m similarity index 88% rename from matlab/+gtsam_utils/plot3DPoints.m rename to matlab/+gtsam/plot3DPoints.m index e7a5ab0a0..8feab1744 100644 --- a/matlab/+gtsam_utils/plot3DPoints.m +++ b/matlab/+gtsam/plot3DPoints.m @@ -22,9 +22,9 @@ for i = 0:keys.size-1 if isa(p, 'gtsam.Point3') if haveMarginals P = marginals.marginalCovariance(key); - gtsam_utils.plotPoint3(p, linespec, P); + gtsam.plotPoint3(p, linespec, P); else - gtsam_utils.plotPoint3(p, linespec); + gtsam.plotPoint3(p, linespec); end end end diff --git a/matlab/+gtsam_utils/plot3DTrajectory.m b/matlab/+gtsam/plot3DTrajectory.m similarity index 91% rename from matlab/+gtsam_utils/plot3DTrajectory.m rename to matlab/+gtsam/plot3DTrajectory.m index 08b2f0daa..1cd35c22f 100644 --- a/matlab/+gtsam_utils/plot3DTrajectory.m +++ b/matlab/+gtsam/plot3DTrajectory.m @@ -28,7 +28,7 @@ for i = 0:keys.size-1 else P = []; end - gtsam_utils.plotPose3(lastPose, P, scale); + gtsam.plotPose3(lastPose, P, scale); end lastIndex = i; end @@ -43,7 +43,7 @@ if ~isempty(lastIndex) else P = []; end - gtsam_utils.plotPose3(lastPose, P, scale); + gtsam.plotPose3(lastPose, P, scale); end if ~holdstate diff --git a/matlab/+gtsam_utils/plotCamera.m b/matlab/+gtsam/plotCamera.m similarity index 100% rename from matlab/+gtsam_utils/plotCamera.m rename to matlab/+gtsam/plotCamera.m diff --git a/matlab/+gtsam_utils/plotPoint2.m b/matlab/+gtsam/plotPoint2.m similarity index 76% rename from matlab/+gtsam_utils/plotPoint2.m rename to matlab/+gtsam/plotPoint2.m index a1bc85a88..e62804ce3 100644 --- a/matlab/+gtsam_utils/plotPoint2.m +++ b/matlab/+gtsam/plotPoint2.m @@ -6,5 +6,5 @@ else plot(p.x,p.y,color); end if exist('P', 'var') - gtsam_utils.covarianceEllipse([p.x;p.y],P,color(1)); + gtsam.covarianceEllipse([p.x;p.y],P,color(1)); end \ No newline at end of file diff --git a/matlab/+gtsam_utils/plotPoint3.m b/matlab/+gtsam/plotPoint3.m similarity index 80% rename from matlab/+gtsam_utils/plotPoint3.m rename to matlab/+gtsam/plotPoint3.m index 6aafd5f21..390b44939 100644 --- a/matlab/+gtsam_utils/plotPoint3.m +++ b/matlab/+gtsam/plotPoint3.m @@ -6,7 +6,7 @@ else plot3(p.x,p.y,p.z,color); end if exist('P', 'var') - gtsam_utils.covarianceEllipse3D([p.x;p.y;p.z],P); + gtsam.covarianceEllipse3D([p.x;p.y;p.z],P); end end diff --git a/matlab/+gtsam_utils/plotPose2.m b/matlab/+gtsam/plotPose2.m similarity index 84% rename from matlab/+gtsam_utils/plotPose2.m rename to matlab/+gtsam/plotPose2.m index a9997dc2c..c7fba28ed 100644 --- a/matlab/+gtsam_utils/plotPose2.m +++ b/matlab/+gtsam/plotPose2.m @@ -9,5 +9,5 @@ quiver(pose.x,pose.y,c,s,axisLength,color); if nargin>2 pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame gRp = [c -s;s c]; % rotation from pose to global - gtsam_utils.covarianceEllipse([pose.x;pose.y],gRp*pPp*gRp',color); + gtsam.covarianceEllipse([pose.x;pose.y],gRp*pPp*gRp',color); end \ No newline at end of file diff --git a/matlab/+gtsam_utils/plotPose3.m b/matlab/+gtsam/plotPose3.m similarity index 94% rename from matlab/+gtsam_utils/plotPose3.m rename to matlab/+gtsam/plotPose3.m index d24a998c8..e2c254e39 100644 --- a/matlab/+gtsam_utils/plotPose3.m +++ b/matlab/+gtsam/plotPose3.m @@ -25,7 +25,7 @@ end if (nargin>2) && (~isempty(P)) pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame - gtsam_utils.covarianceEllipse3D(C,gPp); + gtsam.covarianceEllipse3D(C,gPp); end end diff --git a/matlab/+gtsam_utils/load2D.m b/matlab/+gtsam_utils/load2D.m deleted file mode 100644 index c4b2e105d..000000000 --- a/matlab/+gtsam_utils/load2D.m +++ /dev/null @@ -1,31 +0,0 @@ -function [graph,initial] = load2D(filename,model) -% load2D: read TORO pose graph -% cannot read noise model from file yet, uses specified model - -import gtsam.* - -fid = fopen(filename); -if fid < 0 - error(['load2D: Cannot open file ' filename]); -end - -% scan all lines into a cell array -columns=textscan(fid,'%s','delimiter','\n'); -fclose(fid); -lines=columns{1}; - -% loop over lines and add vertices -graph = NonlinearFactorGraph; -initial = Values; -n=size(lines,1); -for i=1:n - line_i=lines{i}; - if strcmp('VERTEX2',line_i(1:7)) - v = textscan(line_i,'%s %d %f %f %f',1); - initial.insert(v{2}, Pose2(v{3}, v{4}, v{5})); - elseif strcmp('EDGE2',line_i(1:5)) - e = textscan(line_i,'%s %d %d %f %f %f',1); - graph.add(BetweenFactorPose2(e{2}, e{3}, Pose2(e{4}, e{5}, e{6}), model)); - end -end - diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 66fa99def..b4e43d3d6 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -20,7 +20,7 @@ install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION " # Utilities message(STATUS "Installing Matlab Toolbox Utilities") -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam_utils" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt diff --git a/matlab/gtsam_examples/LocalizationExample.m b/matlab/gtsam_examples/LocalizationExample.m index aad3af98c..c877c70c7 100644 --- a/matlab/gtsam_examples/LocalizationExample.m +++ b/matlab/gtsam_examples/LocalizationExample.m @@ -55,7 +55,7 @@ import gtsam.* cla; hold on; -gtsam_utils.plot2DTrajectory(result, [], Marginals(graph, result)); +gtsam.plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/gtsam_examples/OdometryExample.m b/matlab/gtsam_examples/OdometryExample.m index e47becda5..b913b187a 100644 --- a/matlab/gtsam_examples/OdometryExample.m +++ b/matlab/gtsam_examples/OdometryExample.m @@ -52,7 +52,7 @@ import gtsam.* cla; hold on; -gtsam_utils.plot2DTrajectory(result, [], Marginals(graph, result)); +gtsam.plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/gtsam_examples/PlanarSLAMExample.m b/matlab/gtsam_examples/PlanarSLAMExample.m index 056db501e..e37326275 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample.m +++ b/matlab/gtsam_examples/PlanarSLAMExample.m @@ -72,8 +72,8 @@ import gtsam.* cla;hold on marginals = Marginals(graph, result); -gtsam_utils.plot2DTrajectory(result, [], marginals); -gtsam_utils.plot2DPoints(result, [], marginals); +gtsam.plot2DTrajectory(result, [], marginals); +gtsam.plot2DPoints(result, [], marginals); plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-'); plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-'); diff --git a/matlab/gtsam_examples/PlanarSLAMExample_sampling.m b/matlab/gtsam_examples/PlanarSLAMExample_sampling.m index 5604d0ddc..59c99df53 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample_sampling.m +++ b/matlab/gtsam_examples/PlanarSLAMExample_sampling.m @@ -52,8 +52,8 @@ import gtsam.* cla;hold on marginals = Marginals(graph, sample); -gtsam_utils.plot2DTrajectory(sample, [], marginals); -gtsam_utils.plot2DPoints(sample, [], marginals); +gtsam.plot2DTrajectory(sample, [], marginals); +gtsam.plot2DPoints(sample, [], marginals); for j=1:2 key = symbol('l',j); @@ -73,5 +73,5 @@ N=1000; for s=1:N delta = S{2}*randn(2,1); proposedPoint = Point2(point{2}.x+delta(1),point{2}.y+delta(2)); - gtsam_utils.plotPoint2(proposedPoint,'k.') + gtsam.plotPoint2(proposedPoint,'k.') end \ No newline at end of file diff --git a/matlab/gtsam_examples/Pose2SLAMExample.m b/matlab/gtsam_examples/Pose2SLAMExample.m index a8ad32254..fccacc894 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample.m +++ b/matlab/gtsam_examples/Pose2SLAMExample.m @@ -68,7 +68,7 @@ hold on plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-','LineWidth',2); marginals = Marginals(graph, result); -gtsam_utils.plot2DTrajectory(result, [], marginals); +gtsam.plot2DTrajectory(result, [], marginals); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/gtsam_examples/Pose2SLAMExample_circle.m b/matlab/gtsam_examples/Pose2SLAMExample_circle.m index b40c67322..957a30df4 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_circle.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_circle.m @@ -12,7 +12,7 @@ %% Create a hexagon of poses import gtsam.* -hexagon = gtsam_utils.circlePose2(6,1.0); +hexagon = gtsam.circlePose2(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); @@ -42,7 +42,7 @@ initial.insert(5, hexagon.at(5).retract([-0.1, 0.1,-0.1]')); %% Plot Initial Estimate import gtsam.* cla -gtsam_utils.plot2DTrajectory(initial, 'g*-'); axis equal +gtsam.plot2DTrajectory(initial, 'g*-'); axis equal %% optimize import gtsam.* @@ -51,7 +51,7 @@ result = optimizer.optimizeSafely; %% Show Result import gtsam.* -hold on; gtsam_utils.plot2DTrajectory(result, 'b*-'); +hold on; gtsam.plot2DTrajectory(result, 'b*-'); view(2); axis([-1.5 1.5 -1.5 1.5]); result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/gtsam_examples/Pose2SLAMExample_graph.m b/matlab/gtsam_examples/Pose2SLAMExample_graph.m index cc8b38cdb..3eed090a2 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_graph.m @@ -11,7 +11,7 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Find data file -datafile = gtsam_utils.findExampleDataFile('w100-odom.graph'); +datafile = gtsam.findExampleDataFile('w100-odom.graph'); %% Initialize graph, initial estimate, and odometry noise import gtsam.* @@ -31,13 +31,13 @@ graph.add(PriorFactorPose2(0, priorMean, priorNoise)); % add directly to graph %% Plot Initial Estimate import gtsam.* cla -gtsam_utils.plot2DTrajectory(initial, 'g-*'); axis equal +gtsam.plot2DTrajectory(initial, 'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely; -hold on; gtsam_utils.plot2DTrajectory(result, 'b-*'); +hold on; gtsam.plot2DTrajectory(result, 'b-*'); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses @@ -47,7 +47,7 @@ P={}; for i=1:result.size()-1 pose_i = result.at(i); P{i}=marginals.marginalCovariance(i); - gtsam_utils.plotPose2(pose_i,'b',P{i}) + gtsam.plotPose2(pose_i,'b',P{i}) end view(2) axis([-15 10 -15 10]); axis equal; diff --git a/matlab/gtsam_examples/Pose3SLAMExample.m b/matlab/gtsam_examples/Pose3SLAMExample.m index bdc101b9d..b1521ff5b 100644 --- a/matlab/gtsam_examples/Pose3SLAMExample.m +++ b/matlab/gtsam_examples/Pose3SLAMExample.m @@ -12,7 +12,7 @@ %% Create a hexagon of poses import gtsam.* -hexagon = gtsam_utils.circlePose3(6,1.0); +hexagon = gtsam.circlePose3(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); @@ -43,7 +43,7 @@ initial.insert(5, hexagon.at(5).retract(s*randn(6,1))); %% Plot Initial Estimate import gtsam.* cla -gtsam_utils.plot3DTrajectory(initial, 'g-*'); +gtsam.plot3DTrajectory(initial, 'g-*'); %% optimize import gtsam.* @@ -52,7 +52,7 @@ result = optimizer.optimizeSafely(); %% Show Result import gtsam.* -hold on; gtsam_utils.plot3DTrajectory(result, 'b-*', true, 0.3); +hold on; gtsam.plot3DTrajectory(result, 'b-*', true, 0.3); axis([-2 2 -2 2 -1 1]); axis equal view(-37,40) diff --git a/matlab/gtsam_examples/Pose3SLAMExample_graph.m b/matlab/gtsam_examples/Pose3SLAMExample_graph.m index 574894878..19cc31439 100644 --- a/matlab/gtsam_examples/Pose3SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose3SLAMExample_graph.m @@ -16,27 +16,27 @@ N = 2500; % dataset = 'sphere2500_groundtruth.txt'; dataset = 'sphere2500.txt'; -datafile = gtsam_utils.findExampleDataFile(dataset); +datafile = gtsam.findExampleDataFile(dataset); %% Initialize graph, initial estimate, and odometry noise import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -[graph,initial]=gtsam_utils.load3D(datafile,model,true,N); +[graph,initial]=gtsam.load3D(datafile,model,true,N); %% Plot Initial Estimate import gtsam.* cla first = initial.at(0); plot3(first.x(),first.y(),first.z(),'r*'); hold on -gtsam_utils.plot3DTrajectory(initial,'g-',false); +gtsam.plot3DTrajectory(initial,'g-',false); drawnow; %% Read again, now with all constraints, and optimize import gtsam.* -graph = gtsam_utils.load3D(datafile, model, false, N); +graph = gtsam.load3D(datafile, model, false, N); graph.add(NonlinearEqualityPose3(0, first)); optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely(); -gtsam_utils.plot3DTrajectory(result, 'r-', false); axis equal; +gtsam.plot3DTrajectory(result, 'r-', false); axis equal; view(3); axis equal; \ No newline at end of file diff --git a/matlab/gtsam_examples/SBAExample.m b/matlab/gtsam_examples/SBAExample.m index 852c83fdc..7e4ac4031 100644 --- a/matlab/gtsam_examples/SBAExample.m +++ b/matlab/gtsam_examples/SBAExample.m @@ -22,7 +22,7 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = gtsam_utils.VisualISAMGenerateData(options); +[data,truth] = gtsam.VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; diff --git a/matlab/gtsam_examples/SFMExample.m b/matlab/gtsam_examples/SFMExample.m index 7f583b386..92eeb482b 100644 --- a/matlab/gtsam_examples/SFMExample.m +++ b/matlab/gtsam_examples/SFMExample.m @@ -22,7 +22,7 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = gtsam_utils.VisualISAMGenerateData(options); +[data,truth] = gtsam.VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; @@ -86,8 +86,8 @@ marginals = Marginals(graph, result); cla hold on; -gtsam_utils.plot3DPoints(result, [], marginals); -gtsam_utils.plot3DTrajectory(result, '*', 1, 8, marginals); +gtsam.plot3DPoints(result, [], marginals); +gtsam.plot3DTrajectory(result, '*', 1, 8, marginals); axis([-40 40 -40 40 -10 20]);axis equal view(3) diff --git a/matlab/gtsam_examples/StereoVOExample.m b/matlab/gtsam_examples/StereoVOExample.m index e62c4395c..94c4b3f37 100644 --- a/matlab/gtsam_examples/StereoVOExample.m +++ b/matlab/gtsam_examples/StereoVOExample.m @@ -75,6 +75,6 @@ axis equal view(-38,12) camup([0;1;0]); -gtsam_utils.plot3DTrajectory(initialEstimate, 'r', 1, 0.3); -gtsam_utils.plot3DTrajectory(result, 'g', 1, 0.3); -gtsam_utils.plot3DPoints(result); +gtsam.plot3DTrajectory(initialEstimate, 'r', 1, 0.3); +gtsam.plot3DTrajectory(result, 'g', 1, 0.3); +gtsam.plot3DPoints(result); diff --git a/matlab/gtsam_examples/StereoVOExample_large.m b/matlab/gtsam_examples/StereoVOExample_large.m index 5ae3a8fd7..850af4f80 100644 --- a/matlab/gtsam_examples/StereoVOExample_large.m +++ b/matlab/gtsam_examples/StereoVOExample_large.m @@ -13,7 +13,7 @@ %% Load calibration import gtsam.* % format: fx fy skew cx cy baseline -calib = dlmread(gtsam_utils.findExampleDataFile('VO_calibration.txt')); +calib = dlmread(gtsam.findExampleDataFile('VO_calibration.txt')); K = Cal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); @@ -26,7 +26,7 @@ initial = Values; % row format: camera_id 4x4 pose (row, major) import gtsam.* fprintf(1,'Reading data\n'); -cameras = dlmread(gtsam_utils.findExampleDataFile('VO_camera_poses_large.txt')); +cameras = dlmread(gtsam.findExampleDataFile('VO_camera_poses_large.txt')); for i=1:size(cameras,1) pose = Pose3(reshape(cameras(i,2:17),4,4)'); initial.insert(symbol('x',cameras(i,1)),pose); @@ -35,7 +35,7 @@ end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z import gtsam.* -measurements = dlmread(gtsam_utils.findExampleDataFile('VO_stereo_factors_large.txt')); +measurements = dlmread(gtsam.findExampleDataFile('VO_stereo_factors_large.txt')); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) @@ -69,9 +69,9 @@ toc %% visualize initial trajectory, final trajectory, and final points cla; hold on; -gtsam_utils.plot3DTrajectory(initial, 'r', 1, 0.5); -gtsam_utils.plot3DTrajectory(result, 'g', 1, 0.5); -gtsam_utils.plot3DPoints(result); +gtsam.plot3DTrajectory(initial, 'r', 1, 0.5); +gtsam.plot3DTrajectory(result, 'g', 1, 0.5); +gtsam.plot3DPoints(result); axis([-5 20 -20 20 0 100]); axis equal diff --git a/matlab/gtsam_examples/VisualISAMExample.m b/matlab/gtsam_examples/VisualISAMExample.m index 64634d336..31c240029 100644 --- a/matlab/gtsam_examples/VisualISAMExample.m +++ b/matlab/gtsam_examples/VisualISAMExample.m @@ -32,17 +32,17 @@ options.saveFigures = false; options.saveDotFiles = false; %% Generate data -[data,truth] = gtsam_utils.VisualISAMGenerateData(options); +[data,truth] = gtsam.VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -[noiseModels,isam,result,nextPose] = gtsam_utils.VisualISAMInitialize(data,truth,options); +[noiseModels,isam,result,nextPose] = gtsam.VisualISAMInitialize(data,truth,options); cla; -gtsam_utils.VisualISAMPlot(truth, data, isam, result, options) +gtsam.VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras - [isam,result,nextPose] = gtsam_utils.VisualISAMStep(data,noiseModels,isam,result,truth,nextPose); + [isam,result,nextPose] = gtsam.VisualISAMStep(data,noiseModels,isam,result,truth,nextPose); if mod(frame_i,options.drawInterval)==0 - gtsam_utils.VisualISAMPlot(truth, data, isam, result, options) + gtsam.VisualISAMPlot(truth, data, isam, result, options) end end diff --git a/matlab/gtsam_examples/VisualISAM_gui.m b/matlab/gtsam_examples/VisualISAM_gui.m index f7990268f..bc08e7abf 100644 --- a/matlab/gtsam_examples/VisualISAM_gui.m +++ b/matlab/gtsam_examples/VisualISAM_gui.m @@ -230,12 +230,12 @@ global frame_i truth data noiseModels isam result nextPoseIndex options initOptions(handles) % Generate Data -[data,truth] = gtsam_utils.VisualISAMGenerateData(options); +[data,truth] = gtsam.VisualISAMGenerateData(options); % Initialize and plot -[noiseModels,isam,result,nextPoseIndex] = gtsam_utils.VisualISAMInitialize(data,truth,options); +[noiseModels,isam,result,nextPoseIndex] = gtsam.VisualISAMInitialize(data,truth,options); cla -gtsam_utils.VisualISAMPlot(truth, data, isam, result, options) +gtsam.VisualISAMPlot(truth, data, isam, result, options) frame_i = 2; showFramei(hObject, handles) @@ -246,10 +246,10 @@ global frame_i truth data noiseModels isam result nextPoseIndex options while (frame_i Date: Sat, 4 Aug 2012 19:46:47 +0000 Subject: [PATCH 752/914] Moved private/protected back to front of classes. Added print. --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 71 +++++++++++-------- 1 file changed, 41 insertions(+), 30 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 4b3f8d391..13927d39f 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -30,6 +30,7 @@ class LevenbergMarquardtOptimizer; * all of those parameters. */ class LevenbergMarquardtParams : public SuccessiveLinearizationParams { + public: /** See LevenbergMarquardtParams::lmVerbosity */ enum VerbosityLM { @@ -41,6 +42,12 @@ public: DAMPED }; +private: + VerbosityLM verbosityLMTranslator(const std::string &s) const; + std::string verbosityLMTranslator(VerbosityLM value) const; + +public: + double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5) double lambdaFactor; ///< The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0) double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5) @@ -60,16 +67,20 @@ public: inline void setlambdaFactor(double value) { lambdaFactor = value; } inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; } inline void setVerbosityLM(const std::string &s) { verbosityLM = verbosityLMTranslator(s); } - -private: - VerbosityLM verbosityLMTranslator(const std::string &s) const; - std::string verbosityLMTranslator(VerbosityLM value) const; }; /** * State for LevenbergMarquardtOptimizer */ class LevenbergMarquardtState : public NonlinearOptimizerState { + +protected: + + LevenbergMarquardtState(const NonlinearFactorGraph& graph, const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) : + NonlinearOptimizerState(graph, initialValues, iterations), lambda(params.lambdaInitial) {} + + friend class LevenbergMarquardtOptimizer; + public: double lambda; @@ -77,12 +88,6 @@ public: LevenbergMarquardtState() {} virtual ~LevenbergMarquardtState() {} - -protected: - LevenbergMarquardtState(const NonlinearFactorGraph& graph, const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) : - NonlinearOptimizerState(graph, initialValues, iterations), lambda(params.lambdaInitial) {} - - friend class LevenbergMarquardtOptimizer; }; /** @@ -90,6 +95,25 @@ protected: */ class LevenbergMarquardtOptimizer : public NonlinearOptimizer { +protected: + + LevenbergMarquardtParams params_; ///< LM parameters + LevenbergMarquardtState state_; ///< optimization state + std::vector dimensions_; ///< undocumented + + /** Access the parameters (base class version) */ + virtual const NonlinearOptimizerParams& _params() const { return params_; } + + /** Access the state (base class version) */ + virtual const NonlinearOptimizerState& _state() const { return state_; } + + /** Internal function for computing a COLAMD ordering if no ordering is specified */ + LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph, const Values& values) const { + if(!params.ordering) + params.ordering = *graph.orderingCOLAMD(values); + return params; + } + public: typedef boost::shared_ptr shared_ptr; @@ -122,9 +146,15 @@ public: params_.ordering = ordering; state_ = LevenbergMarquardtState(graph, initialValues, params_); } - /** Access the current damping value */ + /// Access the current damping value double lambda() const { return state_.lambda; } + /// print + virtual void print(const std::string& str = "") const { + std::cout << str << "LevenbergMarquardtOptimizer" << std::endl; + this->params_.print(" parameters:\n"); + } + /// @} /// @name Advanced interface @@ -146,25 +176,6 @@ public: const LevenbergMarquardtState& state() const { return state_; } /// @} - -protected: - - LevenbergMarquardtParams params_; - LevenbergMarquardtState state_; - std::vector dimensions_; - - /** Access the parameters (base class version) */ - virtual const NonlinearOptimizerParams& _params() const { return params_; } - - /** Access the state (base class version) */ - virtual const NonlinearOptimizerState& _state() const { return state_; } - - /** Internal function for computing a COLAMD ordering if no ordering is specified */ - LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph, const Values& values) const { - if(!params.ordering) - params.ordering = *graph.orderingCOLAMD(values); - return params; - } }; } From 83a853f6f1d152e517b9d202e6f5874821136a27 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 4 Aug 2012 19:48:52 +0000 Subject: [PATCH 753/914] Removed use of EasyFactorGraph --- .../dynamics/tests/testIMUSystem.cpp | 20 +++++++------------ 1 file changed, 7 insertions(+), 13 deletions(-) diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 2f6b8b201..86301f417 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -12,7 +12,8 @@ #include #include #include -#include +#include +#include #include #include @@ -27,13 +28,6 @@ const double tol=1e-5; static const Key x0 = 0, x1 = 1, x2 = 2, x3 = 3, x4 = 4; static const Vector g = delta(3, 2, -9.81); -//typedef gtsam::IMUFactor IMUFactor; // IMU between measurements -//typedef gtsam::FullIMUFactor IMUFactor; // Full-state IMU between measurements -//typedef gtsam::BetweenFactor Between; // full odometry (including velocity) -//typedef gtsam::NonlinearEquality Constraint; -//typedef gtsam::PriorFactor Prior; -//typedef gtsam::RangeFactor Range; - /* ************************************************************************* */ TEST(testIMUSystem, instantiations) { // just checking for compilation @@ -74,7 +68,7 @@ TEST( testIMUSystem, optimize_chain ) { imu34 = pose3.imuPrediction(pose4, dt); // assemble simple graph with IMU measurements and velocity constraints - EasyFactorGraph graph; + NonlinearFactorGraph graph; graph.add(NonlinearEquality(x1, pose1)); graph.add(IMUFactor(imu12, dt, x1, x2, model)); graph.add(IMUFactor(imu23, dt, x2, x3, model)); @@ -100,7 +94,7 @@ TEST( testIMUSystem, optimize_chain ) { values.insert(x3, PoseRTV()); values.insert(x4, PoseRTV()); - Values actual = graph.optimize(values); + Values actual = LevenbergMarquardtOptimizer(graph, values).optimize(); EXPECT(assert_equal(true_values, actual, tol)); } @@ -121,7 +115,7 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { imu34 = pose3.imuPrediction(pose4, dt); // assemble simple graph with IMU measurements and velocity constraints - EasyFactorGraph graph; + NonlinearFactorGraph graph; graph.add(NonlinearEquality(x1, pose1)); graph.add(FullIMUFactor(imu12, dt, x1, x2, model)); graph.add(FullIMUFactor(imu23, dt, x2, x3, model)); @@ -146,7 +140,7 @@ TEST( testIMUSystem, optimize_chain_fullfactor ) { cout << "Initial Error: " << graph.error(values) << endl; // Initial error is 0.5 - need better prediction model - Values actual = graph.optimize(values); + Values actual = LevenbergMarquardtOptimizer(graph, values).optimize(); // EXPECT(assert_equal(true_values, actual, tol)); // FAIL } @@ -162,7 +156,7 @@ TEST( testIMUSystem, linear_trajectory) { SharedDiagonal model = noiseModel::Unit::Create(9); Values true_traj, init_traj; - EasyFactorGraph graph; + NonlinearFactorGraph graph; graph.add(NonlinearEquality(x0, start)); true_traj.insert(x0, start); From 5629b07fd68898048f85d0a03132422f6c35bd59 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Aug 2012 19:49:10 +0000 Subject: [PATCH 754/914] Fixed print issue --- gtsam/slam/BetweenFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index 1779bf286..d93e5fe81 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -74,7 +74,7 @@ namespace gtsam { std::cout << s << "BetweenFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n"; - measured_.print(" measured"); + measured_.print(" measured: "); this->noiseModel_->print(" noise model: "); } From c5b2f6361ad6dd0e70e5997a2cf51f6f85fbdcd1 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sat, 4 Aug 2012 20:14:12 +0000 Subject: [PATCH 755/914] Removed EasyFactorGraph as it is no longer necessary --- gtsam/nonlinear/EasyFactorGraph.cpp | 57 ------------------------ gtsam/nonlinear/EasyFactorGraph.h | 69 ----------------------------- 2 files changed, 126 deletions(-) delete mode 100644 gtsam/nonlinear/EasyFactorGraph.cpp delete mode 100644 gtsam/nonlinear/EasyFactorGraph.h diff --git a/gtsam/nonlinear/EasyFactorGraph.cpp b/gtsam/nonlinear/EasyFactorGraph.cpp deleted file mode 100644 index 5031975f7..000000000 --- a/gtsam/nonlinear/EasyFactorGraph.cpp +++ /dev/null @@ -1,57 +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 EasyFactorGraph.cpp - * @brief Nonlinear Factor Graph class with methods defined for safe and easy access in MATLAB - * @date June 24, 2012 - * @author Frank Dellaert - **/ - -#include -#include - -namespace gtsam { - - EasyFactorGraph::EasyFactorGraph() { - } - - EasyFactorGraph::EasyFactorGraph(const NonlinearFactorGraph& graph) : - NonlinearFactorGraph(graph) { - } - - LevenbergMarquardtOptimizer EasyFactorGraph::optimizer( - const Values& initialEstimate, const LevenbergMarquardtParams& p) const { - return LevenbergMarquardtOptimizer((*this), initialEstimate, p); - } - - Values EasyFactorGraph::optimize(const Values& initialEstimate, - size_t verbosity) const { - LevenbergMarquardtParams p; - p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity; - return optimizer(initialEstimate, p).optimizeSafely(); - } - - Values EasyFactorGraph::optimizeSPCG(const Values& initialEstimate, - size_t verbosity) const { - LevenbergMarquardtParams p; - p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity; - p.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT; - p.iterativeParams = boost::make_shared(); - return optimizer(initialEstimate, p).optimizeSafely(); - } - - Marginals EasyFactorGraph::marginals(const Values& solution) const { - return Marginals(*this, solution); - } - -} // namespace gtsam - diff --git a/gtsam/nonlinear/EasyFactorGraph.h b/gtsam/nonlinear/EasyFactorGraph.h deleted file mode 100644 index 2629cb409..000000000 --- a/gtsam/nonlinear/EasyFactorGraph.h +++ /dev/null @@ -1,69 +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 EasyFactorGraph.h - * @brief Nonlinear Factor Graph class with methods defined for safe and easy access in MATLAB - * @date June 24, 2012 - * @author Frank Dellaert - **/ - -#pragma once - -#include -#include -#include - -namespace gtsam { - - /** - * Nonlinear Factor Graph class with methods defined for safe and easy access in MATLAB - */ - struct EasyFactorGraph: public NonlinearFactorGraph { - - /// Default constructor for a NonlinearFactorGraph - EasyFactorGraph(); - - /// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph - EasyFactorGraph(const NonlinearFactorGraph& graph); - - /** - * Setup and return a LevenbargMarquardtOptimizer - * @param initialEstimate initial estimate of all variables in the graph - * @param p optimizer's parameters - * @return a LevenbergMarquardtOptimizer object, which you can use to control the optimization process - */ - LevenbergMarquardtOptimizer optimizer(const Values& initialEstimate, - const LevenbergMarquardtParams& p = LevenbergMarquardtParams()) const; - - /** - * Safely optimize the graph, using Levenberg-Marquardt - * @param initialEstimate initial estimate of all variables in the graph - * @param verbosity unsigned specifying verbosity level - */ - Values optimize(const Values& initialEstimate, size_t verbosity = 0) const; - - /** - * Safely optimize using subgraph preconditioning - * @param initialEstimate initial estimate of all variables in the graph - * @param verbosity unsigned specifying verbosity level - */ - Values optimizeSPCG(const Values& initialEstimate, size_t verbosity = 0) const; - - /** - * Return a Marginals object, so you can query marginals - */ - Marginals marginals(const Values& solution) const; - - }; - -} // namespace gtsam - From 821c08844cf59a0e8d988f94463ac306e0b2839b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Aug 2012 20:18:06 +0000 Subject: [PATCH 756/914] Printing fix --- gtsam/slam/PriorFactor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 0d0497132..79ea4c0ce 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -65,8 +65,8 @@ namespace gtsam { /** print */ virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << ", prior value:\n"; - prior_.print(); + std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n"; + prior_.print(" prior mean: "); this->noiseModel_->print(" noise model: "); } From 297fbfa1a51499dd18893c95429efda367c7d9f1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Aug 2012 20:18:42 +0000 Subject: [PATCH 757/914] Odometry example was deliberately not using Symbols... Fixed... --- examples/OdometryExample.cpp | 29 ++++++++++++----------------- 1 file changed, 12 insertions(+), 17 deletions(-) diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index f0874bedb..e420a0be9 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -27,11 +27,6 @@ #include #include -// Each variable in the system (poses) must be identified with a unique key. -// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). -// Here we will use symbols -#include - // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. // Here we will use Between factors for the relative motion described by odometry measurements. @@ -60,35 +55,35 @@ // for each variable, held in a Values container. #include - using namespace std; using namespace gtsam; int main(int argc, char** argv) { - // Create a factor graph container + // Create an empty nonlinear factor graph NonlinearFactorGraph graph; // Add a prior on the first pose, setting it to the origin // A prior factor consists of a mean and a noise model (covariance matrix) - Pose2 prior(0.0, 0.0, 0.0); // prior at origin + 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(Symbol('x', 1), prior, priorNoise)); + graph.add(PriorFactor(1, priorMean, priorNoise)); // Add odometry factors + Pose2 odometry(2.0, 0.0, 0.0); // For simplicity, we will use the same noise model for each odometry factor noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // Create odometry (Between) factors between consecutive poses - graph.add(BetweenFactor(Symbol('x', 1), Symbol('x', 2), Pose2(2.0, 0.0, 0.0), odometryNoise)); - graph.add(BetweenFactor(Symbol('x', 2), Symbol('x', 3), Pose2(2.0, 0.0, 0.0), odometryNoise)); + graph.add(BetweenFactor(1, 2, odometry, odometryNoise)); + graph.add(BetweenFactor(2, 3, odometry, odometryNoise)); graph.print("\nFactor Graph:\n"); // print // Create the data structure to hold the initialEstimate estimate to the solution // For illustrative purposes, these have been deliberately set to incorrect values Values initialEstimate; - initialEstimate.insert(Symbol('x', 1), Pose2(0.5, 0.0, 0.2)); - initialEstimate.insert(Symbol('x', 2), Pose2(2.3, 0.1, -0.2)); - initialEstimate.insert(Symbol('x', 3), Pose2(4.1, 0.1, 0.1)); + initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); + initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2)); + initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print("\nInitial Estimate:\n"); // print // optimize using Levenberg-Marquardt optimization @@ -97,9 +92,9 @@ int main(int argc, char** argv) { // Calculate and print marginal covariances for all variables Marginals marginals(graph, result); - cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(Symbol('x', 1)) << endl; - cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(Symbol('x', 2)) << endl; - cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(Symbol('x', 3)) << endl; + cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(1) << endl; + cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(2) << endl; + cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(3) << endl; return 0; } From 6596aec1ab72e7dd3905e8d4733a65d9ed2d21ae Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Aug 2012 20:32:23 +0000 Subject: [PATCH 758/914] Added print for LMOptimizer --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index d15ef08d8..346ded351 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1282,6 +1282,7 @@ 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 From 93f995065f1b6eae51e4864dfbbdd77d2ba6d47a Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 4 Aug 2012 21:56:21 +0000 Subject: [PATCH 759/914] Aligned example with manual, fixed example make targets --- .cproject | 374 ++++++++++++++++------------------- examples/OdometryExample.cpp | 19 +- 2 files changed, 180 insertions(+), 213 deletions(-) diff --git a/.cproject b/.cproject index f5675f5ee..81bf59187 100644 --- a/.cproject +++ b/.cproject @@ -309,6 +309,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -335,7 +343,6 @@ make - tests/testBayesTree.run true false @@ -343,7 +350,6 @@ make - testBinaryBayesNet.run true false @@ -391,7 +397,6 @@ make - testSymbolicBayesNet.run true false @@ -399,7 +404,6 @@ make - tests/testSymbolicFactor.run true false @@ -407,7 +411,6 @@ make - testSymbolicFactorGraph.run true false @@ -423,20 +426,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -525,22 +519,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -557,6 +535,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -581,26 +575,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -685,26 +679,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -975,7 +969,6 @@ make - testGraph.run true false @@ -983,7 +976,6 @@ make - testJunctionTree.run true false @@ -991,7 +983,6 @@ make - testSymbolicBayesNetB.run true false @@ -1127,7 +1118,6 @@ make - testErrors.run true false @@ -1173,6 +1163,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -1253,14 +1251,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -1591,6 +1581,7 @@ make + testSimulated2DOriented.run true false @@ -1630,6 +1621,7 @@ make + testSimulated2D.run true false @@ -1637,6 +1629,7 @@ make + testSimulated3D.run true false @@ -1746,10 +1739,10 @@ true true - + make - -j2 - PlanarSLAMExample_easy.run + -j5 + PlanarSLAMExample.run true true true @@ -1778,26 +1771,10 @@ true true - + make - -j2 - PlanarSLAMSelfContained_advanced.run - true - true - true - - - make - -j2 - Pose2SLAMExample_advanced.run - true - true - true - - - make - -j2 - Pose2SLAMExample_easy.run + -j5 + Pose2SLAMExample.run true true true @@ -1826,18 +1803,10 @@ true true - + make -j5 - LocalizationExample2.run - true - true - true - - - make - -j5 - Pose2SLAMwSPCG_advanced.run + OdometryExample.run true true true @@ -1852,6 +1821,7 @@ make + tests/testGaussianISAM2 true false @@ -1873,6 +1843,102 @@ 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 -j1 @@ -2074,7 +2140,6 @@ cpack - -G DEB true false @@ -2082,7 +2147,6 @@ cpack - -G RPM true false @@ -2090,7 +2154,6 @@ cpack - -G TGZ true false @@ -2098,7 +2161,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2224,98 +2286,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap 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 + -j5 + wrap true true true @@ -2359,38 +2357,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index e420a0be9..7c2a80d85 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -80,21 +80,22 @@ int main(int argc, char** argv) { // Create the data structure to hold the initialEstimate estimate to the solution // For illustrative purposes, these have been deliberately set to incorrect values - Values initialEstimate; - initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2)); - initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); - initialEstimate.print("\nInitial Estimate:\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 - Values result = LevenbergMarquardtOptimizer(graph, initialEstimate).optimize(); + Values result = LevenbergMarquardtOptimizer(graph, initial).optimize(); result.print("Final Result:\n"); // Calculate and print marginal covariances for all variables + cout.precision(2); Marginals marginals(graph, result); - cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(1) << endl; - cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(2) << endl; - cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(3) << endl; + cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl; + cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl; + cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl; return 0; } From f70af2ef3847dd3560b4d70eee4e0c29384ec1c4 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Aug 2012 16:59:14 +0000 Subject: [PATCH 760/914] Fixed up examples to be a bit less verbose and match up with the manual again. --- examples/LocalizationExample.cpp | 65 +++++++++++--------------------- examples/OdometryExample.cpp | 4 +- 2 files changed, 23 insertions(+), 46 deletions(-) diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp index c9d232df8..dfe3d1e99 100644 --- a/examples/LocalizationExample.cpp +++ b/examples/LocalizationExample.cpp @@ -23,25 +23,16 @@ * - We have "GPS-like" measurements implemented with a custom factor */ -// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent -// the robot positions +// We will use Pose2 variables (x, y, theta) to represent the robot positions #include -// Each variable in the system (poses) must be identified with a unique key. -// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). -// Here we will use simple integer keys +// We will use simple integer Keys to refer to the robot poses. #include -// In GTSAM, measurement functions are represented as 'factors'. Several common factors -// have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. -// Here we will use Between factors for the relative motion described by odometry measurements. -// Because we have global measurements in the form of "GPS-like" measurements, we don't -// actually need to provide an initial position prior in this example. We will create our -// custom factor shortly. +// As in OdometryExample.cpp, we use a BetweenFactor to model odometry measurements. #include -// When the factors are created, we will add them to a Factor Graph. As the factors we are using -// are nonlinear factors, we will need a Nonlinear Factor Graph. +// We add all facors to a Nonlinear Factor Graph, as our factors are nonlinear. #include // The nonlinear solvers within GTSAM are iterative solvers, meaning they linearize the @@ -61,11 +52,9 @@ // of desired variables #include - using namespace std; using namespace gtsam; - // Before we begin the example, we must create a custom unary factor to implement a // "GPS-like" functionality. Because standard GPS measurements provide information // only on the position, and not on the orientation, we cannot use a simple prior to @@ -75,10 +64,12 @@ using namespace gtsam; // also use a standard Gaussian noise model. Hence, we will derive our new factor from // the NoiseModelFactor1. #include + class UnaryFactor: public NoiseModelFactor1 { // The factor will hold a measurement consisting of an (X,Y) location - Point2 measurement_; + // We could this with a Point2 but here we just use two doubles + double mx_, my_; public: /// shorthand for a smart pointer to a factor @@ -86,15 +77,15 @@ public: // The constructor requires the variable key, the (X, Y) measurement value, and the noise model UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model): - NoiseModelFactor1(model, j), measurement_(x, y) {} + NoiseModelFactor1(model, j), mx_(x), my_(y) {} virtual ~UnaryFactor() {} - // By using the NoiseModelFactor base classes, the only two function that must be overridden. + // 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& pose, boost::optional H = boost::none) const + Vector evaluateError(const Pose2& q, boost::optional H = boost::none) const { // The measurement function for a GPS-like measurement is simple: // error_x = pose.x - measurement.x @@ -102,10 +93,8 @@ public: // 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); - - return Vector_(2, pose.x() - measurement_.x(), pose.y() - measurement_.y()); + if (H) (*H) = Matrix_(2,3, 1.0,0.0,0.0, 0.0,1.0,0.0); + return Vector_(2, q.x() - mx_, q.y() - my_); } // The second is a 'clone' function that allows the factor to be copied. Under most @@ -115,22 +104,11 @@ public: return boost::static_pointer_cast( gtsam::NonlinearFactor::shared_ptr(new UnaryFactor(*this))); } - // Additionally, custom factors should really provide specific implementations of - // 'equals' to ensure proper operation will all GTSAM functionality, and a custom - // 'print' function, if desired. - virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { - const UnaryFactor* e = dynamic_cast (&expected); - return e != NULL && NoiseModelFactor1::equals(*e, tol) && this->measurement_.equals(e->measurement_, tol); - } - - virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { - std::cout << s << "UnaryFactor(" << keyFormatter(this->key()) << ")\n"; - measurement_.print(" measurement: "); - this->noiseModel_->print(" noise model: "); - } - -}; + // Additionally, we encourage you the use of unit testing your custom factors, + // (as all GTSAM factors are), in which you would need an equals and print, to satisfy the + // GTSAM_CONCEPT_TESTABLE_INST(T) defined in Testable.h, but these are not needed below. +}; // UnaryFactor int main(int argc, char** argv) { @@ -148,8 +126,9 @@ int main(int argc, char** argv) { // 2b. Add "GPS-like" measurements // We will use our custom UnaryFactor for this. noiseModel::Diagonal::shared_ptr unaryNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1)); // 10cm std on x,y - graph.add(UnaryFactor(1, 0.0, 0.0, unaryNoise)); - graph.add(UnaryFactor(3, 4.0, 0.0, unaryNoise)); + graph.push_back(boost::make_shared(1, 0.0, 0.0, unaryNoise)); + graph.push_back(boost::make_shared(2, 2.0, 0.0, unaryNoise)); + graph.push_back(boost::make_shared(3, 4.0, 0.0, unaryNoise)); graph.print("\nFactor Graph:\n"); // print // 3. Create the data structure to hold the initialEstimate estimate to the solution @@ -172,9 +151,9 @@ int main(int argc, char** argv) { // 5. Calculate and print marginal covariances for all variables Marginals marginals(graph, result); - cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(1) << endl; - cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(2) << endl; - cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(3) << endl; + cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl; + cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl; + cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl; return 0; } diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp index 7c2a80d85..d556798f0 100644 --- a/examples/OdometryExample.cpp +++ b/examples/OdometryExample.cpp @@ -22,10 +22,8 @@ * - We have full odometry between poses */ -// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent -// the robot positions +// We will use Pose2 variables (x, y, theta) to represent the robot positions #include -#include // In GTSAM, measurement functions are represented as 'factors'. Several common factors // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems. From abdf46d49464deaa9e4a0b38b168ab820696036c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Aug 2012 18:44:36 +0000 Subject: [PATCH 761/914] Synchronizing C++ and MATLAB example again. Please coordinate with me before changing the values in the examples: changing them generates work in the manual and in the MATLAB examples. --- examples/Pose2SLAMExample.cpp | 52 +++++++++++------------- matlab/gtsam_examples/Pose2SLAMExample.m | 42 ++++++++----------- 2 files changed, 40 insertions(+), 54 deletions(-) diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp index bf05cc729..4885e72c8 100644 --- a/examples/Pose2SLAMExample.cpp +++ b/examples/Pose2SLAMExample.cpp @@ -25,14 +25,10 @@ * - We have a loop closure constraint when the robot returns to the first position */ -// As this is a planar SLAM example, we will use Pose2 variables (x, y, theta) to represent -// the robot positions +// In planar SLAM example we use Pose2 variables (x, y, theta) to represent the robot poses #include -#include -// Each variable in the system (poses) must be identified with a unique key. -// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1). -// Here we will use simple integer keys +// We will use simple integer Keys to refer to the robot poses. #include // In GTSAM, measurement functions are represented as 'factors'. Several common factors @@ -75,37 +71,34 @@ int main(int argc, char** argv) { // 2a. Add a prior on the first pose, setting it to the origin // A prior factor consists of a mean and a noise model (covariance matrix) - Pose2 prior(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(1, prior, priorNoise)); + graph.add(PriorFactor(1, Pose2(0, 0, 0), priorNoise)); + + // For simplicity, we will use the same noise model for odometry and loop closures + noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // 2b. Add odometry factors - // For simplicity, we will use the same noise model for each odometry factor - noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); // Create odometry (Between) factors between consecutive poses - graph.add(BetweenFactor(1, 2, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); - graph.add(BetweenFactor(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); - graph.add(BetweenFactor(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); - graph.add(BetweenFactor(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise)); + graph.add(BetweenFactor(1, 2, Pose2(2, 0, 0 ), model)); + graph.add(BetweenFactor(2, 3, Pose2(2, 0, M_PI_2), model)); + graph.add(BetweenFactor(3, 4, Pose2(2, 0, M_PI_2), model)); + graph.add(BetweenFactor(4, 5, Pose2(2, 0, M_PI_2), model)); // 2c. Add the loop closure constraint // This factor encodes the fact that we have returned to the same pose. In real systems, // these constraints may be identified in many ways, such as appearance-based techniques - // with camera images. - // We will use another Between Factor to enforce this constraint, with the distance set to zero, - noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); - graph.add(BetweenFactor(5, 1, Pose2(0.0, 0.0, 0.0), model)); + // with camera images. We will use another Between Factor to enforce this constraint: + graph.add(BetweenFactor(5, 2, Pose2(2, 0, M_PI_2), model)); graph.print("\nFactor Graph:\n"); // print - // 3. Create the data structure to hold the initialEstimate estimate to the solution // For illustrative purposes, these have been deliberately set to incorrect values Values initialEstimate; - initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); - initialEstimate.insert(2, Pose2(2.3, 0.1, 1.1)); - initialEstimate.insert(3, Pose2(2.1, 1.9, 2.8)); - initialEstimate.insert(4, Pose2(-.3, 2.5, 4.2)); - initialEstimate.insert(5, Pose2(0.1,-0.7, 5.8)); + initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); + initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2 )); + initialEstimate.insert(3, Pose2(4.1, 0.1, M_PI_2)); + initialEstimate.insert(4, Pose2(4.0, 2.0, M_PI )); + initialEstimate.insert(5, Pose2(2.1, 2.1, -M_PI_2)); initialEstimate.print("\nInitial Estimate:\n"); // print // 4. Optimize the initial values using a Gauss-Newton nonlinear optimizer @@ -125,12 +118,13 @@ int main(int argc, char** argv) { result.print("Final Result:\n"); // 5. Calculate and print marginal covariances for all variables + cout.precision(3); Marginals marginals(graph, result); - cout << "Pose 1 covariance:\n" << marginals.marginalCovariance(1) << endl; - cout << "Pose 2 covariance:\n" << marginals.marginalCovariance(2) << endl; - cout << "Pose 3 covariance:\n" << marginals.marginalCovariance(3) << endl; - cout << "Pose 4 covariance:\n" << marginals.marginalCovariance(4) << endl; - cout << "Pose 5 covariance:\n" << marginals.marginalCovariance(5) << endl; + cout << "x1 covariance:\n" << marginals.marginalCovariance(1) << endl; + cout << "x2 covariance:\n" << marginals.marginalCovariance(2) << endl; + cout << "x3 covariance:\n" << marginals.marginalCovariance(3) << endl; + cout << "x4 covariance:\n" << marginals.marginalCovariance(4) << endl; + cout << "x5 covariance:\n" << marginals.marginalCovariance(5) << endl; return 0; } diff --git a/matlab/gtsam_examples/Pose2SLAMExample.m b/matlab/gtsam_examples/Pose2SLAMExample.m index fccacc894..3e21c2e30 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample.m +++ b/matlab/gtsam_examples/Pose2SLAMExample.m @@ -18,58 +18,50 @@ % - We have full odometry for measurements % - The robot is on a grid, moving 2 meters each step +import gtsam.* + %% Create graph container and add factors to it graph = NonlinearFactorGraph; %% Add prior -import gtsam.* -% gaussian for prior -priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph +graph.add(PriorFactorPose2(1, Pose2(0, 0, 0), priorNoise)); % add directly to graph %% Add odometry -import gtsam.* -% general noisemodel for odometry -odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.add(BetweenFactorPose2(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); -graph.add(BetweenFactorPose2(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise)); -graph.add(BetweenFactorPose2(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise)); -graph.add(BetweenFactorPose2(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise)); +model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); +graph.add(BetweenFactorPose2(1, 2, Pose2(2, 0, 0 ), model)); +graph.add(BetweenFactorPose2(2, 3, Pose2(2, 0, pi/2), model)); +graph.add(BetweenFactorPose2(3, 4, Pose2(2, 0, pi/2), model)); +graph.add(BetweenFactorPose2(4, 5, Pose2(2, 0, pi/2), model)); %% Add pose constraint -import gtsam.* -model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); -graph.add(BetweenFactorPose2(5, 2, Pose2(2.0, 0.0, pi/2), model)); +graph.add(BetweenFactorPose2(5, 2, Pose2(2, 0, pi/2), model)); % print graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; -initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); -initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2 )); -initialEstimate.insert(3, Pose2(4.1, 0.1, pi/2)); -initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); -initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); +initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); +initialEstimate.insert(2, Pose2(2.3, 0.1, -0.2 )); +initialEstimate.insert(3, Pose2(4.1, 0.1, pi/2)); +initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); +initialEstimate.insert(5, Pose2(2.1, 2.1, -pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses -import gtsam.* cla; hold on -plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-','LineWidth',2); +plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-'); marginals = Marginals(graph, result); gtsam.plot2DTrajectory(result, [], marginals); - -axis([-0.6 4.8 -1 1]) +for i=1:5,marginals.marginalCovariance(i),end axis equal +axis tight view(2) From 695523a4973537f82df87c547f07a66114ad7372 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 5 Aug 2012 19:31:27 +0000 Subject: [PATCH 762/914] Fixed "import gtsam.*" gluttony --- matlab/gtsam_examples/LocalizationExample.m | 11 ++++------ matlab/gtsam_examples/OdometryExample.m | 10 ++++----- matlab/gtsam_examples/PlanarSLAMExample.m | 14 +++++-------- .../PlanarSLAMExample_sampling.m | 13 +++++------- matlab/gtsam_examples/Pose2SLAMExample.m | 6 +++--- .../Pose2SLAMExample_advanced.m | 6 ++---- .../gtsam_examples/Pose2SLAMExample_circle.m | 14 +++++-------- .../gtsam_examples/Pose2SLAMExample_graph.m | 21 ++++++++----------- matlab/gtsam_examples/Pose2SLAMwSPCG.m | 5 ++--- matlab/gtsam_examples/Pose3SLAMExample.m | 14 +++++-------- .../gtsam_examples/Pose3SLAMExample_graph.m | 15 +++++++------ matlab/gtsam_examples/SBAExample.m | 12 +++-------- matlab/gtsam_examples/SFMExample.m | 15 +++++-------- matlab/gtsam_examples/StereoVOExample.m | 15 +++++-------- matlab/gtsam_examples/StereoVOExample_large.m | 19 +++++++---------- matlab/gtsam_examples/VisualISAMExample.m | 12 ++++++----- matlab/gtsam_tests/testLocalizationExample.m | 8 ++----- matlab/gtsam_tests/testOdometryExample.m | 8 ++----- matlab/gtsam_tests/testPlanarSLAMExample.m | 10 ++------- matlab/gtsam_tests/testPose2SLAMExample.m | 19 ++--------------- matlab/gtsam_tests/testPose3SLAMExample.m | 6 ++---- matlab/gtsam_tests/testSFMExample.m | 5 ----- matlab/gtsam_tests/testStereoVOExample.m | 11 ++-------- matlab/gtsam_tests/testVisualISAMExample.m | 5 ++--- 24 files changed, 93 insertions(+), 181 deletions(-) diff --git a/matlab/gtsam_examples/LocalizationExample.m b/matlab/gtsam_examples/LocalizationExample.m index c877c70c7..2dcb5341b 100644 --- a/matlab/gtsam_examples/LocalizationExample.m +++ b/matlab/gtsam_examples/LocalizationExample.m @@ -10,23 +10,23 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - Robot poses are facing along the X axis (horizontal, to the right in 2D) % - The robot moves 2 meters each step % - The robot is on a grid, moving 2 meters each step %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = gtsam.NonlinearFactorGraph; +graph = NonlinearFactorGraph; %% Add two odometry factors -import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Add three "GPS" measurements -import gtsam.* % We use Pose2 Priors here with high variance on theta priorNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 10]); graph.add(PriorFactorPose2(1, Pose2(0.0, 0.0, 0.0), priorNoise)); @@ -37,7 +37,6 @@ graph.add(PriorFactorPose2(3, Pose2(4.0, 0.0, 0.0), priorNoise)); graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); @@ -45,17 +44,15 @@ initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n ')); %% Plot trajectory and covariance ellipses -import gtsam.* cla; hold on; -gtsam.plot2DTrajectory(result, [], Marginals(graph, result)); +plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/gtsam_examples/OdometryExample.m b/matlab/gtsam_examples/OdometryExample.m index b913b187a..81d2db676 100644 --- a/matlab/gtsam_examples/OdometryExample.m +++ b/matlab/gtsam_examples/OdometryExample.m @@ -10,22 +10,22 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - Robot poses are facing along the X axis (horizontal, to the right in 2D) % - The robot moves 2 meters each step % - The robot is on a grid, moving 2 meters each step %% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) -graph = gtsam.NonlinearFactorGraph; +graph = NonlinearFactorGraph; %% Add a Gaussian prior on pose x_1 -import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add two odometry factors -import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); @@ -35,7 +35,6 @@ graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); graph.print(sprintf('\nFactor graph:\n')); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); @@ -48,11 +47,10 @@ result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n ')); %% Plot trajectory and covariance ellipses -import gtsam.* cla; hold on; -gtsam.plot2DTrajectory(result, [], Marginals(graph, result)); +plot2DTrajectory(result, [], Marginals(graph, result)); axis([-0.6 4.8 -1 1]) axis equal diff --git a/matlab/gtsam_examples/PlanarSLAMExample.m b/matlab/gtsam_examples/PlanarSLAMExample.m index e37326275..1dc6ba41c 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample.m +++ b/matlab/gtsam_examples/PlanarSLAMExample.m @@ -11,6 +11,8 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - All values are axis aligned % - Robot poses are facing along the X axis (horizontal, to the right in images) @@ -20,28 +22,24 @@ % - Landmarks are 2 meters away from the robot trajectory %% Create keys for variables -import gtsam.* i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it -graph = gtsam.NonlinearFactorGraph; +graph = NonlinearFactorGraph; %% Add prior -import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph %% Add odometry -import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Add bearing/range measurement factors -import gtsam.* degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); @@ -52,7 +50,6 @@ graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); graph.print(sprintf('\nFull graph:\n')); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(i1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(i2, Pose2(2.3, 0.1,-0.2)); @@ -68,12 +65,11 @@ result = optimizer.optimizeSafely(); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses -import gtsam.* cla;hold on marginals = Marginals(graph, result); -gtsam.plot2DTrajectory(result, [], marginals); -gtsam.plot2DPoints(result, [], marginals); +plot2DTrajectory(result, [], marginals); +plot2DPoints(result, [], marginals); plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-'); plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-'); diff --git a/matlab/gtsam_examples/PlanarSLAMExample_sampling.m b/matlab/gtsam_examples/PlanarSLAMExample_sampling.m index 59c99df53..327c64d4d 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample_sampling.m +++ b/matlab/gtsam_examples/PlanarSLAMExample_sampling.m @@ -11,8 +11,9 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create the same factor graph as in PlanarSLAMExample import gtsam.* + +%% Create the same factor graph as in PlanarSLAMExample i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); graph = NonlinearFactorGraph; priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin @@ -24,7 +25,6 @@ graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Except, for measurements we offer a choice -import gtsam.* j1 = symbol('l',1); j2 = symbol('l',2); degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); @@ -39,7 +39,6 @@ end graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); %% Initialize MCMC sampler with ground truth -import gtsam.* sample = Values; sample.insert(i1, Pose2(0,0,0)); sample.insert(i2, Pose2(2,0,0)); @@ -48,12 +47,11 @@ sample.insert(j1, Point2(2,2)); sample.insert(j2, Point2(4,2)); %% Calculate and plot Covariance Ellipses -import gtsam.* cla;hold on marginals = Marginals(graph, sample); -gtsam.plot2DTrajectory(sample, [], marginals); -gtsam.plot2DPoints(sample, [], marginals); +plot2DTrajectory(sample, [], marginals); +plot2DPoints(sample, [], marginals); for j=1:2 key = symbol('l',j); @@ -68,10 +66,9 @@ plot([sample.at(i3).x; sample.at(j2).x],[sample.at(i3).y; sample.at(j2).y], 'c-' view(2); axis auto; axis equal %% Do Sampling on point 2 -import gtsam.* N=1000; for s=1:N delta = S{2}*randn(2,1); proposedPoint = Point2(point{2}.x+delta(1),point{2}.y+delta(2)); - gtsam.plotPoint2(proposedPoint,'k.') + plotPoint2(proposedPoint,'k.') end \ No newline at end of file diff --git a/matlab/gtsam_examples/Pose2SLAMExample.m b/matlab/gtsam_examples/Pose2SLAMExample.m index 3e21c2e30..65ce28dbb 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample.m +++ b/matlab/gtsam_examples/Pose2SLAMExample.m @@ -12,14 +12,14 @@ % @author Chris Beall %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - All values are axis aligned % - Robot poses are facing along the X axis (horizontal, to the right in images) % - We have full odometry for measurements % - The robot is on a grid, moving 2 meters each step -import gtsam.* - %% Create graph container and add factors to it graph = NonlinearFactorGraph; @@ -60,7 +60,7 @@ hold on plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-'); marginals = Marginals(graph, result); -gtsam.plot2DTrajectory(result, [], marginals); +plot2DTrajectory(result, [], marginals); for i=1:5,marginals.marginalCovariance(i),end axis equal axis tight diff --git a/matlab/gtsam_examples/Pose2SLAMExample_advanced.m b/matlab/gtsam_examples/Pose2SLAMExample_advanced.m index fab340f2a..343dee05b 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_advanced.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_advanced.m @@ -14,6 +14,8 @@ % @author Can Erdogan %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - All values are axis aligned % - Robot poses are facing along the X axis (horizontal, to the right in images) @@ -24,14 +26,12 @@ graph = NonlinearFactorGraph; %% Add prior -import gtsam.* % gaussian for prior priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry -import gtsam.* % general noisemodel for odometry odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) @@ -39,7 +39,6 @@ graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Add measurements -import gtsam.* % general noisemodel for measurements measurementNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); @@ -47,7 +46,6 @@ measurementNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); graph.print('full graph'); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); diff --git a/matlab/gtsam_examples/Pose2SLAMExample_circle.m b/matlab/gtsam_examples/Pose2SLAMExample_circle.m index 957a30df4..3d2265d76 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_circle.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_circle.m @@ -10,14 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create a hexagon of poses import gtsam.* -hexagon = gtsam.circlePose2(6,1.0); + +%% Create a hexagon of poses +hexagon = circlePose2(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement -import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose2(0, p0)); delta = p0.between(p1); @@ -30,7 +30,6 @@ fg.add(BetweenFactorPose2(4,5, delta, covariance)); fg.add(BetweenFactorPose2(5,0, delta, covariance)); %% Create initial config -import gtsam.* initial = Values; initial.insert(0, p0); initial.insert(1, hexagon.at(1).retract([-0.1, 0.1,-0.1]')); @@ -40,18 +39,15 @@ initial.insert(4, hexagon.at(4).retract([ 0.1,-0.1, 0.1]')); initial.insert(5, hexagon.at(5).retract([-0.1, 0.1,-0.1]')); %% Plot Initial Estimate -import gtsam.* cla -gtsam.plot2DTrajectory(initial, 'g*-'); axis equal +plot2DTrajectory(initial, 'g*-'); axis equal %% optimize -import gtsam.* optimizer = DoglegOptimizer(fg, initial); result = optimizer.optimizeSafely; %% Show Result -import gtsam.* -hold on; gtsam.plot2DTrajectory(result, 'b*-'); +hold on; plot2DTrajectory(result, 'b*-'); view(2); axis([-1.5 1.5 -1.5 1.5]); result.print(sprintf('\nFinal result:\n')); diff --git a/matlab/gtsam_examples/Pose2SLAMExample_graph.m b/matlab/gtsam_examples/Pose2SLAMExample_graph.m index 3eed090a2..b48485573 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_graph.m @@ -10,45 +10,42 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Find data file -datafile = gtsam.findExampleDataFile('w100-odom.graph'); +datafile = findExampleDataFile('w100-odom.graph'); %% Initialize graph, initial estimate, and odometry noise -import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); maxID = 0; addNoise = false; smart = true; -[graph,initial] = gtsam.load2D(datafile, model, maxID, addNoise, smart); +[graph,initial] = load2D(datafile, model, maxID, addNoise, smart); initial.print(sprintf('Initial estimate:\n')); %% Add a Gaussian prior on pose x_1 -import gtsam.* -priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin +priorMean = Pose2(0, 0, 0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); graph.add(PriorFactorPose2(0, priorMean, priorNoise)); % add directly to graph %% Plot Initial Estimate -import gtsam.* cla -gtsam.plot2DTrajectory(initial, 'g-*'); axis equal +plot2DTrajectory(initial, 'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely; -hold on; gtsam.plot2DTrajectory(result, 'b-*'); +hold on; plot2DTrajectory(result, 'b-*'); result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses -import gtsam.* marginals = Marginals(graph, result); P={}; for i=1:result.size()-1 pose_i = result.at(i); P{i}=marginals.marginalCovariance(i); - gtsam.plotPose2(pose_i,'b',P{i}) + plotPose2(pose_i,'b',P{i}) end view(2) -axis([-15 10 -15 10]); axis equal; +axis tight; axis equal; fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file diff --git a/matlab/gtsam_examples/Pose2SLAMwSPCG.m b/matlab/gtsam_examples/Pose2SLAMwSPCG.m index dca31ac94..a45ac40a0 100644 --- a/matlab/gtsam_examples/Pose2SLAMwSPCG.m +++ b/matlab/gtsam_examples/Pose2SLAMwSPCG.m @@ -10,6 +10,8 @@ % @author Yong-Dian Jian %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - All values are axis aligned % - Robot poses are facing along the X axis (horizontal, to the right in images) @@ -20,14 +22,12 @@ graph = NonlinearFactorGraph; %% Add prior -import gtsam.* % gaussian for prior priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry -import gtsam.* % general noisemodel for odometry odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.add(BetweenFactorPose2(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); @@ -36,7 +36,6 @@ graph.add(BetweenFactorPose2(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise)); graph.add(BetweenFactorPose2(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise)); %% Add pose constraint -import gtsam.* model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.add(BetweenFactorPose2(5, 2, Pose2(2.0, 0.0, pi/2), model)); diff --git a/matlab/gtsam_examples/Pose3SLAMExample.m b/matlab/gtsam_examples/Pose3SLAMExample.m index b1521ff5b..0d2bd237f 100644 --- a/matlab/gtsam_examples/Pose3SLAMExample.m +++ b/matlab/gtsam_examples/Pose3SLAMExample.m @@ -10,14 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create a hexagon of poses import gtsam.* -hexagon = gtsam.circlePose3(6,1.0); + +%% Create a hexagon of poses +hexagon = circlePose3(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement -import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); @@ -30,7 +30,6 @@ fg.add(BetweenFactorPose3(4,5, delta, covariance)); fg.add(BetweenFactorPose3(5,0, delta, covariance)); %% Create initial config -import gtsam.* initial = Values; s = 0.10; initial.insert(0, p0); @@ -41,18 +40,15 @@ initial.insert(4, hexagon.at(4).retract(s*randn(6,1))); initial.insert(5, hexagon.at(5).retract(s*randn(6,1))); %% Plot Initial Estimate -import gtsam.* cla -gtsam.plot3DTrajectory(initial, 'g-*'); +plot3DTrajectory(initial, 'g-*'); %% optimize -import gtsam.* optimizer = DoglegOptimizer(fg, initial); result = optimizer.optimizeSafely(); %% Show Result -import gtsam.* -hold on; gtsam.plot3DTrajectory(result, 'b-*', true, 0.3); +hold on; plot3DTrajectory(result, 'b-*', true, 0.3); axis([-2 2 -2 2 -1 1]); axis equal view(-37,40) diff --git a/matlab/gtsam_examples/Pose3SLAMExample_graph.m b/matlab/gtsam_examples/Pose3SLAMExample_graph.m index 19cc31439..f4eb8dd3a 100644 --- a/matlab/gtsam_examples/Pose3SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose3SLAMExample_graph.m @@ -10,33 +10,32 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Find data file N = 2500; % dataset = 'sphere_smallnoise.graph'; % dataset = 'sphere2500_groundtruth.txt'; dataset = 'sphere2500.txt'; -datafile = gtsam.findExampleDataFile(dataset); +datafile = findExampleDataFile(dataset); %% Initialize graph, initial estimate, and odometry noise -import gtsam.* model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); -[graph,initial]=gtsam.load3D(datafile,model,true,N); +[graph,initial]=load3D(datafile,model,true,N); %% Plot Initial Estimate -import gtsam.* cla first = initial.at(0); plot3(first.x(),first.y(),first.z(),'r*'); hold on -gtsam.plot3DTrajectory(initial,'g-',false); +plot3DTrajectory(initial,'g-',false); drawnow; %% Read again, now with all constraints, and optimize -import gtsam.* -graph = gtsam.load3D(datafile, model, false, N); +graph = load3D(datafile, model, false, N); graph.add(NonlinearEqualityPose3(0, first)); optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely(); -gtsam.plot3DTrajectory(result, 'r-', false); axis equal; +plot3DTrajectory(result, 'r-', false); axis equal; view(3); axis equal; \ No newline at end of file diff --git a/matlab/gtsam_examples/SBAExample.m b/matlab/gtsam_examples/SBAExample.m index 7e4ac4031..b0f754044 100644 --- a/matlab/gtsam_examples/SBAExample.m +++ b/matlab/gtsam_examples/SBAExample.m @@ -10,6 +10,8 @@ % @author Yong-Dian Jian %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - Landmarks as 8 vertices of a cube: (10,10,10) (-10,10,10) etc... % - Cameras are on a circle around the cube, pointing at the world origin @@ -22,7 +24,7 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = gtsam.VisualISAMGenerateData(options); +[data,truth] = VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; @@ -30,12 +32,10 @@ cameraNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1 ... 0.001*ones(1,5)]'; %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -import gtsam.* graph = NonlinearFactorGraph; %% Add factors for all measurements -import gtsam.* measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) @@ -45,7 +45,6 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -import gtsam.* cameraPriorNoise = noiseModel.Diagonal.Sigmas(cameraNoiseSigmas); firstCamera = SimpleCamera(truth.cameras{1}.pose, truth.K); graph.add(PriorFactorSimpleCamera(symbol('c',1), firstCamera, cameraPriorNoise)); @@ -58,7 +57,6 @@ graph.print(sprintf('\nFactor graph:\n')); %% Initialize cameras and points close to ground truth in this example -import gtsam.* initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); @@ -72,8 +70,6 @@ end initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Fine grain optimization, allowing user to iterate step by step - -import gtsam.* parameters = LevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); @@ -86,5 +82,3 @@ end result = optimizer.values(); result.print(sprintf('\nFinal result:\n ')); - - diff --git a/matlab/gtsam_examples/SFMExample.m b/matlab/gtsam_examples/SFMExample.m index 92eeb482b..4115fa6e3 100644 --- a/matlab/gtsam_examples/SFMExample.m +++ b/matlab/gtsam_examples/SFMExample.m @@ -10,6 +10,8 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - Landmarks as 8 vertices of a cube: (10,10,10) (-10,10,10) etc... % - Cameras are on a circle around the cube, pointing at the world origin @@ -22,18 +24,16 @@ options.nrCameras = 10; options.showImages = false; %% Generate data -[data,truth] = gtsam.VisualISAMGenerateData(options); +[data,truth] = VisualISAMGenerateData(options); measurementNoiseSigma = 1.0; pointNoiseSigma = 0.1; poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph) -import gtsam.* graph = NonlinearFactorGraph; %% Add factors for all measurements -import gtsam.* measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) @@ -43,7 +43,6 @@ for i=1:length(data.Z) end %% Add Gaussian priors for a pose and a landmark to constrain the system -import gtsam.* posePriorNoise = noiseModel.Diagonal.Sigmas(poseNoiseSigmas); graph.add(PriorFactorPose3(symbol('x',1), truth.cameras{1}.pose, posePriorNoise)); pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); @@ -53,7 +52,6 @@ graph.add(PriorFactorPoint3(symbol('p',1), truth.points{1}, pointPriorNoise)); graph.print(sprintf('\nFactor graph:\n')); %% Initialize cameras and points close to ground truth in this example -import gtsam.* initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose.retract(0.1*randn(6,1)); @@ -66,8 +64,6 @@ end initialEstimate.print(sprintf('\nInitial estimate:\n ')); %% Fine grain optimization, allowing user to iterate step by step - -import gtsam.* parameters = LevenbergMarquardtParams; parameters.setlambdaInitial(1.0); parameters.setVerbosityLM('trylambda'); @@ -81,13 +77,12 @@ result = optimizer.values(); result.print(sprintf('\nFinal result:\n ')); %% Plot results with covariance ellipses -import gtsam.* marginals = Marginals(graph, result); cla hold on; -gtsam.plot3DPoints(result, [], marginals); -gtsam.plot3DTrajectory(result, '*', 1, 8, marginals); +plot3DPoints(result, [], marginals); +plot3DTrajectory(result, '*', 1, 8, marginals); axis([-40 40 -40 40 -10 20]);axis equal view(3) diff --git a/matlab/gtsam_examples/StereoVOExample.m b/matlab/gtsam_examples/StereoVOExample.m index 94c4b3f37..8dbaa1a76 100644 --- a/matlab/gtsam_examples/StereoVOExample.m +++ b/matlab/gtsam_examples/StereoVOExample.m @@ -10,6 +10,8 @@ % @author Chris Beall %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - For simplicity this example is in the camera's coordinate frame % - X: right, Y: down, Z: forward @@ -18,27 +20,22 @@ % - No noise on measurements %% Create keys for variables -import gtsam.* x1 = symbol('x',1); x2 = symbol('x',2); l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); %% Create graph container and add factors to it -import gtsam.* graph = NonlinearFactorGraph; %% add a constraint on the starting pose -import gtsam.* first_pose = Pose3(); graph.add(NonlinearEqualityPose3(x1, first_pose)); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline -import gtsam.* K = Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% Add measurements -import gtsam.* % pose 1 graph.add(GenericStereoFactor3D(StereoPoint2(520, 480, 440), stereo_model, x1, l1, K)); graph.add(GenericStereoFactor3D(StereoPoint2(120, 80, 440), stereo_model, x1, l2, K)); @@ -51,7 +48,6 @@ graph.add(GenericStereoFactor3D(StereoPoint2(320, 270, 115), stereo_model, x2, l %% Create initial estimate for camera poses and landmarks -import gtsam.* initialEstimate = Values; initialEstimate.insert(x1, first_pose); % noisy estimate for pose 2 @@ -62,7 +58,6 @@ initialEstimate.insert(l3, Point3( 0,-.5, 5)); %% optimize fprintf(1,'Optimizing\n'); tic -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); toc @@ -75,6 +70,6 @@ axis equal view(-38,12) camup([0;1;0]); -gtsam.plot3DTrajectory(initialEstimate, 'r', 1, 0.3); -gtsam.plot3DTrajectory(result, 'g', 1, 0.3); -gtsam.plot3DPoints(result); +plot3DTrajectory(initialEstimate, 'r', 1, 0.3); +plot3DTrajectory(result, 'g', 1, 0.3); +plot3DPoints(result); diff --git a/matlab/gtsam_examples/StereoVOExample_large.m b/matlab/gtsam_examples/StereoVOExample_large.m index 850af4f80..b77733abd 100644 --- a/matlab/gtsam_examples/StereoVOExample_large.m +++ b/matlab/gtsam_examples/StereoVOExample_large.m @@ -10,10 +10,11 @@ % @author Chris Beall %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Load calibration import gtsam.* + +%% Load calibration % format: fx fy skew cx cy baseline -calib = dlmread(gtsam.findExampleDataFile('VO_calibration.txt')); +calib = dlmread(findExampleDataFile('VO_calibration.txt')); K = Cal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); @@ -24,9 +25,8 @@ initial = Values; %% load the initial poses from VO % row format: camera_id 4x4 pose (row, major) -import gtsam.* fprintf(1,'Reading data\n'); -cameras = dlmread(gtsam.findExampleDataFile('VO_camera_poses_large.txt')); +cameras = dlmread(findExampleDataFile('VO_camera_poses_large.txt')); for i=1:size(cameras,1) pose = Pose3(reshape(cameras(i,2:17),4,4)'); initial.insert(symbol('x',cameras(i,1)),pose); @@ -34,8 +34,7 @@ end %% load stereo measurements and initialize landmarks % camera_id landmark_id uL uR v X Y Z -import gtsam.* -measurements = dlmread(gtsam.findExampleDataFile('VO_stereo_factors_large.txt')); +measurements = dlmread(findExampleDataFile('VO_stereo_factors_large.txt')); fprintf(1,'Creating Graph\n'); tic for i=1:size(measurements,1) @@ -54,13 +53,11 @@ end toc %% add a constraint on the starting pose -import gtsam.* key = symbol('x',1); first_pose = initial.at(key); graph.add(NonlinearEqualityPose3(key, first_pose)); %% optimize -import gtsam.* fprintf(1,'Optimizing\n'); tic optimizer = LevenbergMarquardtOptimizer(graph, initial); result = optimizer.optimizeSafely(); @@ -69,9 +66,9 @@ toc %% visualize initial trajectory, final trajectory, and final points cla; hold on; -gtsam.plot3DTrajectory(initial, 'r', 1, 0.5); -gtsam.plot3DTrajectory(result, 'g', 1, 0.5); -gtsam.plot3DPoints(result); +plot3DTrajectory(initial, 'r', 1, 0.5); +plot3DTrajectory(result, 'g', 1, 0.5); +plot3DPoints(result); axis([-5 20 -20 20 0 100]); axis equal diff --git a/matlab/gtsam_examples/VisualISAMExample.m b/matlab/gtsam_examples/VisualISAMExample.m index 31c240029..751373b69 100644 --- a/matlab/gtsam_examples/VisualISAMExample.m +++ b/matlab/gtsam_examples/VisualISAMExample.m @@ -10,6 +10,8 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + % Data Options options.triangle = false; options.nrCameras = 20; @@ -32,17 +34,17 @@ options.saveFigures = false; options.saveDotFiles = false; %% Generate data -[data,truth] = gtsam.VisualISAMGenerateData(options); +[data,truth] = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -[noiseModels,isam,result,nextPose] = gtsam.VisualISAMInitialize(data,truth,options); +[noiseModels,isam,result,nextPose] = VisualISAMInitialize(data,truth,options); cla; -gtsam.VisualISAMPlot(truth, data, isam, result, options) +VisualISAMPlot(truth, data, isam, result, options) %% Main loop for iSAM: stepping through all poses for frame_i=3:options.nrCameras - [isam,result,nextPose] = gtsam.VisualISAMStep(data,noiseModels,isam,result,truth,nextPose); + [isam,result,nextPose] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPose); if mod(frame_i,options.drawInterval)==0 - gtsam.VisualISAMPlot(truth, data, isam, result, options) + VisualISAMPlot(truth, data, isam, result, options) end end diff --git a/matlab/gtsam_tests/testLocalizationExample.m b/matlab/gtsam_tests/testLocalizationExample.m index bbe91641d..5f1d89c99 100644 --- a/matlab/gtsam_tests/testLocalizationExample.m +++ b/matlab/gtsam_tests/testLocalizationExample.m @@ -10,12 +10,12 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) import gtsam.* + +%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) graph = NonlinearFactorGraph; %% Add two odometry factors -import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); @@ -23,7 +23,6 @@ graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Add three "GPS" measurements % We use Pose2 Priors here with high variance on theta -import gtsam.* groundTruth = Values; groundTruth.insert(1, Pose2(0.0, 0.0, 0.0)); groundTruth.insert(2, Pose2(2.0, 0.0, 0.0)); @@ -34,19 +33,16 @@ for i=1:3 end %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); %% Plot Covariance Ellipses -import gtsam.* marginals = Marginals(graph, result); P={}; for i=1:result.size() diff --git a/matlab/gtsam_tests/testOdometryExample.m b/matlab/gtsam_tests/testOdometryExample.m index 37a6d83e5..442b36801 100644 --- a/matlab/gtsam_tests/testOdometryExample.m +++ b/matlab/gtsam_tests/testOdometryExample.m @@ -10,38 +10,34 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) import gtsam.* + +%% Create the graph (defined in pose2SLAM.h, derived from NonlinearFactorGraph) graph = NonlinearFactorGraph; %% Add a Gaussian prior on pose x_1 -import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior mean is at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); % 30cm std on x,y, 0.1 rad on theta graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add two odometry factors -import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case) odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); % 20cm std on x,y, 0.1 rad on theta graph.add(BetweenFactorPose2(1, 2, odometry, odometryNoise)); graph.add(BetweenFactorPose2(2, 3, odometry, odometryNoise)); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2)); initialEstimate.insert(3, Pose2(4.1, 0.1, 0.1)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); marginals = Marginals(graph, result); marginals.marginalCovariance(1); %% Check first pose equality -import gtsam.* pose_1 = result.at(1); CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); diff --git a/matlab/gtsam_tests/testPlanarSLAMExample.m b/matlab/gtsam_tests/testPlanarSLAMExample.m index d3988d0f9..2a736a710 100644 --- a/matlab/gtsam_tests/testPlanarSLAMExample.m +++ b/matlab/gtsam_tests/testPlanarSLAMExample.m @@ -11,6 +11,8 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - All values are axis aligned % - Robot poses are facing along the X axis (horizontal, to the right in images) @@ -20,29 +22,24 @@ % - Landmarks are 2 meters away from the robot trajectory %% Create keys for variables -import gtsam.* i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3); j1 = symbol('l',1); j2 = symbol('l',2); %% Create graph container and add factors to it -import gtsam.* graph = NonlinearFactorGraph; %% Add prior -import gtsam.* priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph %% Add odometry -import gtsam.* odometry = Pose2(2.0, 0.0, 0.0); odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise)); graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Add bearing/range measurement factors -import gtsam.* degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); @@ -50,7 +47,6 @@ graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(i1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insert(i2, Pose2(2.3, 0.1,-0.2)); @@ -59,13 +55,11 @@ initialEstimate.insert(j1, Point2(1.8, 2.1)); initialEstimate.insert(j2, Point2(4.1, 1.8)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); marginals = Marginals(graph, result); %% Check first pose and point equality -import gtsam.* pose_1 = result.at(symbol('x',1)); marginals.marginalCovariance(symbol('x',1)); CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); diff --git a/matlab/gtsam_tests/testPose2SLAMExample.m b/matlab/gtsam_tests/testPose2SLAMExample.m index 9d934aab9..127bcd41c 100644 --- a/matlab/gtsam_tests/testPose2SLAMExample.m +++ b/matlab/gtsam_tests/testPose2SLAMExample.m @@ -12,6 +12,8 @@ % @author Chris Beall %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - All values are axis aligned % - Robot poses are facing along the X axis (horizontal, to the right in images) @@ -19,11 +21,9 @@ % - The robot is on a grid, moving 2 meters each step %% Create graph container and add factors to it -import gtsam.* graph = NonlinearFactorGraph; %% Add prior -import gtsam.* % gaussian for prior priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); @@ -31,7 +31,6 @@ graph.add(PriorFactorPose2(1, priorMean, priorNoise)); % add directly to graph %% Add odometry % general noisemodel for odometry -import gtsam.* odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.add(BetweenFactorPose2(1, 2, Pose2(2.0, 0.0, 0.0 ), odometryNoise)); graph.add(BetweenFactorPose2(2, 3, Pose2(2.0, 0.0, pi/2), odometryNoise)); @@ -39,12 +38,10 @@ graph.add(BetweenFactorPose2(3, 4, Pose2(2.0, 0.0, pi/2), odometryNoise)); graph.add(BetweenFactorPose2(4, 5, Pose2(2.0, 0.0, pi/2), odometryNoise)); %% Add pose constraint -import gtsam.* model = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]); graph.add(BetweenFactorPose2(5, 2, Pose2(2.0, 0.0, pi/2), model)); %% Initialize to noisy points -import gtsam.* initialEstimate = Values; initialEstimate.insert(1, Pose2(0.5, 0.0, 0.2 )); initialEstimate.insert(2, Pose2(2.3, 0.1,-0.2 )); @@ -53,26 +50,14 @@ initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimizeSafely(); -%% Optimize using SPCG -%import gtsam.* -%params = LevenbergMarquardtParams; -%params.setLinearSolverType('CONJUGATE_GRADIENT'); -%optimizerSPCG = LevenbergMarquardtOptimizer(graph, initialEstimate, params); -%resultSPCG = optimizerSPCG.optimize(); - %% Plot Covariance Ellipses -import gtsam.* marginals = Marginals(graph, result); P = marginals.marginalCovariance(1); pose_1 = result.at(1); CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4)); -%poseSPCG_1 = resultSPCG.at(1); -%CHECK('poseSPCG_1.equals(Pose2,1e-4)',poseSPCG_1.equals(Pose2,1e-4)); - diff --git a/matlab/gtsam_tests/testPose3SLAMExample.m b/matlab/gtsam_tests/testPose3SLAMExample.m index fc2f95a71..dafad4e47 100644 --- a/matlab/gtsam_tests/testPose3SLAMExample.m +++ b/matlab/gtsam_tests/testPose3SLAMExample.m @@ -10,14 +10,14 @@ % @author Frank Dellaert %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% Create a hexagon of poses import gtsam.* + +%% Create a hexagon of poses hexagon = circlePose3(6,1.0); p0 = hexagon.at(0); p1 = hexagon.at(1); %% create a Pose graph with one equality constraint and one measurement -import gtsam.* fg = NonlinearFactorGraph; fg.add(NonlinearEqualityPose3(0, p0)); delta = p0.between(p1); @@ -30,7 +30,6 @@ fg.add(BetweenFactorPose3(4,5, delta, covariance)); fg.add(BetweenFactorPose3(5,0, delta, covariance)); %% Create initial config -import gtsam.* initial = Values; s = 0.10; initial.insert(0, p0); @@ -41,7 +40,6 @@ initial.insert(4, hexagon.at(4).retract(s*randn(6,1))); initial.insert(5, hexagon.at(5).retract(s*randn(6,1))); %% optimize -import gtsam.* optimizer = LevenbergMarquardtOptimizer(fg, initial); result = optimizer.optimizeSafely; diff --git a/matlab/gtsam_tests/testSFMExample.m b/matlab/gtsam_tests/testSFMExample.m index 5c47a0184..2b04be8f1 100644 --- a/matlab/gtsam_tests/testSFMExample.m +++ b/matlab/gtsam_tests/testSFMExample.m @@ -25,7 +25,6 @@ poseNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1]'; graph = NonlinearFactorGraph; %% Add factors for all measurements -import gtsam.* measurementNoise = noiseModel.Isotropic.Sigma(2,measurementNoiseSigma); for i=1:length(data.Z) for k=1:length(data.Z{i}) @@ -40,7 +39,6 @@ pointPriorNoise = noiseModel.Isotropic.Sigma(3,pointNoiseSigma); graph.add(PriorFactorPoint3(symbol('p',1), truth.points{1}, pointPriorNoise)); %% Initial estimate -import gtsam.* initialEstimate = Values; for i=1:size(truth.cameras,2) pose_i = truth.cameras{i}.pose; @@ -52,7 +50,6 @@ for j=1:size(truth.points,2) end %% Optimization -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); for i=1:5 optimizer.iterate(); @@ -60,13 +57,11 @@ end result = optimizer.values(); %% Marginalization -import gtsam.* marginals = Marginals(graph, result); marginals.marginalCovariance(symbol('p',1)); marginals.marginalCovariance(symbol('x',1)); %% Check optimized results, should be equal to ground truth -import gtsam.* for i=1:size(truth.cameras,2) pose_i = result.at(symbol('x',i)); CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5)) diff --git a/matlab/gtsam_tests/testStereoVOExample.m b/matlab/gtsam_tests/testStereoVOExample.m index f4b0e5b4a..e2d6f2479 100644 --- a/matlab/gtsam_tests/testStereoVOExample.m +++ b/matlab/gtsam_tests/testStereoVOExample.m @@ -10,6 +10,8 @@ % @author Chris Beall %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + %% Assumptions % - For simplicity this example is in the camera's coordinate frame % - X: right, Y: down, Z: forward @@ -18,27 +20,22 @@ % - No noise on measurements %% Create keys for variables -import gtsam.* x1 = symbol('x',1); x2 = symbol('x',2); l1 = symbol('l',1); l2 = symbol('l',2); l3 = symbol('l',3); %% Create graph container and add factors to it -import gtsam.* graph = NonlinearFactorGraph; %% add a constraint on the starting pose -import gtsam.* first_pose = Pose3(); graph.add(NonlinearEqualityPose3(x1, first_pose)); %% Create realistic calibration and measurement noise model % format: fx fy skew cx cy baseline -import gtsam.* K = Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2); stereo_model = noiseModel.Diagonal.Sigmas([1.0; 1.0; 1.0]); %% Add measurements -import gtsam.* % pose 1 graph.add(GenericStereoFactor3D(StereoPoint2(520, 480, 440), stereo_model, x1, l1, K)); graph.add(GenericStereoFactor3D(StereoPoint2(120, 80, 440), stereo_model, x1, l2, K)); @@ -49,9 +46,7 @@ graph.add(GenericStereoFactor3D(StereoPoint2(570, 520, 490), stereo_model, x2, l graph.add(GenericStereoFactor3D(StereoPoint2( 70, 20, 490), stereo_model, x2, l2, K)); graph.add(GenericStereoFactor3D(StereoPoint2(320, 270, 115), stereo_model, x2, l3, K)); - %% Create initial estimate for camera poses and landmarks -import gtsam.* initialEstimate = Values; initialEstimate.insert(x1, first_pose); % noisy estimate for pose 2 @@ -62,12 +57,10 @@ initialEstimate.insert(l2, Point3(-1, 1, 5)); initialEstimate.insert(l3, Point3( 0,-.5, 5)); %% optimize -import gtsam.* optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate); result = optimizer.optimize(); %% check equality for the first pose and point -import gtsam.* pose_x1 = result.at(x1); CHECK('pose_x1.equals(first_pose,1e-4)',pose_x1.equals(first_pose,1e-4)); diff --git a/matlab/gtsam_tests/testVisualISAMExample.m b/matlab/gtsam_tests/testVisualISAMExample.m index a36473341..40aca458e 100644 --- a/matlab/gtsam_tests/testVisualISAMExample.m +++ b/matlab/gtsam_tests/testVisualISAMExample.m @@ -10,6 +10,8 @@ % @author Duy-Nguyen Ta %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +import gtsam.* + % Data Options options.triangle = false; options.nrCameras = 20; @@ -32,15 +34,12 @@ options.saveFigures = false; options.saveDotFiles = false; %% Generate data -import gtsam.* [data,truth] = VisualISAMGenerateData(options); %% Initialize iSAM with the first pose and points -import gtsam.* [noiseModels,isam,result,nextPose] = VisualISAMInitialize(data,truth,options); %% Main loop for iSAM: stepping through all poses -import gtsam.* for frame_i=3:options.nrCameras [isam,result,nextPose] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPose); end From b57b2df3134b75892e9b721fd877a8f2cc973cf0 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Sun, 5 Aug 2012 23:52:47 +0000 Subject: [PATCH 763/914] Added a C++ function for matlab to insert multiple projection factors from a single frame. --- gtsam.h | 1 + matlab.h | 13 +++++++++++++ 2 files changed, 14 insertions(+) diff --git a/gtsam.h b/gtsam.h index 346ded351..578d44a08 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1550,6 +1550,7 @@ namespace utilities { void perturbPoint2(gtsam::Values& values, double sigma, int seed); void perturbPoint3(gtsam::Values& values, double sigma, int seed); void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& 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); Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values); } //\namespace utilities diff --git a/matlab.h b/matlab.h index 1a9af8396..1be686ff4 100644 --- a/matlab.h +++ b/matlab.h @@ -108,6 +108,19 @@ namespace gtsam { } } + /// insert multiple projection factors for a single pose key + void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z, + const SharedNoiseModel& model, const shared_ptrK K) { + if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); + if (Z.cols() != J.size()) throw std::invalid_argument( + "addMeasurements: J and Z must have same number of entries"); + for (int k = 0; k < Z.cols(); k++) { + graph.push_back( + make_shared > + (Point2(Z(0, k), Z(1, k)), model, i, J(k), K)); + } + } + /// calculate the errors of all projection factors in a graph Matrix reprojectionErrors(const NonlinearFactorGraph& graph, const Values& values) { // first count From ee87b51a9fa4ab5c3f9b927e2723bad8090393c2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 6 Aug 2012 13:12:03 +0000 Subject: [PATCH 764/914] small changes --- matlab/gtsam_examples/PlanarSLAMExample.m | 6 +++--- matlab/gtsam_examples/Pose2SLAMExample_graph.m | 11 ++++------- 2 files changed, 7 insertions(+), 10 deletions(-) diff --git a/matlab/gtsam_examples/PlanarSLAMExample.m b/matlab/gtsam_examples/PlanarSLAMExample.m index 1dc6ba41c..ef1516017 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample.m +++ b/matlab/gtsam_examples/PlanarSLAMExample.m @@ -31,7 +31,7 @@ graph = NonlinearFactorGraph; %% Add prior priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]); -graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph +graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); %% Add odometry odometry = Pose2(2.0, 0.0, 0.0); @@ -42,7 +42,7 @@ graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise)); %% Add bearing/range measurement factors degrees = pi/180; brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]); -graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise)); +graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(8), brNoise)); graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise)); graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise)); @@ -69,7 +69,7 @@ cla;hold on marginals = Marginals(graph, result); plot2DTrajectory(result, [], marginals); -plot2DPoints(result, [], marginals); +plot2DPoints(result, 'b', marginals); plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-'); plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-'); diff --git a/matlab/gtsam_examples/Pose2SLAMExample_graph.m b/matlab/gtsam_examples/Pose2SLAMExample_graph.m index b48485573..eb1b03950 100644 --- a/matlab/gtsam_examples/Pose2SLAMExample_graph.m +++ b/matlab/gtsam_examples/Pose2SLAMExample_graph.m @@ -17,11 +17,7 @@ datafile = findExampleDataFile('w100-odom.graph'); %% Initialize graph, initial estimate, and odometry noise model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]); -maxID = 0; -addNoise = false; -smart = true; -[graph,initial] = load2D(datafile, model, maxID, addNoise, smart); -initial.print(sprintf('Initial estimate:\n')); +[graph,initial] = load2D(datafile, model); %% Add a Gaussian prior on pose x_1 priorMean = Pose2(0, 0, 0); % prior mean is at origin @@ -34,9 +30,10 @@ plot2DTrajectory(initial, 'g-*'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd optimizer = LevenbergMarquardtOptimizer(graph, initial); +tic result = optimizer.optimizeSafely; +toc hold on; plot2DTrajectory(result, 'b-*'); -result.print(sprintf('\nFinal result:\n')); %% Plot Covariance Ellipses marginals = Marginals(graph, result); @@ -48,4 +45,4 @@ for i=1:result.size()-1 end view(2) axis tight; axis equal; -fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file +% fprintf(1,'%.5f %.5f %.5f\n',P{99}) \ No newline at end of file From 7c1f7d3d21bbc0e5ab162b580f7629e045e004db Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 6 Aug 2012 18:42:54 +0000 Subject: [PATCH 765/914] Resolved ambiguous call on windows --- matlab.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab.h b/matlab.h index 1be686ff4..dfc0117e7 100644 --- a/matlab.h +++ b/matlab.h @@ -116,8 +116,8 @@ namespace gtsam { "addMeasurements: J and Z must have same number of entries"); for (int k = 0; k < Z.cols(); k++) { graph.push_back( - make_shared > - (Point2(Z(0, k), Z(1, k)), model, i, J(k), K)); + boost::make_shared > + (Point2(Z(0, k), Z(1, k)), model, i, Key(J(k)), K)); } } From 900f30547f9b6c1eea70f50e3774cab641f96823 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 6 Aug 2012 18:42:56 +0000 Subject: [PATCH 766/914] Minor Cal3DS2 optimizations and default 3rd and 4th distortion coeffecients --- gtsam/geometry/Cal3DS2.cpp | 12 +----------- gtsam/geometry/Cal3DS2.h | 7 ++++--- 2 files changed, 5 insertions(+), 14 deletions(-) diff --git a/gtsam/geometry/Cal3DS2.cpp b/gtsam/geometry/Cal3DS2.cpp index 8f15f81d2..66f8d99a7 100644 --- a/gtsam/geometry/Cal3DS2.cpp +++ b/gtsam/geometry/Cal3DS2.cpp @@ -23,13 +23,6 @@ namespace gtsam { -/* ************************************************************************* */ -Cal3DS2::Cal3DS2():fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0){} - -/* ************************************************************************* */ -Cal3DS2::Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4) : - fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), k3_(k3), k4_(k4) {} - /* ************************************************************************* */ Cal3DS2::Cal3DS2(const Vector &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]){} @@ -37,14 +30,11 @@ Cal3DS2::Cal3DS2(const Vector &v): /* ************************************************************************* */ Matrix Cal3DS2::K() const { return Matrix_(3,3, fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0); } -/* ************************************************************************* */ -Vector Cal3DS2::k() const { return Vector_(4, k1_, k2_, k3_, k4_); } - /* ************************************************************************* */ Vector Cal3DS2::vector() const { return Vector_(9, fx_, fy_, s_, u0_, v0_, k1_, k2_, k3_, k4_) ; } /* ************************************************************************* */ -void Cal3DS2::print(const std::string& s) const { gtsam::print(K(), s + ".K") ; gtsam::print(k(), s + ".k") ; } +void Cal3DS2::print(const std::string& s) const { gtsam::print(K(), s + ".K") ; gtsam::print(Vector(k()), s + ".k") ; } /* ************************************************************************* */ bool Cal3DS2::equals(const Cal3DS2& K, double tol) const { diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h index d33b452c1..fc5918f28 100644 --- a/gtsam/geometry/Cal3DS2.h +++ b/gtsam/geometry/Cal3DS2.h @@ -44,17 +44,18 @@ private: public: Matrix K() const ; - Vector k() const ; + Eigen::Vector4d k() const { return Eigen::Vector4d(k1_, k2_, k3_, k4_); } Vector vector() const ; /// @name Standard Constructors /// @{ /// Default Constructor with only unit focal length - Cal3DS2(); + Cal3DS2() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0) {} Cal3DS2(double fx, double fy, double s, double u0, double v0, - double k1, double k2, double k3, double k4) ; + double k1, double k2, double k3 = 0.0, double k4 = 0.0) : + fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), k3_(k3), k4_(k4) {} /// @} /// @name Advanced Constructors From 1565833c2c46b961680270b726cf0d5db85ed429 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 6 Aug 2012 21:42:26 +0000 Subject: [PATCH 767/914] More consistent order of private/protected/public - typedefs, private/protected variables, public interface, private/protected functions --- gtsam/base/DerivedValue.h | 7 +- gtsam/inference/BayesTree.h | 92 +++++++++---------- gtsam/inference/EliminationTree.h | 58 ++++++------ gtsam/inference/Factor.h | 17 ++-- gtsam/linear/JacobianFactor.h | 8 +- gtsam/nonlinear/DoglegOptimizer.h | 9 +- gtsam/nonlinear/GaussNewtonOptimizer.h | 9 +- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 53 +++++------ gtsam/nonlinear/Marginals.h | 12 ++- gtsam/nonlinear/NonlinearOptimizer.h | 28 +++--- gtsam/nonlinear/Values.h | 3 - 11 files changed, 139 insertions(+), 157 deletions(-) diff --git a/gtsam/base/DerivedValue.h b/gtsam/base/DerivedValue.h index 4f6dae9c7..52420ee93 100644 --- a/gtsam/base/DerivedValue.h +++ b/gtsam/base/DerivedValue.h @@ -24,9 +24,6 @@ namespace gtsam { template class DerivedValue : public Value { -private: - /// Fake Tag struct for singleton pool allocator. In fact, it is never used! - struct PoolTag { }; protected: DerivedValue() {} @@ -119,6 +116,10 @@ protected: return *this; } +private: + /// Fake Tag struct for singleton pool allocator. In fact, it is never used! + struct PoolTag { }; + }; } /* namespace gtsam */ diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 34e5c0c45..8b6de3fe6 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -94,51 +94,6 @@ namespace gtsam { /** Map from keys to Clique */ typedef std::deque Nodes; - protected: - - /** Map from keys to Clique */ - Nodes nodes_; - - /** private helper method for saving the Tree to a text file in GraphViz format */ - void saveGraph(std::ostream &s, sharedClique clique, const IndexFormatter& indexFormatter, - int parentnum = 0) const; - - /** Gather data on a single clique */ - void getCliqueData(CliqueData& stats, sharedClique clique) const; - - /** Root clique */ - sharedClique root_; - - /** remove a clique: warning, can result in a forest */ - void removeClique(sharedClique clique); - - /** add a clique (top down) */ - sharedClique addClique(const sharedConditional& conditional, const sharedClique& parent_clique = sharedClique()); - - /** add a clique (top down) */ - void addClique(const sharedClique& clique, const sharedClique& parent_clique = sharedClique()); - - /** add a clique (bottom up) */ - sharedClique addClique(const sharedConditional& conditional, std::list& child_cliques); - - /** - * Add a conditional to the front of a clique, i.e. a conditional whose - * parents are already in the clique or its separators. This function does - * not check for this condition, it just updates the data structures. - */ - static void addToCliqueFront(BayesTree& bayesTree, - const sharedConditional& conditional, const sharedClique& clique); - - /** Fill the nodes index for a subtree */ - void fillNodesIndex(const sharedClique& subtree); - - /** Helper function to build a non-symbolic tree (e.g. Gaussian) using a - * symbolic tree, used in the BT(BN) constructor. - */ - void recursiveTreeBuild(const boost::shared_ptr >& symbolic, - const std::vector >& conditionals, - const typename BayesTree::sharedClique& parent); - public: /// @name Standard Constructors @@ -184,8 +139,6 @@ namespace gtsam { /// @name Standard Interface /// @{ - public: - /** * Find parent clique of a conditional. It will look at all parents and * return the one with the lowest index in the ordering. @@ -284,6 +237,51 @@ namespace gtsam { sharedClique insert(const sharedConditional& clique, std::list& children, bool isRootClique = false); + + protected: + + /** Map from keys to Clique */ + Nodes nodes_; + + /** private helper method for saving the Tree to a text file in GraphViz format */ + void saveGraph(std::ostream &s, sharedClique clique, const IndexFormatter& indexFormatter, + int parentnum = 0) const; + + /** Gather data on a single clique */ + void getCliqueData(CliqueData& stats, sharedClique clique) const; + + /** Root clique */ + sharedClique root_; + + /** remove a clique: warning, can result in a forest */ + void removeClique(sharedClique clique); + + /** add a clique (top down) */ + sharedClique addClique(const sharedConditional& conditional, const sharedClique& parent_clique = sharedClique()); + + /** add a clique (top down) */ + void addClique(const sharedClique& clique, const sharedClique& parent_clique = sharedClique()); + + /** add a clique (bottom up) */ + sharedClique addClique(const sharedConditional& conditional, std::list& child_cliques); + + /** + * Add a conditional to the front of a clique, i.e. a conditional whose + * parents are already in the clique or its separators. This function does + * not check for this condition, it just updates the data structures. + */ + static void addToCliqueFront(BayesTree& bayesTree, + const sharedConditional& conditional, const sharedClique& clique); + + /** Fill the nodes index for a subtree */ + void fillNodesIndex(const sharedClique& subtree); + + /** Helper function to build a non-symbolic tree (e.g. Gaussian) using a + * symbolic tree, used in the BT(BN) constructor. + */ + void recursiveTreeBuild(const boost::shared_ptr >& symbolic, + const std::vector >& conditionals, + const typename BayesTree::sharedClique& parent); private: diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 495fb40c8..286f85268 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -73,39 +73,11 @@ private: Factors factors_; ///< factors associated with root SubTrees subTrees_; ///< sub-trees +public: + /// @name Standard Constructors /// @{ - /** default constructor, private, as you should use Create below */ - EliminationTree(Index key = 0) : key_(key) {} - - /// @} - /// @name Advanced Interface - /// @{ - - /** - * Static internal function to build a vector of parent pointers using the - * algorithm of Gilbert et al., 2001, BIT. - */ - static std::vector ComputeParents(const VariableIndex& structure); - - /** add a factor, for Create use only */ - void add(const sharedFactor& factor) { factors_.push_back(factor); } - - /** add a subtree, for Create use only */ - void add(const shared_ptr& child) { subTrees_.push_back(child); } - - /** - * Recursive routine that eliminates the factors arranged in an elimination tree - * @param Conditionals is a vector of shared pointers that will be modified in place - */ - sharedFactor eliminate_(Eliminate function, Conditionals& conditionals) const; - - /// Allow access to constructor and add methods for testing purposes - friend class ::EliminationTreeTester; - -public: - /** * Named constructor to build the elimination tree of a factor graph using * pre-computed column structure. @@ -151,6 +123,32 @@ public: /// @} +private: + + /** default constructor, private, as you should use Create below */ + EliminationTree(Index key = 0) : key_(key) {} + + /** + * Static internal function to build a vector of parent pointers using the + * algorithm of Gilbert et al., 2001, BIT. + */ + static std::vector ComputeParents(const VariableIndex& structure); + + /** add a factor, for Create use only */ + void add(const sharedFactor& factor) { factors_.push_back(factor); } + + /** add a subtree, for Create use only */ + void add(const shared_ptr& child) { subTrees_.push_back(child); } + + /** + * Recursive routine that eliminates the factors arranged in an elimination tree + * @param Conditionals is a vector of shared pointers that will be modified in place + */ + sharedFactor eliminate_(Eliminate function, Conditionals& conditionals) const; + + /// Allow access to constructor and add methods for testing purposes + friend class ::EliminationTreeTester; + }; diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index d81c911a3..950f6e65f 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -81,15 +81,6 @@ protected: /// The keys involved in this factor std::vector keys_; - friend class JacobianFactor; - friend class HessianFactor; - -protected: - - /// Internal consistency check that is run frequently when in debug mode. - /// If NDEBUG is defined, this is empty and optimized out. - void assertInvariants() const; - public: /// @name Standard Constructors @@ -212,9 +203,15 @@ public: iterator begin() { return keys_.begin(); } ///TODO: comment iterator end() { return keys_.end(); } ///TODO: comment +protected: + friend class JacobianFactor; + friend class HessianFactor; + + /// Internal consistency check that is run frequently when in debug mode. + /// If NDEBUG is defined, this is empty and optimized out. + void assertInvariants() const; private: - /** Serialization function */ friend class boost::serialization::access; template diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index c5f726252..43200d561 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -78,11 +78,9 @@ namespace gtsam { * \f[ E(x) = \frac{1}{2} (A_1 x_{j1} + A_2 x_{j2} - b)^T \Sigma^{-1} (A_1 x_{j1} + A_2 x_{j2} - b) . \f] */ class JacobianFactor : public GaussianFactor { - public: - typedef Matrix AbMatrix; - typedef VerticalBlockView BlockAb; - protected: + typedef Matrix AbMatrix; + typedef VerticalBlockView BlockAb; noiseModel::Diagonal::shared_ptr model_; // Gaussian noise model with diagonal covariance matrix std::vector firstNonzeroBlocks_; @@ -97,8 +95,6 @@ namespace gtsam { typedef BlockAb::Column BVector; typedef BlockAb::constColumn constBVector; - public: - /** Copy constructor */ JacobianFactor(const JacobianFactor& gf); diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index 70d55d192..71551dce1 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -67,7 +67,6 @@ private: */ class DoglegState : public NonlinearOptimizerState { public: - double Delta; DoglegState() {} @@ -86,8 +85,11 @@ protected: */ class DoglegOptimizer : public NonlinearOptimizer { -public: +protected: + DoglegParams params_; + DoglegState state_; +public: typedef boost::shared_ptr shared_ptr; /// @name Standard interface @@ -143,9 +145,6 @@ public: /// @} protected: - DoglegParams params_; - DoglegState state_; - /** Access the parameters (base class version) */ virtual const NonlinearOptimizerParams& _params() const { return params_; } diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h index 1a1984ffb..b68ac4fc5 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.h +++ b/gtsam/nonlinear/GaussNewtonOptimizer.h @@ -43,8 +43,11 @@ protected: */ class GaussNewtonOptimizer : public NonlinearOptimizer { -public: +protected: + GaussNewtonParams params_; + GaussNewtonState state_; +public: /// @name Standard interface /// @{ @@ -94,10 +97,6 @@ public: /// @} protected: - - GaussNewtonParams params_; - GaussNewtonState state_; - /** Access the parameters (base class version) */ virtual const NonlinearOptimizerParams& _params() const { return params_; } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 13927d39f..62d05839d 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -42,12 +42,6 @@ public: DAMPED }; -private: - VerbosityLM verbosityLMTranslator(const std::string &s) const; - std::string verbosityLMTranslator(VerbosityLM value) const; - -public: - double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5) double lambdaFactor; ///< The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0) double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5) @@ -67,6 +61,10 @@ public: inline void setlambdaFactor(double value) { lambdaFactor = value; } inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; } inline void setVerbosityLM(const std::string &s) { verbosityLM = verbosityLMTranslator(s); } + +private: + VerbosityLM verbosityLMTranslator(const std::string &s) const; + std::string verbosityLMTranslator(VerbosityLM value) const; }; /** @@ -74,20 +72,18 @@ public: */ class LevenbergMarquardtState : public NonlinearOptimizerState { -protected: - - LevenbergMarquardtState(const NonlinearFactorGraph& graph, const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) : - NonlinearOptimizerState(graph, initialValues, iterations), lambda(params.lambdaInitial) {} - - friend class LevenbergMarquardtOptimizer; - public: - double lambda; LevenbergMarquardtState() {} virtual ~LevenbergMarquardtState() {} + +protected: + LevenbergMarquardtState(const NonlinearFactorGraph& graph, const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) : + NonlinearOptimizerState(graph, initialValues, iterations), lambda(params.lambdaInitial) {} + + friend class LevenbergMarquardtOptimizer; }; /** @@ -96,26 +92,11 @@ public: class LevenbergMarquardtOptimizer : public NonlinearOptimizer { protected: - LevenbergMarquardtParams params_; ///< LM parameters LevenbergMarquardtState state_; ///< optimization state std::vector dimensions_; ///< undocumented - /** Access the parameters (base class version) */ - virtual const NonlinearOptimizerParams& _params() const { return params_; } - - /** Access the state (base class version) */ - virtual const NonlinearOptimizerState& _state() const { return state_; } - - /** Internal function for computing a COLAMD ordering if no ordering is specified */ - LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph, const Values& values) const { - if(!params.ordering) - params.ordering = *graph.orderingCOLAMD(values); - return params; - } - public: - typedef boost::shared_ptr shared_ptr; /// @name Standard interface @@ -176,6 +157,20 @@ public: const LevenbergMarquardtState& state() const { return state_; } /// @} + +protected: + /** Access the parameters (base class version) */ + virtual const NonlinearOptimizerParams& _params() const { return params_; } + + /** Access the state (base class version) */ + virtual const NonlinearOptimizerState& _state() const { return state_; } + + /** Internal function for computing a COLAMD ordering if no ordering is specified */ + LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph, const Values& values) const { + if(!params.ordering) + params.ordering = *graph.orderingCOLAMD(values); + return params; + } }; } diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index c792167c5..588531830 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -88,11 +88,6 @@ protected: BlockView blockView_; Ordering indices_; - JointMarginal(const Matrix& fullMatrix, const std::vector& dims, const Ordering& indices) : - fullMatrix_(fullMatrix), blockView_(fullMatrix_, dims.begin(), dims.end()), indices_(indices) {} - - friend class Marginals; - public: /** A block view of the joint marginal - this stores a reference to the * JointMarginal object, so the JointMarginal object must be kept in scope @@ -129,6 +124,13 @@ public: /** Print */ void print(const std::string& s = "", const KeyFormatter& formatter = DefaultKeyFormatter) const; + +protected: + JointMarginal(const Matrix& fullMatrix, const std::vector& dims, const Ordering& indices) : + fullMatrix_(fullMatrix), blockView_(fullMatrix_, dims.begin(), dims.end()), indices_(indices) {} + + friend class Marginals; + }; } /* namespace gtsam */ diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h index 03f3a5e34..488d3d832 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.h +++ b/gtsam/nonlinear/NonlinearOptimizer.h @@ -177,23 +177,9 @@ Values::const_shared_ptr result = DoglegOptimizer(graph, initialValues, params). class NonlinearOptimizer { protected: - NonlinearFactorGraph graph_; - /** A default implementation of the optimization loop, which calls iterate() - * until checkConvergence returns true. - */ - void defaultOptimize(); - - virtual const NonlinearOptimizerState& _state() const = 0; - - virtual const NonlinearOptimizerParams& _params() const = 0; - - /** Constructor for initial construction of base classes. */ - NonlinearOptimizer(const NonlinearFactorGraph& graph) : graph_(graph) {} - public: - /** A shared pointer to this class */ typedef boost::shared_ptr shared_ptr; @@ -243,6 +229,20 @@ public: virtual void iterate() = 0; /// @} + +protected: + /** A default implementation of the optimization loop, which calls iterate() + * until checkConvergence returns true. + */ + void defaultOptimize(); + + virtual const NonlinearOptimizerState& _state() const = 0; + + virtual const NonlinearOptimizerParams& _params() const = 0; + + /** Constructor for initial construction of base classes. */ + NonlinearOptimizer(const NonlinearFactorGraph& graph) : graph_(graph) {} + }; /** Check whether the relative error decrease is less than relativeErrorTreshold, diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index a01718da4..c96831f05 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -123,8 +123,6 @@ namespace gtsam { typedef KeyValuePair value_type; - public: - /** A filtered view of a Values, returned from Values::filter. */ template class Filtered; @@ -196,7 +194,6 @@ namespace gtsam { /** Get a zero VectorValues of the correct structure */ VectorValues zeroVectors(const Ordering& ordering) const; - public: const_iterator begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); } const_iterator end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); } iterator begin() { return boost::make_transform_iterator(values_.begin(), &make_deref_pair); } From 3838fd5508d1c785a5ec4a2e939fbe8c3c021b4f Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 7 Aug 2012 17:19:06 +0000 Subject: [PATCH 768/914] Added push_bach() to NonlinearFactorGraph with full graph argument --- gtsam.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 578d44a08..df7bdda44 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1072,12 +1072,13 @@ class NonlinearFactorGraph { bool empty() const; void remove(size_t i); size_t nrFactors() const; - void add(const gtsam::NonlinearFactor* factor); gtsam::NonlinearFactor* at(size_t i) const; + void push_back(const gtsam::NonlinearFactorGraph& factors); // NonlinearFactorGraph double error(const gtsam::Values& values) const; double probPrime(const gtsam::Values& values) const; + void add(const gtsam::NonlinearFactor* factor); gtsam::Ordering* orderingCOLAMD(const gtsam::Values& values) const; // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values, From a025b377ecc50c421274be229514e2cc4fe19ec5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 7 Aug 2012 18:21:35 +0000 Subject: [PATCH 769/914] Added full Values interface --- gtsam.h | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/gtsam.h b/gtsam.h index df7bdda44..0fd782309 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1099,14 +1099,34 @@ virtual class NonlinearFactor { // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen }; +#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(size_t j, const gtsam::Value& value); + void insert(const gtsam::Values& values); + void update(size_t j, const gtsam::Value& val); + void update(const gtsam::Values& values); + void erase(size_t j); + bool exists(size_t j) const; gtsam::Value at(size_t j) const; gtsam::KeyList keys() const; + + gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const; + + gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const; + gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const; + void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const; }; // Actually a FastList From 2e4697e7e1a002e853e28c267e7c29becb2f8c21 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 10 Aug 2012 16:10:31 +0000 Subject: [PATCH 770/914] small sanity checks on Ordering --- gtsam/nonlinear/tests/testOrdering.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/tests/testOrdering.cpp b/gtsam/nonlinear/tests/testOrdering.cpp index beb16f741..d89c04d3c 100644 --- a/gtsam/nonlinear/tests/testOrdering.cpp +++ b/gtsam/nonlinear/tests/testOrdering.cpp @@ -44,8 +44,11 @@ TEST( testOrdering, simple_modifications ) { CHECK_EXCEPTION(ordering.pop_back(x1), std::invalid_argument); // reassemble back make the ordering 1, 2, 4, 3 - ordering.push_back(x4); - ordering.push_back(x3); + EXPECT_LONGS_EQUAL(2, ordering.push_back(x4)); + EXPECT_LONGS_EQUAL(3, ordering.push_back(x3)); + + EXPECT_LONGS_EQUAL(2, ordering[x4]); + EXPECT_LONGS_EQUAL(3, ordering[x3]); // verify Ordering expectedFinal; From b6e7709052b826706fbd3d5a58a215f595306778 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 10 Aug 2012 18:13:45 +0000 Subject: [PATCH 771/914] Added printKeys() to factor for more compact printing --- gtsam.h | 3 +++ gtsam/inference/Factor-inl.h | 8 +++++++- gtsam/inference/Factor.h | 4 ++++ 3 files changed, 14 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 0fd782309..14e3d175f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -919,6 +919,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor { Vector b, const gtsam::noiseModel::Diagonal* model); JacobianFactor(const gtsam::GaussianFactor& factor); void print(string s) const; + void printKeys(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; bool empty() const; size_t size() const; @@ -942,6 +943,7 @@ virtual class HessianFactor : gtsam::GaussianFactor { HessianFactor(const gtsam::GaussianFactor& factor); 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; gtsam::GaussianFactor* negate() const; @@ -1088,6 +1090,7 @@ class NonlinearFactorGraph { virtual class NonlinearFactor { void print(string s) const; + void printKeys(string s) const; void equals(const gtsam::NonlinearFactor& other, double tol) const; gtsam::KeyVector keys() const; size_t size() const; diff --git a/gtsam/inference/Factor-inl.h b/gtsam/inference/Factor-inl.h index 6636b646c..b2099aa3e 100644 --- a/gtsam/inference/Factor-inl.h +++ b/gtsam/inference/Factor-inl.h @@ -58,10 +58,16 @@ namespace gtsam { template void Factor::print(const std::string& s, const IndexFormatter& formatter) const { + printKeys(s,formatter); + } + + /* ************************************************************************* */ + template + void Factor::printKeys(const std::string& s, const IndexFormatter& formatter) const { std::cout << s << " "; BOOST_FOREACH(KEY key, keys_) std::cout << " " << formatter(key); std::cout << std::endl; - } + } /* ************************************************************************* */ template diff --git a/gtsam/inference/Factor.h b/gtsam/inference/Factor.h index 950f6e65f..4c31664d7 100644 --- a/gtsam/inference/Factor.h +++ b/gtsam/inference/Factor.h @@ -187,6 +187,10 @@ public: void print(const std::string& s = "Factor", const IndexFormatter& formatter = DefaultIndexFormatter) const; + /// print only keys + void printKeys(const std::string& s = "Factor", + const IndexFormatter& formatter = DefaultIndexFormatter) const; + /// check equality bool equals(const This& other, double tol = 1e-9) const; From 01257d02896015c7c1d9e053c6edf442eb84ec57 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 11 Aug 2012 02:53:54 +0000 Subject: [PATCH 772/914] Added automatic conversion operator from LieScalar to double (simplifies syntax so that .value() is not needed) --- gtsam/base/LieScalar.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/base/LieScalar.h b/gtsam/base/LieScalar.h index 3b9c7037a..ce0ba93ca 100644 --- a/gtsam/base/LieScalar.h +++ b/gtsam/base/LieScalar.h @@ -36,6 +36,9 @@ namespace gtsam { /** access the underlying value */ double value() const { return d_; } + /** Automatic conversion to underlying value */ + operator double() const { return d_; } + /** print @param name optional string naming the object */ inline void print(const std::string& name="") const { std::cout << name << ": " << d_ << std::endl; From 92e575f8c134e2fc3ed618c7613a0a0f3161cc61 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Sat, 11 Aug 2012 02:53:56 +0000 Subject: [PATCH 773/914] Wrapped LieScalar --- gtsam.h | 35 ++++++++++++++++++++++++++++++++--- 1 file changed, 32 insertions(+), 3 deletions(-) diff --git a/gtsam.h b/gtsam.h index 14e3d175f..fd36a28c0 100644 --- a/gtsam.h +++ b/gtsam.h @@ -101,6 +101,35 @@ virtual class Value { size_t dim() const; }; +#include +virtual class LieScalar : gtsam::Value { + // Standard constructors + LieScalar(); + LieScalar(double d); + + // Standard interface + double value() const; + + // Testable + void print(string s) const; + bool equals(const gtsam::LieScalar& expected, double tol) const; + + // Group + static gtsam::LieScalar identity(); + gtsam::LieScalar inverse() const; + gtsam::LieScalar compose(const gtsam::LieScalar& p) const; + gtsam::LieScalar between(const gtsam::LieScalar& l2) const; + + // Manifold + size_t dim() const; + gtsam::LieScalar retract(Vector v) const; + Vector localCoordinates(const gtsam::LieScalar& t2) const; + + // Lie group + static gtsam::LieScalar Expmap(Vector v); + static Vector Logmap(const gtsam::LieScalar& p); +}; + #include virtual class LieVector : gtsam::Value { // Standard constructors @@ -1451,21 +1480,21 @@ class NonlinearISAM { #include #include -template +template virtual class PriorFactor : gtsam::NonlinearFactor { PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); }; #include -template +template virtual class BetweenFactor : gtsam::NonlinearFactor { BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel); }; #include -template +template virtual class NonlinearEquality : gtsam::NonlinearFactor { // Constructor - forces exact evaluation NonlinearEquality(size_t j, const T& feasible); From d7f6a799672a66392e7bcc6027ea5b534ddf95a8 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 12 Aug 2012 19:52:20 +0000 Subject: [PATCH 774/914] Refactor in GaussianISAM to make solver easier to use/modify. Added non-const interface to nodes in Bayes Tree. Added separate eclipse make target for check (with default -j params) and "check j1" to force -j params. --- .cproject | 342 +++++++++++++++++++----------------- gtsam/inference/BayesTree.h | 3 + gtsam/linear/GaussianISAM.h | 30 ++-- 3 files changed, 199 insertions(+), 176 deletions(-) diff --git a/.cproject b/.cproject index 81bf59187..316c5c30c 100644 --- a/.cproject +++ b/.cproject @@ -309,14 +309,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -343,6 +335,7 @@ make + tests/testBayesTree.run true false @@ -350,6 +343,7 @@ make + testBinaryBayesNet.run true false @@ -397,6 +391,7 @@ make + testSymbolicBayesNet.run true false @@ -404,6 +399,7 @@ make + tests/testSymbolicFactor.run true false @@ -411,6 +407,7 @@ make + testSymbolicFactorGraph.run true false @@ -426,11 +423,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -519,22 +525,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -551,6 +541,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -575,26 +581,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -679,26 +685,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -969,6 +975,7 @@ make + testGraph.run true false @@ -976,6 +983,7 @@ make + testJunctionTree.run true false @@ -983,6 +991,7 @@ make + testSymbolicBayesNetB.run true false @@ -1118,6 +1127,7 @@ make + testErrors.run true false @@ -1163,14 +1173,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -1251,6 +1253,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -1581,7 +1591,6 @@ make - testSimulated2DOriented.run true false @@ -1621,7 +1630,6 @@ make - testSimulated2D.run true false @@ -1629,7 +1637,6 @@ make - testSimulated3D.run true false @@ -1821,7 +1828,6 @@ make - tests/testGaussianISAM2 true false @@ -1843,102 +1849,6 @@ 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 -j1 @@ -1955,7 +1865,7 @@ true true - + make -j1 check @@ -2140,6 +2050,7 @@ cpack + -G DEB true false @@ -2147,6 +2058,7 @@ cpack + -G RPM true false @@ -2154,6 +2066,7 @@ cpack + -G TGZ true false @@ -2161,6 +2074,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2286,34 +2200,106 @@ true true - + make -j5 - testSpirit.run + check true true true - + make - -j5 - testWrap.run + -j2 + testRot3.run true true true - + make - -j5 - check.wrap + -j2 + testRot2.run true true true - + make - -j5 - wrap + -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 @@ -2357,6 +2343,38 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 8b6de3fe6..6cd7c67f1 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -198,6 +198,9 @@ namespace gtsam { /** Access the root clique (non-const version) */ sharedClique& root() { return root_; } + /** Access the nodes (non-cost version) */ + Nodes& nodes() { return nodes_; } + /** Remove all nodes */ void clear(); diff --git a/gtsam/linear/GaussianISAM.h b/gtsam/linear/GaussianISAM.h index e4ac62704..dbb6afb7e 100644 --- a/gtsam/linear/GaussianISAM.h +++ b/gtsam/linear/GaussianISAM.h @@ -48,20 +48,8 @@ public: /** Override update_internal to also keep track of variable dimensions. */ template void update_internal(const FACTORGRAPH& newFactors, Cliques& orphans) { - - Super::update_internal(newFactors, orphans, &EliminateQR); - - // update dimensions - BOOST_FOREACH(const typename FACTORGRAPH::sharedFactor& factor, newFactors) { - for(typename FACTORGRAPH::FactorType::const_iterator key = factor->begin(); key != factor->end(); ++key) { - if(*key >= dims_.size()) - dims_.resize(*key + 1); - if(dims_[*key] == 0) - dims_[*key] = factor->getDim(key); - else - assert(dims_[*key] == factor->getDim(key)); - } - } + Super::update_internal(newFactors, orphans, &EliminateQR); // TODO: why does this force QR? + update_dimensions(newFactors); } template @@ -70,6 +58,20 @@ public: this->update_internal(newFactors, orphans); } + template + inline void update_dimensions(const FACTORGRAPH& newFactors) { + BOOST_FOREACH(const typename FACTORGRAPH::sharedFactor& factor, newFactors) { + for(typename FACTORGRAPH::FactorType::const_iterator key = factor->begin(); key != factor->end(); ++key) { + if(*key >= dims_.size()) + dims_.resize(*key + 1); + if(dims_[*key] == 0) + dims_[*key] = factor->getDim(key); + else + assert(dims_[*key] == factor->getDim(key)); + } + } + } + void clear() { Super::clear(); dims_.clear(); From d652dbc03aec9a3b2aef6203c4f77d9364c1b75c Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Mon, 13 Aug 2012 15:16:10 +0000 Subject: [PATCH 775/914] made constructor explicit to make gcc happy --- gtsam/base/LieScalar.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/base/LieScalar.h b/gtsam/base/LieScalar.h index ce0ba93ca..3721492ec 100644 --- a/gtsam/base/LieScalar.h +++ b/gtsam/base/LieScalar.h @@ -31,7 +31,7 @@ namespace gtsam { LieScalar() : d_(0.0) {} /** wrap a double */ - LieScalar(double d) : d_(d) {} + explicit LieScalar(double d) : d_(d) {} /** access the underlying value */ double value() const { return d_; } From 44a3ec1e1d09d34eee5b33bba955d7dc208c690e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 13 Aug 2012 18:13:15 +0000 Subject: [PATCH 776/914] Added interface to dims_ --- gtsam/linear/GaussianISAM.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam/linear/GaussianISAM.h b/gtsam/linear/GaussianISAM.h index dbb6afb7e..2f35845b8 100644 --- a/gtsam/linear/GaussianISAM.h +++ b/gtsam/linear/GaussianISAM.h @@ -77,6 +77,10 @@ public: dims_.clear(); } + // access + const Dims& dims() const { return dims_; } ///< Const access to dimensions structure + Dims& dims() { return dims_; } ///< non-const access to dimensions structure (advanced interface) + friend VectorValues optimize(const GaussianISAM&); /** return marginal on any variable as a factor, Bayes net, or mean/cov */ From 355141f9857301224d0c9c78b6aa737ce4160179 Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Wed, 15 Aug 2012 17:17:52 +0000 Subject: [PATCH 777/914] Added dense matrix accessor for JointMarginals --- gtsam.h | 1 + gtsam/nonlinear/Marginals.h | 7 +++++++ 2 files changed, 8 insertions(+) diff --git a/gtsam.h b/gtsam.h index fd36a28c0..262e1d105 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1239,6 +1239,7 @@ class Marginals { class JointMarginal { Matrix at(size_t iVariable, size_t jVariable) const; + Matrix fullMatrix() const; void print(string s) const; void print() const; }; diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h index 588531830..302c686e8 100644 --- a/gtsam/nonlinear/Marginals.h +++ b/gtsam/nonlinear/Marginals.h @@ -116,6 +116,13 @@ public: Block at(Key iVariable, Key jVariable) const { return (*this)(iVariable, jVariable); } + /** The full, dense covariance/information matrix of the joint marginal. This returns + * a reference to the JointMarginal object, so the JointMarginal object must be kept + * in scope while this view is needed. Otherwise assign this block object to a Matrix + * to store it. + */ + const Matrix& fullMatrix() const { return fullMatrix_; } + /** Copy constructor */ JointMarginal(const JointMarginal& other); From 9ee098b1c199cca4a19f101540f348d6f42e115f Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 15 Aug 2012 17:35:14 +0000 Subject: [PATCH 778/914] Added separate splitConditional() to remove the top part of a JacobianFactor after performing QR --- gtsam/linear/JacobianFactor.cpp | 175 ++++++++++++++++++++++---------- gtsam/linear/JacobianFactor.h | 8 +- 2 files changed, 129 insertions(+), 54 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index b241ff24a..0fa3bd7f5 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -396,6 +396,73 @@ namespace gtsam { return this->eliminate(1); } + /* ************************************************************************* */ + GaussianConditional::shared_ptr JacobianFactor::splitConditional(size_t nrFrontals) { + assert(Ab_.rowStart() == 0 && Ab_.rowEnd() == (size_t) matrix_.rows() && Ab_.firstBlock() == 0); + assert(size() >= nrFrontals); + assertInvariants(); + + const bool debug = ISDEBUG("JacobianFactor::splitConditional"); + + if(debug) cout << "Eliminating " << nrFrontals << " frontal variables" << endl; + if(debug) this->print("Splitting JacobianFactor: "); + + size_t frontalDim = Ab_.range(0,nrFrontals).cols(); + + // Check for singular factor + if(model_->dim() < frontalDim) { + throw domain_error((boost::format( + "JacobianFactor is singular in variable %1%, discovered while attempting\n" + "to eliminate this variable.") % front()).str()); + } + + // Extract conditional + tic(3, "cond Rd"); + + // Restrict the matrix to be in the first nrFrontals variables + Ab_.rowEnd() = Ab_.rowStart() + frontalDim; + const Eigen::VectorBlock sigmas = model_->sigmas().segment(Ab_.rowStart(), Ab_.rowEnd()-Ab_.rowStart()); + GaussianConditional::shared_ptr conditional(new GaussianConditional(begin(), end(), nrFrontals, Ab_, sigmas)); + if(debug) conditional->print("Extracted conditional: "); + Ab_.rowStart() += frontalDim; + Ab_.firstBlock() += nrFrontals; + toc(3, "cond Rd"); + + if(debug) conditional->print("Extracted conditional: "); + + tic(4, "remaining factor"); + // Take lower-right block of Ab to get the new factor + Ab_.rowEnd() = model_->dim(); + keys_.erase(begin(), begin() + nrFrontals); + // Set sigmas with the right model + if (model_->isConstrained()) + model_ = noiseModel::Constrained::MixedSigmas(sub(model_->sigmas(), frontalDim, model_->dim())); + else + model_ = noiseModel::Diagonal::Sigmas(sub(model_->sigmas(), frontalDim, model_->dim())); + if(debug) this->print("Eliminated factor: "); + assert(Ab_.rows() <= Ab_.cols()-1); + toc(4, "remaining factor"); + + // todo SL: deal with "dead" pivot columns!!! + tic(5, "rowstarts"); + size_t varpos = 0; + firstNonzeroBlocks_.resize(this->rows()); + for(size_t row=0; rowprint("QR result noise model: "); - // Check for singular factor - if(noiseModel->dim() < frontalDim) { - throw domain_error((boost::format( - "JacobianFactor is singular in variable %1%, discovered while attempting\n" - "to eliminate this variable.") % front()).str()); - } - - // Extract conditionals - tic(3, "cond Rd"); - GaussianConditional::shared_ptr conditionals(new GaussianConditional()); - - // Restrict the matrix to be in the first nrFrontals variables - Ab_.rowEnd() = Ab_.rowStart() + frontalDim; - const Eigen::VectorBlock sigmas = noiseModel->sigmas().segment(Ab_.rowStart(), Ab_.rowEnd()-Ab_.rowStart()); - conditionals = boost::make_shared(begin(), end(), nrFrontals, Ab_, sigmas); - if(debug) conditionals->print("Extracted conditional: "); - Ab_.rowStart() += frontalDim; - Ab_.firstBlock() += nrFrontals; - toc(3, "cond Rd"); - - if(debug) conditionals->print("Extracted conditionals: "); - - tic(4, "remaining factor"); - // Take lower-right block of Ab to get the new factor - Ab_.rowEnd() = noiseModel->dim(); - keys_.erase(begin(), begin() + nrFrontals); - // Set sigmas with the right model - if (noiseModel->isConstrained()) - model_ = noiseModel::Constrained::MixedSigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim())); - else - model_ = noiseModel::Diagonal::Sigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim())); - if(debug) this->print("Eliminated factor: "); - assert(Ab_.rows() <= Ab_.cols()-1); - toc(4, "remaining factor"); - - // todo SL: deal with "dead" pivot columns!!! - tic(5, "rowstarts"); - size_t varpos = 0; - firstNonzeroBlocks_.resize(this->rows()); - for(size_t row=0; rowdim() < frontalDim) { +// throw domain_error((boost::format( +// "JacobianFactor is singular in variable %1%, discovered while attempting\n" +// "to eliminate this variable.") % front()).str()); +// } +// +// // Extract conditional +// tic(3, "cond Rd"); +// +// // Restrict the matrix to be in the first nrFrontals variables +// Ab_.rowEnd() = Ab_.rowStart() + frontalDim; +// const Eigen::VectorBlock sigmas = noiseModel->sigmas().segment(Ab_.rowStart(), Ab_.rowEnd()-Ab_.rowStart()); +// GaussianConditional::shared_ptr conditional(new GaussianConditional(begin(), end(), nrFrontals, Ab_, sigmas)); +// if(debug) conditional->print("Extracted conditional: "); +// Ab_.rowStart() += frontalDim; +// Ab_.firstBlock() += nrFrontals; +// toc(3, "cond Rd"); +// +// if(debug) conditional->print("Extracted conditionals: "); +// +// tic(4, "remaining factor"); +// // Take lower-right block of Ab to get the new factor +// Ab_.rowEnd() = noiseModel->dim(); +// keys_.erase(begin(), begin() + nrFrontals); +// // Set sigmas with the right model +// if (noiseModel->isConstrained()) +// model_ = noiseModel::Constrained::MixedSigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim())); +// else +// model_ = noiseModel::Diagonal::Sigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim())); +// if(debug) this->print("Eliminated factor: "); +// assert(Ab_.rows() <= Ab_.cols()-1); +// toc(4, "remaining factor"); +// +// // todo SL: deal with "dead" pivot columns!!! +// tic(5, "rowstarts"); +// size_t varpos = 0; +// firstNonzeroBlocks_.resize(this->rows()); +// for(size_t row=0; row eliminate(size_t nrFrontals = 1); + /** + * splits a pre-factorized factor into a conditional, and changes the current + * factor to be the remaining component. Performs same operation as eliminate(), + * but without running QR. + */ + boost::shared_ptr splitConditional(size_t nrFrontals = 1); + /* Used by ::CombineJacobians for sorting */ struct _RowSource { size_t firstNonzeroVar; From 31b5dfc188a007279f9071555ff41facb6d0adbb Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 17 Aug 2012 03:45:24 +0000 Subject: [PATCH 779/914] Fixed wrong return type in gtsam.h --- gtsam.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index 262e1d105..55021e84a 100644 --- a/gtsam.h +++ b/gtsam.h @@ -166,7 +166,7 @@ virtual class LieMatrix : gtsam::Value { LieMatrix(Matrix v); // Standard interface - Vector matrix() const; + Matrix matrix() const; // Testable void print(string s) const; From 88f504b73dd7162d6d9853bb34dd0e96a6124553 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 17 Aug 2012 03:45:26 +0000 Subject: [PATCH 780/914] Wrapped rest of VectorValues interface --- gtsam.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/gtsam.h b/gtsam.h index 55021e84a..5f55a8c62 100644 --- a/gtsam.h +++ b/gtsam.h @@ -900,7 +900,12 @@ class VectorValues { void print(string s) const; bool equals(const gtsam::VectorValues& expected, double tol) const; size_t size() const; + size_t dim(size_t j) const; + size_t dim() const; + bool exists(size_t j) const; void insert(size_t j, Vector value); + Vector vector() const; + Vector at(size_t j) const; }; class GaussianConditional { From 2a66b538a478aebd97b0038d9ed13a012093a576 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 17 Aug 2012 03:45:28 +0000 Subject: [PATCH 781/914] More detailed disconnected graph error message --- gtsam/inference/EliminationTree.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h index 286f85268..f2b0c1eaf 100644 --- a/gtsam/inference/EliminationTree.h +++ b/gtsam/inference/EliminationTree.h @@ -167,7 +167,12 @@ struct DisconnectedGraphException : public std::exception { /// Returns the string "Attempting to eliminate a disconnected graph - this is not currently possible in gtsam." virtual const char* what() const throw() { - return "Attempting to eliminate a disconnected graph - this is not currently possible in gtsam."; } + return + "Attempting to eliminate a disconnected graph - this is not currently possible in\n" + "GTSAM. You may add \"empty\" BetweenFactor's to join disconnected graphs, these\n" + "will affect the symbolic structure and solving complexity of the graph but not\n" + "the solution. To do this, create BetweenFactor's with zero-precision noise\n" + "models, i.e. noiseModel::Isotropic::Precision(n, 0.0);\n"; } }; } From 90b55a6ec1d2db8a746b3910ac2ba63f2c231c7b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 17 Aug 2012 03:45:30 +0000 Subject: [PATCH 782/914] Removed obsolete comment --- gtsam/inference/Permutation.h | 5 ----- 1 file changed, 5 deletions(-) diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 39c4447d2..4e32b1f52 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -36,11 +36,6 @@ namespace gtsam { * that linearized factor graphs are already correctly ordered and need * not be permuted. * - * For convenience, there is also a helper class "Permuted" that transforms - * arguments supplied through the square-bracket [] operator through the - * permutation. Note that this helper class stores a reference to the original - * container. - * * Permutations can be considered to a 1-1 mapping from an original set of indices * to a different set of indices. Permutations can be composed and inverted * in order to create new indexing for a structure. From fac426c5acad260a750d2bb6a0bce8f079eb8805 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 17 Aug 2012 03:45:32 +0000 Subject: [PATCH 783/914] Added "SEARCH_REDUCE_ONLY" mode to Dogleg --- gtsam/nonlinear/DoglegOptimizerImpl.h | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/gtsam/nonlinear/DoglegOptimizerImpl.h b/gtsam/nonlinear/DoglegOptimizerImpl.h index 27a8d47ec..fa2179afa 100644 --- a/gtsam/nonlinear/DoglegOptimizerImpl.h +++ b/gtsam/nonlinear/DoglegOptimizerImpl.h @@ -61,6 +61,7 @@ struct DoglegOptimizerImpl { */ enum TrustRegionAdaptationMode { SEARCH_EACH_ITERATION, + SEARCH_REDUCE_ONLY, ONE_STEP_PER_ITERATION }; @@ -210,7 +211,7 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( const double dx_d_norm = result.dx_d.vector().norm(); const double newDelta = std::max(Delta, 3.0 * dx_d_norm); // Compute new Delta - if(mode == ONE_STEP_PER_ITERATION) + if(mode == ONE_STEP_PER_ITERATION || mode == SEARCH_REDUCE_ONLY) stay = false; // If not searching, just return with the new Delta else if(mode == SEARCH_EACH_ITERATION) { if(newDelta == Delta || lastAction == DECREASED_DELTA) @@ -231,13 +232,17 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( } else if(0.25 > rho && rho >= 0.0) { // M does not agree well with f, decrease Delta until it does double newDelta; - if(Delta > 1e-5) + bool hitMinimumDelta; + if(Delta > 1e-5) { newDelta = 0.5 * Delta; - else + hitMinimumDelta = false; + } else { newDelta = Delta; - if(mode == ONE_STEP_PER_ITERATION || lastAction == INCREASED_DELTA || newDelta == Delta) + hitMinimumDelta = true; + } + if(mode == ONE_STEP_PER_ITERATION || /* mode == SEARCH_EACH_ITERATION && */ lastAction == INCREASED_DELTA || hitMinimumDelta) stay = false; // If not searching, just return with the new smaller delta - else if(mode == SEARCH_EACH_ITERATION) { + else if(mode == SEARCH_EACH_ITERATION || mode == SEARCH_REDUCE_ONLY) { stay = true; lastAction = DECREASED_DELTA; } else { @@ -246,7 +251,9 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( Delta = newDelta; // Update Delta from new Delta } else { - // f actually increased, so keep decreasing Delta until f does not decrease + // f actually increased, so keep decreasing Delta until f does not decrease. + // NOTE: NaN and Inf solutions also will fall into this case, so that we + // decrease Delta if the solution becomes undetermined. assert(0.0 > rho); if(Delta > 1e-5) { Delta *= 0.5; @@ -254,6 +261,8 @@ typename DoglegOptimizerImpl::IterationResult DoglegOptimizerImpl::Iterate( lastAction = DECREASED_DELTA; } else { if(verbose) std::cout << "Warning: Dog leg stopping because cannot decrease error with minimum Delta" << std::endl; + result.dx_d.setZero(); // Set delta to zero - don't allow error to increase + result.f_error = f_error; stay = false; } } From 4a57ef65d75c46efa3ea970bbc9d0f4c670a71ae Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 17 Aug 2012 03:45:35 +0000 Subject: [PATCH 784/914] Fixed memory leak when a Value contained heap-allocated data (Matrix, Vector, etc) - incorrect syntax when calling destructor did not do a virtual call so derived Value object was not cleaned up. --- gtsam/base/DerivedValue.h | 4 +-- gtsam/nonlinear/tests/testValues.cpp | 41 ++++++++++++++++++++++++++++ 2 files changed, 43 insertions(+), 2 deletions(-) diff --git a/gtsam/base/DerivedValue.h b/gtsam/base/DerivedValue.h index 52420ee93..2dc6f3d67 100644 --- a/gtsam/base/DerivedValue.h +++ b/gtsam/base/DerivedValue.h @@ -47,8 +47,8 @@ public: * Destroy and deallocate this object, only if it was originally allocated using clone_(). */ virtual void deallocate_() const { - this->Value::~Value(); - boost::singleton_pool::free((void*)this); + this->~DerivedValue(); // Virtual destructor cleans up the derived object + boost::singleton_pool::free((void*)this); // Release memory from pool } /** diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index 3818e99a2..5242fef1c 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -38,6 +38,27 @@ using symbol_shorthand::L; const Symbol key1('v',1), key2('v',2), key3('v',3), key4('v',4); + +class TestValueData { +public: + static int ConstructorCount; + static int DestructorCount; + TestValueData(const TestValueData& other) { cout << "Copy constructor" << endl; ++ ConstructorCount; } + TestValueData() { cout << "Default constructor" << endl; ++ ConstructorCount; } + ~TestValueData() { cout << "Destructor" << endl; ++ DestructorCount; } +}; +int TestValueData::ConstructorCount = 0; +int TestValueData::DestructorCount = 0; +class TestValue : public DerivedValue { + TestValueData data_; +public: + virtual void print(const std::string& str = "") const {} + bool equals(const TestValue& other, double tol = 1e-9) const { return true; } + virtual size_t dim() const { return 0; } + TestValue retract(const Vector&) const { return TestValue(); } + Vector localCoordinates(const TestValue&) const { return Vector(); } +}; + /* ************************************************************************* */ TEST( Values, equals1 ) { @@ -358,6 +379,26 @@ TEST(Values, Symbol_filter) { LONGS_EQUAL(2, i); } +/* ************************************************************************* */ +TEST(Values, Destructors) { + // Check that Value destructors are called when Values container is deleted + { + Values values; + { + TestValue value1; + TestValue value2; + LONGS_EQUAL(2, TestValueData::ConstructorCount); + LONGS_EQUAL(0, TestValueData::DestructorCount); + values.insert(0, value1); + values.insert(1, value2); + } + LONGS_EQUAL(4, TestValueData::ConstructorCount); + LONGS_EQUAL(2, TestValueData::DestructorCount); + } + LONGS_EQUAL(4, TestValueData::ConstructorCount); + LONGS_EQUAL(4, TestValueData::DestructorCount); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 4fb9f3b39ee0217c8abdf43fececff90eed96af5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 20 Aug 2012 14:25:04 +0000 Subject: [PATCH 785/914] Moved RelativeElevationFactor from MastSLAM --- gtsam_unstable/slam/CMakeLists.txt | 2 +- .../slam/RelativeElevationFactor.cpp | 53 +++++++ gtsam_unstable/slam/RelativeElevationFactor.h | 77 ++++++++++ .../tests/testRelativeElevationFactor.cpp | 138 ++++++++++++++++++ 4 files changed, 269 insertions(+), 1 deletion(-) create mode 100644 gtsam_unstable/slam/RelativeElevationFactor.cpp create mode 100644 gtsam_unstable/slam/RelativeElevationFactor.h create mode 100644 gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt index 88dd60edd..33cb45df9 100644 --- a/gtsam_unstable/slam/CMakeLists.txt +++ b/gtsam_unstable/slam/CMakeLists.txt @@ -4,7 +4,7 @@ install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam) # Components to link tests in this subfolder against set(slam_local_libs - #slam_unstable # No sources currently, so no convenience lib + slam_unstable slam nonlinear linear diff --git a/gtsam_unstable/slam/RelativeElevationFactor.cpp b/gtsam_unstable/slam/RelativeElevationFactor.cpp new file mode 100644 index 000000000..2d0ca7548 --- /dev/null +++ b/gtsam_unstable/slam/RelativeElevationFactor.cpp @@ -0,0 +1,53 @@ +/** + * @file RelativeElevationFactor.cpp + * + * @date Aug 17, 2012 + * @author Alex Cunningham + */ + +#include + +namespace gtsam { + +/* ************************************************************************* */ +RelativeElevationFactor::RelativeElevationFactor(Key poseKey, Key pointKey, double measured, + const SharedNoiseModel& model) +: Base(model, poseKey, pointKey), measured_(measured) +{ +} + +/* ************************************************************************* */ +Vector RelativeElevationFactor::evaluateError(const Pose3& pose, const Point3& point, + boost::optional H1, boost::optional H2) const { + double hx = pose.z() - point.z(); + if (H1) { + *H1 = zeros(1, 6); + // Use bottom row of rotation matrix for derivative of translation + (*H1)(0, 3) = pose.rotation().r1().z(); + (*H1)(0, 4) = pose.rotation().r2().z(); + (*H1)(0, 5) = pose.rotation().r3().z(); + } + + if (H2) { + *H2 = zeros(1, 3); + (*H2)(0, 2) = -1.0; + } + return Vector_(1, hx - measured_); +} + +/* ************************************************************************* */ +bool RelativeElevationFactor::equals(const NonlinearFactor& expected, double tol) const { + const This *e = dynamic_cast (&expected); + return e != NULL && Base::equals(*e, tol) && fabs(this->measured_ - e->measured_) < tol; +} + +/* ************************************************************************* */ +void RelativeElevationFactor::print(const std::string& s, const KeyFormatter& keyFormatter) const { + std::cout << s << "RelativeElevationFactor, relative elevation = " << measured_ << std::endl; + Base::print("", keyFormatter); +} +/* ************************************************************************* */ + +} // \namespace gtsam + + diff --git a/gtsam_unstable/slam/RelativeElevationFactor.h b/gtsam_unstable/slam/RelativeElevationFactor.h new file mode 100644 index 000000000..a0186a9f2 --- /dev/null +++ b/gtsam_unstable/slam/RelativeElevationFactor.h @@ -0,0 +1,77 @@ +/** + * @file RelativeElevationFactor.h + * + * @brief Factor representing a known relative altitude in global frame + * + * @date Aug 17, 2012 + * @author Alex Cunningham + */ + +#pragma once + +#include +#include + +namespace gtsam { + +/** + * Binary factor for a relative elevation. Note that this + * factor takes into account only elevation, and corrects for orientation. + * Unlike a range factor, the relative elevation is signed, and only affects + * the Z coordinate. Measurement function h(pose, pt) = h.z() - pt.z() + * + * Dimension: 1 + * + * TODO: enable use of a Pose3 for the target as well + */ +class RelativeElevationFactor: public NoiseModelFactor2 { +private: + + double measured_; /** measurement */ + + typedef RelativeElevationFactor This; + typedef NoiseModelFactor2 Base; + +public: + + RelativeElevationFactor() : measured_(0.0) {} /* Default constructor */ + + RelativeElevationFactor(Key poseKey, Key pointKey, double measured, + const SharedNoiseModel& model); + + virtual ~RelativeElevationFactor() {} + + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } + + /** h(x)-z */ + Vector evaluateError(const Pose3& pose, const Point3& point, + boost::optional H1 = boost::none, boost::optional H2 = boost::none) const; + + /** return the measured */ + inline double measured() const { return measured_; } + + /** equals specialized to this factor */ + virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const; + + /** print contents */ + void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; + +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_); + } +}; // RelativeElevationFactor + + +} // \namespace gtsam + + diff --git a/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp b/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp new file mode 100644 index 000000000..321464c48 --- /dev/null +++ b/gtsam_unstable/slam/tests/testRelativeElevationFactor.cpp @@ -0,0 +1,138 @@ +/** + * @file testRelativeElevationFactor.cpp + * + * @date Aug 17, 2012 + * @author Alex Cunningham + */ + +#include + +#include + +#include + +using namespace gtsam; + +SharedNoiseModel model1 = noiseModel::Unit::Create(1); + +const double tol = 1e-5; + +const Pose3 pose1(Rot3(), Point3(2.0, 3.0, 4.0)); +const Pose3 pose2(Rot3::pitch(-M_PI_2), Point3(2.0, 3.0, 4.0)); +const Pose3 pose3(Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0)); +const Point3 point1(3.0, 4.0, 2.0); +const gtsam::Key poseKey = 1, pointKey = 2; + +/* ************************************************************************* */ +LieVector evalFactorError(const RelativeElevationFactor& factor, const Pose3& x, const Point3& p) { + return LieVector(factor.evaluateError(x, p)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level_zero_error ) { + // Zero error + double measured = 2.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(zero(1), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level_positive ) { + // Positive meas + double measured = 0.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(Vector_(1, 2.0), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level_negative ) { + // Negative meas + double measured = -1.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(Vector_(1, 3.0), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, rotated_zero_error ) { + // Zero error + double measured = 2.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(zero(1), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, rotated_positive ) { + // Positive meas + double measured = 0.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(Vector_(1, 2.0), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, rotated_negative1 ) { + // Negative meas + double measured = -1.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(Vector_(1, 3.0), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, rotated_negative2 ) { + // Negative meas + double measured = -1.0; + RelativeElevationFactor factor(poseKey, pointKey, measured, model1); + Matrix actH1, actH2; + EXPECT(assert_equal(Vector_(1, 3.0), 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); + EXPECT(assert_equal(expH1, actH1, tol)); + EXPECT(assert_equal(expH2, actH2, tol)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From 3794c2a7b7df6df3d8385a73acd1be012da35efe Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 20 Aug 2012 14:25:07 +0000 Subject: [PATCH 786/914] Reworked PoseTranslationPrior so that it actually works now --- .cproject | 342 +++++++++--------- gtsam_unstable/slam/PoseTranslationPrior.h | 104 ++++-- ...sePriors.cpp => testPoseRotationPrior.cpp} | 28 +- .../slam/tests/testPoseTranslationPrior.cpp | 105 ++++++ 4 files changed, 351 insertions(+), 228 deletions(-) rename gtsam_unstable/slam/tests/{testPosePriors.cpp => testPoseRotationPrior.cpp} (61%) create mode 100644 gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp diff --git a/.cproject b/.cproject index 316c5c30c..7f13b1809 100644 --- a/.cproject +++ b/.cproject @@ -309,6 +309,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -335,7 +343,6 @@ make - tests/testBayesTree.run true false @@ -343,7 +350,6 @@ make - testBinaryBayesNet.run true false @@ -391,7 +397,6 @@ make - testSymbolicBayesNet.run true false @@ -399,7 +404,6 @@ make - tests/testSymbolicFactor.run true false @@ -407,7 +411,6 @@ make - testSymbolicFactorGraph.run true false @@ -423,20 +426,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -525,22 +519,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -557,6 +535,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -581,26 +575,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -685,26 +679,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -789,6 +783,14 @@ true true + + make + -j5 + testPoseTranslationPrior.run + true + true + true + make -j5 @@ -975,7 +977,6 @@ make - testGraph.run true false @@ -983,7 +984,6 @@ make - testJunctionTree.run true false @@ -991,7 +991,6 @@ make - testSymbolicBayesNetB.run true false @@ -1127,7 +1126,6 @@ make - testErrors.run true false @@ -1173,6 +1171,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -1253,14 +1259,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -1591,6 +1589,7 @@ make + testSimulated2DOriented.run true false @@ -1630,6 +1629,7 @@ make + testSimulated2D.run true false @@ -1637,6 +1637,7 @@ make + testSimulated3D.run true false @@ -1828,6 +1829,7 @@ make + tests/testGaussianISAM2 true false @@ -1849,6 +1851,102 @@ 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 -j1 @@ -2050,7 +2148,6 @@ cpack - -G DEB true false @@ -2058,7 +2155,6 @@ cpack - -G RPM true false @@ -2066,7 +2162,6 @@ cpack - -G TGZ true false @@ -2074,7 +2169,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2208,98 +2302,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap 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 + -j5 + wrap true true true @@ -2343,38 +2373,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/gtsam_unstable/slam/PoseTranslationPrior.h b/gtsam_unstable/slam/PoseTranslationPrior.h index 4219e3252..61cf77263 100644 --- a/gtsam_unstable/slam/PoseTranslationPrior.h +++ b/gtsam_unstable/slam/PoseTranslationPrior.h @@ -9,61 +9,105 @@ #pragma once -#include #include +#include namespace gtsam { -template -class PoseTranslationPrior : public PartialPriorFactor { -public: +/** simple pose traits for building factors */ +namespace pose_traits { +/** checks whether parameterization of rotation is before or after translation in Lie algebra */ +template +bool isRotFirst() { + throw std::invalid_argument("PoseTrait: no implementation for this pose type"); + return false; +} + +// Instantiate for common poses +template<> bool isRotFirst() { return true; } +template<> bool isRotFirst() { return false; } + +} // \namespace pose_traits + +/** + * A prior on the translation part of a pose + */ +template +class PoseTranslationPrior : public NoiseModelFactor1 { +public: typedef PoseTranslationPrior This; - typedef PartialPriorFactor Base; + typedef NoiseModelFactor1 Base; typedef POSE Pose; typedef typename POSE::Translation Translation; + typedef typename POSE::Rotation Rotation; GTSAM_CONCEPT_POSE_TYPE(Pose) GTSAM_CONCEPT_GROUP_TYPE(Pose) GTSAM_CONCEPT_LIE_TYPE(Translation) +protected: + + Translation measured_; + +public: + /** standard constructor */ - PoseTranslationPrior(Key key, const Translation& trans_z, const SharedNoiseModel& model) - : Base(key, model) { - initialize(trans_z); + PoseTranslationPrior(Key key, const Translation& measured, const noiseModel::Base::shared_ptr& model) + : Base(model, key), measured_(measured) { } /** Constructor that pulls the translation from an incoming POSE */ - PoseTranslationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model) - : Base(key, model) { - initialize(pose_z.translation()); + PoseTranslationPrior(Key key, const POSE& pose_z, const noiseModel::Base::shared_ptr& model) + : Base(key, model), measured_(pose_z.translation()) { } - /** get the rotation used to create the measurement */ - Translation priorTranslation() const { return Translation::Expmap(this->prior_); } + virtual ~PoseTranslationPrior() {} -protected: - /** loads the underlying partial prior factor */ - void initialize(const Translation& trans_z) { - assert(trans_z.dim() == this->noiseModel_->dim()); + const Translation& measured() const { return measured_; } - // Calculate the prior applied - this->prior_ = Translation::Logmap(trans_z); + /// @return a deep copy of this factor + virtual gtsam::NonlinearFactor::shared_ptr clone() const { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - // Create the mask for partial prior - size_t pose_dim = Pose::identity().dim(); - size_t rot_dim = trans_z.dim(); + /** h(x)-z */ + Vector evaluateError(const Pose& pose, boost::optional H = boost::none) const { + const Translation& newTrans = pose.translation(); + const Rotation& R = pose.rotation(); + const size_t tDim = newTrans.dim(), xDim = pose.dim(); + if (H) { + *H = gtsam::zeros(tDim, xDim); + if (pose_traits::isRotFirst()) + (*H).rightCols(tDim) = R.matrix(); + else + (*H).leftCols(tDim) = R.matrix(); + } - // get the interval of the lie coordinates corresponding to rotation - std::pair interval = Pose::translationInterval(); + return newTrans.vector() - measured_.vector(); + } - std::vector mask; - for (size_t i=interval.first; i<=interval.second; ++i) - mask.push_back(i); - this->mask_ = mask; + /** equals specialized to this factor */ + virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { + const This *e = dynamic_cast (&expected); + return e != NULL && Base::equals(*e, tol) && measured_.equals(e->measured_, tol); + } - this->H_ = zeros(rot_dim, pose_dim); - this->fillH(); + /** print contents */ + void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + Base::print(s + "PoseTranslationPrior", keyFormatter); + measured_.print("Measured Translation"); + } + +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_); } }; diff --git a/gtsam_unstable/slam/tests/testPosePriors.cpp b/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp similarity index 61% rename from gtsam_unstable/slam/tests/testPosePriors.cpp rename to gtsam_unstable/slam/tests/testPoseRotationPrior.cpp index 1a40dd335..cdded40e7 100644 --- a/gtsam_unstable/slam/tests/testPosePriors.cpp +++ b/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp @@ -1,7 +1,7 @@ /** - * @file testPosePriors.cpp + * @file testPoseRotationPrior.cpp * - * @brief Tests partial priors on poses + * @brief Tests rotation priors on poses * * @date Jun 14, 2012 * @author Alex Cunningham @@ -22,32 +22,8 @@ using namespace gtsam; Key x1 = symbol_shorthand::X(1); const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas(Vector_(1, 0.1)); -const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); -/* ************************************************************************* */ -TEST( testPoseTranslationPrior, planar) { - - typedef PoseTranslationPrior PlanarTPrior; - PlanarTPrior actTprior(x1, Point2(2.0, 3.0), model2); - EXPECT(assert_equal(Point2(2.0, 3.0), actTprior.priorTranslation())); - Matrix expH(2,3); expH << eye(2,2), zeros(2,1); - EXPECT(assert_equal(eye(2,3), actTprior.H())); -} - -/* ************************************************************************* */ -TEST( testPoseTranslationPrior, visual) { - - typedef PoseTranslationPrior VisualTPrior; - VisualTPrior actPose3Tprior(x1, Point3(2.0, 3.0, 4.0), model3); - EXPECT(assert_equal(Point3(2.0, 3.0, 4.0), actPose3Tprior.priorTranslation())); - Matrix expH(3,6); expH << zeros(3,3), eye(3,3); - EXPECT(assert_equal(expH, actPose3Tprior.H())); - -// typedef PoseTranslationPrior CamTPrior; -// CamTPrior actCamTprior(x1, Point3(2.0, 3.0, 4.0), model3); -} - /* ************************************************************************* */ TEST( testPoseRotationPrior, planar) { diff --git a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp b/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp new file mode 100644 index 000000000..1db155fc1 --- /dev/null +++ b/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp @@ -0,0 +1,105 @@ +/** + * @file testPoseTranslationPrior.cpp + * + * @date Aug 19, 2012 + * @author Alex Cunningham + */ + +#include + +#include +#include +#include + +#include + +using namespace gtsam; + +const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2)); +const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); + +typedef PoseTranslationPrior Pose2TranslationPrior; +typedef PoseTranslationPrior Pose3TranslationPrior; + +const double tol = 1e-5; + +const gtsam::Key poseKey = 1; + +// Pose3 examples +const Point3 point3A(1.0, 2.0, 3.0), point3B(4.0, 6.0, 8.0); +const Rot3 rot3A, rot3B = Rot3::pitch(-M_PI_2), rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3); + +/* ************************************************************************* */ +LieVector evalFactorError3(const Pose3TranslationPrior& factor, const Pose3& x) { + return LieVector(factor.evaluateError(x)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level3_zero_error ) { + Pose3 pose1(rot3A, point3A); + Pose3TranslationPrior factor(poseKey, point3A, model3); + Matrix actH1; + EXPECT(assert_equal(zero(3), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level3_error ) { + Pose3 pose1(rot3A, point3A); + Pose3TranslationPrior factor(poseKey, point3B, model3); + Matrix actH1; + EXPECT(assert_equal(Vector_(3,-3.0,-4.0,-5.0), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, pitched3_zero_error ) { + Pose3 pose1(rot3B, point3A); + Pose3TranslationPrior factor(poseKey, point3A, model3); + Matrix actH1; + EXPECT(assert_equal(zero(3), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, pitched3_error ) { + Pose3 pose1(rot3B, point3A); + Pose3TranslationPrior factor(poseKey, point3B, model3); + Matrix actH1; + EXPECT(assert_equal(Vector_(3,-3.0,-4.0,-5.0), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, smallrot3_zero_error ) { + Pose3 pose1(rot3C, point3A); + Pose3TranslationPrior factor(poseKey, point3A, model3); + Matrix actH1; + EXPECT(assert_equal(zero(3), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, smallrot3_error ) { + Pose3 pose1(rot3C, point3A); + Pose3TranslationPrior factor(poseKey, point3B, model3); + Matrix actH1; + EXPECT(assert_equal(Vector_(3,-3.0,-4.0,-5.0), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From e488871ffdd7220d7cda7526efdaee47f4694c36 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 20 Aug 2012 14:25:09 +0000 Subject: [PATCH 787/914] Fixed compile problem in toolbox for PoseTranslationPrior. Added planar tests. --- gtsam_unstable/slam/PoseTranslationPrior.h | 2 +- .../slam/tests/testPoseTranslationPrior.cpp | 31 +++++++++++++++++++ 2 files changed, 32 insertions(+), 1 deletion(-) diff --git a/gtsam_unstable/slam/PoseTranslationPrior.h b/gtsam_unstable/slam/PoseTranslationPrior.h index 61cf77263..ba023c0e3 100644 --- a/gtsam_unstable/slam/PoseTranslationPrior.h +++ b/gtsam_unstable/slam/PoseTranslationPrior.h @@ -59,7 +59,7 @@ public: /** Constructor that pulls the translation from an incoming POSE */ PoseTranslationPrior(Key key, const POSE& pose_z, const noiseModel::Base::shared_ptr& model) - : Base(key, model), measured_(pose_z.translation()) { + : Base(model, key), measured_(pose_z.translation()) { } virtual ~PoseTranslationPrior() {} diff --git a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp b/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp index 1db155fc1..0821e566b 100644 --- a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp +++ b/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp @@ -29,11 +29,20 @@ const gtsam::Key poseKey = 1; const Point3 point3A(1.0, 2.0, 3.0), point3B(4.0, 6.0, 8.0); const Rot3 rot3A, rot3B = Rot3::pitch(-M_PI_2), rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3); +// Pose2 examples +const Point2 point2A(1.0, 2.0), point2B(4.0, 6.0); +const Rot2 rot2A, rot2B = Rot2::fromAngle(M_PI_2); + /* ************************************************************************* */ LieVector evalFactorError3(const Pose3TranslationPrior& factor, const Pose3& x) { return LieVector(factor.evaluateError(x)); } +/* ************************************************************************* */ +LieVector evalFactorError2(const Pose2TranslationPrior& factor, const Pose2& x) { + return LieVector(factor.evaluateError(x)); +} + /* ************************************************************************* */ TEST( testRelativeElevationFactor, level3_zero_error ) { Pose3 pose1(rot3A, point3A); @@ -100,6 +109,28 @@ TEST( testRelativeElevationFactor, smallrot3_error ) { EXPECT(assert_equal(expH1, actH1, tol)); } +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level2_zero_error ) { + Pose2 pose1(rot2A, point2A); + Pose2TranslationPrior factor(poseKey, point2A, model2); + Matrix actH1; + EXPECT(assert_equal(zero(2), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError2, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testRelativeElevationFactor, level2_error ) { + Pose2 pose1(rot2A, point2A); + Pose2TranslationPrior factor(poseKey, point2B, model2); + Matrix actH1; + EXPECT(assert_equal(Vector_(2,-3.0,-4.0), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError2, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ From 0aa72c986ed8d708e1cf0b0f42c4ce96137bed3d Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 20 Aug 2012 14:25:10 +0000 Subject: [PATCH 788/914] wrapped RelativeElevationFactor --- gtsam_unstable/gtsam_unstable.h | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 1bb6d20e0..a459925fd 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -189,4 +189,14 @@ virtual class PoseRotationPrior : gtsam::NonlinearFactor { typedef gtsam::PoseRotationPrior PoseRotationPrior2D; typedef gtsam::PoseRotationPrior PoseRotationPrior3D; +#include +virtual class RelativeElevationFactor: gtsam::NonlinearFactor { + RelativeElevationFactor(); + RelativeElevationFactor(size_t poseKey, size_t pointKey, double measured, + const gtsam::noiseModel::Base* model); + + double measured() const; + void print(string s) const; +}; + } //\namespace gtsam From bac1faa68e86ae311eb066a39861b98f98b38b03 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 20 Aug 2012 18:28:19 +0000 Subject: [PATCH 789/914] Added ordering-less negate() --- gtsam_unstable/nonlinear/LinearContainerFactor.cpp | 6 ++++++ gtsam_unstable/nonlinear/LinearContainerFactor.h | 8 ++++++++ 2 files changed, 14 insertions(+) diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index 8a27284f1..75cc171fb 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -141,6 +141,12 @@ GaussianFactor::shared_ptr LinearContainerFactor::negate(const Ordering& orderin return result; } +/* ************************************************************************* */ +NonlinearFactor::shared_ptr LinearContainerFactor::negate() const { + GaussianFactor::shared_ptr antifactor = factor_->negate(); // already has keys in place + return NonlinearFactor::shared_ptr(new LinearContainerFactor(antifactor)); +} + /* ************************************************************************* */ } // \namespace gtsam diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h index 23705f96e..34da3a886 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.h +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -79,6 +79,14 @@ public: */ GaussianFactor::shared_ptr negate(const Ordering& ordering) const; + /** + * Creates the equivalent anti-factor as another LinearContainerFactor, + * so it remains independent of ordering. + */ + NonlinearFactor::shared_ptr negate() const; + + + /** * Creates a shared_ptr clone of the factor - needs to be specialized to allow * for subclasses From 9962a66e7cd7752018c89b87abaac793538bcbb0 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Tue, 21 Aug 2012 18:48:04 +0000 Subject: [PATCH 790/914] Added utility functions for converting graphs with LinearContainerFactors, added direct order() to avoid the need to fake linearize. --- .../nonlinear/LinearContainerFactor.cpp | 25 +++++++++++++++++-- .../nonlinear/LinearContainerFactor.h | 22 ++++++++++++---- 2 files changed, 40 insertions(+), 7 deletions(-) diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index 75cc171fb..42dfe7819 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -106,8 +106,7 @@ size_t LinearContainerFactor::dim() const { } /* ************************************************************************* */ -boost::shared_ptr -LinearContainerFactor::linearize(const Values& c, const Ordering& ordering) const { +GaussianFactor::shared_ptr LinearContainerFactor::order(const Ordering& ordering) const { // clone factor boost::shared_ptr result = factor_->clone(); @@ -118,6 +117,12 @@ LinearContainerFactor::linearize(const Values& c, const Ordering& ordering) cons return result; } +/* ************************************************************************* */ +GaussianFactor::shared_ptr LinearContainerFactor::linearize( + const Values& c, const Ordering& ordering) const { + return order(ordering); +} + /* ************************************************************************* */ bool LinearContainerFactor::isJacobian() const { return boost::shared_dynamic_cast(factor_); @@ -147,6 +152,22 @@ NonlinearFactor::shared_ptr LinearContainerFactor::negate() const { return NonlinearFactor::shared_ptr(new LinearContainerFactor(antifactor)); } +/* ************************************************************************* */ +NonlinearFactorGraph LinearContainerFactor::convertLinearGraph( + const GaussianFactorGraph& linear_graph, const Ordering& ordering) { + return convertLinearGraph(linear_graph, ordering.invert()); +} + +/* ************************************************************************* */ +NonlinearFactorGraph LinearContainerFactor::convertLinearGraph( + const GaussianFactorGraph& linear_graph, const InvertedOrdering& invOrdering) { + NonlinearFactorGraph result; + BOOST_FOREACH(const GaussianFactor::shared_ptr& f, linear_graph) + if (f) + result.push_back(NonlinearFactorGraph::sharedFactor(new LinearContainerFactor(f, invOrdering))); + return result; +} + /* ************************************************************************* */ } // \namespace gtsam diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h index 34da3a886..25a1ed98b 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.h +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -10,7 +10,7 @@ #pragma once #include -#include +#include namespace gtsam { @@ -70,9 +70,11 @@ public: /** get the dimension of the factor: rows of linear factor */ size_t dim() const; + /** Apply the ordering to a graph - same as linearize(), but without needing a linearization point */ + GaussianFactor::shared_ptr order(const Ordering& ordering) const; + /** linearize to a GaussianFactor: values has no effect, just clones/rekeys underlying factor */ - boost::shared_ptr - linearize(const Values& c, const Ordering& ordering) const; + GaussianFactor::shared_ptr linearize(const Values& c, const Ordering& ordering) const; /** * Creates an anti-factor directly and performs rekeying due to ordering @@ -85,8 +87,6 @@ public: */ NonlinearFactor::shared_ptr negate() const; - - /** * Creates a shared_ptr clone of the factor - needs to be specialized to allow * for subclasses @@ -110,6 +110,18 @@ public: /** Casts to HessianFactor */ HessianFactor::shared_ptr toHessian() const; + /** + * Utility function for converting linear graphs to nonlinear graphs + * consisting of LinearContainerFactors. Two versions are available, using + * either the ordering the linear graph was linearized around, or the inverse ordering. + * If the inverse ordering is present, it will be faster. + */ + static NonlinearFactorGraph convertLinearGraph(const GaussianFactorGraph& linear_graph, + const Ordering& ordering); + + static NonlinearFactorGraph convertLinearGraph(const GaussianFactorGraph& linear_graph, + const InvertedOrdering& invOrdering); + protected: void rekeyFactor(const Ordering& ordering); void rekeyFactor(const Ordering::InvertedMap& invOrdering); From b6ddb2197b1111f47f439d80ffd4860ef1f56760 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:04 +0000 Subject: [PATCH 791/914] Removed unused "zero_below_diagonal" flag in Matrix QR --- gtsam/base/Matrix.h | 2 +- gtsam/linear/NoiseModel.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index e113e4cf1..6902a4a88 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -293,7 +293,7 @@ std::pair qr(const Matrix& A); * @param clear_below_diagonal enables zeroing out below diagonal */ template -void inplace_QR(MATRIX& A, bool clear_below_diagonal=true) { +void inplace_QR(MATRIX& A) { size_t rows = A.rows(); size_t cols = A.cols(); size_t size = std::min(rows,cols); diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index 6d231748e..db6fa096d 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -124,7 +124,7 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const { if(debug) gtsam::print(Ab, "Whitened Ab: "); // Eigen QR - much faster than older householder approach - inplace_QR(Ab, false); + inplace_QR(Ab); // hand-coded householder implementation // TODO: necessary to isolate last column? From f704dbe0c2df01d5b606a145462ff043ea9bf829 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:17 +0000 Subject: [PATCH 792/914] Fixed formatting --- gtsam/linear/GaussianFactorGraph.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index dafe74d0d..6539f0cf4 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -386,8 +386,7 @@ break; // Form Ab' * Ab tic(3, "combine"); - HessianFactor::shared_ptr // - combinedFactor(new HessianFactor(factors, dimensions, scatter)); + HessianFactor::shared_ptr combinedFactor(new HessianFactor(factors, dimensions, scatter)); toc(3, "combine"); // Do Cholesky, note that after this, the lower triangle still contains From 5ddd28ba188cdc0ba39548ce78085b10dcab537f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:20 +0000 Subject: [PATCH 793/914] Removed unused noise model cholesky --- gtsam/linear/NoiseModel.cpp | 23 ----------------------- gtsam/linear/NoiseModel.h | 6 ------ gtsam/linear/tests/testNoiseModel.cpp | 12 ------------ 3 files changed, 41 deletions(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index db6fa096d..e493bddde 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -133,29 +133,6 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const { return Unit::Create(maxRank); } -/* ************************************************************************* */ -SharedDiagonal Gaussian::Cholesky(Matrix& Ab, size_t nFrontals) const { - // get size(A) and maxRank - // TODO: really no rank problems ? - - // pre-whiten everything (cheaply if possible) - WhitenInPlace(Ab); - - // Form A'*A (todo: this is probably less efficient than possible) - Ab = Ab.transpose() * Ab; - - // Use Cholesky to factor Ab - size_t maxrank = choleskyCareful(Ab).first; - - // Due to numerical error the rank could appear to be more than the number - // of variables. The important part is that it does not includes the - // augmented b column. - if(maxrank == (size_t) Ab.cols()) - -- maxrank; - - return Unit::Create(maxrank); -} - void Gaussian::WhitenSystem(vector& A, Vector& b) const { BOOST_FOREACH(Matrix& Aj, A) { WhitenInPlace(Aj); } whitenInPlace(b); diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 36fe3cd26..2bb63c382 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -202,12 +202,6 @@ namespace gtsam { */ virtual boost::shared_ptr QR(Matrix& Ab) const; - /** - * Cholesky factorization - * FIXME: this is never used anywhere - */ - virtual boost::shared_ptr Cholesky(Matrix& Ab, size_t nFrontals) const; - /** * Return R itself, but note that Whiten(H) is cheaper than R*H */ diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index 9b53a3be1..224395051 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -247,18 +247,6 @@ TEST( NoiseModel, QR ) EXPECT(linear_dependent(expectedRd2,Ab2,1e-6)); // Ab was modified in place !!! } -/* ************************************************************************* */ -TEST(NoiseModel, Cholesky) -{ - SharedDiagonal expected = noiseModel::Unit::Create(4); - Matrix Ab = exampleQR::Ab; // otherwise overwritten ! - SharedDiagonal actual = exampleQR::diagonal->Cholesky(Ab, 4); - EXPECT(assert_equal(*expected,*actual)); - // Ab was modified in place !!! - Matrix actualRd = Ab.block(0, 0, actual->dim(), Ab.cols()).triangularView(); - EXPECT(linear_dependent(exampleQR::Rd,actualRd,1e-4)); -} - /* ************************************************************************* */ TEST(NoiseModel, QRNan ) { From dd34792e7e968367f2c73c659f0952385e6d6c07 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:22 +0000 Subject: [PATCH 794/914] Fixed comments and error messages in Point2 and Point3 constructors --- gtsam/geometry/Point2.h | 7 ++++++- gtsam/geometry/Point3.h | 17 ++++++++++------- 2 files changed, 16 insertions(+), 8 deletions(-) diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h index a99da460b..af5b1fbcd 100644 --- a/gtsam/geometry/Point2.h +++ b/gtsam/geometry/Point2.h @@ -58,7 +58,12 @@ public: /// @{ /// construct from 2D vector - Point2(const Vector& v) : x_(v(0)), y_(v(1)) { assert(v.size() == 2); } + Point2(const Vector& v) { + if(v.size() != 2) + throw std::invalid_argument("Point2 constructor from Vector requires that the Vector have dimension 2"); + x_ = v(0); + y_ = v(1); + } /// @} /// @name Testable diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h index 4d15b65f5..3e7423c0a 100644 --- a/gtsam/geometry/Point3.h +++ b/gtsam/geometry/Point3.h @@ -48,21 +48,24 @@ namespace gtsam { /// @name Standard Constructors /// @{ - ///TODO: comment + /// Default constructor creates a zero-Point3 Point3(): x_(0), y_(0), z_(0) {} - ///TODO: comment - Point3(const Point3 &p) : x_(p.x_), y_(p.y_), z_(p.z_) {} - - ///TODO: comment + /// Construct from x, y, and z coordinates Point3(double x, double y, double z): x_(x), y_(y), z_(z) {} /// @} /// @name Advanced Constructors /// @{ - ///TODO: comment - Point3(const Vector& v) : x_(v(0)), y_(v(1)), z_(v(2)) {} + /// Construct from 3-element vector + Point3(const Vector& v) { + if(v.size() != 3) + throw std::invalid_argument("Point3 constructor from Vector requires that the Vector have dimension 3"); + x_ = v(0); + y_ = v(1); + z_ = v(2); + } /// @} /// @name Testable From cf4a4b428569d2ee350e2951e16a52cb3fe6ef0a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:24 +0000 Subject: [PATCH 795/914] wrap turns exceptions into MATLAB errors --- wrap/Module.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/wrap/Module.cpp b/wrap/Module.cpp index b2f061838..681fb6925 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -481,12 +481,16 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; file.oss << " _" << name << "_RTTIRegister();\n\n"; file.oss << " int id = unwrap(in[0]);\n\n"; - file.oss << " switch(id) {\n"; + file.oss << " try {\n"; + file.oss << " switch(id) {\n"; for(size_t id = 0; id < functionNames.size(); ++id) { - file.oss << " case " << id << ":\n"; - file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n"; - file.oss << " break;\n"; + file.oss << " case " << id << ":\n"; + file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n"; + file.oss << " break;\n"; } + file.oss << " }\n"; + file.oss << " } catch(const std::exception& e) {\n"; + file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n"; file.oss << " }\n"; file.oss << "\n"; file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout From 1dbda3f7ed214709b7c45dd357eadd8a4aebb0b5 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:27 +0000 Subject: [PATCH 796/914] Standardized and corrected error handling on the linear size - underconstrained and negative systems always throw IndeterminantLinearSystemException, and all assertions checking for infinite values are removed. Also, we were not properly checking the result of Eigen's Cholesky, so sometimes elimination continued with incorrect matrices despite being underconstrained when Cholesky failed but did not produce NaN's. --- gtsam/base/cholesky.cpp | 65 +++++-- gtsam/base/cholesky.h | 50 +---- gtsam/base/tests/testCholesky.cpp | 40 ++++ gtsam/linear/GaussianConditional.cpp | 13 +- gtsam/linear/GaussianFactorGraph.cpp | 70 +------ gtsam/linear/HessianFactor.cpp | 12 +- gtsam/linear/JacobianFactor.cpp | 35 ++-- gtsam/linear/linearExceptions.h | 180 ++++++++++++++++++ gtsam/nonlinear/ISAM2.h | 2 +- .../nonlinear/LevenbergMarquardtOptimizer.cpp | 4 +- 10 files changed, 309 insertions(+), 162 deletions(-) create mode 100644 gtsam/linear/linearExceptions.h diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 86114f4d8..8a02907c9 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -24,6 +24,7 @@ #include #include +#include using namespace std; @@ -32,18 +33,23 @@ namespace gtsam { static const double negativePivotThreshold = -1e-1; static const double zeroPivotThreshold = 1e-6; static const double underconstrainedPrior = 1e-5; + static const int underconstrainedExponentDifference = 12; /* ************************************************************************* */ -static inline bool choleskyStep(Matrix& ATA, size_t k, size_t order) { +static inline int choleskyStep(Matrix& ATA, size_t k, size_t order) { + + const bool debug = ISDEBUG("choleskyCareful"); // Get pivot value double alpha = ATA(k,k); // Correct negative pivots from round-off error if(alpha < negativePivotThreshold) { - cout << "pivot = " << alpha << endl; - print(ATA, "Partially-factorized matrix: "); - throw(CarefulCholeskyNegativeMatrixException()); + if(debug) { + cout << "pivot = " << alpha << endl; + print(ATA, "Partially-factorized matrix: "); + } + return -1; } else if(alpha < 0.0) alpha = 0.0; @@ -66,14 +72,14 @@ static inline bool choleskyStep(Matrix& ATA, size_t k, size_t order) { // ATA.bottomRightCorner(order-(k+1), order-(k+1)).selfadjointView() // .rankUpdate(V.adjoint(), -1); } - - return true; + return 1; } else { // For zero pivots, add the underconstrained variable prior ATA(k,k) = underconstrainedPrior; for(size_t j=k+1; j choleskyCareful(Matrix& ATA, int order) { // Negative order means factor the entire matrix if(order < 0) - order = n; + order = int(n); assert(size_t(order) <= n); // The index of the row after the last non-zero row of the square-root factor size_t maxrank = 0; - bool fullRank = true; + bool success = true; // Factor row-by-row for(size_t k = 0; k < size_t(order); ++k) { - if(choleskyStep(ATA, k, size_t(order))) { + int stepResult = choleskyStep(ATA, k, size_t(order)); + if(stepResult == 1) { if(debug) cout << "choleskyCareful: Factored through " << k << endl; if(debug) print(ATA, "ATA: "); maxrank = k+1; - } else { - fullRank = false; - if(debug) cout << "choleskyCareful: Skipping " << k << endl; - } + } else if(stepResult == -1) { + success = false; + break; + } /* else if(stepResult == 0) Found zero pivot */ } - return make_pair(maxrank, fullRank); + return make_pair(maxrank, success); } /* ************************************************************************* */ -void choleskyPartial(Matrix& ABC, size_t nFrontal) { +bool choleskyPartial(Matrix& ABC, size_t nFrontal) { const bool debug = ISDEBUG("choleskyPartial"); @@ -125,9 +132,8 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) { // Compute Cholesky factorization of A, overwrites A. tic(1, "lld"); - ABC.block(0,0,nFrontal,nFrontal).triangularView() = - ABC.block(0,0,nFrontal,nFrontal).selfadjointView().llt().matrixU(); - assert(ABC.topLeftCorner(nFrontal,nFrontal).triangularView().toDenseMatrix().unaryExpr(ptr_fun(isfinite)).all()); + Eigen::LLT llt = ABC.block(0,0,nFrontal,nFrontal).selfadjointView().llt(); + ABC.block(0,0,nFrontal,nFrontal).triangularView() = llt.matrixU(); toc(1, "lld"); if(debug) cout << "R:\n" << Eigen::MatrixXd(ABC.topLeftCorner(nFrontal,nFrontal).triangularView()) << endl; @@ -138,7 +144,6 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) { ABC.topLeftCorner(nFrontal,nFrontal).triangularView().transpose().solveInPlace( ABC.topRightCorner(nFrontal, n-nFrontal)); } - assert(ABC.topRightCorner(nFrontal, n-nFrontal).unaryExpr(ptr_fun(isfinite)).all()); if(debug) cout << "S:\n" << ABC.topRightCorner(nFrontal, n-nFrontal) << endl; toc(2, "compute S"); @@ -148,9 +153,27 @@ void choleskyPartial(Matrix& ABC, size_t nFrontal) { if(n - nFrontal > 0) ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView().rankUpdate( ABC.topRightCorner(nFrontal, n-nFrontal).transpose(), -1.0); - assert(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView().toDenseMatrix().unaryExpr(ptr_fun(isfinite)).all()); if(debug) cout << "L:\n" << Eigen::MatrixXd(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView()) << endl; toc(3, "compute L"); + + // Check last diagonal element - Eigen does not check it + bool ok; + if(llt.info() == Eigen::Success) { + if(nFrontal >= 2) { + int exp2, exp1; + (void)frexp(ABC(nFrontal-2, nFrontal-2), &exp2); + (void)frexp(ABC(nFrontal-1, nFrontal-1), &exp1); + ok = (exp2 - exp1 < underconstrainedExponentDifference); + } else if(nFrontal == 1) { + int exp1; + (void)frexp(ABC(0,0), &exp1); + ok = (exp1 > -underconstrainedExponentDifference); + } + } else { + ok = false; + } + + return ok; } } diff --git a/gtsam/base/cholesky.h b/gtsam/base/cholesky.h index 46d342d24..8b1073107 100644 --- a/gtsam/base/cholesky.h +++ b/gtsam/base/cholesky.h @@ -22,45 +22,6 @@ namespace gtsam { -/** - * An exception indicating an attempt to factor a negative or indefinite matrix. - * If detailed exceptions are enabled, then the \c detail member will contain - * the matrices leading to the problem, see documentation for - * NegativeMatrixException::Detail. - */ -struct NegativeMatrixException : public std::exception { - /// Detail for NegativeMatrixException - struct Detail { - Matrix A; ///< The original matrix attempted to factor - Matrix U; ///< The produced upper-triangular factor - Matrix D; ///< The produced diagonal factor - Detail(const Matrix& A, const Matrix& U, const Matrix& D) /**< Detail constructor */ : A(A), U(U), D(D) {} - void print(const std::string& str = "") const { - std::cout << str << "\n"; - gtsam::print(A, " A: "); - gtsam::print(U, " U: "); - gtsam::print(D, " D: "); - } - }; - const boost::shared_ptr detail; ///< Detail - NegativeMatrixException() /**< Constructor with no detail */ {} - NegativeMatrixException(const Detail& _detail) /**< Constructor with detail */ : detail(new Detail(_detail)) {} - NegativeMatrixException(const boost::shared_ptr& _detail) /**< Constructor with detail */ : detail(_detail) {} - virtual ~NegativeMatrixException() throw() {} -}; - -/** - * An exception indicating an attempt to factor a negative or indefinite matrix. - * If detailed exceptions are enabled, then the \c detail member will contain - * the matrices leading to the problem, see documentation for - * CarefulCholeskyNegativeMatrixException::Detail. - */ -struct CarefulCholeskyNegativeMatrixException : public std::exception { - CarefulCholeskyNegativeMatrixException() throw() {} - virtual ~CarefulCholeskyNegativeMatrixException() throw() {} - const char* what() const throw() { return "The matrix was found to be non-positive-semidefinite when factoring with careful Cholesky."; } -}; - /** * "Careful" Cholesky computes the positive square-root of a positive symmetric * semi-definite matrix (i.e. that may be rank-deficient). Unlike standard @@ -70,6 +31,10 @@ struct CarefulCholeskyNegativeMatrixException : public std::exception { * non-zero row in the computed factor, so that it may be truncated to an * upper-trapazoidal matrix. * + * The second element of the return value is \c true if the matrix was factored + * successfully, or \c false if it was non-positive-semidefinite (i.e. + * indefinite or negative-(semi-)definite. + * * Note that this returned index is the rank of the matrix if and only if all * of the zero-rows of the factor occur after any non-zero rows. This is * (always?) the case during elimination of a fully-constrained least-squares @@ -77,6 +42,8 @@ struct CarefulCholeskyNegativeMatrixException : public std::exception { * * The optional order argument specifies the size of the square upper-left * submatrix to operate on, ignoring the rest of the matrix. + * + * */ std::pair choleskyCareful(Matrix& ATA, int order = -1); @@ -87,8 +54,11 @@ std::pair choleskyCareful(Matrix& ATA, int order = -1); * [B' C] * nFrontal determines the split between A, B, and C, with A being of size * nFrontal x nFrontal. + * + * @return \c true if the decomposition is successful, \c false if \c A was + * not positive-definite. */ -void choleskyPartial(Matrix& ABC, size_t nFrontal); +bool choleskyPartial(Matrix& ABC, size_t nFrontal); } diff --git a/gtsam/base/tests/testCholesky.cpp b/gtsam/base/tests/testCholesky.cpp index 63fdec810..55c72543e 100644 --- a/gtsam/base/tests/testCholesky.cpp +++ b/gtsam/base/tests/testCholesky.cpp @@ -84,6 +84,46 @@ TEST(cholesky, BadScalingSVD) { DOUBLES_EQUAL(expectedCondition, actualCondition, 1e-41); } +/* ************************************************************************* */ +TEST(cholesky, underconstrained) { + Matrix L(6,6); L << + 1, 0, 0, 0, 0, 0, + 1.11177808157954, 1.06204809504665, 0.507342638873381, 1.34953401829486, 1, 0, + 0.155864888199928, 1.10933048588373, 0.501255576961674, 1, 0, 0, + 1.12108665967793, 1.01584408366945, 1, 0, 0, 0, + 0.776164062474843, 0.117617236580373, -0.0236628691347294, 0.814118199972143, 0.694309975328922, 1, + 0.1197220685104, 1, 0, 0, 0, 0; + Matrix D1(6,6); D1 << + 0.814723686393179, 0, 0, 0, 0, 0, + 0, 0.811780089277421, 0, 0, 0, 0, + 0, 0, 1.82596950680844, 0, 0, 0, + 0, 0, 0, 0.240287537694585, 0, 0, + 0, 0, 0, 0, 1.34342584865901, 0, + 0, 0, 0, 0, 0, 1e-12; + Matrix D2(6,6); D2 << + 0.814723686393179, 0, 0, 0, 0, 0, + 0, 0.811780089277421, 0, 0, 0, 0, + 0, 0, 1.82596950680844, 0, 0, 0, + 0, 0, 0, 0.240287537694585, 0, 0, + 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0; + Matrix D3(6,6); D3 << + 0.814723686393179, 0, 0, 0, 0, 0, + 0, 0.811780089277421, 0, 0, 0, 0, + 0, 0, 1.82596950680844, 0, 0, 0, + 0, 0, 0, 0.240287537694585, 0, 0, + 0, 0, 0, 0, -0.5, 0, + 0, 0, 0, 0, 0, -0.6; + + Matrix A1 = L * D1 * L.transpose(); + Matrix A2 = L * D2 * L.transpose(); + Matrix A3 = L * D3 * L.transpose(); + + LONGS_EQUAL(long(false), long(choleskyPartial(A1, 6))); + LONGS_EQUAL(long(false), long(choleskyPartial(A2, 6))); + LONGS_EQUAL(long(false), long(choleskyPartial(A3, 6))); +} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp index e167d8ad8..b35bffd3c 100644 --- a/gtsam/linear/GaussianConditional.cpp +++ b/gtsam/linear/GaussianConditional.cpp @@ -17,8 +17,10 @@ #include #include +#include #include +#include #include #include #include @@ -189,6 +191,11 @@ void GaussianConditional::solveInPlace(VectorValues& x) const { Vector xS = internal::extractVectorValuesSlices(x, this->beginParents(), this->endParents()); xS = this->get_d() - this->get_S() * xS; Vector soln = this->get_R().triangularView().solve(xS); + + // Check for indeterminant solution + if(soln.unaryExpr(!boost::lambda::bind(ptr_fun(isfinite), boost::lambda::_1)).any()) + throw IndeterminantLinearSystemException(this->keys().front()); + if(debug) { gtsam::print(Matrix(this->get_R()), "Calling backSubstituteUpper on "); gtsam::print(soln, "full back-substitution solution: "); @@ -199,8 +206,12 @@ void GaussianConditional::solveInPlace(VectorValues& x) const { /* ************************************************************************* */ void GaussianConditional::solveTransposeInPlace(VectorValues& gy) const { Vector frontalVec = internal::extractVectorValuesSlices(gy, beginFrontals(), endFrontals()); - // TODO: verify permutation frontalVec = gtsam::backSubstituteUpper(frontalVec,Matrix(get_R())); + + // Check for indeterminant solution + if(frontalVec.unaryExpr(!boost::lambda::bind(ptr_fun(isfinite), boost::lambda::_1)).any()) + throw IndeterminantLinearSystemException(this->keys().front()); + GaussianConditional::const_iterator it; for (it = beginParents(); it!= endParents(); it++) { const Index i = *it; diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 6539f0cf4..dd86ffca6 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -393,14 +393,7 @@ break; // some untouched non-zeros that should be zero. We zero them while // extracting submatrices next. tic(4, "partial Cholesky"); - try { - combinedFactor->partialCholesky(nrFrontals); - } catch - (std::exception &ex) { // catch exception from Cholesky - combinedFactor->print("combinedFactor"); - string reason = "EliminateCholesky failed while trying to eliminate the combined factor"; - throw invalid_argument(reason); - } + combinedFactor->partialCholesky(nrFrontals); toc(4, "partial Cholesky"); @@ -502,64 +495,9 @@ break; return EliminateQR(factors, nrFrontals); else { GaussianFactorGraph::EliminationResult ret; -#ifdef NDEBUG - static const bool diag = false; -#else - static const bool diag = !ISDEBUG("NoCholeskyDiagnostics"); -#endif - if (!diag) { - tic(2, "EliminateCholesky"); - ret = EliminateCholesky(factors, nrFrontals); - toc(2, "EliminateCholesky"); - } else { - try { - tic(2, "EliminateCholesky"); - ret = EliminateCholesky(factors, nrFrontals); - toc(2, "EliminateCholesky"); - } catch (const exception& e) { - cout << "Exception in EliminateCholesky: " << e.what() << endl; - SETDEBUG("EliminateCholesky", true); - SETDEBUG("updateATA", true); - SETDEBUG("JacobianFactor::eliminate", true); - SETDEBUG("JacobianFactor::Combine", true); - SETDEBUG("choleskyPartial", true); - factors.print("Combining factors: "); - EliminateCholesky(factors, nrFrontals); - throw; - } - } - - const bool checkCholesky = ISDEBUG("EliminateGaussian Check Cholesky"); - if (checkCholesky) { - GaussianFactorGraph::EliminationResult expected; - FactorGraph jacobians = convertToJacobians(factors); - try { - // Compare with QR - expected = EliminateJacobians(jacobians, nrFrontals); - } catch (...) { - cout << "Exception in QR" << endl; - throw; - } - - H actual_factor(*ret.second); - H 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("EliminateCholesky", true); - SETDEBUG("updateATA", true); - SETDEBUG("JacobianFactor::eliminate", true); - SETDEBUG("JacobianFactor::Combine", true); - jacobians.print("Jacobian Factors: "); - EliminateJacobians(jacobians, nrFrontals); - EliminateCholesky(factors, nrFrontals); - factors.print("Combining factors: "); - - throw runtime_error("Cholesky and QR do not agree"); - } - } - + tic(2, "EliminateCholesky"); + ret = EliminateCholesky(factors, nrFrontals); + toc(2, "EliminateCholesky"); return ret; } diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index cdf597411..6db6330b0 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -28,6 +28,7 @@ #include #include #include +#include #include #include #include @@ -47,13 +48,7 @@ string SlotEntry::toString() const { /* ************************************************************************* */ void HessianFactor::assertInvariants() const { -#ifndef NDEBUG - // Check for non-finite values - for(size_t i=0; i<(size_t) matrix_.rows(); ++i) - for(size_t j=i; j<(size_t) matrix_.cols(); ++j) - if(!isfinite(matrix_(i,j))) - throw invalid_argument("HessianFactor contains non-finite matrix entries."); -#endif + GaussianFactor::assertInvariants(); // The base class checks for unique keys } /* ************************************************************************* */ @@ -473,7 +468,8 @@ void HessianFactor::updateATA(const JacobianFactor& update, const Scatter& scatt /* ************************************************************************* */ void HessianFactor::partialCholesky(size_t nrFrontals) { - choleskyPartial(matrix_, info_.offset(nrFrontals)); + if(!choleskyPartial(matrix_, info_.offset(nrFrontals))) + throw IndeterminantLinearSystemException(this->keys().front()); } /* ************************************************************************* */ diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 0fa3bd7f5..7974c33b4 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -15,6 +15,7 @@ * @date Dec 8, 2010 */ +#include #include #include #include @@ -50,12 +51,6 @@ namespace gtsam { assert(firstNonzeroBlocks_.size() == Ab_.rows()); for(size_t i=0; i() = Matrix::Zero(maxrank, matrix_.cols()); @@ -324,7 +317,6 @@ namespace gtsam { return model_->whiten(Ax); } - /* ************************************************************************* */ void JacobianFactor::transposeMultiplyAdd(double alpha, const Vector& e, VectorValues& x) const { @@ -410,11 +402,8 @@ namespace gtsam { size_t frontalDim = Ab_.range(0,nrFrontals).cols(); // Check for singular factor - if(model_->dim() < frontalDim) { - throw domain_error((boost::format( - "JacobianFactor is singular in variable %1%, discovered while attempting\n" - "to eliminate this variable.") % front()).str()); - } + if(model_->dim() < frontalDim) + throw IndeterminantLinearSystemException(this->keys().front()); // Extract conditional tic(3, "cond Rd"); diff --git a/gtsam/linear/linearExceptions.h b/gtsam/linear/linearExceptions.h new file mode 100644 index 000000000..5e90f57b3 --- /dev/null +++ b/gtsam/linear/linearExceptions.h @@ -0,0 +1,180 @@ +/* ---------------------------------------------------------------------------- + + * 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 linearExceptions.h + * @brief Exceptions that may be thrown by linear solver components + * @author Richard Roberts + * @date Aug 17, 2012 + */ +#pragma once + +#include +#include +#include + +namespace gtsam { + + /** + Thrown when a linear system is ill-posed. The most common cause for this + error is having underconstrained variables. Mathematically, the system is + either underdetermined, or its quadratic error function is concave in some + directions. + + Examples of situations causing this error are: + - A landmark observed by two cameras with a very small baseline will have + high uncertainty in its distance from the cameras but low uncertainty + in its bearing, creating a poorly-conditioned system. + - A landmark observed by only a single ProjectionFactor, RangeFactor, or + BearingFactor (the landmark is not completely constrained). + - An overall scale or rigid transformation ambiguity, for example missing + a prior or hard constraint on the first pose, or missing a scale + constraint between the first two cameras (in structure-from-motion). + + Mathematically, the following conditions cause this problem: + - Underdetermined system: This occurs when the variables are not + completely constrained by factors. Even if all variables are involved + in factors, the variables can still be numerically underconstrained, + (for example, if a landmark is observed by only one ProjectionFactor). + Mathematically in this case, the rank of the linear Jacobian or Hessian + is less than the number of scalars in the system. + - Indefinite system: This condition occurs when the system Hessian is + indefinite, i.e. non-positive-semidefinite. Note that this condition + can also indicate an underdetermined system, but when solving with + Cholesky, accumulation of numerical errors can cause the system to + become indefinite (have some negative eigenvalues) even if it is in + reality positive semi-definite (has some near-zero positive + eigenvalues). Alternatively, if the system contains some + HessianFactor's with negative eigenvalues, these can create a truly + indefinite system, whose quadratic error function has negative + curvature in some directions. + - Poorly-conditioned system: A system that is positive-definite (has a + unique solution) but is numerically ill-conditioned can accumulate + numerical errors during solving that cause the system to become + indefinite later during the elimination process. Note that poorly- + conditioned systems will usually have inaccurate solutions, even if + they do not always trigger this error. Systems with almost- + unconstrained variables or vastly different measurement uncertainties + or variable units can be poorly-conditioned. + + Resolving this problem: + - This exception contains the variable at which the problem was + discovered (IndeterminantLinearSystemException::nearbyVariable()). + Note, however, that this is not necessarily the variable where the + problem originates. For example, in the case that a prior on the + first camera was forgotten, it may only be another camera or landmark + where the problem can be detected. Where the problem is detected + depends on the graph structure and variable elimination ordering. + - MATLAB (or similar software) is a useful tool to diagnose this problem. + Use GaussianFactorGraph::sparseJacobian_(), + GaussianFactorGraph::sparseJacobian() + GaussianFactorGraph::denseJacobian(), and + GaussianFactorGraph::denseHessian() to output the linear graph in + matrix format. If using the MATLAB wrapper, the returned matrices can + be immediately inspected and analyzed using standard methods. If not + using the MATLAB wrapper, the output of these functions may be written + to text files and then loaded into MATLAB. + - When outputting linear graphs as Jacobian matrices, rows are ordered in + the same order as factors in the graph, which each factor occupying the + number of rows indicated by its JacobianFactor::rows() function. Each + column appears in elimination ordering, as in the Ordering class. Each + variable occupies the number of columns indicated by the + JacobianFactor::getDim() function. + - When outputting linear graphs as Hessian matrices, rows and columns are + ordered in elimination order and occupy scalars in the same way as + described for Jacobian columns in the previous bullet. + */ + class IndeterminantLinearSystemException : public std::exception { + Index j_; + mutable std::string what_; + public: + IndeterminantLinearSystemException(Index j) throw() : j_(j) {} + virtual ~IndeterminantLinearSystemException() throw() {} + Index nearbyVariable() const { return j_; } + virtual const char* what() const throw() { + if(what_.empty()) + what_ = +"\nIndeterminant linear system detected while working near variable with\n" +"index " + boost::lexical_cast(j_) + " in ordering.\n" +"\n\ +Thrown when a linear system is ill-posed. The most common cause for this\n\ +error is having underconstrained variables. Mathematically, the system is\n\ +either underdetermined, or its quadratic error function is concave in some\n\ +directions.\n\ +\n\ +Examples of situations causing this error are:\n\ +- A landmark observed by two cameras with a very small baseline will have\n\ + high uncertainty in its distance from the cameras but low uncertainty\n\ + in its bearing, creating a poorly-conditioned system.\n\ +- A landmark observed by only a single ProjectionFactor, RangeFactor, or\n\ + BearingFactor (the landmark is not completely constrained).\n\ +- An overall scale or rigid transformation ambiguity, for example missing\n\ + a prior or hard constraint on the first pose, or missing a scale\n\ + constraint between the first two cameras (in structure-from-motion).\n\ +\n\ +Mathematically, the following conditions cause this problem:\n\ +- Underdetermined system: This occurs when the variables are not\n\ + completely constrained by factors. Even if all variables are involved\n\ + in factors, the variables can still be numerically underconstrained,\n\ + (for example, if a landmark is observed by only one ProjectionFactor).\n\ + Mathematically in this case, the rank of the linear Jacobian or Hessian\n\ + is less than the number of scalars in the system.\n\ +- Indefinite system: This condition occurs when the system Hessian is\n\ + indefinite, i.e. non-positive-semidefinite. Note that this condition\n\ + can also indicate an underdetermined system, but when solving with\n\ + Cholesky, accumulation of numerical errors can cause the system to\n\ + become indefinite (have some negative eigenvalues) even if it is in\n\ + reality positive semi-definite (has some near-zero positive\n\ + eigenvalues). Alternatively, if the system contains some\n\ + HessianFactor's with negative eigenvalues, these can create a truly\n\ + indefinite system, whose quadratic error function has negative\n\ + curvature in some directions.\n\ +- Poorly-conditioned system: A system that is positive-definite (has a\n\ + unique solution) but is numerically ill-conditioned can accumulate\n\ + numerical errors during solving that cause the system to become\n\ + indefinite later during the elimination process. Note that poorly-\n\ + conditioned systems will usually have inaccurate solutions, even if\n\ + they do not always trigger this error. Systems with almost-\n\ + unconstrained variables or vastly different measurement uncertainties\n\ + or variable units can be poorly-conditioned.\n\ +\n\ +Resolving this problem:\n\ +- This exception contains the variable at which the problem was\n\ + discovered (IndeterminantLinearSystemException::nearbyVariable()).\n\ + Note, however, that this is not necessarily the variable where the\n\ + problem originates. For example, in the case that a prior on the\n\ + first camera was forgotten, it may only be another camera or landmark\n\ + where the problem can be detected. Where the problem is detected\n\ + depends on the graph structure and variable elimination ordering.\n\ +- MATLAB (or similar software) is a useful tool to diagnose this problem.\n\ + Use GaussianFactorGraph::sparseJacobian_(),\n\ + GaussianFactorGraph::sparseJacobian()\n\ + GaussianFactorGraph::denseJacobian(), and\n\ + GaussianFactorGraph::denseHessian() to output the linear graph in\n\ + matrix format. If using the MATLAB wrapper, the returned matrices can\n\ + be immediately inspected and analyzed using standard methods. If not\n\ + using the MATLAB wrapper, the output of these functions may be written\n\ + to text files and then loaded into MATLAB.\n\ +- When outputting linear graphs as Jacobian matrices, rows are ordered in\n\ + the same order as factors in the graph, which each factor occupying the\n\ + number of rows indicated by its JacobianFactor::rows() function. Each\n\ + column appears in elimination ordering, as in the Ordering class. Each\n\ + variable occupies the number of columns indicated by the\n\ + JacobianFactor::getDim() function.\n\ +- When outputting linear graphs as Hessian matrices, rows and columns are\n\ + ordered in elimination order and occupy scalars in the same way as\n\ + described for Jacobian columns in the previous bullet.\ +"; + return what_.c_str(); + } + }; + +} diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 52e5bccef..deb2fc9d1 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -140,7 +140,7 @@ struct ISAM2Params { * Cholesky is faster but potentially numerically unstable for poorly-conditioned problems, which can occur when * uncertainty is very low in some variables (or dimensions of variables) and very high in others. QR is * slower but more numerically stable in poorly-conditioned problems. We suggest using the default of Cholesky - * unless gtsam sometimes throws NegativeMatrixException when your problem's Hessian is actually positive + * unless gtsam sometimes throws IndefiniteLinearSystemException when your problem's Hessian is actually positive * definite. For positive definite problems, numerical error accumulation can cause the problem to become * numerically negative or indefinite as solving proceeds, especially when using Cholesky. */ diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 256763c59..a77cac35a 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -18,10 +18,10 @@ #include +#include #include #include -#include // For NegativeMatrixException #include #include @@ -134,7 +134,7 @@ void LevenbergMarquardtOptimizer::iterate() { state_.lambda *= params_.lambdaFactor; } } - } catch(const NegativeMatrixException& e) { + } catch(const IndeterminantLinearSystemException& e) { if(lmVerbosity >= LevenbergMarquardtParams::LAMBDA) cout << "Negative matrix, increasing lambda" << endl; // Either we're not cautious, or the same lambda was worse than the current error. From dc884edceb1e76b99091e881e6b7d5389376b2a5 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:30 +0000 Subject: [PATCH 797/914] No longer should permute JacobianFactor to sort keys when converting from HessianFactor --- gtsam/linear/JacobianFactor.cpp | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 7974c33b4..17d57f82b 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -208,21 +208,6 @@ namespace gtsam { firstNonzeroBlocks_.resize(this->rows(), 0); - // Sort keys - set vars; - for(size_t j=0; j Date: Wed, 22 Aug 2012 22:40:31 +0000 Subject: [PATCH 798/914] Removed commented-out code --- gtsam/linear/JacobianFactor.cpp | 53 --------------------------------- 1 file changed, 53 deletions(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 17d57f82b..d0023b766 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -501,59 +501,6 @@ namespace gtsam { // Start of next part model_ = noiseModel; return splitConditional(nrFrontals); - -// // Check for singular factor -// if(noiseModel->dim() < frontalDim) { -// throw domain_error((boost::format( -// "JacobianFactor is singular in variable %1%, discovered while attempting\n" -// "to eliminate this variable.") % front()).str()); -// } -// -// // Extract conditional -// tic(3, "cond Rd"); -// -// // Restrict the matrix to be in the first nrFrontals variables -// Ab_.rowEnd() = Ab_.rowStart() + frontalDim; -// const Eigen::VectorBlock sigmas = noiseModel->sigmas().segment(Ab_.rowStart(), Ab_.rowEnd()-Ab_.rowStart()); -// GaussianConditional::shared_ptr conditional(new GaussianConditional(begin(), end(), nrFrontals, Ab_, sigmas)); -// if(debug) conditional->print("Extracted conditional: "); -// Ab_.rowStart() += frontalDim; -// Ab_.firstBlock() += nrFrontals; -// toc(3, "cond Rd"); -// -// if(debug) conditional->print("Extracted conditionals: "); -// -// tic(4, "remaining factor"); -// // Take lower-right block of Ab to get the new factor -// Ab_.rowEnd() = noiseModel->dim(); -// keys_.erase(begin(), begin() + nrFrontals); -// // Set sigmas with the right model -// if (noiseModel->isConstrained()) -// model_ = noiseModel::Constrained::MixedSigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim())); -// else -// model_ = noiseModel::Diagonal::Sigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim())); -// if(debug) this->print("Eliminated factor: "); -// assert(Ab_.rows() <= Ab_.cols()-1); -// toc(4, "remaining factor"); -// -// // todo SL: deal with "dead" pivot columns!!! -// tic(5, "rowstarts"); -// size_t varpos = 0; -// firstNonzeroBlocks_.resize(this->rows()); -// for(size_t row=0; row Date: Wed, 22 Aug 2012 22:40:34 +0000 Subject: [PATCH 799/914] Used verbosity constants instead of numbers --- gtsam/nonlinear/NonlinearOptimizer.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index b808a973c..2312a9f88 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -119,7 +119,7 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold double errorThreshold, double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity) { - if ( verbosity >= 2 ) { + if ( verbosity >= NonlinearOptimizerParams::ERROR ) { if ( newError <= errorThreshold ) cout << "errorThreshold: " << newError << " < " << errorThreshold << endl; else @@ -130,7 +130,7 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold // check if diverges double absoluteDecrease = currentError - newError; - if (verbosity >= 2) { + if (verbosity >= NonlinearOptimizerParams::ERROR) { if (absoluteDecrease <= absoluteErrorTreshold) cout << "absoluteDecrease: " << setprecision(12) << absoluteDecrease << " < " << absoluteErrorTreshold << endl; else @@ -139,7 +139,7 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold // calculate relative error decrease and update currentError double relativeDecrease = absoluteDecrease / currentError; - if (verbosity >= 2) { + if (verbosity >= NonlinearOptimizerParams::ERROR) { if (relativeDecrease <= relativeErrorTreshold) cout << "relativeDecrease: " << setprecision(12) << relativeDecrease << " < " << relativeErrorTreshold << endl; else @@ -147,7 +147,7 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold } bool converged = (relativeErrorTreshold && (relativeDecrease <= relativeErrorTreshold)) || (absoluteDecrease <= absoluteErrorTreshold); - if (verbosity >= 1 && converged) { + if (verbosity >= NonlinearOptimizerParams::ERROR && converged) { if(absoluteDecrease >= 0.0) cout << "converged" << endl; else From 676985068900849fd6800f05de2428f27560a650 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:35 +0000 Subject: [PATCH 800/914] Fixed missing case from a couple commits ago --- gtsam/base/cholesky.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp index 8a02907c9..e941082ae 100644 --- a/gtsam/base/cholesky.cpp +++ b/gtsam/base/cholesky.cpp @@ -168,6 +168,8 @@ bool choleskyPartial(Matrix& ABC, size_t nFrontal) { int exp1; (void)frexp(ABC(0,0), &exp1); ok = (exp1 > -underconstrainedExponentDifference); + } else { + ok = true; } } else { ok = false; From cbbf62aeeb808f56cd70e8416dc758681785747f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:38 +0000 Subject: [PATCH 801/914] Updated wrap unit tests --- wrap/tests/expected/geometry_wrapper.cpp | 252 +++++++++--------- .../testNamespaces_wrapper.cpp | 150 ++++++----- 2 files changed, 205 insertions(+), 197 deletions(-) diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index b546aa65f..443795e5e 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -485,130 +485,134 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) int id = unwrap(in[0]); - switch(id) { - case 0: - Point2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); - break; - case 1: - Point2_constructor_1(nargout, out, nargin-1, in+1); - break; - case 2: - Point2_constructor_2(nargout, out, nargin-1, in+1); - break; - case 3: - Point2_deconstructor_3(nargout, out, nargin-1, in+1); - break; - case 4: - Point2_argChar_4(nargout, out, nargin-1, in+1); - break; - case 5: - Point2_argUChar_5(nargout, out, nargin-1, in+1); - break; - case 6: - Point2_dim_6(nargout, out, nargin-1, in+1); - break; - case 7: - Point2_returnChar_7(nargout, out, nargin-1, in+1); - break; - case 8: - Point2_vectorConfusion_8(nargout, out, nargin-1, in+1); - break; - case 9: - Point2_x_9(nargout, out, nargin-1, in+1); - break; - case 10: - Point2_y_10(nargout, out, nargin-1, in+1); - break; - case 11: - Point3_collectorInsertAndMakeBase_11(nargout, out, nargin-1, in+1); - break; - case 12: - Point3_constructor_12(nargout, out, nargin-1, in+1); - break; - case 13: - Point3_deconstructor_13(nargout, out, nargin-1, in+1); - break; - case 14: - Point3_norm_14(nargout, out, nargin-1, in+1); - break; - case 15: - Point3_StaticFunctionRet_15(nargout, out, nargin-1, in+1); - break; - case 16: - Point3_staticFunction_16(nargout, out, nargin-1, in+1); - break; - case 17: - Test_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1); - break; - case 18: - Test_constructor_18(nargout, out, nargin-1, in+1); - break; - case 19: - Test_constructor_19(nargout, out, nargin-1, in+1); - break; - case 20: - Test_deconstructor_20(nargout, out, nargin-1, in+1); - break; - case 21: - Test_arg_EigenConstRef_21(nargout, out, nargin-1, in+1); - break; - case 22: - Test_create_MixedPtrs_22(nargout, out, nargin-1, in+1); - break; - case 23: - Test_create_ptrs_23(nargout, out, nargin-1, in+1); - break; - case 24: - Test_print_24(nargout, out, nargin-1, in+1); - break; - case 25: - Test_return_Point2Ptr_25(nargout, out, nargin-1, in+1); - break; - case 26: - Test_return_Test_26(nargout, out, nargin-1, in+1); - break; - case 27: - Test_return_TestPtr_27(nargout, out, nargin-1, in+1); - break; - case 28: - Test_return_bool_28(nargout, out, nargin-1, in+1); - break; - case 29: - Test_return_double_29(nargout, out, nargin-1, in+1); - break; - case 30: - Test_return_field_30(nargout, out, nargin-1, in+1); - break; - case 31: - Test_return_int_31(nargout, out, nargin-1, in+1); - break; - case 32: - Test_return_matrix1_32(nargout, out, nargin-1, in+1); - break; - case 33: - Test_return_matrix2_33(nargout, out, nargin-1, in+1); - break; - case 34: - Test_return_pair_34(nargout, out, nargin-1, in+1); - break; - case 35: - Test_return_ptrs_35(nargout, out, nargin-1, in+1); - break; - case 36: - Test_return_size_t_36(nargout, out, nargin-1, in+1); - break; - case 37: - Test_return_string_37(nargout, out, nargin-1, in+1); - break; - case 38: - Test_return_vector1_38(nargout, out, nargin-1, in+1); - break; - case 39: - Test_return_vector2_39(nargout, out, nargin-1, in+1); - break; - case 40: - aGlobalFunction_40(nargout, out, nargin-1, in+1); - break; + try { + switch(id) { + case 0: + Point2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1); + break; + case 1: + Point2_constructor_1(nargout, out, nargin-1, in+1); + break; + case 2: + Point2_constructor_2(nargout, out, nargin-1, in+1); + break; + case 3: + Point2_deconstructor_3(nargout, out, nargin-1, in+1); + break; + case 4: + Point2_argChar_4(nargout, out, nargin-1, in+1); + break; + case 5: + Point2_argUChar_5(nargout, out, nargin-1, in+1); + break; + case 6: + Point2_dim_6(nargout, out, nargin-1, in+1); + break; + case 7: + Point2_returnChar_7(nargout, out, nargin-1, in+1); + break; + case 8: + Point2_vectorConfusion_8(nargout, out, nargin-1, in+1); + break; + case 9: + Point2_x_9(nargout, out, nargin-1, in+1); + break; + case 10: + Point2_y_10(nargout, out, nargin-1, in+1); + break; + case 11: + Point3_collectorInsertAndMakeBase_11(nargout, out, nargin-1, in+1); + break; + case 12: + Point3_constructor_12(nargout, out, nargin-1, in+1); + break; + case 13: + Point3_deconstructor_13(nargout, out, nargin-1, in+1); + break; + case 14: + Point3_norm_14(nargout, out, nargin-1, in+1); + break; + case 15: + Point3_StaticFunctionRet_15(nargout, out, nargin-1, in+1); + break; + case 16: + Point3_staticFunction_16(nargout, out, nargin-1, in+1); + break; + case 17: + Test_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1); + break; + case 18: + Test_constructor_18(nargout, out, nargin-1, in+1); + break; + case 19: + Test_constructor_19(nargout, out, nargin-1, in+1); + break; + case 20: + Test_deconstructor_20(nargout, out, nargin-1, in+1); + break; + case 21: + Test_arg_EigenConstRef_21(nargout, out, nargin-1, in+1); + break; + case 22: + Test_create_MixedPtrs_22(nargout, out, nargin-1, in+1); + break; + case 23: + Test_create_ptrs_23(nargout, out, nargin-1, in+1); + break; + case 24: + Test_print_24(nargout, out, nargin-1, in+1); + break; + case 25: + Test_return_Point2Ptr_25(nargout, out, nargin-1, in+1); + break; + case 26: + Test_return_Test_26(nargout, out, nargin-1, in+1); + break; + case 27: + Test_return_TestPtr_27(nargout, out, nargin-1, in+1); + break; + case 28: + Test_return_bool_28(nargout, out, nargin-1, in+1); + break; + case 29: + Test_return_double_29(nargout, out, nargin-1, in+1); + break; + case 30: + Test_return_field_30(nargout, out, nargin-1, in+1); + break; + case 31: + Test_return_int_31(nargout, out, nargin-1, in+1); + break; + case 32: + Test_return_matrix1_32(nargout, out, nargin-1, in+1); + break; + case 33: + Test_return_matrix2_33(nargout, out, nargin-1, in+1); + break; + case 34: + Test_return_pair_34(nargout, out, nargin-1, in+1); + break; + case 35: + Test_return_ptrs_35(nargout, out, nargin-1, in+1); + break; + case 36: + Test_return_size_t_36(nargout, out, nargin-1, in+1); + break; + case 37: + Test_return_string_37(nargout, out, nargin-1, in+1); + break; + case 38: + Test_return_vector1_38(nargout, out, nargin-1, in+1); + break; + case 39: + Test_return_vector2_39(nargout, out, nargin-1, in+1); + break; + case 40: + aGlobalFunction_40(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_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index d199e59ab..1a31c4b90 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -353,79 +353,83 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) int id = unwrap(in[0]); - 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: - ns2ClassA_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1); - break; - case 7: - ns2ClassA_constructor_7(nargout, out, nargin-1, in+1); - break; - case 8: - ns2ClassA_deconstructor_8(nargout, out, nargin-1, in+1); - break; - case 9: - ns2ClassA_memberFunction_9(nargout, out, nargin-1, in+1); - break; - case 10: - ns2ClassA_nsArg_10(nargout, out, nargin-1, in+1); - break; - case 11: - ns2ClassA_nsReturn_11(nargout, out, nargin-1, in+1); - break; - case 12: - ns2ClassA_afunction_12(nargout, out, nargin-1, in+1); - break; - case 13: - ns2ns3ClassB_collectorInsertAndMakeBase_13(nargout, out, nargin-1, in+1); - break; - case 14: - ns2ns3ClassB_constructor_14(nargout, out, nargin-1, in+1); - break; - case 15: - ns2ns3ClassB_deconstructor_15(nargout, out, nargin-1, in+1); - break; - case 16: - ns2ClassC_collectorInsertAndMakeBase_16(nargout, out, nargin-1, in+1); - break; - case 17: - ns2ClassC_constructor_17(nargout, out, nargin-1, in+1); - break; - case 18: - ns2ClassC_deconstructor_18(nargout, out, nargin-1, in+1); - break; - case 19: - ClassD_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1); - break; - case 20: - ClassD_constructor_20(nargout, out, nargin-1, in+1); - break; - case 21: - ClassD_deconstructor_21(nargout, out, nargin-1, in+1); - break; - case 22: - ns1aGlobalFunction_22(nargout, out, nargin-1, in+1); - break; - case 23: - ns2aGlobalFunction_23(nargout, out, nargin-1, in+1); - break; + 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: + ns2ClassA_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1); + break; + case 7: + ns2ClassA_constructor_7(nargout, out, nargin-1, in+1); + break; + case 8: + ns2ClassA_deconstructor_8(nargout, out, nargin-1, in+1); + break; + case 9: + ns2ClassA_memberFunction_9(nargout, out, nargin-1, in+1); + break; + case 10: + ns2ClassA_nsArg_10(nargout, out, nargin-1, in+1); + break; + case 11: + ns2ClassA_nsReturn_11(nargout, out, nargin-1, in+1); + break; + case 12: + ns2ClassA_afunction_12(nargout, out, nargin-1, in+1); + break; + case 13: + ns2ns3ClassB_collectorInsertAndMakeBase_13(nargout, out, nargin-1, in+1); + break; + case 14: + ns2ns3ClassB_constructor_14(nargout, out, nargin-1, in+1); + break; + case 15: + ns2ns3ClassB_deconstructor_15(nargout, out, nargin-1, in+1); + break; + case 16: + ns2ClassC_collectorInsertAndMakeBase_16(nargout, out, nargin-1, in+1); + break; + case 17: + ns2ClassC_constructor_17(nargout, out, nargin-1, in+1); + break; + case 18: + ns2ClassC_deconstructor_18(nargout, out, nargin-1, in+1); + break; + case 19: + ClassD_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1); + break; + case 20: + ClassD_constructor_20(nargout, out, nargin-1, in+1); + break; + case 21: + ClassD_deconstructor_21(nargout, out, nargin-1, in+1); + break; + case 22: + ns1aGlobalFunction_22(nargout, out, nargin-1, in+1); + break; + case 23: + ns2aGlobalFunction_23(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); From 519ad721399d3d64640c6509afbfc48487bdd81e Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 22 Aug 2012 22:40:39 +0000 Subject: [PATCH 802/914] Made explicit instantiations in header file inline to avoid duplicate definition --- gtsam_unstable/slam/PoseTranslationPrior.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/PoseTranslationPrior.h b/gtsam_unstable/slam/PoseTranslationPrior.h index ba023c0e3..9fc2bb423 100644 --- a/gtsam_unstable/slam/PoseTranslationPrior.h +++ b/gtsam_unstable/slam/PoseTranslationPrior.h @@ -25,8 +25,8 @@ bool isRotFirst() { } // Instantiate for common poses -template<> bool isRotFirst() { return true; } -template<> bool isRotFirst() { return false; } +template<> inline bool isRotFirst() { return true; } +template<> inline bool isRotFirst() { return false; } } // \namespace pose_traits From c60fc3ca2acabe23591be695be8282abf7fa42f3 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 24 Aug 2012 21:39:56 +0000 Subject: [PATCH 803/914] Relegated the PartialPriorFactor to gtsam_unstable --- gtsam_unstable/dynamics/DynamicsPriors.h | 2 +- gtsam_unstable/dynamics/tests/testIMUSystem.cpp | 2 +- {gtsam => gtsam_unstable}/slam/PartialPriorFactor.h | 0 gtsam_unstable/slam/PoseRotationPrior.h | 2 +- 4 files changed, 3 insertions(+), 3 deletions(-) rename {gtsam => gtsam_unstable}/slam/PartialPriorFactor.h (100%) diff --git a/gtsam_unstable/dynamics/DynamicsPriors.h b/gtsam_unstable/dynamics/DynamicsPriors.h index 2d0f9e6a6..ccf7063dc 100644 --- a/gtsam_unstable/dynamics/DynamicsPriors.h +++ b/gtsam_unstable/dynamics/DynamicsPriors.h @@ -9,7 +9,7 @@ #pragma once -#include +#include #include diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp index 86301f417..01c7925b3 100644 --- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp +++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/gtsam/slam/PartialPriorFactor.h b/gtsam_unstable/slam/PartialPriorFactor.h similarity index 100% rename from gtsam/slam/PartialPriorFactor.h rename to gtsam_unstable/slam/PartialPriorFactor.h diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam_unstable/slam/PoseRotationPrior.h index c4a7a7de7..d6efc0cc4 100644 --- a/gtsam_unstable/slam/PoseRotationPrior.h +++ b/gtsam_unstable/slam/PoseRotationPrior.h @@ -9,7 +9,7 @@ #pragma once -#include +#include #include namespace gtsam { From 3dff334cdfee3caffdd3e4e53d66fea14b0ee552 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 24 Aug 2012 22:02:17 +0000 Subject: [PATCH 804/914] Small printing problem --- gtsam/slam/BearingRangeFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index bf5b6b3a5..52f301b3c 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -67,7 +67,7 @@ namespace gtsam { std::cout << s << "BearingRangeFactor(" << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ")\n"; - measuredBearing_.print("measured bearing:\n"); + measuredBearing_.print("measured bearing: "); std::cout << "measured range: " << measuredRange_ << std::endl; this->noiseModel_->print("noise model:\n"); } From 23f31111486e7a0ef9ca3a20de4a78129bfa3a4f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 24 Aug 2012 22:02:40 +0000 Subject: [PATCH 805/914] Now reads bearing-range factors --- gtsam/slam/dataset.cpp | 91 +++++++++++++++++++++++++++--------------- 1 file changed, 58 insertions(+), 33 deletions(-) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 29154f686..643764f71 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -24,6 +24,7 @@ #include #include #include +#include using namespace std; @@ -47,7 +48,7 @@ pair load2D( if (!is) throw std::invalid_argument("load2D: can not find the file!"); - Values::shared_ptr poses(new Values); + Values::shared_ptr initial(new Values); NonlinearFactorGraph::shared_ptr graph(new NonlinearFactorGraph); string tag; @@ -63,7 +64,7 @@ pair load2D( // optional filter if (maxID && id >= maxID) continue; - poses->insert(id, Pose2(x, y, yaw)); + initial->insert(id, Pose2(x, y, yaw)); } is.ignore(LINESIZE, '\n'); } @@ -77,49 +78,73 @@ pair load2D( while (is) { is >> tag; - if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { - int id1, id2; - double x, y, yaw; + if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { + int id1, id2; + double x, y, yaw; - is >> id1 >> id2 >> x >> y >> yaw; - Matrix m = eye(3); - is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); - m(2, 0) = m(0, 2); - m(2, 1) = m(1, 2); - m(1, 0) = m(0, 1); + is >> id1 >> id2 >> x >> y >> yaw; + Matrix m = eye(3); + is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); + m(2, 0) = m(0, 2); + m(2, 1) = m(1, 2); + m(1, 0) = m(0, 1); - // optional filter - if (maxID && (id1 >= maxID || id2 >= maxID)) - continue; + // optional filter + if (maxID && (id1 >= maxID || id2 >= maxID)) + continue; - Pose2 l1Xl2(x, y, yaw); + Pose2 l1Xl2(x, y, yaw); - // SharedNoiseModel noise = noiseModel::Gaussian::Covariance(m, smart); - if (!model) { - Vector variances = Vector_(3, m(0, 0), m(1, 1), m(2, 2)); - model = noiseModel::Diagonal::Variances(variances, smart); - } + // SharedNoiseModel noise = noiseModel::Gaussian::Covariance(m, smart); + if (!model) { + Vector variances = Vector_(3, m(0, 0), m(1, 1), m(2, 2)); + model = noiseModel::Diagonal::Variances(variances, smart); + } - if (addNoise) - l1Xl2 = l1Xl2.retract(sampler.sampleNewModel(*model)); + if (addNoise) + l1Xl2 = l1Xl2.retract(sampler.sampleNewModel(*model)); - // Insert vertices if pure odometry file - if (!poses->exists(id1)) - poses->insert(id1, Pose2()); - if (!poses->exists(id2)) - poses->insert(id2, poses->at(id1) * l1Xl2); + // Insert vertices if pure odometry file + if (!initial->exists(id1)) + initial->insert(id1, Pose2()); + if (!initial->exists(id2)) + initial->insert(id2, initial->at(id1) * l1Xl2); - NonlinearFactor::shared_ptr factor( - new BetweenFactor(id1, id2, l1Xl2, *model)); - graph->push_back(factor); - } + NonlinearFactor::shared_ptr factor( + new BetweenFactor(id1, id2, l1Xl2, *model)); + graph->push_back(factor); + } + if (tag == "BR") { + int id1, id2; + double bearing, range, bearing_std, range_std; + + is >> id1 >> id2 >> bearing >> range >> bearing_std >> range_std; + + // optional filter + if (maxID && (id1 >= maxID || id2 >= maxID)) + continue; + + noiseModel::Diagonal::shared_ptr measurementNoise = + noiseModel::Diagonal::Sigmas(Vector_(2, bearing_std, range_std)); + graph->add(BearingRangeFactor(id1, id2, bearing, range, measurementNoise)); + + // Insert poses or points if they do not exist yet + if (!initial->exists(id1)) + initial->insert(id1, Pose2()); + if (!initial->exists(id2)) { + Pose2 pose = initial->at(id1); + Point2 local(cos(bearing)*range,sin(bearing)*range); + Point2 global = pose.transform_from(local); + initial->insert(id2, global); + } + } is.ignore(LINESIZE, '\n'); } - cout << "load2D read a graph file with " << poses->size() + cout << "load2D read a graph file with " << initial->size() << " vertices and " << graph->nrFactors() << " factors" << endl; - return make_pair(graph, poses); + return make_pair(graph, initial); } /* ************************************************************************* */ From 9230458e067b5e35e4e81d7bc0f58f0d4aabf7a9 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 24 Aug 2012 22:03:24 +0000 Subject: [PATCH 806/914] Planar SLAM example from factor graph talk --- examples/Data/example.graph | 611 ++++++++++++++++++ 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b/matlab/gtsam_examples/PlanarSLAMExample_graph.m @@ -0,0 +1,49 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 +% +% @brief Read graph from file and perform GraphSLAM +% @author Frank Dellaert +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +clear + +import gtsam.* + +%% Find data file +datafile = '/Users/dellaert/borg/gtsam/examples/Data/example.graph'; + +%% Initialize graph, initial estimate, and odometry noise +model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 2*pi/180]); +[graph,initial] = load2D(datafile, model); + +%% Add a Gaussian prior on pose x_1 +priorMean = initial.at(0); +priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); +graph.add(PriorFactorPose2(0, priorMean, priorNoise)); % add directly to graph + +%% Plot Initial Estimate +cla +plot2DTrajectory(initial, 'g-*'); axis equal + +%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd +optimizer = LevenbergMarquardtOptimizer(graph, initial); +tic +result = optimizer.optimizeSafely; +toc +hold on; plot2DTrajectory(result, 'b-*'); + +%% Plot Covariance Ellipses +marginals = Marginals(graph, result); +P={}; +for i=0:94 + pose_i = result.at(i); + Pi=marginals.marginalCovariance(i); + plotPose2(pose_i,'b',Pi) +end +view(2) +axis tight; axis equal; From 4106afdaa0fdbf4ca26b9984df68935a15387a2d Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 25 Aug 2012 14:26:02 +0000 Subject: [PATCH 807/914] Better graphics, with points --- .../gtsam_examples/PlanarSLAMExample_graph.m | 24 +++++++++---------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/matlab/gtsam_examples/PlanarSLAMExample_graph.m b/matlab/gtsam_examples/PlanarSLAMExample_graph.m index c2f821d39..a65ea5980 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample_graph.m +++ b/matlab/gtsam_examples/PlanarSLAMExample_graph.m @@ -21,29 +21,27 @@ datafile = '/Users/dellaert/borg/gtsam/examples/Data/example.graph'; model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 2*pi/180]); [graph,initial] = load2D(datafile, model); -%% Add a Gaussian prior on pose x_1 -priorMean = initial.at(0); -priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]); -graph.add(PriorFactorPose2(0, priorMean, priorNoise)); % add directly to graph +%% Add a Gaussian prior on a pose in the middle +priorMean = initial.at(40); +priorNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 2*pi/180]); +graph.add(PriorFactorPose2(40, priorMean, priorNoise)); % add directly to graph %% Plot Initial Estimate cla -plot2DTrajectory(initial, 'g-*'); axis equal +plot2DTrajectory(initial, 'r-'); axis equal %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd optimizer = LevenbergMarquardtOptimizer(graph, initial); tic result = optimizer.optimizeSafely; toc -hold on; plot2DTrajectory(result, 'b-*'); %% Plot Covariance Ellipses +cla;hold on marginals = Marginals(graph, result); -P={}; -for i=0:94 - pose_i = result.at(i); - Pi=marginals.marginalCovariance(i); - plotPose2(pose_i,'b',Pi) -end +plot2DTrajectory(result, 'g', marginals); +plot2DPoints(result, 'b', marginals); +axis tight +axis equal view(2) -axis tight; axis equal; + From f9c3af7e3d2029625eb7124dca73f08df60cc7fd Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Sun, 26 Aug 2012 04:16:47 +0000 Subject: [PATCH 808/914] Fixed bug in key assignment --- gtsam_unstable/nonlinear/LinearContainerFactor.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index 42dfe7819..ea324704b 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -52,6 +52,9 @@ LinearContainerFactor::LinearContainerFactor( const GaussianFactor::shared_ptr& factor) : factor_(factor->clone()) { + // Extract keys stashed in linear factor + BOOST_FOREACH(const Index& idx, factor_->keys()) + keys_.push_back(idx); } /* ************************************************************************* */ From ea70673b3655be800bd4d0e6dd64b9f2fa97b81a Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Sun, 26 Aug 2012 15:46:19 +0000 Subject: [PATCH 809/914] Added overload constructor comments to matlab files --- wrap/Class.cpp | 669 +++++++++++++++++++++++--------------------- wrap/Class.h | 2 + wrap/FileWriter.cpp | 4 - 3 files changed, 347 insertions(+), 328 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index c1fac2c0b..bfc39132f 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -1,325 +1,346 @@ -/* ---------------------------------------------------------------------------- - - * 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 Class.cpp - * @author Frank Dellaert - * @author Andrew Melim +/* ---------------------------------------------------------------------------- + + * 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 Class.cpp + * @author Frank Dellaert + * @author Andrew Melim * @author Richard Roberts - **/ - -#include -#include -#include -//#include // on Linux GCC: fails with error regarding needing C++0x std flags -//#include // same failure as above -#include // works on Linux GCC - -#include -#include - -#include "Class.h" -#include "utilities.h" -#include "Argument.h" - -using namespace std; -using namespace wrap; - -/* ************************************************************************* */ -void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, - const TypeAttributesTable& typeAttributes, - FileWriter& wrapperFile, vector& functionNames) const { - - // Create namespace folders - createNamespaceStructure(namespaces, toolboxPath); - - // open destination classFile - string classFile = toolboxPath; - if(!namespaces.empty()) - classFile += "/+" + wrap::qualifiedName("/+", namespaces); - classFile += "/" + name + ".m"; - FileWriter proxyFile(classFile, verbose_, "%"); - - // get the name of actual matlab object - const string matlabQualName = qualifiedName("."), matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); - const string matlabBaseName = wrap::qualifiedName(".", qualifiedParent); - const string cppBaseName = wrap::qualifiedName("::", qualifiedParent); - - // emit class proxy code - // we want our class to inherit the handle class for memory purposes - const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName; - proxyFile.oss << "classdef " << name << " < " << parent << endl; - proxyFile.oss << " properties" << endl; - proxyFile.oss << " ptr_" << matlabUniqueName << " = 0" << endl; - proxyFile.oss << " end" << endl; - proxyFile.oss << " methods" << endl; - - // Constructor - proxyFile.oss << " function obj = " << name << "(varargin)" << endl; - // Special pointer constructors - one in MATLAB to create an object and - // assign a pointer returned from a C++ function. In turn this MATLAB - // constructor calls a special C++ function that just adds the object to - // its collector. This allows wrapped functions to return objects in - // other wrap modules - to add these to their collectors the pointer is - // passed from one C++ module into matlab then back into the other C++ - // module. - pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, functionNames); - wrapperFile.oss << "\n"; - // Regular constructors - BOOST_FOREACH(ArgumentList a, constructor.args_list) - { - const int id = (int)functionNames.size(); - constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(), id, a); - const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, - cppName, matlabUniqueName, cppBaseName, id, a); - wrapperFile.oss << "\n"; - functionNames.push_back(wrapFunctionName); - } - proxyFile.oss << " else\n"; - proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');" << endl; - proxyFile.oss << " end\n"; - if(!qualifiedParent.empty()) - proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n"; - proxyFile.oss << " obj.ptr_" << matlabUniqueName << " = my_ptr;\n"; - proxyFile.oss << " end\n\n"; - - // Deconstructor - { - const int id = (int)functionNames.size(); - deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id); - proxyFile.oss << "\n"; - const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id); - wrapperFile.oss << "\n"; - functionNames.push_back(functionName); - } - proxyFile.oss << " function display(obj), obj.print(''); end\n\n"; - proxyFile.oss << " function disp(obj), obj.display; end\n\n"; - - // Methods - BOOST_FOREACH(const Methods::value_type& name_m, methods) { - const Method& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); - proxyFile.oss << "\n"; - wrapperFile.oss << "\n"; - } - - proxyFile.oss << " end\n"; - proxyFile.oss << "\n"; - proxyFile.oss << " methods(Static = true)\n"; - - // Static methods - BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { - const StaticMethod& m = name_m.second; - m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); - proxyFile.oss << "\n"; - wrapperFile.oss << "\n"; - } - - proxyFile.oss << " end" << endl; - proxyFile.oss << "end" << endl; - - // Close file - proxyFile.emit(true); -} - -/* ************************************************************************* */ -string Class::qualifiedName(const string& delim) const { - return ::wrap::qualifiedName(delim, namespaces, name); -} - -/* ************************************************************************* */ -void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, vector& functionNames) const { - - const string matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); - const string baseCppName = wrap::qualifiedName("::", qualifiedParent); - - const int collectorInsertId = (int)functionNames.size(); - const string collectorInsertFunctionName = matlabUniqueName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(collectorInsertId); - functionNames.push_back(collectorInsertFunctionName); - - int upcastFromVoidId; - string upcastFromVoidFunctionName; - if(isVirtual) { - upcastFromVoidId = (int)functionNames.size(); - upcastFromVoidFunctionName = matlabUniqueName + "_upcastFromVoid_" + boost::lexical_cast(upcastFromVoidId); - functionNames.push_back(upcastFromVoidFunctionName); - } - - // MATLAB constructor that assigns pointer to matlab object then calls c++ - // function to add the object to the collector. - if(isVirtual) { - proxyFile.oss << " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))"; - } else { - proxyFile.oss << " if nargin == 2"; - } - proxyFile.oss << " && isa(varargin{1}, 'uint64') && varargin{1} == uint64(" << ptr_constructor_key << ")\n"; - if(isVirtual) { - proxyFile.oss << " if nargin == 2\n"; - proxyFile.oss << " my_ptr = varargin{2};\n"; - proxyFile.oss << " else\n"; - proxyFile.oss << " my_ptr = " << wrapperName << "(" << upcastFromVoidId << ", varargin{2});\n"; - proxyFile.oss << " end\n"; - } else { - proxyFile.oss << " my_ptr = varargin{2};\n"; - } - if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back - proxyFile.oss << " "; - else - proxyFile.oss << " base_ptr = "; - proxyFile.oss << wrapperName << "(" << collectorInsertId << ", my_ptr);\n"; // Call collector insert and get base class ptr - - // C++ function to add pointer from MATLAB to collector. The pointer always - // comes from a C++ return value; this mechanism allows the object to be added - // to a collector in a different wrap module. If this class has a base class, - // a new pointer to the base class is allocated and returned. - wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; - wrapperFile.oss << "{\n"; - wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; - // Typedef boost::shared_ptr - wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n"; - wrapperFile.oss << "\n"; - // Get self pointer passed in - wrapperFile.oss << " Shared *self = *reinterpret_cast (mxGetData(in[0]));\n"; - // Add to collector - wrapperFile.oss << " collector_" << matlabUniqueName << ".insert(self);\n"; - // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) - if(!qualifiedParent.empty()) { - wrapperFile.oss << "\n"; - wrapperFile.oss << " typedef boost::shared_ptr<" << baseCppName << "> SharedBase;\n"; - wrapperFile.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"; - wrapperFile.oss << " *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self);\n"; - } - wrapperFile.oss << "}\n"; - - // If this is a virtual function, C++ function to dynamic upcast it from a - // shared_ptr. This mechanism allows automatic dynamic creation of the - // real underlying derived-most class when a C++ method returns a virtual - // base class. - if(isVirtual) - wrapperFile.oss << - "\n" - "void " << upcastFromVoidFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {\n" - " mexAtExit(&_deleteAllObjects);\n" - " typedef boost::shared_ptr<" << cppName << "> Shared;\n" - " boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0]));\n" - " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n" - " Shared *self = new Shared(boost::static_pointer_cast<" << cppName << ">(*asVoid));\n" - " *reinterpret_cast(mxGetData(out[0])) = self;\n" - "}\n"; -} - -/* ************************************************************************* */ -vector expandArgumentListsTemplate(const vector& argLists, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { - vector result; - BOOST_FOREACH(const ArgumentList& argList, argLists) { - ArgumentList instArgList; - BOOST_FOREACH(const Argument& arg, argList) { - Argument instArg = arg; - if(arg.type == templateArg) { - instArg.namespaces.assign(instName.begin(), instName.end()-1); - instArg.type = instName.back(); - } else if(arg.type == "This") { - instArg.namespaces.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); - instArg.type = expandedClassName; - } - instArgList.push_back(instArg); - } - result.push_back(instArgList); - } - return result; -} - -/* ************************************************************************* */ -template -map expandMethodTemplate(const map& methods, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { - map result; - typedef pair Name_Method; - BOOST_FOREACH(const Name_Method& name_method, methods) { - const METHOD& method = name_method.second; - METHOD instMethod = method; - instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName, expandedClassNamespace, expandedClassName); - instMethod.returnVals.clear(); - BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) { - ReturnValue instRetVal = retVal; - if(retVal.type1 == templateArg) { - instRetVal.namespaces1.assign(instName.begin(), instName.end()-1); - instRetVal.type1 = instName.back(); - } else if(retVal.type1 == "This") { - instRetVal.namespaces1.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); - instRetVal.type1 = expandedClassName; - } - if(retVal.type2 == templateArg) { - instRetVal.namespaces2.assign(instName.begin(), instName.end()-1); - instRetVal.type2 = instName.back(); - } else if(retVal.type1 == "This") { - instRetVal.namespaces2.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); - instRetVal.type2 = expandedClassName; - } - instMethod.returnVals.push_back(instRetVal); - } - result.insert(make_pair(name_method.first, instMethod)); - } - return result; -} - -/* ************************************************************************* */ -Class expandClassTemplate(const Class& cls, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { - Class inst; - inst.name = cls.name; - inst.templateArgs = cls.templateArgs; - inst.typedefName = cls.typedefName; - inst.isVirtual = cls.isVirtual; - inst.qualifiedParent = cls.qualifiedParent; - inst.methods = expandMethodTemplate(cls.methods, templateArg, instName, expandedClassNamespace, expandedClassName); - inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName, expandedClassNamespace, expandedClassName); - inst.namespaces = cls.namespaces; - inst.constructor = cls.constructor; - inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName, expandedClassNamespace, expandedClassName); - inst.constructor.name = inst.name; - inst.deconstructor = cls.deconstructor; - inst.deconstructor.name = inst.name; - inst.verbose_ = cls.verbose_; - return inst; -} - -/* ************************************************************************* */ -vector Class::expandTemplate(const string& templateArg, const vector >& instantiations) const { - vector result; - BOOST_FOREACH(const vector& instName, instantiations) { - const string expandedName = name + instName.back(); - Class inst = expandClassTemplate(*this, templateArg, instName, this->namespaces, expandedName); - inst.name = expandedName; - inst.templateArgs.clear(); - inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">"; - result.push_back(inst); - } - return result; -} - -/* ************************************************************************* */ -Class Class::expandTemplate(const string& templateArg, const vector& instantiation, const std::vector& expandedClassNamespace, const string& expandedClassName) const { - return expandClassTemplate(*this, templateArg, instantiation, expandedClassNamespace, expandedClassName); -} - -/* ************************************************************************* */ -std::string Class::getTypedef() const { - string result; - BOOST_FOREACH(const string& namesp, namespaces) { - result += ("namespace " + namesp + " { "); - } - result += ("typedef " + typedefName + " " + name + ";"); - for (size_t i = 0; i +#include +#include +//#include // on Linux GCC: fails with error regarding needing C++0x std flags +//#include // same failure as above +#include // works on Linux GCC + +#include +#include + +#include "Class.h" +#include "utilities.h" +#include "Argument.h" + +using namespace std; +using namespace wrap; + +/* ************************************************************************* */ +void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, + const TypeAttributesTable& typeAttributes, + FileWriter& wrapperFile, vector& functionNames) const { + + // Create namespace folders + createNamespaceStructure(namespaces, toolboxPath); + + // open destination classFile + string classFile = toolboxPath; + if(!namespaces.empty()) + classFile += "/+" + wrap::qualifiedName("/+", namespaces); + classFile += "/" + name + ".m"; + FileWriter proxyFile(classFile, verbose_, "%"); + + // get the name of actual matlab object + const string matlabQualName = qualifiedName("."), matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); + const string matlabBaseName = wrap::qualifiedName(".", qualifiedParent); + const string cppBaseName = wrap::qualifiedName("::", qualifiedParent); + + // emit class proxy code + // we want our class to inherit the handle class for memory purposes + const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName; + comment_fragment(proxyFile); + proxyFile.oss << "classdef " << name << " < " << parent << endl; + proxyFile.oss << " properties" << endl; + proxyFile.oss << " ptr_" << matlabUniqueName << " = 0" << endl; + proxyFile.oss << " end" << endl; + proxyFile.oss << " methods" << endl; + + // Constructor + proxyFile.oss << " function obj = " << name << "(varargin)" << endl; + // Special pointer constructors - one in MATLAB to create an object and + // assign a pointer returned from a C++ function. In turn this MATLAB + // constructor calls a special C++ function that just adds the object to + // its collector. This allows wrapped functions to return objects in + // other wrap modules - to add these to their collectors the pointer is + // passed from one C++ module into matlab then back into the other C++ + // module. + pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, functionNames); + wrapperFile.oss << "\n"; + // Regular constructors + BOOST_FOREACH(ArgumentList a, constructor.args_list) + { + const int id = (int)functionNames.size(); + constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(), id, a); + const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, + cppName, matlabUniqueName, cppBaseName, id, a); + wrapperFile.oss << "\n"; + functionNames.push_back(wrapFunctionName); + } + proxyFile.oss << " else\n"; + proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');" << endl; + proxyFile.oss << " end\n"; + if(!qualifiedParent.empty()) + proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n"; + proxyFile.oss << " obj.ptr_" << matlabUniqueName << " = my_ptr;\n"; + proxyFile.oss << " end\n\n"; + + // Deconstructor + { + const int id = (int)functionNames.size(); + deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id); + proxyFile.oss << "\n"; + const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id); + wrapperFile.oss << "\n"; + functionNames.push_back(functionName); + } + proxyFile.oss << " function display(obj), obj.print(''); end\n\n"; + proxyFile.oss << " function disp(obj), obj.display; end\n\n"; + + // Methods + BOOST_FOREACH(const Methods::value_type& name_m, methods) { + const Method& m = name_m.second; + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); + proxyFile.oss << "\n"; + wrapperFile.oss << "\n"; + } + + proxyFile.oss << " end\n"; + proxyFile.oss << "\n"; + proxyFile.oss << " methods(Static = true)\n"; + + // Static methods + BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { + const StaticMethod& m = name_m.second; + m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); + proxyFile.oss << "\n"; + wrapperFile.oss << "\n"; + } + + proxyFile.oss << " end" << endl; + proxyFile.oss << "end" << endl; + + // Close file + proxyFile.emit(true); +} + +/* ************************************************************************* */ +string Class::qualifiedName(const string& delim) const { + return ::wrap::qualifiedName(delim, namespaces, name); +} + +/* ************************************************************************* */ +void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, vector& functionNames) const { + + const string matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); + const string baseCppName = wrap::qualifiedName("::", qualifiedParent); + + const int collectorInsertId = (int)functionNames.size(); + const string collectorInsertFunctionName = matlabUniqueName + "_collectorInsertAndMakeBase_" + boost::lexical_cast(collectorInsertId); + functionNames.push_back(collectorInsertFunctionName); + + int upcastFromVoidId; + string upcastFromVoidFunctionName; + if(isVirtual) { + upcastFromVoidId = (int)functionNames.size(); + upcastFromVoidFunctionName = matlabUniqueName + "_upcastFromVoid_" + boost::lexical_cast(upcastFromVoidId); + functionNames.push_back(upcastFromVoidFunctionName); + } + + // MATLAB constructor that assigns pointer to matlab object then calls c++ + // function to add the object to the collector. + if(isVirtual) { + proxyFile.oss << " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))"; + } else { + proxyFile.oss << " if nargin == 2"; + } + proxyFile.oss << " && isa(varargin{1}, 'uint64') && varargin{1} == uint64(" << ptr_constructor_key << ")\n"; + if(isVirtual) { + proxyFile.oss << " if nargin == 2\n"; + proxyFile.oss << " my_ptr = varargin{2};\n"; + proxyFile.oss << " else\n"; + proxyFile.oss << " my_ptr = " << wrapperName << "(" << upcastFromVoidId << ", varargin{2});\n"; + proxyFile.oss << " end\n"; + } else { + proxyFile.oss << " my_ptr = varargin{2};\n"; + } + if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back + proxyFile.oss << " "; + else + proxyFile.oss << " base_ptr = "; + proxyFile.oss << wrapperName << "(" << collectorInsertId << ", my_ptr);\n"; // Call collector insert and get base class ptr + + // C++ function to add pointer from MATLAB to collector. The pointer always + // comes from a C++ return value; this mechanism allows the object to be added + // to a collector in a different wrap module. If this class has a base class, + // a new pointer to the base class is allocated and returned. + wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; + wrapperFile.oss << "{\n"; + wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; + // Typedef boost::shared_ptr + wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n"; + wrapperFile.oss << "\n"; + // Get self pointer passed in + wrapperFile.oss << " Shared *self = *reinterpret_cast (mxGetData(in[0]));\n"; + // Add to collector + wrapperFile.oss << " collector_" << matlabUniqueName << ".insert(self);\n"; + // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) + if(!qualifiedParent.empty()) { + wrapperFile.oss << "\n"; + wrapperFile.oss << " typedef boost::shared_ptr<" << baseCppName << "> SharedBase;\n"; + wrapperFile.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"; + wrapperFile.oss << " *reinterpret_cast(mxGetData(out[0])) = new SharedBase(*self);\n"; + } + wrapperFile.oss << "}\n"; + + // If this is a virtual function, C++ function to dynamic upcast it from a + // shared_ptr. This mechanism allows automatic dynamic creation of the + // real underlying derived-most class when a C++ method returns a virtual + // base class. + if(isVirtual) + wrapperFile.oss << + "\n" + "void " << upcastFromVoidFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {\n" + " mexAtExit(&_deleteAllObjects);\n" + " typedef boost::shared_ptr<" << cppName << "> Shared;\n" + " boost::shared_ptr *asVoid = *reinterpret_cast**> (mxGetData(in[0]));\n" + " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n" + " Shared *self = new Shared(boost::static_pointer_cast<" << cppName << ">(*asVoid));\n" + " *reinterpret_cast(mxGetData(out[0])) = self;\n" + "}\n"; +} + +/* ************************************************************************* */ +vector expandArgumentListsTemplate(const vector& argLists, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { + vector result; + BOOST_FOREACH(const ArgumentList& argList, argLists) { + ArgumentList instArgList; + BOOST_FOREACH(const Argument& arg, argList) { + Argument instArg = arg; + if(arg.type == templateArg) { + instArg.namespaces.assign(instName.begin(), instName.end()-1); + instArg.type = instName.back(); + } else if(arg.type == "This") { + instArg.namespaces.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); + instArg.type = expandedClassName; + } + instArgList.push_back(instArg); + } + result.push_back(instArgList); + } + return result; +} + +/* ************************************************************************* */ +template +map expandMethodTemplate(const map& methods, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { + map result; + typedef pair Name_Method; + BOOST_FOREACH(const Name_Method& name_method, methods) { + const METHOD& method = name_method.second; + METHOD instMethod = method; + instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName, expandedClassNamespace, expandedClassName); + instMethod.returnVals.clear(); + BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) { + ReturnValue instRetVal = retVal; + if(retVal.type1 == templateArg) { + instRetVal.namespaces1.assign(instName.begin(), instName.end()-1); + instRetVal.type1 = instName.back(); + } else if(retVal.type1 == "This") { + instRetVal.namespaces1.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); + instRetVal.type1 = expandedClassName; + } + if(retVal.type2 == templateArg) { + instRetVal.namespaces2.assign(instName.begin(), instName.end()-1); + instRetVal.type2 = instName.back(); + } else if(retVal.type1 == "This") { + instRetVal.namespaces2.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); + instRetVal.type2 = expandedClassName; + } + instMethod.returnVals.push_back(instRetVal); + } + result.insert(make_pair(name_method.first, instMethod)); + } + return result; +} + +/* ************************************************************************* */ +Class expandClassTemplate(const Class& cls, const string& templateArg, const vector& instName, const std::vector& expandedClassNamespace, const string& expandedClassName) { + Class inst; + inst.name = cls.name; + inst.templateArgs = cls.templateArgs; + inst.typedefName = cls.typedefName; + inst.isVirtual = cls.isVirtual; + inst.qualifiedParent = cls.qualifiedParent; + inst.methods = expandMethodTemplate(cls.methods, templateArg, instName, expandedClassNamespace, expandedClassName); + inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName, expandedClassNamespace, expandedClassName); + inst.namespaces = cls.namespaces; + inst.constructor = cls.constructor; + inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName, expandedClassNamespace, expandedClassName); + inst.constructor.name = inst.name; + inst.deconstructor = cls.deconstructor; + inst.deconstructor.name = inst.name; + inst.verbose_ = cls.verbose_; + return inst; +} + +/* ************************************************************************* */ +vector Class::expandTemplate(const string& templateArg, const vector >& instantiations) const { + vector result; + BOOST_FOREACH(const vector& instName, instantiations) { + const string expandedName = name + instName.back(); + Class inst = expandClassTemplate(*this, templateArg, instName, this->namespaces, expandedName); + inst.name = expandedName; + inst.templateArgs.clear(); + inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">"; + result.push_back(inst); + } + return result; +} + +/* ************************************************************************* */ +Class Class::expandTemplate(const string& templateArg, const vector& instantiation, const std::vector& expandedClassNamespace, const string& expandedClassName) const { + return expandClassTemplate(*this, templateArg, instantiation, expandedClassNamespace, expandedClassName); +} + +/* ************************************************************************* */ +std::string Class::getTypedef() const { + string result; + BOOST_FOREACH(const string& namesp, namespaces) { + result += ("namespace " + namesp + " { "); + } + result += ("typedef " + typedefName + " " + name + ";"); + for (size_t i = 0; i& functionNames) const; + void comment_fragment(FileWriter& proxyFile) const; }; } // \namespace wrap diff --git a/wrap/FileWriter.cpp b/wrap/FileWriter.cpp index 03339a7f0..515a5dbf3 100644 --- a/wrap/FileWriter.cpp +++ b/wrap/FileWriter.cpp @@ -38,10 +38,6 @@ void FileWriter::emit(bool add_header, bool force_overwrite) const { ofstream ofs(filename_.c_str(), ios::binary); // Binary to use LF line endings instead of CRLF if (!ofs) throw CantOpenFile(filename_); - // header - if (add_header) - ofs << comment_str_ << " automatically generated by wrap" << endl; - // dump in stringstream ofs << new_contents; ofs.close(); From 0d70be459e88be82eaf602ffc24320f0946b80fb Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Sun, 26 Aug 2012 21:58:18 +0000 Subject: [PATCH 810/914] Added method comments for wrap --- wrap/Class.cpp | 21 ++++++++++++++++++++- 1 file changed, 20 insertions(+), 1 deletion(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index bfc39132f..c42c38527 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -327,7 +327,7 @@ std::string Class::getTypedef() const { void Class::comment_fragment(FileWriter& proxyFile) const { - proxyFile.oss << "%%" << " --Overloads--" << endl; + proxyFile.oss << "%%" << " -------Overloads-------" << endl; BOOST_FOREACH(ArgumentList argList, constructor.args_list) { proxyFile.oss << "%" << name << "("; @@ -342,5 +342,24 @@ void Class::comment_fragment(FileWriter& proxyFile) const } proxyFile.oss << ")" << endl; } + + proxyFile.oss << "%" << "-------Methods-------" << endl; + BOOST_FOREACH(const Methods::value_type& name_m, methods) { + const Method& m = name_m.second; + BOOST_FOREACH(ArgumentList argList, m.argLists) + { + proxyFile.oss << "%" << m.name << "("; + int i = 0; + BOOST_FOREACH(const Argument& arg, argList) + { + if(i != argList.size()-1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ")" << endl; + } + } } /* ************************************************************************* */ From 4b28f4d082d98b3949fd95007f74239ce8de5e7d Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Sun, 26 Aug 2012 22:00:16 +0000 Subject: [PATCH 811/914] Changed comment phrasing --- wrap/Class.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index c42c38527..c4314096b 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -327,7 +327,7 @@ std::string Class::getTypedef() const { void Class::comment_fragment(FileWriter& proxyFile) const { - proxyFile.oss << "%%" << " -------Overloads-------" << endl; + proxyFile.oss << "%%" << " -------Constructors-------" << endl; BOOST_FOREACH(ArgumentList argList, constructor.args_list) { proxyFile.oss << "%" << name << "("; From 12290dc7b2de0d5d8712497e034777d963fe7429 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 27 Aug 2012 01:11:37 +0000 Subject: [PATCH 812/914] Added linearization points to LinearContainerFactor. Fixed bug with localCoordinates() in Values --- .cproject | 332 +++++++++--------- gtsam/nonlinear/Values.cpp | 10 +- gtsam/nonlinear/Values.h | 2 +- gtsam/nonlinear/tests/testValues.cpp | 18 + .../nonlinear/LinearContainerFactor.cpp | 123 +++++-- .../nonlinear/LinearContainerFactor.h | 26 +- .../tests/testLinearContainerFactor.cpp | 43 +++ 7 files changed, 352 insertions(+), 202 deletions(-) diff --git a/.cproject b/.cproject index 7f13b1809..80a7c399e 100644 --- a/.cproject +++ b/.cproject @@ -309,14 +309,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -343,6 +335,7 @@ make + tests/testBayesTree.run true false @@ -350,6 +343,7 @@ make + testBinaryBayesNet.run true false @@ -397,6 +391,7 @@ make + testSymbolicBayesNet.run true false @@ -404,6 +399,7 @@ make + tests/testSymbolicFactor.run true false @@ -411,6 +407,7 @@ make + testSymbolicFactorGraph.run true false @@ -426,11 +423,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -519,22 +525,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -551,6 +541,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -575,26 +581,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -679,26 +685,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -977,6 +983,7 @@ make + testGraph.run true false @@ -984,6 +991,7 @@ make + testJunctionTree.run true false @@ -991,6 +999,7 @@ make + testSymbolicBayesNetB.run true false @@ -1126,6 +1135,7 @@ make + testErrors.run true false @@ -1171,10 +1181,10 @@ true true - + make - -j2 - testGaussianFactor.run + -j5 + testLinearContainerFactor.run true true true @@ -1259,6 +1269,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -1589,7 +1607,6 @@ make - testSimulated2DOriented.run true false @@ -1629,7 +1646,6 @@ make - testSimulated2D.run true false @@ -1637,7 +1653,6 @@ make - testSimulated3D.run true false @@ -1829,7 +1844,6 @@ make - tests/testGaussianISAM2 true false @@ -1851,102 +1865,6 @@ 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 -j1 @@ -2148,6 +2066,7 @@ cpack + -G DEB true false @@ -2155,6 +2074,7 @@ cpack + -G RPM true false @@ -2162,6 +2082,7 @@ cpack + -G TGZ true false @@ -2169,6 +2090,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2302,34 +2224,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap + -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 @@ -2373,6 +2359,38 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index 636c87c73..eab37ff17 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -90,7 +90,15 @@ namespace gtsam { /* ************************************************************************* */ VectorValues Values::localCoordinates(const Values& cp, const Ordering& ordering) const { VectorValues result(this->dims(ordering)); - localCoordinates(cp, ordering, result); + if(this->size() != cp.size()) + throw DynamicValuesMismatched(); + for(const_iterator it1=this->begin(), it2=cp.begin(); it1!=this->end(); ++it1, ++it2) { + if(it1->key != it2->key) + throw DynamicValuesMismatched(); // If keys do not match + // Will throw a dynamic_cast exception if types do not match + // NOTE: this is separate from localCoordinates(cp, ordering, result) due to at() vs. insert + result.at(ordering[it1->key]) = it1->value.localCoordinates_(it2->value); + } return result; } diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h index c96831f05..25bd3dc2e 100644 --- a/gtsam/nonlinear/Values.h +++ b/gtsam/nonlinear/Values.h @@ -212,7 +212,7 @@ namespace gtsam { /** Get a delta config about a linearization point c0 (*this) */ VectorValues localCoordinates(const Values& cp, const Ordering& ordering) const; - /** Get a delta config about a linearization point c0 (*this) */ + /** Get a delta config about a linearization point c0 (*this) - assumes uninitialized delta */ void localCoordinates(const Values& cp, const Ordering& ordering, VectorValues& delta) const; ///@} diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp index 5242fef1c..ffef740a6 100644 --- a/gtsam/nonlinear/tests/testValues.cpp +++ b/gtsam/nonlinear/tests/testValues.cpp @@ -234,6 +234,24 @@ TEST(Values, expmap_d) CHECK(config0.equals(config0)); } +/* ************************************************************************* */ +TEST(Values, localCoordinates) +{ + Values valuesA; + valuesA.insert(key1, LieVector(3, 1.0, 2.0, 3.0)); + valuesA.insert(key2, LieVector(3, 5.0, 6.0, 7.0)); + + Ordering ordering = *valuesA.orderingArbitrary(); + + VectorValues expDelta = valuesA.zeroVectors(ordering); +// expDelta.at(ordering[key1]) = Vector_(3, 0.1, 0.2, 0.3); +// expDelta.at(ordering[key2]) = Vector_(3, 0.4, 0.5, 0.6); + + Values valuesB = valuesA.retract(expDelta, ordering); + + EXPECT(assert_equal(expDelta, valuesA.localCoordinates(valuesB, ordering))); +} + /* ************************************************************************* */ TEST(Values, extract_keys) { diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index ea324704b..048f4a0c4 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -27,56 +27,82 @@ void LinearContainerFactor::rekeyFactor(const Ordering::InvertedMap& invOrdering } /* ************************************************************************* */ -LinearContainerFactor::LinearContainerFactor( - const JacobianFactor& factor, const Ordering& ordering) -: factor_(factor.clone()) { - rekeyFactor(ordering); +void LinearContainerFactor::initializeLinearizationPoint(const Values& linearizationPoint) { + if (!linearizationPoint.empty()) { + linearizationPoint_ = Values(); + BOOST_FOREACH(const gtsam::Key& key, this->keys()) { + linearizationPoint_->insert(key, linearizationPoint.at(key)); + } + } else { + linearizationPoint_ = boost::none; + } } /* ************************************************************************* */ LinearContainerFactor::LinearContainerFactor( - const HessianFactor& factor, const Ordering& ordering) + const JacobianFactor& factor, const Ordering& ordering, + const Values& linearizationPoint) : factor_(factor.clone()) { rekeyFactor(ordering); + initializeLinearizationPoint(linearizationPoint); } /* ************************************************************************* */ LinearContainerFactor::LinearContainerFactor( - const GaussianFactor::shared_ptr& factor, const Ordering& ordering) + const HessianFactor& factor, const Ordering& ordering, + const Values& linearizationPoint) +: factor_(factor.clone()) { + rekeyFactor(ordering); + initializeLinearizationPoint(linearizationPoint); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor, const Ordering& ordering, + const Values& linearizationPoint) : factor_(factor->clone()) { rekeyFactor(ordering); -} - -/* ************************************************************************* */ -LinearContainerFactor::LinearContainerFactor( - const GaussianFactor::shared_ptr& factor) -: factor_(factor->clone()) -{ - // Extract keys stashed in linear factor - BOOST_FOREACH(const Index& idx, factor_->keys()) - keys_.push_back(idx); -} - -/* ************************************************************************* */ -LinearContainerFactor::LinearContainerFactor(const JacobianFactor& factor, - const Ordering::InvertedMap& inverted_ordering) -: factor_(factor.clone()) { - rekeyFactor(inverted_ordering); -} - -/* ************************************************************************* */ -LinearContainerFactor::LinearContainerFactor(const HessianFactor& factor, - const Ordering::InvertedMap& inverted_ordering) -: factor_(factor.clone()) { - rekeyFactor(inverted_ordering); + initializeLinearizationPoint(linearizationPoint); } /* ************************************************************************* */ LinearContainerFactor::LinearContainerFactor( const GaussianFactor::shared_ptr& factor, - const Ordering::InvertedMap& ordering) + const Values& linearizationPoint) +: factor_(factor->clone()) +{ + // Extract keys stashed in linear factor + BOOST_FOREACH(const Index& idx, factor_->keys()) + keys_.push_back(idx); + initializeLinearizationPoint(linearizationPoint); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const JacobianFactor& factor, + const Ordering::InvertedMap& inverted_ordering, + const Values& linearizationPoint) +: factor_(factor.clone()) { + rekeyFactor(inverted_ordering); + initializeLinearizationPoint(linearizationPoint); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const HessianFactor& factor, + const Ordering::InvertedMap& inverted_ordering, + const Values& linearizationPoint) +: factor_(factor.clone()) { + rekeyFactor(inverted_ordering); + initializeLinearizationPoint(linearizationPoint); +} + +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor( + const GaussianFactor::shared_ptr& factor, + const Ordering::InvertedMap& ordering, + const Values& linearizationPoint) : factor_(factor->clone()) { rekeyFactor(ordering); + initializeLinearizationPoint(linearizationPoint); } /* ************************************************************************* */ @@ -84,20 +110,45 @@ void LinearContainerFactor::print(const std::string& s, const KeyFormatter& keyF Base::print(s+"LinearContainerFactor", keyFormatter); if (factor_) factor_->print(" Stored Factor", keyFormatter); + if (linearizationPoint_) + linearizationPoint_->print(" LinearizationPoint", keyFormatter); } /* ************************************************************************* */ bool LinearContainerFactor::equals(const NonlinearFactor& f, double tol) const { const LinearContainerFactor* jcf = dynamic_cast(&f); - return jcf && factor_->equals(*jcf->factor_, tol) && NonlinearFactor::equals(f); + if (!jcf || factor_->equals(*jcf->factor_, tol) || NonlinearFactor::equals(f)) + return false; + if (!linearizationPoint_ && !jcf->linearizationPoint_) + return true; + return jcf->linearizationPoint_ && linearizationPoint_->equals(*jcf->linearizationPoint_, tol); } /* ************************************************************************* */ double LinearContainerFactor::error(const Values& c) const { - // VectorValues vecvalues; - // // FIXME: add values correctly here - // return factor_.error(vecvalues); - return 0; // FIXME: placeholder + if (!linearizationPoint_) + return 0; + + // Extract subset of values for comparision + Values csub; + BOOST_FOREACH(const gtsam::Key& key, keys()) + csub.insert(key, c.at(key)); + + // create dummy ordering for evaluation + Ordering ordering = *csub.orderingArbitrary(); + VectorValues delta = linearizationPoint_->localCoordinates(csub, ordering); + + // Change keys on stored factor + BOOST_FOREACH(gtsam::Index& index, factor_->keys()) + index = ordering[index]; + + // compute error + double error = factor_->error(delta); + + // change keys back + factor_->keys() = keys(); + + return error; } /* ************************************************************************* */ diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h index 25a1ed98b..9affcc29e 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.h +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -21,32 +21,40 @@ class LinearContainerFactor : public NonlinearFactor { protected: GaussianFactor::shared_ptr factor_; + boost::optional linearizationPoint_; public: /** Primary constructor: store a linear factor and decode the ordering */ - LinearContainerFactor(const JacobianFactor& factor, const Ordering& ordering); + LinearContainerFactor(const JacobianFactor& factor, const Ordering& ordering, + const Values& linearizationPoint = Values()); /** Primary constructor: store a linear factor and decode the ordering */ - LinearContainerFactor(const HessianFactor& factor, const Ordering& ordering); + LinearContainerFactor(const HessianFactor& factor, const Ordering& ordering, + const Values& linearizationPoint = Values()); /** Constructor from shared_ptr */ - LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Ordering& ordering); + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Ordering& ordering, + const Values& linearizationPoint = Values()); /** Constructor from re-keyed factor: all indices assumed replaced with Key */ - LinearContainerFactor(const GaussianFactor::shared_ptr& factor); + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, + const Values& linearizationPoint = Values()); /** Alternate constructor: store a linear factor and decode keys with inverted ordering*/ LinearContainerFactor(const JacobianFactor& factor, - const Ordering::InvertedMap& inverted_ordering); + const Ordering::InvertedMap& inverted_ordering, + const Values& linearizationPoint = Values()); /** Alternate constructor: store a linear factor and decode keys with inverted ordering*/ LinearContainerFactor(const HessianFactor& factor, - const Ordering::InvertedMap& inverted_ordering); + const Ordering::InvertedMap& inverted_ordering, + const Values& linearizationPoint = Values()); /** Constructor from shared_ptr with inverted ordering*/ LinearContainerFactor(const GaussianFactor::shared_ptr& factor, - const Ordering::InvertedMap& ordering); + const Ordering::InvertedMap& ordering, + const Values& linearizationPoint = Values()); // Access @@ -70,6 +78,9 @@ public: /** get the dimension of the factor: rows of linear factor */ size_t dim() const; + /** Extract the linearization point used in recalculating error */ + const boost::optional& linearizationPoint() const { return linearizationPoint_; } + /** Apply the ordering to a graph - same as linearize(), but without needing a linearization point */ GaussianFactor::shared_ptr order(const Ordering& ordering) const; @@ -125,6 +136,7 @@ public: protected: void rekeyFactor(const Ordering& ordering); void rekeyFactor(const Ordering::InvertedMap& invOrdering); + void initializeLinearizationPoint(const Values& linearizationPoint); }; // \class LinearContainerFactor diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp index e85b880e8..1bce66ce3 100644 --- a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp @@ -70,6 +70,49 @@ TEST( testLinearContainerFactor, generic_jacobian_factor ) { EXPECT(assert_equal(*expLinFactor2.clone(), *actLinearizationB, tol)); } +/* ************************************************************************* */ +TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) { + + Ordering ordering; ordering += x1, x2, l1, l2; + + JacobianFactor expLinFactor( + ordering[l1], + Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624), + ordering[l2], + Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489), + Vector_(2, 0.0277052, + -0.0533393), + diag_model2); + + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + LinearContainerFactor actFactor(expLinFactor, ordering, values); + + // Check contents + Values expLinPoint; + expLinPoint.insert(l1, landmark1); + expLinPoint.insert(l2, landmark2); + CHECK(actFactor.linearizationPoint()); + EXPECT(assert_equal(expLinPoint, *actFactor.linearizationPoint())); + + // Check error evaluation + VectorValues delta = values.zeroVectors(ordering); + delta.at(ordering[l1]) = Vector_(2, 1.0, 2.0); + delta.at(ordering[l2]) = Vector_(2, 3.0, 4.0); + Values noisyValues = values.retract(delta, ordering); + double expError = expLinFactor.error(delta); + EXPECT_DOUBLES_EQUAL(expError, actFactor.error(noisyValues), tol); + EXPECT_DOUBLES_EQUAL(expLinFactor.error(values.zeroVectors(ordering)), actFactor.error(values), tol); +} + /* ************************************************************************* */ TEST( testLinearContainerFactor, generic_hessian_factor ) { Matrix G11 = Matrix_(1,1, 1.0); From 6b14e652ffea93cf3f49b5a15cd7207e9685613e Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 27 Aug 2012 01:40:11 +0000 Subject: [PATCH 813/914] Fixed bug in equality check --- gtsam_unstable/nonlinear/LinearContainerFactor.cpp | 6 ++++-- .../nonlinear/tests/testLinearContainerFactor.cpp | 6 ++++++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index 048f4a0c4..fa44d3e93 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -117,11 +117,13 @@ void LinearContainerFactor::print(const std::string& s, const KeyFormatter& keyF /* ************************************************************************* */ bool LinearContainerFactor::equals(const NonlinearFactor& f, double tol) const { const LinearContainerFactor* jcf = dynamic_cast(&f); - if (!jcf || factor_->equals(*jcf->factor_, tol) || NonlinearFactor::equals(f)) + if (!jcf || !factor_->equals(*jcf->factor_, tol) || !NonlinearFactor::equals(f)) return false; if (!linearizationPoint_ && !jcf->linearizationPoint_) return true; - return jcf->linearizationPoint_ && linearizationPoint_->equals(*jcf->linearizationPoint_, tol); + if (linearizationPoint_ && jcf->linearizationPoint_) + return linearizationPoint_->equals(*jcf->linearizationPoint_, tol); + return false; } /* ************************************************************************* */ diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp index 1bce66ce3..51f2f73a2 100644 --- a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp @@ -9,6 +9,7 @@ #include +#include #include using namespace gtsam; @@ -95,6 +96,11 @@ TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) { values.insert(x2, poseA2); LinearContainerFactor actFactor(expLinFactor, ordering, values); + LinearContainerFactor actFactorNolin(expLinFactor, ordering); + + EXPECT(assert_equal(actFactor, actFactor, tol)); + EXPECT(assert_inequal(actFactor, actFactorNolin, tol)); + EXPECT(assert_inequal(actFactorNolin, actFactor, tol)); // Check contents Values expLinPoint; From 868fc7f1e045b13772ba3373d0ae91f31a5d4b74 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 27 Aug 2012 12:52:33 +0000 Subject: [PATCH 814/914] Fixed order of methods in wrap, and wrapped matrix and augmented_matrix (why were they not wrapped?) --- gtsam.h | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index 5f55a8c62..b5eb18ac8 100644 --- a/gtsam.h +++ b/gtsam.h @@ -955,12 +955,15 @@ virtual class JacobianFactor : gtsam::GaussianFactor { void print(string s) const; void printKeys(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; - bool empty() const; size_t size() const; - Vector getb() const; double error(const gtsam::VectorValues& c) const; - gtsam::GaussianConditional* eliminateFirst(); - gtsam::GaussianFactor* negate() const; + gtsam::GaussianFactor* negate() const; + bool empty() const; + Vector getb() const; + pair matrix() const; + Matrix matrix_augmented() const; + gtsam::GaussianConditional* eliminateFirst(); + gtsam::GaussianConditional* eliminate(size_t nrFrontals); }; virtual class HessianFactor : gtsam::GaussianFactor { From 07fb02248014c3616564425cdf492b0e403f0595 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 27 Aug 2012 13:21:45 +0000 Subject: [PATCH 815/914] Wrapped NonlinearFactorGraph::symbolic method --- gtsam.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam.h b/gtsam.h index b5eb18ac8..aebbea8b8 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1122,6 +1122,7 @@ class NonlinearFactorGraph { // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map& constraints) const; gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values, const gtsam::Ordering& ordering) const; + gtsam::SymbolicFactorGraph* symbolic(const gtsam::Ordering& ordering) const; gtsam::NonlinearFactorGraph clone() const; }; From 7d02043855bb85cc0ec5fa4edfbe849aa206ce2f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 27 Aug 2012 13:21:48 +0000 Subject: [PATCH 816/914] Removed unused include --- gtsam/linear/NoiseModel.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index e493bddde..7479c2141 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -27,7 +27,6 @@ #include #include -#include #include static double inf = std::numeric_limits::infinity(); From 6da48bc58006e14ea157e70effbff64ae3b9e753 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 27 Aug 2012 15:19:55 +0000 Subject: [PATCH 817/914] Even more comment improvements for wrap --- wrap/Class.cpp | 21 +- wrap/Method.cpp | 18 + wrap/Method.h | 1 + wrap/Module.cpp | 1252 ++++++++++++++++++++--------------------- wrap/StaticMethod.cpp | 18 + 5 files changed, 683 insertions(+), 627 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index c4314096b..e61e06ec2 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -327,7 +327,7 @@ std::string Class::getTypedef() const { void Class::comment_fragment(FileWriter& proxyFile) const { - proxyFile.oss << "%%" << " -------Constructors-------" << endl; + proxyFile.oss << "%" << "-------Constructors-------" << endl; BOOST_FOREACH(ArgumentList argList, constructor.args_list) { proxyFile.oss << "%" << name << "("; @@ -361,5 +361,24 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << ")" << endl; } } + + proxyFile.oss << "%" << "-------Static Methods-------" << endl; + BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { + const StaticMethod& m = name_m.second; + BOOST_FOREACH(ArgumentList argList, m.argLists) + { + proxyFile.oss << "%" << m.name << "("; + int i = 0; + BOOST_FOREACH(const Argument& arg, argList) + { + if(i != argList.size()-1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ")" << endl; + } + } } /* ************************************************************************* */ diff --git a/wrap/Method.cpp b/wrap/Method.cpp index cc7c5a865..1fe6b022b 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -46,6 +46,24 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF vector& functionNames) const { proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; + //Comments for documentation + proxyFile.oss << " % " << name << " See GTSAM Doc for detailed info." << endl; + proxyFile.oss << " % " << "" << endl; + proxyFile.oss << " % " << "Method Overloads" << endl; + BOOST_FOREACH(ArgumentList argList, argLists) + { + proxyFile.oss << " % " << name << "("; + int i = 0; + BOOST_FOREACH(const Argument& arg, argList) + { + if(i != argList.size()-1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ")" << endl; + } for(size_t overload = 0; overload < argLists.size(); ++overload) { const ArgumentList& args = argLists[overload]; diff --git a/wrap/Method.h b/wrap/Method.h index 4185732cf..0b17e690e 100644 --- a/wrap/Method.h +++ b/wrap/Method.h @@ -24,6 +24,7 @@ #include "Argument.h" #include "ReturnValue.h" #include "TypeAttributesTable.h" +#include namespace wrap { diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 681fb6925..46b31f3e6 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -1,627 +1,627 @@ -/* ---------------------------------------------------------------------------- - - * 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 Module.ccp - * @author Frank Dellaert - * @author Alex Cunningham - * @author Andrew Melim +/* ---------------------------------------------------------------------------- + + * 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 Module.ccp + * @author Frank Dellaert + * @author Alex Cunningham + * @author Andrew Melim * @author Richard Roberts - **/ - -#include "Module.h" -#include "FileWriter.h" -#include "TypeAttributesTable.h" -#include "utilities.h" -#include "spirit_actors.h" - -//#define BOOST_SPIRIT_DEBUG -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -using namespace std; -using namespace wrap; -using namespace BOOST_SPIRIT_CLASSIC_NS; -namespace bl = boost::lambda; -namespace fs = boost::filesystem; - -typedef rule Rule; - -/* ************************************************************************* */ -// We parse an interface file into a Module object. -// The grammar is defined using the boost/spirit combinatorial parser. -// For example, str_p("const") parses the string "const", and the >> -// operator creates a sequence parser. The grammar below, composed of rules -// and with start rule [class_p], doubles as the specs for our interface files. -/* ************************************************************************* */ - -/* ************************************************************************* */ -void handle_possible_template(vector& classes, const Class& cls, const string& templateArgument, const vector >& instantiations) { - if(instantiations.empty()) { - classes.push_back(cls); - } else { - vector classInstantiations = cls.expandTemplate(templateArgument, instantiations); - BOOST_FOREACH(const Class& c, classInstantiations) { - classes.push_back(c); - } - } -} - -/* ************************************************************************* */ -Module::Module(const string& interfacePath, - const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) -{ - // these variables will be imperatively updated to gradually build [cls] - // The one with postfix 0 are used to reset the variables after parse. - string methodName, methodName0; - bool isConst, isConst0 = false; - ReturnValue retVal0, retVal; - Argument arg0, arg; - ArgumentList args0, args; - vector arg_dup; ///keep track of duplicates - Constructor constructor0(enable_verbose), constructor(enable_verbose); - Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); - StaticMethod static_method0(enable_verbose), static_method(enable_verbose); - Class cls0(enable_verbose),cls(enable_verbose); - GlobalFunction globalFunc0(enable_verbose), globalFunc(enable_verbose); - ForwardDeclaration fwDec0, fwDec; - vector namespaces, /// current namespace tag - namespaces_return; /// namespace for current return type - string templateArgument; - vector templateInstantiationNamespace; - vector > templateInstantiations; - TemplateInstantiationTypedef singleInstantiation, singleInstantiation0; - string include_path = ""; - const string null_str = ""; - - //---------------------------------------------------------------------------- - // Grammar with actions that build the Class object. Actions are - // defined within the square brackets [] and are executed whenever a - // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. - // The grammar is allows a very restricted C++ header - // lexeme_d turns off white space skipping - // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html - // ---------------------------------------------------------------------------- - - Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p); - - Rule basisType_p = - (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); - - Rule keywords_p = - (str_p("const") | "static" | "namespace" | basisType_p); - - Rule eigenType_p = - (str_p("Vector") | "Matrix"); - - Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); - - Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; - - Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); - - Rule argEigenType_p = - eigenType_p[assign_a(arg.type)] >> - !ch_p('*')[assign_a(arg.is_ptr,true)]; - - Rule eigenRef_p = - !str_p("const") [assign_a(arg.is_const,true)] >> - eigenType_p [assign_a(arg.type)] >> - ch_p('&') [assign_a(arg.is_ref,true)]; - - Rule classArg_p = - !str_p("const") [assign_a(arg.is_const,true)] >> - *namespace_arg_p >> - className_p[assign_a(arg.type)] >> - (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); - - Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; - - Rule classParent_p = - *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> - className_p[push_back_a(cls.qualifiedParent)]; - - Rule templateInstantiation_p = - (*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >> - className_p[push_back_a(templateInstantiationNamespace)]) - [push_back_a(templateInstantiations, templateInstantiationNamespace)] - [clear_a(templateInstantiationNamespace)]; - - Rule templateInstantiations_p = - (str_p("template") >> - '<' >> name_p[assign_a(templateArgument)] >> '=' >> '{' >> - !(templateInstantiation_p >> *(',' >> templateInstantiation_p)) >> - '}' >> '>') - [push_back_a(cls.templateArgs, templateArgument)]; - - Rule templateSingleInstantiationArg_p = - (*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >> - className_p[push_back_a(templateInstantiationNamespace)]) - [push_back_a(singleInstantiation.typeList, templateInstantiationNamespace)] - [clear_a(templateInstantiationNamespace)]; - - Rule templateSingleInstantiation_p = - (str_p("typedef") >> - *(namespace_name_p[push_back_a(singleInstantiation.classNamespaces)] >> str_p("::")) >> - className_p[assign_a(singleInstantiation.className)] >> - '<' >> templateSingleInstantiationArg_p >> *(',' >> templateSingleInstantiationArg_p) >> - '>' >> - className_p[assign_a(singleInstantiation.name)] >> - ';') - [assign_a(singleInstantiation.namespaces, namespaces)] - [push_back_a(templateInstantiationTypedefs, singleInstantiation)] - [assign_a(singleInstantiation, singleInstantiation0)]; - - Rule templateList_p = - (str_p("template") >> - '<' >> name_p[push_back_a(cls.templateArgs)] >> *(',' >> name_p[push_back_a(cls.templateArgs)]) >> - '>'); - - Rule argument_p = - ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) - >> name_p[assign_a(arg.name)]) - [push_back_a(args, arg)] - [assign_a(arg,arg0)]; - - Rule argumentList_p = !argument_p >> * (',' >> argument_p); - - Rule constructor_p = - (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) - [push_back_a(constructor.args_list, args)] - [assign_a(args,args0)]; - //[assign_a(constructor.args,args)] - //[assign_a(constructor.name,cls.name)] - //[push_back_a(cls.constructors, constructor)] - //[assign_a(constructor,constructor0)]; - - Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); - - Rule returnType1_p = - (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> - !ch_p('*')[assign_a(retVal.isPtr1,true)]) | - (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); - - Rule returnType2_p = - (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> - !ch_p('*') [assign_a(retVal.isPtr2,true)]) | - (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); - - Rule pair_p = - (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') - [assign_a(retVal.isPair,true)]; - - Rule void_p = str_p("void")[assign_a(retVal.type1)]; - - Rule returnType_p = void_p | returnType1_p | pair_p; - - Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; - - Rule method_p = - (returnType_p >> methodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> - !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) - [bl::bind(&Method::addOverload, - bl::var(cls.methods)[bl::var(methodName)], - verbose, - bl::var(isConst), - bl::var(methodName), - bl::var(args), - bl::var(retVal))] - [assign_a(isConst,isConst0)] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; - - Rule static_method_p = - (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> ';' >> *comments_p) - [bl::bind(&StaticMethod::addOverload, - bl::var(cls.static_methods)[bl::var(methodName)], - verbose, - bl::var(methodName), - bl::var(args), - bl::var(retVal))] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule functions_p = constructor_p | method_p | static_method_p; - - Rule class_p = - (str_p("")[assign_a(cls,cls0)]) - >> (!(templateInstantiations_p | templateList_p) - >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) - >> str_p("class") - >> className_p[assign_a(cls.name)] - >> ((':' >> classParent_p >> '{') | '{') - >> *(functions_p | comments_p) - >> str_p("};")) - [assign_a(constructor.name, cls.name)] - [assign_a(cls.constructor, constructor)] - [assign_a(cls.namespaces, namespaces)] - [assign_a(deconstructor.name,cls.name)] - [assign_a(cls.deconstructor, deconstructor)] - [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))] - [assign_a(deconstructor,deconstructor0)] - [assign_a(constructor, constructor0)] - [assign_a(cls,cls0)] - [clear_a(templateArgument)] - [clear_a(templateInstantiations)]; - - Rule global_function_p = - (returnType_p >> staticMethodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> ';' >> *comments_p) - [bl::bind(&GlobalFunction::addOverload, - bl::var(global_functions)[bl::var(methodName)], - verbose, - bl::var(methodName), - bl::var(args), - bl::var(retVal), - bl::var(namespaces))] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>'); - - Rule namespace_def_p = - (str_p("namespace") - >> namespace_name_p[push_back_a(namespaces)] - >> ch_p('{') - >> *(include_p | class_p | templateSingleInstantiation_p | global_function_p | namespace_def_p | comments_p) - >> ch_p('}')) - [pop_a(namespaces)]; - - Rule forward_declaration_p = - !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) - >> str_p("class") - >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] - >> ch_p(';') - [push_back_a(forward_declarations, fwDec)] - [assign_a(fwDec, fwDec0)]; - - Rule module_content_p = comments_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | global_function_p | namespace_def_p; - - Rule module_p = *module_content_p >> !end_p; - - //---------------------------------------------------------------------------- - // for debugging, define BOOST_SPIRIT_DEBUG -# ifdef BOOST_SPIRIT_DEBUG - BOOST_SPIRIT_DEBUG_NODE(className_p); - BOOST_SPIRIT_DEBUG_NODE(classPtr_p); - BOOST_SPIRIT_DEBUG_NODE(classRef_p); - BOOST_SPIRIT_DEBUG_NODE(basisType_p); - BOOST_SPIRIT_DEBUG_NODE(name_p); - BOOST_SPIRIT_DEBUG_NODE(argument_p); - BOOST_SPIRIT_DEBUG_NODE(argumentList_p); - BOOST_SPIRIT_DEBUG_NODE(constructor_p); - BOOST_SPIRIT_DEBUG_NODE(returnType1_p); - BOOST_SPIRIT_DEBUG_NODE(returnType2_p); - BOOST_SPIRIT_DEBUG_NODE(pair_p); - BOOST_SPIRIT_DEBUG_NODE(void_p); - BOOST_SPIRIT_DEBUG_NODE(returnType_p); - BOOST_SPIRIT_DEBUG_NODE(methodName_p); - BOOST_SPIRIT_DEBUG_NODE(method_p); - BOOST_SPIRIT_DEBUG_NODE(class_p); - BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); - BOOST_SPIRIT_DEBUG_NODE(module_p); -# endif - //---------------------------------------------------------------------------- - - // read interface file - string interfaceFile = interfacePath + "/" + moduleName + ".h"; - string contents = file_contents(interfaceFile); - - // and parse contents - parse_info info = parse(contents.c_str(), module_p, space_p); - if(!info.full) { - printf("parsing stopped at \n%.20s\n",info.stop); - throw ParseFailed((int)info.length); - } -} - -/* ************************************************************************* */ -template -void verifyArguments(const vector& validArgs, const map& vt) { - typedef typename map::value_type Name_Method; - BOOST_FOREACH(const Name_Method& name_method, vt) { - const T& t = name_method.second; - BOOST_FOREACH(const ArgumentList& argList, t.argLists) { - BOOST_FOREACH(Argument arg, argList) { - string fullType = arg.qualifiedType("::"); - if(find(validArgs.begin(), validArgs.end(), fullType) - == validArgs.end()) - throw DependencyMissing(fullType, t.name); - } - } - } -} - -/* ************************************************************************* */ -template -void verifyReturnTypes(const vector& validtypes, const map& vt) { - typedef typename map::value_type Name_Method; - BOOST_FOREACH(const Name_Method& name_method, vt) { - const T& t = name_method.second; - BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { - if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType1("::"), t.name); - if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType2("::"), t.name); - } - } -} - -/* ************************************************************************* */ -void Module::generateIncludes(FileWriter& file) const { - - // collect includes - vector all_includes(includes); - - // sort and remove duplicates - sort(all_includes.begin(), all_includes.end()); - vector::const_iterator last_include = unique(all_includes.begin(), all_includes.end()); - vector::const_iterator it = all_includes.begin(); - // add includes to file - for (; it != last_include; ++it) - file.oss << "#include <" << *it << ">" << endl; - file.oss << "\n"; -} - -/* ************************************************************************* */ -void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { - - fs::create_directories(toolboxPath); - - // create the unified .cpp switch file - const string wrapperName = name + "_wrapper"; - string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; - FileWriter wrapperFile(wrapperFileName, verbose, "//"); - vector functionNames; // Function names stored by index for switch - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "\n"; - - // Expand templates - This is done first so that template instantiations are - // counted in the list of valid types, have their attributes and dependencies - // checked, etc. - vector expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs); - - // Dependency check list - vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); - - // Check that all classes have been defined somewhere - verifyArguments(validTypes, global_functions); - verifyReturnTypes(validTypes, global_functions); - - BOOST_FOREACH(const Class& cls, expandedClasses) { - // verify all of the function arguments - //TODO:verifyArguments(validTypes, cls.constructor.args_list); - verifyArguments(validTypes, cls.static_methods); - verifyArguments(validTypes, cls.methods); - - // verify function return types - verifyReturnTypes(validTypes, cls.static_methods); - verifyReturnTypes(validTypes, cls.methods); - - // verify parents - if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) - throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); - } - - // Create type attributes table and check validity - TypeAttributesTable typeAttributes; - typeAttributes.addClasses(expandedClasses); - typeAttributes.addForwardDeclarations(forward_declarations); - typeAttributes.checkValidity(expandedClasses); - - // Generate includes while avoiding redundant includes - generateIncludes(wrapperFile); - - // create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs - BOOST_FOREACH(const Class& cls, expandedClasses) { - if(!cls.typedefName.empty()) - wrapperFile.oss << cls.getTypedef() << "\n"; - } - wrapperFile.oss << "\n"; - - // Generate collectors and cleanup function to be called from mexAtExit - WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses); - - // generate RTTI registry (for returning derived-most types) - WriteRTTIRegistry(wrapperFile, name, expandedClasses); - - // create proxy class and wrapper code - BOOST_FOREACH(const Class& cls, expandedClasses) { - cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); - } - - // create matlab files and wrapper code for global functions - BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions) { - p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); - } - - // finish wrapper file - wrapperFile.oss << "\n"; - finish_wrapper(wrapperFile, functionNames); - - wrapperFile.emit(true); - } - -/* ************************************************************************* */ - void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; - file.oss << "{\n"; - file.oss << " mstream mout;\n"; // Send stdout to MATLAB console - file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; - file.oss << " _" << name << "_RTTIRegister();\n\n"; - file.oss << " int id = unwrap(in[0]);\n\n"; - file.oss << " try {\n"; - file.oss << " switch(id) {\n"; - for(size_t id = 0; id < functionNames.size(); ++id) { - file.oss << " case " << id << ":\n"; - file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n"; - file.oss << " break;\n"; - } - file.oss << " }\n"; - file.oss << " } catch(const std::exception& e) {\n"; - file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n"; - file.oss << " }\n"; - file.oss << "\n"; - file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout - file.oss << "}\n"; - } - -/* ************************************************************************* */ -vector Module::ExpandTypedefInstantiations(const vector& classes, const vector instantiations) { - - vector expandedClasses = classes; - - BOOST_FOREACH(const TemplateInstantiationTypedef& inst, instantiations) { - // Add the new class to the list - expandedClasses.push_back(inst.findAndExpand(classes)); - } - - // Remove all template classes - for(size_t i = 0; i < expandedClasses.size(); ++i) - if(!expandedClasses[size_t(i)].templateArgs.empty()) { - expandedClasses.erase(expandedClasses.begin() + size_t(i)); - -- i; - } - - return expandedClasses; -} - -/* ************************************************************************* */ -vector Module::GenerateValidTypes(const vector& classes, const vector forwardDeclarations) { - vector validTypes; - BOOST_FOREACH(const ForwardDeclaration& fwDec, forwardDeclarations) { - validTypes.push_back(fwDec.name); - } - validTypes.push_back("void"); - validTypes.push_back("string"); - validTypes.push_back("int"); - validTypes.push_back("bool"); - validTypes.push_back("char"); - validTypes.push_back("unsigned char"); - validTypes.push_back("size_t"); - validTypes.push_back("double"); - validTypes.push_back("Vector"); - validTypes.push_back("Matrix"); - //Create a list of parsed classes for dependency checking - BOOST_FOREACH(const Class& cls, classes) { - validTypes.push_back(cls.qualifiedName("::")); - } - - return validTypes; -} - -/* ************************************************************************* */ -void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { - // Generate all collectors - BOOST_FOREACH(const Class& cls, classes) { - const string matlabUniqueName = cls.qualifiedName(), - cppName = cls.qualifiedName("::"); - wrapperFile.oss << "typedef std::set*> " - << "Collector_" << matlabUniqueName << ";\n"; - wrapperFile.oss << "static Collector_" << matlabUniqueName << - " collector_" << matlabUniqueName << ";\n"; - } - - // generate mexAtExit cleanup function - wrapperFile.oss << - "\nvoid _deleteAllObjects()\n" - "{\n" - " mstream mout;\n" // Send stdout to MATLAB console - " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n" - " bool anyDeleted = false;\n"; - BOOST_FOREACH(const Class& cls, classes) { - const string matlabUniqueName = cls.qualifiedName(); - const string cppName = cls.qualifiedName("::"); - const string collectorType = "Collector_" + matlabUniqueName; - const string collectorName = "collector_" + matlabUniqueName; - // The extra curly-braces around the for loops work around a limitation in MSVC (existing - // since 2005!) preventing more than 248 blocks. - wrapperFile.oss << - " { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" - " iter != " << collectorName << ".end(); ) {\n" - " delete *iter;\n" - " " << collectorName << ".erase(iter++);\n" - " anyDeleted = true;\n" - " } }\n"; - } - wrapperFile.oss << - " if(anyDeleted)\n" - " cout <<\n" - " \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n" - " \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n" - " \"module, so that your recompiled module is used instead of the old one.\" << endl;\n" - " std::cout.rdbuf(outbuf);\n" // Restore cout - "}\n\n"; -} - -/* ************************************************************************* */ -void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { - wrapperFile.oss << - "void _" << moduleName << "_RTTIRegister() {\n" - " const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n" - " if(!alreadyCreated) {\n" - " std::map types;\n"; - BOOST_FOREACH(const Class& cls, classes) { - if(cls.isVirtual) - wrapperFile.oss << - " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n"; - } - wrapperFile.oss << "\n"; - - wrapperFile.oss << - " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" - " if(!registry)\n" - " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" - " typedef std::pair StringPair;\n" - " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" - " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" - " if(fieldId < 0)\n" - " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" - " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" - " }\n" - " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" - " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxDestroyArray(registry);\n" - " \n" - " mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n" - " if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n" - " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" - " mxDestroyArray(newAlreadyCreated);\n" - " }\n" - "}\n" - "\n"; -} - -/* ************************************************************************* */ + **/ + +#include "Module.h" +#include "FileWriter.h" +#include "TypeAttributesTable.h" +#include "utilities.h" +#include "spirit_actors.h" + +//#define BOOST_SPIRIT_DEBUG +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace std; +using namespace wrap; +using namespace BOOST_SPIRIT_CLASSIC_NS; +namespace bl = boost::lambda; +namespace fs = boost::filesystem; + +typedef rule Rule; + +/* ************************************************************************* */ +// We parse an interface file into a Module object. +// The grammar is defined using the boost/spirit combinatorial parser. +// For example, str_p("const") parses the string "const", and the >> +// operator creates a sequence parser. The grammar below, composed of rules +// and with start rule [class_p], doubles as the specs for our interface files. +/* ************************************************************************* */ + +/* ************************************************************************* */ +void handle_possible_template(vector& classes, const Class& cls, const string& templateArgument, const vector >& instantiations) { + if(instantiations.empty()) { + classes.push_back(cls); + } else { + vector classInstantiations = cls.expandTemplate(templateArgument, instantiations); + BOOST_FOREACH(const Class& c, classInstantiations) { + classes.push_back(c); + } + } +} + +/* ************************************************************************* */ +Module::Module(const string& interfacePath, + const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) +{ + // these variables will be imperatively updated to gradually build [cls] + // The one with postfix 0 are used to reset the variables after parse. + string methodName, methodName0; + bool isConst, isConst0 = false; + ReturnValue retVal0, retVal; + Argument arg0, arg; + ArgumentList args0, args; + vector arg_dup; ///keep track of duplicates + Constructor constructor0(enable_verbose), constructor(enable_verbose); + Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); + StaticMethod static_method0(enable_verbose), static_method(enable_verbose); + Class cls0(enable_verbose),cls(enable_verbose); + GlobalFunction globalFunc0(enable_verbose), globalFunc(enable_verbose); + ForwardDeclaration fwDec0, fwDec; + vector namespaces, /// current namespace tag + namespaces_return; /// namespace for current return type + string templateArgument; + vector templateInstantiationNamespace; + vector > templateInstantiations; + TemplateInstantiationTypedef singleInstantiation, singleInstantiation0; + string include_path = ""; + const string null_str = ""; + + //---------------------------------------------------------------------------- + // Grammar with actions that build the Class object. Actions are + // defined within the square brackets [] and are executed whenever a + // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. + // The grammar is allows a very restricted C++ header + // lexeme_d turns off white space skipping + // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html + // ---------------------------------------------------------------------------- + + Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p); + + Rule basisType_p = + (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); + + Rule keywords_p = + (str_p("const") | "static" | "namespace" | basisType_p); + + Rule eigenType_p = + (str_p("Vector") | "Matrix"); + + Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); + + Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; + + Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); + + Rule argEigenType_p = + eigenType_p[assign_a(arg.type)] >> + !ch_p('*')[assign_a(arg.is_ptr,true)]; + + Rule eigenRef_p = + !str_p("const") [assign_a(arg.is_const,true)] >> + eigenType_p [assign_a(arg.type)] >> + ch_p('&') [assign_a(arg.is_ref,true)]; + + Rule classArg_p = + !str_p("const") [assign_a(arg.is_const,true)] >> + *namespace_arg_p >> + className_p[assign_a(arg.type)] >> + (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); + + Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; + + Rule classParent_p = + *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> + className_p[push_back_a(cls.qualifiedParent)]; + + Rule templateInstantiation_p = + (*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >> + className_p[push_back_a(templateInstantiationNamespace)]) + [push_back_a(templateInstantiations, templateInstantiationNamespace)] + [clear_a(templateInstantiationNamespace)]; + + Rule templateInstantiations_p = + (str_p("template") >> + '<' >> name_p[assign_a(templateArgument)] >> '=' >> '{' >> + !(templateInstantiation_p >> *(',' >> templateInstantiation_p)) >> + '}' >> '>') + [push_back_a(cls.templateArgs, templateArgument)]; + + Rule templateSingleInstantiationArg_p = + (*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >> + className_p[push_back_a(templateInstantiationNamespace)]) + [push_back_a(singleInstantiation.typeList, templateInstantiationNamespace)] + [clear_a(templateInstantiationNamespace)]; + + Rule templateSingleInstantiation_p = + (str_p("typedef") >> + *(namespace_name_p[push_back_a(singleInstantiation.classNamespaces)] >> str_p("::")) >> + className_p[assign_a(singleInstantiation.className)] >> + '<' >> templateSingleInstantiationArg_p >> *(',' >> templateSingleInstantiationArg_p) >> + '>' >> + className_p[assign_a(singleInstantiation.name)] >> + ';') + [assign_a(singleInstantiation.namespaces, namespaces)] + [push_back_a(templateInstantiationTypedefs, singleInstantiation)] + [assign_a(singleInstantiation, singleInstantiation0)]; + + Rule templateList_p = + (str_p("template") >> + '<' >> name_p[push_back_a(cls.templateArgs)] >> *(',' >> name_p[push_back_a(cls.templateArgs)]) >> + '>'); + + Rule argument_p = + ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) + >> name_p[assign_a(arg.name)]) + [push_back_a(args, arg)] + [assign_a(arg,arg0)]; + + Rule argumentList_p = !argument_p >> * (',' >> argument_p); + + Rule constructor_p = + (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) + [push_back_a(constructor.args_list, args)] + [assign_a(args,args0)]; + //[assign_a(constructor.args,args)] + //[assign_a(constructor.name,cls.name)] + //[push_back_a(cls.constructors, constructor)] + //[assign_a(constructor,constructor0)]; + + Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); + + Rule returnType1_p = + (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> + !ch_p('*')[assign_a(retVal.isPtr1,true)]) | + (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); + + Rule returnType2_p = + (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> + !ch_p('*') [assign_a(retVal.isPtr2,true)]) | + (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); + + Rule pair_p = + (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') + [assign_a(retVal.isPair,true)]; + + Rule void_p = str_p("void")[assign_a(retVal.type1)]; + + Rule returnType_p = void_p | returnType1_p | pair_p; + + Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; + + Rule method_p = + (returnType_p >> methodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> + !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) + [bl::bind(&Method::addOverload, + bl::var(cls.methods)[bl::var(methodName)], + verbose, + bl::var(isConst), + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(isConst,isConst0)] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; + + Rule static_method_p = + (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> ';' >> *comments_p) + [bl::bind(&StaticMethod::addOverload, + bl::var(cls.static_methods)[bl::var(methodName)], + verbose, + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule functions_p = constructor_p | method_p | static_method_p; + + Rule class_p = + (str_p("")[assign_a(cls,cls0)]) + >> (!(templateInstantiations_p | templateList_p) + >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) + >> str_p("class") + >> className_p[assign_a(cls.name)] + >> ((':' >> classParent_p >> '{') | '{') + >> *(functions_p | comments_p) + >> str_p("};")) + [assign_a(constructor.name, cls.name)] + [assign_a(cls.constructor, constructor)] + [assign_a(cls.namespaces, namespaces)] + [assign_a(deconstructor.name,cls.name)] + [assign_a(cls.deconstructor, deconstructor)] + [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))] + [assign_a(deconstructor,deconstructor0)] + [assign_a(constructor, constructor0)] + [assign_a(cls,cls0)] + [clear_a(templateArgument)] + [clear_a(templateInstantiations)]; + + Rule global_function_p = + (returnType_p >> staticMethodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> ';' >> *comments_p) + [bl::bind(&GlobalFunction::addOverload, + bl::var(global_functions)[bl::var(methodName)], + verbose, + bl::var(methodName), + bl::var(args), + bl::var(retVal), + bl::var(namespaces))] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>'); + + Rule namespace_def_p = + (str_p("namespace") + >> namespace_name_p[push_back_a(namespaces)] + >> ch_p('{') + >> *(include_p | class_p | templateSingleInstantiation_p | global_function_p | namespace_def_p | comments_p) + >> ch_p('}')) + [pop_a(namespaces)]; + + Rule forward_declaration_p = + !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) + >> str_p("class") + >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] + >> ch_p(';') + [push_back_a(forward_declarations, fwDec)] + [assign_a(fwDec, fwDec0)]; + + Rule module_content_p = comments_p | include_p | class_p | templateSingleInstantiation_p | forward_declaration_p | global_function_p | namespace_def_p; + + Rule module_p = *module_content_p >> !end_p; + + //---------------------------------------------------------------------------- + // for debugging, define BOOST_SPIRIT_DEBUG +# ifdef BOOST_SPIRIT_DEBUG + BOOST_SPIRIT_DEBUG_NODE(className_p); + BOOST_SPIRIT_DEBUG_NODE(classPtr_p); + BOOST_SPIRIT_DEBUG_NODE(classRef_p); + BOOST_SPIRIT_DEBUG_NODE(basisType_p); + BOOST_SPIRIT_DEBUG_NODE(name_p); + BOOST_SPIRIT_DEBUG_NODE(argument_p); + BOOST_SPIRIT_DEBUG_NODE(argumentList_p); + BOOST_SPIRIT_DEBUG_NODE(constructor_p); + BOOST_SPIRIT_DEBUG_NODE(returnType1_p); + BOOST_SPIRIT_DEBUG_NODE(returnType2_p); + BOOST_SPIRIT_DEBUG_NODE(pair_p); + BOOST_SPIRIT_DEBUG_NODE(void_p); + BOOST_SPIRIT_DEBUG_NODE(returnType_p); + BOOST_SPIRIT_DEBUG_NODE(methodName_p); + BOOST_SPIRIT_DEBUG_NODE(method_p); + BOOST_SPIRIT_DEBUG_NODE(class_p); + BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); + BOOST_SPIRIT_DEBUG_NODE(module_p); +# endif + //---------------------------------------------------------------------------- + + // read interface file + string interfaceFile = interfacePath + "/" + moduleName + ".h"; + string contents = file_contents(interfaceFile); + + // and parse contents + parse_info info = parse(contents.c_str(), module_p, space_p); + if(!info.full) { + printf("parsing stopped at \n%.20s\n",info.stop); + throw ParseFailed((int)info.length); + } +} + +/* ************************************************************************* */ +template +void verifyArguments(const vector& validArgs, const map& vt) { + typedef typename map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ArgumentList& argList, t.argLists) { + BOOST_FOREACH(Argument arg, argList) { + string fullType = arg.qualifiedType("::"); + if(find(validArgs.begin(), validArgs.end(), fullType) + == validArgs.end()) + throw DependencyMissing(fullType, t.name); + } + } + } +} + +/* ************************************************************************* */ +template +void verifyReturnTypes(const vector& validtypes, const map& vt) { + typedef typename map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { + if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType1("::"), t.name); + if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType2("::"), t.name); + } + } +} + +/* ************************************************************************* */ +void Module::generateIncludes(FileWriter& file) const { + + // collect includes + vector all_includes(includes); + + // sort and remove duplicates + sort(all_includes.begin(), all_includes.end()); + vector::const_iterator last_include = unique(all_includes.begin(), all_includes.end()); + vector::const_iterator it = all_includes.begin(); + // add includes to file + for (; it != last_include; ++it) + file.oss << "#include <" << *it << ">" << endl; + file.oss << "\n"; +} + +/* ************************************************************************* */ +void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { + + fs::create_directories(toolboxPath); + + // create the unified .cpp switch file + const string wrapperName = name + "_wrapper"; + string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; + FileWriter wrapperFile(wrapperFileName, verbose, "//"); + vector functionNames; // Function names stored by index for switch + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "\n"; + + // Expand templates - This is done first so that template instantiations are + // counted in the list of valid types, have their attributes and dependencies + // checked, etc. + vector expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs); + + // Dependency check list + vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); + + // Check that all classes have been defined somewhere + verifyArguments(validTypes, global_functions); + verifyReturnTypes(validTypes, global_functions); + + BOOST_FOREACH(const Class& cls, expandedClasses) { + // verify all of the function arguments + //TODO:verifyArguments(validTypes, cls.constructor.args_list); + verifyArguments(validTypes, cls.static_methods); + verifyArguments(validTypes, cls.methods); + + // verify function return types + verifyReturnTypes(validTypes, cls.static_methods); + verifyReturnTypes(validTypes, cls.methods); + + // verify parents + if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) + throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); + } + + // Create type attributes table and check validity + TypeAttributesTable typeAttributes; + typeAttributes.addClasses(expandedClasses); + typeAttributes.addForwardDeclarations(forward_declarations); + typeAttributes.checkValidity(expandedClasses); + + // Generate includes while avoiding redundant includes + generateIncludes(wrapperFile); + + // create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs + BOOST_FOREACH(const Class& cls, expandedClasses) { + if(!cls.typedefName.empty()) + wrapperFile.oss << cls.getTypedef() << "\n"; + } + wrapperFile.oss << "\n"; + + // Generate collectors and cleanup function to be called from mexAtExit + WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses); + + // generate RTTI registry (for returning derived-most types) + WriteRTTIRegistry(wrapperFile, name, expandedClasses); + + // create proxy class and wrapper code + BOOST_FOREACH(const Class& cls, expandedClasses) { + cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); + } + + // create matlab files and wrapper code for global functions + BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions) { + p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); + } + + // finish wrapper file + wrapperFile.oss << "\n"; + finish_wrapper(wrapperFile, functionNames); + + wrapperFile.emit(true); + } + +/* ************************************************************************* */ + void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { + file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + file.oss << "{\n"; + file.oss << " mstream mout;\n"; // Send stdout to MATLAB console + file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; + file.oss << " _" << name << "_RTTIRegister();\n\n"; + file.oss << " int id = unwrap(in[0]);\n\n"; + file.oss << " try {\n"; + file.oss << " switch(id) {\n"; + for(size_t id = 0; id < functionNames.size(); ++id) { + file.oss << " case " << id << ":\n"; + file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n"; + file.oss << " break;\n"; + } + file.oss << " }\n"; + file.oss << " } catch(const std::exception& e) {\n"; + file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n"; + file.oss << " }\n"; + file.oss << "\n"; + file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout + file.oss << "}\n"; + } + +/* ************************************************************************* */ +vector Module::ExpandTypedefInstantiations(const vector& classes, const vector instantiations) { + + vector expandedClasses = classes; + + BOOST_FOREACH(const TemplateInstantiationTypedef& inst, instantiations) { + // Add the new class to the list + expandedClasses.push_back(inst.findAndExpand(classes)); + } + + // Remove all template classes + for(size_t i = 0; i < expandedClasses.size(); ++i) + if(!expandedClasses[size_t(i)].templateArgs.empty()) { + expandedClasses.erase(expandedClasses.begin() + size_t(i)); + -- i; + } + + return expandedClasses; +} + +/* ************************************************************************* */ +vector Module::GenerateValidTypes(const vector& classes, const vector forwardDeclarations) { + vector validTypes; + BOOST_FOREACH(const ForwardDeclaration& fwDec, forwardDeclarations) { + validTypes.push_back(fwDec.name); + } + validTypes.push_back("void"); + validTypes.push_back("string"); + validTypes.push_back("int"); + validTypes.push_back("bool"); + validTypes.push_back("char"); + validTypes.push_back("unsigned char"); + validTypes.push_back("size_t"); + validTypes.push_back("double"); + validTypes.push_back("Vector"); + validTypes.push_back("Matrix"); + //Create a list of parsed classes for dependency checking + BOOST_FOREACH(const Class& cls, classes) { + validTypes.push_back(cls.qualifiedName("::")); + } + + return validTypes; +} + +/* ************************************************************************* */ +void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { + // Generate all collectors + BOOST_FOREACH(const Class& cls, classes) { + const string matlabUniqueName = cls.qualifiedName(), + cppName = cls.qualifiedName("::"); + wrapperFile.oss << "typedef std::set*> " + << "Collector_" << matlabUniqueName << ";\n"; + wrapperFile.oss << "static Collector_" << matlabUniqueName << + " collector_" << matlabUniqueName << ";\n"; + } + + // generate mexAtExit cleanup function + wrapperFile.oss << + "\nvoid _deleteAllObjects()\n" + "{\n" + " mstream mout;\n" // Send stdout to MATLAB console + " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n" + " bool anyDeleted = false;\n"; + BOOST_FOREACH(const Class& cls, classes) { + const string matlabUniqueName = cls.qualifiedName(); + const string cppName = cls.qualifiedName("::"); + const string collectorType = "Collector_" + matlabUniqueName; + const string collectorName = "collector_" + matlabUniqueName; + // The extra curly-braces around the for loops work around a limitation in MSVC (existing + // since 2005!) preventing more than 248 blocks. + wrapperFile.oss << + " { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" + " iter != " << collectorName << ".end(); ) {\n" + " delete *iter;\n" + " " << collectorName << ".erase(iter++);\n" + " anyDeleted = true;\n" + " } }\n"; + } + wrapperFile.oss << + " if(anyDeleted)\n" + " cout <<\n" + " \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n" + " \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n" + " \"module, so that your recompiled module is used instead of the old one.\" << endl;\n" + " std::cout.rdbuf(outbuf);\n" // Restore cout + "}\n\n"; +} + +/* ************************************************************************* */ +void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector& classes) { + wrapperFile.oss << + "void _" << moduleName << "_RTTIRegister() {\n" + " const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n" + " if(!alreadyCreated) {\n" + " std::map types;\n"; + BOOST_FOREACH(const Class& cls, classes) { + if(cls.isVirtual) + wrapperFile.oss << + " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n"; + } + wrapperFile.oss << "\n"; + + wrapperFile.oss << + " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" + " if(!registry)\n" + " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" + " typedef std::pair StringPair;\n" + " BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n" + " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" + " if(fieldId < 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" + " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" + " }\n" + " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxDestroyArray(registry);\n" + " \n" + " mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n" + " if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n" + " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" + " mxDestroyArray(newAlreadyCreated);\n" + " }\n" + "}\n" + "\n"; +} + +/* ************************************************************************* */ diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 61b54434c..d4c7d8a1d 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -50,6 +50,24 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); proxyFile.oss << " function varargout = " << upperName << "(varargin)\n"; + proxyFile.oss << " % " << name << " See GTSAM Doc for detailed info." << endl; + proxyFile.oss << " % " << "" << endl; + proxyFile.oss << " % " << "Method Overloads" << endl; + BOOST_FOREACH(ArgumentList argList, argLists) + { + proxyFile.oss << " % " << name << "("; + int i = 0; + BOOST_FOREACH(const Argument& arg, argList) + { + if(i != argList.size()-1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ")" << endl; + } + for(size_t overload = 0; overload < argLists.size(); ++overload) { const ArgumentList& args = argLists[overload]; From c3e615b2dfebe9a2fd2bfa14b298770e00db1426 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 27 Aug 2012 15:30:47 +0000 Subject: [PATCH 818/914] Added doxygen info to wrap commenting system --- wrap/Class.cpp | 3 +++ wrap/Method.cpp | 3 ++- wrap/StaticMethod.cpp | 3 ++- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index e61e06ec2..652753cc0 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -380,5 +380,8 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << ")" << endl; } } + + proxyFile.oss << "%" << "" << endl; + proxyFile.oss << "%" << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; } /* ************************************************************************* */ diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 1fe6b022b..60a9f00e3 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -47,7 +47,8 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; //Comments for documentation - proxyFile.oss << " % " << name << " See GTSAM Doc for detailed info." << endl; + proxyFile.oss << " % " << name << " See GTSAM Doxygen html for detailed info." << endl; + proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; proxyFile.oss << " % " << "Method Overloads" << endl; BOOST_FOREACH(ArgumentList argList, argLists) diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index d4c7d8a1d..b2c757e96 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -50,7 +50,8 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); proxyFile.oss << " function varargout = " << upperName << "(varargin)\n"; - proxyFile.oss << " % " << name << " See GTSAM Doc for detailed info." << endl; + proxyFile.oss << " % " << name << " See GTSAM Doxygen html for detailed info." << endl; + proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; proxyFile.oss << " % " << "Method Overloads" << endl; BOOST_FOREACH(ArgumentList argList, argLists) From 878c79f265c050ddc0dea9169e6de57abd400141 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 27 Aug 2012 16:51:52 +0000 Subject: [PATCH 819/914] Reworked PoseRotationPrior with better tests and no dependence on PartialPriorFactor --- .cproject | 338 +++++++++--------- gtsam_unstable/slam/PoseRotationPrior.h | 87 +++-- .../slam/tests/testPoseRotationPrior.cpp | 83 +++-- .../slam/tests/testPoseTranslationPrior.cpp | 16 +- 4 files changed, 292 insertions(+), 232 deletions(-) diff --git a/.cproject b/.cproject index 80a7c399e..95c0f2a96 100644 --- a/.cproject +++ b/.cproject @@ -309,6 +309,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -335,7 +343,6 @@ make - tests/testBayesTree.run true false @@ -343,7 +350,6 @@ make - testBinaryBayesNet.run true false @@ -391,7 +397,6 @@ make - testSymbolicBayesNet.run true false @@ -399,7 +404,6 @@ make - tests/testSymbolicFactor.run true false @@ -407,7 +411,6 @@ make - testSymbolicFactorGraph.run true false @@ -423,20 +426,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -525,22 +519,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -557,6 +535,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -581,26 +575,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -685,26 +679,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -797,6 +791,14 @@ true true + + make + -j5 + testPoseRotationPrior.run + true + true + true + make -j5 @@ -983,7 +985,6 @@ make - testGraph.run true false @@ -991,7 +992,6 @@ make - testJunctionTree.run true false @@ -999,7 +999,6 @@ make - testSymbolicBayesNetB.run true false @@ -1135,7 +1134,6 @@ make - testErrors.run true false @@ -1181,10 +1179,10 @@ true true - + make - -j5 - testLinearContainerFactor.run + -j2 + testGaussianFactor.run true true true @@ -1269,10 +1267,10 @@ true true - + make - -j2 - testGaussianFactor.run + -j5 + testLinearContainerFactor.run true true true @@ -1607,6 +1605,7 @@ make + testSimulated2DOriented.run true false @@ -1646,6 +1645,7 @@ make + testSimulated2D.run true false @@ -1653,6 +1653,7 @@ make + testSimulated3D.run true false @@ -1844,6 +1845,7 @@ make + tests/testGaussianISAM2 true false @@ -1865,6 +1867,102 @@ 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 -j1 @@ -2066,7 +2164,6 @@ cpack - -G DEB true false @@ -2074,7 +2171,6 @@ cpack - -G RPM true false @@ -2082,7 +2178,6 @@ cpack - -G TGZ true false @@ -2090,7 +2185,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2224,98 +2318,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap 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 + -j5 + wrap true true true @@ -2359,38 +2389,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam_unstable/slam/PoseRotationPrior.h index d6efc0cc4..60a29b3e4 100644 --- a/gtsam_unstable/slam/PoseRotationPrior.h +++ b/gtsam_unstable/slam/PoseRotationPrior.h @@ -9,63 +9,82 @@ #pragma once -#include -#include +#include namespace gtsam { template -class PoseRotationPrior : public PartialPriorFactor { +class PoseRotationPrior : public NoiseModelFactor1 { public: typedef PoseRotationPrior This; - typedef PartialPriorFactor Base; + typedef NoiseModelFactor1 Base; typedef POSE Pose; + typedef typename POSE::Translation Translation; typedef typename POSE::Rotation Rotation; GTSAM_CONCEPT_POSE_TYPE(Pose) GTSAM_CONCEPT_GROUP_TYPE(Pose) GTSAM_CONCEPT_LIE_TYPE(Rotation) +protected: + + Rotation measured_; + +public: + /** standard constructor */ PoseRotationPrior(Key key, const Rotation& rot_z, const SharedNoiseModel& model) - : Base(key, model) { - initialize(rot_z); - } + : Base(model, key), measured_(rot_z) {} /** Constructor that pulls the translation from an incoming POSE */ PoseRotationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model) - : Base(key, model) { - initialize(pose_z.rotation()); + : Base(model, key), measured_(pose_z.rotation()) {} + + virtual ~PoseRotationPrior() {} + + // access + const Rotation& measured() const { return measured_; } + + // testable + + /** equals specialized to this factor */ + virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const { + const This *e = dynamic_cast (&expected); + return e != NULL && Base::equals(*e, tol) && measured_.equals(e->measured_, tol); } - /** get the rotation used to create the measurement */ - Rotation priorRotation() const { return Rotation::Expmap(this->prior_); } - -protected: - /** loads the underlying partial prior factor */ - void initialize(const Rotation& rot_z) { - assert(rot_z.dim() == this->noiseModel_->dim()); - - // Calculate the prior applied - this->prior_ = Rotation::Logmap(rot_z); - - // Create the mask for partial prior - size_t pose_dim = Pose::identity().dim(); - size_t rot_dim = rot_z.dim(); - - // get the interval of the lie coordinates corresponding to rotation - std::pair interval = Pose::rotationInterval(); - - std::vector mask; - for (size_t i=interval.first; i<=interval.second; ++i) - mask.push_back(i); - this->mask_ = mask; - - this->H_ = zeros(rot_dim, pose_dim); - this->fillH(); + /** print contents */ + void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { + Base::print(s + "PoseRotationPrior", keyFormatter); + measured_.print("Measured Rotation"); } + /** h(x)-z */ + Vector evaluateError(const Pose& pose, boost::optional H = boost::none) const { + const Rotation& newR = pose.rotation(); + const size_t rDim = newR.dim(), xDim = pose.dim(); + if (H) { + *H = gtsam::zeros(rDim, xDim); + if (pose_traits::isRotFirst()) + (*H).leftCols(rDim) = eye(rDim); + else + (*H).rightCols(rDim) = eye(rDim); + } + + return Rotation::Logmap(newR) - Rotation::Logmap(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_); + } }; } // \namespace gtsam diff --git a/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp b/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp index cdded40e7..2f60e114a 100644 --- a/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp +++ b/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp @@ -9,42 +9,85 @@ #include +#include + #include #include #include -#include - -#include using namespace gtsam; -Key x1 = symbol_shorthand::X(1); - const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas(Vector_(1, 0.1)); const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); -/* ************************************************************************* */ -TEST( testPoseRotationPrior, planar) { +typedef PoseRotationPrior Pose2RotationPrior; +typedef PoseRotationPrior Pose3RotationPrior; - typedef PoseRotationPrior PlanarRPrior; - PlanarRPrior actRprior(x1, Rot2::fromDegrees(30.0), model1); - EXPECT(assert_equal(Rot2::fromDegrees(30.0), actRprior.priorRotation())); - Matrix expH(1,3); expH << 0.0, 0.0, 1.0; - EXPECT(assert_equal(expH, actRprior.H())); +const double tol = 1e-5; + +const gtsam::Key poseKey = 1; + +// Pose3 examples +const Point3 point3A(1.0, 2.0, 3.0), point3B(4.0, 6.0, 8.0); +const Rot3 rot3A, rot3B = Rot3::pitch(-M_PI_2), rot3C = Rot3::Expmap(Vector_(3, 0.1, 0.2, 0.3)); + +// Pose2 examples +const Point2 point2A(1.0, 2.0), point2B(4.0, 6.0); +const Rot2 rot2A, rot2B = Rot2::fromAngle(M_PI_2); + +/* ************************************************************************* */ +LieVector evalFactorError3(const Pose3RotationPrior& factor, const Pose3& x) { + return LieVector(factor.evaluateError(x)); } /* ************************************************************************* */ -TEST( testPoseRotationPrior, visual) { +LieVector evalFactorError2(const Pose2RotationPrior& factor, const Pose2& x) { + return LieVector(factor.evaluateError(x)); +} - typedef PoseRotationPrior VisualRPrior; - VisualRPrior actPose3Rprior(x1, Rot3::RzRyRx(0.1, 0.2, 0.3), model3); - EXPECT(assert_equal(Rot3::RzRyRx(0.1, 0.2, 0.3), actPose3Rprior.priorRotation())); - Matrix expH(3,6); expH << eye(3,3), zeros(3,3); - EXPECT(assert_equal(expH, actPose3Rprior.H())); +/* ************************************************************************* */ +TEST( testPoseRotationFactor, level3_zero_error ) { + Pose3 pose1(rot3A, point3A); + Pose3RotationPrior factor(poseKey, rot3A, model3); + Matrix actH1; + EXPECT(assert_equal(zero(3), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} -// typedef testPoseRotationPrior CamRPrior; -// CamRPrior actCamRprior(x1, Rot3::RzRyRx(0.1, 0.2, 0.3), model3); +/* ************************************************************************* */ +TEST( testPoseRotationFactor, level3_error ) { + Pose3 pose1(rot3A, point3A); + Pose3RotationPrior factor(poseKey, rot3C, model3); + Matrix actH1; + EXPECT(assert_equal(Vector_(3,-0.1,-0.2,-0.3), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError3, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testPoseRotationFactor, level2_zero_error ) { + Pose2 pose1(rot2A, point2A); + Pose2RotationPrior factor(poseKey, rot2A, model1); + Matrix actH1; + EXPECT(assert_equal(zero(1), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError2, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); +} + +/* ************************************************************************* */ +TEST( testPoseRotationFactor, level2_error ) { + Pose2 pose1(rot2A, point2A); + Pose2RotationPrior factor(poseKey, rot2B, model1); + Matrix actH1; + EXPECT(assert_equal(Vector_(1,-M_PI_2), factor.evaluateError(pose1, actH1))); + Matrix expH1 = numericalDerivative11( + boost::bind(evalFactorError2, factor, _1), pose1, 1e-5); + EXPECT(assert_equal(expH1, actH1, tol)); } /* ************************************************************************* */ diff --git a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp b/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp index 0821e566b..9e11555ee 100644 --- a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp +++ b/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp @@ -44,7 +44,7 @@ LieVector evalFactorError2(const Pose2TranslationPrior& factor, const Pose2& x) } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, level3_zero_error ) { +TEST( testPoseTranslationFactor, level3_zero_error ) { Pose3 pose1(rot3A, point3A); Pose3TranslationPrior factor(poseKey, point3A, model3); Matrix actH1; @@ -55,7 +55,7 @@ TEST( testRelativeElevationFactor, level3_zero_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, level3_error ) { +TEST( testPoseTranslationFactor, level3_error ) { Pose3 pose1(rot3A, point3A); Pose3TranslationPrior factor(poseKey, point3B, model3); Matrix actH1; @@ -66,7 +66,7 @@ TEST( testRelativeElevationFactor, level3_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, pitched3_zero_error ) { +TEST( testPoseTranslationFactor, pitched3_zero_error ) { Pose3 pose1(rot3B, point3A); Pose3TranslationPrior factor(poseKey, point3A, model3); Matrix actH1; @@ -77,7 +77,7 @@ TEST( testRelativeElevationFactor, pitched3_zero_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, pitched3_error ) { +TEST( testPoseTranslationFactor, pitched3_error ) { Pose3 pose1(rot3B, point3A); Pose3TranslationPrior factor(poseKey, point3B, model3); Matrix actH1; @@ -88,7 +88,7 @@ TEST( testRelativeElevationFactor, pitched3_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, smallrot3_zero_error ) { +TEST( testPoseTranslationFactor, smallrot3_zero_error ) { Pose3 pose1(rot3C, point3A); Pose3TranslationPrior factor(poseKey, point3A, model3); Matrix actH1; @@ -99,7 +99,7 @@ TEST( testRelativeElevationFactor, smallrot3_zero_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, smallrot3_error ) { +TEST( testPoseTranslationFactor, smallrot3_error ) { Pose3 pose1(rot3C, point3A); Pose3TranslationPrior factor(poseKey, point3B, model3); Matrix actH1; @@ -110,7 +110,7 @@ TEST( testRelativeElevationFactor, smallrot3_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, level2_zero_error ) { +TEST( testPoseTranslationFactor, level2_zero_error ) { Pose2 pose1(rot2A, point2A); Pose2TranslationPrior factor(poseKey, point2A, model2); Matrix actH1; @@ -121,7 +121,7 @@ TEST( testRelativeElevationFactor, level2_zero_error ) { } /* ************************************************************************* */ -TEST( testRelativeElevationFactor, level2_error ) { +TEST( testPoseTranslationFactor, level2_error ) { Pose2 pose1(rot2A, point2A); Pose2TranslationPrior factor(poseKey, point2B, model2); Matrix actH1; From a6545b4e010e8c4fb946eea7da0bb13864027b2e Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 27 Aug 2012 17:54:25 +0000 Subject: [PATCH 820/914] Fixed wrap tests and changed comments --- wrap/Class.cpp | 2 +- wrap/Method.cpp | 17 ++- wrap/StaticMethod.cpp | 18 ++- wrap/tests/expected/Point2.m | 50 ++++++- wrap/tests/expected/Point3.m | 25 +++- wrap/tests/expected/Test.m | 122 +++++++++++++++++- wrap/tests/expected/aGlobalFunction.m | 1 - wrap/tests/expected/geometry_wrapper.cpp | 1 - wrap/tests/expected_namespaces/ClassD.m | 7 +- .../testNamespaces_wrapper.cpp | 1 - 10 files changed, 234 insertions(+), 10 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 652753cc0..44aa6a1bd 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -382,6 +382,6 @@ void Class::comment_fragment(FileWriter& proxyFile) const } proxyFile.oss << "%" << "" << endl; - proxyFile.oss << "%" << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; + proxyFile.oss << "%" << "For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; } /* ************************************************************************* */ diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 60a9f00e3..5f60d6a36 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -47,7 +47,22 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; //Comments for documentation - proxyFile.oss << " % " << name << " See GTSAM Doxygen html for detailed info." << endl; + proxyFile.oss << " % " << name << " "; + BOOST_FOREACH(ArgumentList argList, argLists) + { + proxyFile.oss << " " << name << "("; + int i = 0; + BOOST_FOREACH(const Argument& arg, argList) + { + if(i != argList.size()-1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ") : "; + } + proxyFile.oss << endl; proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; proxyFile.oss << " % " << "Method Overloads" << endl; diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index b2c757e96..c232739be 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -50,7 +50,23 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); proxyFile.oss << " function varargout = " << upperName << "(varargin)\n"; - proxyFile.oss << " % " << name << " See GTSAM Doxygen html for detailed info." << endl; + //Comments for documentation + proxyFile.oss << " % " << name << " "; + BOOST_FOREACH(ArgumentList argList, argLists) + { + proxyFile.oss << " " << name << "("; + int i = 0; + BOOST_FOREACH(const Argument& arg, argList) + { + if(i != argList.size()-1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ") : "; + } + proxyFile.oss << endl; proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; proxyFile.oss << " % " << "Method Overloads" << endl; diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m index f23e15eb4..8a2718377 100644 --- a/wrap/tests/expected/Point2.m +++ b/wrap/tests/expected/Point2.m @@ -1,4 +1,17 @@ -% automatically generated by wrap +%-------Constructors------- +%Point2() +%Point2(double x, double y) +%-------Methods------- +%argChar(char a) +%argUChar(unsigned char a) +%dim() +%returnChar() +%vectorConfusion() +%x() +%y() +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Point2 < handle properties ptr_Point2 = 0 @@ -27,6 +40,11 @@ classdef Point2 < handle function disp(obj), obj.display; end function varargout = argChar(this, varargin) + % argChar argChar(char a) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % argChar(char a) if length(varargin) == 1 && isa(varargin{1},'char') geometry_wrapper(4, this, varargin{:}); else @@ -35,6 +53,11 @@ classdef Point2 < handle end function varargout = argUChar(this, varargin) + % argUChar argUChar(unsigned char a) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % argUChar(unsigned char a) if length(varargin) == 1 && isa(varargin{1},'char') geometry_wrapper(5, this, varargin{:}); else @@ -43,6 +66,11 @@ classdef Point2 < handle end function varargout = dim(this, varargin) + % dim dim() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % dim() if length(varargin) == 0 varargout{1} = geometry_wrapper(6, this, varargin{:}); else @@ -51,6 +79,11 @@ classdef Point2 < handle end function varargout = returnChar(this, varargin) + % returnChar returnChar() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % returnChar() if length(varargin) == 0 varargout{1} = geometry_wrapper(7, this, varargin{:}); else @@ -59,6 +92,11 @@ classdef Point2 < handle end function varargout = vectorConfusion(this, varargin) + % vectorConfusion vectorConfusion() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % vectorConfusion() if length(varargin) == 0 varargout{1} = geometry_wrapper(8, this, varargin{:}); else @@ -67,6 +105,11 @@ classdef Point2 < handle end function varargout = x(this, varargin) + % x x() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % x() if length(varargin) == 0 varargout{1} = geometry_wrapper(9, this, varargin{:}); else @@ -75,6 +118,11 @@ classdef Point2 < handle end function varargout = y(this, varargin) + % y y() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % y() if length(varargin) == 0 varargout{1} = geometry_wrapper(10, this, varargin{:}); else diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index 773ebefc0..4cd50f4d5 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -1,4 +1,12 @@ -% automatically generated by wrap +%-------Constructors------- +%Point3(double x, double y, double z) +%-------Methods------- +%norm() +%-------Static Methods------- +%StaticFunctionRet(double z) +%staticFunction() +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Point3 < handle properties ptr_Point3 = 0 @@ -25,6 +33,11 @@ classdef Point3 < handle function disp(obj), obj.display; end function varargout = norm(this, varargin) + % norm norm() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % norm() if length(varargin) == 0 varargout{1} = geometry_wrapper(14, this, varargin{:}); else @@ -36,6 +49,11 @@ classdef Point3 < handle methods(Static = true) function varargout = StaticFunctionRet(varargin) + % StaticFunctionRet StaticFunctionRet(double z) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % StaticFunctionRet(double z) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(15, varargin{:}); else @@ -44,6 +62,11 @@ classdef Point3 < handle end function varargout = StaticFunction(varargin) + % staticFunction staticFunction() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % staticFunction() if length(varargin) == 0 varargout{1} = geometry_wrapper(16, varargin{:}); else diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index f36c8eb30..4ce501fb0 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -1,4 +1,29 @@ -% automatically generated by wrap +%-------Constructors------- +%Test() +%Test(double a, Matrix b) +%-------Methods------- +%arg_EigenConstRef(Matrix value) +%create_MixedPtrs() +%create_ptrs() +%print() +%return_Point2Ptr(bool value) +%return_Test(Test value) +%return_TestPtr(Test value) +%return_bool(bool value) +%return_double(double value) +%return_field(Test t) +%return_int(int value) +%return_matrix1(Matrix value) +%return_matrix2(Matrix value) +%return_pair(Vector v, Matrix A) +%return_ptrs(Test p1, Test p2) +%return_size_t(size_t value) +%return_string(string value) +%return_vector1(Vector value) +%return_vector2(Vector value) +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Test < handle properties ptr_Test = 0 @@ -27,6 +52,11 @@ classdef Test < handle function disp(obj), obj.display; end function varargout = arg_EigenConstRef(this, varargin) + % arg_EigenConstRef arg_EigenConstRef(Matrix value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % arg_EigenConstRef(Matrix value) if length(varargin) == 1 && isa(varargin{1},'double') geometry_wrapper(21, this, varargin{:}); else @@ -35,6 +65,11 @@ classdef Test < handle end function varargout = create_MixedPtrs(this, varargin) + % create_MixedPtrs create_MixedPtrs() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % create_MixedPtrs() if length(varargin) == 0 [ varargout{1} varargout{2} ] = geometry_wrapper(22, this, varargin{:}); else @@ -43,6 +78,11 @@ classdef Test < handle end function varargout = create_ptrs(this, varargin) + % create_ptrs create_ptrs() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % create_ptrs() if length(varargin) == 0 [ varargout{1} varargout{2} ] = geometry_wrapper(23, this, varargin{:}); else @@ -51,6 +91,11 @@ classdef Test < handle end function varargout = print(this, varargin) + % print print() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % print() if length(varargin) == 0 geometry_wrapper(24, this, varargin{:}); else @@ -59,6 +104,11 @@ classdef Test < handle end function varargout = return_Point2Ptr(this, varargin) + % return_Point2Ptr return_Point2Ptr(bool value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_Point2Ptr(bool value) if length(varargin) == 1 && isa(varargin{1},'logical') varargout{1} = geometry_wrapper(25, this, varargin{:}); else @@ -67,6 +117,11 @@ classdef Test < handle end function varargout = return_Test(this, varargin) + % return_Test return_Test(Test value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_Test(Test value) if length(varargin) == 1 && isa(varargin{1},'Test') varargout{1} = geometry_wrapper(26, this, varargin{:}); else @@ -75,6 +130,11 @@ classdef Test < handle end function varargout = return_TestPtr(this, varargin) + % return_TestPtr return_TestPtr(Test value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_TestPtr(Test value) if length(varargin) == 1 && isa(varargin{1},'Test') varargout{1} = geometry_wrapper(27, this, varargin{:}); else @@ -83,6 +143,11 @@ classdef Test < handle end function varargout = return_bool(this, varargin) + % return_bool return_bool(bool value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_bool(bool value) if length(varargin) == 1 && isa(varargin{1},'logical') varargout{1} = geometry_wrapper(28, this, varargin{:}); else @@ -91,6 +156,11 @@ classdef Test < handle end function varargout = return_double(this, varargin) + % return_double return_double(double value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_double(double value) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(29, this, varargin{:}); else @@ -99,6 +169,11 @@ classdef Test < handle end function varargout = return_field(this, varargin) + % return_field return_field(Test t) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_field(Test t) if length(varargin) == 1 && isa(varargin{1},'Test') varargout{1} = geometry_wrapper(30, this, varargin{:}); else @@ -107,6 +182,11 @@ classdef Test < handle end function varargout = return_int(this, varargin) + % return_int return_int(int value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_int(int value) if length(varargin) == 1 && isa(varargin{1},'numeric') varargout{1} = geometry_wrapper(31, this, varargin{:}); else @@ -115,6 +195,11 @@ classdef Test < handle end function varargout = return_matrix1(this, varargin) + % return_matrix1 return_matrix1(Matrix value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_matrix1(Matrix value) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(32, this, varargin{:}); else @@ -123,6 +208,11 @@ classdef Test < handle end function varargout = return_matrix2(this, varargin) + % return_matrix2 return_matrix2(Matrix value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_matrix2(Matrix value) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(33, this, varargin{:}); else @@ -131,6 +221,11 @@ classdef Test < handle end function varargout = return_pair(this, varargin) + % return_pair return_pair(Vector v, Matrix A) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_pair(Vector v, Matrix A) if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'double') [ varargout{1} varargout{2} ] = geometry_wrapper(34, this, varargin{:}); else @@ -139,6 +234,11 @@ classdef Test < handle end function varargout = return_ptrs(this, varargin) + % return_ptrs return_ptrs(Test p1, Test p2) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_ptrs(Test p1, Test p2) if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test') [ varargout{1} varargout{2} ] = geometry_wrapper(35, this, varargin{:}); else @@ -147,6 +247,11 @@ classdef Test < handle end function varargout = return_size_t(this, varargin) + % return_size_t return_size_t(size_t value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_size_t(size_t value) if length(varargin) == 1 && isa(varargin{1},'numeric') varargout{1} = geometry_wrapper(36, this, varargin{:}); else @@ -155,6 +260,11 @@ classdef Test < handle end function varargout = return_string(this, varargin) + % return_string return_string(string value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_string(string value) if length(varargin) == 1 && isa(varargin{1},'char') varargout{1} = geometry_wrapper(37, this, varargin{:}); else @@ -163,6 +273,11 @@ classdef Test < handle end function varargout = return_vector1(this, varargin) + % return_vector1 return_vector1(Vector value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_vector1(Vector value) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(38, this, varargin{:}); else @@ -171,6 +286,11 @@ classdef Test < handle end function varargout = return_vector2(this, varargin) + % return_vector2 return_vector2(Vector value) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % return_vector2(Vector value) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(39, this, varargin{:}); else diff --git a/wrap/tests/expected/aGlobalFunction.m b/wrap/tests/expected/aGlobalFunction.m index 80d6b1f6b..cee69491c 100644 --- a/wrap/tests/expected/aGlobalFunction.m +++ b/wrap/tests/expected/aGlobalFunction.m @@ -1,4 +1,3 @@ -% automatically generated by wrap function varargout = aGlobalFunction(varargin) if length(varargin) == 0 varargout{1} = geometry_wrapper(40, varargin{:}); diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp index 443795e5e..ad1df801c 100644 --- a/wrap/tests/expected/geometry_wrapper.cpp +++ b/wrap/tests/expected/geometry_wrapper.cpp @@ -1,4 +1,3 @@ -// automatically generated by wrap #include #include #include diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m index 3fb8d4837..98a4df3a6 100644 --- a/wrap/tests/expected_namespaces/ClassD.m +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -1,4 +1,9 @@ -% automatically generated by wrap +%-------Constructors------- +%ClassD() +%-------Methods------- +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassD < handle properties ptr_ClassD = 0 diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp index 1a31c4b90..29739a2f6 100644 --- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp +++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp @@ -1,4 +1,3 @@ -// automatically generated by wrap #include #include #include From 7d9139a854f706916fe3ccd4184a28af7109f438 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 27 Aug 2012 18:10:51 +0000 Subject: [PATCH 821/914] Fix wrap tests --- wrap/tests/expected_namespaces/+ns1/ClassA.m | 7 ++++- wrap/tests/expected_namespaces/+ns1/ClassB.m | 7 ++++- .../+ns1/aGlobalFunction.m | 1 - .../expected_namespaces/+ns2/+ns3/ClassB.m | 7 ++++- wrap/tests/expected_namespaces/+ns2/ClassA.m | 31 ++++++++++++++++++- wrap/tests/expected_namespaces/+ns2/ClassC.m | 7 ++++- .../+ns2/aGlobalFunction.m | 1 - 7 files changed, 54 insertions(+), 7 deletions(-) diff --git a/wrap/tests/expected_namespaces/+ns1/ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m index f0682c815..bcca78cdf 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m @@ -1,4 +1,9 @@ -% automatically generated by wrap +%-------Constructors------- +%ClassA() +%-------Methods------- +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassA < handle properties ptr_ns1ClassA = 0 diff --git a/wrap/tests/expected_namespaces/+ns1/ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m index a263bc1e8..99be93023 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m @@ -1,4 +1,9 @@ -% automatically generated by wrap +%-------Constructors------- +%ClassB() +%-------Methods------- +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassB < handle properties ptr_ns1ClassB = 0 diff --git a/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m b/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m index fc1e780af..a82518ad6 100644 --- a/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m +++ b/wrap/tests/expected_namespaces/+ns1/aGlobalFunction.m @@ -1,4 +1,3 @@ -% automatically generated by wrap function varargout = aGlobalFunction(varargin) if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(22, varargin{:}); diff --git a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m index 2c19e13a8..f2a32111a 100644 --- a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m @@ -1,4 +1,9 @@ -% automatically generated by wrap +%-------Constructors------- +%ClassB() +%-------Methods------- +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassB < handle properties ptr_ns2ns3ClassB = 0 diff --git a/wrap/tests/expected_namespaces/+ns2/ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m index e7a074c08..e795deb71 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m @@ -1,4 +1,13 @@ -% automatically generated by wrap +%-------Constructors------- +%ClassA() +%-------Methods------- +%memberFunction() +%nsArg(ClassB arg) +%nsReturn(double q) +%-------Static Methods------- +%afunction() +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassA < handle properties ptr_ns2ClassA = 0 @@ -25,6 +34,11 @@ classdef ClassA < handle function disp(obj), obj.display; end function varargout = memberFunction(this, varargin) + % memberFunction memberFunction() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % memberFunction() if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(9, this, varargin{:}); else @@ -33,6 +47,11 @@ classdef ClassA < handle end function varargout = nsArg(this, varargin) + % nsArg nsArg(ClassB arg) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % nsArg(ClassB arg) if length(varargin) == 1 && isa(varargin{1},'ns1.ClassB') varargout{1} = testNamespaces_wrapper(10, this, varargin{:}); else @@ -41,6 +60,11 @@ classdef ClassA < handle end function varargout = nsReturn(this, varargin) + % nsReturn nsReturn(double q) : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % nsReturn(double q) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = testNamespaces_wrapper(11, this, varargin{:}); else @@ -52,6 +76,11 @@ classdef ClassA < handle methods(Static = true) function varargout = Afunction(varargin) + % afunction afunction() : + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html + % + % Method Overloads + % afunction() if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(12, varargin{:}); else diff --git a/wrap/tests/expected_namespaces/+ns2/ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m index f56a9c5cb..2d6cb21d8 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassC.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m @@ -1,4 +1,9 @@ -% automatically generated by wrap +%-------Constructors------- +%ClassC() +%-------Methods------- +%-------Static Methods------- +% +%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassC < handle properties ptr_ns2ClassC = 0 diff --git a/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m b/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m index 2bdf45dd6..8b6a5993f 100644 --- a/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m +++ b/wrap/tests/expected_namespaces/+ns2/aGlobalFunction.m @@ -1,4 +1,3 @@ -% automatically generated by wrap function varargout = aGlobalFunction(varargin) if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(23, varargin{:}); From 3e93c488e539bfaadb04c68f835bd6022e06e620 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 27 Aug 2012 22:29:56 +0000 Subject: [PATCH 822/914] Removed extra code that was sometimes maintaining a staircase pattern in JacobianFactor by sorting rows - a holdover from the staircase optimization that is no longer done now that we are using Eigen's QR --- gtsam/inference/VariableSlots.h | 4 - gtsam/linear/GaussianFactorGraph.cpp | 61 +++++----- gtsam/linear/JacobianFactor.cpp | 111 ++---------------- gtsam/linear/JacobianFactor.h | 24 ---- .../linear/tests/testGaussianFactorGraph.cpp | 8 +- tests/testDoglegOptimizer.cpp | 2 +- 6 files changed, 45 insertions(+), 165 deletions(-) diff --git a/gtsam/inference/VariableSlots.h b/gtsam/inference/VariableSlots.h index 551993db4..2533a7411 100644 --- a/gtsam/inference/VariableSlots.h +++ b/gtsam/inference/VariableSlots.h @@ -48,10 +48,6 @@ namespace gtsam { * variable index 3), row-block 2 (also meaning component factor 2), comes from * column-block 0 of component factor 2. * - * Note that in the case of GaussianFactor, the rows of the combined factor are - * further sorted so that the column-block position of the first structural - * non-zero increases monotonically through the rows. This additional process - * is not performed by this class. * \nosubgrouping */ diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index dd86ffca6..e2598b1ac 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -240,20 +240,6 @@ break; } toc(1, "countDims"); - if (debug) cout << "Sort rows" << endl; - tic(2, "sort rows"); - vector rowSources; - rowSources.reserve(m); - bool anyConstrained = false; - for (size_t sourceFactorI = 0; sourceFactorI < factors.size(); ++sourceFactorI) { - const JacobianFactor& sourceFactor(*factors[sourceFactorI]); - sourceFactor.collectInfo(sourceFactorI, rowSources); - if (sourceFactor.isConstrained()) anyConstrained = true; - } - assert(rowSources.size() == m); - std::sort(rowSources.begin(), rowSources.end()); - toc(2, "sort rows"); - if (debug) cout << "Allocate new factor" << endl; tic(3, "allocate"); JacobianFactor::shared_ptr combined(new JacobianFactor()); @@ -261,36 +247,47 @@ break; Vector sigmas(m); toc(3, "allocate"); - if (debug) cout << "Copy rows" << endl; - tic(4, "copy rows"); + if (debug) cout << "Copy blocks" << endl; + tic(4, "copy blocks"); + // Loop over slots in combined factor Index combinedSlot = 0; BOOST_FOREACH(const VariableSlots::value_type& varslot, variableSlots) { - for (size_t row = 0; row < m; ++row) { - const JacobianFactor::_RowSource& info(rowSources[row]); - const JacobianFactor& source(*factors[info.factorI]); - size_t sourceRow = info.factorRowI; - Index sourceSlot = varslot.second[info.factorI]; - combined->copyRow(source, sourceRow, sourceSlot, row, combinedSlot); + JacobianFactor::ABlock destSlot(combined->getA(combined->begin()+combinedSlot)); + // Loop over source factors + size_t nextRow = 0; + for(size_t factorI = 0; factorI < factors.size(); ++factorI) { + // Slot in source factor + const Index sourceSlot = varslot.second[factorI]; + const size_t sourceRows = factors[factorI]->rows(); + JacobianFactor::ABlock::RowsBlockXpr destBlock(destSlot.middleRows(nextRow, sourceRows)); + // Copy if exists in source factor, otherwise set zero + if(sourceSlot != numeric_limits::max()) + destBlock = factors[factorI]->getA(factors[factorI]->begin()+sourceSlot); + else + destBlock.setZero(); + nextRow += sourceRows; } ++combinedSlot; } - toc(4, "copy rows"); + toc(4, "copy blocks"); - if (debug) cout << "Copy rhs (b), sigma, and firstNonzeroBlocks" << endl; + if (debug) cout << "Copy rhs (b) and sigma" << endl; tic(5, "copy vectors"); - for (size_t row = 0; row < m; ++row) { - const JacobianFactor::_RowSource& info(rowSources[row]); - const JacobianFactor& source(*factors[info.factorI]); - const size_t sourceRow = info.factorRowI; - combined->getb()(row) = source.getb()(sourceRow); - sigmas(row) = source.get_model()->sigmas()(sourceRow); + bool anyConstrained = false; + // Loop over source factors + size_t nextRow = 0; + for(size_t factorI = 0; factorI < factors.size(); ++factorI) { + const size_t sourceRows = factors[factorI]->rows(); + combined->getb().segment(nextRow, sourceRows) = factors[factorI]->getb(); + sigmas.segment(nextRow, sourceRows) = factors[factorI]->get_model()->sigmas(); + if (factors[factorI]->isConstrained()) anyConstrained = true; + nextRow += sourceRows; } - combined->copyFNZ(m, variableSlots.size(),rowSources); toc(5, "copy vectors"); if (debug) cout << "Create noise model from sigmas" << endl; tic(6, "noise model"); - combined->setModel( anyConstrained,sigmas); + combined->setModel(anyConstrained, sigmas); toc(6, "noise model"); if (debug) cout << "Assert Invariants" << endl; diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index d0023b766..759be4948 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -48,15 +48,12 @@ namespace gtsam { #ifndef NDEBUG GaussianFactor::assertInvariants(); // The base class checks for unique keys assert((size() == 0 && Ab_.rows() == 0 && Ab_.nBlocks() == 0) || size()+1 == Ab_.nBlocks()); - assert(firstNonzeroBlocks_.size() == Ab_.rows()); - for(size_t i=0; idim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); @@ -103,7 +100,7 @@ namespace gtsam { /* ************************************************************************* */ JacobianFactor::JacobianFactor(Index i1, const Matrix& A1, Index i2, const Matrix& A2, const Vector& b, const SharedDiagonal& model) : - GaussianFactor(i1,i2), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { + GaussianFactor(i1,i2), model_(model), Ab_(matrix_) { if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); @@ -119,7 +116,7 @@ namespace gtsam { /* ************************************************************************* */ JacobianFactor::JacobianFactor(Index i1, const Matrix& A1, Index i2, const Matrix& A2, Index i3, const Matrix& A3, const Vector& b, const SharedDiagonal& model) : - GaussianFactor(i1,i2,i3), model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) { + GaussianFactor(i1,i2,i3), model_(model), Ab_(matrix_) { if(model->dim() != (size_t) b.size()) throw InvalidNoiseModel(b.size(), model->dim()); @@ -137,7 +134,7 @@ namespace gtsam { JacobianFactor::JacobianFactor(const std::vector > &terms, const Vector &b, const SharedDiagonal& model) : GaussianFactor(GetKeys(terms.size(), terms.begin(), terms.end())), - model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) + model_(model), Ab_(matrix_) { if(model->dim() != (size_t) b.size()) @@ -158,7 +155,7 @@ namespace gtsam { JacobianFactor::JacobianFactor(const std::list > &terms, const Vector &b, const SharedDiagonal& model) : GaussianFactor(GetKeys(terms.size(), terms.begin(), terms.end())), - model_(model), firstNonzeroBlocks_(b.size(), 0), Ab_(matrix_) + model_(model), Ab_(matrix_) { if(model->dim() != (size_t) b.size()) @@ -179,9 +176,11 @@ namespace gtsam { } /* ************************************************************************* */ - JacobianFactor::JacobianFactor(const GaussianConditional& cg) : GaussianFactor(cg), model_(noiseModel::Diagonal::Sigmas(cg.get_sigmas(), true)), Ab_(matrix_) { + JacobianFactor::JacobianFactor(const GaussianConditional& cg) : + GaussianFactor(cg), + model_(noiseModel::Diagonal::Sigmas(cg.get_sigmas(), true)), + Ab_(matrix_) { Ab_.assignNoalias(cg.rsd_); - firstNonzeroBlocks_.resize(cg.get_d().size(), 0); // set sigmas from precisions assertInvariants(); } @@ -206,8 +205,6 @@ namespace gtsam { Ab_.rowEnd() = maxrank; model_ = noiseModel::Unit::Create(maxrank); - firstNonzeroBlocks_.resize(this->rows(), 0); - assertInvariants(); } @@ -215,7 +212,6 @@ namespace gtsam { JacobianFactor& JacobianFactor::operator=(const JacobianFactor& rhs) { this->Base::operator=(rhs); // Copy keys model_ = rhs.model_; // Copy noise model - firstNonzeroBlocks_ = rhs.firstNonzeroBlocks_; // Copy staircase pattern Ab_.assignNoalias(rhs.Ab_); // Copy matrix and block structure assertInvariants(); return *this; @@ -417,19 +413,6 @@ namespace gtsam { assert(Ab_.rows() <= Ab_.cols()-1); toc(4, "remaining factor"); - // todo SL: deal with "dead" pivot columns!!! - tic(5, "rowstarts"); - size_t varpos = 0; - firstNonzeroBlocks_.resize(this->rows()); - for(size_t row=0; rowprint("Eliminating JacobianFactor: "); - - // NOTE: stairs are not currently used in the Eigen QR implementation - // add this back if DenseQR is ever reimplemented -// tic(1, "stairs"); -// // Translate the left-most nonzero column indices into top-most zero row indices -// vector firstZeroRows(Ab_.cols()); -// { -// size_t lastNonzeroRow = 0; -// vector::iterator firstZeroRowsIt = firstZeroRows.begin(); -// for(size_t var=0; varrows() && firstNonzeroBlocks_[lastNonzeroRow] <= var) -// ++ lastNonzeroRow; -// fill(firstZeroRowsIt, firstZeroRowsIt+Ab_(var).cols(), lastNonzeroRow); -// firstZeroRowsIt += Ab_(var).cols(); -// } -// assert(firstZeroRowsIt+1 == firstZeroRows.end()); -// *firstZeroRowsIt = this->rows(); -// } -// toc(1, "stairs"); - -// #ifndef NDEBUG -// for(size_t col=0; col& rowSources) const { - assertInvariants(); - for (size_t row = 0; row < rows(); ++row) { - Index firstNonzeroVar; - if (firstNonzeroBlocks_[row] < size()) { - firstNonzeroVar = keys_[firstNonzeroBlocks_[row]]; - } else if (firstNonzeroBlocks_[row] == size()) { - firstNonzeroVar = back() + 1; - } else { - assert(false); - } - rowSources.push_back(_RowSource(firstNonzeroVar, index, row)); - } - } - /* ************************************************************************* */ void JacobianFactor::allocate(const VariableSlots& variableSlots, vector< size_t>& varDims, size_t m) { @@ -527,34 +466,6 @@ namespace gtsam { boost::bind(&VariableSlots::const_iterator::value_type::first, _1)); varDims.push_back(1); Ab_.copyStructureFrom(BlockAb(matrix_, varDims.begin(), varDims.end(), m)); - firstNonzeroBlocks_.resize(m); - } - - /* ************************************************************************* */ - void JacobianFactor::copyRow(const JacobianFactor& source, Index sourceRow, - size_t sourceSlot, size_t row, Index slot) { - ABlock combinedBlock = Ab_(slot); - if (sourceSlot != numeric_limits::max()) { - if (source.firstNonzeroBlocks_[sourceRow] <= sourceSlot) { - const constABlock sourceBlock(source.Ab_(sourceSlot)); - combinedBlock.row(row).noalias() = sourceBlock.row(sourceRow); - } else { - combinedBlock.row(row).setZero(); - } - } else { - combinedBlock.row(row).setZero(); - } - } - - /* ************************************************************************* */ - void JacobianFactor::copyFNZ(size_t m, size_t n, - vector<_RowSource>& rowSources) { - Index i = 0; - for (size_t row = 0; row < m; ++row) { - while (i < n && rowSources[row].firstNonzeroVar > keys_[i]) - ++i; - firstNonzeroBlocks_[row] = i; - } } /* ************************************************************************* */ diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 7cf1aa960..def36b086 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -83,7 +83,6 @@ namespace gtsam { typedef VerticalBlockView BlockAb; noiseModel::Diagonal::shared_ptr model_; // Gaussian noise model with diagonal covariance matrix - std::vector firstNonzeroBlocks_; AbMatrix matrix_; // the full matrix corresponding to the factor BlockAb Ab_; // the block view of the full matrix typedef GaussianFactor Base; // typedef to base @@ -274,35 +273,13 @@ namespace gtsam { */ boost::shared_ptr splitConditional(size_t nrFrontals = 1); - /* Used by ::CombineJacobians for sorting */ - struct _RowSource { - size_t firstNonzeroVar; - size_t factorI; - size_t factorRowI; - _RowSource(size_t _firstNonzeroVar, size_t _factorI, size_t _factorRowI) : - firstNonzeroVar(_firstNonzeroVar), factorI(_factorI), factorRowI(_factorRowI) {} - bool operator<(const _RowSource& o) const { - return firstNonzeroVar < o.firstNonzeroVar; - } - }; - // following methods all used in CombineJacobians: // Many imperative, perhaps all need to be combined in constructor - /** Collect information on Jacobian rows */ - void collectInfo(size_t index, std::vector<_RowSource>& rowSources) const; - /** allocate space */ void allocate(const VariableSlots& variableSlots, std::vector& varDims, size_t m); - /** copy a slot from source */ - void copyRow(const JacobianFactor& source, - Index sourceRow, size_t sourceSlot, size_t row, Index slot); - - /** copy firstNonzeroBlocks structure */ - void copyFNZ(size_t m, size_t n, std::vector<_RowSource>& rowSources); - /** set noiseModel correctly */ void setModel(bool anyConstrained, const Vector& sigmas); @@ -341,7 +318,6 @@ namespace gtsam { template void serialize(ARCHIVE & ar, const unsigned int version) { ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(GaussianFactor); - ar & BOOST_SERIALIZATION_NVP(firstNonzeroBlocks_); ar & BOOST_SERIALIZATION_NVP(Ab_); ar & BOOST_SERIALIZATION_NVP(model_); ar & BOOST_SERIALIZATION_NVP(matrix_); diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index 37aa440ff..4c0aa3871 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -163,10 +163,10 @@ TEST(GaussianFactorGraph, Combine2) JacobianFactor actual = *CombineJacobians(jacobians, VariableSlots(gfg)); Matrix zero3x3 = zeros(3,3); - Matrix A0 = gtsam::stack(3, &A10, &zero3x3, &zero3x3); - Matrix A1 = gtsam::stack(3, &A11, &A01, &A21); - Vector b = gtsam::concatVectors(3, &b1, &b0, &b2); - Vector sigmas = gtsam::concatVectors(3, &s1, &s0, &s2); + Matrix A0 = gtsam::stack(3, &zero3x3, &A10, &zero3x3); + Matrix A1 = gtsam::stack(3, &A01, &A11, &A21); + Vector b = gtsam::concatVectors(3, &b0, &b1, &b2); + Vector sigmas = gtsam::concatVectors(3, &s0, &s1, &s2); JacobianFactor expected(0, A0, 1, A1, b, noiseModel::Diagonal::Sigmas(sigmas, true)); diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index 3c5409af7..781685a23 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -200,7 +200,7 @@ TEST(DoglegOptimizer, BT_BN_equivalency) { GaussianFactorGraph expected(gbn); GaussianFactorGraph actual(bt); - EXPECT(assert_equal(expected.denseJacobian(), actual.denseJacobian())); + EXPECT(assert_equal(expected.denseHessian(), actual.denseHessian())); } /* ************************************************************************* */ From 0238f54b9fee7de140b19eb95ff8c8bc341d4332 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 28 Aug 2012 02:57:20 +0000 Subject: [PATCH 823/914] Changed print format of ordering to print in elimination order instead of sorted by key --- gtsam/nonlinear/Ordering.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/Ordering.cpp b/gtsam/nonlinear/Ordering.cpp index 2c20d82dd..9f99948a4 100644 --- a/gtsam/nonlinear/Ordering.cpp +++ b/gtsam/nonlinear/Ordering.cpp @@ -42,8 +42,13 @@ void Ordering::permuteWithInverse(const Permutation& inversePermutation) { /* ************************************************************************* */ void Ordering::print(const string& str, const KeyFormatter& keyFormatter) const { cout << str; - BOOST_FOREACH(const Ordering::value_type& key_order, *this) - cout << keyFormatter(key_order.first) << ":" << key_order.second << endl; + // Print ordering in index order + Ordering::InvertedMap inverted = this->invert(); + cout << "key (zero-based order)\n"; + BOOST_FOREACH(const Ordering::InvertedMap::value_type& index_key, inverted) { + cout << keyFormatter(index_key.second) << " (" << index_key.first << ")\n"; + } + cout.flush(); } /* ************************************************************************* */ From f27fee55246efc732c3e11628f9b4c29318a9e86 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 28 Aug 2012 15:00:50 +0000 Subject: [PATCH 824/914] Added findExampleDataFile to C++ gtsam (already existed in Matlab interface) --- gtsam/CMakeLists.txt | 6 ++++++ gtsam/slam/dataset.cpp | 32 ++++++++++++++++++++++++++++++ gtsam/slam/dataset.h | 13 ++++++++++++ gtsam/slam/tests/testDataset.cpp | 34 ++++++++++++++++++++++++++++++++ 4 files changed, 85 insertions(+) create mode 100644 gtsam/slam/tests/testDataset.cpp diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index 56bce727b..054664940 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -114,6 +114,12 @@ if (GTSAM_BUILD_SHARED_LIBRARY) endif() endif(GTSAM_BUILD_SHARED_LIBRARY) +# Set dataset paths +set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/slam/dataset.cpp" + APPEND PROPERTY COMPILE_DEFINITIONS + "SOURCE_TREE_DATASET_DIR=\"${CMAKE_SOURCE_DIR}/examples/Data\"" + "INSTALLED_DATASET_DIR=\"${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data\"") + # Create the matlab toolbox for the gtsam library if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Set up codegen diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index 643764f71..e9ec73a85 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -20,6 +20,8 @@ #include #include +#include + #include #include #include @@ -27,11 +29,41 @@ #include using namespace std; +namespace fs = boost::filesystem; #define LINESIZE 81920 namespace gtsam { +/* ************************************************************************* */ +string findExampleDataFile(const string& name) { + // Search source tree and installed location + vector rootsToSearch; + rootsToSearch.push_back(SOURCE_TREE_DATASET_DIR); // Defined by CMake, see gtsam/gtsam/CMakeLists.txt + rootsToSearch.push_back(INSTALLED_DATASET_DIR); // Defined by CMake, see gtsam/gtsam/CMakeLists.txt + + // Search for filename as given, and with .graph and .txt extensions + vector namesToSearch; + namesToSearch.push_back(name); + namesToSearch.push_back(name + ".graph"); + namesToSearch.push_back(name + ".txt"); + + // Find first name that exists + BOOST_FOREACH(const fs::path& root, rootsToSearch) { + BOOST_FOREACH(const fs::path& name, namesToSearch) { + if(fs::is_regular_file(root / name)) + return (root / name).string(); + } + } + + // If we did not return already, then we did not find the file + throw std::invalid_argument( + "gtsam::findExampleDataFile could not find a matching file in\n" + SOURCE_TREE_DATASET_DIR " or\n" + INSTALLED_DATASET_DIR " named\n" + + name + ", " + name + ".graph, or " + name + ".txt"); +} + /* ************************************************************************* */ pair load2D( pair > dataset, diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index c881ce2bd..7c38e13c9 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -25,6 +25,19 @@ namespace gtsam { + /** + * Find the full path to an example dataset distributed with gtsam. The name + * may be specified with or without a file extension - if no extension is + * give, this function first looks for the .graph extension, then .txt. We + * first check the gtsam source tree for the file, followed by the installed + * example dataset location. Both the source tree and installed locations + * are obtained from CMake during compilation. + * @return The full path and filename to the requested dataset. + * @throw std::invalid_argument if no matching file could be found using the + * search process described above. + */ + std::string findExampleDataFile(const std::string& name); + /** * Load TORO 2D Graph * @param dataset/model pair as constructed by [dataset] diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp new file mode 100644 index 000000000..9181178f1 --- /dev/null +++ b/gtsam/slam/tests/testDataset.cpp @@ -0,0 +1,34 @@ +/* ---------------------------------------------------------------------------- + + * 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 testDataset.cpp + * @brief Unit test for dataset.cpp + * @author Richard Roberts + */ + +#include + +#include + +#include +#include + +using namespace std; +using namespace gtsam; + +TEST(dataSet, findExampleDataFile) { + const string expected_end = "gtsam/examples/Data/example.graph"; + const string actual = findExampleDataFile("example"); + string actual_end = actual.substr(actual.size() - expected_end.size(), expected_end.size()); + boost::replace_all(actual_end, "\\", "/"); // Convert directory separators to forward-slash + EXPECT(assert_equal(expected_end, actual_end)); +} From bf71e497cddbd7c8dd4334a788d877e42bbea803 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 28 Aug 2012 15:38:08 +0000 Subject: [PATCH 825/914] linking fix on Mac for testDataset --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d94f259f9..85984d7e0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -109,7 +109,7 @@ if(CYGWIN OR MSVC OR WIN32) set(Boost_USE_STATIC_LIBS 1) endif() find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex REQUIRED) -set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY}) +set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) # General build settings include_directories( From 820f63258333258b499b1631699d679d2b7463b0 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Tue, 28 Aug 2012 15:38:22 +0000 Subject: [PATCH 826/914] missing main? --- gtsam/slam/tests/testDataset.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index 9181178f1..2df2228af 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -32,3 +32,7 @@ TEST(dataSet, findExampleDataFile) { boost::replace_all(actual_end, "\\", "/"); // Convert directory separators to forward-slash EXPECT(assert_equal(expected_end, actual_end)); } + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From fe6dd197bb54728db29e866f9ed89e5a7396bb17 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 28 Aug 2012 19:14:46 +0000 Subject: [PATCH 827/914] Fixed example --- gtsam/discrete/tests/testDecisionTree.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp index f67df51a8..1dfcd3057 100644 --- a/gtsam/discrete/tests/testDecisionTree.cpp +++ b/gtsam/discrete/tests/testDecisionTree.cpp @@ -41,6 +41,9 @@ void dot(const T&f, const string& filename) { #define DOT(x)(dot(x,#x)) +struct Crazy { int a; double b; }; +typedef DecisionTree CrazyDecisionTree; // check that DecisionTree is actually generic (as it pretends to be) + /* ******************************************************************************** */ // Test string labels and int range /* ******************************************************************************** */ From d0a1e662a7e882e01724ee0c6e262e03acfa7ab1 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Tue, 28 Aug 2012 21:44:45 +0000 Subject: [PATCH 828/914] Wrap comments are now EVEN better --- wrap/Class.cpp | 40 +++++-- wrap/Class.h | 1 + wrap/Method.cpp | 27 ++++- wrap/StaticMethod.cpp | 33 ++++-- wrap/StaticMethod.h | 1 + wrap/tests/expected/Point2.m | 41 ++++--- wrap/tests/expected/Point3.m | 27 +++-- wrap/tests/expected/Test.m | 101 +++++++++++------- wrap/tests/expected_namespaces/+ns1/ClassA.m | 4 +- wrap/tests/expected_namespaces/+ns1/ClassB.m | 4 +- .../expected_namespaces/+ns2/+ns3/ClassB.m | 4 +- wrap/tests/expected_namespaces/+ns2/ClassA.m | 28 +++-- wrap/tests/expected_namespaces/+ns2/ClassC.m | 4 +- wrap/tests/expected_namespaces/ClassD.m | 4 +- 14 files changed, 215 insertions(+), 104 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 44aa6a1bd..2d76dad8e 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -330,8 +330,10 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << "%" << "-------Constructors-------" << endl; BOOST_FOREACH(ArgumentList argList, constructor.args_list) { - proxyFile.oss << "%" << name << "("; - int i = 0; + + string up_name = boost::to_upper_copy(name); + proxyFile.oss << "%" << up_name << "("; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) @@ -343,13 +345,15 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << ")" << endl; } + proxyFile.oss << "% " << "" << endl; proxyFile.oss << "%" << "-------Methods-------" << endl; BOOST_FOREACH(const Methods::value_type& name_m, methods) { const Method& m = name_m.second; BOOST_FOREACH(ArgumentList argList, m.argLists) { - proxyFile.oss << "%" << m.name << "("; - int i = 0; + string up_name = boost::to_upper_copy(m.name); + proxyFile.oss << "%" << up_name << "("; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) @@ -358,17 +362,28 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << arg.type << " " << arg.name; i++; } - proxyFile.oss << ")" << endl; + proxyFile.oss << ") : returns "; + } + unsigned int retCount = 0; + BOOST_FOREACH(ReturnValue rt, m.returnVals) + { + if(retCount != m.returnVals.size() - 1) + proxyFile.oss << rt.return_type(false, rt.pair) << ", "; + else + proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; + } } + proxyFile.oss << "% " << "" << endl; proxyFile.oss << "%" << "-------Static Methods-------" << endl; BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { const StaticMethod& m = name_m.second; BOOST_FOREACH(ArgumentList argList, m.argLists) { - proxyFile.oss << "%" << m.name << "("; - int i = 0; + string up_name = boost::to_upper_copy(m.name); + proxyFile.oss << "%" << up_name << "("; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) @@ -377,7 +392,16 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << arg.type << " " << arg.name; i++; } - proxyFile.oss << ")" << endl; + proxyFile.oss << ") : returns "; + } + unsigned int retCount = 0; + BOOST_FOREACH(ReturnValue rt, m.returnVals) + { + if(retCount != m.returnVals.size() - 1) + proxyFile.oss << rt.return_type(false, rt.pair) << ", "; + else + proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; + } } diff --git a/wrap/Class.h b/wrap/Class.h index 687a6bc68..0d2736382 100644 --- a/wrap/Class.h +++ b/wrap/Class.h @@ -27,6 +27,7 @@ #include "Method.h" #include "StaticMethod.h" #include "TypeAttributesTable.h" +#include namespace wrap { diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 5f60d6a36..3a03e92a9 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -47,11 +47,13 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF proxyFile.oss << " function varargout = " << name << "(this, varargin)\n"; //Comments for documentation - proxyFile.oss << " % " << name << " "; + string up_name = boost::to_upper_copy(name); + proxyFile.oss << " % " << up_name << " usage:"; + unsigned int argLCount = 0; BOOST_FOREACH(ArgumentList argList, argLists) { - proxyFile.oss << " " << name << "("; - int i = 0; + proxyFile.oss << " " << up_name << "("; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) @@ -60,8 +62,23 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF proxyFile.oss << arg.type << " " << arg.name; i++; } - proxyFile.oss << ") : "; + if(argLCount != argLists.size()-1) + proxyFile.oss << "), "; + else + proxyFile.oss << ") : returns "; + argLCount++; } + + unsigned int retCount = 0; + BOOST_FOREACH(ReturnValue rt, returnVals) + { + if(retCount != returnVals.size() - 1) + proxyFile.oss << rt.return_type(false, rt.pair) << ", "; + else + proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; + + } + proxyFile.oss << endl; proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; @@ -69,7 +86,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF BOOST_FOREACH(ArgumentList argList, argLists) { proxyFile.oss << " % " << name << "("; - int i = 0; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index c232739be..484f156df 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -47,15 +47,17 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr const TypeAttributesTable& typeAttributes, vector& functionNames) const { - string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); + string upperName = name; upperName[0] = std::toupper(upperName[0], std::locale()); proxyFile.oss << " function varargout = " << upperName << "(varargin)\n"; //Comments for documentation - proxyFile.oss << " % " << name << " "; + string up_name = boost::to_upper_copy(name); + proxyFile.oss << " % " << up_name << " usage:"; + unsigned int argLCount = 0; BOOST_FOREACH(ArgumentList argList, argLists) { - proxyFile.oss << " " << name << "("; - int i = 0; + proxyFile.oss << " " << up_name << "("; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) @@ -64,16 +66,31 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr proxyFile.oss << arg.type << " " << arg.name; i++; } - proxyFile.oss << ") : "; + if(argLCount != argLists.size()-1) + proxyFile.oss << "), "; + else + proxyFile.oss << ") : returns "; + argLCount++; } + + unsigned int retCount = 0; + BOOST_FOREACH(ReturnValue rt, returnVals) + { + if(retCount != returnVals.size() - 1) + proxyFile.oss << rt.return_type(false, rt.pair) << ", "; + else + proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; + + } + proxyFile.oss << endl; proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; - proxyFile.oss << " % " << "Method Overloads" << endl; + proxyFile.oss << " % " << "Usage" << endl; BOOST_FOREACH(ArgumentList argList, argLists) { - proxyFile.oss << " % " << name << "("; - int i = 0; + proxyFile.oss << " % " << up_name << "("; + unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { if(i != argList.size()-1) diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h index fc82105f0..9c1581400 100644 --- a/wrap/StaticMethod.h +++ b/wrap/StaticMethod.h @@ -25,6 +25,7 @@ #include "Argument.h" #include "ReturnValue.h" #include "TypeAttributesTable.h" +#include namespace wrap { diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m index 8a2718377..85fb369dc 100644 --- a/wrap/tests/expected/Point2.m +++ b/wrap/tests/expected/Point2.m @@ -1,14 +1,16 @@ %-------Constructors------- -%Point2() -%Point2(double x, double y) +%POINT2() +%POINT2(double x, double y) +% %-------Methods------- -%argChar(char a) -%argUChar(unsigned char a) -%dim() -%returnChar() -%vectorConfusion() -%x() -%y() +%ARGCHAR(char a) : returns void +%ARGUCHAR(unsigned char a) : returns void +%DIM() : returns int +%RETURNCHAR() : returns char +%VECTORCONFUSION() : returns VectorNotEigen +%X() : returns double +%Y() : returns double +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html @@ -40,7 +42,8 @@ classdef Point2 < handle function disp(obj), obj.display; end function varargout = argChar(this, varargin) - % argChar argChar(char a) : + % ARGCHAR usage: ARGCHAR(char a) : returns void + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -53,7 +56,8 @@ classdef Point2 < handle end function varargout = argUChar(this, varargin) - % argUChar argUChar(unsigned char a) : + % ARGUCHAR usage: ARGUCHAR(unsigned char a) : returns void + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -66,7 +70,8 @@ classdef Point2 < handle end function varargout = dim(this, varargin) - % dim dim() : + % DIM usage: DIM() : returns int + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -79,7 +84,8 @@ classdef Point2 < handle end function varargout = returnChar(this, varargin) - % returnChar returnChar() : + % RETURNCHAR usage: RETURNCHAR() : returns char + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -92,7 +98,8 @@ classdef Point2 < handle end function varargout = vectorConfusion(this, varargin) - % vectorConfusion vectorConfusion() : + % VECTORCONFUSION usage: VECTORCONFUSION() : returns VectorNotEigen + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -105,7 +112,8 @@ classdef Point2 < handle end function varargout = x(this, varargin) - % x x() : + % X usage: X() : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -118,7 +126,8 @@ classdef Point2 < handle end function varargout = y(this, varargin) - % y y() : + % Y usage: Y() : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index 4cd50f4d5..88dd174e1 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -1,10 +1,12 @@ %-------Constructors------- -%Point3(double x, double y, double z) +%POINT3(double x, double y, double z) +% %-------Methods------- -%norm() +%NORM() : returns double +% %-------Static Methods------- -%StaticFunctionRet(double z) -%staticFunction() +%STATICFUNCTIONRET(double z) : returns Point3 +%STATICFUNCTION() : returns double % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Point3 < handle @@ -33,7 +35,8 @@ classdef Point3 < handle function disp(obj), obj.display; end function varargout = norm(this, varargin) - % norm norm() : + % NORM usage: NORM() : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -49,11 +52,12 @@ classdef Point3 < handle methods(Static = true) function varargout = StaticFunctionRet(varargin) - % StaticFunctionRet StaticFunctionRet(double z) : + % STATICFUNCTIONRET usage: STATICFUNCTIONRET(double z) : returns Point3 + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % - % Method Overloads - % StaticFunctionRet(double z) + % Usage + % STATICFUNCTIONRET(double z) if length(varargin) == 1 && isa(varargin{1},'double') varargout{1} = geometry_wrapper(15, varargin{:}); else @@ -62,11 +66,12 @@ classdef Point3 < handle end function varargout = StaticFunction(varargin) - % staticFunction staticFunction() : + % STATICFUNCTION usage: STATICFUNCTION() : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % - % Method Overloads - % staticFunction() + % Usage + % STATICFUNCTION() if length(varargin) == 0 varargout{1} = geometry_wrapper(16, varargin{:}); else diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index 4ce501fb0..b9cc86403 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -1,26 +1,28 @@ %-------Constructors------- -%Test() -%Test(double a, Matrix b) +%TEST() +%TEST(double a, Matrix b) +% %-------Methods------- -%arg_EigenConstRef(Matrix value) -%create_MixedPtrs() -%create_ptrs() -%print() -%return_Point2Ptr(bool value) -%return_Test(Test value) -%return_TestPtr(Test value) -%return_bool(bool value) -%return_double(double value) -%return_field(Test t) -%return_int(int value) -%return_matrix1(Matrix value) -%return_matrix2(Matrix value) -%return_pair(Vector v, Matrix A) -%return_ptrs(Test p1, Test p2) -%return_size_t(size_t value) -%return_string(string value) -%return_vector1(Vector value) -%return_vector2(Vector value) +%ARG_EIGENCONSTREF(Matrix value) : returns void +%CREATE_MIXEDPTRS() : returns pair< Test, SharedTest > +%CREATE_PTRS() : returns pair< SharedTest, SharedTest > +%PRINT() : returns void +%RETURN_POINT2PTR(bool value) : returns Point2 +%RETURN_TEST(Test value) : returns Test +%RETURN_TESTPTR(Test value) : returns Test +%RETURN_BOOL(bool value) : returns bool +%RETURN_DOUBLE(double value) : returns double +%RETURN_FIELD(Test t) : returns bool +%RETURN_INT(int value) : returns int +%RETURN_MATRIX1(Matrix value) : returns Matrix +%RETURN_MATRIX2(Matrix value) : returns Matrix +%RETURN_PAIR(Vector v, Matrix A) : returns pair< Vector, Matrix > +%RETURN_PTRS(Test p1, Test p2) : returns pair< SharedTest, SharedTest > +%RETURN_SIZE_T(size_t value) : returns size_t +%RETURN_STRING(string value) : returns string +%RETURN_VECTOR1(Vector value) : returns Vector +%RETURN_VECTOR2(Vector value) : returns Vector +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html @@ -52,7 +54,8 @@ classdef Test < handle function disp(obj), obj.display; end function varargout = arg_EigenConstRef(this, varargin) - % arg_EigenConstRef arg_EigenConstRef(Matrix value) : + % ARG_EIGENCONSTREF usage: ARG_EIGENCONSTREF(Matrix value) : returns void + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -65,7 +68,8 @@ classdef Test < handle end function varargout = create_MixedPtrs(this, varargin) - % create_MixedPtrs create_MixedPtrs() : + % CREATE_MIXEDPTRS usage: CREATE_MIXEDPTRS() : returns pair< Test, SharedTest > + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -78,7 +82,8 @@ classdef Test < handle end function varargout = create_ptrs(this, varargin) - % create_ptrs create_ptrs() : + % CREATE_PTRS usage: CREATE_PTRS() : returns pair< SharedTest, SharedTest > + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -91,7 +96,8 @@ classdef Test < handle end function varargout = print(this, varargin) - % print print() : + % PRINT usage: PRINT() : returns void + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -104,7 +110,8 @@ classdef Test < handle end function varargout = return_Point2Ptr(this, varargin) - % return_Point2Ptr return_Point2Ptr(bool value) : + % RETURN_POINT2PTR usage: RETURN_POINT2PTR(bool value) : returns Point2 + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -117,7 +124,8 @@ classdef Test < handle end function varargout = return_Test(this, varargin) - % return_Test return_Test(Test value) : + % RETURN_TEST usage: RETURN_TEST(Test value) : returns Test + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -130,7 +138,8 @@ classdef Test < handle end function varargout = return_TestPtr(this, varargin) - % return_TestPtr return_TestPtr(Test value) : + % RETURN_TESTPTR usage: RETURN_TESTPTR(Test value) : returns Test + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -143,7 +152,8 @@ classdef Test < handle end function varargout = return_bool(this, varargin) - % return_bool return_bool(bool value) : + % RETURN_BOOL usage: RETURN_BOOL(bool value) : returns bool + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -156,7 +166,8 @@ classdef Test < handle end function varargout = return_double(this, varargin) - % return_double return_double(double value) : + % RETURN_DOUBLE usage: RETURN_DOUBLE(double value) : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -169,7 +180,8 @@ classdef Test < handle end function varargout = return_field(this, varargin) - % return_field return_field(Test t) : + % RETURN_FIELD usage: RETURN_FIELD(Test t) : returns bool + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -182,7 +194,8 @@ classdef Test < handle end function varargout = return_int(this, varargin) - % return_int return_int(int value) : + % RETURN_INT usage: RETURN_INT(int value) : returns int + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -195,7 +208,8 @@ classdef Test < handle end function varargout = return_matrix1(this, varargin) - % return_matrix1 return_matrix1(Matrix value) : + % RETURN_MATRIX1 usage: RETURN_MATRIX1(Matrix value) : returns Matrix + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -208,7 +222,8 @@ classdef Test < handle end function varargout = return_matrix2(this, varargin) - % return_matrix2 return_matrix2(Matrix value) : + % RETURN_MATRIX2 usage: RETURN_MATRIX2(Matrix value) : returns Matrix + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -221,7 +236,8 @@ classdef Test < handle end function varargout = return_pair(this, varargin) - % return_pair return_pair(Vector v, Matrix A) : + % RETURN_PAIR usage: RETURN_PAIR(Vector v, Matrix A) : returns pair< Vector, Matrix > + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -234,7 +250,8 @@ classdef Test < handle end function varargout = return_ptrs(this, varargin) - % return_ptrs return_ptrs(Test p1, Test p2) : + % RETURN_PTRS usage: RETURN_PTRS(Test p1, Test p2) : returns pair< SharedTest, SharedTest > + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -247,7 +264,8 @@ classdef Test < handle end function varargout = return_size_t(this, varargin) - % return_size_t return_size_t(size_t value) : + % RETURN_SIZE_T usage: RETURN_SIZE_T(size_t value) : returns size_t + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -260,7 +278,8 @@ classdef Test < handle end function varargout = return_string(this, varargin) - % return_string return_string(string value) : + % RETURN_STRING usage: RETURN_STRING(string value) : returns string + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -273,7 +292,8 @@ classdef Test < handle end function varargout = return_vector1(this, varargin) - % return_vector1 return_vector1(Vector value) : + % RETURN_VECTOR1 usage: RETURN_VECTOR1(Vector value) : returns Vector + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -286,7 +306,8 @@ classdef Test < handle end function varargout = return_vector2(this, varargin) - % return_vector2 return_vector2(Vector value) : + % RETURN_VECTOR2 usage: RETURN_VECTOR2(Vector value) : returns Vector + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads diff --git a/wrap/tests/expected_namespaces/+ns1/ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m index bcca78cdf..f557bc621 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m @@ -1,6 +1,8 @@ %-------Constructors------- -%ClassA() +%CLASSA() +% %-------Methods------- +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html diff --git a/wrap/tests/expected_namespaces/+ns1/ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m index 99be93023..70be8a2ff 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m @@ -1,6 +1,8 @@ %-------Constructors------- -%ClassB() +%CLASSB() +% %-------Methods------- +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html diff --git a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m index f2a32111a..07d496ddc 100644 --- a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m @@ -1,6 +1,8 @@ %-------Constructors------- -%ClassB() +%CLASSB() +% %-------Methods------- +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html diff --git a/wrap/tests/expected_namespaces/+ns2/ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m index e795deb71..46e43bdc6 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m @@ -1,11 +1,13 @@ %-------Constructors------- -%ClassA() +%CLASSA() +% %-------Methods------- -%memberFunction() -%nsArg(ClassB arg) -%nsReturn(double q) +%MEMBERFUNCTION() : returns double +%NSARG(ClassB arg) : returns int +%NSRETURN(double q) : returns ns2::ns3::ClassB +% %-------Static Methods------- -%afunction() +%AFUNCTION() : returns double % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassA < handle @@ -34,7 +36,8 @@ classdef ClassA < handle function disp(obj), obj.display; end function varargout = memberFunction(this, varargin) - % memberFunction memberFunction() : + % MEMBERFUNCTION usage: MEMBERFUNCTION() : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -47,7 +50,8 @@ classdef ClassA < handle end function varargout = nsArg(this, varargin) - % nsArg nsArg(ClassB arg) : + % NSARG usage: NSARG(ClassB arg) : returns int + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -60,7 +64,8 @@ classdef ClassA < handle end function varargout = nsReturn(this, varargin) - % nsReturn nsReturn(double q) : + % NSRETURN usage: NSRETURN(double q) : returns ns2::ns3::ClassB + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -76,11 +81,12 @@ classdef ClassA < handle methods(Static = true) function varargout = Afunction(varargin) - % afunction afunction() : + % AFUNCTION usage: AFUNCTION() : returns double + % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % - % Method Overloads - % afunction() + % Usage + % AFUNCTION() if length(varargin) == 0 varargout{1} = testNamespaces_wrapper(12, varargin{:}); else diff --git a/wrap/tests/expected_namespaces/+ns2/ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m index 2d6cb21d8..a5485afcc 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassC.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m @@ -1,6 +1,8 @@ %-------Constructors------- -%ClassC() +%CLASSC() +% %-------Methods------- +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m index 98a4df3a6..1e672466c 100644 --- a/wrap/tests/expected_namespaces/ClassD.m +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -1,6 +1,8 @@ %-------Constructors------- -%ClassD() +%CLASSD() +% %-------Methods------- +% %-------Static Methods------- % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html From 84a806bf393ae2668043aec61c24ed3413b5d847 Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Wed, 29 Aug 2012 20:27:10 +0000 Subject: [PATCH 829/914] Final fixes made for wrap comments --- wrap/Class.cpp | 27 ++------ wrap/Method.cpp | 15 +---- wrap/StaticMethod.cpp | 15 +---- wrap/tests/expected/Point2.m | 25 +++----- wrap/tests/expected/Point3.m | 13 ++-- wrap/tests/expected/Test.m | 61 +++++++------------ wrap/tests/expected_namespaces/+ns1/ClassA.m | 4 +- wrap/tests/expected_namespaces/+ns1/ClassB.m | 4 +- .../expected_namespaces/+ns2/+ns3/ClassB.m | 4 +- wrap/tests/expected_namespaces/+ns2/ClassA.m | 16 ++--- wrap/tests/expected_namespaces/+ns2/ClassC.m | 4 +- wrap/tests/expected_namespaces/ClassD.m | 4 +- 12 files changed, 60 insertions(+), 132 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 2d76dad8e..c5c306ce6 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -101,8 +101,8 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, wrapperFile.oss << "\n"; functionNames.push_back(functionName); } - proxyFile.oss << " function display(obj), obj.print(''); end\n\n"; - proxyFile.oss << " function disp(obj), obj.display; end\n\n"; + proxyFile.oss << " function display(obj), obj.print(''); end\n %DISPLAY Calls print on the object\n"; + proxyFile.oss << " function disp(obj), obj.display; end\n %DISP Calls print on the object\n"; // Methods BOOST_FOREACH(const Methods::value_type& name_m, methods) { @@ -362,16 +362,7 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << arg.type << " " << arg.name; i++; } - proxyFile.oss << ") : returns "; - } - unsigned int retCount = 0; - BOOST_FOREACH(ReturnValue rt, m.returnVals) - { - if(retCount != m.returnVals.size() - 1) - proxyFile.oss << rt.return_type(false, rt.pair) << ", "; - else - proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; - + proxyFile.oss << ") : returns " << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl; } } @@ -392,16 +383,8 @@ void Class::comment_fragment(FileWriter& proxyFile) const proxyFile.oss << arg.type << " " << arg.name; i++; } - proxyFile.oss << ") : returns "; - } - unsigned int retCount = 0; - BOOST_FOREACH(ReturnValue rt, m.returnVals) - { - if(retCount != m.returnVals.size() - 1) - proxyFile.oss << rt.return_type(false, rt.pair) << ", "; - else - proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; - + + proxyFile.oss << ") : returns " << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl; } } diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 3a03e92a9..e4def9bc0 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -52,7 +52,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF unsigned int argLCount = 0; BOOST_FOREACH(ArgumentList argList, argLists) { - proxyFile.oss << " " << up_name << "("; + proxyFile.oss << " " << name << "("; unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { @@ -65,21 +65,10 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF if(argLCount != argLists.size()-1) proxyFile.oss << "), "; else - proxyFile.oss << ") : returns "; + proxyFile.oss << ") : returns " << returnVals[0].return_type(false, returnVals[0].pair) << endl; argLCount++; } - unsigned int retCount = 0; - BOOST_FOREACH(ReturnValue rt, returnVals) - { - if(retCount != returnVals.size() - 1) - proxyFile.oss << rt.return_type(false, rt.pair) << ", "; - else - proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; - - } - - proxyFile.oss << endl; proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; proxyFile.oss << " % " << "Method Overloads" << endl; diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp index 484f156df..d46fde81a 100644 --- a/wrap/StaticMethod.cpp +++ b/wrap/StaticMethod.cpp @@ -56,7 +56,7 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr unsigned int argLCount = 0; BOOST_FOREACH(ArgumentList argList, argLists) { - proxyFile.oss << " " << up_name << "("; + proxyFile.oss << " " << name << "("; unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { @@ -69,21 +69,10 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr if(argLCount != argLists.size()-1) proxyFile.oss << "), "; else - proxyFile.oss << ") : returns "; + proxyFile.oss << ") : returns " << returnVals[0].return_type(false, returnVals[0].pair) << endl; argLCount++; } - unsigned int retCount = 0; - BOOST_FOREACH(ReturnValue rt, returnVals) - { - if(retCount != returnVals.size() - 1) - proxyFile.oss << rt.return_type(false, rt.pair) << ", "; - else - proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl; - - } - - proxyFile.oss << endl; proxyFile.oss << " % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; proxyFile.oss << " % " << "" << endl; proxyFile.oss << " % " << "Usage" << endl; diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m index 85fb369dc..913a869b5 100644 --- a/wrap/tests/expected/Point2.m +++ b/wrap/tests/expected/Point2.m @@ -38,12 +38,11 @@ classdef Point2 < handle 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 = argChar(this, varargin) - % ARGCHAR usage: ARGCHAR(char a) : returns void - + % ARGCHAR usage: argChar(char a) : returns void % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -56,8 +55,7 @@ classdef Point2 < handle end function varargout = argUChar(this, varargin) - % ARGUCHAR usage: ARGUCHAR(unsigned char a) : returns void - + % ARGUCHAR usage: argUChar(unsigned char a) : returns void % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -70,8 +68,7 @@ classdef Point2 < handle end function varargout = dim(this, varargin) - % DIM usage: DIM() : returns int - + % DIM usage: dim() : returns int % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -84,8 +81,7 @@ classdef Point2 < handle end function varargout = returnChar(this, varargin) - % RETURNCHAR usage: RETURNCHAR() : returns char - + % RETURNCHAR usage: returnChar() : returns char % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -98,8 +94,7 @@ classdef Point2 < handle end function varargout = vectorConfusion(this, varargin) - % VECTORCONFUSION usage: VECTORCONFUSION() : returns VectorNotEigen - + % VECTORCONFUSION usage: vectorConfusion() : returns VectorNotEigen % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -112,8 +107,7 @@ classdef Point2 < handle end function varargout = x(this, varargin) - % X usage: X() : returns double - + % X usage: x() : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -126,8 +120,7 @@ classdef Point2 < handle end function varargout = y(this, varargin) - % Y usage: Y() : returns double - + % Y usage: y() : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index 88dd174e1..965815dc6 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -31,12 +31,11 @@ classdef Point3 < handle 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 = norm(this, varargin) - % NORM usage: NORM() : returns double - + % NORM usage: norm() : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -52,8 +51,7 @@ classdef Point3 < handle methods(Static = true) function varargout = StaticFunctionRet(varargin) - % STATICFUNCTIONRET usage: STATICFUNCTIONRET(double z) : returns Point3 - + % STATICFUNCTIONRET usage: StaticFunctionRet(double z) : returns Point3 % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Usage @@ -66,8 +64,7 @@ classdef Point3 < handle end function varargout = StaticFunction(varargin) - % STATICFUNCTION usage: STATICFUNCTION() : returns double - + % STATICFUNCTION usage: staticFunction() : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Usage diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index b9cc86403..d39025971 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -50,12 +50,11 @@ classdef Test < handle 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 = arg_EigenConstRef(this, varargin) - % ARG_EIGENCONSTREF usage: ARG_EIGENCONSTREF(Matrix value) : returns void - + % ARG_EIGENCONSTREF usage: arg_EigenConstRef(Matrix value) : returns void % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -68,8 +67,7 @@ classdef Test < handle end function varargout = create_MixedPtrs(this, varargin) - % CREATE_MIXEDPTRS usage: CREATE_MIXEDPTRS() : returns pair< Test, SharedTest > - + % CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Test, SharedTest > % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -82,8 +80,7 @@ classdef Test < handle end function varargout = create_ptrs(this, varargin) - % CREATE_PTRS usage: CREATE_PTRS() : returns pair< SharedTest, SharedTest > - + % CREATE_PTRS usage: create_ptrs() : returns pair< SharedTest, SharedTest > % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -96,8 +93,7 @@ classdef Test < handle end function varargout = print(this, varargin) - % PRINT usage: PRINT() : returns void - + % PRINT usage: print() : returns void % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -110,8 +106,7 @@ classdef Test < handle end function varargout = return_Point2Ptr(this, varargin) - % RETURN_POINT2PTR usage: RETURN_POINT2PTR(bool value) : returns Point2 - + % RETURN_POINT2PTR usage: return_Point2Ptr(bool value) : returns Point2 % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -124,8 +119,7 @@ classdef Test < handle end function varargout = return_Test(this, varargin) - % RETURN_TEST usage: RETURN_TEST(Test value) : returns Test - + % RETURN_TEST usage: return_Test(Test value) : returns Test % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -138,8 +132,7 @@ classdef Test < handle end function varargout = return_TestPtr(this, varargin) - % RETURN_TESTPTR usage: RETURN_TESTPTR(Test value) : returns Test - + % RETURN_TESTPTR usage: return_TestPtr(Test value) : returns Test % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -152,8 +145,7 @@ classdef Test < handle end function varargout = return_bool(this, varargin) - % RETURN_BOOL usage: RETURN_BOOL(bool value) : returns bool - + % RETURN_BOOL usage: return_bool(bool value) : returns bool % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -166,8 +158,7 @@ classdef Test < handle end function varargout = return_double(this, varargin) - % RETURN_DOUBLE usage: RETURN_DOUBLE(double value) : returns double - + % RETURN_DOUBLE usage: return_double(double value) : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -180,8 +171,7 @@ classdef Test < handle end function varargout = return_field(this, varargin) - % RETURN_FIELD usage: RETURN_FIELD(Test t) : returns bool - + % RETURN_FIELD usage: return_field(Test t) : returns bool % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -194,8 +184,7 @@ classdef Test < handle end function varargout = return_int(this, varargin) - % RETURN_INT usage: RETURN_INT(int value) : returns int - + % RETURN_INT usage: return_int(int value) : returns int % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -208,8 +197,7 @@ classdef Test < handle end function varargout = return_matrix1(this, varargin) - % RETURN_MATRIX1 usage: RETURN_MATRIX1(Matrix value) : returns Matrix - + % RETURN_MATRIX1 usage: return_matrix1(Matrix value) : returns Matrix % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -222,8 +210,7 @@ classdef Test < handle end function varargout = return_matrix2(this, varargin) - % RETURN_MATRIX2 usage: RETURN_MATRIX2(Matrix value) : returns Matrix - + % RETURN_MATRIX2 usage: return_matrix2(Matrix value) : returns Matrix % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -236,8 +223,7 @@ classdef Test < handle end function varargout = return_pair(this, varargin) - % RETURN_PAIR usage: RETURN_PAIR(Vector v, Matrix A) : returns pair< Vector, Matrix > - + % RETURN_PAIR usage: return_pair(Vector v, Matrix A) : returns pair< Vector, Matrix > % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -250,8 +236,7 @@ classdef Test < handle end function varargout = return_ptrs(this, varargin) - % RETURN_PTRS usage: RETURN_PTRS(Test p1, Test p2) : returns pair< SharedTest, SharedTest > - + % RETURN_PTRS usage: return_ptrs(Test p1, Test p2) : returns pair< SharedTest, SharedTest > % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -264,8 +249,7 @@ classdef Test < handle end function varargout = return_size_t(this, varargin) - % RETURN_SIZE_T usage: RETURN_SIZE_T(size_t value) : returns size_t - + % RETURN_SIZE_T usage: return_size_t(size_t value) : returns size_t % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -278,8 +262,7 @@ classdef Test < handle end function varargout = return_string(this, varargin) - % RETURN_STRING usage: RETURN_STRING(string value) : returns string - + % RETURN_STRING usage: return_string(string value) : returns string % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -292,8 +275,7 @@ classdef Test < handle end function varargout = return_vector1(this, varargin) - % RETURN_VECTOR1 usage: RETURN_VECTOR1(Vector value) : returns Vector - + % RETURN_VECTOR1 usage: return_vector1(Vector value) : returns Vector % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -306,8 +288,7 @@ classdef Test < handle end function varargout = return_vector2(this, varargin) - % RETURN_VECTOR2 usage: RETURN_VECTOR2(Vector value) : returns Vector - + % RETURN_VECTOR2 usage: return_vector2(Vector value) : returns Vector % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads diff --git a/wrap/tests/expected_namespaces/+ns1/ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m index f557bc621..2ce280041 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m @@ -28,9 +28,9 @@ classdef ClassA < handle 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) diff --git a/wrap/tests/expected_namespaces/+ns1/ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m index 70be8a2ff..5c4d82882 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m @@ -28,9 +28,9 @@ classdef ClassB < handle 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) diff --git a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m index 07d496ddc..ff5ed9e3c 100644 --- a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m @@ -28,9 +28,9 @@ classdef ClassB < handle 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) diff --git a/wrap/tests/expected_namespaces/+ns2/ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m index 46e43bdc6..d8f1dbc88 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m @@ -32,12 +32,11 @@ classdef ClassA < handle 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 - + % MEMBERFUNCTION usage: memberFunction() : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -50,8 +49,7 @@ classdef ClassA < handle end function varargout = nsArg(this, varargin) - % NSARG usage: NSARG(ClassB arg) : returns int - + % NSARG usage: nsArg(ClassB arg) : returns int % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -64,8 +62,7 @@ classdef ClassA < handle end function varargout = nsReturn(this, varargin) - % NSRETURN usage: NSRETURN(double q) : returns ns2::ns3::ClassB - + % NSRETURN usage: nsReturn(double q) : returns ns2::ns3::ClassB % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Method Overloads @@ -81,8 +78,7 @@ classdef ClassA < handle methods(Static = true) function varargout = Afunction(varargin) - % AFUNCTION usage: AFUNCTION() : returns double - + % AFUNCTION usage: afunction() : returns double % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html % % Usage diff --git a/wrap/tests/expected_namespaces/+ns2/ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m index a5485afcc..86cf9819f 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassC.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m @@ -28,9 +28,9 @@ classdef ClassC < handle 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) diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m index 1e672466c..13bac35d6 100644 --- a/wrap/tests/expected_namespaces/ClassD.m +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -28,9 +28,9 @@ classdef ClassD < handle 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) From 12eb4598e1a877cbe5d94ffd22fb86db49f2e3ce Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 29 Aug 2012 21:15:47 +0000 Subject: [PATCH 830/914] Created branch /branches/2.1.0 from /trunk:13097 From b74bf975498a975bce3856d27e52be324b6f3057 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 29 Aug 2012 21:22:16 +0000 Subject: [PATCH 831/914] Repointing cmake external in 2.1.0 branch From 166bb2e8b4e53e42d4ceabd6c8c9ed21e6242b6b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 29 Aug 2012 21:29:55 +0000 Subject: [PATCH 832/914] Pointing cmake externals at 2.1.0-pre1 tag From a01d479f44bff57da842bcea60c6e86daf39c469 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 29 Aug 2012 23:09:59 +0000 Subject: [PATCH 833/914] Needed to disable C++ findExampleDataFile when building matlab wrapper --- gtsam/slam/dataset.cpp | 2 ++ gtsam/slam/dataset.h | 2 ++ 2 files changed, 4 insertions(+) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index e9ec73a85..4550b418d 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -35,6 +35,7 @@ namespace fs = boost::filesystem; namespace gtsam { +#ifndef MATLAB_MEX_FILE /* ************************************************************************* */ string findExampleDataFile(const string& name) { // Search source tree and installed location @@ -63,6 +64,7 @@ string findExampleDataFile(const string& name) { INSTALLED_DATASET_DIR " named\n" + name + ", " + name + ".graph, or " + name + ".txt"); } +#endif /* ************************************************************************* */ pair load2D( diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h index 7c38e13c9..8da3d6ef9 100644 --- a/gtsam/slam/dataset.h +++ b/gtsam/slam/dataset.h @@ -25,6 +25,7 @@ namespace gtsam { +#ifndef MATLAB_MEX_FILE /** * Find the full path to an example dataset distributed with gtsam. The name * may be specified with or without a file extension - if no extension is @@ -37,6 +38,7 @@ namespace gtsam { * search process described above. */ std::string findExampleDataFile(const std::string& name); +#endif /** * Load TORO 2D Graph From 20c88705357b8182e0183dc0b5bf9e5670e37327 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 13:37:35 +0000 Subject: [PATCH 834/914] Pointing cmake external back to 2.1.0 branch From 47d40b07e77f6a960697112fe9badface5baa7f3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 14:47:01 +0000 Subject: [PATCH 835/914] Adding README file for matlab wrapper --- matlab/README-gtsam-toolbox.txt | 74 +++++++++++++++++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 matlab/README-gtsam-toolbox.txt diff --git a/matlab/README-gtsam-toolbox.txt b/matlab/README-gtsam-toolbox.txt new file mode 100644 index 000000000..c9b22f3b7 --- /dev/null +++ b/matlab/README-gtsam-toolbox.txt @@ -0,0 +1,74 @@ +================================================================================ +GTSAM - Georgia Tech Smoothing and Mapping Library + +MATLAB wrapper + +http://borg.cc.gatech.edu/projects/gtsam +================================================================================ + +This is the GTSAM MATLAB toolbox, a MATLAB wrapper around the GTSAM C++ +library. + + +---------------------------------------- +Note about newer Ubuntu versions unsupported by MATLAB (later than 10.04) +---------------------------------------- + +If you have a newer Ubuntu system, 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, typically +/usr/local/MATLAB/[version]/sys/os/[system]/ + + +---------------------------------------- +Adding the toolbox to your MATLAB path +---------------------------------------- + +To get started, first add the 'toolbox' folder to your MATLAB path - in the +MATLAB file browser, right-click on the folder and click 'Add to path -> This +folder' (do not add the subfolders to your path). + + +---------------------------------------- +Trying out the examples +---------------------------------------- + +The examples are located in the 'gtsam_examples' subfolder. You may either +run them individually at the MATLAB command line, or open the GTSAM example +GUI by running 'gtsamExamples'. Example: + +>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox +>> cd gtsam_examples % Change to the examples directory +>> gtsamExamples % Run the GTSAM examples GUI + + +---------------------------------------- +Running the unit tests +---------------------------------------- + +The GTSAM MATLAB toolbox also has a small set of unit tests located in the +gtsam_tests directory. Example: + +>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox +>> cd gtsam_tests % Change to the examples directory +>> test_gtsam % Run the unit tests +Starting: testJacobianFactor +Starting: testKalmanFilter +Starting: testLocalizationExample +Starting: testOdometryExample +Starting: testPlanarSLAMExample +Starting: testPose2SLAMExample +Starting: testPose3SLAMExample +Starting: testSFMExample +Starting: testStereoVOExample +Starting: testVisualISAMExample +Tests complete! + + +---------------------------------------- +Writing your own code +---------------------------------------- + +Coding for the GTSAM MATLAB toolbox is straightforward and very fast once you +understand a few basic concepts! Please see the manual to get started. From 4f4ced041ec5181d6a9c63f51f8eb3a25fce655a Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 30 Aug 2012 18:08:56 +0000 Subject: [PATCH 836/914] Added second path to remove matlab libraries from to readme --- matlab/README-gtsam-toolbox.txt | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/matlab/README-gtsam-toolbox.txt b/matlab/README-gtsam-toolbox.txt index c9b22f3b7..6f74f9806 100644 --- a/matlab/README-gtsam-toolbox.txt +++ b/matlab/README-gtsam-toolbox.txt @@ -17,8 +17,10 @@ Note about newer Ubuntu versions unsupported by MATLAB (later than 10.04) If you have a newer Ubuntu system, 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, typically -/usr/local/MATLAB/[version]/sys/os/[system]/ +'libstdc++' in your MATLAB installation directory, in paths: + + /usr/local/MATLAB/[version]/sys/os/[system]/ + /usr/local/MATLAB/[version]/bin/[system]/ ---------------------------------------- From f0d49f21f8a8047edb13e40af323ab15c2da5b61 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Thu, 30 Aug 2012 18:10:07 +0000 Subject: [PATCH 837/914] Added toolbox readme from release branch --- matlab/README-gtsam-toolbox.txt | 76 +++++++++++++++++++++++++++++++++ 1 file changed, 76 insertions(+) create mode 100644 matlab/README-gtsam-toolbox.txt diff --git a/matlab/README-gtsam-toolbox.txt b/matlab/README-gtsam-toolbox.txt new file mode 100644 index 000000000..6f74f9806 --- /dev/null +++ b/matlab/README-gtsam-toolbox.txt @@ -0,0 +1,76 @@ +================================================================================ +GTSAM - Georgia Tech Smoothing and Mapping Library + +MATLAB wrapper + +http://borg.cc.gatech.edu/projects/gtsam +================================================================================ + +This is the GTSAM MATLAB toolbox, a MATLAB wrapper around the GTSAM C++ +library. + + +---------------------------------------- +Note about newer Ubuntu versions unsupported by MATLAB (later than 10.04) +---------------------------------------- + +If you have a newer Ubuntu system, 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: + + /usr/local/MATLAB/[version]/sys/os/[system]/ + /usr/local/MATLAB/[version]/bin/[system]/ + + +---------------------------------------- +Adding the toolbox to your MATLAB path +---------------------------------------- + +To get started, first add the 'toolbox' folder to your MATLAB path - in the +MATLAB file browser, right-click on the folder and click 'Add to path -> This +folder' (do not add the subfolders to your path). + + +---------------------------------------- +Trying out the examples +---------------------------------------- + +The examples are located in the 'gtsam_examples' subfolder. You may either +run them individually at the MATLAB command line, or open the GTSAM example +GUI by running 'gtsamExamples'. Example: + +>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox +>> cd gtsam_examples % Change to the examples directory +>> gtsamExamples % Run the GTSAM examples GUI + + +---------------------------------------- +Running the unit tests +---------------------------------------- + +The GTSAM MATLAB toolbox also has a small set of unit tests located in the +gtsam_tests directory. Example: + +>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox +>> cd gtsam_tests % Change to the examples directory +>> test_gtsam % Run the unit tests +Starting: testJacobianFactor +Starting: testKalmanFilter +Starting: testLocalizationExample +Starting: testOdometryExample +Starting: testPlanarSLAMExample +Starting: testPose2SLAMExample +Starting: testPose3SLAMExample +Starting: testSFMExample +Starting: testStereoVOExample +Starting: testVisualISAMExample +Tests complete! + + +---------------------------------------- +Writing your own code +---------------------------------------- + +Coding for the GTSAM MATLAB toolbox is straightforward and very fast once you +understand a few basic concepts! Please see the manual to get started. From 3b897cddc9603b38006fd2ba6fe6e803fda256c2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 19:58:33 +0000 Subject: [PATCH 838/914] Added eliminateFrontals function to FactorGraph, SymbolicFactorGraph, and GaussianFactorGraph - eliminates requested number of frontal variables and returns the resulting conditional and remaining factor graph --- gtsam.h | 5 +++ gtsam/inference/FactorGraph-inl.h | 52 +++++++++++++++++++++++ gtsam/inference/FactorGraph.h | 7 +++ gtsam/inference/SymbolicFactorGraph.cpp | 7 +++ gtsam/inference/SymbolicFactorGraph.h | 16 +++++-- gtsam/inference/tests/testFactorGraph.cpp | 30 ++++++++++++- gtsam/linear/GaussianFactorGraph.cpp | 7 +++ gtsam/linear/GaussianFactorGraph.h | 10 +++++ 8 files changed, 130 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index aebbea8b8..4aa1480df 100644 --- a/gtsam.h +++ b/gtsam.h @@ -787,6 +787,8 @@ class SymbolicFactorGraph { // Standard interface // FIXME: Must wrap FastSet for this to work //FastSet keys() const; + + pair eliminateFrontals(size_t nFrontals) const; }; #include @@ -996,6 +998,9 @@ class GaussianFactorGraph { size_t size() const; gtsam::GaussianFactor* at(size_t idx) const; + // Inference + pair eliminateFrontals(size_t nFrontals) const; + // Building the graph void push_back(gtsam::GaussianFactor* factor); void add(Vector b); diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 66c44db52..6bd9c340c 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -23,6 +23,7 @@ #pragma once #include +#include #include #include @@ -85,6 +86,57 @@ namespace gtsam { return size_; } + /* ************************************************************************* */ + template + std::pair::sharedConditional, FactorGraph > + FactorGraph::eliminateFrontals(size_t nFrontals, const Eliminate& eliminate) const + { + // Build variable index + VariableIndex variableIndex(*this); + + // Find first variable + Index firstIndex = 0; + while(firstIndex < variableIndex.size() && variableIndex[firstIndex].empty()) + ++ firstIndex; + + // Check that number of variables is in bounds + if(firstIndex + nFrontals >= variableIndex.size()) + throw std::invalid_argument("Requested to eliminate more frontal variables than exist in the factor graph."); + + // Get set of involved factors + FastSet involvedFactorIs; + for(Index j = firstIndex; j < firstIndex + nFrontals; ++j) { + BOOST_FOREACH(size_t i, variableIndex[j]) { + involvedFactorIs.insert(i); + } + } + + // Separate factors into involved and remaining + FactorGraph involvedFactors; + FactorGraph remainingFactors; + FastSet::const_iterator involvedFactorIsIt = involvedFactorIs.begin(); + for(size_t i = 0; i < this->size(); ++i) { + if(*involvedFactorIsIt == i) { + // If the current factor is involved, add it to involved and increment involved iterator + involvedFactors.push_back((*this)[i]); + ++ involvedFactorIsIt; + } else { + // If not involved, add to remaining + remainingFactors.push_back((*this)[i]); + } + } + + // Do dense elimination on the involved factors + typename FactorGraph::EliminationResult eliminationResult = + eliminate(involvedFactors, nFrontals); + + // Add the remaining factor back into the factor graph + remainingFactors.push_back(eliminationResult.second); + + // Return the eliminated factor and remaining factor graph + return std::make_pair(eliminationResult.first, remainingFactors); + } + /* ************************************************************************* */ template void FactorGraph::replace(size_t index, sharedFactor factor) { diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 5295a4c58..ed3e7d952 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -175,6 +175,13 @@ template class BayesTree; /** Get the last factor */ sharedFactor back() const { return factors_.back(); } + /** Eliminate the first \c n frontal variables, returning the resulting + * conditional and remaining factor graph - this is very inefficient for + * eliminating all variables, to do that use EliminationTree or + * JunctionTree. + */ + std::pair > eliminateFrontals(size_t nFrontals, const Eliminate& eliminate) const; + /// @} /// @name Modifying Factor Graphs (imperative, discouraged) /// @{ diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index 00f3439a0..ff7a91ca6 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -63,6 +63,13 @@ namespace gtsam { return keys; } + /* ************************************************************************* */ + std::pair + SymbolicFactorGraph::eliminateFrontals(size_t nFrontals) const + { + return FactorGraph::eliminateFrontals(nFrontals, EliminateSymbolic); + } + /* ************************************************************************* */ IndexFactor::shared_ptr CombineSymbolic( const FactorGraph& factors, const FastMap SymbolicFactorGraph(const FactorGraph& fg); + + /** Eliminate the first \c n frontal variables, returning the resulting + * conditional and remaining factor graph - this is very inefficient for + * eliminating all variables, to do that use EliminationTree or + * JunctionTree. Note that this version simply calls + * FactorGraph::eliminateFrontals with EliminateSymbolic + * as the eliminate function argument. + */ + std::pair eliminateFrontals(size_t nFrontals) const; /// @} /// @name Standard Interface @@ -68,6 +77,8 @@ namespace gtsam { */ FastSet keys() const; + + /// @} /// @name Advanced Interface /// @{ @@ -87,9 +98,8 @@ namespace gtsam { }; /** Create a combined joint factor (new style for EliminationTree). */ - IndexFactor::shared_ptr CombineSymbolic( - const FactorGraph& factors, const FastMap >& variableSlots); + IndexFactor::shared_ptr CombineSymbolic(const FactorGraph& factors, + const FastMap >& variableSlots); /** * CombineAndEliminate provides symbolic elimination. diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index 4743d1102..6121a7f99 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -21,16 +21,44 @@ #include #include #include // for operator += +#include using namespace boost::assign; #include +#include #include using namespace std; using namespace gtsam; -typedef boost::shared_ptr shared; +/* ************************************************************************* */ +TEST(FactorGraph, eliminateFrontals) { + + SymbolicFactorGraph sfgOrig; + sfgOrig.push_factor(0,1); + sfgOrig.push_factor(0,2); + sfgOrig.push_factor(1,3); + sfgOrig.push_factor(1,4); + sfgOrig.push_factor(2,3); + sfgOrig.push_factor(4,5); + + IndexConditional::shared_ptr actualCond; + SymbolicFactorGraph actualSfg; + boost::tie(actualCond, actualSfg) = sfgOrig.eliminateFrontals(2, EliminateSymbolic); + + vector condIndices; + condIndices += 0,1,2,3,4; + IndexConditional expectedCond(condIndices, 2); + + SymbolicFactorGraph expectedSfg; + expectedSfg.push_factor(2,3); + expectedSfg.push_factor(4,5); + expectedSfg.push_factor(2,3,4); + + EXPECT(assert_equal(expectedSfg, actualSfg)); + EXPECT(assert_equal(expectedCond, *actualCond)); +} ///* ************************************************************************* */ // SL-FIX TEST( FactorGraph, splitMinimumSpanningTree ) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index e2598b1ac..02f37915c 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -47,6 +47,13 @@ namespace gtsam { return keys; } + /* ************************************************************************* */ + std::pair + GaussianFactorGraph::eliminateFrontals(size_t nFrontals) const + { + return FactorGraph::eliminateFrontals(nFrontals, EliminateQR); + } + /* ************************************************************************* */ void GaussianFactorGraph::permuteWithInverse( const Permutation& inversePermutation) { diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index fd1ec1f6c..51748b79b 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -132,6 +132,16 @@ namespace gtsam { typedef FastSet Keys; Keys keys() const; + + /** Eliminate the first \c n frontal variables, returning the resulting + * conditional and remaining factor graph - this is very inefficient for + * eliminating all variables, to do that use EliminationTree or + * JunctionTree. Note that this version simply calls + * FactorGraph::eliminateFrontals with EliminateQR as the + * eliminate function argument. + */ + std::pair eliminateFrontals(size_t nFrontals) const; + /** Permute the variables in the factors */ void permuteWithInverse(const Permutation& inversePermutation); From 84b13f3270f8f5acb30b1525fabcfb1c346891b5 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 20:12:52 +0000 Subject: [PATCH 839/914] (Ported change from trunk to 2.1.0 branch) Added eliminateFrontals function to FactorGraph, SymbolicFactorGraph, and GaussianFactorGraph - eliminates requested number of frontal variables and returns the resulting conditional and remaining factor graph --- gtsam.h | 5 +++ gtsam/inference/FactorGraph-inl.h | 52 +++++++++++++++++++++++ gtsam/inference/FactorGraph.h | 7 +++ gtsam/inference/SymbolicFactorGraph.cpp | 7 +++ gtsam/inference/SymbolicFactorGraph.h | 16 +++++-- gtsam/inference/tests/testFactorGraph.cpp | 30 ++++++++++++- gtsam/linear/GaussianFactorGraph.cpp | 7 +++ gtsam/linear/GaussianFactorGraph.h | 10 +++++ 8 files changed, 130 insertions(+), 4 deletions(-) diff --git a/gtsam.h b/gtsam.h index aebbea8b8..4aa1480df 100644 --- a/gtsam.h +++ b/gtsam.h @@ -787,6 +787,8 @@ class SymbolicFactorGraph { // Standard interface // FIXME: Must wrap FastSet for this to work //FastSet keys() const; + + pair eliminateFrontals(size_t nFrontals) const; }; #include @@ -996,6 +998,9 @@ class GaussianFactorGraph { size_t size() const; gtsam::GaussianFactor* at(size_t idx) const; + // Inference + pair eliminateFrontals(size_t nFrontals) const; + // Building the graph void push_back(gtsam::GaussianFactor* factor); void add(Vector b); diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 66c44db52..6bd9c340c 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -23,6 +23,7 @@ #pragma once #include +#include #include #include @@ -85,6 +86,57 @@ namespace gtsam { return size_; } + /* ************************************************************************* */ + template + std::pair::sharedConditional, FactorGraph > + FactorGraph::eliminateFrontals(size_t nFrontals, const Eliminate& eliminate) const + { + // Build variable index + VariableIndex variableIndex(*this); + + // Find first variable + Index firstIndex = 0; + while(firstIndex < variableIndex.size() && variableIndex[firstIndex].empty()) + ++ firstIndex; + + // Check that number of variables is in bounds + if(firstIndex + nFrontals >= variableIndex.size()) + throw std::invalid_argument("Requested to eliminate more frontal variables than exist in the factor graph."); + + // Get set of involved factors + FastSet involvedFactorIs; + for(Index j = firstIndex; j < firstIndex + nFrontals; ++j) { + BOOST_FOREACH(size_t i, variableIndex[j]) { + involvedFactorIs.insert(i); + } + } + + // Separate factors into involved and remaining + FactorGraph involvedFactors; + FactorGraph remainingFactors; + FastSet::const_iterator involvedFactorIsIt = involvedFactorIs.begin(); + for(size_t i = 0; i < this->size(); ++i) { + if(*involvedFactorIsIt == i) { + // If the current factor is involved, add it to involved and increment involved iterator + involvedFactors.push_back((*this)[i]); + ++ involvedFactorIsIt; + } else { + // If not involved, add to remaining + remainingFactors.push_back((*this)[i]); + } + } + + // Do dense elimination on the involved factors + typename FactorGraph::EliminationResult eliminationResult = + eliminate(involvedFactors, nFrontals); + + // Add the remaining factor back into the factor graph + remainingFactors.push_back(eliminationResult.second); + + // Return the eliminated factor and remaining factor graph + return std::make_pair(eliminationResult.first, remainingFactors); + } + /* ************************************************************************* */ template void FactorGraph::replace(size_t index, sharedFactor factor) { diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 5295a4c58..ed3e7d952 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -175,6 +175,13 @@ template class BayesTree; /** Get the last factor */ sharedFactor back() const { return factors_.back(); } + /** Eliminate the first \c n frontal variables, returning the resulting + * conditional and remaining factor graph - this is very inefficient for + * eliminating all variables, to do that use EliminationTree or + * JunctionTree. + */ + std::pair > eliminateFrontals(size_t nFrontals, const Eliminate& eliminate) const; + /// @} /// @name Modifying Factor Graphs (imperative, discouraged) /// @{ diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index 00f3439a0..ff7a91ca6 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -63,6 +63,13 @@ namespace gtsam { return keys; } + /* ************************************************************************* */ + std::pair + SymbolicFactorGraph::eliminateFrontals(size_t nFrontals) const + { + return FactorGraph::eliminateFrontals(nFrontals, EliminateSymbolic); + } + /* ************************************************************************* */ IndexFactor::shared_ptr CombineSymbolic( const FactorGraph& factors, const FastMap SymbolicFactorGraph(const FactorGraph& fg); + + /** Eliminate the first \c n frontal variables, returning the resulting + * conditional and remaining factor graph - this is very inefficient for + * eliminating all variables, to do that use EliminationTree or + * JunctionTree. Note that this version simply calls + * FactorGraph::eliminateFrontals with EliminateSymbolic + * as the eliminate function argument. + */ + std::pair eliminateFrontals(size_t nFrontals) const; /// @} /// @name Standard Interface @@ -68,6 +77,8 @@ namespace gtsam { */ FastSet keys() const; + + /// @} /// @name Advanced Interface /// @{ @@ -87,9 +98,8 @@ namespace gtsam { }; /** Create a combined joint factor (new style for EliminationTree). */ - IndexFactor::shared_ptr CombineSymbolic( - const FactorGraph& factors, const FastMap >& variableSlots); + IndexFactor::shared_ptr CombineSymbolic(const FactorGraph& factors, + const FastMap >& variableSlots); /** * CombineAndEliminate provides symbolic elimination. diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index 4743d1102..6121a7f99 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -21,16 +21,44 @@ #include #include #include // for operator += +#include using namespace boost::assign; #include +#include #include using namespace std; using namespace gtsam; -typedef boost::shared_ptr shared; +/* ************************************************************************* */ +TEST(FactorGraph, eliminateFrontals) { + + SymbolicFactorGraph sfgOrig; + sfgOrig.push_factor(0,1); + sfgOrig.push_factor(0,2); + sfgOrig.push_factor(1,3); + sfgOrig.push_factor(1,4); + sfgOrig.push_factor(2,3); + sfgOrig.push_factor(4,5); + + IndexConditional::shared_ptr actualCond; + SymbolicFactorGraph actualSfg; + boost::tie(actualCond, actualSfg) = sfgOrig.eliminateFrontals(2, EliminateSymbolic); + + vector condIndices; + condIndices += 0,1,2,3,4; + IndexConditional expectedCond(condIndices, 2); + + SymbolicFactorGraph expectedSfg; + expectedSfg.push_factor(2,3); + expectedSfg.push_factor(4,5); + expectedSfg.push_factor(2,3,4); + + EXPECT(assert_equal(expectedSfg, actualSfg)); + EXPECT(assert_equal(expectedCond, *actualCond)); +} ///* ************************************************************************* */ // SL-FIX TEST( FactorGraph, splitMinimumSpanningTree ) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index e2598b1ac..02f37915c 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -47,6 +47,13 @@ namespace gtsam { return keys; } + /* ************************************************************************* */ + std::pair + GaussianFactorGraph::eliminateFrontals(size_t nFrontals) const + { + return FactorGraph::eliminateFrontals(nFrontals, EliminateQR); + } + /* ************************************************************************* */ void GaussianFactorGraph::permuteWithInverse( const Permutation& inversePermutation) { diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index fd1ec1f6c..51748b79b 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -132,6 +132,16 @@ namespace gtsam { typedef FastSet Keys; Keys keys() const; + + /** Eliminate the first \c n frontal variables, returning the resulting + * conditional and remaining factor graph - this is very inefficient for + * eliminating all variables, to do that use EliminationTree or + * JunctionTree. Note that this version simply calls + * FactorGraph::eliminateFrontals with EliminateQR as the + * eliminate function argument. + */ + std::pair eliminateFrontals(size_t nFrontals) const; + /** Permute the variables in the factors */ void permuteWithInverse(const Permutation& inversePermutation); From 421145df1d653193c7f246f438cf7e9dbec8641d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 20:13:00 +0000 Subject: [PATCH 840/914] Fixed error in unit test --- gtsam/inference/tests/testFactorGraph.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index 6121a7f99..b2f9bc3f1 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -45,7 +45,7 @@ TEST(FactorGraph, eliminateFrontals) { IndexConditional::shared_ptr actualCond; SymbolicFactorGraph actualSfg; - boost::tie(actualCond, actualSfg) = sfgOrig.eliminateFrontals(2, EliminateSymbolic); + boost::tie(actualCond, actualSfg) = sfgOrig.eliminateFrontals(2); vector condIndices; condIndices += 0,1,2,3,4; From 09558a146aa38817c93979e90fe87b0e882a1e72 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 20:13:36 +0000 Subject: [PATCH 841/914] Fixed error in unit test --- gtsam/inference/tests/testFactorGraph.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index 6121a7f99..b2f9bc3f1 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -45,7 +45,7 @@ TEST(FactorGraph, eliminateFrontals) { IndexConditional::shared_ptr actualCond; SymbolicFactorGraph actualSfg; - boost::tie(actualCond, actualSfg) = sfgOrig.eliminateFrontals(2, EliminateSymbolic); + boost::tie(actualCond, actualSfg) = sfgOrig.eliminateFrontals(2); vector condIndices; condIndices += 0,1,2,3,4; From 49a704c565f49df8e09668a63f0f57eb55c7df9a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 20:17:27 +0000 Subject: [PATCH 842/914] Install MATLAB toolbox README along with toolbox --- matlab/CMakeLists.txt | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index b4e43d3d6..0be3863a1 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -1,13 +1,5 @@ # Install matlab components -# Utility functions -message(STATUS "Installing Matlab Utility Functions") -# Matlab files: *.m and *.fig -file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m") -file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig") -set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig}) -install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/) - # Tests message(STATUS "Installing Matlab Toolbox Tests") install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_tests" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") @@ -21,6 +13,7 @@ install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION " # Utilities message(STATUS "Installing Matlab Toolbox Utilities") install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") +install(FILES "${GTSAM_SOURCE_ROOT_DIR}/matlab/README-gtsam-toolbox.txt" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}") message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt From a16f91d403726be3656aef3f07150c835da344fc Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 30 Aug 2012 20:17:51 +0000 Subject: [PATCH 843/914] Install MATLAB toolbox README along with toolbox --- matlab/CMakeLists.txt | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index b4e43d3d6..0be3863a1 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -1,13 +1,5 @@ # Install matlab components -# Utility functions -message(STATUS "Installing Matlab Utility Functions") -# Matlab files: *.m and *.fig -file(GLOB matlab_utils_m "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.m") -file(GLOB matlab_utils_fig "${GTSAM_SOURCE_ROOT_DIR}/matlab/*.fig") -set(matlab_utils ${matlab_utils_m} ${matlab_utils_fig}) -install(FILES ${matlab_utils} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/) - # Tests message(STATUS "Installing Matlab Toolbox Tests") install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_tests" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") @@ -21,6 +13,7 @@ install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION " # Utilities message(STATUS "Installing Matlab Toolbox Utilities") install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") +install(FILES "${GTSAM_SOURCE_ROOT_DIR}/matlab/README-gtsam-toolbox.txt" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}") message(STATUS "Installing Matlab Toolbox Examples (Data)") # Data files: *.graph and *.txt From b6e9f7d3f7efebf1ac61a21e0af33ff20ea52dfc Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Thu, 30 Aug 2012 21:19:00 +0000 Subject: [PATCH 844/914] Added info on MEX_COMMAND for building toolbox from source --- README | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README b/README index 729c3fdf1..1a992292a 100644 --- a/README +++ b/README @@ -148,6 +148,12 @@ just the geometry tests, run "make check.geometry". Individual tests can be run appending ".run" to the name of the test, for example, to run testMatrix, run "make testMatrix.run". +MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your +shell's PATH environment variable. mex is installed with matlab at +$MATLABROOT/bin/mex + +$MATLABROOT can be found by executing the command 'matlabroot' in MATLAB + Debugging tips: Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks From e5fe979ea524f3ef52bd621d9f661de943f61cef Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 31 Aug 2012 02:19:00 +0000 Subject: [PATCH 845/914] Fixed incorrect test case in testFactorGraph --- .cproject | 338 ++++++++++++---------- gtsam/inference/tests/testFactorGraph.cpp | 1 - 2 files changed, 178 insertions(+), 161 deletions(-) diff --git a/.cproject b/.cproject index 95c0f2a96..09c498789 100644 --- a/.cproject +++ b/.cproject @@ -309,14 +309,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -343,6 +335,7 @@ make + tests/testBayesTree.run true false @@ -350,6 +343,7 @@ make + testBinaryBayesNet.run true false @@ -397,6 +391,7 @@ make + testSymbolicBayesNet.run true false @@ -404,6 +399,7 @@ make + tests/testSymbolicFactor.run true false @@ -411,6 +407,7 @@ make + testSymbolicFactorGraph.run true false @@ -426,11 +423,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -519,22 +525,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -551,6 +541,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -575,26 +581,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -679,26 +685,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -823,6 +829,14 @@ true true + + make + -j5 + testFactorGraph.run + true + true + true + make -j2 @@ -985,6 +999,7 @@ make + testGraph.run true false @@ -992,6 +1007,7 @@ make + testJunctionTree.run true false @@ -999,6 +1015,7 @@ make + testSymbolicBayesNetB.run true false @@ -1134,6 +1151,7 @@ make + testErrors.run true false @@ -1179,10 +1197,10 @@ true true - + make - -j2 - testGaussianFactor.run + -j5 + testLinearContainerFactor.run true true true @@ -1267,10 +1285,10 @@ true true - + make - -j5 - testLinearContainerFactor.run + -j2 + testGaussianFactor.run true true true @@ -1605,7 +1623,6 @@ make - testSimulated2DOriented.run true false @@ -1645,7 +1662,6 @@ make - testSimulated2D.run true false @@ -1653,7 +1669,6 @@ make - testSimulated3D.run true false @@ -1845,7 +1860,6 @@ make - tests/testGaussianISAM2 true false @@ -1867,102 +1881,6 @@ 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 -j1 @@ -2164,6 +2082,7 @@ cpack + -G DEB true false @@ -2171,6 +2090,7 @@ cpack + -G RPM true false @@ -2178,6 +2098,7 @@ cpack + -G TGZ true false @@ -2185,6 +2106,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2318,34 +2240,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap + -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 @@ -2389,6 +2375,38 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index b2f9bc3f1..09e75d7e6 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -52,7 +52,6 @@ TEST(FactorGraph, eliminateFrontals) { IndexConditional expectedCond(condIndices, 2); SymbolicFactorGraph expectedSfg; - expectedSfg.push_factor(2,3); expectedSfg.push_factor(4,5); expectedSfg.push_factor(2,3,4); From 5706481c06edba00accc8c99de339720d6677cc2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 31 Aug 2012 15:15:16 +0000 Subject: [PATCH 846/914] Fixed iterator checking bug in eliminateFrontals --- gtsam/inference/FactorGraph-inl.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 6bd9c340c..97a7fa1c6 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -116,7 +116,7 @@ namespace gtsam { FactorGraph remainingFactors; FastSet::const_iterator involvedFactorIsIt = involvedFactorIs.begin(); for(size_t i = 0; i < this->size(); ++i) { - if(*involvedFactorIsIt == i) { + if(involvedFactorIsIt != involvedFactorIs.end() && *involvedFactorIsIt == i) { // If the current factor is involved, add it to involved and increment involved iterator involvedFactors.push_back((*this)[i]); ++ involvedFactorIsIt; From fc1a43e5855477cbd5018dc04d7cfe1b44b480f0 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 31 Aug 2012 15:18:36 +0000 Subject: [PATCH 847/914] Reverting - Fixed incorrect test case in testFactorGraph (reverse-merged from commit 34e4c87523093f77f26a5c378763a715d56452b7) --- .cproject | 338 ++++++++++------------ gtsam/inference/tests/testFactorGraph.cpp | 1 + 2 files changed, 161 insertions(+), 178 deletions(-) diff --git a/.cproject b/.cproject index 09c498789..95c0f2a96 100644 --- a/.cproject +++ b/.cproject @@ -309,6 +309,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -335,7 +343,6 @@ make - tests/testBayesTree.run true false @@ -343,7 +350,6 @@ make - testBinaryBayesNet.run true false @@ -391,7 +397,6 @@ make - testSymbolicBayesNet.run true false @@ -399,7 +404,6 @@ make - tests/testSymbolicFactor.run true false @@ -407,7 +411,6 @@ make - testSymbolicFactorGraph.run true false @@ -423,20 +426,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -525,22 +519,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -557,6 +535,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -581,26 +575,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -685,26 +679,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -829,14 +823,6 @@ true true - - make - -j5 - testFactorGraph.run - true - true - true - make -j2 @@ -999,7 +985,6 @@ make - testGraph.run true false @@ -1007,7 +992,6 @@ make - testJunctionTree.run true false @@ -1015,7 +999,6 @@ make - testSymbolicBayesNetB.run true false @@ -1151,7 +1134,6 @@ make - testErrors.run true false @@ -1197,10 +1179,10 @@ true true - + make - -j5 - testLinearContainerFactor.run + -j2 + testGaussianFactor.run true true true @@ -1285,10 +1267,10 @@ true true - + make - -j2 - testGaussianFactor.run + -j5 + testLinearContainerFactor.run true true true @@ -1623,6 +1605,7 @@ make + testSimulated2DOriented.run true false @@ -1662,6 +1645,7 @@ make + testSimulated2D.run true false @@ -1669,6 +1653,7 @@ make + testSimulated3D.run true false @@ -1860,6 +1845,7 @@ make + tests/testGaussianISAM2 true false @@ -1881,6 +1867,102 @@ 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 -j1 @@ -2082,7 +2164,6 @@ cpack - -G DEB true false @@ -2090,7 +2171,6 @@ cpack - -G RPM true false @@ -2098,7 +2178,6 @@ cpack - -G TGZ true false @@ -2106,7 +2185,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2240,98 +2318,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap 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 + -j5 + wrap true true true @@ -2375,38 +2389,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index 09e75d7e6..b2f9bc3f1 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -52,6 +52,7 @@ TEST(FactorGraph, eliminateFrontals) { IndexConditional expectedCond(condIndices, 2); SymbolicFactorGraph expectedSfg; + expectedSfg.push_factor(2,3); expectedSfg.push_factor(4,5); expectedSfg.push_factor(2,3,4); From 3948d70b206cd58c7fd971e2205318220c8b7a1d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 31 Aug 2012 15:18:39 +0000 Subject: [PATCH 848/914] Fixed iterator checking bug in eliminateFrontals --- gtsam/inference/FactorGraph-inl.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 6bd9c340c..97a7fa1c6 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -116,7 +116,7 @@ namespace gtsam { FactorGraph remainingFactors; FastSet::const_iterator involvedFactorIsIt = involvedFactorIs.begin(); for(size_t i = 0; i < this->size(); ++i) { - if(*involvedFactorIsIt == i) { + if(involvedFactorIsIt != involvedFactorIs.end() && *involvedFactorIsIt == i) { // If the current factor is involved, add it to involved and increment involved iterator involvedFactors.push_back((*this)[i]); ++ involvedFactorIsIt; From 91559d3c255f4ea5751afa83a0a243dfbb05de79 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 31 Aug 2012 15:19:22 +0000 Subject: [PATCH 849/914] Added info on MEX_COMMAND for building toolbox from source --- README | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README b/README index 729c3fdf1..1a992292a 100644 --- a/README +++ b/README @@ -148,6 +148,12 @@ just the geometry tests, run "make check.geometry". Individual tests can be run appending ".run" to the name of the test, for example, to run testMatrix, run "make testMatrix.run". +MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your +shell's PATH environment variable. mex is installed with matlab at +$MATLABROOT/bin/mex + +$MATLABROOT can be found by executing the command 'matlabroot' in MATLAB + Debugging tips: Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks From a058ecb692cc63f432c243dcdc711eca51f918c5 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 31 Aug 2012 19:22:07 +0000 Subject: [PATCH 850/914] disabled installing doc during creation of deb packages --- CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 85984d7e0..6349d440a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -171,7 +171,8 @@ set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR}) set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") -set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory +#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory +set(CPACK_INSTALLED_DIRECTORIES ".") set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makestats.sh$") set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") From ab7594e8f084e710be63590813c0b2d9f2b84935 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 3 Sep 2012 00:06:13 +0000 Subject: [PATCH 851/914] Made SPCG unit tests compile again, needed several fixes in iterative.h --- gtsam/linear/SubgraphPreconditioner.h | 18 +- gtsam/linear/iterative-inl.h | 2 +- gtsam/linear/iterative.cpp | 69 +++--- gtsam/linear/iterative.h | 17 +- tests/smallExample.cpp | 18 +- tests/smallExample.h | 2 +- tests/testSubgraphPreconditioner.cpp | 304 +++++++++++++------------- 7 files changed, 227 insertions(+), 203 deletions(-) diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index 7b59735d9..8c1fcc837 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -48,6 +48,7 @@ namespace gtsam { public: SubgraphPreconditioner(); + /** * Constructor * @param Ab1: the Graph A1*x=b1 @@ -55,7 +56,8 @@ namespace gtsam { * @param Rc1: the Bayes Net R1*x=c1 * @param xbar: the solution to R1*x=c1 */ - SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar); + SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, + const sharedBayesNet& Rc1, const sharedValues& xbar); /** Access Ab1 */ const sharedFG& Ab1() const { return Ab1_; } @@ -69,23 +71,23 @@ namespace gtsam { /** Access b2bar */ const sharedErrors b2bar() const { return b2bar_; } - /** - * Add zero-mean i.i.d. Gaussian prior terms to each variable - * @param sigma Standard deviation of Gaussian - */ -// SubgraphPreconditioner add_priors(double sigma) const; + /** + * Add zero-mean i.i.d. Gaussian prior terms to each variable + * @param sigma Standard deviation of Gaussian + */ +// SubgraphPreconditioner add_priors(double sigma) const; /* x = xbar + inv(R1)*y */ VectorValues x(const VectorValues& y) const; /* A zero VectorValues with the structure of xbar */ VectorValues zero() const { - VectorValues V(VectorValues::Zero(*xbar_)) ; + VectorValues V(VectorValues::Zero(*xbar_)); return V ; } /** - * Add constraint part of the error only, used in both calls above + * Add constraint part of the error only * y += alpha*inv(R1')*A2'*e2 * Takes a range indicating e2 !!!! */ diff --git a/gtsam/linear/iterative-inl.h b/gtsam/linear/iterative-inl.h index 8a052a66f..5cc0841b0 100644 --- a/gtsam/linear/iterative-inl.h +++ b/gtsam/linear/iterative-inl.h @@ -122,7 +122,7 @@ namespace gtsam { // conjugate gradient method. // S: linear system, V: step vector, E: errors template - V conjugateGradients(const S& Ab, V x, const ConjugateGradientParameters ¶meters, bool steepest = false) { + V conjugateGradients(const S& Ab, V x, const ConjugateGradientParameters ¶meters, bool steepest) { CGState state(Ab, x, parameters, steepest); diff --git a/gtsam/linear/iterative.cpp b/gtsam/linear/iterative.cpp index 6dadb2d72..d0a7fd551 100644 --- a/gtsam/linear/iterative.cpp +++ b/gtsam/linear/iterative.cpp @@ -22,50 +22,57 @@ #include #include - #include using namespace std; namespace gtsam { - /* ************************************************************************* */ - void System::print (const string& s) const { - cout << s << endl; - gtsam::print(A_, "A"); - gtsam::print(b_, "b"); - } + /* ************************************************************************* */ + void System::print(const string& s) const { + cout << s << endl; + gtsam::print(A_, "A"); + gtsam::print(b_, "b"); + } - /* ************************************************************************* */ + /* ************************************************************************* */ - Vector steepestDescent(const System& Ab, const Vector& x, const ConjugateGradientParameters & parameters) { - return conjugateGradients (Ab, x, parameters, true); - } + Vector steepestDescent(const System& Ab, const Vector& x, + const ConjugateGradientParameters & parameters) { + return conjugateGradients(Ab, x, parameters, true); + } - Vector conjugateGradientDescent(const System& Ab, const Vector& x, const ConjugateGradientParameters & parameters) { - return conjugateGradients (Ab, x, parameters); - } + Vector conjugateGradientDescent(const System& Ab, const Vector& x, + const ConjugateGradientParameters & parameters) { + return conjugateGradients(Ab, x, parameters); + } - /* ************************************************************************* */ - Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x, const ConjugateGradientParameters & parameters) { - System Ab(A, b); - return conjugateGradients (Ab, x, parameters, true); - } + /* ************************************************************************* */ + Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x, + const ConjugateGradientParameters & parameters) { + System Ab(A, b); + return conjugateGradients(Ab, x, parameters, true); + } - Vector conjugateGradientDescent(const Matrix& A, const Vector& b, const Vector& x, const ConjugateGradientParameters & parameters) { - System Ab(A, b); - return conjugateGradients (Ab, x, parameters); - } + Vector conjugateGradientDescent(const Matrix& A, const Vector& b, + const Vector& x, const ConjugateGradientParameters & parameters) { + System Ab(A, b); + return conjugateGradients(Ab, x, parameters); + } - /* ************************************************************************* */ - VectorValues steepestDescent(const FactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters) { - return conjugateGradients, VectorValues, Errors> (fg, x, parameters, true); - } + /* ************************************************************************* */ + VectorValues steepestDescent(const FactorGraph& fg, + const VectorValues& x, const ConjugateGradientParameters & parameters) { + return conjugateGradients, VectorValues, Errors>( + fg, x, parameters, true); + } - VectorValues conjugateGradientDescent(const FactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters) { - return conjugateGradients, VectorValues, Errors> (fg, x, parameters); - } + VectorValues conjugateGradientDescent(const FactorGraph& fg, + const VectorValues& x, const ConjugateGradientParameters & parameters) { + return conjugateGradients, VectorValues, Errors>( + fg, x, parameters); + } - /* ************************************************************************* */ +/* ************************************************************************* */ } // namespace gtsam diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h index 5ffb366c2..384dfe814 100644 --- a/gtsam/linear/iterative.h +++ b/gtsam/linear/iterative.h @@ -31,12 +31,11 @@ namespace gtsam { * "Vector" class E needs dot(v,v) * @param Ab, the "system" that needs to be solved, examples below * @param x is the initial estimate - * @param epsilon determines the convergence criterion: norm(g) - V conjugateGradients(const S& Ab, V x, bool verbose, double epsilon, size_t maxIterations, bool steepest = false); + template + V conjugateGradients(const S& Ab, V x, + const ConjugateGradientParameters ¶meters, bool steepest = false); /** * Helper class encapsulating the combined system |Ax-b_|^2 @@ -127,21 +126,19 @@ namespace gtsam { const Vector& x, const ConjugateGradientParameters & parameters); - class GaussianFactorGraph; - /** * Method of steepest gradients, Gaussian Factor Graph version - * */ + */ VectorValues steepestDescent( - const GaussianFactorGraph& fg, + const FactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters); /** * Method of conjugate gradients (CG), Gaussian Factor Graph version - * */ + */ VectorValues conjugateGradientDescent( - const GaussianFactorGraph& fg, + const FactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters); diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index 100a4db4c..f81ab5528 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -421,7 +421,7 @@ namespace example { } /* ************************************************************************* */ - boost::tuple planarGraph(size_t N) { + boost::tuple planarGraph(size_t N) { // create empty graph NonlinearFactorGraph nlfg; @@ -458,7 +458,13 @@ namespace example { xtrue[ordering[key(x, y)]] = Point2(x,y).vector(); // linearize around zero - return boost::make_tuple(*nlfg.linearize(zeros, ordering), xtrue); + boost::shared_ptr gfg = nlfg.linearize(zeros, ordering); + + JacobianFactorGraph jfg; + BOOST_FOREACH(GaussianFactorGraph::sharedFactor factor, *gfg) + jfg.push_back(boost::dynamic_pointer_cast(factor)); + + return boost::make_tuple(jfg, xtrue); } /* ************************************************************************* */ @@ -476,21 +482,21 @@ namespace example { JacobianFactorGraph T, C; // Add the x11 constraint to the tree - T.push_back(original[0]); + T.push_back(boost::dynamic_pointer_cast(original[0])); // Add all horizontal constraints to the tree size_t i = 1; for (size_t x = 1; x < N; x++) for (size_t y = 1; y <= N; y++, i++) - T.push_back(original[i]); + T.push_back(boost::dynamic_pointer_cast(original[i])); // Add first vertical column of constraints to T, others to C for (size_t x = 1; x <= N; x++) for (size_t y = 1; y < N; y++, i++) if (x == 1) - T.push_back(original[i]); + T.push_back(boost::dynamic_pointer_cast(original[i])); else - C.push_back(original[i]); + C.push_back(boost::dynamic_pointer_cast(original[i])); return make_pair(T, C); } diff --git a/tests/smallExample.h b/tests/smallExample.h index 161c45da8..54c3a14c5 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -130,7 +130,7 @@ namespace gtsam { * -x11-x21-x31 * with x11 clamped at (1,1), and others related by 2D odometry. */ - boost::tuple planarGraph(size_t N); + boost::tuple planarGraph(size_t N); /* * Create canonical ordering for planar graph that also works for tree diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index 417643e78..60f737d67 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -17,6 +17,7 @@ #include #include +#include #include #include #include @@ -35,30 +36,41 @@ using namespace gtsam; using namespace example; // define keys -Key i3003 = 3003, i2003 = 2003, i1003 = 1003; -Key i3002 = 3002, i2002 = 2002, i1002 = 1002; -Key i3001 = 3001, i2001 = 2001, i1001 = 1001; +// Create key for simulated planar graph +Symbol key(int x, int y) { + return symbol_shorthand::X(1000*x+y); +} -// TODO fix Ordering::equals, because the ordering *is* correct ! /* ************************************************************************* */ -//TEST( SubgraphPreconditioner, planarOrdering ) -//{ -// // Check canonical ordering -// Ordering expected, ordering = planarOrdering(3); -// expected += i3003, i2003, i1003, i3002, i2002, i1002, i3001, i2001, i1001; -// CHECK(assert_equal(expected,ordering)); -//} +TEST( SubgraphPreconditioner, planarOrdering ) { + // Check canonical ordering + Ordering expected, ordering = planarOrdering(3); + expected += + key(3, 3), key(2, 3), key(1, 3), + key(3, 2), key(2, 2), key(1, 2), + key(3, 1), key(2, 1), key(1, 1); + CHECK(assert_equal(expected,ordering)); +} + +/* ************************************************************************* */ +/** unnormalized error */ +double error(const JacobianFactorGraph& fg, const VectorValues& x) { + double total_error = 0.; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) + total_error += factor->error(x); + return total_error; +} /* ************************************************************************* */ TEST( SubgraphPreconditioner, planarGraph ) { // Check planar graph construction - GaussianFactorGraph A; + JacobianFactorGraph A; VectorValues xtrue; boost::tie(A, xtrue) = planarGraph(3); LONGS_EQUAL(13,A.size()); LONGS_EQUAL(9,xtrue.size()); - DOUBLES_EQUAL(0,A.error(xtrue),1e-9); // check zero error for xtrue + DOUBLES_EQUAL(0,error(A,xtrue),1e-9); // check zero error for xtrue // Check that xtrue is optimal GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(A).eliminate(); @@ -67,143 +79,143 @@ TEST( SubgraphPreconditioner, planarGraph ) } /* ************************************************************************* */ -//TEST( SubgraphPreconditioner, splitOffPlanarTree ) -//{ -// // Build a planar graph -// GaussianFactorGraph A; -// VectorValues xtrue; -// boost::tie(A, xtrue) = planarGraph(3); -// -// // Get the spanning tree and constraints, and check their sizes -// JacobianFactorGraph T, C; -// // TODO big mess: GFG and JFG mess !!! -// boost::tie(T, C) = splitOffPlanarTree(3, A); -// LONGS_EQUAL(9,T.size()); -// LONGS_EQUAL(4,C.size()); -// -// // Check that the tree can be solved to give the ground xtrue -// GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); -// VectorValues xbar = optimize(*R1); -// CHECK(assert_equal(xtrue,xbar)); -//} +TEST( SubgraphPreconditioner, splitOffPlanarTree ) +{ + // Build a planar graph + JacobianFactorGraph A; + VectorValues xtrue; + boost::tie(A, xtrue) = planarGraph(3); + + // Get the spanning tree and constraints, and check their sizes + JacobianFactorGraph T, C; + boost::tie(T, C) = splitOffPlanarTree(3, A); + LONGS_EQUAL(9,T.size()); + LONGS_EQUAL(4,C.size()); + + // Check that the tree can be solved to give the ground xtrue + GaussianBayesNet::shared_ptr R1 = GaussianSequentialSolver(T).eliminate(); + VectorValues xbar = optimize(*R1); + CHECK(assert_equal(xtrue,xbar)); +} /* ************************************************************************* */ -//TEST( SubgraphPreconditioner, system ) -//{ -// // Build a planar graph -// JacobianFactorGraph Ab; -// VectorValues xtrue; -// size_t N = 3; -// boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b -// -// // Get the spanning tree and corresponding ordering -// GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 -// boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); -// SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); -// SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); -// -// // Eliminate the spanning tree to build a prior -// SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 -// VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 -// -// // Create Subgraph-preconditioned system -// VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible -// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); -// -// // Create zero config -// VectorValues zeros = VectorValues::Zero(xbar); -// -// // Set up y0 as all zeros -// VectorValues y0 = zeros; -// -// // y1 = perturbed y0 -// VectorValues y1 = zeros; -// y1[i2003] = Vector_(2, 1.0, -1.0); -// -// // Check corresponding x values -// VectorValues expected_x1 = xtrue, x1 = system.x(y1); -// expected_x1[i2003] = Vector_(2, 2.01, 2.99); -// expected_x1[i3003] = Vector_(2, 3.01, 2.99); -// CHECK(assert_equal(xtrue, system.x(y0))); -// CHECK(assert_equal(expected_x1,system.x(y1))); -// -// // Check errors -//// DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); // TODO ! -//// DOUBLES_EQUAL(3,error(Ab,x1),1e-9); // TODO ! -// DOUBLES_EQUAL(0,error(system,y0),1e-9); -// DOUBLES_EQUAL(3,error(system,y1),1e-9); -// -// // Test gradient in x -// VectorValues expected_gx0 = zeros; -// VectorValues expected_gx1 = zeros; -// CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); -// expected_gx1[i1003] = Vector_(2, -100., 100.); -// expected_gx1[i2002] = Vector_(2, -100., 100.); -// expected_gx1[i2003] = Vector_(2, 200., -200.); -// expected_gx1[i3002] = Vector_(2, -100., 100.); -// expected_gx1[i3003] = Vector_(2, 100., -100.); -// CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); -// -// // Test gradient in y -// VectorValues expected_gy0 = zeros; -// VectorValues expected_gy1 = zeros; -// expected_gy1[i1003] = Vector_(2, 2., -2.); -// expected_gy1[i2002] = Vector_(2, -2., 2.); -// expected_gy1[i2003] = Vector_(2, 3., -3.); -// expected_gy1[i3002] = Vector_(2, -1., 1.); -// expected_gy1[i3003] = Vector_(2, 1., -1.); -// CHECK(assert_equal(expected_gy0,gradient(system,y0))); -// CHECK(assert_equal(expected_gy1,gradient(system,y1))); -// -// // Check it numerically for good measure -// // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) -// // Vector numerical_g1 = numericalGradient (error, y1, 0.001); -// // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., -// // 3., -3., 0., 0., -1., 1., 1., -1.); -// // CHECK(assert_equal(expected_g1,numerical_g1)); -//} + +TEST( SubgraphPreconditioner, system ) +{ + // Build a planar graph + JacobianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + // Get the spanning tree and corresponding ordering + JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + SubgraphPreconditioner::sharedFG Ab1(new JacobianFactorGraph(Ab1_)); + SubgraphPreconditioner::sharedFG Ab2(new JacobianFactorGraph(Ab2_)); + + // Eliminate the spanning tree to build a prior + SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 + VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 + + // Create Subgraph-preconditioned system + VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible + SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); + + // Create zero config + VectorValues zeros = VectorValues::Zero(xbar); + + // Set up y0 as all zeros + VectorValues y0 = zeros; + + // y1 = perturbed y0 + VectorValues y1 = zeros; + y1[1] = Vector_(2, 1.0, -1.0); + + // Check corresponding x values + VectorValues expected_x1 = xtrue, x1 = system.x(y1); + expected_x1[1] = Vector_(2, 2.01, 2.99); + expected_x1[0] = Vector_(2, 3.01, 2.99); + CHECK(assert_equal(xtrue, system.x(y0))); + CHECK(assert_equal(expected_x1,system.x(y1))); + + // Check errors + DOUBLES_EQUAL(0,error(Ab,xtrue),1e-9); + DOUBLES_EQUAL(3,error(Ab,x1),1e-9); + DOUBLES_EQUAL(0,error(system,y0),1e-9); + DOUBLES_EQUAL(3,error(system,y1),1e-9); + + // Test gradient in x + VectorValues expected_gx0 = zeros; + VectorValues expected_gx1 = zeros; + CHECK(assert_equal(expected_gx0,gradient(Ab,xtrue))); + expected_gx1[2] = Vector_(2, -100., 100.); + expected_gx1[4] = Vector_(2, -100., 100.); + expected_gx1[1] = Vector_(2, 200., -200.); + expected_gx1[3] = Vector_(2, -100., 100.); + expected_gx1[0] = Vector_(2, 100., -100.); + CHECK(assert_equal(expected_gx1,gradient(Ab,x1))); + + // Test gradient in y + VectorValues expected_gy0 = zeros; + VectorValues expected_gy1 = zeros; + expected_gy1[2] = Vector_(2, 2., -2.); + expected_gy1[4] = Vector_(2, -2., 2.); + expected_gy1[1] = Vector_(2, 3., -3.); + expected_gy1[3] = Vector_(2, -1., 1.); + expected_gy1[0] = Vector_(2, 1., -1.); + CHECK(assert_equal(expected_gy0,gradient(system,y0))); + CHECK(assert_equal(expected_gy1,gradient(system,y1))); + + // Check it numerically for good measure + // TODO use boost::bind(&SubgraphPreconditioner::error,&system,_1) + // Vector numerical_g1 = numericalGradient (error, y1, 0.001); + // Vector expected_g1 = Vector_(18, 0., 0., 0., 0., 2., -2., 0., 0., -2., 2., + // 3., -3., 0., 0., -1., 1., 1., -1.); + // CHECK(assert_equal(expected_g1,numerical_g1)); +} /* ************************************************************************* */ -//TEST( SubgraphPreconditioner, conjugateGradients ) -//{ -// // Build a planar graph -// GaussianFactorGraph Ab; -// VectorValues xtrue; -// size_t N = 3; -// boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b -// -// // Get the spanning tree and corresponding ordering -// GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 -// boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); -// SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); -// SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); -// -// // Eliminate the spanning tree to build a prior -// Ordering ordering = planarOrdering(N); -// SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 -// VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 -// -// // Create Subgraph-preconditioned system -// VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible -// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); -// -// // Create zero config y0 and perturbed config y1 -// VectorValues y0 = VectorValues::Zero(xbar); -// -// VectorValues y1 = y0; -// y1[i2003] = Vector_(2, 1.0, -1.0); -// VectorValues x1 = system.x(y1); -// -// // Solve for the remaining constraints using PCG -// ConjugateGradientParameters parameters; -//// VectorValues actual = gtsam::conjugateGradients(system, y1, verbose, epsilon, epsilon, maxIterations); -//// CHECK(assert_equal(y0,actual)); -// -// // Compare with non preconditioned version: -// VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); -// CHECK(assert_equal(xtrue,actual2,1e-4)); -//} +TEST( SubgraphPreconditioner, conjugateGradients ) +{ + // Build a planar graph + JacobianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + // Get the spanning tree and corresponding ordering + JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + SubgraphPreconditioner::sharedFG Ab1(new JacobianFactorGraph(Ab1_)); + SubgraphPreconditioner::sharedFG Ab2(new JacobianFactorGraph(Ab2_)); + + // Eliminate the spanning tree to build a prior + Ordering ordering = planarOrdering(N); + SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 + VectorValues xbar = optimize(*Rc1); // xbar = inv(R1)*c1 + + // Create Subgraph-preconditioned system + VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible + SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); + + // Create zero config y0 and perturbed config y1 + VectorValues y0 = VectorValues::Zero(xbar); + + VectorValues y1 = y0; + y1[1] = Vector_(2, 1.0, -1.0); + VectorValues x1 = system.x(y1); + + // Solve for the remaining constraints using PCG + ConjugateGradientParameters parameters; + VectorValues actual = conjugateGradients(system, y1, parameters); + CHECK(assert_equal(y0,actual)); + + // Compare with non preconditioned version: + VectorValues actual2 = conjugateGradientDescent(Ab, x1, parameters); + CHECK(assert_equal(xtrue,actual2,1e-4)); +} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } From 832072c940fa866befd4e30bb1f097ba6e83c69c Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 3 Sep 2012 00:13:35 +0000 Subject: [PATCH 852/914] Fixed path --- matlab/gtsam_examples/PlanarSLAMExample_graph.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/gtsam_examples/PlanarSLAMExample_graph.m b/matlab/gtsam_examples/PlanarSLAMExample_graph.m index a65ea5980..9ca88e49a 100644 --- a/matlab/gtsam_examples/PlanarSLAMExample_graph.m +++ b/matlab/gtsam_examples/PlanarSLAMExample_graph.m @@ -15,7 +15,7 @@ clear import gtsam.* %% Find data file -datafile = '/Users/dellaert/borg/gtsam/examples/Data/example.graph'; +datafile = findExampleDataFile('example.graph'); %% Initialize graph, initial estimate, and odometry noise model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 2*pi/180]); From 2285b14c5f61d7604fb8edb16b56373db4fb6b92 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Sep 2012 00:39:02 +0000 Subject: [PATCH 853/914] Alternate matrix operation --- gtsam_unstable/slam/PoseRotationPrior.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam_unstable/slam/PoseRotationPrior.h index 60a29b3e4..30d3828fd 100644 --- a/gtsam_unstable/slam/PoseRotationPrior.h +++ b/gtsam_unstable/slam/PoseRotationPrior.h @@ -67,9 +67,9 @@ public: if (H) { *H = gtsam::zeros(rDim, xDim); if (pose_traits::isRotFirst()) - (*H).leftCols(rDim) = eye(rDim); + (*H).leftCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); // FIXME: avoiding use of assign with eye() else - (*H).rightCols(rDim) = eye(rDim); + (*H).rightCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); } return Rotation::Logmap(newR) - Rotation::Logmap(measured_); From 891fb2e038652c37dc5c9dbaea546e69da75b763 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Sep 2012 00:50:24 +0000 Subject: [PATCH 854/914] comments only --- gtsam_unstable/slam/PoseRotationPrior.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam_unstable/slam/PoseRotationPrior.h index 30d3828fd..9a56ec891 100644 --- a/gtsam_unstable/slam/PoseRotationPrior.h +++ b/gtsam_unstable/slam/PoseRotationPrior.h @@ -67,9 +67,9 @@ public: if (H) { *H = gtsam::zeros(rDim, xDim); if (pose_traits::isRotFirst()) - (*H).leftCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); // FIXME: avoiding use of assign with eye() + (*H).leftCols(rDim).setIdentity(rDim, rDim); else - (*H).rightCols(rDim).setIdentity(rDim, rDim); // = eye(rDim); + (*H).rightCols(rDim).setIdentity(rDim, rDim); } return Rotation::Logmap(newR) - Rotation::Logmap(measured_); From 55c9bdb3ac7aa121f061ec03ab0193b31c4b8913 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Sep 2012 00:58:05 +0000 Subject: [PATCH 855/914] Added notes on use of eye() and zeros() when using Eigen block operations --- gtsam/base/Matrix.h | 21 ++++++++++++++++++++- 1 file changed, 20 insertions(+), 1 deletion(-) diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h index 6902a4a88..e6a40f727 100644 --- a/gtsam/base/Matrix.h +++ b/gtsam/base/Matrix.h @@ -67,11 +67,30 @@ inline Matrix Matrix_(const Vector& v) { return Matrix_(v.size(),1,v);} */ Matrix Matrix_(size_t m, size_t n, ...); +// Matlab-like syntax + /** - * MATLAB like constructors + * Creates an zeros matrix, with matlab-like syntax + * + * Note: if assigning a block (created from an Eigen block() function) of a matrix to zeros, + * don't use this function, instead use ".setZero(m,n)" to avoid an Eigen error. */ Matrix zeros(size_t m, size_t n); + +/** + * Creates an identity matrix, with matlab-like syntax + * + * Note: if assigning a block (created from an Eigen block() function) of a matrix to identity, + * don't use this function, instead use ".setIdentity(m,n)" to avoid an Eigen error. + */ Matrix eye(size_t m, size_t n); + +/** + * Creates a square identity matrix, with matlab-like syntax + * + * Note: if assigning a block (created from an Eigen block() function) of a matrix to identity, + * don't use this function, instead use ".setIdentity(m)" to avoid an Eigen error. + */ inline Matrix eye( size_t m ) { return eye(m,m); } Matrix diag(const Vector& v); From bd6cb53d5ee26eb53ac50fc042998fb56c00ec6f Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 01:45:12 +0000 Subject: [PATCH 856/914] Updated README for make doc --- README | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README b/README index 1a992292a..8e74f61e4 100644 --- a/README +++ b/README @@ -72,8 +72,8 @@ will run up to 10x faster in Release mode! See the end of this document for additional debugging tips. 3) -GTSAM has Doxygen documentation. To generate, run the the script -makedoc.sh. +GTSAM has Doxygen documentation. To generate, run 'make doc' from your +build directory. 4) The instructions below install the library to the default system install path and From d8e0a9589039128b963bdc00cefa28b19ce4a2ff Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Sep 2012 03:06:08 +0000 Subject: [PATCH 857/914] Small bug-fixes for managing linearization points --- gtsam_unstable/nonlinear/LinearContainerFactor.cpp | 2 +- gtsam_unstable/nonlinear/LinearContainerFactor.h | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index fa44d3e93..e6c49b318 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -205,7 +205,7 @@ GaussianFactor::shared_ptr LinearContainerFactor::negate(const Ordering& orderin /* ************************************************************************* */ NonlinearFactor::shared_ptr LinearContainerFactor::negate() const { GaussianFactor::shared_ptr antifactor = factor_->negate(); // already has keys in place - return NonlinearFactor::shared_ptr(new LinearContainerFactor(antifactor)); + return NonlinearFactor::shared_ptr(new LinearContainerFactor(antifactor,linearizationPoint_)); } /* ************************************************************************* */ diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h index 9affcc29e..a8f7cd399 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.h +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -23,6 +23,11 @@ protected: GaussianFactor::shared_ptr factor_; boost::optional linearizationPoint_; + /** direct copy constructor */ + LinearContainerFactor(const GaussianFactor::shared_ptr& factor, + const boost::optional& linearizationPoint) + : factor_(factor), linearizationPoint_(linearizationPoint) {} + public: /** Primary constructor: store a linear factor and decode the ordering */ @@ -105,7 +110,7 @@ public: * Clones the underlying linear factor */ NonlinearFactor::shared_ptr clone() const { - return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_)); + return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_,linearizationPoint_)); } // casting syntactic sugar From 3522d09c4eb573797f34744c450a5276f08ce759 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Sep 2012 03:06:09 +0000 Subject: [PATCH 858/914] Adding options for making deb packages --- CMakeLists.txt | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6349d440a..3df8ab232 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -161,7 +161,7 @@ if (DOXYGEN_FOUND) add_subdirectory(doc) endif() -# Set up CPack +## Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology") set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu") @@ -172,12 +172,16 @@ set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") #set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory -set(CPACK_INSTALLED_DIRECTORIES ".") -set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makestats.sh$") +#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error +set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$") set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs +# Deb-package specific cpack +set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") +set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") + # print configuration variables message(STATUS "===============================================================") message(STATUS "================ Configuration Options ======================") From d3b5c463edd4c946b518bbf8d40b92ccc45701d9 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 3 Sep 2012 17:22:09 +0000 Subject: [PATCH 859/914] Fixed initialization bug --- gtsam_unstable/nonlinear/LinearContainerFactor.cpp | 9 +++++++++ gtsam_unstable/nonlinear/LinearContainerFactor.h | 3 +-- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp index e6c49b318..b5701fb13 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp @@ -38,6 +38,15 @@ void LinearContainerFactor::initializeLinearizationPoint(const Values& lineariza } } +/* ************************************************************************* */ +LinearContainerFactor::LinearContainerFactor(const GaussianFactor::shared_ptr& factor, + const boost::optional& linearizationPoint) +: factor_(factor), linearizationPoint_(linearizationPoint) { + // Extract keys stashed in linear factor + BOOST_FOREACH(const Index& idx, factor_->keys()) + keys_.push_back(idx); +} + /* ************************************************************************* */ LinearContainerFactor::LinearContainerFactor( const JacobianFactor& factor, const Ordering& ordering, diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam_unstable/nonlinear/LinearContainerFactor.h index a8f7cd399..324556622 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.h +++ b/gtsam_unstable/nonlinear/LinearContainerFactor.h @@ -25,8 +25,7 @@ protected: /** direct copy constructor */ LinearContainerFactor(const GaussianFactor::shared_ptr& factor, - const boost::optional& linearizationPoint) - : factor_(factor), linearizationPoint_(linearizationPoint) {} + const boost::optional& linearizationPoint); public: From 61b6c72363e7908c0e0029507e7b6f7b0658214c Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 3 Sep 2012 17:56:22 +0000 Subject: [PATCH 860/914] Added PlanarSLAMExample_Graph to the gui --- matlab/gtsam_examples/gtsamExamples.fig | Bin 10561 -> 10933 bytes matlab/gtsam_examples/gtsamExamples.m | 9 ++++++++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/matlab/gtsam_examples/gtsamExamples.fig b/matlab/gtsam_examples/gtsamExamples.fig index e51c23468d21978f6cdd6c9f8d5d4650085db138..ca48437dae84bc997488acd393909553f61e90f9 100644 GIT binary patch literal 10933 zcma)iXHXNs7A}Z@B7#z-BZ~CiJ1D)2(tDTQTL=V1DbkztB1L*fIs~NGfb<$5^h5%L zPC}md-uLJIduMib&+N{eJu_#%J>Q;PErpMo3U8T3c=?&N6h87eIJw$$GwZrq`#N}d zyGb&uXlfgYi*hr+^R~D4wYOvTaF=A(@^EMVVDHJyEW|7zBq_o#Da6k#$S)ws{QoPA 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+0000 Subject: [PATCH 861/914] Removed deprecated unit tests from testGaussianFactorGraphB and moved SPCG-specific ones to testGraph and testJacobianFactorGraph --- .../linear/tests/testJacobianFactorGraph.cpp | 92 +++ tests/testGaussianFactorGraphB.cpp | 548 +----------------- tests/testGraph.cpp | 43 ++ 3 files changed, 146 insertions(+), 537 deletions(-) create mode 100644 gtsam/linear/tests/testJacobianFactorGraph.cpp diff --git a/gtsam/linear/tests/testJacobianFactorGraph.cpp b/gtsam/linear/tests/testJacobianFactorGraph.cpp new file mode 100644 index 000000000..e756d83e7 --- /dev/null +++ b/gtsam/linear/tests/testJacobianFactorGraph.cpp @@ -0,0 +1,92 @@ +/* ---------------------------------------------------------------------------- + + * 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 testJacobianFactorGraph.cpp + * @brief Unit tests for JacobianFactorGraph + * @author Yong Dian Jian + **/ + +#include +#include + + +///* ************************************************************************* */ +//TEST( GaussianFactorGraph, gradient ) +//{ +// GaussianFactorGraph fg = createGaussianFactorGraph(); +// +// // Construct expected gradient +// VectorValues expected; +// +// // 2*f(x) = 100*(x1+c[X(1)])^2 + 100*(x2-x1-[0.2;-0.1])^2 + 25*(l1-x1-[0.0;0.2])^2 + 25*(l1-x2-[-0.2;0.3])^2 +// // worked out: df/dx1 = 100*[0.1;0.1] + 100*[0.2;-0.1]) + 25*[0.0;0.2] = [10+20;10-10+5] = [30;5] +// expected.insert(L(1),Vector_(2, 5.0,-12.5)); +// expected.insert(X(1),Vector_(2, 30.0, 5.0)); +// expected.insert(X(2),Vector_(2,-25.0, 17.5)); +// +// // Check the gradient at delta=0 +// VectorValues zero = createZeroDelta(); +// VectorValues actual = fg.gradient(zero); +// EXPECT(assert_equal(expected,actual)); +// +// // Check it numerically for good measure +// Vector numerical_g = numericalGradient(error,zero,0.001); +// EXPECT(assert_equal(Vector_(6,5.0,-12.5,30.0,5.0,-25.0,17.5),numerical_g)); +// +// // Check the gradient at the solution (should be zero) +// Ordering ord; +// ord += X(2),L(1),X(1); +// GaussianFactorGraph fg2 = createGaussianFactorGraph(); +// VectorValues solution = fg2.optimize(ord); // destructive +// VectorValues actual2 = fg.gradient(solution); +// EXPECT(assert_equal(zero,actual2)); +//} + +///* ************************************************************************* */ +//TEST( GaussianFactorGraph, transposeMultiplication ) +//{ +// // create an ordering +// Ordering ord; ord += X(2),L(1),X(1); +// +// GaussianFactorGraph A = createGaussianFactorGraph(ord); +// Errors e; +// e += Vector_(2, 0.0, 0.0); +// e += Vector_(2,15.0, 0.0); +// e += Vector_(2, 0.0,-5.0); +// e += Vector_(2,-7.5,-5.0); +// +// VectorValues expected = createZeroDelta(ord), actual = A ^ e; +// expected[ord[L(1)]] = Vector_(2, -37.5,-50.0); +// expected[ord[X(1)]] = Vector_(2,-150.0, 25.0); +// expected[ord[X(2)]] = Vector_(2, 187.5, 25.0); +// EXPECT(assert_equal(expected,actual)); +//} + +///* ************************************************************************* */ +//TEST( GaussianFactorGraph, rhs ) +//{ +// // create an ordering +// Ordering ord; ord += X(2),L(1),X(1); +// +// GaussianFactorGraph Ab = createGaussianFactorGraph(ord); +// Errors expected = createZeroDelta(ord), actual = Ab.rhs(); +// expected.push_back(Vector_(2,-1.0,-1.0)); +// expected.push_back(Vector_(2, 2.0,-1.0)); +// expected.push_back(Vector_(2, 0.0, 1.0)); +// expected.push_back(Vector_(2,-1.0, 1.5)); +// EXPECT(assert_equal(expected,actual)); +//} + + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr);} +/* ************************************************************************* */ diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 20972add9..c6ec69d4e 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -56,143 +56,17 @@ TEST( GaussianFactorGraph, equals ) { } /* ************************************************************************* */ -//TEST( GaussianFactorGraph, error ) { -// Ordering ordering; ordering += X(1),X(2),L(1); -// FactorGraph fg = createGaussianFactorGraph(ordering); -// VectorValues cfg = createZeroDelta(ordering); -// -// // note the error is the same as in testNonlinearFactorGraph as a -// // zero delta config in the linear graph is equivalent to noisy in -// // non-linear, which is really linear under the hood -// double actual = fg.error(cfg); -// DOUBLES_EQUAL( 5.625, actual, 1e-9 ); -//} +TEST( GaussianFactorGraph, error ) { + Ordering ordering; ordering += X(1),X(2),L(1); + GaussianFactorGraph fg = createGaussianFactorGraph(ordering); + VectorValues cfg = createZeroDelta(ordering); -/* ************************************************************************* */ -/* unit test for find seperator */ -/* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, find_separator ) -//{ -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// set separator = fg.find_separator(X(2)); -// set expected; -// expected.insert(X(1)); -// expected.insert(L(1)); -// -// EXPECT(separator.size()==expected.size()); -// set::iterator it1 = separator.begin(), it2 = expected.begin(); -// for(; it1!=separator.end(); it1++, it2++) -// EXPECT(*it1 == *it2); -//} - -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactorGraph, combine_factors_x1 ) -//{ -// // create a small example for a linear factor graph -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// // combine all factors -// GaussianFactor::shared_ptr actual = removeAndCombineFactors(fg,X(1)); -// -// // the expected linear factor -// Matrix Al1 = Matrix_(6,2, -// 0., 0., -// 0., 0., -// 0., 0., -// 0., 0., -// 5., 0., -// 0., 5. -// ); -// -// Matrix Ax1 = Matrix_(6,2, -// 10., 0., -// 0., 10., -// -10., 0., -// 0.,-10., -// -5., 0., -// 0.,-5. -// ); -// -// Matrix Ax2 = Matrix_(6,2, -// 0., 0., -// 0., 0., -// 10., 0., -// 0., 10., -// 0., 0., -// 0., 0. -// ); -// -// // the expected RHS vector -// Vector b(6); -// b(0) = -1; -// b(1) = -1; -// b(2) = 2; -// b(3) = -1; -// b(4) = 0; -// b(5) = 1; -// -// vector > meas; -// meas.push_back(make_pair(L(1), Al1)); -// meas.push_back(make_pair(X(1), Ax1)); -// meas.push_back(make_pair(X(2), Ax2)); -// GaussianFactor expected(meas, b, ones(6)); -// //GaussianFactor expected(L(1), Al1, X(1), Ax1, X(2), Ax2, b); -// -// // check if the two factors are the same -// EXPECT(assert_equal(expected,*actual)); -//} -// -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactorGraph, combine_factors_x2 ) -//{ -// // create a small example for a linear factor graph -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// // combine all factors -// GaussianFactor::shared_ptr actual = removeAndCombineFactors(fg,X(2)); -// -// // the expected linear factor -// Matrix Al1 = Matrix_(4,2, -// // l1 -// 0., 0., -// 0., 0., -// 5., 0., -// 0., 5. -// ); -// -// Matrix Ax1 = Matrix_(4,2, -// // x1 -// -10., 0., // f2 -// 0.,-10., // f2 -// 0., 0., // f4 -// 0., 0. // f4 -// ); -// -// Matrix Ax2 = Matrix_(4,2, -// // x2 -// 10., 0., -// 0., 10., -// -5., 0., -// 0.,-5. -// ); -// -// // the expected RHS vector -// Vector b(4); -// b(0) = 2; -// b(1) = -1; -// b(2) = -1; -// b(3) = 1.5; -// -// vector > meas; -// meas.push_back(make_pair(L(1), Al1)); -// meas.push_back(make_pair(X(1), Ax1)); -// meas.push_back(make_pair(X(2), Ax2)); -// GaussianFactor expected(meas, b, ones(4)); -// -// // check if the two factors are the same -// EXPECT(assert_equal(expected,*actual)); -//} + // note the error is the same as in testNonlinearFactorGraph as a + // zero delta config in the linear graph is equivalent to noisy in + // non-linear, which is really linear under the hood + double actual = fg.error(cfg); + DOUBLES_EQUAL( 5.625, actual, 1e-9 ); +} /* ************************************************************************* */ TEST( GaussianFactorGraph, eliminateOne_x1 ) @@ -336,47 +210,6 @@ TEST( GaussianFactorGraph, eliminateAll ) EXPECT(assert_equal(expected,actualQR,tol)); } -///* ************************************************************************* */ -//TEST( GaussianFactorGraph, eliminateAll_fast ) -//{ -// // create expected Chordal bayes Net -// Matrix I = eye(2); -// -// Vector d1 = Vector_(2, -0.1,-0.1); -// GaussianBayesNet expected = simpleGaussian(X(1),d1,0.1); -// -// double sig1 = 0.149071; -// Vector d2 = Vector_(2, 0.0, 0.2)/sig1, sigma2 = ones(2); -// push_front(expected,L(1),d2, I/sig1,X(1), (-1)*I/sig1,sigma2); -// -// double sig2 = 0.0894427; -// Vector d3 = Vector_(2, 0.2, -0.14)/sig2, sigma3 = ones(2); -// push_front(expected,X(2),d3, I/sig2,L(1), (-0.2)*I/sig2, X(1), (-0.8)*I/sig2, sigma3); -// -// // Check one ordering -// GaussianFactorGraph fg1 = createGaussianFactorGraph(); -// Ordering ordering; -// ordering += X(2),L(1),X(1); -// GaussianBayesNet actual = fg1.eliminate(ordering, false); -// EXPECT(assert_equal(expected,actual,tol)); -//} - -///* ************************************************************************* */ -//TEST( GaussianFactorGraph, add_priors ) -//{ -// Ordering ordering; ordering += L(1),X(1),X(2); -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// GaussianFactorGraph actual = fg.add_priors(3, vector(3,2)); -// GaussianFactorGraph expected = createGaussianFactorGraph(ordering); -// Matrix A = eye(2); -// Vector b = zero(2); -// SharedDiagonal sigma = noiseModel::Isotropic::Sigma(2,3.0); -// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[L(1)],A,b,sigma))); -// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[X(1)],A,b,sigma))); -// expected.push_back(GaussianFactor::shared_ptr(new JacobianFactor(ordering[X(2)],A,b,sigma))); -// EXPECT(assert_equal(expected,actual)); -//} - /* ************************************************************************* */ TEST( GaussianFactorGraph, copying ) { @@ -397,46 +230,6 @@ TEST( GaussianFactorGraph, copying ) EXPECT(assert_equal(expected,actual)); } -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactorGraph, matrix ) -//{ -// // render with a given ordering -// Ordering ord; -// ord += X(2),L(1),X(1); -// -// // Create a graph -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// -// Matrix A; Vector b; -// boost::tie(A,b) = fg.matrix(); -// -// Matrix A1 = Matrix_(2*4,3*2, -// +0., 0., 0., 0., 10., 0., // unary factor on x1 (prior) -// +0., 0., 0., 0., 0., 10., -// 10., 0., 0., 0.,-10., 0., // binary factor on x2,x1 (odometry) -// +0., 10., 0., 0., 0.,-10., -// +0., 0., 5., 0., -5., 0., // binary factor on l1,x1 (z1) -// +0., 0., 0., 5., 0., -5., -// -5., 0., 5., 0., 0., 0., // binary factor on x2,l1 (z2) -// +0., -5., 0., 5., 0., 0. -// ); -// Vector b1 = Vector_(8,-1., -1., 2., -1., 0., 1., -1., 1.5); -// -// EQUALITY(A,A1); -// EXPECT(b==b1); -//} - -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactorGraph, sizeOfA ) -//{ -// // create a small linear factor graph -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// pair mn = fg.sizeOfA(); -// EXPECT(8 == mn.first); -// EXPECT(6 == mn.second); -//} - /* ************************************************************************* */ TEST( GaussianFactorGraph, CONSTRUCTOR_GaussianBayesNet ) { @@ -451,11 +244,6 @@ TEST( GaussianFactorGraph, CONSTRUCTOR_GaussianBayesNet ) GaussianFactorGraph fg2(CBN); GaussianBayesNet CBN2 = *GaussianSequentialSolver(fg2).eliminate(); EXPECT(assert_equal(CBN,CBN2)); - - // Base FactorGraph only -// FactorGraph fg3(CBN); -// GaussianBayesNet CBN3 = gtsam::eliminate(fg3,ord); -// EXPECT(assert_equal(CBN,CBN3)); } /* ************************************************************************* */ @@ -469,16 +257,6 @@ TEST( GaussianFactorGraph, getOrdering) EXPECT(assert_equal(expected,actual)); } -// SL-FIX TEST( GaussianFactorGraph, getOrdering2) -//{ -// Ordering expected; -// expected += L(1),X(1); -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// set interested; interested += L(1),X(1); -// Ordering actual = fg.getOrdering(interested); -// EXPECT(assert_equal(expected,actual)); -//} - /* ************************************************************************* */ TEST( GaussianFactorGraph, optimize_Cholesky ) { @@ -515,24 +293,6 @@ TEST( GaussianFactorGraph, optimize_QR ) EXPECT(assert_equal(expected,actual)); } -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactorGraph, optimizeMultiFrontlas ) -//{ -// // create an ordering -// Ordering ord; ord += X(2),L(1),X(1); -// -// // create a graph -// GaussianFactorGraph fg = createGaussianFactorGraph(ord); -// -// // optimize the graph -// VectorValues actual = fg.optimizeMultiFrontals(ord); -// -// // verify -// VectorValues expected = createCorrectDelta(); -// -// EXPECT(assert_equal(expected,actual)); -//} - /* ************************************************************************* */ TEST( GaussianFactorGraph, combine) { @@ -585,48 +345,6 @@ void print(vector v) { cout << endl; } -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, factor_lookup) -//{ -// // create a test graph -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// // ask for all factor indices connected to x1 -// list x1_factors = fg.factors(X(1)); -// size_t x1_indices[] = { 0, 1, 2 }; -// list x1_expected(x1_indices, x1_indices + 3); -// EXPECT(x1_factors==x1_expected); -// -// // ask for all factor indices connected to x2 -// list x2_factors = fg.factors(X(2)); -// size_t x2_indices[] = { 1, 3 }; -// list x2_expected(x2_indices, x2_indices + 2); -// EXPECT(x2_factors==x2_expected); -//} - -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, findAndRemoveFactors ) -//{ -// // create the graph -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// // We expect to remove these three factors: 0, 1, 2 -// GaussianFactor::shared_ptr f0 = fg[0]; -// GaussianFactor::shared_ptr f1 = fg[1]; -// GaussianFactor::shared_ptr f2 = fg[2]; -// -// // call the function -// vector factors = fg.findAndRemoveFactors(X(1)); -// -// // Check the factors -// EXPECT(f0==factors[0]); -// EXPECT(f1==factors[1]); -// EXPECT(f2==factors[2]); -// -// // EXPECT if the factors are deleted from the factor graph -// LONGS_EQUAL(1,fg.nrFactors()); -//} - /* ************************************************************************* */ TEST(GaussianFactorGraph, createSmoother) { @@ -636,35 +354,6 @@ TEST(GaussianFactorGraph, createSmoother) LONGS_EQUAL(5,fg2.size()); } -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, variables ) -//{ -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// Dimensions expected; -// insert(expected)(L(1), 2)(X(1), 2)(X(2), 2); -// Dimensions actual = fg.dimensions(); -// EXPECT(expected==actual); -//} - -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, keys ) -//{ -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// Ordering expected; -// expected += L(1),X(1),X(2); -// EXPECT(assert_equal(expected,fg.keys())); -//} - -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, involves ) -//{ -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// EXPECT(fg.involves(L(1))); -// EXPECT(fg.involves(X(1))); -// EXPECT(fg.involves(X(2))); -// EXPECT(!fg.involves(X(3))); -//} - /* ************************************************************************* */ double error(const VectorValues& x) { // create an ordering @@ -674,38 +363,6 @@ double error(const VectorValues& x) { return fg.error(x); } -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, gradient ) -//{ -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// // Construct expected gradient -// VectorValues expected; -// -// // 2*f(x) = 100*(x1+c[X(1)])^2 + 100*(x2-x1-[0.2;-0.1])^2 + 25*(l1-x1-[0.0;0.2])^2 + 25*(l1-x2-[-0.2;0.3])^2 -// // worked out: df/dx1 = 100*[0.1;0.1] + 100*[0.2;-0.1]) + 25*[0.0;0.2] = [10+20;10-10+5] = [30;5] -// expected.insert(L(1),Vector_(2, 5.0,-12.5)); -// expected.insert(X(1),Vector_(2, 30.0, 5.0)); -// expected.insert(X(2),Vector_(2,-25.0, 17.5)); -// -// // Check the gradient at delta=0 -// VectorValues zero = createZeroDelta(); -// VectorValues actual = fg.gradient(zero); -// EXPECT(assert_equal(expected,actual)); -// -// // Check it numerically for good measure -// Vector numerical_g = numericalGradient(error,zero,0.001); -// EXPECT(assert_equal(Vector_(6,5.0,-12.5,30.0,5.0,-25.0,17.5),numerical_g)); -// -// // Check the gradient at the solution (should be zero) -// Ordering ord; -// ord += X(2),L(1),X(1); -// GaussianFactorGraph fg2 = createGaussianFactorGraph(); -// VectorValues solution = fg2.optimize(ord); // destructive -// VectorValues actual2 = fg.gradient(solution); -// EXPECT(assert_equal(zero,actual2)); -//} - /* ************************************************************************* */ TEST( GaussianFactorGraph, multiplication ) { @@ -723,41 +380,6 @@ TEST( GaussianFactorGraph, multiplication ) EXPECT(assert_equal(expected,actual)); } -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, transposeMultiplication ) -//{ -// // create an ordering -// Ordering ord; ord += X(2),L(1),X(1); -// -// GaussianFactorGraph A = createGaussianFactorGraph(ord); -// Errors e; -// e += Vector_(2, 0.0, 0.0); -// e += Vector_(2,15.0, 0.0); -// e += Vector_(2, 0.0,-5.0); -// e += Vector_(2,-7.5,-5.0); -// -// VectorValues expected = createZeroDelta(ord), actual = A ^ e; -// expected[ord[L(1)]] = Vector_(2, -37.5,-50.0); -// expected[ord[X(1)]] = Vector_(2,-150.0, 25.0); -// expected[ord[X(2)]] = Vector_(2, 187.5, 25.0); -// EXPECT(assert_equal(expected,actual)); -//} - -///* ************************************************************************* */ -// SL-NEEDED? TEST( GaussianFactorGraph, rhs ) -//{ -// // create an ordering -// Ordering ord; ord += X(2),L(1),X(1); -// -// GaussianFactorGraph Ab = createGaussianFactorGraph(ord); -// Errors expected = createZeroDelta(ord), actual = Ab.rhs(); -// expected.push_back(Vector_(2,-1.0,-1.0)); -// expected.push_back(Vector_(2, 2.0,-1.0)); -// expected.push_back(Vector_(2, 0.0, 1.0)); -// expected.push_back(Vector_(2,-1.0, 1.5)); -// EXPECT(assert_equal(expected,actual)); -//} - /* ************************************************************************* */ // Extra test on elimination prompted by Michael's email to Frank 1/4/2010 TEST( GaussianFactorGraph, elimination ) @@ -824,22 +446,6 @@ TEST( GaussianFactorGraph, constrained_single ) EXPECT(assert_equal(expected, actual)); } -///* ************************************************************************* */ -//SL-FIX TEST( GaussianFactorGraph, constrained_single2 ) -//{ -// // get a graph with a constraint in it -// GaussianFactorGraph fg = createSingleConstraintGraph(); -// -// // eliminate and solve -// Ordering ord; -// ord += "yk, x"; -// VectorValues actual = fg.optimize(ord); -// -// // verify -// VectorValues expected = createSingleConstraintValues(); -// EXPECT(assert_equal(expected, actual)); -//} - /* ************************************************************************* */ TEST( GaussianFactorGraph, constrained_multi1 ) { @@ -855,68 +461,9 @@ TEST( GaussianFactorGraph, constrained_multi1 ) EXPECT(assert_equal(expected, actual)); } -///* ************************************************************************* */ -//SL-FIX TEST( GaussianFactorGraph, constrained_multi2 ) -//{ -// // get a graph with a constraint in it -// GaussianFactorGraph fg = createMultiConstraintGraph(); -// -// // eliminate and solve -// Ordering ord; -// ord += "zk, xk, y"; -// VectorValues actual = fg.optimize(ord); -// -// // verify -// VectorValues expected = createMultiConstraintValues(); -// EXPECT(assert_equal(expected, actual)); -//} - /* ************************************************************************* */ -SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1); - -// SL-FIX TEST( GaussianFactorGraph, findMinimumSpanningTree ) -//{ -// GaussianFactorGraph g; -// Matrix I = eye(2); -// Vector b = Vector_(0, 0, 0); -// g.add(X(1), I, X(2), I, b, model); -// g.add(X(1), I, X(3), I, b, model); -// g.add(X(1), I, X(4), I, b, model); -// g.add(X(2), I, X(3), I, b, model); -// g.add(X(2), I, X(4), I, b, model); -// g.add(X(3), I, X(4), I, b, model); -// -// map tree = g.findMinimumSpanningTree(); -// EXPECT(tree[X(1)].compare(X(1))==0); -// EXPECT(tree[X(2)].compare(X(1))==0); -// EXPECT(tree[X(3)].compare(X(1))==0); -// EXPECT(tree[X(4)].compare(X(1))==0); -//} - -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactorGraph, split ) -//{ -// GaussianFactorGraph g; -// Matrix I = eye(2); -// Vector b = Vector_(0, 0, 0); -// g.add(X(1), I, X(2), I, b, model); -// g.add(X(1), I, X(3), I, b, model); -// g.add(X(1), I, X(4), I, b, model); -// g.add(X(2), I, X(3), I, b, model); -// g.add(X(2), I, X(4), I, b, model); -// -// PredecessorMap tree; -// tree[X(1)] = X(1); -// tree[X(2)] = X(1); -// tree[X(3)] = X(1); -// tree[X(4)] = X(1); -// -// GaussianFactorGraph Ab1, Ab2; -// g.split(tree, Ab1, Ab2); -// LONGS_EQUAL(3, Ab1.size()); -// LONGS_EQUAL(2, Ab2.size()); -//} +static SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1); /* ************************************************************************* */ TEST(GaussianFactorGraph, replace) @@ -935,91 +482,18 @@ TEST(GaussianFactorGraph, replace) GaussianFactorGraph actual; actual.push_back(f1); -// actual.checkGraphConsistency(); actual.push_back(f2); -// actual.checkGraphConsistency(); actual.push_back(f3); -// actual.checkGraphConsistency(); actual.replace(0, f4); -// actual.checkGraphConsistency(); GaussianFactorGraph expected; expected.push_back(f4); -// actual.checkGraphConsistency(); expected.push_back(f2); -// actual.checkGraphConsistency(); expected.push_back(f3); -// actual.checkGraphConsistency(); EXPECT(assert_equal(expected, actual)); } -///* ************************************************************************* */ -//TEST ( GaussianFactorGraph, combine_matrix ) { -// // create a small linear factor graph -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// Dimensions dimensions = fg.dimensions(); -// -// // get two factors from it and insert the factors into a vector -// vector lfg; -// lfg.push_back(fg[4 - 1]); -// lfg.push_back(fg[2 - 1]); -// -// // combine in a factor -// Matrix Ab; SharedDiagonal noise; -// Ordering order; order += X(2), L(1), X(1); -// boost::tie(Ab, noise) = combineFactorsAndCreateMatrix(lfg, order, dimensions); -// -// // the expected augmented matrix -// Matrix expAb = Matrix_(4, 7, -// -5., 0., 5., 0., 0., 0.,-1.0, -// +0., -5., 0., 5., 0., 0., 1.5, -// 10., 0., 0., 0.,-10., 0., 2.0, -// +0., 10., 0., 0., 0.,-10.,-1.0); -// -// // expected noise model -// SharedDiagonal expModel = noiseModel::Unit::Create(4); -// -// EXPECT(assert_equal(expAb, Ab)); -// EXPECT(assert_equal(*expModel, *noise)); -//} - -/* ************************************************************************* */ -/* - * x2 x1 x3 b - * 1 1 1 1 1 0 1 - * 1 1 1 -> 1 1 1 - * 1 1 1 1 - */ -// SL-NEEDED? TEST ( GaussianFactorGraph, eliminateFrontals ) { -// typedef GaussianFactorGraph::sharedFactor Factor; -// SharedDiagonal model(Vector_(1, 0.5)); -// GaussianFactorGraph fg; -// Factor factor1(new JacobianFactor(X(1), Matrix_(1,1,1.), X(2), Matrix_(1,1,1.), Vector_(1,1.), model)); -// Factor factor2(new JacobianFactor(X(2), Matrix_(1,1,1.), X(3), Matrix_(1,1,1.), Vector_(1,1.), model)); -// Factor factor3(new JacobianFactor(X(3), Matrix_(1,1,1.), X(3), Matrix_(1,1,1.), Vector_(1,1.), model)); -// fg.push_back(factor1); -// fg.push_back(factor2); -// fg.push_back(factor3); -// -// Ordering frontals; frontals += X(2), X(1); -// GaussianBayesNet bn = fg.eliminateFrontals(frontals); -// -// GaussianBayesNet bn_expected; -// GaussianBayesNet::sharedConditional conditional1(new GaussianConditional(X(2), Vector_(1, 2.), Matrix_(1, 1, 2.), -// X(1), Matrix_(1, 1, 1.), X(3), Matrix_(1, 1, 1.), Vector_(1, 1.))); -// GaussianBayesNet::sharedConditional conditional2(new GaussianConditional(X(1), Vector_(1, 0.), Matrix_(1, 1, -1.), -// X(3), Matrix_(1, 1, 1.), Vector_(1, 1.))); -// bn_expected.push_back(conditional1); -// bn_expected.push_back(conditional2); -// EXPECT(assert_equal(bn_expected, bn)); -// -// GaussianFactorGraph::sharedFactor factor_expected(new JacobianFactor(X(3), Matrix_(1, 1, 2.), Vector_(1, 2.), SharedDiagonal(Vector_(1, 1.)))); -// GaussianFactorGraph fg_expected; -// fg_expected.push_back(factor_expected); -// EXPECT(assert_equal(fg_expected, fg)); -//} - /* ************************************************************************* */ TEST(GaussianFactorGraph, createSmoother2) { diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index 93ecd6dbe..71a075ccb 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -105,6 +105,49 @@ TEST( Graph, composePoses ) CHECK(assert_equal(expected, *actual)); } +// SL-FIX TEST( GaussianFactorGraph, findMinimumSpanningTree ) +//{ +// GaussianFactorGraph g; +// Matrix I = eye(2); +// Vector b = Vector_(0, 0, 0); +// g.add(X(1), I, X(2), I, b, model); +// g.add(X(1), I, X(3), I, b, model); +// g.add(X(1), I, X(4), I, b, model); +// g.add(X(2), I, X(3), I, b, model); +// g.add(X(2), I, X(4), I, b, model); +// g.add(X(3), I, X(4), I, b, model); +// +// map tree = g.findMinimumSpanningTree(); +// EXPECT(tree[X(1)].compare(X(1))==0); +// EXPECT(tree[X(2)].compare(X(1))==0); +// EXPECT(tree[X(3)].compare(X(1))==0); +// EXPECT(tree[X(4)].compare(X(1))==0); +//} + +///* ************************************************************************* */ +// SL-FIX TEST( GaussianFactorGraph, split ) +//{ +// GaussianFactorGraph g; +// Matrix I = eye(2); +// Vector b = Vector_(0, 0, 0); +// g.add(X(1), I, X(2), I, b, model); +// g.add(X(1), I, X(3), I, b, model); +// g.add(X(1), I, X(4), I, b, model); +// g.add(X(2), I, X(3), I, b, model); +// g.add(X(2), I, X(4), I, b, model); +// +// PredecessorMap tree; +// tree[X(1)] = X(1); +// tree[X(2)] = X(1); +// tree[X(3)] = X(1); +// tree[X(4)] = X(1); +// +// GaussianFactorGraph Ab1, Ab2; +// g.split(tree, Ab1, Ab2); +// LONGS_EQUAL(3, Ab1.size()); +// LONGS_EQUAL(2, Ab2.size()); +//} + /* ************************************************************************* */ int main() { TestResult tr; From 35d188e36dbe14e3608b3847a7e82ae016959603 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 3 Sep 2012 18:01:24 +0000 Subject: [PATCH 862/914] Moved testIterative.cpp back to GTSAM, made the first test compile/run --- tests/testIterative.cpp | 194 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 194 insertions(+) create mode 100644 tests/testIterative.cpp diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp new file mode 100644 index 000000000..88eb222bd --- /dev/null +++ b/tests/testIterative.cpp @@ -0,0 +1,194 @@ +/* ---------------------------------------------------------------------------- + + * 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 testIterative.cpp + * @brief Unit tests for iterative methods + * @author Frank Dellaert + **/ + +#include +#include +#include +#include +//#include +//#include +#include +//#include + +#include + +using namespace std; +using namespace gtsam; +using namespace example; +using symbol_shorthand::X; // to create pose keys +using symbol_shorthand::L; // to create landmark keys + +static bool verbose = false; + +/* ************************************************************************* */ +TEST( Iterative, steepestDescent ) +{ + // Create factor graph + Ordering ord; + ord += L(1), X(1), X(2); + JacobianFactorGraph fg = createGaussianFactorGraph(ord); + + // eliminate and solve + VectorValues expected = *GaussianSequentialSolver(fg).optimize(); + + // Do gradient descent + VectorValues zero = VectorValues::Zero(expected); // TODO, how do we do this normally? + ConjugateGradientParameters parameters; +// parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY; + VectorValues actual = steepestDescent(fg, zero, parameters); + CHECK(assert_equal(expected,actual,1e-2)); +} + +/* ************************************************************************* */ +TEST( Iterative, conjugateGradientDescent ) +{ +// // Expected solution +// Ordering ord; +// ord += L(1), X(1), X(2); +// GaussianFactorGraph fg = createGaussianFactorGraph(); +// VectorValues expected = fg.optimize(ord); // destructive +// +// // create graph and get matrices +// GaussianFactorGraph fg2 = createGaussianFactorGraph(); +// Matrix A; +// Vector b; +// Vector x0 = gtsam::zero(6); +// boost::tie(A, b) = fg2.matrix(ord); +// Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2); +// +// // Do conjugate gradient descent, System version +// System Ab(A, b); +// Vector actualX = conjugateGradientDescent(Ab, x0, verbose); +// CHECK(assert_equal(expectedX,actualX,1e-9)); +// +// // Do conjugate gradient descent, Matrix version +// Vector actualX2 = conjugateGradientDescent(A, b, x0, verbose); +// CHECK(assert_equal(expectedX,actualX2,1e-9)); +// +// // Do conjugate gradient descent on factor graph +// VectorValues zero = createZeroDelta(); +// VectorValues actual = conjugateGradientDescent(fg2, zero, verbose); +// CHECK(assert_equal(expected,actual,1e-2)); +// +// // Test method +// VectorValues actual2 = fg2.conjugateGradientDescent(zero, verbose); +// CHECK(assert_equal(expected,actual2,1e-2)); +} + +/* ************************************************************************* */ +/*TEST( Iterative, conjugateGradientDescent_hard_constraint ) +{ + typedef Pose2Values::Key Key; + + Pose2Values config; + config.insert(1, Pose2(0.,0.,0.)); + config.insert(2, Pose2(1.5,0.,0.)); + + Pose2Graph graph; + Matrix cov = eye(3); + graph.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(2), Pose2(1.,0.,0.), cov))); + graph.addHardConstraint(1, config[1]); + + VectorValues zeros; + zeros.insert(X(1),zero(3)); + zeros.insert(X(2),zero(3)); + + GaussianFactorGraph fg = graph.linearize(config); + VectorValues actual = conjugateGradientDescent(fg, zeros, true, 1e-3, 1e-5, 10); + + VectorValues expected; + expected.insert(X(1), zero(3)); + expected.insert(X(2), Vector_(-0.5,0.,0.)); + CHECK(assert_equal(expected, actual)); +}*/ + +/* ************************************************************************* */ +TEST( Iterative, conjugateGradientDescent_soft_constraint ) +{ +// Pose2Values config; +// config.insert(1, Pose2(0.,0.,0.)); +// config.insert(2, Pose2(1.5,0.,0.)); +// +// Pose2Graph graph; +// graph.addPrior(1, Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); +// graph.addConstraint(1,2, Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); +// +// VectorValues zeros; +// zeros.insert(X(1),zero(3)); +// zeros.insert(X(2),zero(3)); +// +// boost::shared_ptr fg = graph.linearize(config); +// VectorValues actual = conjugateGradientDescent(*fg, zeros, verbose, 1e-3, 1e-5, 100); +// +// VectorValues expected; +// expected.insert(X(1), zero(3)); +// expected.insert(X(2), Vector_(3,-0.5,0.,0.)); +// CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +TEST( Iterative, subgraphPCG ) +{ +// typedef Pose2Values::Key Key; +// +// Pose2Values theta_bar; +// theta_bar.insert(1, Pose2(0.,0.,0.)); +// theta_bar.insert(2, Pose2(1.5,0.,0.)); +// +// Pose2Graph graph; +// graph.addPrior(1, Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); +// graph.addConstraint(1,2, Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); +// +// // generate spanning tree and create ordering +// PredecessorMap tree = graph.findMinimumSpanningTree(); +// list keys = predecessorMap2Keys(tree); +// list symbols; +// symbols.resize(keys.size()); +// std::transform(keys.begin(), keys.end(), symbols.begin(), key2symbol); +// Ordering ordering(symbols); +// +// Key root = keys.back(); +// Pose2Graph T, C; +// graph.split(tree, T, C); +// +// // build the subgraph PCG system +// boost::shared_ptr Ab1_ = T.linearize(theta_bar); +// SubgraphPreconditioner::sharedFG Ab1 = T.linearize(theta_bar); +// SubgraphPreconditioner::sharedFG Ab2 = C.linearize(theta_bar); +// SubgraphPreconditioner::sharedBayesNet Rc1 = Ab1_->eliminate_(ordering); +// SubgraphPreconditioner::sharedValues xbar = optimize_(*Rc1); +// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbar); +// +// VectorValues zeros = VectorValues::zero(*xbar); +// +// // Solve the subgraph PCG +// VectorValues ybar = conjugateGradients (system, zeros, verbose, 1e-5, 1e-5, 100); +// VectorValues actual = system.x(ybar); +// +// VectorValues expected; +// expected.insert(X(1), zero(3)); +// expected.insert(X(2), Vector_(3, -0.5, 0., 0.)); +// CHECK(assert_equal(expected, actual)); +} + +/* ************************************************************************* */ +int main() { + TestResult tr; + return TestRegistry::runAllTests(tr); +} +/* ************************************************************************* */ From edef9851dcdb3cc1879aae7d941ff9797ca82d9a Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 3 Sep 2012 18:17:16 +0000 Subject: [PATCH 863/914] Fixed case issue for PlanarSLAMExample_graph --- matlab/gtsam_examples/gtsamExamples.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/gtsam_examples/gtsamExamples.m b/matlab/gtsam_examples/gtsamExamples.m index 39ba79203..094329329 100644 --- a/matlab/gtsam_examples/gtsamExamples.m +++ b/matlab/gtsam_examples/gtsamExamples.m @@ -146,7 +146,7 @@ PlanarSLAMExample_sampling function PlanarSLAMGraph_Callback(hObject, eventdata, handles) axes(handles.axes3); echo on -PlanarSLAMExample_Graph +PlanarSLAMExample_graph echo off % --- Executes on button press in SFM. 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z{}}e?HPtVZB$WM;@Z3yz+<$L)aA*j|V>F-A-)Zkp<#=5dUKj9lf7EIh;&y*NcWr(Y z`PFCg3jlOQ;Z=~9WPbLLs7smxlc=PBmRn!O<}Ze|^p(L-UpAUpL`gb;9_TJg>2=Yc zp&HChEyJ85BdxD@R)!d=tdGUmCB4MrqH=o&N~{Mmd5O(}x4*yc{su9@D>;%E{i9MG z#4z&+JF|Z}ZO^%MrpQDz#_)dyP?C@FqNj^|=KA#5)*)(J@H5<9IQ{H4-Rt1GzAj+2{*Z^Io&Po1fY1vz%SC?Y%zcr}y9Ay!`nzcs=;z+5GmWV8_qMpsSu0{&!>SOuJWs68#yI?u?dZnZ=i|c=DG@pGARp38- zy)tCvFL3mVqgQ~VR|>o*N3W!8{$jXVy`ul^8Zo+0zOoK#tLsX7B~)SG9l*M8hHZt} zP#&?aYS(wz`sCb3+Q@&`kEa}c;^-4cpA>jcjy_4){KasU`Xr|JbVL@SGf>Ucp-voq z@;80b364ge^c=B1`S$ho#jacL%IcF4sQve~kf6SWsLx2zW2HMhz`7sL-hOz&HJAs0 z|4esmrJe60z|kFI{f_Q9S-RsO-$nL5?@p^w$yTpC{r~^~|NoQgC#HW2r{gcS&ivMA zU;O9g-T0sz_Wa*`WnFns*fYEDSlKjTr9H^p31fU>`?cUYn#M1${gBqQrs>8-1v}jXqd8h2cH{NgopyeaPX)3iJstlndzd`(h(&CJy(vp(=JR?(Tn}dx802?$)ld~= Date: Mon, 3 Sep 2012 18:30:34 +0000 Subject: [PATCH 865/914] Fixed installing .svn directories in matlab toolbox --- matlab/CMakeLists.txt | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt index 0be3863a1..16cfb501a 100644 --- a/matlab/CMakeLists.txt +++ b/matlab/CMakeLists.txt @@ -2,17 +2,16 @@ # Tests message(STATUS "Installing Matlab Toolbox Tests") -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_tests" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_tests" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m" PATTERN ".svn" EXCLUDE) # Examples message(STATUS "Installing Matlab Toolbox Examples") # Matlab files: *.m and *.fig -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.fig") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m" PATTERN "*.fig" PATTERN ".svn" EXCLUDE) # Utilities message(STATUS "Installing Matlab Toolbox Utilities") -install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m") +install(DIRECTORY "${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}" FILES_MATCHING PATTERN "*.m" PATTERN ".svn" EXCLUDE) install(FILES "${GTSAM_SOURCE_ROOT_DIR}/matlab/README-gtsam-toolbox.txt" DESTINATION "${GTSAM_TOOLBOX_INSTALL_PATH}") message(STATUS "Installing Matlab Toolbox Examples (Data)") From f16a981a27a55637d8cb53d0107a9e478aca23ee Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 18:32:49 +0000 Subject: [PATCH 866/914] Added first pass of script to automatically generate self-contained precompiled matlab toolbox --- CMakeLists.txt | 1 + package_scripts/toolbox_package_unix.sh | 43 +++++++++++++++++++++++++ 2 files changed, 44 insertions(+) create mode 100755 package_scripts/toolbox_package_unix.sh diff --git a/CMakeLists.txt b/CMakeLists.txt index 3df8ab232..5c1c5cdab 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -175,6 +175,7 @@ set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSIO #set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$") set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") +set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs diff --git a/package_scripts/toolbox_package_unix.sh b/package_scripts/toolbox_package_unix.sh new file mode 100755 index 000000000..44d0dac87 --- /dev/null +++ b/package_scripts/toolbox_package_unix.sh @@ -0,0 +1,43 @@ +#!/bin/sh + +# Detect platform +os=`uname -s` +arch=`uname -p` +if [ "$os" = "Linux" -a "$arch" = "x86_64" ]; then + platform=lin64 +elif [ "$os" = "Linux" -a "$arch" = "i686" ]; then + platform=lin32 +else + echo "Unrecognized platform" + exit 1 +fi + +echo "Platform is ${platform}" + +# Check for empty directory +if [ ! -z "`ls`" ]; then + echo "Please run this script from an empty build directory" + exit 1 +fi + +# Check for boost +if [ -z "$1" -o -z "$2" ]; then + echo "Usage: $0 BOOSTTREE MEX" + echo "BOOSTTREE should be a boost source tree compiled with toolbox_build_boost." + echo "MEX should be the full path of the mex compiler" + exit 1 +fi + +# Run cmake +cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$PWD/stage" -DBoost_NO_SYSTEM_PATHS:bool=true -DBoost_USE_STATIC_LIBS:bool=true -DBOOST_ROOT="$1" -DGTSAM_BUILD_UNSTABLE:bool=false -DGTSAM_DISABLE_EXAMPLES_ON_INSTALL:bool=true -DGTSAM_DISABLE_TESTS_ON_INSTALL:bool=true -DGTSAM_MEX_BUILD_STATIC_MODULE:bool=true -DMEX_COMMAND="$2" .. + +if [ ! $? ]; then + echo "CMake failed" + exit 1 +fi + +# Compile +make -j4 install + +# Create package +tar czf gtsam-toolbox-2.1.0-$platform.tgz -C stage/borg toolbox From 9497a233ce9805f729b9495bcedf288a6dd400f2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 18:36:05 +0000 Subject: [PATCH 867/914] Cleaned up all remaining commented-out unit tests from the old linear rewrite - removed or reenabled as needed. --- gtsam/inference/tests/testFactorGraph.cpp | 59 ------- tests/testGaussianFactor.cpp | 184 ---------------------- tests/testGaussianISAM.cpp | 27 +--- tests/testGraph.cpp | 59 +++++++ tests/testNonlinearFactor.cpp | 4 +- 5 files changed, 62 insertions(+), 271 deletions(-) diff --git a/gtsam/inference/tests/testFactorGraph.cpp b/gtsam/inference/tests/testFactorGraph.cpp index b2f9bc3f1..bfbe716d4 100644 --- a/gtsam/inference/tests/testFactorGraph.cpp +++ b/gtsam/inference/tests/testFactorGraph.cpp @@ -60,65 +60,6 @@ TEST(FactorGraph, eliminateFrontals) { EXPECT(assert_equal(expectedCond, *actualCond)); } -///* ************************************************************************* */ -// SL-FIX TEST( FactorGraph, splitMinimumSpanningTree ) -//{ -// SymbolicFactorGraph G; -// G.push_factor("x1", "x2"); -// G.push_factor("x1", "x3"); -// G.push_factor("x1", "x4"); -// G.push_factor("x2", "x3"); -// G.push_factor("x2", "x4"); -// G.push_factor("x3", "x4"); -// -// SymbolicFactorGraph T, C; -// boost::tie(T, C) = G.splitMinimumSpanningTree(); -// -// SymbolicFactorGraph expectedT, expectedC; -// expectedT.push_factor("x1", "x2"); -// expectedT.push_factor("x1", "x3"); -// expectedT.push_factor("x1", "x4"); -// expectedC.push_factor("x2", "x3"); -// expectedC.push_factor("x2", "x4"); -// expectedC.push_factor("x3", "x4"); -// CHECK(assert_equal(expectedT,T)); -// CHECK(assert_equal(expectedC,C)); -//} - -///* ************************************************************************* */ -///** -// * x1 - x2 - x3 - x4 - x5 -// * | | / | -// * l1 l2 l3 -// */ -// SL-FIX TEST( FactorGraph, removeSingletons ) -//{ -// SymbolicFactorGraph G; -// G.push_factor("x1", "x2"); -// G.push_factor("x2", "x3"); -// G.push_factor("x3", "x4"); -// G.push_factor("x4", "x5"); -// G.push_factor("x2", "l1"); -// G.push_factor("x3", "l2"); -// G.push_factor("x4", "l2"); -// G.push_factor("x4", "l3"); -// -// SymbolicFactorGraph singletonGraph; -// set singletons; -// boost::tie(singletonGraph, singletons) = G.removeSingletons(); -// -// set singletons_excepted; singletons_excepted += "x1", "x2", "x5", "l1", "l3"; -// CHECK(singletons_excepted == singletons); -// -// SymbolicFactorGraph singletonGraph_excepted; -// singletonGraph_excepted.push_factor("x2", "l1"); -// singletonGraph_excepted.push_factor("x4", "l3"); -// singletonGraph_excepted.push_factor("x1", "x2"); -// singletonGraph_excepted.push_factor("x4", "x5"); -// singletonGraph_excepted.push_factor("x2", "x3"); -// CHECK(singletonGraph_excepted.equals(singletonGraph)); -//} - /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index 0097ec49a..3fe92c50d 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -66,33 +66,6 @@ TEST( GaussianFactor, linearFactor ) EXPECT(assert_equal(expected,*lf)); } -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactor, keys ) -//{ -// // get the factor kf2 from the small linear factor graph -// Ordering ordering; ordering += kx1,kx2,kl1; -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// GaussianFactor::shared_ptr lf = fg[1]; -// list expected; -// expected.push_back(kx1); -// expected.push_back(kx2); -// EXPECT(lf->keys() == expected); -//} - -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactor, dimensions ) -//{ -// // get the factor kf2 from the small linear factor graph -// Ordering ordering; ordering += kx1,kx2,kl1; -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// -// // Check a single factor -// Dimensions expected; -// insert(expected)(kx1, 2)(kx2, 2); -// Dimensions actual = fg[1]->dimensions(); -// EXPECT(expected==actual); -//} - /* ************************************************************************* */ TEST( GaussianFactor, getDim ) { @@ -110,62 +83,6 @@ TEST( GaussianFactor, getDim ) EXPECT_LONGS_EQUAL(expected, actual); } -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactor, combine ) -//{ -// // create a small linear factor graph -// Ordering ordering; ordering += kx1,kx2,kl1; -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// -// // get two factors from it and insert the factors into a vector -// vector lfg; -// lfg.push_back(fg[4 - 1]); -// lfg.push_back(fg[2 - 1]); -// -// // combine in a factor -// GaussianFactor combined(lfg); -// -// // sigmas -// double sigma2 = 0.1; -// double sigma4 = 0.2; -// Vector sigmas = Vector_(4, sigma4, sigma4, sigma2, sigma2); -// -// // the expected combined linear factor -// Matrix Ax2 = Matrix_(4, 2, // x2 -// -5., 0., -// +0., -5., -// 10., 0., -// +0., 10.); -// -// Matrix Al1 = Matrix_(4, 2, // l1 -// 5., 0., -// 0., 5., -// 0., 0., -// 0., 0.); -// -// Matrix Ax1 = Matrix_(4, 2, // x1 -// 0.00, 0., // f4 -// 0.00, 0., // f4 -// -10., 0., // f2 -// 0.00, -10. // f2 -// ); -// -// // the RHS -// Vector b2(4); -// b2(0) = -1.0; -// b2(1) = 1.5; -// b2(2) = 2.0; -// b2(3) = -1.0; -// -// // use general constructor for making arbitrary factors -// vector > meas; -// meas.push_back(make_pair(kx2, Ax2)); -// meas.push_back(make_pair(kl1, Al1)); -// meas.push_back(make_pair(kx1, Ax1)); -// GaussianFactor expected(meas, b2, noiseModel::Diagonal::Sigmas(ones(4))); -// EXPECT(assert_equal(expected,combined)); -//} - /* ************************************************************************* */ TEST( GaussianFactor, error ) { @@ -186,47 +103,6 @@ TEST( GaussianFactor, error ) DOUBLES_EQUAL( 1.0, actual, 0.00000001 ); } -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactor, eliminate ) -//{ -// // create a small linear factor graph -// Ordering ordering; ordering += kx1,kx2,kl1; -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// -// // get two factors from it and insert the factors into a vector -// vector lfg; -// lfg.push_back(fg[4 - 1]); -// lfg.push_back(fg[2 - 1]); -// -// // combine in a factor -// GaussianFactor combined(lfg); -// -// // eliminate the combined factor -// GaussianConditional::shared_ptr actualCG; -// GaussianFactor::shared_ptr actualLF; -// boost::tie(actualCG,actualLF) = combined.eliminate(kx2); -// -// // create expected Conditional Gaussian -// Matrix I = eye(2)*sqrt(125.0); -// Matrix R11 = I, S12 = -0.2*I, S13 = -0.8*I; -// Vector d = I*Vector_(2,0.2,-0.14); -// -// // Check the conditional Gaussian -// GaussianConditional -// expectedCG(kx2, d, R11, kl1, S12, kx1, S13, repeat(2, 1.0)); -// -// // the expected linear factor -// I = eye(2)/0.2236; -// Matrix Bl1 = I, Bx1 = -I; -// Vector b1 = I*Vector_(2,0.0,0.2); -// -// GaussianFactor expectedLF(kl1, Bl1, kx1, Bx1, b1, repeat(2,1.0)); -// -// // check if the result matches -// EXPECT(assert_equal(expectedCG,*actualCG,1e-3)); -// EXPECT(assert_equal(expectedLF,*actualLF,1e-3)); -//} - /* ************************************************************************* */ TEST( GaussianFactor, matrix ) { @@ -328,66 +204,6 @@ void print(const list& i) { cout << endl; } -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactor, sparse ) -//{ -// // create a small linear factor graph -// Ordering ordering; ordering += kx1,kx2,kl1; -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// -// // get the factor kf2 from the factor graph -// GaussianFactor::shared_ptr lf = fg[1]; -// -// // render with a given ordering -// Ordering ord; -// ord += kx1,kx2; -// -// list i,j; -// list s; -// boost::tie(i,j,s) = lf->sparse(fg.columnIndices(ord)); -// -// list i1,j1; -// i1 += 1,2,1,2; -// j1 += 1,2,3,4; -// -// list s1; -// s1 += -10,-10,10,10; -// -// EXPECT(i==i1); -// EXPECT(j==j1); -// EXPECT(s==s1); -//} - -///* ************************************************************************* */ -// SL-FIX TEST( GaussianFactor, sparse2 ) -//{ -// // create a small linear factor graph -// Ordering ordering; ordering += kx1,kx2,kl1; -// GaussianFactorGraph fg = createGaussianFactorGraph(ordering); -// -// // get the factor kf2 from the factor graph -// GaussianFactor::shared_ptr lf = fg[1]; -// -// // render with a given ordering -// Ordering ord; -// ord += kx2,kl1,kx1; -// -// list i,j; -// list s; -// boost::tie(i,j,s) = lf->sparse(fg.columnIndices(ord)); -// -// list i1,j1; -// i1 += 1,2,1,2; -// j1 += 5,6,1,2; -// -// list s1; -// s1 += -10,-10,10,10; -// -// EXPECT(i==i1); -// EXPECT(j==j1); -// EXPECT(s==s1); -//} - /* ************************************************************************* */ TEST( GaussianFactor, size ) { diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index 7ec4e5317..ea91eda5a 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -47,7 +47,7 @@ static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sig static const double tol = 1e-4; /* ************************************************************************* */ -TEST_UNSAFE( ISAM, iSAM_smoother ) +TEST( ISAM, iSAM_smoother ) { Ordering ordering; for (int t = 1; t <= 7; t++) ordering += X(t); @@ -76,31 +76,6 @@ TEST_UNSAFE( ISAM, iSAM_smoother ) EXPECT(assert_equal(e, optimized)); } -/* ************************************************************************* */ -// SL-FIX TEST( ISAM, iSAM_smoother2 ) -//{ -// // Create smoother with 7 nodes -// GaussianFactorGraph smoother = createSmoother(7); -// -// // Create initial tree from first 4 timestamps in reverse order ! -// Ordering ord; ord += X(4),X(3),X(2),X(1); -// GaussianFactorGraph factors1; -// for (int i=0;i<7;i++) factors1.push_back(smoother[i]); -// GaussianISAM actual(*inference::Eliminate(factors1)); -// -// // run iSAM with remaining factors -// GaussianFactorGraph factors2; -// for (int i=7;i<13;i++) factors2.push_back(smoother[i]); -// actual.update(factors2); -// -// // Create expected Bayes Tree by solving smoother with "natural" ordering -// Ordering ordering; -// for (int t = 1; t <= 7; t++) ordering += symbol('x', t); -// GaussianISAM expected(smoother.eliminate(ordering)); -// -// EXPECT(assert_equal(expected, actual)); -//} - /* ************************************************************************* * Bayes tree for smoother with "natural" ordering: C1 x6 x7 diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp index 71a075ccb..14655a249 100644 --- a/tests/testGraph.cpp +++ b/tests/testGraph.cpp @@ -148,6 +148,65 @@ TEST( Graph, composePoses ) // LONGS_EQUAL(2, Ab2.size()); //} +///* ************************************************************************* */ +// SL-FIX TEST( FactorGraph, splitMinimumSpanningTree ) +//{ +// SymbolicFactorGraph G; +// G.push_factor("x1", "x2"); +// G.push_factor("x1", "x3"); +// G.push_factor("x1", "x4"); +// G.push_factor("x2", "x3"); +// G.push_factor("x2", "x4"); +// G.push_factor("x3", "x4"); +// +// SymbolicFactorGraph T, C; +// boost::tie(T, C) = G.splitMinimumSpanningTree(); +// +// SymbolicFactorGraph expectedT, expectedC; +// expectedT.push_factor("x1", "x2"); +// expectedT.push_factor("x1", "x3"); +// expectedT.push_factor("x1", "x4"); +// expectedC.push_factor("x2", "x3"); +// expectedC.push_factor("x2", "x4"); +// expectedC.push_factor("x3", "x4"); +// CHECK(assert_equal(expectedT,T)); +// CHECK(assert_equal(expectedC,C)); +//} + +///* ************************************************************************* */ +///** +// * x1 - x2 - x3 - x4 - x5 +// * | | / | +// * l1 l2 l3 +// */ +// SL-FIX TEST( FactorGraph, removeSingletons ) +//{ +// SymbolicFactorGraph G; +// G.push_factor("x1", "x2"); +// G.push_factor("x2", "x3"); +// G.push_factor("x3", "x4"); +// G.push_factor("x4", "x5"); +// G.push_factor("x2", "l1"); +// G.push_factor("x3", "l2"); +// G.push_factor("x4", "l2"); +// G.push_factor("x4", "l3"); +// +// SymbolicFactorGraph singletonGraph; +// set singletons; +// boost::tie(singletonGraph, singletons) = G.removeSingletons(); +// +// set singletons_excepted; singletons_excepted += "x1", "x2", "x5", "l1", "l3"; +// CHECK(singletons_excepted == singletons); +// +// SymbolicFactorGraph singletonGraph_excepted; +// singletonGraph_excepted.push_factor("x2", "l1"); +// singletonGraph_excepted.push_factor("x4", "l3"); +// singletonGraph_excepted.push_factor("x1", "x2"); +// singletonGraph_excepted.push_factor("x4", "x5"); +// singletonGraph_excepted.push_factor("x2", "x3"); +// CHECK(singletonGraph_excepted.equals(singletonGraph)); +//} + /* ************************************************************************* */ int main() { TestResult tr; diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp index b1717a79b..c8824749d 100644 --- a/tests/testNonlinearFactor.cpp +++ b/tests/testNonlinearFactor.cpp @@ -73,8 +73,8 @@ TEST( NonlinearFactor, equals2 ) Graph::sharedFactor f0 = fg[0], f1 = fg[1]; CHECK(f0->equals(*f0)); -// SL-FIX CHECK(!f0->equals(*f1)); -// SL-FIX CHECK(!f1->equals(*f0)); + CHECK(!f0->equals(*f1)); + CHECK(!f1->equals(*f0)); } /* ************************************************************************* */ From 43f8613ec521cdfa13769bee6e77c26128ff7a06 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 18:57:05 +0000 Subject: [PATCH 868/914] Fix in testDataset --- gtsam/slam/tests/testDataset.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp index 2df2228af..aae3fc5da 100644 --- a/gtsam/slam/tests/testDataset.cpp +++ b/gtsam/slam/tests/testDataset.cpp @@ -26,7 +26,7 @@ using namespace std; using namespace gtsam; TEST(dataSet, findExampleDataFile) { - const string expected_end = "gtsam/examples/Data/example.graph"; + const string expected_end = "examples/Data/example.graph"; const string actual = findExampleDataFile("example"); string actual_end = actual.substr(actual.size() - expected_end.size(), expected_end.size()); boost::replace_all(actual_end, "\\", "/"); // Convert directory separators to forward-slash From 21d9d8aa0cabb393225cc2295baf9b4ab7ae3822 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 19:25:27 +0000 Subject: [PATCH 869/914] Print ordering with multiple entries per line for more compact printout --- gtsam/nonlinear/Ordering.cpp | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/gtsam/nonlinear/Ordering.cpp b/gtsam/nonlinear/Ordering.cpp index 9f99948a4..b445af506 100644 --- a/gtsam/nonlinear/Ordering.cpp +++ b/gtsam/nonlinear/Ordering.cpp @@ -44,10 +44,23 @@ void Ordering::print(const string& str, const KeyFormatter& keyFormatter) const cout << str; // Print ordering in index order Ordering::InvertedMap inverted = this->invert(); - cout << "key (zero-based order)\n"; + // Print the ordering with varsPerLine ordering entries printed on each line, + // for compactness. + static const size_t varsPerLine = 10; + bool endedOnNewline = false; BOOST_FOREACH(const Ordering::InvertedMap::value_type& index_key, inverted) { - cout << keyFormatter(index_key.second) << " (" << index_key.first << ")\n"; + if(index_key.first % varsPerLine != 0) + cout << ", "; + cout << index_key.first << ":" << keyFormatter(index_key.second); + if(index_key.first % varsPerLine == varsPerLine - 1) { + cout << "\n"; + endedOnNewline = true; + } else { + endedOnNewline = false; + } } + if(!endedOnNewline) + cout << "\n"; cout.flush(); } From af652b0e04c5fcb8a3e44c659ec124477b20f090 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 3 Sep 2012 19:43:08 +0000 Subject: [PATCH 870/914] remove simpleSPCG reorg SubgraphSolver add unit test for SubgraphSolver --- examples/Pose2SLAMwSPCG.cpp | 12 - gtsam/linear/JacobianFactorGraph.cpp | 15 +- gtsam/linear/JacobianFactorGraph.h | 4 +- gtsam/linear/SimpleSPCGSolver.cpp | 226 ------------------ gtsam/linear/SimpleSPCGSolver.h | 98 -------- gtsam/linear/SubgraphPreconditioner.cpp | 4 +- gtsam/linear/SubgraphPreconditioner.h | 9 +- gtsam/linear/SubgraphSolver-inl.h | 80 ------- gtsam/linear/SubgraphSolver.cpp | 178 +++++++++----- gtsam/linear/SubgraphSolver.h | 69 +++++- .../SuccessiveLinearizationOptimizer.cpp | 7 +- tests/testSubgraphPreconditioner.cpp | 4 +- tests/testSubgraphSolver.cpp | 106 ++++++++ 13 files changed, 316 insertions(+), 496 deletions(-) delete mode 100644 gtsam/linear/SimpleSPCGSolver.cpp delete mode 100644 gtsam/linear/SimpleSPCGSolver.h delete mode 100644 gtsam/linear/SubgraphSolver-inl.h create mode 100644 tests/testSubgraphSolver.cpp diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp index 240361db7..36f2552a1 100644 --- a/examples/Pose2SLAMwSPCG.cpp +++ b/examples/Pose2SLAMwSPCG.cpp @@ -54,13 +54,9 @@ // for each variable, held in a Values container. #include -// ??? -#include #include #include - - using namespace std; using namespace gtsam; @@ -110,14 +106,6 @@ int main(int argc, char** argv) { parameters.verbosityLM = LevenbergMarquardtParams::LAMBDA; parameters.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT; - { - parameters.iterativeParams = boost::make_shared(); - LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); - Values result = optimizer.optimize(); - result.print("Final Result:\n"); - cout << "simple spcg solver final error = " << graph.error(result) << endl; - } - { parameters.iterativeParams = boost::make_shared(); LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp index 0ca3b8667..70c57e8df 100644 --- a/gtsam/linear/JacobianFactorGraph.cpp +++ b/gtsam/linear/JacobianFactorGraph.cpp @@ -115,7 +115,20 @@ JacobianFactorGraph::shared_ptr dynamicCastFactors(const GaussianFactorGraph &gf return jfg; } - +/* ************************************************************************* */ +JacobianFactorGraph::shared_ptr convertToJacobianFactorGraph(const GaussianFactorGraph &gfg) { + JacobianFactorGraph::shared_ptr jfg(new JacobianFactorGraph()); + jfg->reserve(gfg.size()); + BOOST_FOREACH(const GaussianFactor::shared_ptr & factor, gfg) { + if( JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast(factor) ) { + jfg->push_back(jf); + } + else { + jfg->push_back(boost::make_shared(*factor)); + } + } + return jfg; +} } // namespace diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h index cb27b507a..1164652c3 100644 --- a/gtsam/linear/JacobianFactorGraph.h +++ b/gtsam/linear/JacobianFactorGraph.h @@ -67,7 +67,9 @@ namespace gtsam { void multiply(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r); void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, VectorValues &x); - /** dynamic_cast the gaussian factors down to jacobian factors */ + /** dynamic_cast the gaussian factors down to jacobian factors, may throw exception if it contains non-Jacobian Factor */ JacobianFactorGraph::shared_ptr dynamicCastFactors(const GaussianFactorGraph &gfg); + /** convert the gaussian factors down to jacobian factors, may duplicate factors if it contains Hessian Factor */ + JacobianFactorGraph::shared_ptr convertToJacobianFactorGraph(const GaussianFactorGraph &gfg); } diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp deleted file mode 100644 index fa0fee82f..000000000 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ /dev/null @@ -1,226 +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 - - * -------------------------------------------------------------------------- */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace gtsam { - -/* utility function */ -std::vector extractRowSpec_(const FactorGraph& jfg) { - std::vector spec; spec.reserve(jfg.size()); - BOOST_FOREACH ( const JacobianFactor::shared_ptr &jf, jfg ) { - spec.push_back(jf->rows()); - } - return spec; -} - -std::vector extractColSpec_(const FactorGraph& gfg, const VariableIndex &index) { - const size_t n = index.size(); - std::vector spec(n, 0); - for ( Index i = 0 ; i < n ; ++i ) { - const GaussianFactor &gf = *(gfg[index[i].front()]); - for ( GaussianFactor::const_iterator it = gf.begin() ; it != gf.end() ; ++it ) { - spec[*it] = gf.getDim(it); - } - } - return spec; -} - -SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters) - : Base(), parameters_(parameters) -{ - std::vector colSpec = extractColSpec_(gfg, VariableIndex(gfg)); - - nVar_ = colSpec.size(); - - /* Split the factor graph into At (tree) and Ac (constraints) - * Note: This part has to be refined for your graph/application */ - GaussianFactorGraph::shared_ptr At; - boost::tie(At, Ac_) = this->splitGraph(gfg); - - /* construct row vector spec of the new system */ - nAc_ = Ac_->size(); - std::vector rowSpec = extractRowSpec_(*Ac_); - for ( Index i = 0 ; i < nVar_ ; ++i ) { - rowSpec.push_back(colSpec[i]); - } - - /* solve the tree with direct solver. get preconditioner */ - Rt_ = EliminationTree::Create(*At)->eliminate(EliminateQR); - xt_ = boost::make_shared(gtsam::optimize(*Rt_)); - - /* initial value for the lspcg method */ - y0_ = boost::make_shared(VectorValues::Zero(colSpec)); - - /* the right hand side of the new system */ - by_ = boost::make_shared(VectorValues::Zero(rowSpec)); - for ( Index i = 0 ; i < nAc_ ; ++i ) { - JacobianFactor::shared_ptr jf = (*Ac_)[i]; - Vector xi = internal::extractVectorValuesSlices(*xt_, jf->begin(), jf->end()); - (*by_)[i] = jf->getb() - jf->getA()*xi; - } - - /* allocate buffer for row and column vectors */ - tmpY_ = boost::make_shared(VectorValues::Zero(colSpec)); - tmpB_ = boost::make_shared(VectorValues::Zero(rowSpec)); -} - -/* implements the CGLS method in Section 7.4 of Bjork's book */ -VectorValues SimpleSPCGSolver::optimize (const VectorValues &initial) { - - VectorValues::shared_ptr x(new VectorValues(initial)); - VectorValues r = VectorValues::Zero(*by_), - q = VectorValues::Zero(*by_), - p = VectorValues::Zero(*y0_), - s = VectorValues::Zero(*y0_); - - residual(*x, r); - transposeMultiply(r, s) ; - p.vector() = s.vector() ; - - double gamma = s.vector().squaredNorm(), new_gamma = 0.0, alpha = 0.0, beta = 0.0 ; - - const double threshold = std::max(parameters_.epsilon_abs(), parameters_.epsilon() * parameters_.epsilon() * gamma); - const size_t iMaxIterations = parameters_.maxIterations(); - const Parameters::Verbosity verbosity = parameters_.verbosity(); - - if ( verbosity >= ConjugateGradientParameters::ERROR ) - std::cout << "[SimpleSPCGSolver] epsilon = " << parameters_.epsilon() - << ", max = " << parameters_.maxIterations() - << ", ||r0|| = " << std::sqrt(gamma) - << ", threshold = " << threshold << std::endl; - - size_t k ; - for ( k = 1 ; k < iMaxIterations ; ++k ) { - - multiply(p, q); - alpha = gamma / q.vector().squaredNorm() ; - x->vector() += (alpha * p.vector()); - r.vector() -= (alpha * q.vector()); - transposeMultiply(r, s); - new_gamma = s.vector().squaredNorm(); - beta = new_gamma / gamma ; - p.vector() = s.vector() + beta * p.vector(); - gamma = new_gamma ; - - if ( verbosity >= ConjugateGradientParameters::ERROR) { - std::cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << std::endl; - } - - if ( gamma < threshold ) break ; - } // k - - if ( verbosity >= ConjugateGradientParameters::ERROR ) - std::cout << "[SimpleSPCGSolver] iteration " << k << ": a = " << alpha << ": b = " << beta << ", ||r|| = " << std::sqrt(gamma) << std::endl; - - /* transform y back to x */ - return this->transform(*x); -} - -void SimpleSPCGSolver::residual(const VectorValues &input, VectorValues &output) { - output.vector() = by_->vector(); - this->multiply(input, *tmpB_); - axpy(-1.0, *tmpB_, output); -} - -void SimpleSPCGSolver::multiply(const VectorValues &input, VectorValues &output) { - this->backSubstitute(input, *tmpY_); - gtsam::multiply(*Ac_, *tmpY_, output); - for ( Index i = 0 ; i < nVar_ ; ++i ) { - output[i + nAc_] = input[i]; - } -} - -void SimpleSPCGSolver::transposeMultiply(const VectorValues &input, VectorValues &output) { - gtsam::transposeMultiply(*Ac_, input, *tmpY_); - this->transposeBackSubstitute(*tmpY_, output); - for ( Index i = 0 ; i < nVar_ ; ++i ) { - output[i] += input[nAc_+i]; - } -} - -void SimpleSPCGSolver::backSubstitute(const VectorValues &input, VectorValues &output) { - for ( Index i = 0 ; i < input.size() ; ++i ) { - output[i] = input[i] ; - } - BOOST_REVERSE_FOREACH(const boost::shared_ptr cg, *Rt_) { - const Index key = *(cg->beginFrontals()); - Vector xS = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()); - xS = input[key] - cg->get_S() * xS; - output[key] = cg->get_R().triangularView().solve(xS); - } -} - -void SimpleSPCGSolver::transposeBackSubstitute(const VectorValues &input, VectorValues &output) { - for ( Index i = 0 ; i < input.size() ; ++i ) { - output[i] = input[i] ; - } - BOOST_FOREACH(const boost::shared_ptr cg, *Rt_) { - const Index key = *(cg->beginFrontals()); - output[key] = gtsam::backSubstituteUpper(output[key], Matrix(cg->get_R())); - const Vector d = internal::extractVectorValuesSlices(output, cg->beginParents(), cg->endParents()) - - cg->get_S().transpose() * output[key]; - internal::writeVectorValuesSlices(d, output, cg->beginParents(), cg->endParents()); - } -} - -VectorValues SimpleSPCGSolver::transform(const VectorValues &y) { - VectorValues x = VectorValues::Zero(y); - this->backSubstitute(y, x); - axpy(1.0, *xt_, x); - return x; -} - -boost::tuple::shared_ptr> -SimpleSPCGSolver::splitGraph(const GaussianFactorGraph &gfg) { - - VariableIndex index(gfg); - size_t n = index.size(); - std::vector connected(n, false); - - GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); - FactorGraph::shared_ptr Ac( new FactorGraph()); - - BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) { - bool augment = false ; - - /* check whether this factor should be augmented to the "tree" graph */ - if ( gf->keys().size() == 1 ) augment = true; - else { - BOOST_FOREACH ( const Index key, *gf ) { - if ( connected[key] == false ) { - augment = true ; - } - connected[key] = true; - } - } - - if ( augment ) At->push_back(gf); - else Ac->push_back(boost::dynamic_pointer_cast(gf)); - } - - return boost::tie(At, Ac); -} - - - - - - -} diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h deleted file mode 100644 index 994815fa4..000000000 --- a/gtsam/linear/SimpleSPCGSolver.h +++ /dev/null @@ -1,98 +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 - - * -------------------------------------------------------------------------- */ - -#pragma once - -#include -#include -#include -#include -#include - -namespace gtsam { - -struct SimpleSPCGSolverParameters : public ConjugateGradientParameters { - typedef ConjugateGradientParameters Base; - SimpleSPCGSolverParameters() : Base() {} -}; - -/** - * This class gives a simple implementation to the SPCG solver presented in Dellaert et al in IROS'10. - * - * Given a linear least-squares problem \f$ f(x) = |A x - b|^2 \f$. We split the problem into - * \f$ f(x) = |A_t - b_t|^2 + |A_c - b_c|^2 \f$ where \f$ A_t \f$ denotes the "tree" part, and \f$ A_c \f$ denotes the "constraint" part. - * \f$ A_t \f$ is factorized into \f$ Q_t R_t \f$, and we compute \f$ c_t = Q_t^{-1} b_t \f$, and \f$ x_t = R_t^{-1} c_t \f$ accordingly. - * Then we solve a reparametrized problem \f$ f(y) = |y|^2 + |A_c R_t^{-1} y - \bar{b_y}|^2 \f$, where \f$ y = R_t(x - x_t) \f$, and \f$ \bar{b_y} = (b_c - A_c x_t) \f$ - * - * In the matrix form, it is equivalent to solving \f$ [A_c R_t^{-1} ; I ] y = [\bar{b_y} ; 0] \f$. We can solve it - * with the least-squares variation of the conjugate gradient method. - * - * Note: A full SPCG implementation will come up soon in the next release. - * - * \nosubgrouping - */ - -class SimpleSPCGSolver : public IterativeSolver { - -public: - - typedef IterativeSolver Base; - typedef SimpleSPCGSolverParameters Parameters; - typedef boost::shared_ptr shared_ptr; - -protected: - - size_t nVar_ ; ///< number of variables \f$ x \f$ - size_t nAc_ ; ///< number of factors in \f$ A_c \f$ - FactorGraph::shared_ptr Ac_; ///< the constrained part of the graph - GaussianBayesNet::shared_ptr Rt_; ///< the gaussian bayes net of the tree part of the graph - VectorValues::shared_ptr xt_; ///< the solution of the \f$ A_t^{-1} b_t \f$ - VectorValues::shared_ptr y0_; ///< a column zero vector - VectorValues::shared_ptr by_; ///< \f$ [\bar{b_y} ; 0 ] \f$ - VectorValues::shared_ptr tmpY_; ///< buffer for the column vectors - VectorValues::shared_ptr tmpB_; ///< buffer for the row vectors - Parameters parameters_; ///< Parameters for iterative method - -public: - - SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); - virtual ~SimpleSPCGSolver() {} - virtual VectorValues optimize () {return optimize(*y0_);} - -protected: - - VectorValues optimize (const VectorValues &initial); - - /** output = \f$ [\bar{b_y} ; 0 ] - [A_c R_t^{-1} ; I] \f$ input */ - void residual(const VectorValues &input, VectorValues &output); - - /** output = \f$ [A_c R_t^{-1} ; I] \f$ input */ - void multiply(const VectorValues &input, VectorValues &output); - - /** output = \f$ [R_t^{-T} A_c^T, I] \f$ input */ - void transposeMultiply(const VectorValues &input, VectorValues &output); - - /** output = \f$ R_t^{-1} \f$ input */ - void backSubstitute(const VectorValues &rhs, VectorValues &sol) ; - - /** output = \f$ R_t^{-T} \f$ input */ - void transposeBackSubstitute(const VectorValues &rhs, VectorValues &sol) ; - - /** return \f$ R_t^{-1} y + x_t \f$ */ - VectorValues transform(const VectorValues &y); - - /** naively split a gaussian factor graph into tree and constraint parts - * Note: This function has to be refined for your graph/application */ - boost::tuple::shared_ptr> - splitGraph(const GaussianFactorGraph &gfg); -}; - -} diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index 91a98a263..b33adbc38 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -26,9 +26,9 @@ using namespace std; namespace gtsam { /* ************************************************************************* */ - SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, + SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar) : - Ab1_(Ab1), Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(new Errors(-gaussianErrors(*Ab2_,*xbar))) { + Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(new Errors(-gaussianErrors(*Ab2_,*xbar))) { } /* ************************************************************************* */ diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index 8c1fcc837..b109368af 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -40,7 +40,7 @@ namespace gtsam { typedef boost::shared_ptr sharedErrors; private: - sharedFG Ab1_, Ab2_; + sharedFG Ab2_; sharedBayesNet Rc1_; sharedValues xbar_; ///< A1 \ b1 sharedErrors b2bar_; ///< A2*xbar - b2 @@ -51,16 +51,11 @@ namespace gtsam { /** * Constructor - * @param Ab1: the Graph A1*x=b1 * @param Ab2: the Graph A2*x=b2 * @param Rc1: the Bayes Net R1*x=c1 * @param xbar: the solution to R1*x=c1 */ - SubgraphPreconditioner(const sharedFG& Ab1, const sharedFG& Ab2, - const sharedBayesNet& Rc1, const sharedValues& xbar); - - /** Access Ab1 */ - const sharedFG& Ab1() const { return Ab1_; } + SubgraphPreconditioner(const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar); /** Access Ab2 */ const sharedFG& Ab2() const { return Ab2_; } diff --git a/gtsam/linear/SubgraphSolver-inl.h b/gtsam/linear/SubgraphSolver-inl.h deleted file mode 100644 index 28b2caaac..000000000 --- a/gtsam/linear/SubgraphSolver-inl.h +++ /dev/null @@ -1,80 +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 -// -// * -------------------------------------------------------------------------- */ -// -//#pragma once -// -//#include -// -//#include -//#include -//#include -// -//namespace gtsam { -// -//template -//void SubgraphSolver::replaceFactors(const typename LINEAR::shared_ptr &graph) { -// -// GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(); -// GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared(); -// -// if (parameters_->verbosity()) cout << "split the graph ..."; -// split(pairs_, *graph, *Ab1, *Ab2) ; -// if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; -// -// // // Add a HardConstraint to the root, otherwise the root will be singular -// // Key root = keys.back(); -// // T_.addHardConstraint(root, theta0[root]); -// // -// // // compose the approximate solution -// // theta_bar_ = composePoses (T_, tree, theta0[root]); -// -// LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!! -// SubgraphPreconditioner::sharedBayesNet Rc1 = -// EliminationTree::Create(sacrificialAb1)->eliminate(&EliminateQR); -// SubgraphPreconditioner::sharedValues xbar = gtsam::optimize_(*Rc1); -// -// pc_ = boost::make_shared( -// Ab1->dynamicCastFactors >(), Ab2->dynamicCastFactors >(),Rc1,xbar); -//} -// -//template -//VectorValues::shared_ptr SubgraphSolver::optimize() const { -// -// // preconditioned conjugate gradient -// VectorValues zeros = pc_->zero(); -// VectorValues ybar = conjugateGradients -// (*pc_, zeros, *parameters_); -// -// boost::shared_ptr xbar = boost::make_shared() ; -// *xbar = pc_->x(ybar); -// return xbar; -//} -// -//template -//void SubgraphSolver::initialize(const GRAPH& G, const Values& theta0) { -// // generate spanning tree -// PredecessorMap tree_ = gtsam::findMinimumSpanningTree(G); -// -// // make the ordering -// list keys = predecessorMap2Keys(tree_); -// ordering_ = boost::make_shared(list(keys.begin(), keys.end())); -// -// // build factor pairs -// pairs_.clear(); -// typedef pair EG ; -// BOOST_FOREACH( const EG &eg, tree_ ) { -// Key key1 = Key(eg.first), -// key2 = Key(eg.second) ; -// pairs_.insert(pair((*ordering_)[key1], (*ordering_)[key2])) ; -// } -//} -// -//} // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 9b37d9a4b..14a0cc174 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -19,103 +19,171 @@ #include #include #include - #include #include - #include using namespace std; namespace gtsam { +/**************************************************************************************************/ SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters) : parameters_(parameters) { + JacobianFactorGraph::shared_ptr jfg = dynamicCastFactors(gfg); + initialize(*jfg); +} +/**************************************************************************************************/ +SubgraphSolver::SubgraphSolver(const JacobianFactorGraph::shared_ptr &jfg, const Parameters ¶meters) + : parameters_(parameters) +{ + initialize(*jfg); +} - GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(); - GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared(); +/**************************************************************************************************/ +SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2, const Parameters ¶meters) + : parameters_(parameters) { - boost::tie(Ab1, Ab2) = splitGraph(gfg) ; + GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(Ab1)->eliminate(&EliminateQR); + JacobianFactorGraph::shared_ptr Ab2Jacobian = dynamicCastFactors(Ab2); + initialize(Rc1, Ab2Jacobian); +} - if (parameters_.verbosity()) - cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; - - // // Add a HardConstraint to the root, otherwise the root will be singular - // Key root = keys.back(); - // T_.addHardConstraint(root, theta0[root]); - // - // // compose the approximate solution - // theta_bar_ = composePoses (T_, tree, theta0[root]); +/**************************************************************************************************/ +SubgraphSolver::SubgraphSolver(const JacobianFactorGraph::shared_ptr &Ab1, + const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters) + : parameters_(parameters) { GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(*Ab1)->eliminate(&EliminateQR); - VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); + initialize(Rc1, Ab2); +} - // Convert or cast Ab1 to JacobianFactors - boost::shared_ptr > Ab1Jacobians = boost::make_shared >(); - Ab1Jacobians->reserve(Ab1->size()); - BOOST_FOREACH(const boost::shared_ptr& factor, *Ab1) { - if(boost::shared_ptr jf = - boost::dynamic_pointer_cast(factor)) - Ab1Jacobians->push_back(jf); - else - Ab1Jacobians->push_back(boost::make_shared(*factor)); - } - - // Convert or cast Ab2 to JacobianFactors - boost::shared_ptr > Ab2Jacobians = boost::make_shared >(); - Ab1Jacobians->reserve(Ab2->size()); - BOOST_FOREACH(const boost::shared_ptr& factor, *Ab2) { - if(boost::shared_ptr jf = - boost::dynamic_pointer_cast(factor)) - Ab2Jacobians->push_back(jf); - else - Ab2Jacobians->push_back(boost::make_shared(*factor)); - } +/**************************************************************************************************/ +SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph &Ab2, + const Parameters ¶meters) : parameters_(parameters) +{ + JacobianFactorGraph::shared_ptr Ab2Jacobians = dynamicCastFactors(Ab2); + initialize(Rc1, Ab2Jacobians); +} - pc_ = boost::make_shared(Ab1Jacobians, Ab2Jacobians, Rc1, xbar); +/**************************************************************************************************/ +SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, + const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters) : parameters_(parameters) +{ + initialize(Rc1, Ab2); } VectorValues SubgraphSolver::optimize() { - VectorValues ybar = conjugateGradients(*pc_, pc_->zero(), parameters_); return pc_->x(ybar); } -boost::tuple -SubgraphSolver::splitGraph(const GaussianFactorGraph &gfg) { +void SubgraphSolver::initialize(const JacobianFactorGraph &jfg) +{ + JacobianFactorGraph::shared_ptr Ab1 = boost::make_shared(), + Ab2 = boost::make_shared(); - VariableIndex index(gfg); - size_t n = index.size(); - std::vector connected(n, false); + boost::tie(Ab1, Ab2) = splitGraph(jfg) ; + if (parameters_.verbosity()) + cout << "Split A into (A1) " << Ab1->size() << " and (A2) " << Ab2->size() << " factors" << endl; - GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); - GaussianFactorGraph::shared_ptr Ac( new GaussianFactorGraph()); + GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(*Ab1)->eliminate(&EliminateQR); + VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); + JacobianFactorGraph::shared_ptr Ab2Jacobians = convertToJacobianFactorGraph(*Ab2); + pc_ = boost::make_shared(Ab2Jacobians, Rc1, xbar); +} - BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) { +void SubgraphSolver::initialize(const GaussianBayesNet::shared_ptr &Rc1, const JacobianFactorGraph::shared_ptr &Ab2) +{ + VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); + pc_ = boost::make_shared(Ab2, Rc1, xbar); +} + +boost::tuple +SubgraphSolver::splitGraph(const JacobianFactorGraph &jfg) { + + const VariableIndex index(jfg); + const size_t n = index.size(), m = jfg.size(); + DisjointSet D(n) ; + + JacobianFactorGraph::shared_ptr At(new JacobianFactorGraph()); + JacobianFactorGraph::shared_ptr Ac( new JacobianFactorGraph()); + + size_t t = 0; + BOOST_FOREACH ( const JacobianFactor::shared_ptr &jf, jfg ) { + + if ( jf->keys().size() > 2 ) { + throw runtime_error("SubgraphSolver::splitGraph the graph is not simple, sanity check failed "); + } bool augment = false ; /* check whether this factor should be augmented to the "tree" graph */ - if ( gf->keys().size() == 1 ) augment = true; + if ( jf->keys().size() == 1 ) augment = true; else { - BOOST_FOREACH ( const Index key, *gf ) { - if ( connected[key] == false ) { - augment = true ; - connected[key] = true; - } + const Index u = jf->keys()[0], v = jf->keys()[1], + u_root = D.find(u), v_root = D.find(v); + if ( u_root != v_root ) { + t++; augment = true ; + D.makeUnion(u_root, v_root); } } - - if ( augment ) At->push_back(gf); - else Ac->push_back(gf); + if ( augment ) At->push_back(jf); + else Ac->push_back(jf); } return boost::tie(At, Ac); } +SubgraphSolver::DisjointSet::DisjointSet(const size_t n):n_(n),rank_(n,1),parent_(n) { + for ( Index i = 0 ; i < n ; ++i ) parent_[i] = i ; +} + +Index SubgraphSolver::DisjointSet::makeUnion(const Index &u, const Index &v) { + + Index u_root = find(u), v_root = find(v) ; + Index u_rank = rank(u), v_rank = rank(v) ; + + if ( u_root != v_root ) { + if ( v_rank > u_rank ) { + parent_[u_root] = v_root ; + rank_[v_root] += rank_[u_root] ; + return v_root ; + } + else { + parent_[v_root] = u_root ; + rank_[u_root] += rank_[v_root] ; + return u_root ; + } + } + return u_root ; +} + +Index SubgraphSolver::DisjointSet::find(const Index &u) { + vector path ; + Index x = u; + Index x_root = parent_[x] ; + + // find the root, and keep the vertices along the path + while ( x != x_root ) { + path.push_back(x) ; + x = x_root ; + x_root = parent_[x] ; + } + + // path compression + BOOST_FOREACH(const Index &i, path) { + rank_[i] = 1 ; + parent_[i] = x_root ; + } + + return x_root ; +} + + } // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index 60104bbe0..04b1cb127 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -13,7 +13,9 @@ #include #include +#include #include +#include #include @@ -25,31 +27,86 @@ public: SubgraphSolverParameters() : Base() {} }; + /** - * A linear system solver using subgraph preconditioning conjugate gradient + * This class implements the SPCG solver presented in Dellaert et al in IROS'10. + * + * Given a linear least-squares problem \f$ f(x) = |A x - b|^2 \f$. We split the problem into + * \f$ f(x) = |A_t - b_t|^2 + |A_c - b_c|^2 \f$ where \f$ A_t \f$ denotes the "tree" part, and \f$ A_c \f$ denotes the "constraint" part. + * \f$ A_t \f$ is factorized into \f$ Q_t R_t \f$, and we compute \f$ c_t = Q_t^{-1} b_t \f$, and \f$ x_t = R_t^{-1} c_t \f$ accordingly. + * Then we solve a reparametrized problem \f$ f(y) = |y|^2 + |A_c R_t^{-1} y - \bar{b_y}|^2 \f$, where \f$ y = R_t(x - x_t) \f$, and \f$ \bar{b_y} = (b_c - A_c x_t) \f$ + * + * In the matrix form, it is equivalent to solving \f$ [A_c R_t^{-1} ; I ] y = [\bar{b_y} ; 0] \f$. We can solve it + * with the least-squares variation of the conjugate gradient method. + * + * To use it in nonlinear optimization, please see the following example + * + * LevenbergMarquardtParams parameters; + * parameters.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT; + * parameters.iterativeParams = boost::make_shared(); + * LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); + * Values result = optimizer.optimize(); + * + * \nosubgrouping */ class SubgraphSolver : public IterativeSolver { public: - typedef SubgraphSolverParameters Parameters; protected: - Parameters parameters_; SubgraphPreconditioner::shared_ptr pc_; ///< preconditioner object public: + /* Given a gaussian factor graph, split it into a spanning tree (A1) + others (A2) for SPCG */ + SubgraphSolver(const GaussianFactorGraph &A, const Parameters ¶meters); + SubgraphSolver(const JacobianFactorGraph::shared_ptr &A, const Parameters ¶meters); + + /* The user specify the subgraph part and the constraint part, may throw exception if A1 is underdetermined */ + SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2, const Parameters ¶meters); + SubgraphSolver(const JacobianFactorGraph::shared_ptr &Ab1, const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters); + + /* The same as above, but the A1 is solved before */ + SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph &Ab2, const Parameters ¶meters); + SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters); - SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters); virtual ~SubgraphSolver() {} virtual VectorValues optimize () ; protected: - boost::tuple - splitGraph(const GaussianFactorGraph &gfg) ; + void initialize(const JacobianFactorGraph &jfg); + void initialize(const GaussianBayesNet::shared_ptr &Rc1, const JacobianFactorGraph::shared_ptr &Ab2); + + boost::tuple + splitGraph(const JacobianFactorGraph &gfg) ; + +public: + + // a simplfied implementation of disjoint set data structure. + class DisjointSet { + protected: + size_t n_ ; + std::vector rank_ ; + std::vector parent_ ; + + public: + // initialize a disjoint set, point every vertex to itself + DisjointSet(const size_t n) ; + inline size_t size() const { return n_ ; } + + // union the root of u and and the root of v, return the root of u and v + Index makeUnion(const Index &u, const Index &v) ; + + // return the root of u + Index find(const Index &u) ; + + // return the rank of x, which is defined as the cardinality of the set containing x + inline size_t rank(const Index &x) {return rank_[find(x)] ;} + }; + }; } // namespace gtsam diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp index af3f70ddc..9d85f26fe 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp @@ -8,7 +8,6 @@ #include #include #include -#include #include #include #include @@ -60,11 +59,7 @@ VectorValues solveGaussianFactorGraph(const GaussianFactorGraph &gfg, const Succ } else if ( params.isCG() ) { if ( !params.iterativeParams ) throw std::runtime_error("solveGaussianFactorGraph: cg parameter has to be assigned ..."); - if ( boost::dynamic_pointer_cast(params.iterativeParams)) { - SimpleSPCGSolver solver (gfg, *boost::dynamic_pointer_cast(params.iterativeParams)); - delta = solver.optimize(); - } - else if ( boost::dynamic_pointer_cast(params.iterativeParams) ) { + if ( boost::dynamic_pointer_cast(params.iterativeParams) ) { SubgraphSolver solver (gfg, *boost::dynamic_pointer_cast(params.iterativeParams)); delta = solver.optimize(); } diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index 60f737d67..b0a008478 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -120,7 +120,7 @@ TEST( SubgraphPreconditioner, system ) // Create Subgraph-preconditioned system VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible - SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); + SubgraphPreconditioner system(Ab2, Rc1, xbarShared); // Create zero config VectorValues zeros = VectorValues::Zero(xbar); @@ -197,7 +197,7 @@ TEST( SubgraphPreconditioner, conjugateGradients ) // Create Subgraph-preconditioned system VectorValues::shared_ptr xbarShared(new VectorValues(xbar)); // TODO: horrible - SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbarShared); + SubgraphPreconditioner system(Ab2, Rc1, xbarShared); // Create zero config y0 and perturbed config y1 VectorValues y0 = VectorValues::Zero(xbar); diff --git a/tests/testSubgraphSolver.cpp b/tests/testSubgraphSolver.cpp new file mode 100644 index 000000000..04e0554e5 --- /dev/null +++ b/tests/testSubgraphSolver.cpp @@ -0,0 +1,106 @@ +/* ---------------------------------------------------------------------------- + + * 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 testSubgraphSolver.cpp + * @brief Unit tests for SubgraphSolver + * @author Yong-Dian Jian + **/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +using namespace boost::assign; + +using namespace std; +using namespace gtsam; +using namespace example; + +/* ************************************************************************* */ +/** unnormalized error */ +double error(const JacobianFactorGraph& fg, const VectorValues& x) { + double total_error = 0.; + BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) + total_error += factor->error(x); + return total_error; +} + + +/* ************************************************************************* */ +TEST( SubgraphSolver, constructor1 ) +{ + // Build a planar graph + JacobianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + SubgraphSolverParameters parameters; + SubgraphSolver solver(Ab, parameters); + VectorValues optimized = solver.optimize(); + DOUBLES_EQUAL(0.0, error(Ab, optimized), 1e-5); +} + +/* ************************************************************************* */ +TEST( SubgraphSolver, constructor2 ) +{ + // Build a planar graph + JacobianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + // Get the spanning tree and corresponding ordering + JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + + SubgraphSolverParameters parameters; + SubgraphSolver solver(Ab1_, Ab2_, parameters); + VectorValues optimized = solver.optimize(); + DOUBLES_EQUAL(0.0, error(Ab, optimized), 1e-5); +} + +/* ************************************************************************* */ +TEST( SubgraphSolver, constructor3 ) +{ + // Build a planar graph + JacobianFactorGraph Ab; + VectorValues xtrue; + size_t N = 3; + boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + + // Get the spanning tree and corresponding ordering + JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + + GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(Ab1_)->eliminate(&EliminateQR); + + SubgraphSolverParameters parameters; + SubgraphSolver solver(Rc1, Ab2_, parameters); + VectorValues optimized = solver.optimize(); + DOUBLES_EQUAL(0.0, error(Ab, optimized), 1e-5); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ From 82fd3982c3e4c6d726e225cc7b527fdca8f3a9b1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 3 Sep 2012 20:23:02 +0000 Subject: [PATCH 871/914] Ignore .dot file From e9eb96a40855258b4cc2c06308f363cca244748e Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Mon, 3 Sep 2012 21:50:22 +0000 Subject: [PATCH 872/914] wrap iterative solver, subgraph solver, etc. fix the matlab spcg example --- gtsam.h | 41 +++++++++++++++ gtsam/linear/ConjugateGradientSolver.h | 32 ++++++------ gtsam/linear/IterativeSolver.cpp | 50 +++++++++++++++++++ gtsam/linear/IterativeSolver.h | 17 +++++-- gtsam/linear/SubgraphSolver.h | 2 +- .../SuccessiveLinearizationOptimizer.cpp | 4 ++ .../SuccessiveLinearizationOptimizer.h | 3 +- matlab/gtsam_examples/Pose2SLAMwSPCG.m | 15 ++++-- 8 files changed, 138 insertions(+), 26 deletions(-) create mode 100644 gtsam/linear/IterativeSolver.cpp diff --git a/gtsam.h b/gtsam.h index 4aa1480df..5b21f726f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1045,6 +1045,46 @@ class GaussianSequentialSolver { Matrix marginalCovariance(size_t j) const; }; +#include +virtual class IterativeOptimizationParameters { + string getKernel() const ; + string getVerbosity() const; + void setKernel(string s) ; + void setVerbosity(string s) ; +}; + +//virtual class IterativeSolver { +// IterativeSolver(); +// gtsam::VectorValues optimize (); +//}; + +#include +virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParameters { + ConjugateGradientParameters(); + size_t getMinIterations() const ; + size_t getMaxIterations() const ; + size_t getReset() const; + double getEpsilon_rel() const; + double getEpsilon_abs() const; + + void setMinIterations(size_t value); + void setMaxIterations(size_t value); + void setReset(size_t value); + void setEpsilon_rel(double value); + void setEpsilon_abs(double value); +}; + +#include +virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { + SubgraphSolverParameters(); + void print(string s) const; +}; + +class SubgraphSolver { + SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters ¶meters); + gtsam::VectorValues optimize() const; +}; + #include class KalmanFilter { KalmanFilter(size_t n); @@ -1288,6 +1328,7 @@ virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams { void setLinearSolverType(string solver); void setOrdering(const gtsam::Ordering& ordering); + void setIterativeParams(const gtsam::SubgraphSolverParameters ¶ms); bool isMultifrontal() const; bool isSequential() const; diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index cf1d31d85..a89d7a10c 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -20,9 +20,7 @@ namespace gtsam { */ class ConjugateGradientParameters : public IterativeOptimizationParameters { - public: - typedef IterativeOptimizationParameters Base; typedef boost::shared_ptr shared_ptr; @@ -49,7 +47,21 @@ public: inline double epsilon_rel() const { return epsilon_rel_; } inline double epsilon_abs() const { return epsilon_abs_; } - void print() const { + inline size_t getMinIterations() const { return minIterations_; } + inline size_t getMaxIterations() const { return maxIterations_; } + inline size_t getReset() const { return reset_; } + inline double getEpsilon() const { return epsilon_rel_; } + inline double getEpsilon_rel() const { return epsilon_rel_; } + inline double getEpsilon_abs() const { return epsilon_abs_; } + + inline void setMinIterations(size_t value) { minIterations_ = value; } + inline void setMaxIterations(size_t value) { maxIterations_ = value; } + inline void setReset(size_t value) { reset_ = value; } + inline void setEpsilon(double value) { epsilon_rel_ = value; } + inline void setEpsilon_rel(double value) { epsilon_rel_ = value; } + inline void setEpsilon_abs(double value) { epsilon_abs_ = value; } + + virtual void print(const std::string &s="") const { Base::print(); std::cout << "ConjugateGradientParameters: " << "minIter = " << minIterations_ @@ -61,18 +73,4 @@ public: } }; -//class ConjugateGradientSolver : public IterativeSolver { -// -//public: -// -// typedef ConjugateGradientParameters Parameters; -// -// Parameters parameters_; -// -// ConjugateGradientSolver(const ConjugateGradientParameters ¶meters) : parameters_(parameters) {} -// virtual VectorValues::shared_ptr optimize () = 0; -// virtual const IterativeOptimizationParameters& _params() const = 0; -//}; - - } diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp new file mode 100644 index 000000000..2bba3e12b --- /dev/null +++ b/gtsam/linear/IterativeSolver.cpp @@ -0,0 +1,50 @@ +/** + * @file IterativeSolver.cpp + * @brief + * @date Sep 3, 2012 + * @author Yong-Dian Jian + */ + +#include +#include +#include + +namespace gtsam { + +std::string IterativeOptimizationParameters::getKernel() const { return kernelTranslator(kernel_); } +std::string IterativeOptimizationParameters::getVerbosity() const { return verbosityTranslator(verbosity_); } +void IterativeOptimizationParameters::setKernel(const std::string &src) { kernel_ = kernelTranslator(src); } +void IterativeOptimizationParameters::setVerbosity(const std::string &src) { verbosity_ = verbosityTranslator(src); } + +IterativeOptimizationParameters::Kernel IterativeOptimizationParameters::kernelTranslator(const std::string &src) { + std::string s = src; boost::algorithm::to_upper(s); + if (s == "CG") return IterativeOptimizationParameters::CG; + /* default is cg */ + else return IterativeOptimizationParameters::CG; +} + +IterativeOptimizationParameters::Verbosity IterativeOptimizationParameters::verbosityTranslator(const std::string &src) { + std::string s = src; boost::algorithm::to_upper(s); + if (s == "SILENT") return IterativeOptimizationParameters::SILENT; + else if (s == "COMPLEXITY") return IterativeOptimizationParameters::COMPLEXITY; + else if (s == "ERROR") return IterativeOptimizationParameters::ERROR; + /* default is default */ + else return IterativeOptimizationParameters::SILENT; +} + +std::string IterativeOptimizationParameters::kernelTranslator(IterativeOptimizationParameters::Kernel k) { + if ( k == CG ) return "CG"; + else return "UNKNOWN"; +} + +std::string IterativeOptimizationParameters::verbosityTranslator(IterativeOptimizationParameters::Verbosity verbosity) { + if (verbosity == SILENT) return "SILENT"; + else if (verbosity == COMPLEXITY) return "COMPLEXITY"; + else if (verbosity == ERROR) return "ERROR"; + else return "UNKNOWN"; +} + + +} + + diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 8292b3831..2f76df2b7 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -13,6 +13,7 @@ #include #include +#include namespace gtsam { @@ -41,22 +42,32 @@ namespace gtsam { inline Kernel kernel() const { return kernel_; } inline Verbosity verbosity() const { return verbosity_; } + /* matlab interface */ + std::string getKernel() const ; + std::string getVerbosity() const; + void setKernel(const std::string &s) ; + void setVerbosity(const std::string &s) ; + void print() const { const std::string kernelStr[1] = {"cg"}; std::cout << "IterativeOptimizationParameters: " << "kernel = " << kernelStr[kernel_] << ", verbosity = " << verbosity_ << std::endl; } + + static Kernel kernelTranslator(const std::string &s); + static Verbosity verbosityTranslator(const std::string &s); + static std::string kernelTranslator(Kernel k); + static std::string verbosityTranslator(Verbosity v); }; class IterativeSolver { public: typedef boost::shared_ptr shared_ptr; - IterativeSolver(){} + IterativeSolver() {} virtual ~IterativeSolver() {} - /* update interface to the nonlinear optimizer */ - virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {} + /* interface to the nonlinear optimizer */ virtual VectorValues optimize () = 0; }; diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index 04b1cb127..e4d99933b 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -25,9 +25,9 @@ class SubgraphSolverParameters : public ConjugateGradientParameters { public: typedef ConjugateGradientParameters Base; SubgraphSolverParameters() : Base() {} + virtual void print(const std::string &s="") const { Base::print(s); } }; - /** * This class implements the SPCG solver presented in Dellaert et al in IROS'10. * diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp index 9d85f26fe..fec460b08 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.cpp @@ -15,6 +15,10 @@ namespace gtsam { +void SuccessiveLinearizationParams::setIterativeParams(const SubgraphSolverParameters ¶ms) { + iterativeParams = boost::make_shared(params); +} + void SuccessiveLinearizationParams::print(const std::string& str) const { NonlinearOptimizerParams::print(str); switch ( linearSolverType ) { diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h index e79a364c5..d422c09a9 100644 --- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h +++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h @@ -19,7 +19,7 @@ #pragma once #include -#include +#include namespace gtsam { @@ -74,6 +74,7 @@ public: std::string getLinearSolverType() const { return linearSolverTranslator(linearSolverType); } void setLinearSolverType(const std::string& solver) { linearSolverType = linearSolverTranslator(solver); } + void setIterativeParams(const SubgraphSolverParameters ¶ms); void setOrdering(const Ordering& ordering) { this->ordering = ordering; } private: diff --git a/matlab/gtsam_examples/Pose2SLAMwSPCG.m b/matlab/gtsam_examples/Pose2SLAMwSPCG.m index a45ac40a0..67f22fe1d 100644 --- a/matlab/gtsam_examples/Pose2SLAMwSPCG.m +++ b/matlab/gtsam_examples/Pose2SLAMwSPCG.m @@ -51,7 +51,14 @@ initialEstimate.insert(4, Pose2(4.0, 2.0, pi )); initialEstimate.insert(5, Pose2(2.1, 2.1,-pi/2)); initialEstimate.print(sprintf('\nInitial estimate:\n')); -%% Optimize using Levenberg-Marquardt optimization with an ordering from colamd -optimizer = DoglegOptimizer(graph, initialEstimate); -result = optimizer.optimizeSafely(); -result.print(sprintf('\nFinal result:\n')); \ No newline at end of file +%% Optimize using Levenberg-Marquardt optimization with SubgraphSolver +params = gtsam.LevenbergMarquardtParams; +subgraphParams = gtsam.SubgraphSolverParameters; +params.setLinearSolverType('CONJUGATE_GRADIENT'); +params.setIterativeParams(subgraphParams); +optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate); +result = optimizer.optimize(); +result.print(sprintf('\nFinal result:\n')); + + + From 947588586c164b13e93f17eed831a32dc0102b4d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 22:11:09 +0000 Subject: [PATCH 873/914] Updated README to mention windows and MSVC --- README | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README b/README index 8e74f61e4..d7486c8b8 100644 --- a/README +++ b/README @@ -59,10 +59,12 @@ Tested compilers - GCC 4.2-4.7 - Clang 2.9-3.2 - OSX GCC 4.2 + - MSVC 2010, 2012 Tested systems: - Ubuntu 11.04, 11.10, 12.04 - MacOS 10.6, 10.7 + - Windows 7 2) GTSAM makes extensive use of debug assertions, and we highly recommend you work From 9938b4785d72b24a55ef18b4aa0472a4d07e90ba Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Mon, 3 Sep 2012 22:48:08 +0000 Subject: [PATCH 874/914] Changed method summaries to lower case --- wrap/Class.cpp | 6 +-- wrap/tests/expected/Point2.m | 18 ++++---- wrap/tests/expected/Point3.m | 8 ++-- wrap/tests/expected/Test.m | 42 +++++++++---------- wrap/tests/expected_namespaces/+ns1/ClassA.m | 2 +- wrap/tests/expected_namespaces/+ns1/ClassB.m | 2 +- .../expected_namespaces/+ns2/+ns3/ClassB.m | 2 +- wrap/tests/expected_namespaces/+ns2/ClassA.m | 10 ++--- wrap/tests/expected_namespaces/+ns2/ClassC.m | 2 +- wrap/tests/expected_namespaces/ClassD.m | 2 +- 10 files changed, 47 insertions(+), 47 deletions(-) diff --git a/wrap/Class.cpp b/wrap/Class.cpp index c5c306ce6..374324558 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -332,7 +332,7 @@ void Class::comment_fragment(FileWriter& proxyFile) const { string up_name = boost::to_upper_copy(name); - proxyFile.oss << "%" << up_name << "("; + proxyFile.oss << "%" << name << "("; unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { @@ -352,7 +352,7 @@ void Class::comment_fragment(FileWriter& proxyFile) const BOOST_FOREACH(ArgumentList argList, m.argLists) { string up_name = boost::to_upper_copy(m.name); - proxyFile.oss << "%" << up_name << "("; + proxyFile.oss << "%" << m.name << "("; unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { @@ -373,7 +373,7 @@ void Class::comment_fragment(FileWriter& proxyFile) const BOOST_FOREACH(ArgumentList argList, m.argLists) { string up_name = boost::to_upper_copy(m.name); - proxyFile.oss << "%" << up_name << "("; + proxyFile.oss << "%" << m.name << "("; unsigned int i = 0; BOOST_FOREACH(const Argument& arg, argList) { diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m index 913a869b5..d1c336c5f 100644 --- a/wrap/tests/expected/Point2.m +++ b/wrap/tests/expected/Point2.m @@ -1,15 +1,15 @@ %-------Constructors------- -%POINT2() -%POINT2(double x, double y) +%Point2() +%Point2(double x, double y) % %-------Methods------- -%ARGCHAR(char a) : returns void -%ARGUCHAR(unsigned char a) : returns void -%DIM() : returns int -%RETURNCHAR() : returns char -%VECTORCONFUSION() : returns VectorNotEigen -%X() : returns double -%Y() : returns double +%argChar(char a) : returns void +%argUChar(unsigned char a) : returns void +%dim() : returns int +%returnChar() : returns char +%vectorConfusion() : returns VectorNotEigen +%x() : returns double +%y() : returns double % %-------Static Methods------- % diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index 965815dc6..f73b740ac 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -1,12 +1,12 @@ %-------Constructors------- -%POINT3(double x, double y, double z) +%Point3(double x, double y, double z) % %-------Methods------- -%NORM() : returns double +%norm() : returns double % %-------Static Methods------- -%STATICFUNCTIONRET(double z) : returns Point3 -%STATICFUNCTION() : returns double +%StaticFunctionRet(double z) : returns Point3 +%staticFunction() : returns double % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Point3 < handle diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index d39025971..1e07974ee 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -1,27 +1,27 @@ %-------Constructors------- -%TEST() -%TEST(double a, Matrix b) +%Test() +%Test(double a, Matrix b) % %-------Methods------- -%ARG_EIGENCONSTREF(Matrix value) : returns void -%CREATE_MIXEDPTRS() : returns pair< Test, SharedTest > -%CREATE_PTRS() : returns pair< SharedTest, SharedTest > -%PRINT() : returns void -%RETURN_POINT2PTR(bool value) : returns Point2 -%RETURN_TEST(Test value) : returns Test -%RETURN_TESTPTR(Test value) : returns Test -%RETURN_BOOL(bool value) : returns bool -%RETURN_DOUBLE(double value) : returns double -%RETURN_FIELD(Test t) : returns bool -%RETURN_INT(int value) : returns int -%RETURN_MATRIX1(Matrix value) : returns Matrix -%RETURN_MATRIX2(Matrix value) : returns Matrix -%RETURN_PAIR(Vector v, Matrix A) : returns pair< Vector, Matrix > -%RETURN_PTRS(Test p1, Test p2) : returns pair< SharedTest, SharedTest > -%RETURN_SIZE_T(size_t value) : returns size_t -%RETURN_STRING(string value) : returns string -%RETURN_VECTOR1(Vector value) : returns Vector -%RETURN_VECTOR2(Vector value) : returns Vector +%arg_EigenConstRef(Matrix value) : returns void +%create_MixedPtrs() : returns pair< Test, SharedTest > +%create_ptrs() : returns pair< SharedTest, SharedTest > +%print() : returns void +%return_Point2Ptr(bool value) : returns Point2 +%return_Test(Test value) : returns Test +%return_TestPtr(Test value) : returns Test +%return_bool(bool value) : returns bool +%return_double(double value) : returns double +%return_field(Test t) : returns bool +%return_int(int value) : returns int +%return_matrix1(Matrix value) : returns Matrix +%return_matrix2(Matrix value) : returns Matrix +%return_pair(Vector v, Matrix A) : returns pair< Vector, Matrix > +%return_ptrs(Test p1, Test p2) : returns pair< SharedTest, SharedTest > +%return_size_t(size_t value) : returns size_t +%return_string(string value) : returns string +%return_vector1(Vector value) : returns Vector +%return_vector2(Vector value) : returns Vector % %-------Static Methods------- % diff --git a/wrap/tests/expected_namespaces/+ns1/ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m index 2ce280041..ee87c12d7 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m @@ -1,5 +1,5 @@ %-------Constructors------- -%CLASSA() +%ClassA() % %-------Methods------- % diff --git a/wrap/tests/expected_namespaces/+ns1/ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m index 5c4d82882..7f393f03e 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m @@ -1,5 +1,5 @@ %-------Constructors------- -%CLASSB() +%ClassB() % %-------Methods------- % diff --git a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m index ff5ed9e3c..4ad4a14f0 100644 --- a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m @@ -1,5 +1,5 @@ %-------Constructors------- -%CLASSB() +%ClassB() % %-------Methods------- % diff --git a/wrap/tests/expected_namespaces/+ns2/ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m index d8f1dbc88..c56377c2a 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m @@ -1,13 +1,13 @@ %-------Constructors------- -%CLASSA() +%ClassA() % %-------Methods------- -%MEMBERFUNCTION() : returns double -%NSARG(ClassB arg) : returns int -%NSRETURN(double q) : returns ns2::ns3::ClassB +%memberFunction() : returns double +%nsArg(ClassB arg) : returns int +%nsReturn(double q) : returns ns2::ns3::ClassB % %-------Static Methods------- -%AFUNCTION() : returns double +%afunction() : returns double % %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassA < handle diff --git a/wrap/tests/expected_namespaces/+ns2/ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m index 86cf9819f..050ef19f4 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassC.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m @@ -1,5 +1,5 @@ %-------Constructors------- -%CLASSC() +%ClassC() % %-------Methods------- % diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m index 13bac35d6..41e9e63ec 100644 --- a/wrap/tests/expected_namespaces/ClassD.m +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -1,5 +1,5 @@ %-------Constructors------- -%CLASSD() +%ClassD() % %-------Methods------- % From 403c6e39ad497bc44e627df9cfda99ddf28c949b Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 3 Sep 2012 23:24:37 +0000 Subject: [PATCH 875/914] Fixes to script to build self-contained matlab toolbox packages --- package_scripts/toolbox_package_unix.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/package_scripts/toolbox_package_unix.sh b/package_scripts/toolbox_package_unix.sh index 44d0dac87..b78649e15 100755 --- a/package_scripts/toolbox_package_unix.sh +++ b/package_scripts/toolbox_package_unix.sh @@ -2,7 +2,7 @@ # Detect platform os=`uname -s` -arch=`uname -p` +arch=`uname -m` if [ "$os" = "Linux" -a "$arch" = "x86_64" ]; then platform=lin64 elif [ "$os" = "Linux" -a "$arch" = "i686" ]; then @@ -37,7 +37,7 @@ if [ ! $? ]; then fi # Compile -make -j4 install +make install # Create package tar czf gtsam-toolbox-2.1.0-$platform.tgz -C stage/borg toolbox From 2b4c0e1b140fba0932be461248f78a98af6c0a2c Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 4 Sep 2012 04:17:55 +0000 Subject: [PATCH 876/914] add printStats() and wrap saveGraph for ISAM2 --- gtsam.h | 2 ++ gtsam/nonlinear/ISAM2.h | 3 +++ 2 files changed, 5 insertions(+) diff --git a/gtsam.h b/gtsam.h index 5b21f726f..c5560668f 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1484,6 +1484,8 @@ class ISAM2 { 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); diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index deb2fc9d1..1cea78837 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -598,6 +598,9 @@ public: const ISAM2Params& params() const { return params_; } + /** prints out clique statistics */ + void printStats() const { getCliqueData().getStats().print(); } + //@} private: From 0f6ffcd4b202bf31b5a8ccd6da37ee3cf3844b5f Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 4 Sep 2012 04:19:47 +0000 Subject: [PATCH 877/914] add tooltips for VisualISAM_gui in matlab. 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options.hardConstraint = get(handles.hardConstraintCB,'Value'); options.pointPriors = get(handles.pointPriorsCB,'Value'); options.batchInitialization = get(handles.batchInitCB,'Value'); -options.reorderInterval = str2num(get(handles.reorderIntervalEdit,'String')); +%options.reorderInterval = str2num(get(handles.reorderIntervalEdit,'String')); options.alwaysRelinearize = get(handles.alwaysRelinearizeCB,'Value'); % Display Options From 9ac2ae575528b48e87bb509c1aed27184a07dd18 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 4 Sep 2012 04:58:38 +0000 Subject: [PATCH 878/914] make print more comprehensible --- gtsam/linear/IterativeSolver.h | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 2f76df2b7..4323d8e55 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -49,10 +49,9 @@ namespace gtsam { void setVerbosity(const std::string &s) ; void print() const { - const std::string kernelStr[1] = {"cg"}; std::cout << "IterativeOptimizationParameters: " - << "kernel = " << kernelStr[kernel_] - << ", verbosity = " << verbosity_ << std::endl; + << "kernel = " << kernelTranslator(kernel_) + << ", verbosity = " << verbosityTranslator(verbosity_) << std::endl; } static Kernel kernelTranslator(const std::string &s); From 0d5cb9a7e042dd30b8ba8c0e84c2cda7643ff254 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 4 Sep 2012 05:13:35 +0000 Subject: [PATCH 879/914] fix figure update bug in VisualISAMPlot when run with "Save Figures" enabled. --- matlab/+gtsam/VisualISAMPlot.m | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/matlab/+gtsam/VisualISAMPlot.m b/matlab/+gtsam/VisualISAMPlot.m index 5ef64cf62..cd7ab188e 100644 --- a/matlab/+gtsam/VisualISAMPlot.m +++ b/matlab/+gtsam/VisualISAMPlot.m @@ -39,11 +39,12 @@ drawnow %% do various optional things if options.saveFigures - fig2 = figure('visible','off'); - newax = copyobj(h,fig2); - colormap(fig2,'hot'); + figToSave = figure('visible','off'); + newax = copyobj(h,figToSave); + colormap(figToSave,'hot'); set(newax, 'units', 'normalized', 'position', [0.13 0.11 0.775 0.815]); - print(fig2,'-dpng',sprintf('VisualiSAM%03d.png',M)); + print(figToSave,'-dpng',sprintf('VisualiSAM%03d.png',M)); + axes(h); end if options.saveDotFiles From 8e4f6051220883f0b00209691b8c5a942d81848d Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 4 Sep 2012 15:05:47 +0000 Subject: [PATCH 880/914] Made HessianFactor::updateATA public to allow low-rank updates --- gtsam/linear/HessianFactor.cpp | 12 ++++-------- gtsam/linear/HessianFactor.h | 28 ++++++++++++++-------------- 2 files changed, 18 insertions(+), 22 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 6db6330b0..a44f5c682 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -261,12 +261,10 @@ HessianFactor::HessianFactor(const FactorGraph& factors, if (debug) cout << "Combining " << factors.size() << " factors" << endl; BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors) { - shared_ptr hessian(boost::dynamic_pointer_cast(factor)); - if (hessian) - updateATA(*hessian, scatter); - else { - JacobianFactor::shared_ptr jacobianFactor(boost::dynamic_pointer_cast(factor)); - if (jacobianFactor) + if(factor) { + if(shared_ptr hessian = boost::dynamic_pointer_cast(factor)) + updateATA(*hessian, scatter); + else if(JacobianFactor::shared_ptr jacobianFactor = boost::dynamic_pointer_cast(factor)) updateATA(*jacobianFactor, scatter); else throw invalid_argument("GaussianFactor is neither Hessian nor Jacobian"); @@ -360,7 +358,6 @@ void HessianFactor::updateATA(const HessianFactor& update, const Scatter& scatte // Apply updates to the upper triangle tic(3, "update"); - assert(this->info_.nBlocks() - 1 == scatter.size()); for(size_t j2=0; j2info_.nBlocks()-1 : slots[j2]; for(size_t j1=0; j1<=j2; ++j1) { @@ -437,7 +434,6 @@ void HessianFactor::updateATA(const JacobianFactor& update, const Scatter& scatt // Apply updates to the upper triangle tic(3, "update"); - assert(this->info_.nBlocks() - 1 == scatter.size()); for(size_t j2=0; j2info_.nBlocks()-1 : slots[j2]; for(size_t j1=0; j1<=j2; ++j1) { diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 74216f0f0..2e9b67c2a 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -120,20 +120,6 @@ namespace gtsam { InfoMatrix matrix_; ///< The full augmented information matrix, s.t. the quadratic error is 0.5*[x -1]'*H*[x -1] BlockInfo info_; ///< The block view of the full information matrix. - /** Update the factor by adding the information from the JacobianFactor - * (used internally during elimination). - * @param update The JacobianFactor containing the new information to add - * @param scatter A mapping from variable index to slot index in this HessianFactor - */ - void updateATA(const JacobianFactor& update, const Scatter& scatter); - - /** Update the factor by adding the information from the HessianFactor - * (used internally during elimination). - * @param update The HessianFactor containing the new information to add - * @param scatter A mapping from variable index to slot index in this HessianFactor - */ - void updateATA(const HessianFactor& update, const Scatter& scatter); - public: typedef boost::shared_ptr shared_ptr; ///< A shared_ptr to this @@ -315,6 +301,20 @@ namespace gtsam { /** split partially eliminated factor */ boost::shared_ptr splitEliminatedFactor(size_t nrFrontals); + /** Update the factor by adding the information from the JacobianFactor + * (used internally during elimination). + * @param update The JacobianFactor containing the new information to add + * @param scatter A mapping from variable index to slot index in this HessianFactor + */ + void updateATA(const JacobianFactor& update, const Scatter& scatter); + + /** Update the factor by adding the information from the HessianFactor + * (used internally during elimination). + * @param update The HessianFactor containing the new information to add + * @param scatter A mapping from variable index to slot index in this HessianFactor + */ + void updateATA(const HessianFactor& update, const Scatter& scatter); + /** assert invariants */ void assertInvariants() const; From abd07e553e5d36aeb15744b8eb67d8038300cca0 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 4 Sep 2012 15:05:55 +0000 Subject: [PATCH 881/914] Made new global functions in unit tests static to avoid duplicate symbols --- tests/testSubgraphPreconditioner.cpp | 2 +- tests/testSubgraphSolver.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index b0a008478..c41b95881 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -54,7 +54,7 @@ TEST( SubgraphPreconditioner, planarOrdering ) { /* ************************************************************************* */ /** unnormalized error */ -double error(const JacobianFactorGraph& fg, const VectorValues& x) { +static double error(const JacobianFactorGraph& fg, const VectorValues& x) { double total_error = 0.; BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) total_error += factor->error(x); diff --git a/tests/testSubgraphSolver.cpp b/tests/testSubgraphSolver.cpp index 04e0554e5..91b44a815 100644 --- a/tests/testSubgraphSolver.cpp +++ b/tests/testSubgraphSolver.cpp @@ -38,7 +38,7 @@ using namespace example; /* ************************************************************************* */ /** unnormalized error */ -double error(const JacobianFactorGraph& fg, const VectorValues& x) { +static double error(const JacobianFactorGraph& fg, const VectorValues& x) { double total_error = 0.; BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) total_error += factor->error(x); From 73f8c0830b40330873c94a728a4bb73123f633ad Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 4 Sep 2012 15:05:57 +0000 Subject: [PATCH 882/914] Created new dense matrix functions in GaussianFactorGraph returning pair for easier access, and renamed functions to augmentedJacobian, augmentedHessian, jacobian, hessian --- gtsam.h | 6 ++- gtsam/linear/GaussianFactorGraph.cpp | 24 +++++++++--- gtsam/linear/GaussianFactorGraph.h | 38 ++++++++++++++++--- .../linear/tests/testGaussianFactorGraph.cpp | 21 ++++++++-- gtsam/nonlinear/Marginals.cpp | 2 +- tests/testDoglegOptimizer.cpp | 6 +-- 6 files changed, 78 insertions(+), 19 deletions(-) diff --git a/gtsam.h b/gtsam.h index c5560668f..9c6f76527 100644 --- a/gtsam.h +++ b/gtsam.h @@ -1022,8 +1022,10 @@ class GaussianFactorGraph { // Conversion to matrices Matrix sparseJacobian_() const; - Matrix denseJacobian() const; - Matrix denseHessian() const; + Matrix augmentedJacobian() const; + pair jacobian() const; + Matrix augmentedHessian() const; + pair hessian() const; }; class GaussianISAM { diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 02f37915c..144f2c0d9 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -166,7 +166,7 @@ namespace gtsam { } /* ************************************************************************* */ - Matrix GaussianFactorGraph::denseJacobian() const { + Matrix GaussianFactorGraph::augmentedJacobian() const { // Convert to Jacobians FactorGraph jfg; jfg.reserve(this->size()); @@ -182,6 +182,14 @@ namespace gtsam { return combined.matrix_augmented(); } + /* ************************************************************************* */ + std::pair GaussianFactorGraph::jacobian() const { + Matrix augmented = augmentedJacobian(); + return make_pair( + augmented.leftCols(augmented.cols()-1), + augmented.col(augmented.cols()-1)); + } + /* ************************************************************************* */ // Helper functions for Combine static boost::tuple, size_t, size_t> countDims(const FactorGraph& factors, const VariableSlots& variableSlots) { @@ -317,9 +325,7 @@ break; } /* ************************************************************************* */ - static - FastMap findScatterAndDims - (const FactorGraph& factors) { + static FastMap findScatterAndDims(const FactorGraph& factors) { const bool debug = ISDEBUG("findScatterAndDims"); @@ -349,7 +355,7 @@ break; } /* ************************************************************************* */ - Matrix GaussianFactorGraph::denseHessian() const { + Matrix GaussianFactorGraph::augmentedHessian() const { Scatter scatter = findScatterAndDims(*this); @@ -367,6 +373,14 @@ break; return result; } + /* ************************************************************************* */ + std::pair GaussianFactorGraph::hessian() const { + Matrix augmented = augmentedHessian(); + return make_pair( + augmented.topLeftCorner(augmented.rows()-1, augmented.rows()-1), + augmented.col(augmented.rows()-1).head(augmented.rows()-1)); + } + /* ************************************************************************* */ GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals) { diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 51748b79b..e7563b0c5 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -188,15 +188,43 @@ namespace gtsam { Matrix sparseJacobian_() const; /** - * Return a dense \f$ m \times n \f$ Jacobian matrix, augmented with b - * with standard deviations are baked into A and b + * Return a dense \f$ [ \;A\;b\; ] \in \mathbb{R}^{m \times n+1} \f$ + * Jacobian matrix, augmented with b with the noise models baked + * into A and b. The negative log-likelihood is + * \f$ \frac{1}{2} \Vert Ax-b \Vert^2 \f$. See also + * GaussianFactorGraph::jacobian and GaussianFactorGraph::sparseJacobian. */ - Matrix denseJacobian() const; + Matrix augmentedJacobian() const; + + /** + * Return the dense Jacobian \f$ A \f$ and right-hand-side \f$ b \f$, + * with the noise models baked into A and b. The negative log-likelihood + * is \f$ \frac{1}{2} \Vert Ax-b \Vert^2 \f$. See also + * GaussianFactorGraph::augmentedJacobian and + * GaussianFactorGraph::sparseJacobian. + */ + std::pair jacobian() const; /** - * Return a dense \f$ n \times n \f$ Hessian matrix, augmented with \f$ A^T b \f$ + * Return a dense \f$ \Lambda \in \mathbb{R}^{n+1 \times n+1} \f$ Hessian + * matrix, augmented with the information vector \f$ \eta \f$. The + * augmented Hessian is + \f[ \left[ \begin{array}{ccc} + \Lambda & \eta \\ + \eta^T & c + \end{array} \right] \f] + and the negative log-likelihood is + \f$ \frac{1}{2} x^T \Lambda x + \eta^T x + c \f$. */ - Matrix denseHessian() const; + Matrix augmentedHessian() const; + + /** + * Return the dense Hessian \f$ \Lambda \f$ and information vector + * \f$ \eta \f$, with the noise models baked in. The negative log-likelihood + * is \frac{1}{2} x^T \Lambda x + \eta^T x + c. See also + * GaussianFactorGraph::augmentedHessian. + */ + std::pair hessian() const; private: /** Serialization function */ diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index 4c0aa3871..cb835a76a 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -410,7 +410,7 @@ TEST(GaussianFactor, eliminateFrontals) factors.push_back(factor4); // extract the dense matrix for the graph - Matrix actualDense = factors.denseJacobian(); + Matrix actualDense = factors.augmentedJacobian(); EXPECT(assert_equal(2.0 * Ab, actualDense)); // Convert to Jacobians, inefficient copy of all factors instead of selectively converting only Hessians @@ -619,7 +619,7 @@ TEST(GaussianFactorGraph, sparseJacobian) { } /* ************************************************************************* */ -TEST(GaussianFactorGraph, denseHessian) { +TEST(GaussianFactorGraph, matrices) { // Create factor graph: // x1 x2 x3 x4 x5 b // 1 2 3 0 0 4 @@ -639,9 +639,24 @@ TEST(GaussianFactorGraph, denseHessian) { 9,10, 0,11,12,13, 0, 0, 0,14,15,16; + Matrix expectedJacobian = jacobian; Matrix expectedHessian = jacobian.transpose() * jacobian; - Matrix actualHessian = gfg.denseHessian(); + Matrix expectedA = jacobian.leftCols(jacobian.cols()-1); + Vector expectedb = jacobian.col(jacobian.cols()-1); + Matrix expectedL = expectedA.transpose() * expectedA; + Vector expectedeta = expectedA.transpose() * expectedb; + + Matrix actualJacobian = gfg.augmentedJacobian(); + Matrix actualHessian = gfg.augmentedHessian(); + Matrix actualA; Vector actualb; boost::tie(actualA,actualb) = gfg.jacobian(); + Matrix actualL; Vector actualeta; boost::tie(actualL,actualeta) = gfg.hessian(); + + EXPECT(assert_equal(expectedJacobian, actualJacobian)); EXPECT(assert_equal(expectedHessian, actualHessian)); + EXPECT(assert_equal(expectedA, actualA)); + EXPECT(assert_equal(expectedb, actualb)); + EXPECT(assert_equal(expectedL, actualL)); + EXPECT(assert_equal(expectedeta, actualeta)); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp index 52c507374..c3078ea76 100644 --- a/gtsam/nonlinear/Marginals.cpp +++ b/gtsam/nonlinear/Marginals.cpp @@ -152,7 +152,7 @@ JointMarginal Marginals::jointMarginalInformation(const std::vector& variab } // Get information matrix - Matrix augmentedInfo = jointFG.denseHessian(); + Matrix augmentedInfo = jointFG.augmentedHessian(); Matrix info = augmentedInfo.topLeftCorner(augmentedInfo.rows()-1, augmentedInfo.cols()-1); return JointMarginal(info, dims, variableConversion); diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp index 781685a23..6b03b572b 100644 --- a/tests/testDoglegOptimizer.cpp +++ b/tests/testDoglegOptimizer.cpp @@ -96,7 +96,7 @@ TEST(DoglegOptimizer, ComputeSteepestDescentPoint) { gradientValues.vector() = gradient; // Compute the gradient using dense matrices - Matrix augmentedHessian = GaussianFactorGraph(gbn).denseHessian(); + Matrix augmentedHessian = GaussianFactorGraph(gbn).augmentedHessian(); LONGS_EQUAL(11, augmentedHessian.cols()); VectorValues denseMatrixGradient = *allocateVectorValues(gbn); denseMatrixGradient.vector() = -augmentedHessian.col(10).segment(0,10); @@ -200,7 +200,7 @@ TEST(DoglegOptimizer, BT_BN_equivalency) { GaussianFactorGraph expected(gbn); GaussianFactorGraph actual(bt); - EXPECT(assert_equal(expected.denseHessian(), actual.denseHessian())); + EXPECT(assert_equal(expected.augmentedHessian(), actual.augmentedHessian())); } /* ************************************************************************* */ @@ -276,7 +276,7 @@ TEST(DoglegOptimizer, ComputeSteepestDescentPointBT) { gradientValues.vector() = gradient; // Compute the gradient using dense matrices - Matrix augmentedHessian = GaussianFactorGraph(bt).denseHessian(); + Matrix augmentedHessian = GaussianFactorGraph(bt).augmentedHessian(); LONGS_EQUAL(11, augmentedHessian.cols()); VectorValues denseMatrixGradient = *allocateVectorValues(bt); denseMatrixGradient.vector() = -augmentedHessian.col(10).segment(0,10); From f1bc66c0174b7200426df183426e39bd500f552f Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Tue, 4 Sep 2012 15:33:36 +0000 Subject: [PATCH 883/914] add back an accidentally deleted function --- gtsam/linear/IterativeSolver.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 4323d8e55..7946874bb 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -68,6 +68,8 @@ namespace gtsam { /* interface to the nonlinear optimizer */ virtual VectorValues optimize () = 0; + /* update interface to the nonlinear optimizer */ + virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {} }; } From a553d2f84540b7a943a8896b145e2481bf4830ce Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 4 Sep 2012 19:10:03 +0000 Subject: [PATCH 884/914] fix point prior bug in VisualISAM matlab example. --- matlab/+gtsam/VisualISAMInitialize.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/+gtsam/VisualISAMInitialize.m b/matlab/+gtsam/VisualISAMInitialize.m index 1e408d3d9..b29288fdf 100644 --- a/matlab/+gtsam/VisualISAMInitialize.m +++ b/matlab/+gtsam/VisualISAMInitialize.m @@ -50,7 +50,7 @@ for i=1:2 initialEstimates.insert(jj, truth.points{j}); end if options.pointPriors % add point priors - newFactors.add(priorFactorPoint3(jj, truth.points{j}, noiseModels.point)); + newFactors.add(PriorFactorPoint3(jj, truth.points{j}, noiseModels.point)); end end end From c55f4be0d10cfcd91aef01cbc544cb62cb5c8ec7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Tue, 4 Sep 2012 22:20:40 +0000 Subject: [PATCH 885/914] Comments added --- tests/testSubgraphSolver.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/tests/testSubgraphSolver.cpp b/tests/testSubgraphSolver.cpp index 91b44a815..84f54a6fa 100644 --- a/tests/testSubgraphSolver.cpp +++ b/tests/testSubgraphSolver.cpp @@ -55,9 +55,11 @@ TEST( SubgraphSolver, constructor1 ) size_t N = 3; boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b + // The first constructor just takes a factor graph (and parameters) + // and it will split the graph into A1 and A2, where A1 is a spanning tree SubgraphSolverParameters parameters; SubgraphSolver solver(Ab, parameters); - VectorValues optimized = solver.optimize(); + VectorValues optimized = solver.optimize(); // does PCG optimization DOUBLES_EQUAL(0.0, error(Ab, optimized), 1e-5); } @@ -74,6 +76,8 @@ TEST( SubgraphSolver, constructor2 ) JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); + // The second constructor takes two factor graphs, + // so the caller can specify the preconditioner (Ab1) and the constraints that are left out (Ab2) SubgraphSolverParameters parameters; SubgraphSolver solver(Ab1_, Ab2_, parameters); VectorValues optimized = solver.optimize(); @@ -93,8 +97,12 @@ TEST( SubgraphSolver, constructor3 ) JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(Ab1_)->eliminate(&EliminateQR); + // The caller solves |A1*x-b1|^2 == |R1*x-c1|^2 via QR factorization, where R1 is square UT + GaussianBayesNet::shared_ptr Rc1 = // + EliminationTree::Create(Ab1_)->eliminate(&EliminateQR); + // The third constructor allows the caller to pass an already solved preconditioner Rc1_ + // as a Bayes net, in addition to the "loop closing constraints" Ab2, as before SubgraphSolverParameters parameters; SubgraphSolver solver(Rc1, Ab2_, parameters); VectorValues optimized = solver.optimize(); From b0508cc1a8996a5dbfe5e1e6d71e7316d5b94f83 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 4 Sep 2012 22:42:09 +0000 Subject: [PATCH 886/914] Removed JacobianFactorGraph - moved its linear algebra interface to GaussianFactorGraph and redirected all uses of it to GaussianFactorGraph --- gtsam/linear/GaussianBayesNet.cpp | 6 +- gtsam/linear/GaussianBayesTree.cpp | 2 +- gtsam/linear/GaussianFactorGraph.cpp | 147 ++++++++++++++++++ gtsam/linear/GaussianFactorGraph.h | 66 +++++--- gtsam/linear/JacobianFactorGraph.cpp | 135 ---------------- gtsam/linear/JacobianFactorGraph.h | 75 --------- gtsam/linear/SubgraphPreconditioner.cpp | 2 +- gtsam/linear/SubgraphPreconditioner.h | 3 +- gtsam/linear/SubgraphSolver.cpp | 46 +++--- gtsam/linear/SubgraphSolver.h | 16 +- gtsam/linear/iterative.cpp | 10 +- gtsam/linear/iterative.h | 4 +- .../linear/tests/testJacobianFactorGraph.cpp | 2 +- gtsam/nonlinear/ISAM2.cpp | 2 +- .../NonlinearConjugateGradientOptimizer.cpp | 2 +- tests/smallExample.cpp | 26 ++-- tests/smallExample.h | 15 +- tests/testGaussianFactor.cpp | 6 +- tests/testGaussianFactorGraphB.cpp | 2 +- tests/testGaussianISAM2.cpp | 2 +- tests/testIterative.cpp | 2 +- tests/testSubgraphPreconditioner.cpp | 28 ++-- tests/testSubgraphSolver.cpp | 16 +- 23 files changed, 292 insertions(+), 323 deletions(-) delete mode 100644 gtsam/linear/JacobianFactorGraph.cpp delete mode 100644 gtsam/linear/JacobianFactorGraph.h diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp index 0ddc4a7b3..5182bb914 100644 --- a/gtsam/linear/GaussianBayesNet.cpp +++ b/gtsam/linear/GaussianBayesNet.cpp @@ -16,7 +16,7 @@ */ #include -#include +#include #include #include @@ -242,12 +242,12 @@ double determinant(const GaussianBayesNet& bayesNet) { /* ************************************************************************* */ VectorValues gradient(const GaussianBayesNet& bayesNet, const VectorValues& x0) { - return gradient(FactorGraph(bayesNet), x0); + return gradient(GaussianFactorGraph(bayesNet), x0); } /* ************************************************************************* */ void gradientAtZero(const GaussianBayesNet& bayesNet, VectorValues& g) { - gradientAtZero(FactorGraph(bayesNet), g); + gradientAtZero(GaussianFactorGraph(bayesNet), g); } /* ************************************************************************* */ diff --git a/gtsam/linear/GaussianBayesTree.cpp b/gtsam/linear/GaussianBayesTree.cpp index f9ea3fdc8..04cb4a25a 100644 --- a/gtsam/linear/GaussianBayesTree.cpp +++ b/gtsam/linear/GaussianBayesTree.cpp @@ -18,7 +18,7 @@ */ #include -#include +#include namespace gtsam { diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 144f2c0d9..14d558e62 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -521,4 +521,151 @@ break; } // \EliminatePreferCholesky + /* ************************************************************************* */ + Errors operator*(const GaussianFactorGraph& fg, const VectorValues& x) { + Errors e; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + e.push_back((*Ai)*x); + } + return e; + } + + /* ************************************************************************* */ + void multiplyInPlace(const GaussianFactorGraph& fg, const VectorValues& x, Errors& e) { + multiplyInPlace(fg,x,e.begin()); + } + + /* ************************************************************************* */ + void multiplyInPlace(const GaussianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { + Errors::iterator ei = e; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + *ei = (*Ai)*x; + ei++; + } + } + + /* ************************************************************************* */ + // x += alpha*A'*e + void transposeMultiplyAdd(const GaussianFactorGraph& fg, double alpha, const Errors& e, VectorValues& x) { + // For each factor add the gradient contribution + Errors::const_iterator ei = e.begin(); + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + Ai->transposeMultiplyAdd(alpha,*(ei++),x); + } + } + + /* ************************************************************************* */ + VectorValues gradient(const GaussianFactorGraph& fg, const VectorValues& x0) { + // It is crucial for performance to make a zero-valued clone of x + VectorValues g = VectorValues::Zero(x0); + Errors e; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + e.push_back(Ai->error_vector(x0)); + } + transposeMultiplyAdd(fg, 1.0, e, g); + return g; + } + + /* ************************************************************************* */ + void gradientAtZero(const GaussianFactorGraph& fg, VectorValues& g) { + // Zero-out the gradient + g.setZero(); + Errors e; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + e.push_back(-Ai->getb()); + } + transposeMultiplyAdd(fg, 1.0, e, g); + } + + /* ************************************************************************* */ + void residual(const GaussianFactorGraph& fg, const VectorValues &x, VectorValues &r) { + Index i = 0 ; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + r[i] = Ai->getb(); + i++; + } + VectorValues Ax = VectorValues::SameStructure(r); + multiply(fg,x,Ax); + axpy(-1.0,Ax,r); + } + + /* ************************************************************************* */ + void multiply(const GaussianFactorGraph& fg, const VectorValues &x, VectorValues &r) { + r.vector() = Vector::Zero(r.dim()); + Index i = 0; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + SubVector &y = r[i]; + for(JacobianFactor::const_iterator j = Ai->begin(); j != Ai->end(); ++j) { + y += Ai->getA(j) * x[*j]; + } + ++i; + } + } + + /* ************************************************************************* */ + void transposeMultiply(const GaussianFactorGraph& fg, const VectorValues &r, VectorValues &x) { + x.vector() = Vector::Zero(x.dim()); + Index i = 0; + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + for(JacobianFactor::const_iterator j = Ai->begin(); j != Ai->end(); ++j) { + x[*j] += Ai->getA(j).transpose() * r[i]; + } + ++i; + } + } + + /* ************************************************************************* */ + boost::shared_ptr gaussianErrors_(const GaussianFactorGraph& fg, const VectorValues& x) { + boost::shared_ptr e(new Errors); + BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { + JacobianFactor::shared_ptr Ai; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) + Ai = Ai_J; + else + Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + e->push_back(Ai->error_vector(x)); + } + return e; + } + } // namespace gtsam diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index e7563b0c5..6c06e34c0 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -31,24 +31,6 @@ namespace gtsam { - /** return A*x-b - * \todo Make this a member function - affects SubgraphPreconditioner */ - template - Errors gaussianErrors(const FactorGraph& fg, const VectorValues& x) { - return *gaussianErrors_(fg, x); - } - - /** shared pointer version - * \todo Make this a member function - affects SubgraphPreconditioner */ - template - boost::shared_ptr gaussianErrors_(const FactorGraph& fg, const VectorValues& x) { - boost::shared_ptr e(new Errors); - BOOST_FOREACH(const typename boost::shared_ptr& factor, fg) { - e->push_back(factor->error_vector(x)); - } - return e; - } - /** * A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e. * Factor == GaussianFactor @@ -321,5 +303,53 @@ namespace gtsam { */ GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); + + /** return A*x */ + Errors operator*(const GaussianFactorGraph& fg, const VectorValues& x); + + /** In-place version e <- A*x that overwrites e. */ + void multiplyInPlace(const GaussianFactorGraph& fg, const VectorValues& x, Errors& e); + + /** In-place version e <- A*x that takes an iterator. */ + void multiplyInPlace(const GaussianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e); + + /** x += alpha*A'*e */ + void transposeMultiplyAdd(const GaussianFactorGraph& fg, double alpha, const Errors& e, VectorValues& x); + + /** + * Compute the gradient of the energy function, + * \f$ \nabla_{x=x_0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, + * centered around \f$ x = x_0 \f$. + * The gradient is \f$ A^T(Ax-b) \f$. + * @param fg The Jacobian factor graph $(A,b)$ + * @param x0 The center about which to compute the gradient + * @return The gradient as a VectorValues + */ + VectorValues gradient(const GaussianFactorGraph& fg, const VectorValues& x0); + + /** + * Compute the gradient of the energy function, + * \f$ \nabla_{x=0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, + * centered around zero. + * The gradient is \f$ A^T(Ax-b) \f$. + * @param fg The Jacobian factor graph $(A,b)$ + * @param [output] g A VectorValues to store the gradient, which must be preallocated, see allocateVectorValues + * @return The gradient as a VectorValues + */ + void gradientAtZero(const GaussianFactorGraph& fg, VectorValues& g); + + /* matrix-vector operations */ + void residual(const GaussianFactorGraph& fg, const VectorValues &x, VectorValues &r); + void multiply(const GaussianFactorGraph& fg, const VectorValues &x, VectorValues &r); + void transposeMultiply(const GaussianFactorGraph& fg, const VectorValues &r, VectorValues &x); + + /** shared pointer version + * \todo Make this a member function - affects SubgraphPreconditioner */ + boost::shared_ptr gaussianErrors_(const GaussianFactorGraph& fg, const VectorValues& x); + + /** return A*x-b + * \todo Make this a member function - affects SubgraphPreconditioner */ + inline Errors gaussianErrors(const GaussianFactorGraph& fg, const VectorValues& x) { + return *gaussianErrors_(fg, x); } } // namespace gtsam diff --git a/gtsam/linear/JacobianFactorGraph.cpp b/gtsam/linear/JacobianFactorGraph.cpp deleted file mode 100644 index 70c57e8df..000000000 --- a/gtsam/linear/JacobianFactorGraph.cpp +++ /dev/null @@ -1,135 +0,0 @@ -/** - * @file JacobianFactorGraph.h - * @date Jun 6, 2012 - * @author Yong Dian Jian - */ - -#include -#include - -namespace gtsam { - -/* ************************************************************************* */ -Errors operator*(const JacobianFactorGraph& fg, const VectorValues& x) { - Errors e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { - e.push_back((*Ai)*x); - } - return e; -} - -/* ************************************************************************* */ -void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, Errors& e) { - multiplyInPlace(fg,x,e.begin()); -} - -/* ************************************************************************* */ -void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { - Errors::iterator ei = e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { - *ei = (*Ai)*x; - ei++; - } -} - - -/* ************************************************************************* */ -// x += alpha*A'*e -void transposeMultiplyAdd(const JacobianFactorGraph& fg, double alpha, const Errors& e, VectorValues& x) { - // For each factor add the gradient contribution - Errors::const_iterator ei = e.begin(); - BOOST_FOREACH(const JacobianFactor::shared_ptr& Ai, fg) { - Ai->transposeMultiplyAdd(alpha,*(ei++),x); - } -} - -/* ************************************************************************* */ -VectorValues gradient(const JacobianFactorGraph& fg, const VectorValues& x0) { - // It is crucial for performance to make a zero-valued clone of x - VectorValues g = VectorValues::Zero(x0); - Errors e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - e.push_back(factor->error_vector(x0)); - } - transposeMultiplyAdd(fg, 1.0, e, g); - return g; -} - -/* ************************************************************************* */ -void gradientAtZero(const JacobianFactorGraph& fg, VectorValues& g) { - // Zero-out the gradient - g.setZero(); - Errors e; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - e.push_back(-factor->getb()); - } - transposeMultiplyAdd(fg, 1.0, e, g); -} - -/* ************************************************************************* */ -void residual(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r) { - Index i = 0 ; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - r[i] = factor->getb(); - i++; - } - VectorValues Ax = VectorValues::SameStructure(r); - multiply(fg,x,Ax); - axpy(-1.0,Ax,r); -} - -/* ************************************************************************* */ -void multiply(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r) { - r.vector() = Vector::Zero(r.dim()); - Index i = 0; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - SubVector &y = r[i]; - for(JacobianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) { - y += factor->getA(j) * x[*j]; - } - ++i; - } -} - -/* ************************************************************************* */ -void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, VectorValues &x) { - x.vector() = Vector::Zero(x.dim()); - Index i = 0; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) { - for(JacobianFactor::const_iterator j = factor->begin(); j != factor->end(); ++j) { - x[*j] += factor->getA(j).transpose() * r[i]; - } - ++i; - } -} - -/* ************************************************************************* */ -JacobianFactorGraph::shared_ptr dynamicCastFactors(const GaussianFactorGraph &gfg) { - JacobianFactorGraph::shared_ptr jfg(new JacobianFactorGraph()); - jfg->reserve(gfg.size()); - BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, gfg) { - JacobianFactor::shared_ptr castedFactor(boost::dynamic_pointer_cast(factor)); - if(castedFactor) jfg->push_back(castedFactor); - else throw std::invalid_argument("dynamicCastFactors(), dynamic_cast failed, meaning an invalid cast was requested."); - } - return jfg; -} - -/* ************************************************************************* */ -JacobianFactorGraph::shared_ptr convertToJacobianFactorGraph(const GaussianFactorGraph &gfg) { - JacobianFactorGraph::shared_ptr jfg(new JacobianFactorGraph()); - jfg->reserve(gfg.size()); - BOOST_FOREACH(const GaussianFactor::shared_ptr & factor, gfg) { - if( JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast(factor) ) { - jfg->push_back(jf); - } - else { - jfg->push_back(boost::make_shared(*factor)); - } - } - return jfg; -} - -} // namespace - - diff --git a/gtsam/linear/JacobianFactorGraph.h b/gtsam/linear/JacobianFactorGraph.h deleted file mode 100644 index 1164652c3..000000000 --- a/gtsam/linear/JacobianFactorGraph.h +++ /dev/null @@ -1,75 +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 JacobianFactorGraph.cpp - * @date Jun 6, 2012 - * @brief Linear Algebra Operations for a JacobianFactorGraph - * @author Yong Dian Jian - */ -#pragma once - -#include -#include -#include -#include -#include -#include - -namespace gtsam { - - typedef FactorGraph JacobianFactorGraph; - - /** return A*x */ - Errors operator*(const JacobianFactorGraph& fg, const VectorValues& x); - - /** In-place version e <- A*x that overwrites e. */ - void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, Errors& e); - - /** In-place version e <- A*x that takes an iterator. */ - void multiplyInPlace(const JacobianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e); - - /** x += alpha*A'*e */ - void transposeMultiplyAdd(const JacobianFactorGraph& fg, double alpha, const Errors& e, VectorValues& x); - - /** - * Compute the gradient of the energy function, - * \f$ \nabla_{x=x_0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, - * centered around \f$ x = x_0 \f$. - * The gradient is \f$ A^T(Ax-b) \f$. - * @param fg The Jacobian factor graph $(A,b)$ - * @param x0 The center about which to compute the gradient - * @return The gradient as a VectorValues - */ - VectorValues gradient(const JacobianFactorGraph& fg, const VectorValues& x0); - - /** - * Compute the gradient of the energy function, - * \f$ \nabla_{x=0} \left\Vert \Sigma^{-1} A x - b \right\Vert^2 \f$, - * centered around zero. - * The gradient is \f$ A^T(Ax-b) \f$. - * @param fg The Jacobian factor graph $(A,b)$ - * @param [output] g A VectorValues to store the gradient, which must be preallocated, see allocateVectorValues - * @return The gradient as a VectorValues - */ - void gradientAtZero(const JacobianFactorGraph& fg, VectorValues& g); - - /* matrix-vector operations */ - void residual(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r); - void multiply(const JacobianFactorGraph& fg, const VectorValues &x, VectorValues &r); - void transposeMultiply(const JacobianFactorGraph& fg, const VectorValues &r, VectorValues &x); - - /** dynamic_cast the gaussian factors down to jacobian factors, may throw exception if it contains non-Jacobian Factor */ - JacobianFactorGraph::shared_ptr dynamicCastFactors(const GaussianFactorGraph &gfg); - - /** convert the gaussian factors down to jacobian factors, may duplicate factors if it contains Hessian Factor */ - JacobianFactorGraph::shared_ptr convertToJacobianFactorGraph(const GaussianFactorGraph &gfg); -} diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index b33adbc38..72aa25554 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index b109368af..db7c023ce 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -18,6 +18,7 @@ #pragma once #include +#include #include namespace gtsam { @@ -35,7 +36,7 @@ namespace gtsam { typedef boost::shared_ptr shared_ptr; typedef boost::shared_ptr sharedBayesNet; - typedef boost::shared_ptr > sharedFG; + typedef boost::shared_ptr sharedFG; typedef boost::shared_ptr sharedValues; typedef boost::shared_ptr sharedErrors; diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 14a0cc174..c34f7e22e 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -14,7 +14,7 @@ #include #include #include -#include +#include #include #include #include @@ -31,12 +31,11 @@ namespace gtsam { SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters) : parameters_(parameters) { - JacobianFactorGraph::shared_ptr jfg = dynamicCastFactors(gfg); - initialize(*jfg); + initialize(gfg); } /**************************************************************************************************/ -SubgraphSolver::SubgraphSolver(const JacobianFactorGraph::shared_ptr &jfg, const Parameters ¶meters) +SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &jfg, const Parameters ¶meters) : parameters_(parameters) { initialize(*jfg); @@ -47,13 +46,12 @@ SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFac : parameters_(parameters) { GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(Ab1)->eliminate(&EliminateQR); - JacobianFactorGraph::shared_ptr Ab2Jacobian = dynamicCastFactors(Ab2); - initialize(Rc1, Ab2Jacobian); + initialize(Rc1, boost::make_shared(Ab2)); } /**************************************************************************************************/ -SubgraphSolver::SubgraphSolver(const JacobianFactorGraph::shared_ptr &Ab1, - const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters) +SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &Ab1, + const GaussianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters) : parameters_(parameters) { GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(*Ab1)->eliminate(&EliminateQR); @@ -64,13 +62,12 @@ SubgraphSolver::SubgraphSolver(const JacobianFactorGraph::shared_ptr &Ab1, SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph &Ab2, const Parameters ¶meters) : parameters_(parameters) { - JacobianFactorGraph::shared_ptr Ab2Jacobians = dynamicCastFactors(Ab2); - initialize(Rc1, Ab2Jacobians); + initialize(Rc1, boost::make_shared(Ab2)); } /**************************************************************************************************/ SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, - const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters) : parameters_(parameters) + const GaussianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters) : parameters_(parameters) { initialize(Rc1, Ab2); } @@ -80,10 +77,10 @@ VectorValues SubgraphSolver::optimize() { return pc_->x(ybar); } -void SubgraphSolver::initialize(const JacobianFactorGraph &jfg) +void SubgraphSolver::initialize(const GaussianFactorGraph &jfg) { - JacobianFactorGraph::shared_ptr Ab1 = boost::make_shared(), - Ab2 = boost::make_shared(); + GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared(), + Ab2 = boost::make_shared(); boost::tie(Ab1, Ab2) = splitGraph(jfg) ; if (parameters_.verbosity()) @@ -91,28 +88,33 @@ void SubgraphSolver::initialize(const JacobianFactorGraph &jfg) GaussianBayesNet::shared_ptr Rc1 = EliminationTree::Create(*Ab1)->eliminate(&EliminateQR); VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); - JacobianFactorGraph::shared_ptr Ab2Jacobians = convertToJacobianFactorGraph(*Ab2); - pc_ = boost::make_shared(Ab2Jacobians, Rc1, xbar); + pc_ = boost::make_shared(Ab2, Rc1, xbar); } -void SubgraphSolver::initialize(const GaussianBayesNet::shared_ptr &Rc1, const JacobianFactorGraph::shared_ptr &Ab2) +void SubgraphSolver::initialize(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph::shared_ptr &Ab2) { VectorValues::shared_ptr xbar(new VectorValues(gtsam::optimize(*Rc1))); pc_ = boost::make_shared(Ab2, Rc1, xbar); } -boost::tuple -SubgraphSolver::splitGraph(const JacobianFactorGraph &jfg) { +boost::tuple +SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { const VariableIndex index(jfg); const size_t n = index.size(), m = jfg.size(); DisjointSet D(n) ; - JacobianFactorGraph::shared_ptr At(new JacobianFactorGraph()); - JacobianFactorGraph::shared_ptr Ac( new JacobianFactorGraph()); + GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); + GaussianFactorGraph::shared_ptr Ac( new GaussianFactorGraph()); size_t t = 0; - BOOST_FOREACH ( const JacobianFactor::shared_ptr &jf, jfg ) { + BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, jfg ) { + + JacobianFactor::shared_ptr jf; + if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(gf)) + jf = Ai_J; + else + jf = boost::make_shared(*gf); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) if ( jf->keys().size() > 2 ) { throw runtime_error("SubgraphSolver::splitGraph the graph is not simple, sanity check failed "); diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index e4d99933b..441fdaeef 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -13,7 +13,7 @@ #include #include -#include +#include #include #include @@ -62,26 +62,26 @@ protected: public: /* Given a gaussian factor graph, split it into a spanning tree (A1) + others (A2) for SPCG */ SubgraphSolver(const GaussianFactorGraph &A, const Parameters ¶meters); - SubgraphSolver(const JacobianFactorGraph::shared_ptr &A, const Parameters ¶meters); + SubgraphSolver(const GaussianFactorGraph::shared_ptr &A, const Parameters ¶meters); /* The user specify the subgraph part and the constraint part, may throw exception if A1 is underdetermined */ SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2, const Parameters ¶meters); - SubgraphSolver(const JacobianFactorGraph::shared_ptr &Ab1, const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters); + SubgraphSolver(const GaussianFactorGraph::shared_ptr &Ab1, const GaussianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters); /* The same as above, but the A1 is solved before */ SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph &Ab2, const Parameters ¶meters); - SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const JacobianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters); + SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters); virtual ~SubgraphSolver() {} virtual VectorValues optimize () ; protected: - void initialize(const JacobianFactorGraph &jfg); - void initialize(const GaussianBayesNet::shared_ptr &Rc1, const JacobianFactorGraph::shared_ptr &Ab2); + void initialize(const GaussianFactorGraph &jfg); + void initialize(const GaussianBayesNet::shared_ptr &Rc1, const GaussianFactorGraph::shared_ptr &Ab2); - boost::tuple - splitGraph(const JacobianFactorGraph &gfg) ; + boost::tuple + splitGraph(const GaussianFactorGraph &gfg) ; public: diff --git a/gtsam/linear/iterative.cpp b/gtsam/linear/iterative.cpp index d0a7fd551..07d4de865 100644 --- a/gtsam/linear/iterative.cpp +++ b/gtsam/linear/iterative.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include @@ -61,15 +61,15 @@ namespace gtsam { } /* ************************************************************************* */ - VectorValues steepestDescent(const FactorGraph& fg, + VectorValues steepestDescent(const GaussianFactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters) { - return conjugateGradients, VectorValues, Errors>( + return conjugateGradients( fg, x, parameters, true); } - VectorValues conjugateGradientDescent(const FactorGraph& fg, + VectorValues conjugateGradientDescent(const GaussianFactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters) { - return conjugateGradients, VectorValues, Errors>( + return conjugateGradients( fg, x, parameters); } diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h index 384dfe814..0eb04bf49 100644 --- a/gtsam/linear/iterative.h +++ b/gtsam/linear/iterative.h @@ -130,7 +130,7 @@ namespace gtsam { * Method of steepest gradients, Gaussian Factor Graph version */ VectorValues steepestDescent( - const FactorGraph& fg, + const GaussianFactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters); @@ -138,7 +138,7 @@ namespace gtsam { * Method of conjugate gradients (CG), Gaussian Factor Graph version */ VectorValues conjugateGradientDescent( - const FactorGraph& fg, + const GaussianFactorGraph& fg, const VectorValues& x, const ConjugateGradientParameters & parameters); diff --git a/gtsam/linear/tests/testJacobianFactorGraph.cpp b/gtsam/linear/tests/testJacobianFactorGraph.cpp index e756d83e7..07dda4652 100644 --- a/gtsam/linear/tests/testJacobianFactorGraph.cpp +++ b/gtsam/linear/tests/testJacobianFactorGraph.cpp @@ -11,7 +11,7 @@ /** * @file testJacobianFactorGraph.cpp - * @brief Unit tests for JacobianFactorGraph + * @brief Unit tests for GaussianFactorGraph * @author Yong Dian Jian **/ diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index b09133c4d..081910e8c 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -27,7 +27,7 @@ using namespace boost::assign; #include #include #include -#include +#include #include #include diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp index f0b3852ef..da14d8982 100644 --- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp @@ -8,7 +8,7 @@ #include #include #include -#include +#include #include #include diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index f81ab5528..6df106acf 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -138,9 +138,9 @@ namespace example { } /* ************************************************************************* */ - JacobianFactorGraph createGaussianFactorGraph(const Ordering& ordering) { + FactorGraph createGaussianFactorGraph(const Ordering& ordering) { // Create empty graph - JacobianFactorGraph fg; + FactorGraph fg; SharedDiagonal unit2 = noiseModel::Unit::Create(2); @@ -273,7 +273,7 @@ namespace example { } /* ************************************************************************* */ - JacobianFactorGraph createSimpleConstraintGraph() { + GaussianFactorGraph createSimpleConstraintGraph() { // create unary factor // prior on _x_, mean = [1,-1], sigma=0.1 Matrix Ax = eye(2); @@ -293,7 +293,7 @@ namespace example { constraintModel)); // construct the graph - JacobianFactorGraph fg; + GaussianFactorGraph fg; fg.push_back(f1); fg.push_back(f2); @@ -310,7 +310,7 @@ namespace example { } /* ************************************************************************* */ - JacobianFactorGraph createSingleConstraintGraph() { + GaussianFactorGraph createSingleConstraintGraph() { // create unary factor // prior on _x_, mean = [1,-1], sigma=0.1 Matrix Ax = eye(2); @@ -335,7 +335,7 @@ namespace example { constraintModel)); // construct the graph - JacobianFactorGraph fg; + GaussianFactorGraph fg; fg.push_back(f1); fg.push_back(f2); @@ -351,7 +351,7 @@ namespace example { } /* ************************************************************************* */ - JacobianFactorGraph createMultiConstraintGraph() { + GaussianFactorGraph createMultiConstraintGraph() { // unary factor 1 Matrix A = eye(2); Vector b = Vector_(2, -2.0, 2.0); @@ -396,7 +396,7 @@ namespace example { constraintModel)); // construct the graph - JacobianFactorGraph fg; + GaussianFactorGraph fg; fg.push_back(lf1); fg.push_back(lc1); fg.push_back(lc2); @@ -421,7 +421,7 @@ namespace example { } /* ************************************************************************* */ - boost::tuple planarGraph(size_t N) { + boost::tuple planarGraph(size_t N) { // create empty graph NonlinearFactorGraph nlfg; @@ -460,7 +460,7 @@ namespace example { // linearize around zero boost::shared_ptr gfg = nlfg.linearize(zeros, ordering); - JacobianFactorGraph jfg; + GaussianFactorGraph jfg; BOOST_FOREACH(GaussianFactorGraph::sharedFactor factor, *gfg) jfg.push_back(boost::dynamic_pointer_cast(factor)); @@ -477,9 +477,9 @@ namespace example { } /* ************************************************************************* */ - pair splitOffPlanarTree(size_t N, - const JacobianFactorGraph& original) { - JacobianFactorGraph T, C; + pair splitOffPlanarTree(size_t N, + const GaussianFactorGraph& original) { + GaussianFactorGraph T, C; // Add the x11 constraint to the tree T.push_back(boost::dynamic_pointer_cast(original[0])); diff --git a/tests/smallExample.h b/tests/smallExample.h index 54c3a14c5..9c43563a3 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -23,7 +23,6 @@ #include #include -#include #include namespace gtsam { @@ -66,7 +65,7 @@ namespace gtsam { * create a linear factor graph * The non-linear graph above evaluated at NoisyValues */ - JacobianFactorGraph createGaussianFactorGraph(const Ordering& ordering); + FactorGraph createGaussianFactorGraph(const Ordering& ordering); /** * create small Chordal Bayes Net x <- y @@ -100,21 +99,21 @@ namespace gtsam { * Creates a simple constrained graph with one linear factor and * one binary equality constraint that sets x = y */ - JacobianFactorGraph createSimpleConstraintGraph(); + GaussianFactorGraph createSimpleConstraintGraph(); VectorValues createSimpleConstraintValues(); /** * Creates a simple constrained graph with one linear factor and * one binary constraint. */ - JacobianFactorGraph createSingleConstraintGraph(); + GaussianFactorGraph createSingleConstraintGraph(); VectorValues createSingleConstraintValues(); /** * Creates a constrained graph with a linear factor and two * binary constraints that share a node */ - JacobianFactorGraph createMultiConstraintGraph(); + GaussianFactorGraph createMultiConstraintGraph(); VectorValues createMultiConstraintValues(); /* ******************************************************* */ @@ -130,7 +129,7 @@ namespace gtsam { * -x11-x21-x31 * with x11 clamped at (1,1), and others related by 2D odometry. */ - boost::tuple planarGraph(size_t N); + boost::tuple planarGraph(size_t N); /* * Create canonical ordering for planar graph that also works for tree @@ -147,8 +146,8 @@ namespace gtsam { * | * -x11-x21-x31 */ - std::pair splitOffPlanarTree( - size_t N, const JacobianFactorGraph& original); + std::pair splitOffPlanarTree( + size_t N, const GaussianFactorGraph& original); } // example } // gtsam diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index 3fe92c50d..a41c8d9a7 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -72,7 +72,7 @@ TEST( GaussianFactor, getDim ) const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // get a factor Ordering ordering; ordering += kx1,kx2,kl1; - GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); + FactorGraph fg = example::createGaussianFactorGraph(ordering); GaussianFactor::shared_ptr factor = fg[0]; // get the size of a variable @@ -89,7 +89,7 @@ TEST( GaussianFactor, error ) const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); + FactorGraph fg = example::createGaussianFactorGraph(ordering); // get the first factor from the factor graph GaussianFactor::shared_ptr lf = fg[0]; @@ -210,7 +210,7 @@ TEST( GaussianFactor, size ) // create a linear factor graph const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); Ordering ordering; ordering += kx1,kx2,kl1; - GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); + FactorGraph fg = example::createGaussianFactorGraph(ordering); // get some factors from the graph boost::shared_ptr factor1 = fg[0]; diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index c6ec69d4e..ca8b9b1ea 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp index 67fa287d3..c4b90d882 100644 --- a/tests/testGaussianISAM2.cpp +++ b/tests/testGaussianISAM2.cpp @@ -12,7 +12,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp index 88eb222bd..09047005e 100644 --- a/tests/testIterative.cpp +++ b/tests/testIterative.cpp @@ -40,7 +40,7 @@ TEST( Iterative, steepestDescent ) // Create factor graph Ordering ord; ord += L(1), X(1), X(2); - JacobianFactorGraph fg = createGaussianFactorGraph(ord); + FactorGraph fg = createGaussianFactorGraph(ord); // eliminate and solve VectorValues expected = *GaussianSequentialSolver(fg).optimize(); diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp index c41b95881..39c5e2b70 100644 --- a/tests/testSubgraphPreconditioner.cpp +++ b/tests/testSubgraphPreconditioner.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include #include #include #include @@ -54,9 +54,9 @@ TEST( SubgraphPreconditioner, planarOrdering ) { /* ************************************************************************* */ /** unnormalized error */ -static double error(const JacobianFactorGraph& fg, const VectorValues& x) { +static double error(const GaussianFactorGraph& fg, const VectorValues& x) { double total_error = 0.; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) + BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, fg) total_error += factor->error(x); return total_error; } @@ -65,7 +65,7 @@ static double error(const JacobianFactorGraph& fg, const VectorValues& x) { TEST( SubgraphPreconditioner, planarGraph ) { // Check planar graph construction - JacobianFactorGraph A; + GaussianFactorGraph A; VectorValues xtrue; boost::tie(A, xtrue) = planarGraph(3); LONGS_EQUAL(13,A.size()); @@ -82,12 +82,12 @@ TEST( SubgraphPreconditioner, planarGraph ) TEST( SubgraphPreconditioner, splitOffPlanarTree ) { // Build a planar graph - JacobianFactorGraph A; + GaussianFactorGraph A; VectorValues xtrue; boost::tie(A, xtrue) = planarGraph(3); // Get the spanning tree and constraints, and check their sizes - JacobianFactorGraph T, C; + GaussianFactorGraph T, C; boost::tie(T, C) = splitOffPlanarTree(3, A); LONGS_EQUAL(9,T.size()); LONGS_EQUAL(4,C.size()); @@ -103,16 +103,16 @@ TEST( SubgraphPreconditioner, splitOffPlanarTree ) TEST( SubgraphPreconditioner, system ) { // Build a planar graph - JacobianFactorGraph Ab; + GaussianFactorGraph Ab; VectorValues xtrue; size_t N = 3; boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b // Get the spanning tree and corresponding ordering - JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - SubgraphPreconditioner::sharedFG Ab1(new JacobianFactorGraph(Ab1_)); - SubgraphPreconditioner::sharedFG Ab2(new JacobianFactorGraph(Ab2_)); + SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); + SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); // Eliminate the spanning tree to build a prior SubgraphPreconditioner::sharedBayesNet Rc1 = GaussianSequentialSolver(Ab1_).eliminate(); // R1*x-c1 @@ -179,16 +179,16 @@ TEST( SubgraphPreconditioner, system ) TEST( SubgraphPreconditioner, conjugateGradients ) { // Build a planar graph - JacobianFactorGraph Ab; + GaussianFactorGraph Ab; VectorValues xtrue; size_t N = 3; boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b // Get the spanning tree and corresponding ordering - JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); - SubgraphPreconditioner::sharedFG Ab1(new JacobianFactorGraph(Ab1_)); - SubgraphPreconditioner::sharedFG Ab2(new JacobianFactorGraph(Ab2_)); + SubgraphPreconditioner::sharedFG Ab1(new GaussianFactorGraph(Ab1_)); + SubgraphPreconditioner::sharedFG Ab2(new GaussianFactorGraph(Ab2_)); // Eliminate the spanning tree to build a prior Ordering ordering = planarOrdering(N); diff --git a/tests/testSubgraphSolver.cpp b/tests/testSubgraphSolver.cpp index 84f54a6fa..700f35261 100644 --- a/tests/testSubgraphSolver.cpp +++ b/tests/testSubgraphSolver.cpp @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include #include #include @@ -38,9 +38,9 @@ using namespace example; /* ************************************************************************* */ /** unnormalized error */ -static double error(const JacobianFactorGraph& fg, const VectorValues& x) { +static double error(const GaussianFactorGraph& fg, const VectorValues& x) { double total_error = 0.; - BOOST_FOREACH(const JacobianFactor::shared_ptr& factor, fg) + BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, fg) total_error += factor->error(x); return total_error; } @@ -50,7 +50,7 @@ static double error(const JacobianFactorGraph& fg, const VectorValues& x) { TEST( SubgraphSolver, constructor1 ) { // Build a planar graph - JacobianFactorGraph Ab; + GaussianFactorGraph Ab; VectorValues xtrue; size_t N = 3; boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b @@ -67,13 +67,13 @@ TEST( SubgraphSolver, constructor1 ) TEST( SubgraphSolver, constructor2 ) { // Build a planar graph - JacobianFactorGraph Ab; + GaussianFactorGraph Ab; VectorValues xtrue; size_t N = 3; boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b // Get the spanning tree and corresponding ordering - JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); // The second constructor takes two factor graphs, @@ -88,13 +88,13 @@ TEST( SubgraphSolver, constructor2 ) TEST( SubgraphSolver, constructor3 ) { // Build a planar graph - JacobianFactorGraph Ab; + GaussianFactorGraph Ab; VectorValues xtrue; size_t N = 3; boost::tie(Ab, xtrue) = planarGraph(N); // A*x-b // Get the spanning tree and corresponding ordering - JacobianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 + GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2 boost::tie(Ab1_, Ab2_) = splitOffPlanarTree(N, Ab); // The caller solves |A1*x-b1|^2 == |R1*x-c1|^2 via QR factorization, where R1 is square UT From c4c5dec9a31a7dc75eb770f864e99590dc111d03 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 5 Sep 2012 03:06:22 +0000 Subject: [PATCH 887/914] Fixed testIterative unit tests --- .cproject | 354 ++++++++++++++++------------- gtsam/linear/SubgraphSolver.cpp | 2 +- tests/smallExample.cpp | 4 +- tests/smallExample.h | 2 +- tests/testGaussianFactor.cpp | 15 +- tests/testGaussianFactorGraphB.cpp | 4 +- tests/testGaussianISAM.cpp | 2 +- tests/testIterative.cpp | 208 +++++++---------- 8 files changed, 293 insertions(+), 298 deletions(-) diff --git a/.cproject b/.cproject index 95c0f2a96..df6fdc5f5 100644 --- a/.cproject +++ b/.cproject @@ -309,14 +309,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -343,6 +335,7 @@ make + tests/testBayesTree.run true false @@ -350,6 +343,7 @@ make + testBinaryBayesNet.run true false @@ -397,6 +391,7 @@ make + testSymbolicBayesNet.run true false @@ -404,6 +399,7 @@ make + tests/testSymbolicFactor.run true false @@ -411,6 +407,7 @@ make + testSymbolicFactorGraph.run true false @@ -426,11 +423,20 @@ make + tests/testBayesTree true false true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j5 @@ -519,22 +525,6 @@ false true - - make - -j2 - all - true - true - true - - - make - -j2 - clean - true - true - true - make -j2 @@ -551,6 +541,22 @@ true true + + make + -j2 + all + true + true + true + + + make + -j2 + clean + true + true + true + make -j2 @@ -575,26 +581,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -679,26 +685,26 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run true true true @@ -985,6 +991,7 @@ make + testGraph.run true false @@ -992,6 +999,7 @@ make + testJunctionTree.run true false @@ -999,6 +1007,7 @@ make + testSymbolicBayesNetB.run true false @@ -1028,6 +1037,30 @@ true true + + make + -j5 + testIterative.run + true + true + true + + + make + -j5 + testSubgraphSolver.run + true + true + true + + + make + -j5 + testGaussianFactorGraphB.run + true + true + true + make -j5 @@ -1134,6 +1167,7 @@ make + testErrors.run true false @@ -1179,10 +1213,10 @@ true true - + make - -j2 - testGaussianFactor.run + -j5 + testLinearContainerFactor.run true true true @@ -1267,10 +1301,10 @@ true true - + make - -j5 - testLinearContainerFactor.run + -j2 + testGaussianFactor.run true true true @@ -1605,7 +1639,6 @@ make - testSimulated2DOriented.run true false @@ -1645,7 +1678,6 @@ make - testSimulated2D.run true false @@ -1653,7 +1685,6 @@ make - testSimulated3D.run true false @@ -1845,7 +1876,6 @@ make - tests/testGaussianISAM2 true false @@ -1867,102 +1897,6 @@ 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 -j1 @@ -2164,6 +2098,7 @@ cpack + -G DEB true false @@ -2171,6 +2106,7 @@ cpack + -G RPM true false @@ -2178,6 +2114,7 @@ cpack + -G TGZ true false @@ -2185,6 +2122,7 @@ cpack + --config CPackSourceConfig.cmake true false @@ -2318,34 +2256,98 @@ true true - + make - -j5 - testSpirit.run + -j2 + testRot3.run true true true - + make - -j5 - testWrap.run + -j2 + testRot2.run true true true - + make - -j5 - check.wrap + -j2 + testPose3.run true true true - + make - -j5 - wrap + -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 @@ -2389,6 +2391,38 @@ false true + + make + -j5 + testSpirit.run + true + true + true + + + make + -j5 + testWrap.run + true + true + true + + + make + -j5 + check.wrap + true + true + true + + + make + -j5 + wrap + true + true + true + diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index c34f7e22e..9794ba51e 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -101,7 +101,7 @@ boost::tuple SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { const VariableIndex index(jfg); - const size_t n = index.size(), m = jfg.size(); + const size_t n = index.size(); DisjointSet D(n) ; GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index 6df106acf..afa878a01 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -138,9 +138,9 @@ namespace example { } /* ************************************************************************* */ - FactorGraph createGaussianFactorGraph(const Ordering& ordering) { + GaussianFactorGraph createGaussianFactorGraph(const Ordering& ordering) { // Create empty graph - FactorGraph fg; + GaussianFactorGraph fg; SharedDiagonal unit2 = noiseModel::Unit::Create(2); diff --git a/tests/smallExample.h b/tests/smallExample.h index 9c43563a3..f87847f24 100644 --- a/tests/smallExample.h +++ b/tests/smallExample.h @@ -65,7 +65,7 @@ namespace gtsam { * create a linear factor graph * The non-linear graph above evaluated at NoisyValues */ - FactorGraph createGaussianFactorGraph(const Ordering& ordering); + GaussianFactorGraph createGaussianFactorGraph(const Ordering& ordering); /** * create small Chordal Bayes Net x <- y diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp index a41c8d9a7..f5419b7ff 100644 --- a/tests/testGaussianFactor.cpp +++ b/tests/testGaussianFactor.cpp @@ -57,10 +57,11 @@ TEST( GaussianFactor, linearFactor ) JacobianFactor expected(ordering[kx1], -10*I,ordering[kx2], 10*I, b, noiseModel::Unit::Create(2)); // create a small linear factor graph - FactorGraph fg = example::createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get the factor kf2 from the factor graph - JacobianFactor::shared_ptr lf = fg[1]; + JacobianFactor::shared_ptr lf = + boost::dynamic_pointer_cast(fg[1]); // check if the two factors are the same EXPECT(assert_equal(expected,*lf)); @@ -72,7 +73,7 @@ TEST( GaussianFactor, getDim ) const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // get a factor Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = example::createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); GaussianFactor::shared_ptr factor = fg[0]; // get the size of a variable @@ -89,7 +90,7 @@ TEST( GaussianFactor, error ) const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = example::createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get the first factor from the factor graph GaussianFactor::shared_ptr lf = fg[0]; @@ -109,7 +110,7 @@ TEST( GaussianFactor, matrix ) const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = example::createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get the factor kf2 from the factor graph //GaussianFactor::shared_ptr lf = fg[1]; // NOTE: using the older version @@ -158,7 +159,7 @@ TEST( GaussianFactor, matrix_aug ) const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); // create a small linear factor graph Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = example::createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get the factor kf2 from the factor graph //GaussianFactor::shared_ptr lf = fg[1]; @@ -210,7 +211,7 @@ TEST( GaussianFactor, size ) // create a linear factor graph const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); Ordering ordering; ordering += kx1,kx2,kl1; - FactorGraph fg = example::createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering); // get some factors from the graph boost::shared_ptr factor1 = fg[0]; diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index ca8b9b1ea..306c64fb7 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -369,7 +369,7 @@ TEST( GaussianFactorGraph, multiplication ) // create an ordering Ordering ord; ord += X(2),L(1),X(1); - FactorGraph A = createGaussianFactorGraph(ord); + GaussianFactorGraph A = createGaussianFactorGraph(ord); VectorValues x = createCorrectDelta(ord); Errors actual = A * x; Errors expected; @@ -523,7 +523,7 @@ TEST(GaussianFactorGraph, hasConstraints) EXPECT(hasConstraints(fgc2)); Ordering ordering; ordering += X(1), X(2), L(1); - FactorGraph fg = createGaussianFactorGraph(ordering); + GaussianFactorGraph fg = createGaussianFactorGraph(ordering); EXPECT(!hasConstraints(fg)); } diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp index ea91eda5a..74417b57a 100644 --- a/tests/testGaussianISAM.cpp +++ b/tests/testGaussianISAM.cpp @@ -42,7 +42,7 @@ using symbol_shorthand::L; // Some numbers that should be consistent among all smoother tests static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = - 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; + 0.669534 /*, sigmax5 = sigmax3, sigmax6 = sigmax2*/, sigmax7 = sigmax1; static const double tol = 1e-4; diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp index 09047005e..bfa3a8e79 100644 --- a/tests/testIterative.cpp +++ b/tests/testIterative.cpp @@ -16,13 +16,14 @@ **/ #include +#include +#include +#include #include #include #include -//#include -//#include -#include -//#include +#include +#include #include @@ -32,23 +33,23 @@ using namespace example; using symbol_shorthand::X; // to create pose keys using symbol_shorthand::L; // to create landmark keys -static bool verbose = false; +static ConjugateGradientParameters parameters; +// add following below to add printing: +// parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY; /* ************************************************************************* */ TEST( Iterative, steepestDescent ) { // Create factor graph - Ordering ord; - ord += L(1), X(1), X(2); - FactorGraph fg = createGaussianFactorGraph(ord); + Ordering ordering; + ordering += L(1), X(1), X(2); + GaussianFactorGraph fg = createGaussianFactorGraph(ordering); // eliminate and solve VectorValues expected = *GaussianSequentialSolver(fg).optimize(); // Do gradient descent VectorValues zero = VectorValues::Zero(expected); // TODO, how do we do this normally? - ConjugateGradientParameters parameters; -// parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY; VectorValues actual = steepestDescent(fg, zero, parameters); CHECK(assert_equal(expected,actual,1e-2)); } @@ -56,134 +57,93 @@ TEST( Iterative, steepestDescent ) /* ************************************************************************* */ TEST( Iterative, conjugateGradientDescent ) { -// // Expected solution -// Ordering ord; -// ord += L(1), X(1), X(2); -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// VectorValues expected = fg.optimize(ord); // destructive -// -// // create graph and get matrices -// GaussianFactorGraph fg2 = createGaussianFactorGraph(); -// Matrix A; -// Vector b; -// Vector x0 = gtsam::zero(6); -// boost::tie(A, b) = fg2.matrix(ord); -// Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2); -// -// // Do conjugate gradient descent, System version -// System Ab(A, b); -// Vector actualX = conjugateGradientDescent(Ab, x0, verbose); -// CHECK(assert_equal(expectedX,actualX,1e-9)); -// -// // Do conjugate gradient descent, Matrix version -// Vector actualX2 = conjugateGradientDescent(A, b, x0, verbose); -// CHECK(assert_equal(expectedX,actualX2,1e-9)); -// -// // Do conjugate gradient descent on factor graph -// VectorValues zero = createZeroDelta(); -// VectorValues actual = conjugateGradientDescent(fg2, zero, verbose); -// CHECK(assert_equal(expected,actual,1e-2)); -// -// // Test method -// VectorValues actual2 = fg2.conjugateGradientDescent(zero, verbose); -// CHECK(assert_equal(expected,actual2,1e-2)); + // Create factor graph + Ordering ordering; + ordering += L(1), X(1), X(2); + GaussianFactorGraph fg = createGaussianFactorGraph(ordering); + + // eliminate and solve + VectorValues expected = *GaussianSequentialSolver(fg).optimize(); + + // get matrices + Matrix A; + Vector b; + Vector x0 = gtsam::zero(6); + boost::tie(A, b) = fg.jacobian(); + Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2); + + // Do conjugate gradient descent, System version + System Ab(A, b); + Vector actualX = conjugateGradientDescent(Ab, x0, parameters); + CHECK(assert_equal(expectedX,actualX,1e-9)); + + // Do conjugate gradient descent, Matrix version + Vector actualX2 = conjugateGradientDescent(A, b, x0, parameters); + CHECK(assert_equal(expectedX,actualX2,1e-9)); + + // Do conjugate gradient descent on factor graph + VectorValues zero = VectorValues::Zero(expected); + VectorValues actual = conjugateGradientDescent(fg, zero, parameters); + CHECK(assert_equal(expected,actual,1e-2)); } /* ************************************************************************* */ -/*TEST( Iterative, conjugateGradientDescent_hard_constraint ) +TEST( Iterative, conjugateGradientDescent_hard_constraint ) { - typedef Pose2Values::Key Key; + Values config; + Pose2 pose1 = Pose2(0.,0.,0.); + config.insert(X(1), pose1); + config.insert(X(2), Pose2(1.5,0.,0.)); - Pose2Values config; - config.insert(1, Pose2(0.,0.,0.)); - config.insert(2, Pose2(1.5,0.,0.)); + NonlinearFactorGraph graph; + graph.add(NonlinearEquality(X(1), pose1)); + graph.add(BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1))); - Pose2Graph graph; - Matrix cov = eye(3); - graph.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(2), Pose2(1.,0.,0.), cov))); - graph.addHardConstraint(1, config[1]); + Ordering ordering; + ordering += X(1), X(2); + boost::shared_ptr fg = graph.linearize(config,ordering); - VectorValues zeros; - zeros.insert(X(1),zero(3)); - zeros.insert(X(2),zero(3)); + VectorValues zeros = VectorValues::Zero(2, 3); - GaussianFactorGraph fg = graph.linearize(config); - VectorValues actual = conjugateGradientDescent(fg, zeros, true, 1e-3, 1e-5, 10); + ConjugateGradientParameters parameters; + parameters.setEpsilon_abs(1e-3); + parameters.setEpsilon_rel(1e-5); + parameters.setMaxIterations(100); + VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters); - VectorValues expected; - expected.insert(X(1), zero(3)); - expected.insert(X(2), Vector_(-0.5,0.,0.)); - CHECK(assert_equal(expected, actual)); -}*/ + VectorValues expected; + expected.insert(0, zero(3)); + expected.insert(1, Vector_(3,-0.5,0.,0.)); + CHECK(assert_equal(expected, actual)); +} /* ************************************************************************* */ TEST( Iterative, conjugateGradientDescent_soft_constraint ) { -// Pose2Values config; -// config.insert(1, Pose2(0.,0.,0.)); -// config.insert(2, Pose2(1.5,0.,0.)); -// -// Pose2Graph graph; -// graph.addPrior(1, Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); -// graph.addConstraint(1,2, Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); -// -// VectorValues zeros; -// zeros.insert(X(1),zero(3)); -// zeros.insert(X(2),zero(3)); -// -// boost::shared_ptr fg = graph.linearize(config); -// VectorValues actual = conjugateGradientDescent(*fg, zeros, verbose, 1e-3, 1e-5, 100); -// -// VectorValues expected; -// expected.insert(X(1), zero(3)); -// expected.insert(X(2), Vector_(3,-0.5,0.,0.)); -// CHECK(assert_equal(expected, actual)); -} + Values config; + config.insert(X(1), Pose2(0.,0.,0.)); + config.insert(X(2), Pose2(1.5,0.,0.)); -/* ************************************************************************* */ -TEST( Iterative, subgraphPCG ) -{ -// typedef Pose2Values::Key Key; -// -// Pose2Values theta_bar; -// theta_bar.insert(1, Pose2(0.,0.,0.)); -// theta_bar.insert(2, Pose2(1.5,0.,0.)); -// -// Pose2Graph graph; -// graph.addPrior(1, Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); -// graph.addConstraint(1,2, Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); -// -// // generate spanning tree and create ordering -// PredecessorMap tree = graph.findMinimumSpanningTree(); -// list keys = predecessorMap2Keys(tree); -// list symbols; -// symbols.resize(keys.size()); -// std::transform(keys.begin(), keys.end(), symbols.begin(), key2symbol); -// Ordering ordering(symbols); -// -// Key root = keys.back(); -// Pose2Graph T, C; -// graph.split(tree, T, C); -// -// // build the subgraph PCG system -// boost::shared_ptr Ab1_ = T.linearize(theta_bar); -// SubgraphPreconditioner::sharedFG Ab1 = T.linearize(theta_bar); -// SubgraphPreconditioner::sharedFG Ab2 = C.linearize(theta_bar); -// SubgraphPreconditioner::sharedBayesNet Rc1 = Ab1_->eliminate_(ordering); -// SubgraphPreconditioner::sharedValues xbar = optimize_(*Rc1); -// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbar); -// -// VectorValues zeros = VectorValues::zero(*xbar); -// -// // Solve the subgraph PCG -// VectorValues ybar = conjugateGradients (system, zeros, verbose, 1e-5, 1e-5, 100); -// VectorValues actual = system.x(ybar); -// -// VectorValues expected; -// expected.insert(X(1), zero(3)); -// expected.insert(X(2), Vector_(3, -0.5, 0., 0.)); -// CHECK(assert_equal(expected, actual)); + NonlinearFactorGraph graph; + graph.add(PriorFactor(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10))); + graph.add(BetweenFactor(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1))); + + Ordering ordering; + ordering += X(1), X(2); + boost::shared_ptr fg = graph.linearize(config,ordering); + + VectorValues zeros = VectorValues::Zero(2, 3); + + ConjugateGradientParameters parameters; + parameters.setEpsilon_abs(1e-3); + parameters.setEpsilon_rel(1e-5); + parameters.setMaxIterations(100); + VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters); + + VectorValues expected; + expected.insert(0, zero(3)); + expected.insert(1, Vector_(3,-0.5,0.,0.)); + CHECK(assert_equal(expected, actual)); } /* ************************************************************************* */ From 7266293a6129717a8ceb698676d554bc975a36f1 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Wed, 5 Sep 2012 03:52:01 +0000 Subject: [PATCH 888/914] Cleaned up some remaining JacobinaFactorGraph remnants --- tests/smallExample.cpp | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/tests/smallExample.cpp b/tests/smallExample.cpp index afa878a01..71c8269e9 100644 --- a/tests/smallExample.cpp +++ b/tests/smallExample.cpp @@ -459,12 +459,7 @@ namespace example { // linearize around zero boost::shared_ptr gfg = nlfg.linearize(zeros, ordering); - - GaussianFactorGraph jfg; - BOOST_FOREACH(GaussianFactorGraph::sharedFactor factor, *gfg) - jfg.push_back(boost::dynamic_pointer_cast(factor)); - - return boost::make_tuple(jfg, xtrue); + return boost::make_tuple(*gfg, xtrue); } /* ************************************************************************* */ @@ -482,21 +477,21 @@ namespace example { GaussianFactorGraph T, C; // Add the x11 constraint to the tree - T.push_back(boost::dynamic_pointer_cast(original[0])); + T.push_back(original[0]); // Add all horizontal constraints to the tree size_t i = 1; for (size_t x = 1; x < N; x++) for (size_t y = 1; y <= N; y++, i++) - T.push_back(boost::dynamic_pointer_cast(original[i])); + T.push_back(original[i]); // Add first vertical column of constraints to T, others to C for (size_t x = 1; x <= N; x++) for (size_t y = 1; y < N; y++, i++) if (x == 1) - T.push_back(boost::dynamic_pointer_cast(original[i])); + T.push_back(original[i]); else - C.push_back(boost::dynamic_pointer_cast(original[i])); + C.push_back(original[i]); return make_pair(T, C); } From 6c2f213091f9e7fef90eea567c2a506281c0ffb8 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 5 Sep 2012 15:03:35 +0000 Subject: [PATCH 889/914] 1. use DSFVector for spanning tree in SubgraphSolver 2. move DSFVector from unstable to stable 3. create Dummy.cpp to prevent base_unstable degenerate --- {gtsam_unstable => gtsam}/base/DSFVector.cpp | 2 +- {gtsam_unstable => gtsam}/base/DSFVector.h | 0 .../base/tests/testDSFVector.cpp | 2 +- gtsam/linear/SubgraphSolver.cpp | 56 ++----------------- gtsam/linear/SubgraphSolver.h | 25 --------- gtsam_unstable/base/Dummy.cpp | 43 ++++++++++++++ gtsam_unstable/base/Dummy.h | 22 ++------ 7 files changed, 55 insertions(+), 95 deletions(-) rename {gtsam_unstable => gtsam}/base/DSFVector.cpp (98%) rename {gtsam_unstable => gtsam}/base/DSFVector.h (100%) rename {gtsam_unstable => gtsam}/base/tests/testDSFVector.cpp (99%) create mode 100644 gtsam_unstable/base/Dummy.cpp diff --git a/gtsam_unstable/base/DSFVector.cpp b/gtsam/base/DSFVector.cpp similarity index 98% rename from gtsam_unstable/base/DSFVector.cpp rename to gtsam/base/DSFVector.cpp index cdea89f34..6d79dcb53 100644 --- a/gtsam_unstable/base/DSFVector.cpp +++ b/gtsam/base/DSFVector.cpp @@ -18,7 +18,7 @@ #include #include -#include +#include using namespace std; diff --git a/gtsam_unstable/base/DSFVector.h b/gtsam/base/DSFVector.h similarity index 100% rename from gtsam_unstable/base/DSFVector.h rename to gtsam/base/DSFVector.h diff --git a/gtsam_unstable/base/tests/testDSFVector.cpp b/gtsam/base/tests/testDSFVector.cpp similarity index 99% rename from gtsam_unstable/base/tests/testDSFVector.cpp rename to gtsam/base/tests/testDSFVector.cpp index 8997559f5..c0b72f1a0 100644 --- a/gtsam_unstable/base/tests/testDSFVector.cpp +++ b/gtsam/base/tests/testDSFVector.cpp @@ -24,7 +24,7 @@ using namespace boost::assign; #include -#include +#include using namespace std; using namespace gtsam; diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 9794ba51e..47d33831b 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include @@ -102,7 +103,7 @@ SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { const VariableIndex index(jfg); const size_t n = index.size(); - DisjointSet D(n) ; + DSFVector D(n); GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); GaussianFactorGraph::shared_ptr Ac( new GaussianFactorGraph()); @@ -126,10 +127,10 @@ SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { if ( jf->keys().size() == 1 ) augment = true; else { const Index u = jf->keys()[0], v = jf->keys()[1], - u_root = D.find(u), v_root = D.find(v); + u_root = D.findSet(u), v_root = D.findSet(v); if ( u_root != v_root ) { t++; augment = true ; - D.makeUnion(u_root, v_root); + D.makeUnionInPlace(u_root, v_root); } } if ( augment ) At->push_back(jf); @@ -139,53 +140,4 @@ SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { return boost::tie(At, Ac); } - -SubgraphSolver::DisjointSet::DisjointSet(const size_t n):n_(n),rank_(n,1),parent_(n) { - for ( Index i = 0 ; i < n ; ++i ) parent_[i] = i ; -} - -Index SubgraphSolver::DisjointSet::makeUnion(const Index &u, const Index &v) { - - Index u_root = find(u), v_root = find(v) ; - Index u_rank = rank(u), v_rank = rank(v) ; - - if ( u_root != v_root ) { - if ( v_rank > u_rank ) { - parent_[u_root] = v_root ; - rank_[v_root] += rank_[u_root] ; - return v_root ; - } - else { - parent_[v_root] = u_root ; - rank_[u_root] += rank_[v_root] ; - return u_root ; - } - } - return u_root ; -} - -Index SubgraphSolver::DisjointSet::find(const Index &u) { - vector path ; - Index x = u; - Index x_root = parent_[x] ; - - // find the root, and keep the vertices along the path - while ( x != x_root ) { - path.push_back(x) ; - x = x_root ; - x_root = parent_[x] ; - } - - // path compression - BOOST_FOREACH(const Index &i, path) { - rank_[i] = 1 ; - parent_[i] = x_root ; - } - - return x_root ; -} - - - - } // \namespace gtsam diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index 441fdaeef..7c60c0588 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -82,31 +82,6 @@ protected: boost::tuple splitGraph(const GaussianFactorGraph &gfg) ; - -public: - - // a simplfied implementation of disjoint set data structure. - class DisjointSet { - protected: - size_t n_ ; - std::vector rank_ ; - std::vector parent_ ; - - public: - // initialize a disjoint set, point every vertex to itself - DisjointSet(const size_t n) ; - inline size_t size() const { return n_ ; } - - // union the root of u and and the root of v, return the root of u and v - Index makeUnion(const Index &u, const Index &v) ; - - // return the root of u - Index find(const Index &u) ; - - // return the rank of x, which is defined as the cardinality of the set containing x - inline size_t rank(const Index &x) {return rank_[find(x)] ;} - }; - }; } // namespace gtsam diff --git a/gtsam_unstable/base/Dummy.cpp b/gtsam_unstable/base/Dummy.cpp new file mode 100644 index 000000000..90d71d27e --- /dev/null +++ b/gtsam_unstable/base/Dummy.cpp @@ -0,0 +1,43 @@ +/* ---------------------------------------------------------------------------- + + * 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 Dummy.h + * @brief Dummy class for testing MATLAB memory allocation + * @author Andrew Melim + * @author Frank Dellaert + * @date June 14, 2012 + */ + +#include +#include + +namespace gtsam { + +static size_t gDummyCount = 0; + +Dummy::Dummy():id(++gDummyCount) { + std::cout << "Dummy constructor " << id << std::endl; +} + +Dummy::~Dummy() { + std::cout << "Dummy destructor " << id << std::endl; +} + +void Dummy::print(const std::string& s) const { + std::cout << s << "Dummy " << id << std::endl; +} + +unsigned char Dummy::dummyTwoVar(unsigned char a) const { + return a; +} + +} diff --git a/gtsam_unstable/base/Dummy.h b/gtsam_unstable/base/Dummy.h index 995186cd6..0ab344f74 100644 --- a/gtsam_unstable/base/Dummy.h +++ b/gtsam_unstable/base/Dummy.h @@ -17,26 +17,16 @@ * @date June 14, 2012 */ -namespace gtsam { +#include - static size_t gDummyCount; +namespace gtsam { struct Dummy { size_t id; - Dummy():id(++gDummyCount) { - std::cout << "Dummy constructor " << id << std::endl; - } - ~Dummy() { - std::cout << "Dummy destructor " << id << std::endl; - } - void print(const std::string& s="") const { - std::cout << s << "Dummy " << id << std::endl; - } - - unsigned char dummyTwoVar(unsigned char a) const { - return a; - } - + Dummy(); + ~Dummy(); + void print(const std::string& s="") const ; + unsigned char dummyTwoVar(unsigned char a) const ; }; } // namespace gtsam From 4443752a18165495c1f705d6955db491416b2700 Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Wed, 5 Sep 2012 17:04:48 +0000 Subject: [PATCH 890/914] clean the gfg to jfg conversion code --- gtsam/linear/GaussianFactorGraph.cpp | 73 ++++++++-------------------- gtsam/linear/GaussianFactorGraph.h | 4 +- gtsam/linear/JacobianFactor.cpp | 9 ++++ gtsam/linear/JacobianFactor.h | 4 +- gtsam/linear/SubgraphSolver.cpp | 6 +-- 5 files changed, 36 insertions(+), 60 deletions(-) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index 14d558e62..ad31bd9e5 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -521,15 +521,14 @@ break; } // \EliminatePreferCholesky + + + /* ************************************************************************* */ Errors operator*(const GaussianFactorGraph& fg, const VectorValues& x) { Errors e; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); e.push_back((*Ai)*x); } return e; @@ -544,12 +543,8 @@ break; void multiplyInPlace(const GaussianFactorGraph& fg, const VectorValues& x, const Errors::iterator& e) { Errors::iterator ei = e; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - *ei = (*Ai)*x; + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + *ei = (*Ai)*x; ei++; } } @@ -560,12 +555,8 @@ break; // For each factor add the gradient contribution Errors::const_iterator ei = e.begin(); BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - Ai->transposeMultiplyAdd(alpha,*(ei++),x); + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + Ai->transposeMultiplyAdd(alpha,*(ei++),x); } } @@ -575,12 +566,8 @@ break; VectorValues g = VectorValues::Zero(x0); Errors e; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - e.push_back(Ai->error_vector(x0)); + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + e.push_back(Ai->error_vector(x0)); } transposeMultiplyAdd(fg, 1.0, e, g); return g; @@ -592,12 +579,8 @@ break; g.setZero(); Errors e; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - e.push_back(-Ai->getb()); + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + e.push_back(-Ai->getb()); } transposeMultiplyAdd(fg, 1.0, e, g); } @@ -606,12 +589,8 @@ break; void residual(const GaussianFactorGraph& fg, const VectorValues &x, VectorValues &r) { Index i = 0 ; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - r[i] = Ai->getb(); + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + r[i] = Ai->getb(); i++; } VectorValues Ax = VectorValues::SameStructure(r); @@ -624,12 +603,8 @@ break; r.vector() = Vector::Zero(r.dim()); Index i = 0; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - SubVector &y = r[i]; + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + SubVector &y = r[i]; for(JacobianFactor::const_iterator j = Ai->begin(); j != Ai->end(); ++j) { y += Ai->getA(j) * x[*j]; } @@ -642,12 +617,8 @@ break; x.vector() = Vector::Zero(x.dim()); Index i = 0; BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - for(JacobianFactor::const_iterator j = Ai->begin(); j != Ai->end(); ++j) { + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + for(JacobianFactor::const_iterator j = Ai->begin(); j != Ai->end(); ++j) { x[*j] += Ai->getA(j).transpose() * r[i]; } ++i; @@ -658,12 +629,8 @@ break; boost::shared_ptr gaussianErrors_(const GaussianFactorGraph& fg, const VectorValues& x) { boost::shared_ptr e(new Errors); BOOST_FOREACH(const GaussianFactor::shared_ptr& Ai_G, fg) { - JacobianFactor::shared_ptr Ai; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(Ai_G)) - Ai = Ai_J; - else - Ai = boost::make_shared(*Ai_G); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - e->push_back(Ai->error_vector(x)); + JacobianFactor::shared_ptr Ai = convertToJacobianFactorPtr(Ai_G); + e->push_back(Ai->error_vector(x)); } return e; } diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 6c06e34c0..5e6e792be 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -303,7 +303,9 @@ namespace gtsam { */ GaussianFactorGraph::EliminationResult EliminateCholesky(const FactorGraph< GaussianFactor>& factors, size_t nrFrontals = 1); - + + /****** Linear Algebra Opeations ******/ + /** return A*x */ Errors operator*(const GaussianFactorGraph& fg, const VectorValues& x); diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 759be4948..c0aefab39 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -489,4 +489,13 @@ namespace gtsam { return description_.c_str(); } + /* ************************************************************************* */ + JacobianFactor::shared_ptr convertToJacobianFactorPtr(const GaussianFactor::shared_ptr &gf) { + JacobianFactor::shared_ptr result = boost::dynamic_pointer_cast(gf); + if( !result ) { + result = boost::make_shared(*gf); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + } + return result; + } + } diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index def36b086..1c73f621a 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -322,8 +322,10 @@ namespace gtsam { ar & BOOST_SERIALIZATION_NVP(model_); ar & BOOST_SERIALIZATION_NVP(matrix_); } - }; // JacobianFactor + /** cast from GaussianFactor::shared_ptr to JacobianFactor::shared_ptr */ + JacobianFactor::shared_ptr convertToJacobianFactorPtr(const GaussianFactor::shared_ptr &gf); + } // gtsam diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 47d33831b..4cb95c404 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -111,11 +111,7 @@ SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { size_t t = 0; BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, jfg ) { - JacobianFactor::shared_ptr jf; - if(JacobianFactor::shared_ptr Ai_J = boost::dynamic_pointer_cast(gf)) - jf = Ai_J; - else - jf = boost::make_shared(*gf); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + JacobianFactor::shared_ptr jf = convertToJacobianFactorPtr(gf); if ( jf->keys().size() > 2 ) { throw runtime_error("SubgraphSolver::splitGraph the graph is not simple, sanity check failed "); From 574a9711ccf83ba71660470fab5f7eed30d0751f Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Thu, 6 Sep 2012 01:21:15 +0000 Subject: [PATCH 891/914] add a conversion function from GaussianFactorGraph to JacobianFactorGraph --- gtsam/linear/GaussianFactorGraph.cpp | 9 +++++++++ gtsam/linear/GaussianFactorGraph.h | 3 +++ gtsam/linear/SubgraphPreconditioner.cpp | 4 +--- 3 files changed, 13 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index ad31bd9e5..eda9732b2 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -635,4 +635,13 @@ break; return e; } + /* ************************************************************************* */ + GaussianFactorGraph::shared_ptr convertToJacobianFactors(const GaussianFactorGraph &gfg) { + GaussianFactorGraph::shared_ptr result(new GaussianFactorGraph()); + BOOST_FOREACH(const GaussianFactor::shared_ptr &gf, gfg) { + result->push_back(convertToJacobianFactorPtr(gf)); + } + return result; + } + } // namespace gtsam diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 5e6e792be..b6486b3a6 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -354,4 +354,7 @@ namespace gtsam { inline Errors gaussianErrors(const GaussianFactorGraph& fg, const VectorValues& x) { return *gaussianErrors_(fg, x); } + /** Convert all factors to JacobianFactor */ + GaussianFactorGraph::shared_ptr convertToJacobianFactors(const GaussianFactorGraph &gfg); + } // namespace gtsam diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index 72aa25554..04eed29d2 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -17,8 +17,6 @@ #include #include -#include - #include using namespace std; @@ -28,7 +26,7 @@ namespace gtsam { /* ************************************************************************* */ SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab2, const sharedBayesNet& Rc1, const sharedValues& xbar) : - Ab2_(Ab2), Rc1_(Rc1), xbar_(xbar), b2bar_(new Errors(-gaussianErrors(*Ab2_,*xbar))) { + Ab2_(convertToJacobianFactors(*Ab2)), Rc1_(Rc1), xbar_(xbar), b2bar_(new Errors(-gaussianErrors(*Ab2_,*xbar))) { } /* ************************************************************************* */ From 1322b7e49d982c9bfd364507380b86bce014e26e Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 6 Sep 2012 14:33:40 +0000 Subject: [PATCH 892/914] Fixed size checking bug --- gtsam/inference/FactorGraph-inl.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 97a7fa1c6..04490dbc6 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -100,7 +100,7 @@ namespace gtsam { ++ firstIndex; // Check that number of variables is in bounds - if(firstIndex + nFrontals >= variableIndex.size()) + if(firstIndex + nFrontals > variableIndex.size()) throw std::invalid_argument("Requested to eliminate more frontal variables than exist in the factor graph."); // Get set of involved factors From ce3c774bfa9ae72da9c906a835d0a3e53fae0213 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 6 Sep 2012 14:33:42 +0000 Subject: [PATCH 893/914] Added non-const HessianFactor matrix block accessors and inlined all matrix block accessors for speed --- gtsam/linear/HessianFactor.cpp | 10 --------- gtsam/linear/HessianFactor.h | 37 ++++++++++++++++++++++++++++++++-- 2 files changed, 35 insertions(+), 12 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index a44f5c682..e152738fb 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -307,16 +307,6 @@ bool HessianFactor::equals(const GaussianFactor& lf, double tol) const { } } -/* ************************************************************************* */ -double HessianFactor::constantTerm() const { - return info_(this->size(), this->size())(0,0); -} - -/* ************************************************************************* */ -HessianFactor::constColumn HessianFactor::linearTerm() const { - return info_.rangeColumn(0, this->size(), this->size(), 0); -} - /* ************************************************************************* */ Matrix HessianFactor::computeInformation() const { return info_.full().selfadjointView(); diff --git a/gtsam/linear/HessianFactor.h b/gtsam/linear/HessianFactor.h index 2e9b67c2a..9e4ed2074 100644 --- a/gtsam/linear/HessianFactor.h +++ b/gtsam/linear/HessianFactor.h @@ -242,16 +242,39 @@ namespace gtsam { */ constBlock info(const_iterator j1, const_iterator j2) const { return info_(j1-begin(), j2-begin()); } + /** Return a view of the block at (j1,j2) of the upper-triangular part of the + * information matrix \f$ H \f$, no data is copied. See HessianFactor class documentation + * above to explain that only the upper-triangular part of the information matrix is stored + * and returned by this function. + * @param j1 Which block row to get, as an iterator pointing to the slot in this factor. You can + * use, for example, begin() + 2 to get the 3rd variable in this factor. + * @param j2 Which block column to get, as an iterator pointing to the slot in this factor. You can + * use, for example, begin() + 2 to get the 3rd variable in this factor. + * @return A view of the requested block, not a copy. + */ + Block info(iterator j1, iterator j2) { return info_(j1-begin(), j2-begin()); } + /** Return the upper-triangular part of the full *augmented* information matrix, * as described above. See HessianFactor class documentation above to explain that only the * upper-triangular part of the information matrix is stored and returned by this function. */ constBlock info() const { return info_.full(); } + /** Return the upper-triangular part of the full *augmented* information matrix, + * as described above. See HessianFactor class documentation above to explain that only the + * upper-triangular part of the information matrix is stored and returned by this function. + */ + Block info() { return info_.full(); } + /** Return the constant term \f$ f \f$ as described above * @return The constant term \f$ f \f$ */ - double constantTerm() const; + double constantTerm() const { return info_(this->size(), this->size())(0,0); } + + /** Return the constant term \f$ f \f$ as described above + * @return The constant term \f$ f \f$ + */ + double& constantTerm() { return info_(this->size(), this->size())(0,0); } /** Return the part of linear term \f$ g \f$ as described above corresponding to the requested variable. * @param j Which block row to get, as an iterator pointing to the slot in this factor. You can @@ -259,9 +282,19 @@ namespace gtsam { * @return The linear term \f$ g \f$ */ constColumn linearTerm(const_iterator j) const { return info_.column(j-begin(), size(), 0); } + /** Return the part of linear term \f$ g \f$ as described above corresponding to the requested variable. + * @param j Which block row to get, as an iterator pointing to the slot in this factor. You can + * use, for example, begin() + 2 to get the 3rd variable in this factor. + * @return The linear term \f$ g \f$ */ + Column linearTerm(iterator j) { return info_.column(j-begin(), size(), 0); } + /** Return the complete linear term \f$ g \f$ as described above. * @return The linear term \f$ g \f$ */ - constColumn linearTerm() const; + constColumn linearTerm() const { return info_.rangeColumn(0, this->size(), this->size(), 0); } + + /** Return the complete linear term \f$ g \f$ as described above. + * @return The linear term \f$ g \f$ */ + Column linearTerm() { return info_.rangeColumn(0, this->size(), this->size(), 0); } /** Return the augmented information matrix represented by this GaussianFactor. * The augmented information matrix contains the information matrix with an From 6d1b86c2e04ffd185171cc8d156deb650f8285f3 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 6 Sep 2012 14:33:44 +0000 Subject: [PATCH 894/914] Moved JacobianFactor type check/conversion functions into SubgraphSolver instead of GaussianFactorGraph and JacobianFactor --- gtsam/linear/GaussianFactorGraph.cpp | 17 ++++++++--------- gtsam/linear/GaussianFactorGraph.h | 3 --- gtsam/linear/JacobianFactor.cpp | 9 --------- gtsam/linear/JacobianFactor.h | 3 --- gtsam/linear/SubgraphPreconditioner.cpp | 13 +++++++++++++ gtsam/linear/SubgraphPreconditioner.h | 1 - gtsam/linear/SubgraphSolver.cpp | 12 +++++------- 7 files changed, 26 insertions(+), 32 deletions(-) diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp index eda9732b2..222f025a0 100644 --- a/gtsam/linear/GaussianFactorGraph.cpp +++ b/gtsam/linear/GaussianFactorGraph.cpp @@ -523,6 +523,14 @@ break; + /* ************************************************************************* */ + static JacobianFactor::shared_ptr convertToJacobianFactorPtr(const GaussianFactor::shared_ptr &gf) { + JacobianFactor::shared_ptr result = boost::dynamic_pointer_cast(gf); + if( !result ) { + result = boost::make_shared(*gf); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + } + return result; + } /* ************************************************************************* */ Errors operator*(const GaussianFactorGraph& fg, const VectorValues& x) { @@ -635,13 +643,4 @@ break; return e; } - /* ************************************************************************* */ - GaussianFactorGraph::shared_ptr convertToJacobianFactors(const GaussianFactorGraph &gfg) { - GaussianFactorGraph::shared_ptr result(new GaussianFactorGraph()); - BOOST_FOREACH(const GaussianFactor::shared_ptr &gf, gfg) { - result->push_back(convertToJacobianFactorPtr(gf)); - } - return result; - } - } // namespace gtsam diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index b6486b3a6..5e6e792be 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -354,7 +354,4 @@ namespace gtsam { inline Errors gaussianErrors(const GaussianFactorGraph& fg, const VectorValues& x) { return *gaussianErrors_(fg, x); } - /** Convert all factors to JacobianFactor */ - GaussianFactorGraph::shared_ptr convertToJacobianFactors(const GaussianFactorGraph &gfg); - } // namespace gtsam diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index c0aefab39..759be4948 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -489,13 +489,4 @@ namespace gtsam { return description_.c_str(); } - /* ************************************************************************* */ - JacobianFactor::shared_ptr convertToJacobianFactorPtr(const GaussianFactor::shared_ptr &gf) { - JacobianFactor::shared_ptr result = boost::dynamic_pointer_cast(gf); - if( !result ) { - result = boost::make_shared(*gf); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) - } - return result; - } - } diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 1c73f621a..f2bd9c75d 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -324,8 +324,5 @@ namespace gtsam { } }; // JacobianFactor - /** cast from GaussianFactor::shared_ptr to JacobianFactor::shared_ptr */ - JacobianFactor::shared_ptr convertToJacobianFactorPtr(const GaussianFactor::shared_ptr &gf); - } // gtsam diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp index 04eed29d2..8b5a3708f 100644 --- a/gtsam/linear/SubgraphPreconditioner.cpp +++ b/gtsam/linear/SubgraphPreconditioner.cpp @@ -22,6 +22,19 @@ using namespace std; namespace gtsam { + + /* ************************************************************************* */ + static GaussianFactorGraph::shared_ptr convertToJacobianFactors(const GaussianFactorGraph &gfg) { + GaussianFactorGraph::shared_ptr result(new GaussianFactorGraph()); + BOOST_FOREACH(const GaussianFactor::shared_ptr &gf, gfg) { + JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast(gf); + if( !jf ) { + jf = boost::make_shared(*gf); // Convert any non-Jacobian factors to Jacobians (e.g. Hessian -> Jacobian with Cholesky) + } + result->push_back(jf); + } + return result; + } /* ************************************************************************* */ SubgraphPreconditioner::SubgraphPreconditioner(const sharedFG& Ab2, diff --git a/gtsam/linear/SubgraphPreconditioner.h b/gtsam/linear/SubgraphPreconditioner.h index db7c023ce..f266928d7 100644 --- a/gtsam/linear/SubgraphPreconditioner.h +++ b/gtsam/linear/SubgraphPreconditioner.h @@ -33,7 +33,6 @@ namespace gtsam { class SubgraphPreconditioner { public: - typedef boost::shared_ptr shared_ptr; typedef boost::shared_ptr sharedBayesNet; typedef boost::shared_ptr sharedFG; diff --git a/gtsam/linear/SubgraphSolver.cpp b/gtsam/linear/SubgraphSolver.cpp index 4cb95c404..9986fb76c 100644 --- a/gtsam/linear/SubgraphSolver.cpp +++ b/gtsam/linear/SubgraphSolver.cpp @@ -111,26 +111,24 @@ SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { size_t t = 0; BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, jfg ) { - JacobianFactor::shared_ptr jf = convertToJacobianFactorPtr(gf); - - if ( jf->keys().size() > 2 ) { + if ( gf->keys().size() > 2 ) { throw runtime_error("SubgraphSolver::splitGraph the graph is not simple, sanity check failed "); } bool augment = false ; /* check whether this factor should be augmented to the "tree" graph */ - if ( jf->keys().size() == 1 ) augment = true; + if ( gf->keys().size() == 1 ) augment = true; else { - const Index u = jf->keys()[0], v = jf->keys()[1], + const Index u = gf->keys()[0], v = gf->keys()[1], u_root = D.findSet(u), v_root = D.findSet(v); if ( u_root != v_root ) { t++; augment = true ; D.makeUnionInPlace(u_root, v_root); } } - if ( augment ) At->push_back(jf); - else Ac->push_back(jf); + if ( augment ) At->push_back(gf); + else Ac->push_back(gf); } return boost::tie(At, Ac); From 0dc05f5d4e8ab793f2a624f1f622fc66ed4e3ab8 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 6 Sep 2012 15:02:08 +0000 Subject: [PATCH 895/914] Updated matlab package scripts --- package_scripts/compile_static_boost.sh | 8 ++++++++ package_scripts/toolbox_package_unix.sh | 2 ++ 2 files changed, 10 insertions(+) create mode 100644 package_scripts/compile_static_boost.sh diff --git a/package_scripts/compile_static_boost.sh b/package_scripts/compile_static_boost.sh new file mode 100644 index 000000000..466283044 --- /dev/null +++ b/package_scripts/compile_static_boost.sh @@ -0,0 +1,8 @@ +#!/bin/sh + +# Compile boost statically, with -fPIC to allow linking it into the mex +# module (which is a dynamic library). --disable-icu prevents depending +# on libicu, which is unneeded and would require then linking the mex +# module with it as well. We just stage instead of install, then the +# toolbox_package_unix.sh script uses the staged boost. +./b2 link=static threading=multi cxxflags=-fPIC cflags=-fPIC --disable-icu -a stage \ No newline at end of file diff --git a/package_scripts/toolbox_package_unix.sh b/package_scripts/toolbox_package_unix.sh index b78649e15..6f5cda526 100644 --- a/package_scripts/toolbox_package_unix.sh +++ b/package_scripts/toolbox_package_unix.sh @@ -7,6 +7,8 @@ if [ "$os" = "Linux" -a "$arch" = "x86_64" ]; then platform=lin64 elif [ "$os" = "Linux" -a "$arch" = "i686" ]; then platform=lin32 +elif [ "$os" = "Darwin" -a "$arch" = "x86_64" ]; then + platform=mac64 else echo "Unrecognized platform" exit 1 From 453c5132e13e9b67b70688633ad74da5e34b5f5a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 6 Sep 2012 18:01:54 +0000 Subject: [PATCH 896/914] Adjusted test tolerance to pass on 32-bit systems --- gtsam/base/tests/testCholesky.cpp | 42 +++++++++++++++---------------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/gtsam/base/tests/testCholesky.cpp b/gtsam/base/tests/testCholesky.cpp index 55c72543e..8e8da7a70 100644 --- a/gtsam/base/tests/testCholesky.cpp +++ b/gtsam/base/tests/testCholesky.cpp @@ -81,38 +81,38 @@ TEST(cholesky, BadScalingSVD) { double expectedCondition = 1e40; double actualCondition = S(0) / S(1); - DOUBLES_EQUAL(expectedCondition, actualCondition, 1e-41); + DOUBLES_EQUAL(expectedCondition, actualCondition, 1e30); } /* ************************************************************************* */ TEST(cholesky, underconstrained) { Matrix L(6,6); L << - 1, 0, 0, 0, 0, 0, - 1.11177808157954, 1.06204809504665, 0.507342638873381, 1.34953401829486, 1, 0, - 0.155864888199928, 1.10933048588373, 0.501255576961674, 1, 0, 0, - 1.12108665967793, 1.01584408366945, 1, 0, 0, 0, - 0.776164062474843, 0.117617236580373, -0.0236628691347294, 0.814118199972143, 0.694309975328922, 1, + 1, 0, 0, 0, 0, 0, + 1.11177808157954, 1.06204809504665, 0.507342638873381, 1.34953401829486, 1, 0, + 0.155864888199928, 1.10933048588373, 0.501255576961674, 1, 0, 0, + 1.12108665967793, 1.01584408366945, 1, 0, 0, 0, + 0.776164062474843, 0.117617236580373, -0.0236628691347294, 0.814118199972143, 0.694309975328922, 1, 0.1197220685104, 1, 0, 0, 0, 0; Matrix D1(6,6); D1 << - 0.814723686393179, 0, 0, 0, 0, 0, - 0, 0.811780089277421, 0, 0, 0, 0, - 0, 0, 1.82596950680844, 0, 0, 0, - 0, 0, 0, 0.240287537694585, 0, 0, - 0, 0, 0, 0, 1.34342584865901, 0, + 0.814723686393179, 0, 0, 0, 0, 0, + 0, 0.811780089277421, 0, 0, 0, 0, + 0, 0, 1.82596950680844, 0, 0, 0, + 0, 0, 0, 0.240287537694585, 0, 0, + 0, 0, 0, 0, 1.34342584865901, 0, 0, 0, 0, 0, 0, 1e-12; Matrix D2(6,6); D2 << - 0.814723686393179, 0, 0, 0, 0, 0, - 0, 0.811780089277421, 0, 0, 0, 0, - 0, 0, 1.82596950680844, 0, 0, 0, - 0, 0, 0, 0.240287537694585, 0, 0, - 0, 0, 0, 0, 0, 0, + 0.814723686393179, 0, 0, 0, 0, 0, + 0, 0.811780089277421, 0, 0, 0, 0, + 0, 0, 1.82596950680844, 0, 0, 0, + 0, 0, 0, 0.240287537694585, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; Matrix D3(6,6); D3 << - 0.814723686393179, 0, 0, 0, 0, 0, - 0, 0.811780089277421, 0, 0, 0, 0, - 0, 0, 1.82596950680844, 0, 0, 0, - 0, 0, 0, 0.240287537694585, 0, 0, - 0, 0, 0, 0, -0.5, 0, + 0.814723686393179, 0, 0, 0, 0, 0, + 0, 0.811780089277421, 0, 0, 0, 0, + 0, 0, 1.82596950680844, 0, 0, 0, + 0, 0, 0, 0.240287537694585, 0, 0, + 0, 0, 0, 0, -0.5, 0, 0, 0, 0, 0, 0, -0.6; Matrix A1 = L * D1 * L.transpose(); From 9816d4fe611664969d6eae58c950abf3c7f2c55a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Thu, 6 Sep 2012 18:24:39 +0000 Subject: [PATCH 897/914] Fixed key bug in GeneralSFMFactor_Cal3Bundler --- gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp index 1b1ae5390..21f5f2008 100644 --- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp +++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp @@ -366,7 +366,7 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) { } // Constrain position of system with the first camera constrained to the origin - graph.addCameraConstraint(X(0), cameras[0]); + graph.addCameraConstraint(0, cameras[0]); // Constrain the scale of the problem with a soft range factor of 1m between the cameras graph.add(RangeFactor(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); From 6111904b1c73f2d72351bd788b472938380fc927 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Fri, 7 Sep 2012 15:16:14 +0000 Subject: [PATCH 898/914] add SLAM doxygen module --- gtsam/slam/AntiFactor.h | 1 + gtsam/slam/BearingFactor.h | 1 + gtsam/slam/BearingRangeFactor.h | 1 + gtsam/slam/BetweenFactor.h | 1 + gtsam/slam/BoundingConstraint.h | 1 + gtsam/slam/GeneralSFMFactor.h | 4 +++- gtsam/slam/PriorFactor.h | 1 + gtsam/slam/ProjectionFactor.h | 1 + gtsam/slam/RangeFactor.h | 1 + gtsam/slam/StereoFactor.h | 4 ++++ 10 files changed, 15 insertions(+), 1 deletion(-) diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h index 19f73c8b9..b5e77b578 100644 --- a/gtsam/slam/AntiFactor.h +++ b/gtsam/slam/AntiFactor.h @@ -26,6 +26,7 @@ namespace gtsam { * A class for downdating an existing factor from a graph. The AntiFactor returns the same * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively * cancels out any affects of the original factor during optimization." + * @addtogroup SLAM */ class AntiFactor: public NonlinearFactor { diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h index 326491e8c..86a6e159c 100644 --- a/gtsam/slam/BearingFactor.h +++ b/gtsam/slam/BearingFactor.h @@ -24,6 +24,7 @@ namespace gtsam { /** * Binary factor for a bearing measurement + * @addtogroup SLAM */ template class BearingFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h index 52f301b3c..d701054f9 100644 --- a/gtsam/slam/BearingRangeFactor.h +++ b/gtsam/slam/BearingRangeFactor.h @@ -26,6 +26,7 @@ namespace gtsam { /** * Binary factor for a bearing measurement + * @addtogroup SLAM */ template class BearingRangeFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h index d93e5fe81..14314ceb7 100644 --- a/gtsam/slam/BetweenFactor.h +++ b/gtsam/slam/BetweenFactor.h @@ -27,6 +27,7 @@ namespace gtsam { /** * A class for a measurement predicted by "between(config[key1],config[key2])" * @tparam VALUE the Value type + * @addtogroup SLAM */ template class BetweenFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h index 0032d9a05..43d3802c0 100644 --- a/gtsam/slam/BoundingConstraint.h +++ b/gtsam/slam/BoundingConstraint.h @@ -27,6 +27,7 @@ namespace gtsam { * greater/less than a fixed threshold. The function * will need to have its value function implemented to return * a scalar for comparison. + * @addtogroup SLAM */ template struct BoundingConstraint1: public NoiseModelFactor1 { diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index a9db7dcbe..beb2f1e67 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -29,7 +29,9 @@ namespace gtsam { /** - * Non-linear factor for a constraint derived from a 2D measurement. The calibration is unknown here compared to GenericProjectionFactor + * Non-linear factor for a constraint derived from a 2D measurement. + * The calibration is unknown here compared to GenericProjectionFactor + * @addtogroup SLAM */ template class GeneralSFMFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h index 79ea4c0ce..5bd0ee76f 100644 --- a/gtsam/slam/PriorFactor.h +++ b/gtsam/slam/PriorFactor.h @@ -22,6 +22,7 @@ namespace gtsam { /** * A class for a soft prior on any Value type + * @addtogroup SLAM */ template class PriorFactor: public NoiseModelFactor1 { diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 048756435..00bb7f36a 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -28,6 +28,7 @@ namespace gtsam { /** * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here. * i.e. the main building block for visual SLAM. + * @addtogroup SLAM */ template class GenericProjectionFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h index 78727f08f..fa4ddb7f2 100644 --- a/gtsam/slam/RangeFactor.h +++ b/gtsam/slam/RangeFactor.h @@ -24,6 +24,7 @@ namespace gtsam { /** * Binary factor for a range measurement + * @addtogroup SLAM */ template class RangeFactor: public NoiseModelFactor2 { diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 94af6e10e..05b37b0ff 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -23,6 +23,10 @@ namespace gtsam { +/* + * A Generic Stereo Factor + * @addtogroup SLAM + */ template class GenericStereoFactor: public NoiseModelFactor2 { private: From ed886e78b18b3176975f952e393d45fb02521c50 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Fri, 7 Sep 2012 15:17:23 +0000 Subject: [PATCH 899/914] doxygen formatting --- gtsam/slam/StereoFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 05b37b0ff..6195c0eed 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -23,7 +23,7 @@ namespace gtsam { -/* +/** * A Generic Stereo Factor * @addtogroup SLAM */ From 9e960b45899362604078292105e76f20e34e0876 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Fri, 7 Sep 2012 18:54:12 +0000 Subject: [PATCH 900/914] doxygen fixes --- gtsam/geometry/CalibratedCamera.h | 10 +++++++++- gtsam/linear/NoiseModel.h | 4 ++++ gtsam_unstable/slam/InvDepthFactor3.h | 8 +++++--- 3 files changed, 18 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index a83a41827..6a52f7cb5 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -94,6 +94,7 @@ namespace gtsam { /** * Create a level camera at the given 2D pose and height * @param pose2 specifies the location and viewing direction + * @param height specifies the height of the camera (along the positive Z-axis) * (theta 0 = looking in direction of positive X axis) */ static CalibratedCamera Level(const Pose2& pose2, double height); @@ -126,8 +127,9 @@ namespace gtsam { /** * This function receives the camera pose and the landmark location and * returns the location the point is supposed to appear in the image - * @param camera the CalibratedCamera * @param point a 3D point to be projected + * @param D_intrinsic_pose the optionally computed Jacobian with respect to pose + * @param D_intrinsic_point the optionally computed Jacobian with respect to the 3D point * @return the intrinsic coordinates of the projected point */ Point2 project(const Point3& point, @@ -150,6 +152,8 @@ namespace gtsam { /** * Calculate range to a landmark * @param point 3D location of landmark + * @param H1 optionally computed Jacobian with respect to pose + * @param H2 optionally computed Jacobian with respect to the 3D point * @return range (double) */ double range(const Point3& point, @@ -160,6 +164,8 @@ namespace gtsam { /** * Calculate range to another pose * @param pose Other SO(3) pose + * @param H1 optionally computed Jacobian with respect to pose + * @param H2 optionally computed Jacobian with respect to the 3D point * @return range (double) */ double range(const Pose3& pose, @@ -170,6 +176,8 @@ namespace gtsam { /** * Calculate range to another camera * @param camera Other camera + * @param H1 optionally computed Jacobian with respect to pose + * @param H2 optionally computed Jacobian with respect to the 3D point * @return range (double) */ double range(const CalibratedCamera& camera, diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h index 2bb63c382..8588c738b 100644 --- a/gtsam/linear/NoiseModel.h +++ b/gtsam/linear/NoiseModel.h @@ -156,6 +156,7 @@ namespace gtsam { /** * A Gaussian noise model created by specifying a covariance matrix. + * @param covariance The square covariance Matrix * @param smart check if can be simplified to derived class */ static shared_ptr Covariance(const Matrix& covariance, bool smart = true); @@ -263,6 +264,7 @@ namespace gtsam { /** * A diagonal noise model created by specifying a Vector of variances, i.e. * i.e. the diagonal of the covariance matrix. + * @param variances A vector containing the variances of this noise model * @param smart check if can be simplified to derived class */ static shared_ptr Variances(const Vector& variances, bool smart = true); @@ -492,6 +494,8 @@ namespace gtsam { /** * An isotropic noise model created by specifying a variance = sigma^2. + * @param dim The dimension of this noise model + * @param variance The variance of this noise model * @param smart check if can be simplified to derived class */ static shared_ptr Variance(size_t dim, double variance, bool smart = true); diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h index daaf64575..33db8c1be 100644 --- a/gtsam_unstable/slam/InvDepthFactor3.h +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -41,10 +41,11 @@ public: /** * Constructor * TODO: Mark argument order standard (keys, measurement, parameters) - * @param z is the 2 dimensional location of point in image (the measurement) + * @param measured is the 2 dimensional location of point in image (the measurement) * @param model is the standard deviation - * @param j_pose is basically the frame number - * @param j_landmark is the index of the landmark + * @param poseKey is basically the frame number + * @param pointKey is the index of the landmark + * @param invDepthKey is the index of inverse depth * @param K shared pointer to the constant calibration */ InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, @@ -57,6 +58,7 @@ public: /** * print * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols */ void print(const std::string& s = "InvDepthFactor3", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { From 49a952d23779e84e2692cd1e27ee63d83ab7a53d Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Fri, 7 Sep 2012 19:12:02 +0000 Subject: [PATCH 901/914] more doxygen fixes --- gtsam/slam/GeneralSFMFactor.h | 15 +++++++++------ gtsam/slam/ProjectionFactor.h | 7 ++++--- gtsam/slam/StereoFactor.h | 1 + gtsam_unstable/slam/InvDepthFactor3.h | 2 +- 4 files changed, 15 insertions(+), 10 deletions(-) diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index beb2f1e67..3f3ae5a52 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -50,10 +50,10 @@ namespace gtsam { /** * Constructor - * @param z is the 2 dimensional location of point in image (the measurement) + * @param measured is the 2 dimensional location of point in image (the measurement) * @param model is the standard deviation of the measurements - * @param i is basically the frame number - * @param j is the index of the landmark + * @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) {} @@ -72,6 +72,7 @@ namespace gtsam { /** * print * @param s optional string naming the factor + * @param keyFormatter optional formatter for printing out Symbols */ void print(const std::string& s = "SFMFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { Base::print(s, keyFormatter); @@ -140,10 +141,11 @@ namespace gtsam { /** * Constructor - * @param z is the 2 dimensional location of point in image (the measurement) + * @param measured is the 2 dimensional location of point in image (the measurement) * @param model is the standard deviation of the measurements - * @param i is basically the frame number - * @param j is the index of the landmark + * @param poseKey is the index of the camera + * @param landmarkKey is the index of the landmark + * @param calibKey is the index of the calibration */ GeneralSFMFactor2(const Point2& measured, const SharedNoiseModel& model, Key poseKey, Key landmarkKey, Key calibKey) : Base(model, poseKey, landmarkKey, calibKey), measured_(measured) {} @@ -159,6 +161,7 @@ namespace gtsam { /** * print * @param s optional string naming the factor + * @param keyFormatter optional formatter useful for printing Symbols */ void print(const std::string& s = "SFMFactor2", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { Base::print(s, keyFormatter); diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index 00bb7f36a..79796e6c3 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -56,10 +56,10 @@ namespace gtsam { /** * Constructor * TODO: Mark argument order standard (keys, measurement, parameters) - * @param z is the 2 dimensional location of point in image (the measurement) + * @param measured is the 2 dimensional location of point in image (the measurement) * @param model is the standard deviation - * @param j_pose is basically the frame number - * @param j_landmark is the index of the landmark + * @param poseKey is the index of the camera + * @param pointKey is the index of the landmark * @param K shared pointer to the constant calibration */ GenericProjectionFactor(const Point2& measured, const SharedNoiseModel& model, @@ -78,6 +78,7 @@ namespace gtsam { /** * 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 { std::cout << s << "GenericProjectionFactor, z = "; diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 6195c0eed..87cb95d25 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -70,6 +70,7 @@ public: /** * 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 { Base::print(s, keyFormatter); diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h index 33db8c1be..f5856f6c8 100644 --- a/gtsam_unstable/slam/InvDepthFactor3.h +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -43,7 +43,7 @@ public: * TODO: Mark argument order standard (keys, measurement, parameters) * @param measured is the 2 dimensional location of point in image (the measurement) * @param model is the standard deviation - * @param poseKey is basically the frame number + * @param poseKey is the index of the camera pose * @param pointKey is the index of the landmark * @param invDepthKey is the index of inverse depth * @param K shared pointer to the constant calibration From fd249efcb9f20c62035b1b9e170bc08eedf618f3 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Fri, 7 Sep 2012 19:20:44 +0000 Subject: [PATCH 902/914] more doxygen fixes --- gtsam/geometry/PinholeCamera.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h index 79cbd8a87..8ec300ac6 100644 --- a/gtsam/geometry/PinholeCamera.h +++ b/gtsam/geometry/PinholeCamera.h @@ -62,6 +62,7 @@ namespace gtsam { /** * Create a level camera at the given 2D pose and height + * @param K the calibration * @param pose2 specifies the location and viewing direction * (theta 0 = looking in direction of positive X axis) * @param height camera height @@ -290,6 +291,8 @@ namespace gtsam { /** * Calculate range to a landmark * @param point 3D location of landmark + * @param H1 the optionally computed Jacobian with respect to pose + * @param H2 the optionally computed Jacobian with respect to the landmark * @return range (double) */ double range(const Point3& point, @@ -308,6 +311,8 @@ namespace gtsam { /** * Calculate range to another pose * @param pose Other SO(3) pose + * @param H1 the optionally computed Jacobian with respect to pose + * @param H2 the optionally computed Jacobian with respect to the landmark * @return range (double) */ double range(const Pose3& pose, @@ -326,6 +331,8 @@ namespace gtsam { /** * Calculate range to another camera * @param camera Other camera + * @param H1 the optionally computed Jacobian with respect to pose + * @param H2 the optionally computed Jacobian with respect to the landmark * @return range (double) */ template @@ -351,6 +358,8 @@ namespace gtsam { /** * Calculate range to another camera * @param camera Other camera + * @param H1 the optionally computed Jacobian with respect to pose + * @param H2 the optionally computed Jacobian with respect to the landmark * @return range (double) */ double range(const CalibratedCamera& camera, From 43b7f985944ab2ce569458ba9b5396f2e9c9235b Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Fri, 7 Sep 2012 23:10:49 +0000 Subject: [PATCH 903/914] Added more functionality to matlab wrapper --- gtsam.h | 275 ++++++++++++++++++++++++++++++++++++++++++++++++-------- 1 file changed, 239 insertions(+), 36 deletions(-) diff --git a/gtsam.h b/gtsam.h index 9c6f76527..879248f33 100644 --- a/gtsam.h +++ b/gtsam.h @@ -82,8 +82,38 @@ * - TODO: Handle gtsam::Rot3M conversions to quaternions */ +/*namespace std { + template + //Module.cpp needs to be changed to allow lowercase classnames + class vector + { + //Capcaity + size_t size() const; + size_t max_size() const; + void resize(size_t sz, T c = T()); + size_t capacity() const; + bool empty() const; + void reserve(size_t n); + + //Element acces + T& at(size_t n); + const T& at(size_t n) const; + T& front(); + const T& front() const; + T& back(); + const T& back() const; + + //Modifiers + void assign(size_t n, const T& u); + void push_back(const T& x); + void pop_back(); + }; +}*/ + namespace gtsam { +//typedef std::vector IndexVector; + //************************************************************************* // base //************************************************************************* @@ -664,14 +694,12 @@ virtual class SimpleCamera : gtsam::Value { //************************************************************************* // inference //************************************************************************* +#include class Permutation { // Standard Constructors and Named Constructors Permutation(); Permutation(size_t nVars); static gtsam::Permutation Identity(size_t nVars); - // FIXME: Cannot currently wrap std::vector - //static gtsam::Permutation PullToFront(const vector& toFront, size_t size, bool filterDuplicates); - //static gtsam::Permutation PushToBack(const vector& toBack, size_t size, bool filterDuplicates = false); // Testable void print(string s) const; @@ -684,10 +712,16 @@ class Permutation { void resize(size_t newSize); gtsam::Permutation* permute(const gtsam::Permutation& permutation) const; gtsam::Permutation* inverse() const; + // FIXME: Cannot currently wrap std::vector + //static gtsam::Permutation PullToFront(const vector& toFront, size_t size, bool filterDuplicates); + //static gtsam::Permutation PushToBack(const vector& toBack, size_t size, bool filterDuplicates = false); + gtsam::Permutation* partialPermutation(const gtsam::Permutation& selector, const gtsam::Permutation& partialPermutation) const; }; class IndexFactor { // Standard Constructors and Named Constructors + IndexFactor(const gtsam::IndexFactor& f); + IndexFactor(const gtsam::IndexConditional& c); IndexFactor(); IndexFactor(size_t j); IndexFactor(size_t j1, size_t j2); @@ -697,6 +731,7 @@ class IndexFactor { IndexFactor(size_t j1, size_t j2, size_t j3, size_t j4, size_t j5, size_t j6); // FIXME: Must wrap std::set for this to work //IndexFactor(const std::set& js); + void permuteWithInverse(const gtsam::Permutation& inversePermutation); // From Factor size_t size() const; @@ -726,6 +761,10 @@ class IndexConditional { size_t nrFrontals() const; size_t nrParents() const; gtsam::IndexFactor* toFactor() const; + + //Advanced interface + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); + void permuteWithInverse(const gtsam::Permutation& inversePermutation); }; #include @@ -742,11 +781,15 @@ class SymbolicBayesNet { // Standard interface size_t size() const; void push_back(const gtsam::IndexConditional* conditional); - // FIXME: cannot overload functions - //void push_back(const SymbolicBayesNet bn); + //TODO:Throws parse error + //void push_back(const gtsam::SymbolicBayesNet bn); void push_front(const gtsam::IndexConditional* conditional); - // FIXME: cannot overload functions - //void push_front(const SymbolicBayesNet bn); + //TODO:Throws parse error + //void push_front(const gtsam::SymbolicBayesNet bn); + + //Advanced Interface + gtsam::IndexConditional* front() const; + gtsam::IndexConditional* back() const; void pop_front(); void permuteWithInverse(const gtsam::Permutation& inversePermutation); bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); @@ -766,6 +809,7 @@ class SymbolicBayesTree { bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; // Standard interface + size_t findParentClique(const gtsam::IndexConditional& parents) const; size_t size() const; void saveGraph(string s) const; void clear(); @@ -788,7 +832,13 @@ class SymbolicFactorGraph { // FIXME: Must wrap FastSet for this to work //FastSet keys() const; - pair eliminateFrontals(size_t nFrontals) const; + //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); + + pair eliminateFrontals(size_t nFrontals) const; }; #include @@ -803,6 +853,7 @@ class SymbolicSequentialSolver { // Standard interface gtsam::SymbolicBayesNet* eliminate() const; + gtsam::IndexFactor* marginalFactor(size_t j) const; }; #include @@ -817,6 +868,7 @@ class SymbolicMultifrontalSolver { // Standard interface gtsam::SymbolicBayesTree* eliminate() const; + gtsam::IndexFactor* marginalFactor(size_t j) const; }; #include @@ -824,14 +876,15 @@ class VariableIndex { // Standard Constructors and Named Constructors VariableIndex(); // FIXME: Handle templates somehow - //template VariableIndex(const FactorGraph& factorGraph, size_t nVariables); - //template VariableIndex(const FactorGraph& factorGraph); + //template + //VariableIndex(const T& factorGraph, size_t nVariables); + //VariableIndex(const T& factorGraph); VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph); VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph, size_t nVariables); -// VariableIndex(const gtsam::GaussianFactorGraph& factorGraph); -// VariableIndex(const gtsam::GaussianFactorGraph& factorGraph, size_t nVariables); -// VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph); -// VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph, size_t nVariables); + VariableIndex(const gtsam::GaussianFactorGraph& factorGraph); + VariableIndex(const gtsam::GaussianFactorGraph& factorGraph, size_t nVariables); + VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph); + VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph, size_t nVariables); VariableIndex(const gtsam::VariableIndex& other); // Testable @@ -857,7 +910,8 @@ virtual class Base { virtual class Gaussian : gtsam::noiseModel::Base { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); -// Matrix R() const; // FIXME: cannot parse!!! + //Matrix R() const; // FIXME: cannot parse!!! + bool equals(gtsam::noiseModel::Base& expected, double tol); void print(string s) const; }; @@ -869,6 +923,20 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian { void print(string s) const; }; +virtual class Constrained : gtsam::noiseModel::Diagonal { + static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas); + static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas); + static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances); + static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances); + static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions); + static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions); + + static gtsam::noiseModel::Constrained* All(size_t dim); + static gtsam::noiseModel::Constrained* All(size_t dim, double m); + + gtsam::noiseModel::Constrained* unit() 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); @@ -884,44 +952,80 @@ virtual class Unit : gtsam::noiseModel::Isotropic { #include class Sampler { + //Constructors Sampler(gtsam::noiseModel::Diagonal* model, int seed); Sampler(Vector sigmas, int seed); Sampler(int seed); + //Standard Interface size_t dim() const; Vector sigmas() const; gtsam::noiseModel::Diagonal* model() const; - Vector sample(); Vector sampleNewModel(gtsam::noiseModel::Diagonal* model); }; class VectorValues { + //Constructors VectorValues(); + VectorValues(const gtsam::VectorValues& other); VectorValues(size_t nVars, size_t varDim); - void print(string s) const; - bool equals(const gtsam::VectorValues& expected, double tol) const; + + //Named Constructors + static gtsam::VectorValues Zero(const gtsam::VectorValues& model); + static gtsam::VectorValues Zero(size_t nVars, size_t varDim); + static gtsam::VectorValues SameStructure(const gtsam::VectorValues& other); + + //Standard Interface size_t size() const; size_t dim(size_t j) const; size_t dim() 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; + + //Advanced Interface + void resizeLike(const gtsam::VectorValues& other); + void resize(size_t nVars, size_t varDim); + void setZero(); + + //FIXME: Parse errors with vector() + //const Vector& vector() const; + //Vector& vector(); + bool hasSameStructure(const gtsam::VectorValues& other) const; + double dot(const gtsam::VectorValues& V) const; + double norm() const; }; class GaussianConditional { + //Constructors GaussianConditional(size_t key, Vector d, Matrix R, Vector sigmas); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, Vector sigmas); GaussianConditional(size_t key, Vector d, Matrix R, size_t name1, Matrix S, size_t name2, Matrix T, Vector sigmas); + + //Standard Interface void print(string s) const; bool equals(const gtsam::GaussianConditional &cg, double tol) const; + size_t dim() const; + + //Advanced Interface + Matrix computeInformation() const; + gtsam::JacobianFactor* toFactor() const; + void solveInPlace(gtsam::VectorValues& x) const; + void solveTransposeInPlace(gtsam::VectorValues& gy) const; + void scaleFrontalsBySigma(gtsam::VectorValues& gy) const; }; class GaussianDensity { + //Constructors GaussianDensity(size_t key, Vector d, Matrix R, Vector sigmas); + + //Standard Interface void print(string s) const; Vector mean() const; Matrix information() const; @@ -929,13 +1033,34 @@ class GaussianDensity { }; class GaussianBayesNet { + //Constructors GaussianBayesNet(); + + //Standard Interface void print(string s) const; bool equals(const gtsam::GaussianBayesNet& cbn, double tol) const; void push_back(gtsam::GaussianConditional* conditional); void push_front(gtsam::GaussianConditional* conditional); }; +//Non-Class methods found in GaussianBayesNet.h +//FIXME: No MATLAB documentation for these functions! +/*gtsam::GaussianBayesNet scalarGaussian(size_t key, double mu, double sigma); +gtsam::GaussianBayesNet simpleGaussian(size_t key, const Vector& mu, double sigma); +void push_front(gtsam::GaussianBayesNet& bn, size_t key, Vector d, Matrix R, size_t name1, Matrix S, Vector sigmas); +void push_front(gtsam::GaussianBayesNet& bn, size_t key, Vector d, Matrix R, size_t name1, Matrix S, size_t name2, Matrix T, Vector sigmas); +gtsam::VectorValues* allocateVectorValues(const gtsam::GaussianBayesNet& bn); +gtsam::VectorValues optimize(const gtsam::GaussianBayesNet& bn); +void optimizeInPlace(const gtsam::GaussianBayesNet& bn, gtsam::VectorValues& x); +gtsam::VectorValues optimizeGradientSearch(const gtsam::GaussianBayesNet& bn); +void optimizeGradientSearchInPlace(const gtsam::GaussianBayesNet& bn, gtsam::VectorValues& grad); +gtsam::VectorValues backSubstitute(const gtsam::GaussianBayesNet& bn, const gtsam::VectorValues& gx); +gtsam::VectorValues backSubstituteTranspose(const gtsam::GaussianBayesNet& bn, const gtsam::VectorValues& gx); +pair matrix(const gtsam::GaussianBayesNet& bn); +double determinant(const gtsam::GaussianBayesNet& bayesNet); +gtsam::VectorValues gradient(const gtsam::GaussianBayesNet& bayesNet, const gtsam::VectorValues& x0); +void gradientAtZero(const gtsam::GaussianBayesNet& bayesNet, const gtsam::VectorValues& g);*/ + virtual class GaussianFactor { void print(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; @@ -945,6 +1070,7 @@ virtual class GaussianFactor { }; virtual class JacobianFactor : gtsam::GaussianFactor { + //Constructors JacobianFactor(); JacobianFactor(Vector b_in); JacobianFactor(size_t i1, Matrix A1, Vector b, @@ -954,21 +1080,46 @@ virtual class JacobianFactor : gtsam::GaussianFactor { 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::GaussianFactor& factor); + + //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; - gtsam::GaussianFactor* negate() const; - bool empty() const; - Vector getb() const; - pair matrix() const; - Matrix matrix_augmented() const; - gtsam::GaussianConditional* eliminateFirst(); - gtsam::GaussianConditional* eliminate(size_t nrFrontals); + + //Standard Interface + gtsam::GaussianFactor* negate() const; + bool empty() const; + Matrix getA() const; + Vector getb() const; + size_t rows() const; + size_t cols() const; + size_t numberOfRows() const; + bool isConstrained() const; + pair matrix() const; + Matrix matrix_augmented() const; + + gtsam::GaussianConditional* eliminateFirst(); + gtsam::GaussianConditional* eliminate(size_t nrFrontals); + gtsam::GaussianFactor* negate() const; + Matrix computeInformation() const; + void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const; + gtsam::JacobianFactor whiten() const; + gtsam::GaussianConditional* eliminateFirst(); + gtsam::GaussianConditional* eliminate(size_t nFrontals); + gtsam::GaussianConditional* splitConditional(size_t nFrontals); + + void setModel(bool anyConstrained, const Vector& sigmas); + void assertInvariants() const; + + //gtsam::SharedDiagonal& get_model(); }; virtual class HessianFactor : gtsam::GaussianFactor { + //Constructors HessianFactor(const gtsam::HessianFactor& gf); HessianFactor(); HessianFactor(size_t j, Matrix G, Vector g, double f); @@ -980,12 +1131,26 @@ virtual class HessianFactor : gtsam::GaussianFactor { double f); HessianFactor(const gtsam::GaussianConditional& cg); HessianFactor(const gtsam::GaussianFactor& factor); + + //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; gtsam::GaussianFactor* negate() const; + Matrix info() const; + double constantTerm() const; + Vector linearTerm() const; + Matrix computeInformation() const; + + //Advanced Interface + void partialCholesky(size_t nrFrontals); + gtsam::GaussianConditional* splitEliminatedFactor(size_t nrFrontals); + void assertInvariants() const; }; class GaussianFactorGraph { @@ -1003,6 +1168,7 @@ class GaussianFactorGraph { // Building the graph void push_back(gtsam::GaussianFactor* factor); + 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, @@ -1010,6 +1176,9 @@ class GaussianFactorGraph { void add(size_t key1, Matrix A1, size_t key2, Matrix A2, size_t key3, Matrix A3, Vector b, const gtsam::noiseModel::Diagonal* model); + //Permutations + void permuteWithInverse(const gtsam::Permutation& inversePermutation); + // error and probability double error(const gtsam::VectorValues& c) const; double probPrime(const gtsam::VectorValues& c) const; @@ -1028,19 +1197,48 @@ class GaussianFactorGraph { pair hessian() const; }; +//Non-Class functions in GaussianFactorGraph.h +/*void multiplyInPlace(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::Errors& e); +gtsam::VectorValues gradient(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x0); +void gradientAtZero(const gtsam::GaussianFactorGraph& fg, gtsam::VectorValues& g); +void residual(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::VectorValues& r); +void multiply(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::VectorValues& r); +void transposeMultiply(const gtsam::GaussianFactorGraph& fg, const gtsam::VectorValues& x, gtsam::VectorValues& r);*/ + +class Errors { + //Constructors + Errors(); + Errors(const gtsam::VectorValues& V); + + //Testable + void print(string s); + bool equals(const gtsam::Errors& expected, double tol) const; +}; + +//Non-Class functions for Errors +//double dot(const gtsam::Errors& A, const gtsam::Errors& b); + class GaussianISAM { + //Constructor GaussianISAM(); + + //Standard Interface void saveGraph(string s) const; gtsam::GaussianFactor* marginalFactor(size_t j) const; gtsam::GaussianBayesNet* marginalBayesNet(size_t key) const; Matrix marginalCovariance(size_t key) const; gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const; + void clear(); }; #include class GaussianSequentialSolver { + //Constructors GaussianSequentialSolver(const gtsam::GaussianFactorGraph& graph, bool useQR); + + //Standard Interface + void replaceFactors(const gtsam::GaussianFactorGraph* factorGraph); gtsam::GaussianBayesNet* eliminate() const; gtsam::VectorValues* optimize() const; gtsam::GaussianFactor* marginalFactor(size_t j) const; @@ -1053,6 +1251,7 @@ virtual class IterativeOptimizationParameters { string getVerbosity() const; void setKernel(string s) ; void setVerbosity(string s) ; + void print() const; }; //virtual class IterativeSolver { @@ -1074,6 +1273,7 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete void setReset(size_t value); void setEpsilon_rel(double value); void setEpsilon_abs(double value); + void print(string s); }; #include @@ -1084,6 +1284,7 @@ virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { class SubgraphSolver { SubgraphSolver(const gtsam::GaussianFactorGraph &A, const gtsam::SubgraphSolverParameters ¶meters); + SubgraphSolver(const gtsam::GaussianFactorGraph &Ab1, const gtsam::GaussianFactorGraph &Ab2, const gtsam::SubgraphSolverParameters ¶meters); gtsam::VectorValues optimize() const; }; @@ -1194,27 +1395,29 @@ class Values { size_t size() const; bool empty() const; - void clear(); - size_t dim() const; + void clear(); + size_t dim() const; void print(string s) const; bool equals(const gtsam::Values& other, double tol) const; void insert(size_t j, const gtsam::Value& value); - void insert(const gtsam::Values& values); - void update(size_t j, const gtsam::Value& val); - void update(const gtsam::Values& values); - void erase(size_t j); + void insert(const gtsam::Values& values); + void update(size_t j, const gtsam::Value& val); + void update(const gtsam::Values& values); + void erase(size_t j); + void swap(gtsam::Values& values); bool exists(size_t j) const; gtsam::Value at(size_t j) const; gtsam::KeyList keys() const; - gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const; + gtsam::VectorValues zeroVectors(const gtsam::Ordering& ordering) const; + gtsam::Ordering* orderingArbitrary(size_t firstVar) const; - gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const; - gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const; - void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const; + gtsam::Values retract(const gtsam::VectorValues& delta, const gtsam::Ordering& ordering) const; + gtsam::VectorValues localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering) const; + void localCoordinates(const gtsam::Values& cp, const gtsam::Ordering& ordering, gtsam::VectorValues& delta) const; }; // Actually a FastList @@ -1493,7 +1696,7 @@ class ISAM2 { gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta); gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices); // TODO: wrap the full version of update - //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys); + //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys); //void update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::KeyVector& removeFactorIndices, FastMap& constrainedKeys, bool force_relinearize); gtsam::Values getLinearizationPoint() const; From c67966718a77d6998c17fb06dbb242c4f30e509e Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 8 Sep 2012 04:20:21 +0000 Subject: [PATCH 904/914] Got rid of extra header --- gtsam/linear/SubgraphSolver.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/gtsam/linear/SubgraphSolver.h b/gtsam/linear/SubgraphSolver.h index 7c60c0588..fe968d486 100644 --- a/gtsam/linear/SubgraphSolver.h +++ b/gtsam/linear/SubgraphSolver.h @@ -17,8 +17,6 @@ #include #include -#include - namespace gtsam { class SubgraphSolverParameters : public ConjugateGradientParameters { From 3e8544880af91d817cee759ca3f3a50edea49e95 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 8 Sep 2012 04:21:21 +0000 Subject: [PATCH 905/914] Fixed confusing variable naming, e.g. Index key -> Index j --- gtsam/inference/BayesTree-inl.h | 62 ++++++++++++++++----------------- gtsam/inference/BayesTree.h | 36 ++++++++++--------- 2 files changed, 50 insertions(+), 48 deletions(-) diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 501a8aabd..72a503b6a 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -167,8 +167,8 @@ namespace gtsam { template void BayesTree::addClique(const sharedClique& clique, const sharedClique& parent_clique) { nodes_.resize(std::max((*clique)->lastFrontalKey()+1, nodes_.size())); - BOOST_FOREACH(Index key, (*clique)->frontals()) - nodes_[key] = clique; + BOOST_FOREACH(Index j, (*clique)->frontals()) + nodes_[j] = clique; if (parent_clique != NULL) { clique->parent_ = parent_clique; parent_clique->children_.push_back(clique); @@ -185,8 +185,8 @@ namespace gtsam { const sharedConditional& conditional, std::list& child_cliques) { sharedClique new_clique(new Clique(conditional)); nodes_.resize(std::max(conditional->lastFrontalKey()+1, nodes_.size())); - BOOST_FOREACH(Index key, conditional->frontals()) - nodes_[key] = new_clique; + BOOST_FOREACH(Index j, conditional->frontals()) + nodes_[j] = new_clique; new_clique->children_ = child_cliques; BOOST_FOREACH(sharedClique& child, child_cliques) child->parent_ = new_clique; @@ -210,13 +210,13 @@ namespace gtsam { #endif if(debug) conditional->print("Adding conditional "); if(debug) clique->print("To clique "); - Index key = conditional->lastFrontalKey(); - bayesTree.nodes_.resize(std::max(key+1, bayesTree.nodes_.size())); - bayesTree.nodes_[key] = clique; - FastVector newKeys((*clique)->size() + 1); - newKeys[0] = key; - std::copy((*clique)->begin(), (*clique)->end(), newKeys.begin()+1); - clique->conditional_ = CONDITIONAL::FromKeys(newKeys, (*clique)->nrFrontals() + 1); + Index j = conditional->lastFrontalKey(); + bayesTree.nodes_.resize(std::max(j+1, bayesTree.nodes_.size())); + bayesTree.nodes_[j] = clique; + FastVector newIndices((*clique)->size() + 1); + newIndices[0] = j; + std::copy((*clique)->begin(), (*clique)->end(), newIndices.begin()+1); + clique->conditional_ = CONDITIONAL::FromKeys(newIndices, (*clique)->nrFrontals() + 1); if(debug) clique->print("Expanded clique is "); clique->assertInvariants(); } @@ -234,8 +234,8 @@ namespace gtsam { BOOST_FOREACH(sharedClique child, clique->children_) child->parent_ = typename Clique::weak_ptr(); - BOOST_FOREACH(Index key, (*clique->conditional())) { - nodes_[key].reset(); + BOOST_FOREACH(Index j, (*clique->conditional())) { + nodes_[j].reset(); } } @@ -379,7 +379,7 @@ namespace gtsam { { static const bool debug = false; - // get key and parents + // get indices and parents const typename CONDITIONAL::Parents& parents = conditional->parents(); if(debug) conditional->print("Adding conditional "); @@ -402,7 +402,7 @@ namespace gtsam { if ((*parent_clique)->size() == size_t(parents.size())) { if(debug) std::cout << "Adding to parent clique" << std::endl; #ifndef NDEBUG - // Debug check that the parent keys of the new conditional match the keys + // Debug check that the parent indices of the new conditional match the indices // currently in the clique. // list::const_iterator parent = parents.begin(); // typename Clique::const_iterator cond = parent_clique->begin(); @@ -441,7 +441,7 @@ namespace gtsam { template void BayesTree::fillNodesIndex(const sharedClique& subtree) { // Add each frontal variable of this root node - BOOST_FOREACH(const Index& key, subtree->conditional()->frontals()) { nodes_[key] = subtree; } + BOOST_FOREACH(const Index& j, subtree->conditional()->frontals()) { nodes_[j] = subtree; } // Fill index for each child typedef typename BayesTree::sharedClique sharedClique; BOOST_FOREACH(const sharedClique& child, subtree->children_) { @@ -480,26 +480,26 @@ namespace gtsam { /* ************************************************************************* */ template typename CONDITIONAL::FactorType::shared_ptr BayesTree::marginalFactor( - Index key, Eliminate function) const { + Index j, Eliminate function) const { - // get clique containing key - sharedClique clique = (*this)[key]; + // get clique containing Index j + sharedClique clique = (*this)[j]; // calculate or retrieve its marginal FactorGraph cliqueMarginal = clique->marginal(root_,function); return GenericSequentialSolver(cliqueMarginal).marginalFactor( - key, function); + j, function); } /* ************************************************************************* */ template typename BayesNet::shared_ptr BayesTree::marginalBayesNet( - Index key, Eliminate function) const { + Index j, Eliminate function) const { // calculate marginal as a factor graph FactorGraph fg; - fg.push_back(this->marginalFactor(key,function)); + fg.push_back(this->marginalFactor(j,function)); // eliminate factor graph marginal to a Bayes net return GenericSequentialSolver(fg).eliminate(function); @@ -510,28 +510,28 @@ namespace gtsam { /* ************************************************************************* */ template typename FactorGraph::shared_ptr - BayesTree::joint(Index key1, Index key2, Eliminate function) const { + BayesTree::joint(Index j1, Index j2, Eliminate function) const { // get clique C1 and C2 - sharedClique C1 = (*this)[key1], C2 = (*this)[key2]; + sharedClique C1 = (*this)[j1], C2 = (*this)[j2]; // calculate joint FactorGraph p_C1C2(C1->joint(C2, root_, function)); // eliminate remaining factor graph to get requested joint - std::vector key12(2); key12[0] = key1; key12[1] = key2; + std::vector j12(2); j12[0] = j1; j12[1] = j2; GenericSequentialSolver solver(p_C1C2); - return solver.jointFactorGraph(key12,function); + return solver.jointFactorGraph(j12,function); } /* ************************************************************************* */ template typename BayesNet::shared_ptr BayesTree::jointBayesNet( - Index key1, Index key2, Eliminate function) const { + Index j1, Index j2, Eliminate function) const { // eliminate factor graph marginal to a Bayes net return GenericSequentialSolver ( - *this->joint(key1, key2, function)).eliminate(function); + *this->joint(j1, j2, function)).eliminate(function); } /* ************************************************************************* */ @@ -574,11 +574,11 @@ namespace gtsam { BayesNet& bn, typename BayesTree::Cliques& orphans) { // process each key of the new factor - BOOST_FOREACH(const Index& key, keys) { + BOOST_FOREACH(const Index& j, keys) { // get the clique - if(key < nodes_.size()) { - const sharedClique& clique(nodes_[key]); + if(j < nodes_.size()) { + const sharedClique& clique(nodes_[j]); if(clique) { // remove path from clique to root this->removePath(clique, bn, orphans); diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 6cd7c67f1..1e87ca141 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -91,10 +91,18 @@ namespace gtsam { CliqueStats getStats() const; }; - /** Map from keys to Clique */ + /** Map from indices to Clique */ typedef std::deque Nodes; - public: + protected: + + /** Map from indices to Clique */ + Nodes nodes_; + + /** Root clique */ + sharedClique root_; + + public: /// @name Standard Constructors /// @{ @@ -160,29 +168,29 @@ namespace gtsam { /** return root clique */ const sharedClique& root() const { return root_; } - /** find the clique to which key belongs */ - sharedClique operator[](Index key) const { - return nodes_.at(key); + /** find the clique that contains the variable with Index j */ + sharedClique operator[](Index j) const { + return nodes_.at(j); } /** Gather data on all cliques */ CliqueData getCliqueData() const; /** return marginal on any variable */ - typename FactorType::shared_ptr marginalFactor(Index key, Eliminate function) const; + typename FactorType::shared_ptr marginalFactor(Index j, Eliminate function) const; /** * return marginal on any variable, as a Bayes Net * NOTE: this function calls marginal, and then eliminates it into a Bayes Net * This is more expensive than the above function */ - typename BayesNet::shared_ptr marginalBayesNet(Index key, Eliminate function) const; + typename BayesNet::shared_ptr marginalBayesNet(Index j, Eliminate function) const; /** return joint on two variables */ - typename FactorGraph::shared_ptr joint(Index key1, Index key2, Eliminate function) const; + typename FactorGraph::shared_ptr joint(Index j1, Index j2, Eliminate function) const; /** return joint on two variables as a BayesNet */ - typename BayesNet::shared_ptr jointBayesNet(Index key1, Index key2, Eliminate function) const; + typename BayesNet::shared_ptr jointBayesNet(Index j1, Index j2, Eliminate function) const; /** * Read only with side effects @@ -211,11 +219,11 @@ namespace gtsam { void removePath(sharedClique clique, BayesNet& bn, Cliques& orphans); /** - * Given a list of keys, turn "contaminated" part of the tree back into a factor graph. + * Given a list of indices, turn "contaminated" part of the tree back into a factor graph. * Factors and orphans are added to the in/out arguments. */ template - void removeTop(const CONTAINER& keys, BayesNet& bn, Cliques& orphans); + void removeTop(const CONTAINER& indices, BayesNet& bn, Cliques& orphans); /** * Hang a new subtree off of the existing tree. This finds the appropriate @@ -243,9 +251,6 @@ namespace gtsam { protected: - /** Map from keys to Clique */ - Nodes nodes_; - /** private helper method for saving the Tree to a text file in GraphViz format */ void saveGraph(std::ostream &s, sharedClique clique, const IndexFormatter& indexFormatter, int parentnum = 0) const; @@ -253,9 +258,6 @@ namespace gtsam { /** Gather data on a single clique */ void getCliqueData(CliqueData& stats, sharedClique clique) const; - /** Root clique */ - sharedClique root_; - /** remove a clique: warning, can result in a forest */ void removeClique(sharedClique clique); From e663d54c3c330597365e7aff2083c8a1082df6df Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 8 Sep 2012 05:28:25 +0000 Subject: [PATCH 906/914] Fixed some comments --- matlab/+gtsam/VisualISAMGenerateData.m | 2 +- matlab/+gtsam/VisualISAMInitialize.m | 2 +- matlab/+gtsam/VisualISAMPlot.m | 2 +- matlab/+gtsam/VisualISAMStep.m | 2 +- matlab/+gtsam/circlePose2.m | 2 +- matlab/+gtsam/circlePose3.m | 2 +- matlab/+gtsam/covarianceEllipse.m | 2 +- matlab/+gtsam/covarianceEllipse3D.m | 2 +- matlab/+gtsam/load3D.m | 2 +- matlab/+gtsam/plot3DTrajectory.m | 4 +++- matlab/+gtsam/plotPoint2.m | 2 +- matlab/+gtsam/plotPose2.m | 2 +- matlab/+gtsam/plotPose3.m | 2 +- 13 files changed, 15 insertions(+), 13 deletions(-) diff --git a/matlab/+gtsam/VisualISAMGenerateData.m b/matlab/+gtsam/VisualISAMGenerateData.m index 2e972d9af..b3b602afe 100644 --- a/matlab/+gtsam/VisualISAMGenerateData.m +++ b/matlab/+gtsam/VisualISAMGenerateData.m @@ -1,5 +1,5 @@ function [data,truth] = VisualISAMGenerateData(options) -% VisualISAMGenerateData: create data for viusalSLAM::iSAM examples +% VisualISAMGenerateData creates data for viusalSLAM::iSAM examples % Authors: Duy Nguyen Ta and Frank Dellaert %% Generate simulated data diff --git a/matlab/+gtsam/VisualISAMInitialize.m b/matlab/+gtsam/VisualISAMInitialize.m index b29288fdf..8da23a1ec 100644 --- a/matlab/+gtsam/VisualISAMInitialize.m +++ b/matlab/+gtsam/VisualISAMInitialize.m @@ -1,5 +1,5 @@ function [noiseModels,isam,result,nextPoseIndex] = VisualISAMInitialize(data,truth,options) -% VisualInitialize: initialize visualSLAM::iSAM object and noise parameters +% VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters % Authors: Duy Nguyen Ta, Frank Dellaert and Alex Cunningham %% Initialize iSAM diff --git a/matlab/+gtsam/VisualISAMPlot.m b/matlab/+gtsam/VisualISAMPlot.m index cd7ab188e..a6a677723 100644 --- a/matlab/+gtsam/VisualISAMPlot.m +++ b/matlab/+gtsam/VisualISAMPlot.m @@ -1,5 +1,5 @@ function VisualISAMPlot(truth, data, isam, result, options) -% VisualISAMPlot: plot current state of ISAM2 object +% VisualISAMPlot plots current state of ISAM2 object % Authors: Duy Nguyen Ta and Frank Dellaert h=gca; diff --git a/matlab/+gtsam/VisualISAMStep.m b/matlab/+gtsam/VisualISAMStep.m index 71b1c849c..25b4c1027 100644 --- a/matlab/+gtsam/VisualISAMStep.m +++ b/matlab/+gtsam/VisualISAMStep.m @@ -1,5 +1,5 @@ function [isam,result,nextPoseIndex] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPoseIndex) -% VisualISAMStep: execute one update step of visualSLAM::iSAM object +% VisualISAMStep executes one update step of visualSLAM::iSAM object % Authors: Duy Nguyen Ta and Frank Dellaert % iSAM expects us to give it a new set of factors diff --git a/matlab/+gtsam/circlePose2.m b/matlab/+gtsam/circlePose2.m index 0679c16b3..a2606ec06 100644 --- a/matlab/+gtsam/circlePose2.m +++ b/matlab/+gtsam/circlePose2.m @@ -1,5 +1,5 @@ function values = circlePose2(numPoses, radius, symbolChar) -% circlePose3: generate a set of poses in a circle. This function +% circlePose2 generates a set of poses in a circle. This function % returns those poses inside a gtsam.Values object, with sequential % keys starting from 0. An optional character may be provided, which % will be stored in the msb of each key (i.e. gtsam.Symbol). diff --git a/matlab/+gtsam/circlePose3.m b/matlab/+gtsam/circlePose3.m index 9085ab0d0..686bce7cf 100644 --- a/matlab/+gtsam/circlePose3.m +++ b/matlab/+gtsam/circlePose3.m @@ -1,5 +1,5 @@ function values = circlePose3(numPoses, radius, symbolChar) -% circlePose3: generate a set of poses in a circle. This function +% circlePose3 generates a set of poses in a circle. This function % returns those poses inside a gtsam.Values object, with sequential % keys starting from 0. An optional character may be provided, which % will be stored in the msb of each key (i.e. gtsam.Symbol). diff --git a/matlab/+gtsam/covarianceEllipse.m b/matlab/+gtsam/covarianceEllipse.m index b4579862e..7728fc866 100644 --- a/matlab/+gtsam/covarianceEllipse.m +++ b/matlab/+gtsam/covarianceEllipse.m @@ -1,5 +1,5 @@ function covarianceEllipse(x,P,color) -% covarianceEllipse: plot a Gaussian as an uncertainty ellipse +% covarianceEllipse plots a Gaussian as an uncertainty ellipse % Based on Maybeck Vol 1, page 366 % k=2.296 corresponds to 1 std, 68.26% of all probability % k=11.82 corresponds to 3 std, 99.74% of all probability diff --git a/matlab/+gtsam/covarianceEllipse3D.m b/matlab/+gtsam/covarianceEllipse3D.m index d3ef1f8a7..9682a9fc1 100644 --- a/matlab/+gtsam/covarianceEllipse3D.m +++ b/matlab/+gtsam/covarianceEllipse3D.m @@ -1,5 +1,5 @@ function covarianceEllipse3D(c,P) -% covarianceEllipse3D: plot a Gaussian as an uncertainty ellipse +% covarianceEllipse3D plots a Gaussian as an uncertainty ellipse % Based on Maybeck Vol 1, page 366 % k=2.296 corresponds to 1 std, 68.26% of all probability % k=11.82 corresponds to 3 std, 99.74% of all probability diff --git a/matlab/+gtsam/load3D.m b/matlab/+gtsam/load3D.m index c0ccd545f..94202e0c8 100644 --- a/matlab/+gtsam/load3D.m +++ b/matlab/+gtsam/load3D.m @@ -1,5 +1,5 @@ function [graph,initial] = load3D(filename,model,successive,N) -% load3D: read TORO 3D pose graph +% load3D reads a TORO-style 3D pose graph % cannot read noise model from file yet, uses specified model % if [successive] is tru, constructs initial estimate from odometry diff --git a/matlab/+gtsam/plot3DTrajectory.m b/matlab/+gtsam/plot3DTrajectory.m index 1cd35c22f..d24e21297 100644 --- a/matlab/+gtsam/plot3DTrajectory.m +++ b/matlab/+gtsam/plot3DTrajectory.m @@ -1,5 +1,7 @@ function plot3DTrajectory(values,linespec,frames,scale,marginals) -% plot3DTrajectory +% plot3DTrajectory plots a 3D trajectory +% plot3DTrajectory(values,linespec,frames,scale,marginals) + if ~exist('scale','var') || isempty(scale), scale=1; end if ~exist('frames','var'), scale=[]; end diff --git a/matlab/+gtsam/plotPoint2.m b/matlab/+gtsam/plotPoint2.m index e62804ce3..55e476118 100644 --- a/matlab/+gtsam/plotPoint2.m +++ b/matlab/+gtsam/plotPoint2.m @@ -1,5 +1,5 @@ function plotPoint2(p,color,P) -% plotPoint2: show a Point2, possibly with covariance matrix +% plotPoint2 shows a Point2, possibly with covariance matrix if size(color,2)==1 plot(p.x,p.y,[color '*']); else diff --git a/matlab/+gtsam/plotPose2.m b/matlab/+gtsam/plotPose2.m index c7fba28ed..799bad48e 100644 --- a/matlab/+gtsam/plotPose2.m +++ b/matlab/+gtsam/plotPose2.m @@ -1,5 +1,5 @@ function plotPose2(pose,color,P,axisLength) -% plotPose2: show a Pose2, possibly with covariance matrix +% plotPose2 shows a Pose2, possibly with covariance matrix if nargin<4,axisLength=0.1;end plot(pose.x,pose.y,[color '*']); diff --git a/matlab/+gtsam/plotPose3.m b/matlab/+gtsam/plotPose3.m index e2c254e39..8c3c7dd76 100644 --- a/matlab/+gtsam/plotPose3.m +++ b/matlab/+gtsam/plotPose3.m @@ -1,5 +1,5 @@ function plotPose3(pose, P, axisLength) -% plotPose3: show a Pose, possibly with covariance matrix +% plotPose3 shows a Pose, possibly with covariance matrix if nargin<3,axisLength=0.1;end % get rotation and translation (center) From d8a6b6a5e4f50301641c8ad064ff9367326bc5d7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 8 Sep 2012 05:44:26 +0000 Subject: [PATCH 907/914] Vastly improved "help gtsam" and "doc gtsam" output --- matlab/+gtsam/Contents.m | 161 +++++++++++++++++++++++++++++++++++++++ wrap/Class.cpp | 131 ++++++++++++++++--------------- 2 files changed, 226 insertions(+), 66 deletions(-) create mode 100644 matlab/+gtsam/Contents.m diff --git a/matlab/+gtsam/Contents.m b/matlab/+gtsam/Contents.m new file mode 100644 index 000000000..0af19e1c8 --- /dev/null +++ b/matlab/+gtsam/Contents.m @@ -0,0 +1,161 @@ +% GTSAM MATLAB toolbox interface to the Georgia Tech Smoothing and Mapping C++ library +% Version 2.1 08-Sep-2012 +% +%% Basic Utilities +% linear_independent - check whether the rows of two matrices are linear independent +% Permutation - class Permutation, see Doxygen page for details +% +%% General Inference Classes +% IndexConditional - class IndexConditional, see Doxygen page for details +% IndexFactor - class IndexFactor, see Doxygen page for details +% SymbolicBayesNet - class SymbolicBayesNet, see Doxygen page for details +% SymbolicBayesTree - class SymbolicBayesTree, see Doxygen page for details +% SymbolicFactorGraph - class SymbolicFactorGraph, see Doxygen page for details +% SymbolicMultifrontalSolver - class SymbolicMultifrontalSolver, see Doxygen page for details +% SymbolicSequentialSolver - class SymbolicSequentialSolver, see Doxygen page for details +% VariableIndex - class VariableIndex, see Doxygen page for details +% +%% Linear-Gaussian Factor Graphs +% Errors - class Errors, see Doxygen page for details +% GaussianBayesNet - class GaussianBayesNet, see Doxygen page for details +% GaussianConditional - class GaussianConditional, see Doxygen page for details +% GaussianDensity - class GaussianDensity, see Doxygen page for details +% GaussianFactor - class GaussianFactor, see Doxygen page for details +% GaussianFactorGraph - class GaussianFactorGraph, see Doxygen page for details +% GaussianISAM - class GaussianISAM, see Doxygen page for details +% HessianFactor - class HessianFactor, see Doxygen page for details +% JacobianFactor - class JacobianFactor, see Doxygen page for details +% VectorValues - class VectorValues, see Doxygen page for details +% +%% Linear Inference +% GaussianSequentialSolver - class GaussianSequentialSolver, see Doxygen page for details +% IterativeOptimizationParameters - class IterativeOptimizationParameters, see Doxygen page for details +% KalmanFilter - class KalmanFilter, see Doxygen page for details +% SubgraphSolver - class SubgraphSolver, see Doxygen page for details +% SubgraphSolverParameters - class SubgraphSolverParameters, see Doxygen page for details +% SuccessiveLinearizationParams - class SuccessiveLinearizationParams, see Doxygen page for details +% Sampler - class Sampler, see Doxygen page for details +% +%% Nonlinear Factor Graphs +% NonlinearFactor - class NonlinearFactor, see Doxygen page for details +% NonlinearFactorGraph - class NonlinearFactorGraph, see Doxygen page for details +% Ordering - class Ordering, see Doxygen page for details +% Value - class Value, see Doxygen page for details +% Values - class Values, see Doxygen page for details +% +%% Nonlinear Optimization +% ConjugateGradientParameters - class ConjugateGradientParameters, see Doxygen page for details +% DoglegOptimizer - class DoglegOptimizer, see Doxygen page for details +% DoglegParams - class DoglegParams, see Doxygen page for details +% GaussNewtonOptimizer - class GaussNewtonOptimizer, see Doxygen page for details +% GaussNewtonParams - class GaussNewtonParams, see Doxygen page for details +% ISAM2 - class ISAM2, see Doxygen page for details +% ISAM2DoglegParams - class ISAM2DoglegParams, see Doxygen page for details +% ISAM2GaussNewtonParams - class ISAM2GaussNewtonParams, see Doxygen page for details +% ISAM2Params - class ISAM2Params, see Doxygen page for details +% ISAM2Result - class ISAM2Result, see Doxygen page for details +% ISAM2ThresholdMap - class ISAM2ThresholdMap, see Doxygen page for details +% ISAM2ThresholdMapValue - class ISAM2ThresholdMapValue, see Doxygen page for details +% InvertedOrdering - class InvertedOrdering, see Doxygen page for details +% JointMarginal - class JointMarginal, see Doxygen page for details +% KeyList - class KeyList, see Doxygen page for details +% KeySet - class KeySet, see Doxygen page for details +% KeyVector - class KeyVector, see Doxygen page for details +% LevenbergMarquardtOptimizer - class LevenbergMarquardtOptimizer, see Doxygen page for details +% LevenbergMarquardtParams - class LevenbergMarquardtParams, see Doxygen page for details +% Marginals - class Marginals, see Doxygen page for details +% NonlinearISAM - class NonlinearISAM, see Doxygen page for details +% NonlinearOptimizer - class NonlinearOptimizer, see Doxygen page for details +% NonlinearOptimizerParams - class NonlinearOptimizerParams, see Doxygen page for details +% +%% Geometry +% Cal3_S2 - class Cal3_S2, see Doxygen page for details +% Cal3_S2Stereo - class Cal3_S2Stereo, see Doxygen page for details +% Cal3DS2 - class Cal3DS2, see Doxygen page for details +% CalibratedCamera - class CalibratedCamera, see Doxygen page for details +% Point2 - class Point2, see Doxygen page for details +% Point3 - class Point3, see Doxygen page for details +% Pose2 - class Pose2, see Doxygen page for details +% Pose3 - class Pose3, see Doxygen page for details +% Rot2 - class Rot2, see Doxygen page for details +% Rot3 - class Rot3, see Doxygen page for details +% SimpleCamera - class SimpleCamera, see Doxygen page for details +% StereoPoint2 - class StereoPoint2, see Doxygen page for details +% +%% SLAM and SFM +% BearingFactor2D - class BearingFactor2D, 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 +% BetweenFactorLieVector - class BetweenFactorLieVector, see Doxygen page for details +% BetweenFactorPoint2 - class BetweenFactorPoint2, see Doxygen page for details +% BetweenFactorPoint3 - class BetweenFactorPoint3, see Doxygen page for details +% BetweenFactorPose2 - class BetweenFactorPose2, see Doxygen page for details +% BetweenFactorPose3 - class BetweenFactorPose3, see Doxygen page for details +% BetweenFactorRot2 - class BetweenFactorRot2, see Doxygen page for details +% BetweenFactorRot3 - class BetweenFactorRot3, see Doxygen page for details +% GeneralSFMFactor2Cal3_S2 - class GeneralSFMFactor2Cal3_S2, see Doxygen page for details +% GeneralSFMFactorCal3_S2 - class GeneralSFMFactorCal3_S2, see Doxygen page for details +% GenericProjectionFactorCal3_S2 - class GenericProjectionFactorCal3_S2, see Doxygen page for details +% GenericStereoFactor3D - class GenericStereoFactor3D, see Doxygen page for details +% NonlinearEqualityCal3_S2 - class NonlinearEqualityCal3_S2, see Doxygen page for details +% NonlinearEqualityCalibratedCamera - class NonlinearEqualityCalibratedCamera, see Doxygen page for details +% NonlinearEqualityLieMatrix - class NonlinearEqualityLieMatrix, see Doxygen page for details +% NonlinearEqualityLieScalar - class NonlinearEqualityLieScalar, see Doxygen page for details +% NonlinearEqualityLieVector - class NonlinearEqualityLieVector, see Doxygen page for details +% NonlinearEqualityPoint2 - class NonlinearEqualityPoint2, see Doxygen page for details +% NonlinearEqualityPoint3 - class NonlinearEqualityPoint3, see Doxygen page for details +% NonlinearEqualityPose2 - class NonlinearEqualityPose2, see Doxygen page for details +% NonlinearEqualityPose3 - class NonlinearEqualityPose3, see Doxygen page for details +% NonlinearEqualityRot2 - class NonlinearEqualityRot2, see Doxygen page for details +% NonlinearEqualityRot3 - class NonlinearEqualityRot3, see Doxygen page for details +% NonlinearEqualitySimpleCamera - class NonlinearEqualitySimpleCamera, see Doxygen page for details +% NonlinearEqualityStereoPoint2 - class NonlinearEqualityStereoPoint2, see Doxygen page for details +% PriorFactorCal3_S2 - class PriorFactorCal3_S2, see Doxygen page for details +% PriorFactorCalibratedCamera - class PriorFactorCalibratedCamera, see Doxygen page for details +% PriorFactorLieMatrix - class PriorFactorLieMatrix, see Doxygen page for details +% PriorFactorLieScalar - class PriorFactorLieScalar, see Doxygen page for details +% PriorFactorLieVector - class PriorFactorLieVector, see Doxygen page for details +% PriorFactorPoint2 - class PriorFactorPoint2, see Doxygen page for details +% PriorFactorPoint3 - class PriorFactorPoint3, see Doxygen page for details +% PriorFactorPose2 - class PriorFactorPose2, see Doxygen page for details +% PriorFactorPose3 - class PriorFactorPose3, see Doxygen page for details +% PriorFactorRot2 - class PriorFactorRot2, see Doxygen page for details +% PriorFactorRot3 - class PriorFactorRot3, see Doxygen page for details +% PriorFactorSimpleCamera - class PriorFactorSimpleCamera, see Doxygen page for details +% PriorFactorStereoPoint2 - class PriorFactorStereoPoint2, see Doxygen page for details +% RangeFactorCalibratedCamera - class RangeFactorCalibratedCamera, see Doxygen page for details +% RangeFactorCalibratedCameraPoint - class RangeFactorCalibratedCameraPoint, see Doxygen page for details +% RangeFactorPose2 - class RangeFactorPose2, see Doxygen page for details +% RangeFactorPose3 - class RangeFactorPose3, see Doxygen page for details +% RangeFactorPosePoint2 - class RangeFactorPosePoint2, see Doxygen page for details +% RangeFactorPosePoint3 - class RangeFactorPosePoint3, see Doxygen page for details +% RangeFactorSimpleCamera - class RangeFactorSimpleCamera, see Doxygen page for details +% RangeFactorSimpleCameraPoint - class RangeFactorSimpleCameraPoint, see Doxygen page for details +% VisualISAMGenerateData - VisualISAMGenerateData creates data for viusalSLAM::iSAM examples +% VisualISAMInitialize - VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters +% VisualISAMPlot - VisualISAMPlot plots current state of ISAM2 object +% VisualISAMStep - VisualISAMStep executes one update step of visualSLAM::iSAM object +% +%% MATLAB-only Utilities +% CHECK - throw an error if an assertion fails +% circlePose2 - circlePose2 generates a set of poses in a circle. This function +% circlePose3 - circlePose3 generates a set of poses in a circle. This function +% covarianceEllipse - covarianceEllipse plots a Gaussian as an uncertainty ellipse +% covarianceEllipse3D - covarianceEllipse3D plots a Gaussian as an uncertainty ellipse +% EQUALITY - test equality of two vectors/matrices up to tolerance +% findExampleDataFile - Find a dataset in the examples folder +% load2D - load2D reads a TORO-style 2D pose graph +% load3D - load3D reads a TORO-style 3D pose graph +% plot2DPoints - Plots the Point2's in a values, with optional covariances +% plot2DTrajectory - Plots the Pose2's in a values, with optional covariances +% plot3DPoints - Plots the Point3's in a values, with optional covariances +% plot3DTrajectory - plot3DTrajectory plots a 3D trajectory +% plotCamera - +% plotPoint2 - plotPoint2 shows a Point2, possibly with covariance matrix +% plotPoint3 - Plot a Point3 with an optional covariance matrix +% plotPose2 - plotPose2 shows a Pose2, possibly with covariance matrix +% plotPose3 - plotPose3 shows a Pose, possibly with covariance matrix +% symbol - create a Symbol key +% symbolChr - get character from a symbol key +% symbolIndex - get index from a symbol key diff --git a/wrap/Class.cpp b/wrap/Class.cpp index 374324558..48fbeb6bf 100644 --- a/wrap/Class.cpp +++ b/wrap/Class.cpp @@ -58,13 +58,13 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName; comment_fragment(proxyFile); proxyFile.oss << "classdef " << name << " < " << parent << endl; - proxyFile.oss << " properties" << endl; - proxyFile.oss << " ptr_" << matlabUniqueName << " = 0" << endl; - proxyFile.oss << " end" << endl; - proxyFile.oss << " methods" << endl; + proxyFile.oss << " properties\n"; + proxyFile.oss << " ptr_" << matlabUniqueName << " = 0\n"; + proxyFile.oss << " end\n"; + proxyFile.oss << " methods\n"; // Constructor - proxyFile.oss << " function obj = " << name << "(varargin)" << endl; + proxyFile.oss << " function obj = " << name << "(varargin)\n"; // Special pointer constructors - one in MATLAB to create an object and // assign a pointer returned from a C++ function. In turn this MATLAB // constructor calls a special C++ function that just adds the object to @@ -85,7 +85,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, functionNames.push_back(wrapFunctionName); } proxyFile.oss << " else\n"; - proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');" << endl; + proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');\n"; proxyFile.oss << " end\n"; if(!qualifiedParent.empty()) proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n"; @@ -124,8 +124,8 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, wrapperFile.oss << "\n"; } - proxyFile.oss << " end" << endl; - proxyFile.oss << "end" << endl; + proxyFile.oss << " end\n"; + proxyFile.oss << "end\n"; // Close file proxyFile.emit(true); @@ -181,7 +181,7 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra // comes from a C++ return value; this mechanism allows the object to be added // to a collector in a different wrap module. If this class has a base class, // a new pointer to the base class is allocated and returned. - wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl; + wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; wrapperFile.oss << "{\n"; wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n"; // Typedef boost::shared_ptr @@ -325,70 +325,69 @@ std::string Class::getTypedef() const { /* ************************************************************************* */ -void Class::comment_fragment(FileWriter& proxyFile) const -{ - proxyFile.oss << "%" << "-------Constructors-------" << endl; - BOOST_FOREACH(ArgumentList argList, constructor.args_list) - { +void Class::comment_fragment(FileWriter& proxyFile) const { + proxyFile.oss << "%class " << name + << ", see Doxygen page for details\n"; + proxyFile.oss + << "%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n"; - string up_name = boost::to_upper_copy(name); - proxyFile.oss << "%" << name << "("; - unsigned int i = 0; - BOOST_FOREACH(const Argument& arg, argList) - { - if(i != argList.size()-1) - proxyFile.oss << arg.type << " " << arg.name << ", "; - else - proxyFile.oss << arg.type << " " << arg.name; - i++; - } - proxyFile.oss << ")" << endl; + if (!constructor.args_list.empty()) + proxyFile.oss << "%\n%-------Constructors-------\n"; + BOOST_FOREACH(ArgumentList argList, constructor.args_list) { + string up_name = boost::to_upper_copy(name); + proxyFile.oss << "%" << name << "("; + unsigned int i = 0; + BOOST_FOREACH(const Argument& arg, argList) { + if (i != argList.size() - 1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; } + proxyFile.oss << ")\n"; + } - proxyFile.oss << "% " << "" << endl; - proxyFile.oss << "%" << "-------Methods-------" << endl; - BOOST_FOREACH(const Methods::value_type& name_m, methods) { - const Method& m = name_m.second; - BOOST_FOREACH(ArgumentList argList, m.argLists) - { - string up_name = boost::to_upper_copy(m.name); - proxyFile.oss << "%" << m.name << "("; - unsigned int i = 0; - BOOST_FOREACH(const Argument& arg, argList) - { - if(i != argList.size()-1) - proxyFile.oss << arg.type << " " << arg.name << ", "; - else - proxyFile.oss << arg.type << " " << arg.name; - i++; - } - proxyFile.oss << ") : returns " << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl; - } + if (!methods.empty()) + proxyFile.oss << "%\n%-------Methods-------\n"; + BOOST_FOREACH(const Methods::value_type& name_m, methods) { + const Method& m = name_m.second; + BOOST_FOREACH(ArgumentList argList, m.argLists) { + string up_name = boost::to_upper_copy(m.name); + proxyFile.oss << "%" << m.name << "("; + unsigned int i = 0; + BOOST_FOREACH(const Argument& arg, argList) { + if (i != argList.size() - 1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } + proxyFile.oss << ") : returns " + << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl; } + } - proxyFile.oss << "% " << "" << endl; - proxyFile.oss << "%" << "-------Static Methods-------" << endl; - BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { - const StaticMethod& m = name_m.second; - BOOST_FOREACH(ArgumentList argList, m.argLists) - { - string up_name = boost::to_upper_copy(m.name); - proxyFile.oss << "%" << m.name << "("; - unsigned int i = 0; - BOOST_FOREACH(const Argument& arg, argList) - { - if(i != argList.size()-1) - proxyFile.oss << arg.type << " " << arg.name << ", "; - else - proxyFile.oss << arg.type << " " << arg.name; - i++; - } + if (!static_methods.empty()) + proxyFile.oss << "%\n%-------Static Methods-------\n"; + BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { + const StaticMethod& m = name_m.second; + BOOST_FOREACH(ArgumentList argList, m.argLists) { + string up_name = boost::to_upper_copy(m.name); + proxyFile.oss << "%" << m.name << "("; + unsigned int i = 0; + BOOST_FOREACH(const Argument& arg, argList) { + if (i != argList.size() - 1) + proxyFile.oss << arg.type << " " << arg.name << ", "; + else + proxyFile.oss << arg.type << " " << arg.name; + i++; + } - proxyFile.oss << ") : returns " << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl; - } + proxyFile.oss << ") : returns " + << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl; } + } - proxyFile.oss << "%" << "" << endl; - proxyFile.oss << "%" << "For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl; + proxyFile.oss << "%\n"; } /* ************************************************************************* */ From 4752c10e21c480a59bd1053f76c6d2808de67bcd Mon Sep 17 00:00:00 2001 From: Andrew Melim Date: Sat, 8 Sep 2012 19:51:23 +0000 Subject: [PATCH 908/914] Inherited methods show up on doc. ISAM2 for MATLAB now inherets from Bayes Tree --- gtsam.h | 34 ++++++++++++++++- gtsam/inference/BayesTree-inl.h | 2 +- wrap/Module.cpp | 37 +++++++++++++++++++ wrap/Module.h | 4 ++ wrap/tests/expected/Point2.m | 8 ++-- wrap/tests/expected/Point3.m | 8 ++-- wrap/tests/expected/Test.m | 8 ++-- wrap/tests/expected_namespaces/+ns1/ClassA.m | 8 ++-- wrap/tests/expected_namespaces/+ns1/ClassB.m | 8 ++-- .../expected_namespaces/+ns2/+ns3/ClassB.m | 8 ++-- wrap/tests/expected_namespaces/+ns2/ClassA.m | 8 ++-- wrap/tests/expected_namespaces/+ns2/ClassC.m | 8 ++-- wrap/tests/expected_namespaces/ClassD.m | 8 ++-- 13 files changed, 108 insertions(+), 41 deletions(-) diff --git a/gtsam.h b/gtsam.h index 879248f33..c5e5b6baf 100644 --- a/gtsam.h +++ b/gtsam.h @@ -898,6 +898,24 @@ class VariableIndex { void permuteInPlace(const gtsam::Permutation& permutation); }; +#include +template +virtual class BayesTree { + + //Constructors + BayesTree(); + + //Standard Interface + //bool equals(const gtsam::BayesTree& other, double tol) const; + void print(string s); + size_t size(); + CLIQUE* root() const; + void clear(); + void insert(const CLIQUE* subtree); +}; + +typedef gtsam::BayesTree ISAM2BayesTree; + //************************************************************************* // linear //************************************************************************* @@ -1672,6 +1690,20 @@ class ISAM2Params { void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck); }; +virtual class ISAM2Clique { + + //Constructors + ISAM2Clique(const gtsam::GaussianConditional* conditional); + + //Standard Interface + Vector gradientContribution() const; + gtsam::ISAM2Clique* clone() const; + void print(string s); + + void permuteWithInverse(const gtsam::Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); +}; + class ISAM2Result { ISAM2Result(); @@ -1683,7 +1715,7 @@ class ISAM2Result { size_t getCliques() const; }; -class ISAM2 { +virtual class ISAM2 : gtsam::ISAM2BayesTree { ISAM2(); ISAM2(const gtsam::ISAM2Params& params); diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 72a503b6a..3d5276be8 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -338,7 +338,7 @@ namespace gtsam { template void BayesTree::print(const std::string& s, const IndexFormatter& indexFormatter) const { if (root_.use_count() == 0) { - printf("WARNING: BayesTree.print encountered a forest...\n"); + std::cout << "WARNING: BayesTree.print encountered a forest..." << std::endl; return; } std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 46b31f3e6..aad533a9a 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -342,6 +342,15 @@ Module::Module(const string& interfacePath, printf("parsing stopped at \n%.20s\n",info.stop); throw ParseFailed((int)info.length); } + + //Explicitly add methods to the classes from parents so it shows in documentation + BOOST_FOREACH(Class& cls, classes) + { + map inhereted = appendInheretedMethods(cls, classes); + cls.methods.insert(inhereted.begin(), inhereted.end()); + } + + } /* ************************************************************************* */ @@ -432,6 +441,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co // verify parents if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); + } // Create type attributes table and check validity @@ -472,6 +482,33 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co wrapperFile.emit(true); } +/* ************************************************************************* */ +map Module::appendInheretedMethods(const Class& cls, const vector& classes) +{ + map methods; + if(!cls.qualifiedParent.empty()) + { + cout << "Class: " << cls.name << " Parent Name: " << cls.qualifiedParent.back() << endl; + //Find Class + BOOST_FOREACH(const Class& parent, classes) + { + //We found the class for our parent + if(parent.name == cls.qualifiedParent.back()) + { + cout << "Inner class: " << cls.qualifiedParent.back() << endl; + Methods inhereted = appendInheretedMethods(parent, classes); + methods.insert(inhereted.begin(), inhereted.end()); + } + } + } + else + { + cout << "Dead end: " << cls.name << endl; + methods.insert(cls.methods.begin(), cls.methods.end()); + } + + return methods; +} /* ************************************************************************* */ void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { diff --git a/wrap/Module.h b/wrap/Module.h index ca8b0bb1a..a1dfe88d8 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -35,6 +35,7 @@ namespace wrap { struct Module { typedef std::map GlobalFunctions; + typedef std::map Methods; std::string name; ///< module name std::vector classes; ///< list of classes @@ -49,6 +50,9 @@ struct Module { const std::string& moduleName, bool enable_verbose=true); + //Recursive method to append all methods inhereted from parent classes + std::map appendInheretedMethods(const Class& cls, const std::vector& classes); + /// MATLAB code generation: void matlab_code( const std::string& path, diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m index d1c336c5f..22dec9641 100644 --- a/wrap/tests/expected/Point2.m +++ b/wrap/tests/expected/Point2.m @@ -1,7 +1,10 @@ +%class Point2, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %Point2() %Point2(double x, double y) -% +% %-------Methods------- %argChar(char a) : returns void %argUChar(unsigned char a) : returns void @@ -10,10 +13,7 @@ %vectorConfusion() : returns VectorNotEigen %x() : returns double %y() : returns double -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Point2 < handle properties ptr_Point2 = 0 diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m index f73b740ac..3a90f1982 100644 --- a/wrap/tests/expected/Point3.m +++ b/wrap/tests/expected/Point3.m @@ -1,14 +1,16 @@ +%class Point3, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %Point3(double x, double y, double z) -% +% %-------Methods------- %norm() : returns double -% +% %-------Static Methods------- %StaticFunctionRet(double z) : returns Point3 %staticFunction() : returns double % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Point3 < handle properties ptr_Point3 = 0 diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m index 1e07974ee..e493b9a04 100644 --- a/wrap/tests/expected/Test.m +++ b/wrap/tests/expected/Test.m @@ -1,7 +1,10 @@ +%class Test, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %Test() %Test(double a, Matrix b) -% +% %-------Methods------- %arg_EigenConstRef(Matrix value) : returns void %create_MixedPtrs() : returns pair< Test, SharedTest > @@ -22,10 +25,7 @@ %return_string(string value) : returns string %return_vector1(Vector value) : returns Vector %return_vector2(Vector value) : returns Vector -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef Test < handle properties ptr_Test = 0 diff --git a/wrap/tests/expected_namespaces/+ns1/ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m index ee87c12d7..f7dce6031 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m @@ -1,11 +1,9 @@ +%class ClassA, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %ClassA() -% -%-------Methods------- -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassA < handle properties ptr_ns1ClassA = 0 diff --git a/wrap/tests/expected_namespaces/+ns1/ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m index 7f393f03e..df956a179 100644 --- a/wrap/tests/expected_namespaces/+ns1/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m @@ -1,11 +1,9 @@ +%class ClassB, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %ClassB() -% -%-------Methods------- -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassB < handle properties ptr_ns1ClassB = 0 diff --git a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m index 4ad4a14f0..23c3dbacb 100644 --- a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m +++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m @@ -1,11 +1,9 @@ +%class ClassB, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %ClassB() -% -%-------Methods------- -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassB < handle properties ptr_ns2ns3ClassB = 0 diff --git a/wrap/tests/expected_namespaces/+ns2/ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m index c56377c2a..c7ab901ae 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassA.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m @@ -1,15 +1,17 @@ +%class ClassA, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %ClassA() -% +% %-------Methods------- %memberFunction() : returns double %nsArg(ClassB arg) : returns int %nsReturn(double q) : returns ns2::ns3::ClassB -% +% %-------Static Methods------- %afunction() : returns double % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassA < handle properties ptr_ns2ClassA = 0 diff --git a/wrap/tests/expected_namespaces/+ns2/ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m index 050ef19f4..19b709f5c 100644 --- a/wrap/tests/expected_namespaces/+ns2/ClassC.m +++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m @@ -1,11 +1,9 @@ +%class ClassC, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %ClassC() -% -%-------Methods------- -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassC < handle properties ptr_ns2ClassC = 0 diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m index 41e9e63ec..453025961 100644 --- a/wrap/tests/expected_namespaces/ClassD.m +++ b/wrap/tests/expected_namespaces/ClassD.m @@ -1,11 +1,9 @@ +%class ClassD, see Doxygen page for details +%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html +% %-------Constructors------- %ClassD() -% -%-------Methods------- -% -%-------Static Methods------- % -%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html classdef ClassD < handle properties ptr_ClassD = 0 From ba6024e5599fb3ee2ae72a4a082a5bf72ff3141a Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 10 Sep 2012 14:39:36 +0000 Subject: [PATCH 909/914] Wrapped additional function --- gtsam.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/gtsam.h b/gtsam.h index c5e5b6baf..88efe7618 100644 --- a/gtsam.h +++ b/gtsam.h @@ -875,7 +875,7 @@ class SymbolicMultifrontalSolver { class VariableIndex { // Standard Constructors and Named Constructors VariableIndex(); - // FIXME: Handle templates somehow + // TODO: Templetize constructor when wrap supports it //template //VariableIndex(const T& factorGraph, size_t nVariables); //VariableIndex(const T& factorGraph); @@ -906,8 +906,9 @@ virtual class BayesTree { BayesTree(); //Standard Interface - //bool equals(const gtsam::BayesTree& other, double tol) const; + bool equals(const This& other, double tol) const; void print(string s); + //size_t findParentClique(const gtsam::IndexVector& parents) const; size_t size(); CLIQUE* root() const; void clear(); From 2c5b4358016a3f08c8b8a3af1ada4f699da02bbd Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 10 Sep 2012 16:13:27 +0000 Subject: [PATCH 910/914] Changed cmake externals to point to 2.1.0-rc2 tag From 6701d1830f50bc3b918161af63b83f7eea1ca944 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 10 Sep 2012 16:14:20 +0000 Subject: [PATCH 911/914] Changed cmake externals back to 2.1.0 branch From 6fb948e9d2577b2b1aff5d76df0d4e84e5bd58b2 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 10 Sep 2012 18:16:59 +0000 Subject: [PATCH 912/914] Changed default to not build matlab toolbox --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5c1c5cdab..afca96736 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -57,7 +57,7 @@ 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" ON) +option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON) set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox") From b584db048907e175ac1ec30307e90cb5ff1a3ea5 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 10 Sep 2012 18:55:10 +0000 Subject: [PATCH 913/914] Updated toolbox precompiling flags to enable compiling wrapper, changed file permissions --- package_scripts/compile_static_boost.sh | 0 package_scripts/toolbox_package_unix.sh | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) mode change 100644 => 100755 package_scripts/compile_static_boost.sh mode change 100644 => 100755 package_scripts/toolbox_package_unix.sh diff --git a/package_scripts/compile_static_boost.sh b/package_scripts/compile_static_boost.sh old mode 100644 new mode 100755 diff --git a/package_scripts/toolbox_package_unix.sh b/package_scripts/toolbox_package_unix.sh old mode 100644 new mode 100755 index 6f5cda526..dcca19b01 --- a/package_scripts/toolbox_package_unix.sh +++ b/package_scripts/toolbox_package_unix.sh @@ -31,7 +31,7 @@ if [ -z "$1" -o -z "$2" ]; then fi # Run cmake -cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="$PWD/stage" -DBoost_NO_SYSTEM_PATHS:bool=true -DBoost_USE_STATIC_LIBS:bool=true -DBOOST_ROOT="$1" -DGTSAM_BUILD_UNSTABLE:bool=false -DGTSAM_DISABLE_EXAMPLES_ON_INSTALL:bool=true -DGTSAM_DISABLE_TESTS_ON_INSTALL:bool=true -DGTSAM_MEX_BUILD_STATIC_MODULE:bool=true -DMEX_COMMAND="$2" .. +cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_INSTALL_MATLAB_TOOLBOX:bool=true -DCMAKE_INSTALL_PREFIX="$PWD/stage" -DBoost_NO_SYSTEM_PATHS:bool=true -DBoost_USE_STATIC_LIBS:bool=true -DBOOST_ROOT="$1" -DGTSAM_BUILD_UNSTABLE:bool=false -DGTSAM_DISABLE_EXAMPLES_ON_INSTALL:bool=true -DGTSAM_DISABLE_TESTS_ON_INSTALL:bool=true -DGTSAM_MEX_BUILD_STATIC_MODULE:bool=true -DMEX_COMMAND="$2" .. if [ ! $? ]; then echo "CMake failed" From d2432bf19f095d751441ff4c2e71b750996c4f41 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 11 Sep 2012 15:59:43 +0000 Subject: [PATCH 914/914] Disabled timing scripts for now (they are outdated and do not compile) --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index afca96736..6b7ce4599 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,7 @@ endif() # Configurable Options option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) -option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) +#option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) # These do not currently work option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON) if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) @@ -187,7 +187,7 @@ set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= message(STATUS "===============================================================") message(STATUS "================ Configuration Options ======================") message(STATUS "Build flags ") -print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ") +#print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ") print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") if (DOXYGEN_FOUND)